adhoc

completed
2026-09-23T00:25:47.747215+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
468.1 s
total steps
180
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Pick up the pen and the pen cap, then put the cap on the pen.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

overheat

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteTop view shows a short dark cap on the left half and a longer pen on the right half of the table. Moving the right arm to hover ~15 cm above the pen to inspect it in the wrist camera.
move_to
right_x0.3600right_y0.2800right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.7914, 0.6018, -0.3794, -0.0219, -0.0246, 0.9996, -0.0185, 0.7906, 0.6086, -0.3759, -0.0219, -0.0143, 0.9994] state[eef_state]: left_x=0.2944 left_y=0.0015 left_z=0.1798 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2956 right_y=0.002 right_z=0.1839 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.5675, -1.3744, 10.5641, 1.7411, -0.0317, 0.1245, -0.0611, -0.6906, -1.1692, 9.894, 1.7509, -0.0415, 0.0024, -0.0757] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.28, "right_z": 0.15, "right_gripper": 1.0}, "note": "Top view shows a short dark cap on the left half and a longer pen on the right half of the table. Moving the right arm to hover ~15 cm above the pen to inspect it in the wrist camera."})
tool
executing move_to over 24 steps (2.4s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteRight wrist camera shows the pen lying diagonally down-right of the jaw column, so the pen is forward and to the arm's right of the fingertips. Nudging 3 cm forward and 3 cm right, descending slightly, to center it.
move_to
right_x0.3800right_y0.2450right_z0.1200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.7975, 0.6033, -0.3809, -0.0219, -0.025, 0.9996, 0.9054, 1.7115, 1.1255, -0.2359, 0.6964, 0.5556, 0.9994] state[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1785 left_yaw=0.0006 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9996 right_x=0.3545 right_y=0.274 right_z=0.1375 right_yaw=0.036 right_pitch=-0.0391 right_roll=-0.0398 right_gripper=0.9994 state[joint_eff]: [-0.1573, -1.7299, 6.9402, 1.7118, -0.0464, -0.0611, -0.0171, 0.3897, -8.2803, 8.4581, 1.4579, 0.4811, 0.315, -0.0708] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.245, "right_z": 0.12}, "note": "Right wrist camera shows the pen lying diagonally down-right of the jaw column, so the pen is forward and to the arm's right of the fingertips. Nudging 3 cm forward and 3 cm right, descending slightly, to center it."})
tool
executing move_to over 3 steps (0.3s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent notePen still sits down-and-right of the jaw gap in the right wrist view. Making a larger 4.5 cm move to the arm's right and 3 cm forward to bring the pen onto the jaw column.
move_to
right_x0.4000right_y0.2000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3809, -0.0219, -0.025, 0.9995, 0.8154, 1.7199, 1.0481, -0.1524, 0.6418, 0.4988, 0.9994] state[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1775 left_yaw=0.0006 left_pitch=-0.0095 left_roll=-0.0001 left_gripper=0.9995 right_x=0.3706 right_y=0.2445 right_z=0.1124 right_yaw=0.0145 right_pitch=-0.0715 right_roll=-0.0612 right_gripper=0.9994 state[joint_eff]: [-0.1299, -0.9641, 7.241, 1.7118, -0.0611, -0.0464, -0.0171, -0.1846, -9.0188, 7.0085, 1.8388, 0.2271, -0.1001, -0.0171] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.2}, "note": "Pen still sits down-and-right of the jaw gap in the right wrist view. Making a larger 4.5 cm move to the arm's right and 3 cm forward to bring the pen onto the jaw column."})
tool
executing move_to over 4 steps (0.4s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe arm under-tracked the last target and the pen is still slightly right of the jaw gap. Re-commanding the same lateral target with a bit more forward reach to settle over the pen.
move_to
right_x0.4100right_y0.2000right_z0.1000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8013, 0.6029, -0.3809, -0.0219, -0.025, 0.9996, 0.7799, 1.7199, 1.0317, -0.1234, 0.6048, 0.4564, 0.9994] state[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1773 left_yaw=0.0006 left_pitch=-0.0103 left_roll=-0.0001 left_gripper=0.9996 right_x=0.3773 right_y=0.237 right_z=0.1077 right_yaw=0.029 right_pitch=-0.0826 right_roll=-0.0672 right_gripper=0.9994 state[joint_eff]: [-0.3624, -1.265, 7.1043, 1.7021, -0.0659, -0.0562, -0.0073, -0.5265, -9.347, 6.065, 1.3895, 0.2906, 0.0171, -0.0122] camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.41, "right_y": 0.2, "right_z": 0.1}, "note": "The arm under-tracked the last target and the pen is still slightly right of the jaw gap. Re-commanding the same lateral target with a bit more forward reach to settle over the pen."})
tool
executing move_to over 4 steps (0.4s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe pen lies diagonally (running forward-left to back-right at roughly 30° from the arm's x axis), so I am yawing the tool +0.5 rad so the jaws close across the pen, while nudging slightly forward and right to center it between the jaws.
move_to
right_yaw0.5000right_x0.4000right_y0.2150right_z0.1000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8013, 0.6029, -0.3809, -0.0219, -0.025, 0.9995, 0.7799, 1.7199, 1.0283, -0.1234, 0.6048, 0.4564, 0.9994] state[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1773 left_yaw=0.0006 left_pitch=-0.0103 left_roll=-0.0001 left_gripper=0.9995 right_x=0.3767 right_y=0.2363 right_z=0.1064 right_yaw=0.0288 right_pitch=-0.0851 right_roll=-0.0696 right_gripper=0.9994 state[joint_eff]: [-0.294, -1.265, 7.0222, 1.7607, -0.0708, -0.0317, -0.0122, -0.6632, -9.1556, 6.3385, 1.3553, 0.3199, 0.0073, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_yaw": 0.5, "right_x": 0.4, "right_y": 0.215, "right_z": 0.1}, "note": "The pen lies diagonally (running forward-left to back-right at roughly 30\u00b0 from the arm's x axis), so I am yawing the tool +0.5 rad so the jaws close across the pen, while nudging slightly forward and right to center it between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteThe right arm has stopped tracking commands (readback frozen for three moves). Backing off upward and toward the base to break out of the stalled pose before re-approaching.
move_to
right_x0.3300right_z0.2000right_y0.2400
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8024, 0.6029, -0.3809, -0.0219, -0.025, 0.9996, 0.7803, 1.7199, 1.0279, -0.1234, 0.6048, 0.4564, 0.9994] state[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.177 left_yaw=0.0006 left_pitch=-0.0114 left_roll=-0.0001 left_gripper=0.9996 right_x=0.3765 right_y=0.2364 right_z=0.1063 right_yaw=0.0292 right_pitch=-0.0854 right_roll=-0.0699 right_gripper=0.9994 state[joint_eff]: [-0.2667, -1.388, 7.0222, 1.7021, -0.0806, -0.0269, -0.0073, -0.6632, -9.1966, 6.4615, 1.3553, 0.2711, -0.0024, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_z": 0.2, "right_y": 0.24}, "note": "The right arm has stopped tracking commands (readback frozen for three moves). Backing off upward and toward the base to break out of the stalled pose before re-approaching."})
tool
executing move_to over 7 steps (0.7s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteThe arm is moving again after backing off. The pen runs diagonally in the wrist view, so I am rotating the tool +0.5 rad in yaw to align the jaws across the pen while easing forward and right toward it.
move_to
right_yaw0.5000right_z0.1600right_x0.3550right_y0.2250
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8024, 0.6029, -0.3805, -0.0219, -0.025, 0.9996, 0.8833, 1.5677, 1.1912, -0.5037, 0.6495, 0.5297, 0.9994] state[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1771 left_yaw=0.0006 left_pitch=-0.0111 left_roll=-0.0001 left_gripper=0.9996 right_x=0.3358 right_y=0.2462 right_z=0.1794 right_yaw=0.0571 right_pitch=-0.1049 right_roll=-0.0813 right_gripper=0.9994 state[joint_eff]: [-0.1573, -1.2923, 7.4462, 1.7363, -0.0806, -0.0708, -0.0171, 0.4855, -9.6615, 8.6222, 1.2723, 0.4713, 0.2759, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_yaw": 0.5, "right_z": 0.16, "right_x": 0.355, "right_y": 0.225}, "note": "The arm is moving again after backing off. The pen runs diagonally in the wrist view, so I am rotating the tool +0.5 rad in yaw to align the jaws across the pen while easing forward and right toward it."})
tool
executing move_to over 3 steps (0.3s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteThe pen now appears almost vertical between the open jaws in the right wrist view. Completing the yaw rotation and descending toward the pen while shifting slightly forward/right to line the jaws up on its middle.
move_to
right_yaw0.5000right_z0.1150right_x0.3700right_y0.2000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.807, 0.6029, -0.3813, -0.0216, -0.025, 0.9995, 0.6487, 1.4597, 0.9565, -0.3264, 0.3298, 0.2066, 0.9994] state[eef_state]: left_x=0.2953 left_y=0.0014 left_z=0.1756 left_yaw=-0.0001 left_pitch=-0.0164 left_roll=-0.0002 left_gripper=0.9995 right_x=0.3468 right_y=0.1956 right_z=0.134 right_yaw=0.2439 right_pitch=-0.2173 right_roll=-0.0989 right_gripper=0.9994 state[joint_eff]: [-0.1983, -1.1282, 7.0906, 1.707, -0.0562, -0.0513, -0.0171, 2.4821, -8.6906, 8.2667, 2.0781, -0.2027, -0.0757, -0.0171] camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_yaw": 0.5, "right_z": 0.115, "right_x": 0.37, "right_y": 0.2}, "note": "The pen now appears almost vertical between the open jaws in the right wrist view. Completing the yaw rotation and descending toward the pen while shifting slightly forward/right to line the jaws up on its middle."})
tool
executing move_to over 2 steps (0.2s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteThe pen now appears vertical in the wrist view, just right of the jaw gap. Shifting ~3 cm along the tool's right axis plus 2 cm forward and descending to table level so the open jaws straddle the pen's middle.
move_to
right_x0.3840right_y0.1950right_z0.0100right_yaw0.4500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.807, 0.6029, -0.3809, -0.0219, -0.025, 0.9996, 0.6029, 1.4544, 0.9081, -0.1871, 0.1585, 0.0193, 0.9993] state[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1757 left_yaw=0.0006 left_pitch=-0.016 left_roll=0.0 left_gripper=0.9996 right_x=0.3528 right_y=0.2134 right_z=0.1347 right_yaw=0.4486 right_pitch=-0.1667 right_roll=-0.0935 right_gripper=0.9993 state[joint_eff]: [-0.3897, -1.2786, 7.3094, 1.7216, -0.0611, -0.0415, -0.0073, -0.8547, -5.5726, 6.5299, 1.7607, 0.1343, 0.1294, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.384, "right_y": 0.195, "right_z": 0.01, "right_yaw": 0.45}, "note": "The pen now appears vertical in the wrist view, just right of the jaw gap. Shifting ~3 cm along the tool's right axis plus 2 cm forward and descending to table level so the open jaws straddle the pen's middle."})
tool
executing move_to over 9 steps (0.9s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteThe arm tracks targets slowly and only advanced ~1 cm last call; the pen is now nearly centered in the jaw gap. Re-sending the same descend-to-table target so the motion completes.
move_to
right_x0.3840right_y0.1950right_z0.0100right_yaw0.4500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.807, 0.6029, -0.3813, -0.0219, -0.0254, 0.9995, 0.5953, 1.4624, 0.8894, -0.1837, 0.1905, 0.0448, 0.9993] state[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1756 left_yaw=0.0008 left_pitch=-0.0164 left_roll=-0.0003 left_gripper=0.9995 right_x=0.3537 right_y=0.2035 right_z=0.125 right_yaw=0.3992 right_pitch=-0.1846 right_roll=-0.1001 right_gripper=0.9993 state[joint_eff]: [-0.212, -1.2376, 7.0496, 1.707, -0.0806, -0.0757, -0.0171, -0.2256, -6.2974, 6.8718, 1.663, 0.1929, 0.105, -0.0122] camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.384, "right_y": 0.195, "right_z": 0.01, "right_yaw": 0.45}, "note": "The arm tracks targets slowly and only advanced ~1 cm last call; the pen is now nearly centered in the jaw gap. Re-sending the same descend-to-table target so the motion completes."})
tool
executing move_to over 8 steps (0.8s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteThe gripper is at table level with the pen running vertically right between the open jaws. Closing to grasp the pen.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8089, 0.6029, -0.3809, -0.0219, -0.0254, 0.9995, 0.5014, 1.795, 0.7231, 0.2615, 0.0944, -0.0414, 0.9994] state[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1752 left_yaw=0.0008 left_pitch=-0.0179 left_roll=-0.0003 left_gripper=0.9995 right_x=0.373 right_y=0.1896 right_z=0.0049 right_yaw=0.4334 right_pitch=-0.251 right_roll=-0.1015 right_gripper=0.9994 state[joint_eff]: [-0.1299, -1.4564, 7.2, 1.6825, -0.0366, -0.0659, -0.0122, -0.4308, -7.5966, 4.9436, 1.8242, 0.0317, -0.149, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The gripper is at table level with the pen running vertically right between the open jaws. Closing to grasp the pen."})
tool
executing move_to over 10 steps (1.0s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteGripper settled at 0.048 (~4.5 mm), consistent with holding the thin pen. Lifting 10 cm to confirm the pen came up with the jaws.
move_to
right_z0.1200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8108, 0.6029, -0.3817, -0.0219, -0.0254, 0.9995, 0.4988, 1.808, 0.7162, 0.2905, 0.0784, -0.0414, 0.0476] state[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1745 left_yaw=0.0008 left_pitch=-0.0206 left_roll=-0.0002 left_gripper=0.9995 right_x=0.3734 right_y=0.1917 right_z=0.0022 right_yaw=0.4449 right_pitch=-0.2425 right_roll=-0.089 right_gripper=0.0476 state[joint_eff]: [-0.253, -1.5248, 7.2137, 1.7314, -0.0904, -0.0659, -0.0122, 0.0342, -8.9778, 5.641, 1.243, 0.1587, 0.0024, 1.2918] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.12}, "note": "Gripper settled at 0.048 (~4.5 mm), consistent with holding the thin pen. Lifting 10 cm to confirm the pen came up with the jaws."})
tool
executing move_to over 8 steps (0.8s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteThe pen is grasped: after a 10 cm lift the right wrist view is unchanged, showing the pen held pointing forward out of the jaws. Now moving the left arm over the remaining object (the cap) to inspect it.
move_to
left_x0.3600left_y-0.2000left_z0.1500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8112, 0.6029, -0.3817, -0.0219, -0.0254, 0.9995, 0.4988, 1.565, 0.9279, -0.1764, 0.0734, -0.0418, 0.0525] state[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1744 left_yaw=0.0008 left_pitch=-0.021 left_roll=-0.0002 left_gripper=0.9995 right_x=0.3736 right_y=0.1928 right_z=0.0997 right_yaw=0.4493 right_pitch=-0.2549 right_roll=-0.0863 right_gripper=0.0525 state[joint_eff]: [-0.1162, -1.388, 7.0085, 1.7656, -0.0611, -0.0464, -0.0073, -0.3624, -9.2103, 8.7316, 1.4579, 0.0708, -0.0317, 1.0281] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.2, "left_z": 0.15}, "note": "The pen is grasped: after a 10 cm lift the right wrist view is unchanged, showing the pen held pointing forward out of the jaws. Now moving the left arm over the remaining object (the cap) to inspect it."})
tool
executing move_to over 18 steps (1.8s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteLeft wrist view shows the pen cap lying forward-left of the jaws with its axis running up-right across the image. Yawing the tool -0.98 rad so the jaws will close across the cap's axis, and easing forward-left over it.
move_to
left_yaw-0.9800left_x0.3750left_y-0.1850left_z0.1200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7593, 1.4937, 0.8948, -0.2188, -0.5903, -0.4973, 0.9995, 0.4988, 1.5627, 0.9272, -0.2016, 0.0731, -0.0418, 0.0525] state[eef_state]: left_x=0.3488 left_y=-0.1906 left_z=0.1286 left_yaw=-0.0164 left_pitch=-0.0831 left_roll=0.0388 left_gripper=0.9995 right_x=0.3694 right_y=0.1906 right_z=0.0961 right_yaw=0.4493 right_pitch=-0.2785 right_roll=-0.0872 right_gripper=0.0525 state[joint_eff]: [-0.253, -6.7487, 9.5521, 1.7021, -0.3785, -0.0806, -0.0122, -0.1983, -6.9265, 6.5026, 1.6679, -0.0024, -0.0024, 1.0281] camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_yaw": -0.98, "left_x": 0.375, "left_y": -0.185, "left_z": 0.12}, "note": "Left wrist view shows the pen cap lying forward-left of the jaws with its axis running up-right across the image. Yawing the tool -0.98 rad so the jaws will close across the cap's axis, and easing forward-left over it."})
tool
executing move_to over 7 steps (0.7s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteThe cap now appears nearly vertical (aligned for the jaws) but sits left of the jaw column in the left wrist view. Shifting ~3 cm along the tool's left axis plus 2 cm forward and descending to table level to straddle the cap.
move_to
left_x0.4130left_y-0.1520left_z0.0000left_yaw-0.9800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2726, 1.5494, 0.8593, -0.1078, 0.3305, 0.3107, 0.9995, 0.4988, 1.5627, 0.9272, -0.2073, 0.0731, -0.0414, 0.0574] state[eef_state]: left_x=0.3776 left_y=-0.1614 left_z=0.0966 left_yaw=-0.7351 left_pitch=-0.175 left_roll=-0.0009 left_gripper=0.9995 right_x=0.3685 right_y=0.1901 right_z=0.0951 right_yaw=0.449 right_pitch=-0.2842 right_roll=-0.0872 right_gripper=0.0574 state[joint_eff]: [0.1573, -7.3915, 9.4427, 1.5116, 0.4127, 0.2515, -0.0122, -0.1983, -7.0906, 6.4479, 1.5409, -0.0269, -0.0659, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.413, "left_y": -0.152, "left_z": 0.0, "left_yaw": -0.98}, "note": "The cap now appears nearly vertical (aligned for the jaws) but sits left of the jaw column in the left wrist view. Shifting ~3 cm along the tool's left axis plus 2 cm forward and descending to table level to straddle the cap."})
tool
executing move_to over 7 steps (0.7s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
agent noteCap is vertical in the left wrist view, about 1 cm left of the jaw centre line. Small nudge along the tool's left axis and a touch lower to center the jaws on it before closing.
move_to
left_x0.4150left_y-0.1420left_z-0.0050
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1478, 1.9343, 0.9199, 0.0696, 0.5362, 0.572, 0.9995, 0.4988, 1.5635, 0.9268, -0.2134, 0.0734, -0.0418, 0.0574] state[eef_state]: left_x=0.4069 left_y=-0.1482 left_z=0.0027 left_yaw=-0.9281 left_pitch=-0.2019 left_roll=-0.0249 left_gripper=0.9995 right_x=0.3674 right_y=0.1895 right_z=0.0937 right_yaw=0.4488 right_pitch=-0.2915 right_roll=-0.0882 right_gripper=0.0574 state[joint_eff]: [0.4718, -7.4051, 6.1744, 0.8767, 0.2662, 0.0269, -0.0171, -0.3761, -7.1316, 6.4615, 1.5067, -0.0171, -0.0366, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.415, "left_y": -0.142, "left_z": -0.005}, "note": "Cap is vertical in the left wrist view, about 1 cm left of the jaw centre line. Small nudge along the tool's left axis and a touch lower to center the jaws on it before closing."})
tool
executing move_to over 1 steps (0.1s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent noteCap is now centered between the open jaws at table level. Closing the left gripper to grasp it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1398, 1.9591, 0.9352, 0.0944, 0.5583, 0.6155, 0.9995, 0.4988, 1.5635, 0.9268, -0.2119, 0.0731, -0.0418, 0.0574] state[eef_state]: left_x=0.4135 left_y=-0.1491 left_z=0.0022 left_yaw=-0.9574 left_pitch=-0.1785 left_roll=0.0057 left_gripper=0.9995 right_x=0.3676 right_y=0.1897 right_z=0.0939 right_yaw=0.4492 right_pitch=-0.29 right_roll=-0.0878 right_gripper=0.0574 state[joint_eff]: [-0.3077, -8.1846, 5.9966, 1.2625, 0.4469, 0.149, -0.0122, -0.2803, -6.9538, 6.4479, 1.5116, 0.0073, -0.0708, 1.0379] camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Cap is now centered between the open jaws at table level. Closing the left gripper to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteLeft gripper settled at 0.048, suggesting something thin is held. Lifting 10 cm to check in the overhead view whether the cap came with it.
move_to
left_z0.1000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1379, 1.9591, 0.934, 0.0967, 0.5568, 0.6079, 0.0481, 0.4988, 1.5635, 0.9268, -0.2295, 0.0731, -0.0418, 0.0574] state[eef_state]: left_x=0.4139 left_y=-0.1481 left_z=0.002 left_yaw=-0.9501 left_pitch=-0.1785 left_roll=0.0017 left_gripper=0.0481 right_x=0.3648 right_y=0.1881 right_z=0.0911 right_yaw=0.4489 right_pitch=-0.3075 right_roll=-0.0887 right_gripper=0.0574 state[joint_eff]: [-0.4718, -9.1282, 5.3538, 1.2772, 0.2711, 0.149, 1.1893, -0.0752, -7.0359, 6.4479, 1.5995, 0.0024, -0.0757, 1.0281] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.1}, "note": "Left gripper settled at 0.048, suggesting something thin is held. Lifting 10 cm to check in the overhead view whether the cap came with it."})
tool
executing move_to over 7 steps (0.7s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteBoth objects are held: the right wrist view shows the pen sticking out forward with its writing tip far, and the left view shows the cap held with its closed tip forward. Rotating the left tool to yaw +0.45 so the cap's axis becomes parallel with the pen's axis, with its open end facing back toward where the pen tip will be.
move_to
left_yaw0.4500left_z0.1300
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1379, 1.7832, 1.066, -0.2459, 0.5507, 0.6037, 0.0548, 0.4988, 1.5635, 0.9268, -0.231, 0.0731, -0.0418, 0.0574] state[eef_state]: left_x=0.4095 left_y=-0.1465 left_z=0.0733 left_yaw=-0.9484 left_pitch=-0.206 left_roll=-0.0236 left_gripper=0.0548 right_x=0.3645 right_y=0.188 right_z=0.0909 right_yaw=0.4489 right_pitch=-0.309 right_roll=-0.0888 right_gripper=0.0574 state[joint_eff]: [-0.0752, -11.0154, 8.9368, 1.3895, 0.2711, 0.0171, 1.0281, -0.3214, -7.0496, 6.4479, 1.4237, -0.0366, -0.0757, 1.0281] camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_yaw": 0.45, "left_z": 0.13}, "note": "Both objects are held: the right wrist view shows the pen sticking out forward with its writing tip far, and the left view shows the cap held with its closed tip forward. Rotating the left tool to yaw +0.45 so the cap's axis becomes parallel with the pen's axis, with its open end facing back toward where the pen tip will be."})
tool
executing move_to over 9 steps (0.9s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteLeft yaw only reached 0.22, so re-commanding it; at the same time bringing the right arm (holding the pen) toward the table centre and levelling its pitch so the pen is horizontal and its tip sits where the left arm can reach.
move_to
left_yaw0.4500right_x0.3300right_y0.3000right_z0.1300right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.593, 1.7645, 1.2682, -0.4805, -0.5152, -0.691, 0.0597, 0.4988, 1.5642, 0.9249, -0.2367, 0.0734, -0.0418, 0.0574] state[eef_state]: left_x=0.4156 left_y=-0.1708 left_z=0.1218 left_yaw=0.2202 left_pitch=-0.2369 left_roll=-0.0371 left_gripper=0.0597 right_x=0.3631 right_y=0.1871 right_z=0.0889 right_yaw=0.4484 right_pitch=-0.3174 right_roll=-0.0895 right_gripper=0.0574 state[joint_eff]: [-0.3214, -9.1145, 7.7197, 0.9206, -0.4713, -0.1099, 1.033, -0.3624, -7.1453, 6.5436, 1.4725, -0.0024, -0.0659, 1.0232] camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_yaw": 0.45, "right_x": 0.33, "right_y": 0.3, "right_z": 0.13, "right_pitch": 0.0}, "note": "Left yaw only reached 0.22, so re-commanding it; at the same time bringing the right arm (holding the pen) toward the table centre and levelling its pitch so the pen is horizontal and its tip sits where the left arm can reach."})
tool
executing move_to over 11 steps (1.1s)
step 155
top_cam
camera top_cam step 155
left_cam
camera left_cam step 155
right_cam
camera right_cam step 155
assistant
agent noteThe pen is now held horizontally pointing forward-left; its tip should be near left-frame (0.43,-0.30,0.13). Moving the left arm with the cap to a staging point ~5 cm beyond the pen tip along the pen axis, cap opening facing back at the tip.
move_to
left_x0.4820left_y-0.2780left_z0.1290left_yaw0.4900left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6338, 1.8549, 1.3972, -0.6708, -0.6189, -0.9489, 0.0597, 0.8703, 1.5787, 0.8764, 0.0319, 0.3557, 0.1394, 0.0574] state[eef_state]: left_x=0.4108 left_y=-0.1703 left_z=0.1177 left_yaw=0.4192 left_pitch=-0.2588 left_roll=-0.0379 left_gripper=0.0597 right_x=0.3232 right_y=0.2934 right_z=0.1173 right_yaw=0.4888 right_pitch=-0.0668 right_roll=-0.1058 right_gripper=0.0574 state[joint_eff]: [-0.6359, -7.7333, 9.0462, 1.0623, -0.5543, -0.0317, 1.0281, 0.4171, -6.3795, 7.5282, 1.8046, 0.3004, 0.1245, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.482, "left_y": -0.278, "left_z": 0.129, "left_yaw": 0.49, "left_pitch": 0.0}, "note": "The pen is now held horizontally pointing forward-left; its tip should be near left-frame (0.43,-0.30,0.13). Moving the left arm with the cap to a staging point ~5 cm beyond the pen tip along the pen axis, cap opening facing back at the tip."})
tool
executing move_to over 10 steps (1.0s)
step 165
top_cam
camera top_cam step 165
left_cam
camera left_cam step 165
right_cam
camera right_cam step 165
assistant
agent noteRe-commanding the right arm to hold the pen steady (it sags a few cm) and sliding the cap in along the pen axis to about a 4 cm gap from the estimated pen tip, matching the pen's slight upward tilt.
move_to
left_x0.4520left_y-0.2990left_z0.1150left_yaw0.4770left_pitch-0.1500right_x0.3300right_y0.3000right_z0.1300right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7601, 2.3322, 2.0407, -0.82, -0.8677, -1.084, 0.0597, 0.865, 1.5951, 0.8524, -0.0452, 0.3511, 0.1478, 0.0617] state[eef_state]: left_x=0.4836 left_y=-0.2688 left_z=0.1251 left_yaw=0.4876 left_pitch=-0.0504 left_roll=-0.0638 left_gripper=0.0597 right_x=0.312 right_y=0.278 right_z=0.0873 right_yaw=0.4773 right_pitch=-0.1764 right_roll=-0.1408 right_gripper=0.0617 state[joint_eff]: [-1.1829, -12.2188, 7.7607, 0.8474, -0.652, -0.0415, 1.0281, 0.1436, -8.5675, 8.2667, 2.5275, 0.1245, -0.0122, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.452, "left_y": -0.299, "left_z": 0.115, "left_yaw": 0.477, "left_pitch": -0.15, "right_x": 0.33, "right_y": 0.3, "right_z": 0.13, "right_pitch": 0.0}, "note": "Re-commanding the right arm to hold the pen steady (it sags a few cm) and sliding the cap in along the pen axis to about a 4 cm gap from the estimated pen tip, matching the pen's slight upward tilt."})
tool
executing move_to over 6 steps (0.6s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent noteThe cap is just out of the right camera's frame above the pen tip, so I am closing the remaining gap 3 cm along the pen axis; if the cap touches the pen off-centre the pen will visibly deflect in the right wrist view and I can correct.
move_to
left_x0.4320left_y-0.3070left_z0.1110right_x0.3300right_y0.3000right_z0.1300right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8127, 2.3631, 2.1159, -0.963, -0.8078, -1.1896, 0.0597, 0.8799, 1.5963, 0.8516, 0.0357, 0.3786, 0.1146, 0.0617] state[eef_state]: left_x=0.4583 left_y=-0.2931 left_z=0.116 left_yaw=0.4754 left_pitch=-0.1356 left_roll=-0.0693 left_gripper=0.0597 right_x=0.3187 right_y=0.2885 right_z=0.1017 right_yaw=0.4914 right_pitch=-0.0986 right_roll=-0.1538 right_gripper=0.0617 state[joint_eff]: [-0.8684, -11.8769, 8.841, 0.652, -0.5201, -0.1587, 1.0281, 0.7179, -7.6786, 9.0598, 1.9072, 0.359, -0.105, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.432, "left_y": -0.307, "left_z": 0.111, "right_x": 0.33, "right_y": 0.3, "right_z": 0.13, "right_pitch": 0.0}, "note": "The cap is just out of the right camera's frame above the pen tip, so I am closing the remaining gap 3 cm along the pen axis; if the cap touches the pen off-centre the pen will visibly deflect in the right wrist view and I can correct."})
tool
executing move_to over 4 steps (0.4s)
step 175
top_cam
camera top_cam step 175
left_cam
camera left_cam step 175
right_cam
camera right_cam step 175
assistant
agent noteIn the right wrist view the left gripper/cap sits well to the right of the pen's axis, so the cap is offset toward the right arm's side. Shifting the left arm 3 cm in +y to bring the cap onto the pen's line and to calibrate how far that moves it in the image.
move_to
left_y-0.2650right_x0.3300right_y0.3000right_z0.1300right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8322, 2.3646, 2.0926, -0.9928, -0.8047, -1.2495, 0.0597, 0.8871, 1.5967, 0.8543, 0.0383, 0.3901, 0.0933, 0.0617] state[eef_state]: left_x=0.4457 left_y=-0.2951 left_z=0.1056 left_yaw=0.4951 left_pitch=-0.1545 left_roll=-0.0626 left_gripper=0.0597 right_x=0.3184 right_y=0.2901 right_z=0.1035 right_yaw=0.5007 right_pitch=-0.0929 right_roll=-0.1759 right_gripper=0.0617 state[joint_eff]: [-3.5897, -14.9402, 4.6974, 0.735, -0.7009, 0.0122, 1.0281, -0.0889, -7.5145, 8.5675, 2.3321, 0.2857, -0.0855, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 175): [image omitted: streamed camera frame] camera 'left_cam' (step 175): [image omitted: streamed camera frame] camera 'right_cam' (step 175): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.265, "right_x": 0.33, "right_y": 0.3, "right_z": 0.13, "right_pitch": 0.0}, "note": "In the right wrist view the left gripper/cap sits well to the right of the pen's axis, so the cap is offset toward the right arm's side. Shifting the left arm 3 cm in +y to bring the cap onto the pen's line and to calibrate how far that moves it in the image."})
tool
executing move_to over 4 steps (0.4s)
step 179
top_cam
camera top_cam step 179
assistant
agent noteThe left arm stalled at its reach limit (shoulder effort very high, no tracking), so I am moving the whole mating operation closer to the left arm's base: the right arm pulls the pen back and toward the left, while the left arm retreats to a staging point on the new pen axis.
move_to
right_x0.2450right_y0.3450right_z0.1300right_yaw0.5000right_pitch0.0000left_x0.4000left_y-0.2230left_z0.1200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8413, 2.3646, 2.0853, -0.9924, -0.8074, -1.2678, 0.0597, 0.8993, 1.5967, 0.8543, 0.0372, 0.3923, 0.0925, 0.0617] state[eef_state]: left_x=0.4423 left_y=-0.2979 left_z=0.1037 left_yaw=0.4979 left_pitch=-0.1542 left_roll=-0.0691 left_gripper=0.0597 right_x=0.3149 right_y=0.2935 right_z=0.1034 right_yaw=0.5114 right_pitch=-0.0935 right_roll=-0.1783 right_gripper=0.0617 state[joint_eff]: [-2.8239, -14.8444, 5.1077, 0.6764, -0.6667, -0.0611, 1.0281, -1.3197, -7.8291, 8.5538, 2.1807, 0.2955, -0.0904, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.245, "right_y": 0.345, "right_z": 0.13, "right_yaw": 0.5, "right_pitch": 0.0, "left_x": 0.4, "left_y": -0.223, "left_z": 0.12}, "note": "The left arm stalled at its reach limit (shoulder effort very high, no tracking), so I am moving the whole mating operation closer to the left arm's base: the right arm pulls the pen back and toward the left, while the left arm retreats to a staging point on the new pen axis."})
tool
executing move_to over 7 steps (0.7s)
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 22.83 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Pick up the pen and the pen cap, then put the cap on the pen.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7914, 0.6018, -0.3794, -0.0219, -0.0246, 0.9996, -0.0185, 0.7906, 0.6086, -0.3759, -0.0219, -0.0143, 0.9994]\nstate[eef_state]: left_x=0.2944 left_y=0.0015 left_z=0.1798 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2956 right_y=0.002 right_z=0.1839 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5675, -1.3744, 10.5641, 1.7411, -0.0317, 0.1245, -0.0611, -0.6906, -1.1692, 9.894, 1.7509, -0.0415, 0.0024, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7f92e45d164e01749f38afadbce2b78c90ef574b8aafdcc6139b4f2e13cd51c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ea5d1eeeee17693f2093a95cb2c901a9e95e99bab746d74f8cae8f463b99079",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:813a67992a8e0977c70a54f15278d28f81714da0aea0d4ea66fb186b0f0923c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /messages · status 200 · 12.85 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7914, 0.6018, -0.3794, -0.0219, -0.0246, 0.9996, -0.0185, 0.7906, 0.6086, -0.3759, -0.0219, -0.0143, 0.9994]\nstate[eef_state]: left_x=0.2944 left_y=0.0015 left_z=0.1798 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2956 right_y=0.002 right_z=0.1839 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5675, -1.3744, 10.5641, 1.7411, -0.0317, 0.1245, -0.0611, -0.6906, -1.1692, 9.894, 1.7509, -0.0415, 0.0024, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7f92e45d164e01749f38afadbce2b78c90ef574b8aafdcc6139b4f2e13cd51c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ea5d1eeeee17693f2093a95cb2c901a9e95e99bab746d74f8cae8f463b99079",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:813a67992a8e0977c70a54f15278d28f81714da0aea0d4ea66fb186b0f0923c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ArJvcPDEAihn4D784KYqwQ",
      "input": {
        "note": "Top view shows a short dark cap on the left half and a longer pen on the right half of the table. Moving the right arm to hover ~15 cm above the pen to inspect it in the wrist camera.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.36,
          "right_y": 0.28,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 24 steps (2.4s)",
      "tool_use_id": "toolu_01ArJvcPDEAihn4D784KYqwQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7975, 0.6033, -0.3809, -0.0219, -0.025, 0.9996, 0.9054, 1.7115, 1.1255, -0.2359, 0.6964, 0.5556, 0.9994]\nstate[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1785 left_yaw=0.0006 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9996 right_x=0.3545 right_y=0.274 right_z=0.1375 right_yaw=0.036 right_pitch=-0.0391 right_roll=-0.0398 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.7299, 6.9402, 1.7118, -0.0464, -0.0611, -0.0171, 0.3897, -8.2803, 8.4581, 1.4579, 0.4811, 0.315, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:026289956b22c309d1cc4935974ae8b46db803e2b024f7c50253ac1a22ec94c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3df3bac0bc0b0667eb09c34f7b3a794d87f24b3619a9c2129fd756d8c2d76e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:95ceb64f26e73b75ecdf3c4c9c3c35459c37b5f1514af1628b559bbdafd71f15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 27.69 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7914, 0.6018, -0.3794, -0.0219, -0.0246, 0.9996, -0.0185, 0.7906, 0.6086, -0.3759, -0.0219, -0.0143, 0.9994]\nstate[eef_state]: left_x=0.2944 left_y=0.0015 left_z=0.1798 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2956 right_y=0.002 right_z=0.1839 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5675, -1.3744, 10.5641, 1.7411, -0.0317, 0.1245, -0.0611, -0.6906, -1.1692, 9.894, 1.7509, -0.0415, 0.0024, -0.0757]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7975, 0.6033, -0.3809, -0.0219, -0.025, 0.9996, 0.9054, 1.7115, 1.1255, -0.2359, 0.6964, 0.5556, 0.9994]\nstate[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1785 left_yaw=0.0006 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9996 right_x=0.3545 right_y=0.274 right_z=0.1375 right_yaw=0.036 right_pitch=-0.0391 right_roll=-0.0398 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.7299, 6.9402, 1.7118, -0.0464, -0.0611, -0.0171, 0.3897, -8.2803, 8.4581, 1.4579, 0.4811, 0.315, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:026289956b22c309d1cc4935974ae8b46db803e2b024f7c50253ac1a22ec94c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3df3bac0bc0b0667eb09c34f7b3a794d87f24b3619a9c2129fd756d8c2d76e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95ceb64f26e73b75ecdf3c4c9c3c35459c37b5f1514af1628b559bbdafd71f15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VJTuTbZhZcRearnNDqFrJk",
      "input": {
        "note": "Right wrist camera shows the pen lying diagonally down-right of the jaw column, so the pen is forward and to the arm's right of the fingertips. Nudging 3 cm forward and 3 cm right, descending slightly, to center it.",
        "targets": {
          "right_x": 0.38,
          "right_y": 0.245,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01VJTuTbZhZcRearnNDqFrJk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3809, -0.0219, -0.025, 0.9995, 0.8154, 1.7199, 1.0481, -0.1524, 0.6418, 0.4988, 0.9994]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1775 left_yaw=0.0006 left_pitch=-0.0095 left_roll=-0.0001 left_gripper=0.9995 right_x=0.3706 right_y=0.2445 right_z=0.1124 right_yaw=0.0145 right_pitch=-0.0715 right_roll=-0.0612 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -0.9641, 7.241, 1.7118, -0.0611, -0.0464, -0.0171, -0.1846, -9.0188, 7.0085, 1.8388, 0.2271, -0.1001, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3825e525a300aa68503da912d40f2af6b6959bf34c79791c6d7ea9d7f8665b59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bafaa3d2e2e45878f75ab6604adaee54611e69e09c0391217bc284ea0a0b9394",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:079d3d49c3646997a4bf11d114afc4ae725ceaf598ab36f23c99c5f3997683ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 7.912 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7914, 0.6018, -0.3794, -0.0219, -0.0246, 0.9996, -0.0185, 0.7906, 0.6086, -0.3759, -0.0219, -0.0143, 0.9994]\nstate[eef_state]: left_x=0.2944 left_y=0.0015 left_z=0.1798 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2956 right_y=0.002 right_z=0.1839 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5675, -1.3744, 10.5641, 1.7411, -0.0317, 0.1245, -0.0611, -0.6906, -1.1692, 9.894, 1.7509, -0.0415, 0.0024, -0.0757]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7975, 0.6033, -0.3809, -0.0219, -0.025, 0.9996, 0.9054, 1.7115, 1.1255, -0.2359, 0.6964, 0.5556, 0.9994]\nstate[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1785 left_yaw=0.0006 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9996 right_x=0.3545 right_y=0.274 right_z=0.1375 right_yaw=0.036 right_pitch=-0.0391 right_roll=-0.0398 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.7299, 6.9402, 1.7118, -0.0464, -0.0611, -0.0171, 0.3897, -8.2803, 8.4581, 1.4579, 0.4811, 0.315, -0.0708]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3809, -0.0219, -0.025, 0.9995, 0.8154, 1.7199, 1.0481, -0.1524, 0.6418, 0.4988, 0.9994]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1775 left_yaw=0.0006 left_pitch=-0.0095 left_roll=-0.0001 left_gripper=0.9995 right_x=0.3706 right_y=0.2445 right_z=0.1124 right_yaw=0.0145 right_pitch=-0.0715 right_roll=-0.0612 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -0.9641, 7.241, 1.7118, -0.0611, -0.0464, -0.0171, -0.1846, -9.0188, 7.0085, 1.8388, 0.2271, -0.1001, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3825e525a300aa68503da912d40f2af6b6959bf34c79791c6d7ea9d7f8665b59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bafaa3d2e2e45878f75ab6604adaee54611e69e09c0391217bc284ea0a0b9394",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:079d3d49c3646997a4bf11d114afc4ae725ceaf598ab36f23c99c5f3997683ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Te6qqdH4A7jccxtThta9SP",
      "input": {
        "note": "Pen still sits down-and-right of the jaw gap in the right wrist view. Making a larger 4.5 cm move to the arm's right and 3 cm forward to bring the pen onto the jaw column.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Te6qqdH4A7jccxtThta9SP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8013, 0.6029, -0.3809, -0.0219, -0.025, 0.9996, 0.7799, 1.7199, 1.0317, -0.1234, 0.6048, 0.4564, 0.9994]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1773 left_yaw=0.0006 left_pitch=-0.0103 left_roll=-0.0001 left_gripper=0.9996 right_x=0.3773 right_y=0.237 right_z=0.1077 right_yaw=0.029 right_pitch=-0.0826 right_roll=-0.0672 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -1.265, 7.1043, 1.7021, -0.0659, -0.0562, -0.0073, -0.5265, -9.347, 6.065, 1.3895, 0.2906, 0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:868543f0e3c12d3116cf1690e21e3cb826fbc39420733d0e32410f3084d93b43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4424c41cbd0f5da40ff6323783fbe3cabaef3052cee63abcea5d96bacee7fd6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:27fbc7db1df0c33983e66c84b7d86929151119e5662211a36f5e6fddd1ef92d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 27.58 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7975, 0.6033, -0.3809, -0.0219, -0.025, 0.9996, 0.9054, 1.7115, 1.1255, -0.2359, 0.6964, 0.5556, 0.9994]\nstate[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1785 left_yaw=0.0006 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9996 right_x=0.3545 right_y=0.274 right_z=0.1375 right_yaw=0.036 right_pitch=-0.0391 right_roll=-0.0398 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.7299, 6.9402, 1.7118, -0.0464, -0.0611, -0.0171, 0.3897, -8.2803, 8.4581, 1.4579, 0.4811, 0.315, -0.0708]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3809, -0.0219, -0.025, 0.9995, 0.8154, 1.7199, 1.0481, -0.1524, 0.6418, 0.4988, 0.9994]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1775 left_yaw=0.0006 left_pitch=-0.0095 left_roll=-0.0001 left_gripper=0.9995 right_x=0.3706 right_y=0.2445 right_z=0.1124 right_yaw=0.0145 right_pitch=-0.0715 right_roll=-0.0612 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -0.9641, 7.241, 1.7118, -0.0611, -0.0464, -0.0171, -0.1846, -9.0188, 7.0085, 1.8388, 0.2271, -0.1001, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8013, 0.6029, -0.3809, -0.0219, -0.025, 0.9996, 0.7799, 1.7199, 1.0317, -0.1234, 0.6048, 0.4564, 0.9994]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1773 left_yaw=0.0006 left_pitch=-0.0103 left_roll=-0.0001 left_gripper=0.9996 right_x=0.3773 right_y=0.237 right_z=0.1077 right_yaw=0.029 right_pitch=-0.0826 right_roll=-0.0672 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -1.265, 7.1043, 1.7021, -0.0659, -0.0562, -0.0073, -0.5265, -9.347, 6.065, 1.3895, 0.2906, 0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:868543f0e3c12d3116cf1690e21e3cb826fbc39420733d0e32410f3084d93b43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4424c41cbd0f5da40ff6323783fbe3cabaef3052cee63abcea5d96bacee7fd6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27fbc7db1df0c33983e66c84b7d86929151119e5662211a36f5e6fddd1ef92d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5gcKjgEIEhgCKkDGzn8iSVkD5ttpYvWqyas0DLwgUAMe77icH1ylt1aU83dAaVGtXufjSTCdQt3IYU+tGxCw3VKdSiVZj8Rca2QBMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeG5zNUGEgxvRodPb3JNR9tLuuMaDA4RASDeCGq/ANR6MSIwIDny6EZXFdOOQy8SvSwglhfATNtbyC7I7ydDEz2fOGio5Et/VbYk7DGb02FgUyGfKoQGLxH0DvrE2DM6wi1yMyMeHFD+oSaGHlCi/4jmuAZCMAYONoVHHlpMGyncvU5IuJ9q9uiSBmw0ENNQddOmfyHt5x2/f6yJik316P3Ls2BgFeIF/Ac+hEd1p8coJOPTdiTkxbLyue8YHnv8d0nmocTRJkUOlbUtkQxMonBxtSiIQdSxuAiw6mK4fyuKFlkf1mzL1L1pGgGsPmq8Ojw4O5Jto/oaCS0giXFKnfAkcigg3CjIsVmNOpuf33/KZ9KB3FVOrjUihgPbn9IFw+PIoefyq7pYtbrkgLHCIZU6BcNm77P1JOLkh+ez9Rz1qYjRtEPEGxxFGZlxQc1WUR+V6RG6W5WYHzynHmXJIFP1NTwpdyHNWtqcgXYPkL9egYaXLvk+upQrZdqb87LeexDMsQdg4S91yfio5K491mhSbYtyMfnnGQmN+MI2mrNKFhV3EmN7L9A9okS2gOXK0D9vUgphTP6M+dnWXyDTH88aWxPvtlS5XqWtuB6iy6D96wTWD9OSGqKxBrQG5GsxovFJnSLjY5i3AqN4H9bna8adVvbniTl03vR9Ki+aR93h0P8EaEcKzcxzoG/OpJSzvCHPWvrNp7bS1cc1ajQpuC5lAHxwNEKlD3y8IwmlWpGw7+9Rz7KfzC9NpJ1ZMqHaeC6DiUBjkVIK6TuIbx5BSmwYJdnLb6Rp+h/mvs3H3n61jNQWqpM7jd3YZsvoRnm9xaxxaovnEByUxa01y0qGkOUJehdaowd6LcsAXqk+CzwXVdBgteqFWBNqWKcEexpgpIqXyEsNrRYkR+ylfCkH1gonzIdL656IqAr+/HepqHl94xcQ+I0HWA3hhEVYWcLK5BVCuBLUBeCGRQLnqt3kSlgifaSC/VjxXOVFEWNzC+zgoxJ4NP9A/DBgLp+rpwjwmXJQ2+2wkxPX1A+xj+FD+Z3VLfbf6pQ8e9ojPccJwRpAKD/ej6Usq6JHPuBrCcV30MQvR+xKcFTn5oCfoK9VSD+iKqmMx295AGnc7v+VCNzMFyplU0Et59eSDRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VDc5ntKmaXAEiJyMfsTYdS",
      "input": {
        "note": "The arm under-tracked the last target and the pen is still slightly right of the jaw gap. Re-commanding the same lateral target with a bit more forward reach to settle over the pen.",
        "targets": {
          "right_x": 0.41,
          "right_y": 0.2,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01VDc5ntKmaXAEiJyMfsTYdS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8013, 0.6029, -0.3809, -0.0219, -0.025, 0.9995, 0.7799, 1.7199, 1.0283, -0.1234, 0.6048, 0.4564, 0.9994]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1773 left_yaw=0.0006 left_pitch=-0.0103 left_roll=-0.0001 left_gripper=0.9995 right_x=0.3767 right_y=0.2363 right_z=0.1064 right_yaw=0.0288 right_pitch=-0.0851 right_roll=-0.0696 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -1.265, 7.0222, 1.7607, -0.0708, -0.0317, -0.0122, -0.6632, -9.1556, 6.3385, 1.3553, 0.3199, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1464997f441cf68350cefc8498074361cea8bd2af7374369820beeaf8eb284d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1fa450526f295085a664e9774a9cfa7ac7acd382fc3aff89c8f922a7b965b15b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b6fdb34157031e7d93f0a474e455c29a1bca726f5546898afd77af2e819e968c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 6.479 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3809, -0.0219, -0.025, 0.9995, 0.8154, 1.7199, 1.0481, -0.1524, 0.6418, 0.4988, 0.9994]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1775 left_yaw=0.0006 left_pitch=-0.0095 left_roll=-0.0001 left_gripper=0.9995 right_x=0.3706 right_y=0.2445 right_z=0.1124 right_yaw=0.0145 right_pitch=-0.0715 right_roll=-0.0612 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -0.9641, 7.241, 1.7118, -0.0611, -0.0464, -0.0171, -0.1846, -9.0188, 7.0085, 1.8388, 0.2271, -0.1001, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8013, 0.6029, -0.3809, -0.0219, -0.025, 0.9996, 0.7799, 1.7199, 1.0317, -0.1234, 0.6048, 0.4564, 0.9994]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1773 left_yaw=0.0006 left_pitch=-0.0103 left_roll=-0.0001 left_gripper=0.9996 right_x=0.3773 right_y=0.237 right_z=0.1077 right_yaw=0.029 right_pitch=-0.0826 right_roll=-0.0672 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -1.265, 7.1043, 1.7021, -0.0659, -0.0562, -0.0073, -0.5265, -9.347, 6.065, 1.3895, 0.2906, 0.0171, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8013, 0.6029, -0.3809, -0.0219, -0.025, 0.9995, 0.7799, 1.7199, 1.0283, -0.1234, 0.6048, 0.4564, 0.9994]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1773 left_yaw=0.0006 left_pitch=-0.0103 left_roll=-0.0001 left_gripper=0.9995 right_x=0.3767 right_y=0.2363 right_z=0.1064 right_yaw=0.0288 right_pitch=-0.0851 right_roll=-0.0696 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -1.265, 7.0222, 1.7607, -0.0708, -0.0317, -0.0122, -0.6632, -9.1556, 6.3385, 1.3553, 0.3199, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1464997f441cf68350cefc8498074361cea8bd2af7374369820beeaf8eb284d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1fa450526f295085a664e9774a9cfa7ac7acd382fc3aff89c8f922a7b965b15b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6fdb34157031e7d93f0a474e455c29a1bca726f5546898afd77af2e819e968c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DV3mDQ4nwvLJm9T3nLeJYL",
      "input": {
        "note": "The pen lies diagonally (running forward-left to back-right at roughly 30° from the arm's x axis), so I am yawing the tool +0.5 rad so the jaws close across the pen, while nudging slightly forward and right to center it between the jaws.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.215,
          "right_yaw": 0.5,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01DV3mDQ4nwvLJm9T3nLeJYL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8024, 0.6029, -0.3809, -0.0219, -0.025, 0.9996, 0.7803, 1.7199, 1.0279, -0.1234, 0.6048, 0.4564, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.177 left_yaw=0.0006 left_pitch=-0.0114 left_roll=-0.0001 left_gripper=0.9996 right_x=0.3765 right_y=0.2364 right_z=0.1063 right_yaw=0.0292 right_pitch=-0.0854 right_roll=-0.0699 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -1.388, 7.0222, 1.7021, -0.0806, -0.0269, -0.0073, -0.6632, -9.1966, 6.4615, 1.3553, 0.2711, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d92f572a0caac2678148c40c623bdab93231bd5dfc13669e9b59430f039ea292",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ea07c4be44b150afc3aa60c9c6bccfce9c161bb85af60ad09922203c3e0df50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bbd5da4a8d8e003217ff5e68183d284723758910ceaf6273c4581ed9194fccbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 16.35 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8013, 0.6029, -0.3809, -0.0219, -0.025, 0.9996, 0.7799, 1.7199, 1.0317, -0.1234, 0.6048, 0.4564, 0.9994]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1773 left_yaw=0.0006 left_pitch=-0.0103 left_roll=-0.0001 left_gripper=0.9996 right_x=0.3773 right_y=0.237 right_z=0.1077 right_yaw=0.029 right_pitch=-0.0826 right_roll=-0.0672 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -1.265, 7.1043, 1.7021, -0.0659, -0.0562, -0.0073, -0.5265, -9.347, 6.065, 1.3895, 0.2906, 0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8013, 0.6029, -0.3809, -0.0219, -0.025, 0.9995, 0.7799, 1.7199, 1.0283, -0.1234, 0.6048, 0.4564, 0.9994]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1773 left_yaw=0.0006 left_pitch=-0.0103 left_roll=-0.0001 left_gripper=0.9995 right_x=0.3767 right_y=0.2363 right_z=0.1064 right_yaw=0.0288 right_pitch=-0.0851 right_roll=-0.0696 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -1.265, 7.0222, 1.7607, -0.0708, -0.0317, -0.0122, -0.6632, -9.1556, 6.3385, 1.3553, 0.3199, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8024, 0.6029, -0.3809, -0.0219, -0.025, 0.9996, 0.7803, 1.7199, 1.0279, -0.1234, 0.6048, 0.4564, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.177 left_yaw=0.0006 left_pitch=-0.0114 left_roll=-0.0001 left_gripper=0.9996 right_x=0.3765 right_y=0.2364 right_z=0.1063 right_yaw=0.0292 right_pitch=-0.0854 right_roll=-0.0699 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -1.388, 7.0222, 1.7021, -0.0806, -0.0269, -0.0073, -0.6632, -9.1966, 6.4615, 1.3553, 0.2711, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d92f572a0caac2678148c40c623bdab93231bd5dfc13669e9b59430f039ea292",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ea07c4be44b150afc3aa60c9c6bccfce9c161bb85af60ad09922203c3e0df50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbd5da4a8d8e003217ff5e68183d284723758910ceaf6273c4581ed9194fccbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISuwUKjgEIEhgCKkD6TrawHqqWri9vZOncw5viM22trA+jhPhLpjBEH+N2gV+NKrAM41ctPN3s3D0fcckhtwcCtpQSWpmRUTozE1y/Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYO6zNUGEgzjW9nHqcB0t0BOujcaDD2AE9MTIzAoMAXZpyIw1T8x3PZ/awEk6Zz0BU87uikFvZB5FUiHL3HHMQAFgAO5TjMoY0hCaiivLJuY2dS3KtkDVIRcnS3rEtCBuQwDioEzBoVWTElAdYjyyDxkPiVApKxuCBOlaFctCqIe0Qqan7esg1DIznUcfGL0k5jSYhu7bE79OLdGoxL141KAjZ0+RZfKJVxYD4r4maGMFnWDDD+/mlKo4y+AhZxHaV7infuG0C6h71HHf6wIgECJ09qXYxyLDNvRx3tSA7/ZKHa+7q8n2MGf9uk/oPhIzn3Co446TI708GcNbNtq8klk64fevJUx9g3WY0LQ5kqgjf+/le70uDHfuc+mtOg9F9ICK4cqAv1k9EXbo63n5N7iom4NJVPyzFpLpLcrFgKFlS6bFC+mMtkF9TAfXByCei4dXGg0alMDemfiGaekeZ/HmKRCluup4pOdEw1hZomIBShUrOxgj/n6OfxQwqYKVJdDtwxteUQs2ykM0V0Y9/bWtaCLoV6fioW0Mwr61rr6xQmRyAM/x98T5bM+tnLYi0gjEBR8O0eKFid3DkGhn7/8TjVpEyJSIlkWAd6cdwWTEtVeOs9KC8yRByQ+AvBtnJpSmFBqEtVhnOIK8wsdXuVfkQpKHGMRmMQ3dstUAF2/NduGUlClr2HEVhSAuz5lpnA8gOHtLGO6T88n6qpzPIQ1h0jtpXah08LUFhuAT1UYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014kbkm5Zm2urtjDhHCh4pJe",
      "input": {
        "note": "The right arm has stopped tracking commands (readback frozen for three moves). Backing off upward and toward the base to break out of the stalled pose before re-approaching.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.24,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_014kbkm5Zm2urtjDhHCh4pJe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8024, 0.6029, -0.3805, -0.0219, -0.025, 0.9996, 0.8833, 1.5677, 1.1912, -0.5037, 0.6495, 0.5297, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1771 left_yaw=0.0006 left_pitch=-0.0111 left_roll=-0.0001 left_gripper=0.9996 right_x=0.3358 right_y=0.2462 right_z=0.1794 right_yaw=0.0571 right_pitch=-0.1049 right_roll=-0.0813 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.2923, 7.4462, 1.7363, -0.0806, -0.0708, -0.0171, 0.4855, -9.6615, 8.6222, 1.2723, 0.4713, 0.2759, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9447822d457d54307f97ed6f967b894a76d53c586f06d11af878ae0afb37f4a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bce886d0712959ec96e7b25b546b96ff6e33ec42f9e029bcac767f54e791b41e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6055b719703d1faad7e362d88f942858ee4b4e55ee802c005499dc966f19f8ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 16.65 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8013, 0.6029, -0.3809, -0.0219, -0.025, 0.9995, 0.7799, 1.7199, 1.0283, -0.1234, 0.6048, 0.4564, 0.9994]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1773 left_yaw=0.0006 left_pitch=-0.0103 left_roll=-0.0001 left_gripper=0.9995 right_x=0.3767 right_y=0.2363 right_z=0.1064 right_yaw=0.0288 right_pitch=-0.0851 right_roll=-0.0696 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -1.265, 7.0222, 1.7607, -0.0708, -0.0317, -0.0122, -0.6632, -9.1556, 6.3385, 1.3553, 0.3199, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8024, 0.6029, -0.3809, -0.0219, -0.025, 0.9996, 0.7803, 1.7199, 1.0279, -0.1234, 0.6048, 0.4564, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.177 left_yaw=0.0006 left_pitch=-0.0114 left_roll=-0.0001 left_gripper=0.9996 right_x=0.3765 right_y=0.2364 right_z=0.1063 right_yaw=0.0292 right_pitch=-0.0854 right_roll=-0.0699 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -1.388, 7.0222, 1.7021, -0.0806, -0.0269, -0.0073, -0.6632, -9.1966, 6.4615, 1.3553, 0.2711, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8024, 0.6029, -0.3805, -0.0219, -0.025, 0.9996, 0.8833, 1.5677, 1.1912, -0.5037, 0.6495, 0.5297, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1771 left_yaw=0.0006 left_pitch=-0.0111 left_roll=-0.0001 left_gripper=0.9996 right_x=0.3358 right_y=0.2462 right_z=0.1794 right_yaw=0.0571 right_pitch=-0.1049 right_roll=-0.0813 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.2923, 7.4462, 1.7363, -0.0806, -0.0708, -0.0171, 0.4855, -9.6615, 8.6222, 1.2723, 0.4713, 0.2759, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9447822d457d54307f97ed6f967b894a76d53c586f06d11af878ae0afb37f4a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bce886d0712959ec96e7b25b546b96ff6e33ec42f9e029bcac767f54e791b41e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6055b719703d1faad7e362d88f942858ee4b4e55ee802c005499dc966f19f8ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01L4rbisVYAE2sDnfb6M7ebU",
      "input": {
        "note": "The arm is moving again after backing off. The pen runs diagonally in the wrist view, so I am rotating the tool +0.5 rad in yaw to align the jaws across the pen while easing forward and right toward it.",
        "targets": {
          "right_x": 0.355,
          "right_y": 0.225,
          "right_yaw": 0.5,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01L4rbisVYAE2sDnfb6M7ebU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.807, 0.6029, -0.3813, -0.0216, -0.025, 0.9995, 0.6487, 1.4597, 0.9565, -0.3264, 0.3298, 0.2066, 0.9994]\nstate[eef_state]: left_x=0.2953 left_y=0.0014 left_z=0.1756 left_yaw=-0.0001 left_pitch=-0.0164 left_roll=-0.0002 left_gripper=0.9995 right_x=0.3468 right_y=0.1956 right_z=0.134 right_yaw=0.2439 right_pitch=-0.2173 right_roll=-0.0989 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.1282, 7.0906, 1.707, -0.0562, -0.0513, -0.0171, 2.4821, -8.6906, 8.2667, 2.0781, -0.2027, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e676db1e22fb8c8eff0d652be2df67d08762ceb108fdfd2fcf58d171963363ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc88c0d3fe74c0df33b4e94b2bd51c5a7e9e5356c25a9e24542acdf9b42edbf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:68bf71830eae6d547ec12bd50ab318b3477de4ba9a3ea58320e9386c3484ad49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 19.1 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8024, 0.6029, -0.3809, -0.0219, -0.025, 0.9996, 0.7803, 1.7199, 1.0279, -0.1234, 0.6048, 0.4564, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.177 left_yaw=0.0006 left_pitch=-0.0114 left_roll=-0.0001 left_gripper=0.9996 right_x=0.3765 right_y=0.2364 right_z=0.1063 right_yaw=0.0292 right_pitch=-0.0854 right_roll=-0.0699 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -1.388, 7.0222, 1.7021, -0.0806, -0.0269, -0.0073, -0.6632, -9.1966, 6.4615, 1.3553, 0.2711, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8024, 0.6029, -0.3805, -0.0219, -0.025, 0.9996, 0.8833, 1.5677, 1.1912, -0.5037, 0.6495, 0.5297, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1771 left_yaw=0.0006 left_pitch=-0.0111 left_roll=-0.0001 left_gripper=0.9996 right_x=0.3358 right_y=0.2462 right_z=0.1794 right_yaw=0.0571 right_pitch=-0.1049 right_roll=-0.0813 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.2923, 7.4462, 1.7363, -0.0806, -0.0708, -0.0171, 0.4855, -9.6615, 8.6222, 1.2723, 0.4713, 0.2759, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.807, 0.6029, -0.3813, -0.0216, -0.025, 0.9995, 0.6487, 1.4597, 0.9565, -0.3264, 0.3298, 0.2066, 0.9994]\nstate[eef_state]: left_x=0.2953 left_y=0.0014 left_z=0.1756 left_yaw=-0.0001 left_pitch=-0.0164 left_roll=-0.0002 left_gripper=0.9995 right_x=0.3468 right_y=0.1956 right_z=0.134 right_yaw=0.2439 right_pitch=-0.2173 right_roll=-0.0989 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.1282, 7.0906, 1.707, -0.0562, -0.0513, -0.0171, 2.4821, -8.6906, 8.2667, 2.0781, -0.2027, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e676db1e22fb8c8eff0d652be2df67d08762ceb108fdfd2fcf58d171963363ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc88c0d3fe74c0df33b4e94b2bd51c5a7e9e5356c25a9e24542acdf9b42edbf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68bf71830eae6d547ec12bd50ab318b3477de4ba9a3ea58320e9386c3484ad49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Befr8AUnsuDeuueesrt5cq",
      "input": {
        "note": "The pen now appears almost vertical between the open jaws in the right wrist view. Completing the yaw rotation and descending toward the pen while shifting slightly forward/right to line the jaws up on its middle.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.2,
          "right_yaw": 0.5,
          "right_z": 0.115
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Befr8AUnsuDeuueesrt5cq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3809, -0.0219, -0.025, 0.9996, 0.6029, 1.4544, 0.9081, -0.1871, 0.1585, 0.0193, 0.9993]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1757 left_yaw=0.0006 left_pitch=-0.016 left_roll=0.0 left_gripper=0.9996 right_x=0.3528 right_y=0.2134 right_z=0.1347 right_yaw=0.4486 right_pitch=-0.1667 right_roll=-0.0935 right_gripper=0.9993\nstate[joint_eff]: [-0.3897, -1.2786, 7.3094, 1.7216, -0.0611, -0.0415, -0.0073, -0.8547, -5.5726, 6.5299, 1.7607, 0.1343, 0.1294, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5aa60c7f2880bcca86663dc4135a48911fd389fa31141df0ace3117726a48db7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:549dc12a10faaf4da4e33a0c720ae5fceebb9aa2861873a3408a2568bb608bd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:018cd0a00e8fb1a0a59a75c8c9902d6a57cabd650d76321a0d2c139f9cfe7593",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 10.67 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8024, 0.6029, -0.3805, -0.0219, -0.025, 0.9996, 0.8833, 1.5677, 1.1912, -0.5037, 0.6495, 0.5297, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1771 left_yaw=0.0006 left_pitch=-0.0111 left_roll=-0.0001 left_gripper=0.9996 right_x=0.3358 right_y=0.2462 right_z=0.1794 right_yaw=0.0571 right_pitch=-0.1049 right_roll=-0.0813 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.2923, 7.4462, 1.7363, -0.0806, -0.0708, -0.0171, 0.4855, -9.6615, 8.6222, 1.2723, 0.4713, 0.2759, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.807, 0.6029, -0.3813, -0.0216, -0.025, 0.9995, 0.6487, 1.4597, 0.9565, -0.3264, 0.3298, 0.2066, 0.9994]\nstate[eef_state]: left_x=0.2953 left_y=0.0014 left_z=0.1756 left_yaw=-0.0001 left_pitch=-0.0164 left_roll=-0.0002 left_gripper=0.9995 right_x=0.3468 right_y=0.1956 right_z=0.134 right_yaw=0.2439 right_pitch=-0.2173 right_roll=-0.0989 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.1282, 7.0906, 1.707, -0.0562, -0.0513, -0.0171, 2.4821, -8.6906, 8.2667, 2.0781, -0.2027, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3809, -0.0219, -0.025, 0.9996, 0.6029, 1.4544, 0.9081, -0.1871, 0.1585, 0.0193, 0.9993]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1757 left_yaw=0.0006 left_pitch=-0.016 left_roll=0.0 left_gripper=0.9996 right_x=0.3528 right_y=0.2134 right_z=0.1347 right_yaw=0.4486 right_pitch=-0.1667 right_roll=-0.0935 right_gripper=0.9993\nstate[joint_eff]: [-0.3897, -1.2786, 7.3094, 1.7216, -0.0611, -0.0415, -0.0073, -0.8547, -5.5726, 6.5299, 1.7607, 0.1343, 0.1294, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5aa60c7f2880bcca86663dc4135a48911fd389fa31141df0ace3117726a48db7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:549dc12a10faaf4da4e33a0c720ae5fceebb9aa2861873a3408a2568bb608bd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:018cd0a00e8fb1a0a59a75c8c9902d6a57cabd650d76321a0d2c139f9cfe7593",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01842y9MKV7mDWFDUWWuKfGA",
      "input": {
        "note": "The pen now appears vertical in the wrist view, just right of the jaw gap. Shifting ~3 cm along the tool's right axis plus 2 cm forward and descending to table level so the open jaws straddle the pen's middle.",
        "targets": {
          "right_x": 0.384,
          "right_y": 0.195,
          "right_yaw": 0.45,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01842y9MKV7mDWFDUWWuKfGA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3813, -0.0219, -0.0254, 0.9995, 0.5953, 1.4624, 0.8894, -0.1837, 0.1905, 0.0448, 0.9993]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1756 left_yaw=0.0008 left_pitch=-0.0164 left_roll=-0.0003 left_gripper=0.9995 right_x=0.3537 right_y=0.2035 right_z=0.125 right_yaw=0.3992 right_pitch=-0.1846 right_roll=-0.1001 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -1.2376, 7.0496, 1.707, -0.0806, -0.0757, -0.0171, -0.2256, -6.2974, 6.8718, 1.663, 0.1929, 0.105, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f583434721317e5e5d5dfc05222bc3f6cabb124fea7770a2f1b2c848d95ccd64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47b4669b71441dfb4dfaf98cfd1442eca5753999550863af7a4a7b6e25dc3c7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cd1a88f9e68b34060c424dc49dfc3f7dd8d1013d95673b4cf06b6bc0610aa8c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 4.66 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.807, 0.6029, -0.3813, -0.0216, -0.025, 0.9995, 0.6487, 1.4597, 0.9565, -0.3264, 0.3298, 0.2066, 0.9994]\nstate[eef_state]: left_x=0.2953 left_y=0.0014 left_z=0.1756 left_yaw=-0.0001 left_pitch=-0.0164 left_roll=-0.0002 left_gripper=0.9995 right_x=0.3468 right_y=0.1956 right_z=0.134 right_yaw=0.2439 right_pitch=-0.2173 right_roll=-0.0989 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.1282, 7.0906, 1.707, -0.0562, -0.0513, -0.0171, 2.4821, -8.6906, 8.2667, 2.0781, -0.2027, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3809, -0.0219, -0.025, 0.9996, 0.6029, 1.4544, 0.9081, -0.1871, 0.1585, 0.0193, 0.9993]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1757 left_yaw=0.0006 left_pitch=-0.016 left_roll=0.0 left_gripper=0.9996 right_x=0.3528 right_y=0.2134 right_z=0.1347 right_yaw=0.4486 right_pitch=-0.1667 right_roll=-0.0935 right_gripper=0.9993\nstate[joint_eff]: [-0.3897, -1.2786, 7.3094, 1.7216, -0.0611, -0.0415, -0.0073, -0.8547, -5.5726, 6.5299, 1.7607, 0.1343, 0.1294, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3813, -0.0219, -0.0254, 0.9995, 0.5953, 1.4624, 0.8894, -0.1837, 0.1905, 0.0448, 0.9993]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1756 left_yaw=0.0008 left_pitch=-0.0164 left_roll=-0.0003 left_gripper=0.9995 right_x=0.3537 right_y=0.2035 right_z=0.125 right_yaw=0.3992 right_pitch=-0.1846 right_roll=-0.1001 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -1.2376, 7.0496, 1.707, -0.0806, -0.0757, -0.0171, -0.2256, -6.2974, 6.8718, 1.663, 0.1929, 0.105, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f583434721317e5e5d5dfc05222bc3f6cabb124fea7770a2f1b2c848d95ccd64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47b4669b71441dfb4dfaf98cfd1442eca5753999550863af7a4a7b6e25dc3c7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd1a88f9e68b34060c424dc49dfc3f7dd8d1013d95673b4cf06b6bc0610aa8c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISjgoKjgEIEhgCKkC2pxqspR7G/aERf7OhOhvEbxXMzYFvExlou5tFLe1lB6ekQmVxg6PRi4GL1USq681BKUAG9t2wgRsKJZhntmIBMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcS6zNUGEgxOt0j0HvV882An73kaDElsAOfA9yjwJbeu5iIwlxhQ5xomCTKt6qJySkMbv7TPEfIS9lptL/EpjSPN8CN3DtNp8l2KUVI1uabD9FacKqwIj/quS+GHZPZPa1EjXFERvNlOF+BQh3dv9lCgy7ui4gXZv9M4hQWmBhjhpXPhGaCRQnw94OPh5jS+0fNv6lmDLwdxy3cVJ5OrlDRU0OS6Eicn4y/n++CELqWnOpHZu/ngylS7GDFBjowfFtU3xl7NrMpD9l9OG/NXWv15bXuI4KekjNT27Mz+7ubXAWnk0XiRLhMipO/MyiKSBRYeZM9ngWBaCHM3HJfCtzVwbHOfXgnUc+DjJMaH4H5k0WM44608GuKdPx7nk83RXC/Ip9kUO0kWTguXU57sFqSt8wSTo8ZIuuC6lzOrySXrQUNL9+4FZOhNabpN8nWvYUBK5mNcM3PU+s3eKX5t2HElbYIcA3aYqmenOyxTkCsP6UE2kwEmGfOk33gVlyQRCCovaV966Dh2rjPmvztGTFnR5OSlrk35x07IjPK1mgkOV0yENGyzwDFdJQtHbjM4WTclMjn4Xj7gZysTAdaQDTPumAmujqfceu7+wQBmikY3R7Q/sQiQb1goo9thdsHmkKUalHJqH3Gm8QA3t6Xqvfe1cC870ZxJtNshk0aF0CAiO3polW7jU5uqUkSlvI97gQcFg2HR2dkv0XrGxLW/ibnvglx4K62W05HWRSW5KkBdIfYZKo6ipw+SqPP0RX9uZHxVvqANe+CGjGx7rbjKSp4SXBB8G4h1JrNMVff9LCed8zYOE2Qg/maud72suRW0EgrIMzelE2OEKorbdJkPyiwb2UbeqVi66sg1Qvc/p7u929F+yeMiInYEzDTsprZGBHKPWIoU++qPbZgKCyxlMvtrwtyJynVOZuCauVxoP1MlyV8d7OzDDbr7tL3POpscL5+Uf5WalOLCBnCaMzWz3TqWzIjmf7DxWXkWxZfqR5UTO6I4bolH7bVAk98UxRIYwM1zwEz+AZZU4/18kKJkWLdNyO6VYKWyM94PALaCc4slUe6a0vgb0yrkksPKruab/aaacbO1U2DuTQ48f4nsAyF4QR9sCnfMjFaxU4VjojoOGvEen8v70Pp6AfP3ZtZO/L1NX/ukIR3OCHRnRmNK3wq5Z7BP859LVnE9RxMttD5fushTgWLeEym2x7Ak4hv+Lhxfh37Z1QrptYv+7h8Ayrk5g0wE/X5/p3FkqLlXCH0wxuftq7TW55q189kPHgkovtEpd0Lsoexm/uUwaeXl4uQBwP1tlW6KHEbAg2/phX5eJzc5Zj3vXsmTGQPTHfkDvBQUJ+GJ7BhuvxUhCn/eMwKLk+sVI/pAf3UCx3ucA4SRCLDFF+NkC6PEXtPpx0ziHp9blGt0SfAcj8v+5ihXzJ4Q2LKylJ8TgTiGJBoR1U1TLrms9unTsIHVyF3rBSKvr8mxd2l2cv72PdaiIAAjOoaxIXDhvc1FKZDRL23wdvEUjEXjmtoZ+Z2hkf14+PZvHJYzGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PKrXCPT3nUPptRwz4CDLSR",
      "input": {
        "note": "The arm tracks targets slowly and only advanced ~1 cm last call; the pen is now nearly centered in the jaw gap. Re-sending the same descend-to-table target so the motion completes.",
        "targets": {
          "right_x": 0.384,
          "right_y": 0.195,
          "right_yaw": 0.45,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01PKrXCPT3nUPptRwz4CDLSR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8089, 0.6029, -0.3809, -0.0219, -0.0254, 0.9995, 0.5014, 1.795, 0.7231, 0.2615, 0.0944, -0.0414, 0.9994]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1752 left_yaw=0.0008 left_pitch=-0.0179 left_roll=-0.0003 left_gripper=0.9995 right_x=0.373 right_y=0.1896 right_z=0.0049 right_yaw=0.4334 right_pitch=-0.251 right_roll=-0.1015 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -1.4564, 7.2, 1.6825, -0.0366, -0.0659, -0.0122, -0.4308, -7.5966, 4.9436, 1.8242, 0.0317, -0.149, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eee6fb896779a90395ede226c8ca3401b77af5111329d504e44ab618cc54d1a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27a5869b397b8ea61acda157cff72c5680438b2e611a6ffeb5546891c586cf90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f2fb0465893579c971f327b8d897d602af66e8327603b74f179ecda26b78ea79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 3.932 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3809, -0.0219, -0.025, 0.9996, 0.6029, 1.4544, 0.9081, -0.1871, 0.1585, 0.0193, 0.9993]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1757 left_yaw=0.0006 left_pitch=-0.016 left_roll=0.0 left_gripper=0.9996 right_x=0.3528 right_y=0.2134 right_z=0.1347 right_yaw=0.4486 right_pitch=-0.1667 right_roll=-0.0935 right_gripper=0.9993\nstate[joint_eff]: [-0.3897, -1.2786, 7.3094, 1.7216, -0.0611, -0.0415, -0.0073, -0.8547, -5.5726, 6.5299, 1.7607, 0.1343, 0.1294, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3813, -0.0219, -0.0254, 0.9995, 0.5953, 1.4624, 0.8894, -0.1837, 0.1905, 0.0448, 0.9993]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1756 left_yaw=0.0008 left_pitch=-0.0164 left_roll=-0.0003 left_gripper=0.9995 right_x=0.3537 right_y=0.2035 right_z=0.125 right_yaw=0.3992 right_pitch=-0.1846 right_roll=-0.1001 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -1.2376, 7.0496, 1.707, -0.0806, -0.0757, -0.0171, -0.2256, -6.2974, 6.8718, 1.663, 0.1929, 0.105, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8089, 0.6029, -0.3809, -0.0219, -0.0254, 0.9995, 0.5014, 1.795, 0.7231, 0.2615, 0.0944, -0.0414, 0.9994]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1752 left_yaw=0.0008 left_pitch=-0.0179 left_roll=-0.0003 left_gripper=0.9995 right_x=0.373 right_y=0.1896 right_z=0.0049 right_yaw=0.4334 right_pitch=-0.251 right_roll=-0.1015 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -1.4564, 7.2, 1.6825, -0.0366, -0.0659, -0.0122, -0.4308, -7.5966, 4.9436, 1.8242, 0.0317, -0.149, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eee6fb896779a90395ede226c8ca3401b77af5111329d504e44ab618cc54d1a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27a5869b397b8ea61acda157cff72c5680438b2e611a6ffeb5546891c586cf90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2fb0465893579c971f327b8d897d602af66e8327603b74f179ecda26b78ea79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0AMKjgEIEhgCKkBgueX/yJcBWoaJoPxsWrbDOZX86C2J5Emzpnj5IMXz4BEebXY31Iq9yfyGJo++KYfZkCnR6omfyYqpfV0HKH+BMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcq6zNUGEgyx+VTSZpS5S9e1mGAaDNIRbEwLIG4A5pTlFiIwHzeYT96cs904TYkjTU96nMQVyFgQr3GHwbceJzGGaMrNVv9g178yVmJd/r2GAN0/Ku4Bu5wad+hqCPvxY99/QJogkDTvvJbzEjPbZreAXO8eOOYLAARQHdbIX5X5TfciHSwlVa1mC0op31CiBT7rNl2J+811TGkm6e2tiUZ27NahnW/Cuduqsl6mBJzB62Z87pw6Nizljj8h2Un8ALtOjBH3sqhl+wxTLYM4vjd0twnc2D52SICeBsRhg/UtqZF5t8FJekLE86cIEWlk82uip0UB7Swse9JlyaFiZ0lW6Aq1nT3ZT7YRumxzbdqptVndnPl+3UO+cclz4AdsSVp4m/YCDWVNk2y0Ucdqa0iba5ldww9AIGSBjwxLhgFWclCMdBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HHoHeYEN1Mv6HD5jkHjMSu",
      "input": {
        "note": "The gripper is at table level with the pen running vertically right between the open jaws. Closing to grasp the pen.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01HHoHeYEN1Mv6HD5jkHjMSu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8108, 0.6029, -0.3817, -0.0219, -0.0254, 0.9995, 0.4988, 1.808, 0.7162, 0.2905, 0.0784, -0.0414, 0.0476]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1745 left_yaw=0.0008 left_pitch=-0.0206 left_roll=-0.0002 left_gripper=0.9995 right_x=0.3734 right_y=0.1917 right_z=0.0022 right_yaw=0.4449 right_pitch=-0.2425 right_roll=-0.089 right_gripper=0.0476\nstate[joint_eff]: [-0.253, -1.5248, 7.2137, 1.7314, -0.0904, -0.0659, -0.0122, 0.0342, -8.9778, 5.641, 1.243, 0.1587, 0.0024, 1.2918]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b9f55ce070e29af9a06850cdf2fa5b8d6f6b706af4d0f1d7cf81b513a87b955",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:630b7d55e3faae535ebcae30dc8a055953f9001e3e20aaf52f244a112582a450",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a86e727002f7326efef05a202df2b3725e8455d098b495e9bdebe5ef889f8fa1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 29.98 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3813, -0.0219, -0.0254, 0.9995, 0.5953, 1.4624, 0.8894, -0.1837, 0.1905, 0.0448, 0.9993]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1756 left_yaw=0.0008 left_pitch=-0.0164 left_roll=-0.0003 left_gripper=0.9995 right_x=0.3537 right_y=0.2035 right_z=0.125 right_yaw=0.3992 right_pitch=-0.1846 right_roll=-0.1001 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -1.2376, 7.0496, 1.707, -0.0806, -0.0757, -0.0171, -0.2256, -6.2974, 6.8718, 1.663, 0.1929, 0.105, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8089, 0.6029, -0.3809, -0.0219, -0.0254, 0.9995, 0.5014, 1.795, 0.7231, 0.2615, 0.0944, -0.0414, 0.9994]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1752 left_yaw=0.0008 left_pitch=-0.0179 left_roll=-0.0003 left_gripper=0.9995 right_x=0.373 right_y=0.1896 right_z=0.0049 right_yaw=0.4334 right_pitch=-0.251 right_roll=-0.1015 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -1.4564, 7.2, 1.6825, -0.0366, -0.0659, -0.0122, -0.4308, -7.5966, 4.9436, 1.8242, 0.0317, -0.149, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8108, 0.6029, -0.3817, -0.0219, -0.0254, 0.9995, 0.4988, 1.808, 0.7162, 0.2905, 0.0784, -0.0414, 0.0476]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1745 left_yaw=0.0008 left_pitch=-0.0206 left_roll=-0.0002 left_gripper=0.9995 right_x=0.3734 right_y=0.1917 right_z=0.0022 right_yaw=0.4449 right_pitch=-0.2425 right_roll=-0.089 right_gripper=0.0476\nstate[joint_eff]: [-0.253, -1.5248, 7.2137, 1.7314, -0.0904, -0.0659, -0.0122, 0.0342, -8.9778, 5.641, 1.243, 0.1587, 0.0024, 1.2918]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b9f55ce070e29af9a06850cdf2fa5b8d6f6b706af4d0f1d7cf81b513a87b955",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:630b7d55e3faae535ebcae30dc8a055953f9001e3e20aaf52f244a112582a450",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a86e727002f7326efef05a202df2b3725e8455d098b495e9bdebe5ef889f8fa1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS8wIKjgEIEhgCKkAu2VTufdD066bjZLCQnlFfvT3y/I5MHrRbvqcTShRTskzwvGY/AjL+CIsKUJhS+iO6t9YNvbjdkhH7DBr/LpGcMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAc+6zNUGEgxrCQJV2nIYUqVaeVgaDKmdtTEjDrOcKvODwCIwNXbfhgQV/mmLqPWp3AQPY61/CYx0XDqMCsWjVhJxvYCYkh56eXz8UZqAFJ7IZlPkKpEB639pDMiP21ZlVvHv7+I3GfThin/fNgNFHFdai935cbsFYbvgTU+witYivWxa9KqhzL5t3kDI6eRjHczUJ8Wpdk0VtIPPQCsD0iYwhy4D+pCQYQIGlXlYWDyS1uQWvMV1y8yzaedycfSZacsubfqY7eHUqEsiBGewVsdyiYwLb6+ZUbl1VcxuvFqEp1KlqwMDBhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014p2ebbtFy6d9CP1QvVkGJf",
      "input": {
        "note": "Gripper settled at 0.048 (~4.5 mm), consistent with holding the thin pen. Lifting 10 cm to confirm the pen came up with the jaws.",
        "targets": {
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_014p2ebbtFy6d9CP1QvVkGJf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8112, 0.6029, -0.3817, -0.0219, -0.0254, 0.9995, 0.4988, 1.565, 0.9279, -0.1764, 0.0734, -0.0418, 0.0525]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1744 left_yaw=0.0008 left_pitch=-0.021 left_roll=-0.0002 left_gripper=0.9995 right_x=0.3736 right_y=0.1928 right_z=0.0997 right_yaw=0.4493 right_pitch=-0.2549 right_roll=-0.0863 right_gripper=0.0525\nstate[joint_eff]: [-0.1162, -1.388, 7.0085, 1.7656, -0.0611, -0.0464, -0.0073, -0.3624, -9.2103, 8.7316, 1.4579, 0.0708, -0.0317, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d27632983766a340f49b275605a3557af951cdc140fc0c9d07b6af696d2d24aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c3538b41f9a8acd2f973ce3690bb2326b9baa91ed57c2f0232ff8e1243ad30c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7725033be0cbd3d02a0467b933d0af45204b6ea21881e2455dea007ee9ef26ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 20.21 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8089, 0.6029, -0.3809, -0.0219, -0.0254, 0.9995, 0.5014, 1.795, 0.7231, 0.2615, 0.0944, -0.0414, 0.9994]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1752 left_yaw=0.0008 left_pitch=-0.0179 left_roll=-0.0003 left_gripper=0.9995 right_x=0.373 right_y=0.1896 right_z=0.0049 right_yaw=0.4334 right_pitch=-0.251 right_roll=-0.1015 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -1.4564, 7.2, 1.6825, -0.0366, -0.0659, -0.0122, -0.4308, -7.5966, 4.9436, 1.8242, 0.0317, -0.149, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8108, 0.6029, -0.3817, -0.0219, -0.0254, 0.9995, 0.4988, 1.808, 0.7162, 0.2905, 0.0784, -0.0414, 0.0476]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1745 left_yaw=0.0008 left_pitch=-0.0206 left_roll=-0.0002 left_gripper=0.9995 right_x=0.3734 right_y=0.1917 right_z=0.0022 right_yaw=0.4449 right_pitch=-0.2425 right_roll=-0.089 right_gripper=0.0476\nstate[joint_eff]: [-0.253, -1.5248, 7.2137, 1.7314, -0.0904, -0.0659, -0.0122, 0.0342, -8.9778, 5.641, 1.243, 0.1587, 0.0024, 1.2918]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8112, 0.6029, -0.3817, -0.0219, -0.0254, 0.9995, 0.4988, 1.565, 0.9279, -0.1764, 0.0734, -0.0418, 0.0525]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1744 left_yaw=0.0008 left_pitch=-0.021 left_roll=-0.0002 left_gripper=0.9995 right_x=0.3736 right_y=0.1928 right_z=0.0997 right_yaw=0.4493 right_pitch=-0.2549 right_roll=-0.0863 right_gripper=0.0525\nstate[joint_eff]: [-0.1162, -1.388, 7.0085, 1.7656, -0.0611, -0.0464, -0.0073, -0.3624, -9.2103, 8.7316, 1.4579, 0.0708, -0.0317, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d27632983766a340f49b275605a3557af951cdc140fc0c9d07b6af696d2d24aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c3538b41f9a8acd2f973ce3690bb2326b9baa91ed57c2f0232ff8e1243ad30c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7725033be0cbd3d02a0467b933d0af45204b6ea21881e2455dea007ee9ef26ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BYynkRgzaVFj2iLAr9dsnK",
      "input": {
        "note": "The pen is grasped: after a 10 cm lift the right wrist view is unchanged, showing the pen held pointing forward out of the jaws. Now moving the left arm over the remaining object (the cap) to inspect it.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.2,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01BYynkRgzaVFj2iLAr9dsnK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7593, 1.4937, 0.8948, -0.2188, -0.5903, -0.4973, 0.9995, 0.4988, 1.5627, 0.9272, -0.2016, 0.0731, -0.0418, 0.0525]\nstate[eef_state]: left_x=0.3488 left_y=-0.1906 left_z=0.1286 left_yaw=-0.0164 left_pitch=-0.0831 left_roll=0.0388 left_gripper=0.9995 right_x=0.3694 right_y=0.1906 right_z=0.0961 right_yaw=0.4493 right_pitch=-0.2785 right_roll=-0.0872 right_gripper=0.0525\nstate[joint_eff]: [-0.253, -6.7487, 9.5521, 1.7021, -0.3785, -0.0806, -0.0122, -0.1983, -6.9265, 6.5026, 1.6679, -0.0024, -0.0024, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5997acddff4851fad01314570736785df7ba996ee461c975e34c090cbbe2a621",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:117807b6298fec2ea4926af5172c8fca7dab5d2f884a200fd879df148f097218",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b11982bbeebf0aa21b306649d997e7e7e2455c0c7bb64111f193825c3286d4d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 11.71 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8108, 0.6029, -0.3817, -0.0219, -0.0254, 0.9995, 0.4988, 1.808, 0.7162, 0.2905, 0.0784, -0.0414, 0.0476]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1745 left_yaw=0.0008 left_pitch=-0.0206 left_roll=-0.0002 left_gripper=0.9995 right_x=0.3734 right_y=0.1917 right_z=0.0022 right_yaw=0.4449 right_pitch=-0.2425 right_roll=-0.089 right_gripper=0.0476\nstate[joint_eff]: [-0.253, -1.5248, 7.2137, 1.7314, -0.0904, -0.0659, -0.0122, 0.0342, -8.9778, 5.641, 1.243, 0.1587, 0.0024, 1.2918]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8112, 0.6029, -0.3817, -0.0219, -0.0254, 0.9995, 0.4988, 1.565, 0.9279, -0.1764, 0.0734, -0.0418, 0.0525]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1744 left_yaw=0.0008 left_pitch=-0.021 left_roll=-0.0002 left_gripper=0.9995 right_x=0.3736 right_y=0.1928 right_z=0.0997 right_yaw=0.4493 right_pitch=-0.2549 right_roll=-0.0863 right_gripper=0.0525\nstate[joint_eff]: [-0.1162, -1.388, 7.0085, 1.7656, -0.0611, -0.0464, -0.0073, -0.3624, -9.2103, 8.7316, 1.4579, 0.0708, -0.0317, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7593, 1.4937, 0.8948, -0.2188, -0.5903, -0.4973, 0.9995, 0.4988, 1.5627, 0.9272, -0.2016, 0.0731, -0.0418, 0.0525]\nstate[eef_state]: left_x=0.3488 left_y=-0.1906 left_z=0.1286 left_yaw=-0.0164 left_pitch=-0.0831 left_roll=0.0388 left_gripper=0.9995 right_x=0.3694 right_y=0.1906 right_z=0.0961 right_yaw=0.4493 right_pitch=-0.2785 right_roll=-0.0872 right_gripper=0.0525\nstate[joint_eff]: [-0.253, -6.7487, 9.5521, 1.7021, -0.3785, -0.0806, -0.0122, -0.1983, -6.9265, 6.5026, 1.6679, -0.0024, -0.0024, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5997acddff4851fad01314570736785df7ba996ee461c975e34c090cbbe2a621",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:117807b6298fec2ea4926af5172c8fca7dab5d2f884a200fd879df148f097218",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b11982bbeebf0aa21b306649d997e7e7e2455c0c7bb64111f193825c3286d4d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016jvZMcHTEXCvqUUm77EioR",
      "input": {
        "note": "Left wrist view shows the pen cap lying forward-left of the jaws with its axis running up-right across the image. Yawing the tool -0.98 rad so the jaws will close across the cap's axis, and easing forward-left over it.",
        "targets": {
          "left_x": 0.375,
          "left_y": -0.185,
          "left_yaw": -0.98,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_016jvZMcHTEXCvqUUm77EioR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2726, 1.5494, 0.8593, -0.1078, 0.3305, 0.3107, 0.9995, 0.4988, 1.5627, 0.9272, -0.2073, 0.0731, -0.0414, 0.0574]\nstate[eef_state]: left_x=0.3776 left_y=-0.1614 left_z=0.0966 left_yaw=-0.7351 left_pitch=-0.175 left_roll=-0.0009 left_gripper=0.9995 right_x=0.3685 right_y=0.1901 right_z=0.0951 right_yaw=0.449 right_pitch=-0.2842 right_roll=-0.0872 right_gripper=0.0574\nstate[joint_eff]: [0.1573, -7.3915, 9.4427, 1.5116, 0.4127, 0.2515, -0.0122, -0.1983, -7.0906, 6.4479, 1.5409, -0.0269, -0.0659, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe90444317752e33464012aa7c6036d9d194c5680c4fc5fa719e3389d698a7f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9c8dcf0e18665ed6348bda7f19c6ae43f01a7b50b5ce1da2e38b9c839d8bd19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c98ac2d7109d9e458c094b5c1f801a9130b1148594c3ba86e2850be9a210c310",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 12.19 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8112, 0.6029, -0.3817, -0.0219, -0.0254, 0.9995, 0.4988, 1.565, 0.9279, -0.1764, 0.0734, -0.0418, 0.0525]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1744 left_yaw=0.0008 left_pitch=-0.021 left_roll=-0.0002 left_gripper=0.9995 right_x=0.3736 right_y=0.1928 right_z=0.0997 right_yaw=0.4493 right_pitch=-0.2549 right_roll=-0.0863 right_gripper=0.0525\nstate[joint_eff]: [-0.1162, -1.388, 7.0085, 1.7656, -0.0611, -0.0464, -0.0073, -0.3624, -9.2103, 8.7316, 1.4579, 0.0708, -0.0317, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7593, 1.4937, 0.8948, -0.2188, -0.5903, -0.4973, 0.9995, 0.4988, 1.5627, 0.9272, -0.2016, 0.0731, -0.0418, 0.0525]\nstate[eef_state]: left_x=0.3488 left_y=-0.1906 left_z=0.1286 left_yaw=-0.0164 left_pitch=-0.0831 left_roll=0.0388 left_gripper=0.9995 right_x=0.3694 right_y=0.1906 right_z=0.0961 right_yaw=0.4493 right_pitch=-0.2785 right_roll=-0.0872 right_gripper=0.0525\nstate[joint_eff]: [-0.253, -6.7487, 9.5521, 1.7021, -0.3785, -0.0806, -0.0122, -0.1983, -6.9265, 6.5026, 1.6679, -0.0024, -0.0024, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2726, 1.5494, 0.8593, -0.1078, 0.3305, 0.3107, 0.9995, 0.4988, 1.5627, 0.9272, -0.2073, 0.0731, -0.0414, 0.0574]\nstate[eef_state]: left_x=0.3776 left_y=-0.1614 left_z=0.0966 left_yaw=-0.7351 left_pitch=-0.175 left_roll=-0.0009 left_gripper=0.9995 right_x=0.3685 right_y=0.1901 right_z=0.0951 right_yaw=0.449 right_pitch=-0.2842 right_roll=-0.0872 right_gripper=0.0574\nstate[joint_eff]: [0.1573, -7.3915, 9.4427, 1.5116, 0.4127, 0.2515, -0.0122, -0.1983, -7.0906, 6.4479, 1.5409, -0.0269, -0.0659, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe90444317752e33464012aa7c6036d9d194c5680c4fc5fa719e3389d698a7f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9c8dcf0e18665ed6348bda7f19c6ae43f01a7b50b5ce1da2e38b9c839d8bd19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c98ac2d7109d9e458c094b5c1f801a9130b1148594c3ba86e2850be9a210c310",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PnvytUxB8DjPQKYR4n5qB4",
      "input": {
        "note": "The cap now appears nearly vertical (aligned for the jaws) but sits left of the jaw column in the left wrist view. Shifting ~3 cm along the tool's left axis plus 2 cm forward and descending to table level to straddle the cap.",
        "targets": {
          "left_x": 0.413,
          "left_y": -0.152,
          "left_yaw": -0.98,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01PnvytUxB8DjPQKYR4n5qB4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1478, 1.9343, 0.9199, 0.0696, 0.5362, 0.572, 0.9995, 0.4988, 1.5635, 0.9268, -0.2134, 0.0734, -0.0418, 0.0574]\nstate[eef_state]: left_x=0.4069 left_y=-0.1482 left_z=0.0027 left_yaw=-0.9281 left_pitch=-0.2019 left_roll=-0.0249 left_gripper=0.9995 right_x=0.3674 right_y=0.1895 right_z=0.0937 right_yaw=0.4488 right_pitch=-0.2915 right_roll=-0.0882 right_gripper=0.0574\nstate[joint_eff]: [0.4718, -7.4051, 6.1744, 0.8767, 0.2662, 0.0269, -0.0171, -0.3761, -7.1316, 6.4615, 1.5067, -0.0171, -0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b81e3a6e7ae4a94d3e1618777f6e4ccdfbc425c37e76c58977a5736e1e23ec5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:288645a1c28abfb402f9c8e7c2a32beec3de89692013e8411ae5852bee97cd34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c9941d8b21f2addec0bfd52516c106298e188c731fcecdef26197f4a226136f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 4.299 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7593, 1.4937, 0.8948, -0.2188, -0.5903, -0.4973, 0.9995, 0.4988, 1.5627, 0.9272, -0.2016, 0.0731, -0.0418, 0.0525]\nstate[eef_state]: left_x=0.3488 left_y=-0.1906 left_z=0.1286 left_yaw=-0.0164 left_pitch=-0.0831 left_roll=0.0388 left_gripper=0.9995 right_x=0.3694 right_y=0.1906 right_z=0.0961 right_yaw=0.4493 right_pitch=-0.2785 right_roll=-0.0872 right_gripper=0.0525\nstate[joint_eff]: [-0.253, -6.7487, 9.5521, 1.7021, -0.3785, -0.0806, -0.0122, -0.1983, -6.9265, 6.5026, 1.6679, -0.0024, -0.0024, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2726, 1.5494, 0.8593, -0.1078, 0.3305, 0.3107, 0.9995, 0.4988, 1.5627, 0.9272, -0.2073, 0.0731, -0.0414, 0.0574]\nstate[eef_state]: left_x=0.3776 left_y=-0.1614 left_z=0.0966 left_yaw=-0.7351 left_pitch=-0.175 left_roll=-0.0009 left_gripper=0.9995 right_x=0.3685 right_y=0.1901 right_z=0.0951 right_yaw=0.449 right_pitch=-0.2842 right_roll=-0.0872 right_gripper=0.0574\nstate[joint_eff]: [0.1573, -7.3915, 9.4427, 1.5116, 0.4127, 0.2515, -0.0122, -0.1983, -7.0906, 6.4479, 1.5409, -0.0269, -0.0659, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1478, 1.9343, 0.9199, 0.0696, 0.5362, 0.572, 0.9995, 0.4988, 1.5635, 0.9268, -0.2134, 0.0734, -0.0418, 0.0574]\nstate[eef_state]: left_x=0.4069 left_y=-0.1482 left_z=0.0027 left_yaw=-0.9281 left_pitch=-0.2019 left_roll=-0.0249 left_gripper=0.9995 right_x=0.3674 right_y=0.1895 right_z=0.0937 right_yaw=0.4488 right_pitch=-0.2915 right_roll=-0.0882 right_gripper=0.0574\nstate[joint_eff]: [0.4718, -7.4051, 6.1744, 0.8767, 0.2662, 0.0269, -0.0171, -0.3761, -7.1316, 6.4615, 1.5067, -0.0171, -0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b81e3a6e7ae4a94d3e1618777f6e4ccdfbc425c37e76c58977a5736e1e23ec5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:288645a1c28abfb402f9c8e7c2a32beec3de89692013e8411ae5852bee97cd34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9941d8b21f2addec0bfd52516c106298e188c731fcecdef26197f4a226136f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Sn4CnXRzRMn11JmZXXoj2S",
      "input": {
        "note": "Cap is vertical in the left wrist view, about 1 cm left of the jaw centre line. Small nudge along the tool's left axis and a touch lower to center the jaws on it before closing.",
        "targets": {
          "left_x": 0.415,
          "left_y": -0.142,
          "left_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 1 steps (0.1s)",
      "tool_use_id": "toolu_01Sn4CnXRzRMn11JmZXXoj2S",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1398, 1.9591, 0.9352, 0.0944, 0.5583, 0.6155, 0.9995, 0.4988, 1.5635, 0.9268, -0.2119, 0.0731, -0.0418, 0.0574]\nstate[eef_state]: left_x=0.4135 left_y=-0.1491 left_z=0.0022 left_yaw=-0.9574 left_pitch=-0.1785 left_roll=0.0057 left_gripper=0.9995 right_x=0.3676 right_y=0.1897 right_z=0.0939 right_yaw=0.4492 right_pitch=-0.29 right_roll=-0.0878 right_gripper=0.0574\nstate[joint_eff]: [-0.3077, -8.1846, 5.9966, 1.2625, 0.4469, 0.149, -0.0122, -0.2803, -6.9538, 6.4479, 1.5116, 0.0073, -0.0708, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbbe1251655101d426347223d932b07a6894cc9203e2c155c283e2048023e5a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbd9ceceadd97259b585e55ca39429d43c4087de6b4a95248369cfd7c471f88f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3518a99e22d3473a61ebf42663a8e7c39b32e88e18bb88115a11253828c3d876",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 6.435 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2726, 1.5494, 0.8593, -0.1078, 0.3305, 0.3107, 0.9995, 0.4988, 1.5627, 0.9272, -0.2073, 0.0731, -0.0414, 0.0574]\nstate[eef_state]: left_x=0.3776 left_y=-0.1614 left_z=0.0966 left_yaw=-0.7351 left_pitch=-0.175 left_roll=-0.0009 left_gripper=0.9995 right_x=0.3685 right_y=0.1901 right_z=0.0951 right_yaw=0.449 right_pitch=-0.2842 right_roll=-0.0872 right_gripper=0.0574\nstate[joint_eff]: [0.1573, -7.3915, 9.4427, 1.5116, 0.4127, 0.2515, -0.0122, -0.1983, -7.0906, 6.4479, 1.5409, -0.0269, -0.0659, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1478, 1.9343, 0.9199, 0.0696, 0.5362, 0.572, 0.9995, 0.4988, 1.5635, 0.9268, -0.2134, 0.0734, -0.0418, 0.0574]\nstate[eef_state]: left_x=0.4069 left_y=-0.1482 left_z=0.0027 left_yaw=-0.9281 left_pitch=-0.2019 left_roll=-0.0249 left_gripper=0.9995 right_x=0.3674 right_y=0.1895 right_z=0.0937 right_yaw=0.4488 right_pitch=-0.2915 right_roll=-0.0882 right_gripper=0.0574\nstate[joint_eff]: [0.4718, -7.4051, 6.1744, 0.8767, 0.2662, 0.0269, -0.0171, -0.3761, -7.1316, 6.4615, 1.5067, -0.0171, -0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1398, 1.9591, 0.9352, 0.0944, 0.5583, 0.6155, 0.9995, 0.4988, 1.5635, 0.9268, -0.2119, 0.0731, -0.0418, 0.0574]\nstate[eef_state]: left_x=0.4135 left_y=-0.1491 left_z=0.0022 left_yaw=-0.9574 left_pitch=-0.1785 left_roll=0.0057 left_gripper=0.9995 right_x=0.3676 right_y=0.1897 right_z=0.0939 right_yaw=0.4492 right_pitch=-0.29 right_roll=-0.0878 right_gripper=0.0574\nstate[joint_eff]: [-0.3077, -8.1846, 5.9966, 1.2625, 0.4469, 0.149, -0.0122, -0.2803, -6.9538, 6.4479, 1.5116, 0.0073, -0.0708, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbbe1251655101d426347223d932b07a6894cc9203e2c155c283e2048023e5a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbd9ceceadd97259b585e55ca39429d43c4087de6b4a95248369cfd7c471f88f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3518a99e22d3473a61ebf42663a8e7c39b32e88e18bb88115a11253828c3d876",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5QMKjgEIEhgCKkDndo4yC3OmFyBM+7UFahoXjqd9hX/frjSP6MzxmnfX8Ex4Ycs599wCjO97OeDG/UpBRPQMwSoAzRTNzmt07GAIMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaG7zNUGEgyjGE+384NsWUqalqIaDDK2DHqukfacI39pNyIwttJ95UHghJx4e1vewB1FrJ87rTnh2MMoV+GcMrcVe7pEFl1HuDbT/Sxfnwcai77CKoMC77Z2qJnb+CXsXp2ZEdbcaj6J9mbrMmO3U6L/XYoqROdLrcLtSbq+Y1ME/Fuj8l030Tcoepscw744aNetWq0rLO2WmG+6P3WmZZcWHK7wCCsxjYm4BJznOu+gpPGJ8+uv4kouHoJBpEs2nHvwfJ59at0t+c5v/GrQDoneMpk7QfdEVueIztCDefCBxgHcJfLGkXa85WdO4Mq9g/SFeOCGWVb5UhDI73/Vc2KxQ6f15rZRZjrWNjzFTuSoyUqsLrs33mAWQCBppZh2HGN7UHEqnzrt+yVibWS5XwSYNpexbQxUfim5bE2JKOOICN5D4WF2ixTX2X8Bf4hD3zG2SdlPHb7JwxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JbAJYjbcAajfy26tTudsa7",
      "input": {
        "note": "Cap is now centered between the open jaws at table level. Closing the left gripper to grasp it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01JbAJYjbcAajfy26tTudsa7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1379, 1.9591, 0.934, 0.0967, 0.5568, 0.6079, 0.0481, 0.4988, 1.5635, 0.9268, -0.2295, 0.0731, -0.0418, 0.0574]\nstate[eef_state]: left_x=0.4139 left_y=-0.1481 left_z=0.002 left_yaw=-0.9501 left_pitch=-0.1785 left_roll=0.0017 left_gripper=0.0481 right_x=0.3648 right_y=0.1881 right_z=0.0911 right_yaw=0.4489 right_pitch=-0.3075 right_roll=-0.0887 right_gripper=0.0574\nstate[joint_eff]: [-0.4718, -9.1282, 5.3538, 1.2772, 0.2711, 0.149, 1.1893, -0.0752, -7.0359, 6.4479, 1.5995, 0.0024, -0.0757, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6feaac960ec17837c1e43107c80ecfcf0bd6054d44a6903ec6deb490f3bf8453",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ab4dc325b2b6a055d7fc50b501a41a38db88635099f02a762f4a045f18c6d0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:73e4563810512b78d54a675fc0fdba0ea268f78c965341300bd25cbb8a04d3b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 67.76 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1478, 1.9343, 0.9199, 0.0696, 0.5362, 0.572, 0.9995, 0.4988, 1.5635, 0.9268, -0.2134, 0.0734, -0.0418, 0.0574]\nstate[eef_state]: left_x=0.4069 left_y=-0.1482 left_z=0.0027 left_yaw=-0.9281 left_pitch=-0.2019 left_roll=-0.0249 left_gripper=0.9995 right_x=0.3674 right_y=0.1895 right_z=0.0937 right_yaw=0.4488 right_pitch=-0.2915 right_roll=-0.0882 right_gripper=0.0574\nstate[joint_eff]: [0.4718, -7.4051, 6.1744, 0.8767, 0.2662, 0.0269, -0.0171, -0.3761, -7.1316, 6.4615, 1.5067, -0.0171, -0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1398, 1.9591, 0.9352, 0.0944, 0.5583, 0.6155, 0.9995, 0.4988, 1.5635, 0.9268, -0.2119, 0.0731, -0.0418, 0.0574]\nstate[eef_state]: left_x=0.4135 left_y=-0.1491 left_z=0.0022 left_yaw=-0.9574 left_pitch=-0.1785 left_roll=0.0057 left_gripper=0.9995 right_x=0.3676 right_y=0.1897 right_z=0.0939 right_yaw=0.4492 right_pitch=-0.29 right_roll=-0.0878 right_gripper=0.0574\nstate[joint_eff]: [-0.3077, -8.1846, 5.9966, 1.2625, 0.4469, 0.149, -0.0122, -0.2803, -6.9538, 6.4479, 1.5116, 0.0073, -0.0708, 1.0379]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1379, 1.9591, 0.934, 0.0967, 0.5568, 0.6079, 0.0481, 0.4988, 1.5635, 0.9268, -0.2295, 0.0731, -0.0418, 0.0574]\nstate[eef_state]: left_x=0.4139 left_y=-0.1481 left_z=0.002 left_yaw=-0.9501 left_pitch=-0.1785 left_roll=0.0017 left_gripper=0.0481 right_x=0.3648 right_y=0.1881 right_z=0.0911 right_yaw=0.4489 right_pitch=-0.3075 right_roll=-0.0887 right_gripper=0.0574\nstate[joint_eff]: [-0.4718, -9.1282, 5.3538, 1.2772, 0.2711, 0.149, 1.1893, -0.0752, -7.0359, 6.4479, 1.5995, 0.0024, -0.0757, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6feaac960ec17837c1e43107c80ecfcf0bd6054d44a6903ec6deb490f3bf8453",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ab4dc325b2b6a055d7fc50b501a41a38db88635099f02a762f4a045f18c6d0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73e4563810512b78d54a675fc0fdba0ea268f78c965341300bd25cbb8a04d3b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS1QYKjgEIEhgCKkDDSEZVCzvn4Vr4+7l5hx2p7dBnwmq1BG0qSlHmyGTnjAYEZKjOAvYLRh8Uy2N0BrSZshZOVYez9DaYqLd/QAcaMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAai7zNUGEgzN9eFq5eAdRKEn7tkaDJvIaRTYMJyJczCIjSIwpg6LpUna/ZdkL6ttbuODH7TvLhEj5trTuXDpkE2RLvpZ3/uxqMgCOjl3Y1z0UU0VKvMEXXk3BjSI7zIHSDNVmv6amxzbr3Nwlb75E+A4iu0HrPShefw/DT4YJQpqFRNxxDEfI0ss2FOTzNFcId++Z+R6TSbnQ4qQOuiA6OIv2Y+bM3+g3ttxV0TDkOSl+E4Vj0RpixTQOVTCwfH7dOdStJ6FR2QIfa1iFpWvJ/9+pnQFnw5gVGCsUGgHseM5u/nf/H0rIrMPQh/fkWLIp3yYIIDRuNVfInz9FZi9qGNvRFeBlvOCyxUrO3OCovA/IE/ip16Qpxv3kiM/0siOIKYbbsuNCuwct5wtnulMqda3aZrbRdYF3mCYQYXGwxlx7316umQZnZSYQzr+mU5paxg8ysqaLQdUHkVCyO9nUu042h56xWaQAx0oHVhEPFM1gULcUA7yM1HQ5SUVhUdyiDSw9oKldwPpO3B02JCc2Vxson0012s136YL5fxgyTLvozzfDAjbNbYzp8LhgYlF9Z0nnSbMmjnnBYLgw4d93YiB3RrdviDUz/p7QifaL6gPsYuTDUds4J4rNjBad8Q/MOs89KMz3pSAgKKl9pYTx/exxB7C5hSV6y6Lxzly1LSdamUmnBLGlCqZ9PegUwFVy+/TIgWUEXYv8os8F8Is/AlTYok1qdOm1qLLoy2MbqkrE4CvhckVnAGsKtVspjjcBi7uj7xP7SGa1l3Xxa5fWdlO3BRGCLLr8eHoT1oF6+131K0ZJX+Y+tgPsgWoP9jBTw3uu19C7V3nNb/CIxMWRPd6IoUO/0qjY3AgoTmfkzSdxKy+2GuC5G+gXeShS0ByXNvXIPv+kP9z+dEpZprLgJ885tXUKCsvECHLhFdvZXT5b9AkQ1clrSeYGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013MUVLrMFedhADUvVYbbiMZ",
      "input": {
        "note": "Left gripper settled at 0.048, suggesting something thin is held. Lifting 10 cm to check in the overhead view whether the cap came with it.",
        "targets": {
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_013MUVLrMFedhADUvVYbbiMZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1379, 1.7832, 1.066, -0.2459, 0.5507, 0.6037, 0.0548, 0.4988, 1.5635, 0.9268, -0.231, 0.0731, -0.0418, 0.0574]\nstate[eef_state]: left_x=0.4095 left_y=-0.1465 left_z=0.0733 left_yaw=-0.9484 left_pitch=-0.206 left_roll=-0.0236 left_gripper=0.0548 right_x=0.3645 right_y=0.188 right_z=0.0909 right_yaw=0.4489 right_pitch=-0.309 right_roll=-0.0888 right_gripper=0.0574\nstate[joint_eff]: [-0.0752, -11.0154, 8.9368, 1.3895, 0.2711, 0.0171, 1.0281, -0.3214, -7.0496, 6.4479, 1.4237, -0.0366, -0.0757, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:882293416aa26a1d2c2fcc9d845aa1fd96a02ae00a101a09c8f48429f6bf3252",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8409218665799d9ecdba94554a07b36d7a059a25c1765bd2f1dc2dca3a911ed5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:129da7881d29b012dafe299d0340871a506f2c7de9ba335d35c5795dec841b60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 8.273 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1398, 1.9591, 0.9352, 0.0944, 0.5583, 0.6155, 0.9995, 0.4988, 1.5635, 0.9268, -0.2119, 0.0731, -0.0418, 0.0574]\nstate[eef_state]: left_x=0.4135 left_y=-0.1491 left_z=0.0022 left_yaw=-0.9574 left_pitch=-0.1785 left_roll=0.0057 left_gripper=0.9995 right_x=0.3676 right_y=0.1897 right_z=0.0939 right_yaw=0.4492 right_pitch=-0.29 right_roll=-0.0878 right_gripper=0.0574\nstate[joint_eff]: [-0.3077, -8.1846, 5.9966, 1.2625, 0.4469, 0.149, -0.0122, -0.2803, -6.9538, 6.4479, 1.5116, 0.0073, -0.0708, 1.0379]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1379, 1.9591, 0.934, 0.0967, 0.5568, 0.6079, 0.0481, 0.4988, 1.5635, 0.9268, -0.2295, 0.0731, -0.0418, 0.0574]\nstate[eef_state]: left_x=0.4139 left_y=-0.1481 left_z=0.002 left_yaw=-0.9501 left_pitch=-0.1785 left_roll=0.0017 left_gripper=0.0481 right_x=0.3648 right_y=0.1881 right_z=0.0911 right_yaw=0.4489 right_pitch=-0.3075 right_roll=-0.0887 right_gripper=0.0574\nstate[joint_eff]: [-0.4718, -9.1282, 5.3538, 1.2772, 0.2711, 0.149, 1.1893, -0.0752, -7.0359, 6.4479, 1.5995, 0.0024, -0.0757, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1379, 1.7832, 1.066, -0.2459, 0.5507, 0.6037, 0.0548, 0.4988, 1.5635, 0.9268, -0.231, 0.0731, -0.0418, 0.0574]\nstate[eef_state]: left_x=0.4095 left_y=-0.1465 left_z=0.0733 left_yaw=-0.9484 left_pitch=-0.206 left_roll=-0.0236 left_gripper=0.0548 right_x=0.3645 right_y=0.188 right_z=0.0909 right_yaw=0.4489 right_pitch=-0.309 right_roll=-0.0888 right_gripper=0.0574\nstate[joint_eff]: [-0.0752, -11.0154, 8.9368, 1.3895, 0.2711, 0.0171, 1.0281, -0.3214, -7.0496, 6.4479, 1.4237, -0.0366, -0.0757, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:882293416aa26a1d2c2fcc9d845aa1fd96a02ae00a101a09c8f48429f6bf3252",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8409218665799d9ecdba94554a07b36d7a059a25c1765bd2f1dc2dca3a911ed5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:129da7881d29b012dafe299d0340871a506f2c7de9ba335d35c5795dec841b60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XtaP7QhxR1xf7yX2jvtZs4",
      "input": {
        "note": "Both objects are held: the right wrist view shows the pen sticking out forward with its writing tip far, and the left view shows the cap held with its closed tip forward. Rotating the left tool to yaw +0.45 so the cap's axis becomes parallel with the pen's axis, with its open end facing back toward where the pen tip will be.",
        "targets": {
          "left_yaw": 0.45,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01XtaP7QhxR1xf7yX2jvtZs4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.593, 1.7645, 1.2682, -0.4805, -0.5152, -0.691, 0.0597, 0.4988, 1.5642, 0.9249, -0.2367, 0.0734, -0.0418, 0.0574]\nstate[eef_state]: left_x=0.4156 left_y=-0.1708 left_z=0.1218 left_yaw=0.2202 left_pitch=-0.2369 left_roll=-0.0371 left_gripper=0.0597 right_x=0.3631 right_y=0.1871 right_z=0.0889 right_yaw=0.4484 right_pitch=-0.3174 right_roll=-0.0895 right_gripper=0.0574\nstate[joint_eff]: [-0.3214, -9.1145, 7.7197, 0.9206, -0.4713, -0.1099, 1.033, -0.3624, -7.1453, 6.5436, 1.4725, -0.0024, -0.0659, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78df0be74993d820b5ef1fbd34a1920d27b592564bc4b42c5d67b1a4fcedc0db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:104668e9a2ba2a34b72d51cd0a4458c5c918e5cfce61703c4dc909280def485f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9dfa9770e9c4aa0586266a1870c63ca7cf5cad92793625f370626af7f09ffcfa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 16.81 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1379, 1.9591, 0.934, 0.0967, 0.5568, 0.6079, 0.0481, 0.4988, 1.5635, 0.9268, -0.2295, 0.0731, -0.0418, 0.0574]\nstate[eef_state]: left_x=0.4139 left_y=-0.1481 left_z=0.002 left_yaw=-0.9501 left_pitch=-0.1785 left_roll=0.0017 left_gripper=0.0481 right_x=0.3648 right_y=0.1881 right_z=0.0911 right_yaw=0.4489 right_pitch=-0.3075 right_roll=-0.0887 right_gripper=0.0574\nstate[joint_eff]: [-0.4718, -9.1282, 5.3538, 1.2772, 0.2711, 0.149, 1.1893, -0.0752, -7.0359, 6.4479, 1.5995, 0.0024, -0.0757, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1379, 1.7832, 1.066, -0.2459, 0.5507, 0.6037, 0.0548, 0.4988, 1.5635, 0.9268, -0.231, 0.0731, -0.0418, 0.0574]\nstate[eef_state]: left_x=0.4095 left_y=-0.1465 left_z=0.0733 left_yaw=-0.9484 left_pitch=-0.206 left_roll=-0.0236 left_gripper=0.0548 right_x=0.3645 right_y=0.188 right_z=0.0909 right_yaw=0.4489 right_pitch=-0.309 right_roll=-0.0888 right_gripper=0.0574\nstate[joint_eff]: [-0.0752, -11.0154, 8.9368, 1.3895, 0.2711, 0.0171, 1.0281, -0.3214, -7.0496, 6.4479, 1.4237, -0.0366, -0.0757, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.593, 1.7645, 1.2682, -0.4805, -0.5152, -0.691, 0.0597, 0.4988, 1.5642, 0.9249, -0.2367, 0.0734, -0.0418, 0.0574]\nstate[eef_state]: left_x=0.4156 left_y=-0.1708 left_z=0.1218 left_yaw=0.2202 left_pitch=-0.2369 left_roll=-0.0371 left_gripper=0.0597 right_x=0.3631 right_y=0.1871 right_z=0.0889 right_yaw=0.4484 right_pitch=-0.3174 right_roll=-0.0895 right_gripper=0.0574\nstate[joint_eff]: [-0.3214, -9.1145, 7.7197, 0.9206, -0.4713, -0.1099, 1.033, -0.3624, -7.1453, 6.5436, 1.4725, -0.0024, -0.0659, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78df0be74993d820b5ef1fbd34a1920d27b592564bc4b42c5d67b1a4fcedc0db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:104668e9a2ba2a34b72d51cd0a4458c5c918e5cfce61703c4dc909280def485f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9dfa9770e9c4aa0586266a1870c63ca7cf5cad92793625f370626af7f09ffcfa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3AcKjgEIEhgCKkCdhYBKPcOdylFsUEKBPoVEdvoUQbjkyp9ZNECh5tPIUkry9B/+PJFWF/VEvkf2wvVjcsJ+UrnuNcBO9rGC5mGUMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfW7zNUGEgxdyP8Ovzm1a84NSeAaDPZDDfoq7R/MBxJG2SIwchYD2MIscEJwPLUOlaZuUZTjtYYdrvNAdVJgUl+IDdQCkyAw4sY0QRvxbN9LsMp3KvoFfh7LOyHD+tHUMst8xyEQ/L7yxWFdMstMt2XwOymbV8Sv/ZJbhT0g9HlxfGaQmSJmUGZdsbMjmJMavfFPgcL2nfwZxzQyHamNNLYnktHB2SrL4DhwO0cai4VM6h+TXh8zB2XznGGyjxXqlX01OPZQVw59WiKlJdKgiUOT5wmGHi9OnQ0rN+pOP6JTedExreNzuqlYY5bAiqfAUrxKEzAxWVUBmxbR5ypt5GwaW2D3iGc8zy7i/836Gcyr1zxWaymQd2Hu3Q4iLbqOhxkxC7d/cGR1wkJoBn1wx1udFhZG6DQrGnBbXHovwIhpL0NV24iLzumbXCTpRYBfxIcRcVe8BF8ShD7Kcc/J8CkO3nMM82cuSdFAWpiVZKv+2f4QeGIj8BVMeQo57etENYLZAdbS+URSDUV9OVYvUDeRl97k0S282x/Pujdu59rfXfLVNT28bvhI/ob4WwET37utOoZm9dLy3KkiXrcDlU19OuYIO8kQ7AFUQYL2J4495NCdmlkmEhWoui7J4o1+qfuuB22xAUdxf8lKy69O2lZRszC2YCHp+e8ZLRSFwA6BUi75y+q2uqA6JwlVeUQfM1yN2zWjw3QKaxN8MuOmfqIS/fLVdRkTmSvxBXj0/7izdSx08TKkbNNuUX6m+wmalrXUlhH+mjhEQhhEbasCbuiPjhhFzjMOeJMQtY6k17hrfgOUnvhqoyZ26BtP2wr8Pp9niiMvPOs0fwms6FcfeJbgJoci0JliqTq+IBwevMLBgo3hlSCRJOMooSYH312hNhDIL0sSmsa4wfX+GsdniiL8tux1RhJdSbjdFh/h4tDoY1xYz0cWpB6LrzZzG59BjBkUOBCbZY13Pgx+XzOMpSWd/nx316avpKEiTSHjn6WAb6TYqat0H/UgppDxy9Xnyf1bbY3kbNskcs76obA37/JlK4fl84xvb6+I4d2tvFRA44XgRXvBu5toeq9BsXJDujbniP+C96q8ZN/1FfR2B5yM3nNkHwolYSoyJ3jFHPQPGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GCKFc8PWmoMvn8eNsKWQae",
      "input": {
        "note": "Left yaw only reached 0.22, so re-commanding it; at the same time bringing the right arm (holding the pen) toward the table centre and levelling its pitch so the pen is horizontal and its tip sits where the left arm can reach.",
        "targets": {
          "left_yaw": 0.45,
          "right_pitch": 0.0,
          "right_x": 0.33,
          "right_y": 0.3,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01GCKFc8PWmoMvn8eNsKWQae",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6338, 1.8549, 1.3972, -0.6708, -0.6189, -0.9489, 0.0597, 0.8703, 1.5787, 0.8764, 0.0319, 0.3557, 0.1394, 0.0574]\nstate[eef_state]: left_x=0.4108 left_y=-0.1703 left_z=0.1177 left_yaw=0.4192 left_pitch=-0.2588 left_roll=-0.0379 left_gripper=0.0597 right_x=0.3232 right_y=0.2934 right_z=0.1173 right_yaw=0.4888 right_pitch=-0.0668 right_roll=-0.1058 right_gripper=0.0574\nstate[joint_eff]: [-0.6359, -7.7333, 9.0462, 1.0623, -0.5543, -0.0317, 1.0281, 0.4171, -6.3795, 7.5282, 1.8046, 0.3004, 0.1245, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:047d3ee5771a6e3303b32dd594ae8a22a54cb992641514a89f5668a526b6d65f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c657302058b66cb81d018b7d52eea0df1a697c641e42acbc1f9cf3d31d15d27a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5fb4a0b264d10603c3bdc885539698f7f109dd5404bcb209b446a4bee110e642",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 19.07 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1379, 1.7832, 1.066, -0.2459, 0.5507, 0.6037, 0.0548, 0.4988, 1.5635, 0.9268, -0.231, 0.0731, -0.0418, 0.0574]\nstate[eef_state]: left_x=0.4095 left_y=-0.1465 left_z=0.0733 left_yaw=-0.9484 left_pitch=-0.206 left_roll=-0.0236 left_gripper=0.0548 right_x=0.3645 right_y=0.188 right_z=0.0909 right_yaw=0.4489 right_pitch=-0.309 right_roll=-0.0888 right_gripper=0.0574\nstate[joint_eff]: [-0.0752, -11.0154, 8.9368, 1.3895, 0.2711, 0.0171, 1.0281, -0.3214, -7.0496, 6.4479, 1.4237, -0.0366, -0.0757, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.593, 1.7645, 1.2682, -0.4805, -0.5152, -0.691, 0.0597, 0.4988, 1.5642, 0.9249, -0.2367, 0.0734, -0.0418, 0.0574]\nstate[eef_state]: left_x=0.4156 left_y=-0.1708 left_z=0.1218 left_yaw=0.2202 left_pitch=-0.2369 left_roll=-0.0371 left_gripper=0.0597 right_x=0.3631 right_y=0.1871 right_z=0.0889 right_yaw=0.4484 right_pitch=-0.3174 right_roll=-0.0895 right_gripper=0.0574\nstate[joint_eff]: [-0.3214, -9.1145, 7.7197, 0.9206, -0.4713, -0.1099, 1.033, -0.3624, -7.1453, 6.5436, 1.4725, -0.0024, -0.0659, 1.0232]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6338, 1.8549, 1.3972, -0.6708, -0.6189, -0.9489, 0.0597, 0.8703, 1.5787, 0.8764, 0.0319, 0.3557, 0.1394, 0.0574]\nstate[eef_state]: left_x=0.4108 left_y=-0.1703 left_z=0.1177 left_yaw=0.4192 left_pitch=-0.2588 left_roll=-0.0379 left_gripper=0.0597 right_x=0.3232 right_y=0.2934 right_z=0.1173 right_yaw=0.4888 right_pitch=-0.0668 right_roll=-0.1058 right_gripper=0.0574\nstate[joint_eff]: [-0.6359, -7.7333, 9.0462, 1.0623, -0.5543, -0.0317, 1.0281, 0.4171, -6.3795, 7.5282, 1.8046, 0.3004, 0.1245, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:047d3ee5771a6e3303b32dd594ae8a22a54cb992641514a89f5668a526b6d65f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c657302058b66cb81d018b7d52eea0df1a697c641e42acbc1f9cf3d31d15d27a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fb4a0b264d10603c3bdc885539698f7f109dd5404bcb209b446a4bee110e642",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EtDDgbCMTSvsAPGZPckmno",
      "input": {
        "note": "The pen is now held horizontally pointing forward-left; its tip should be near left-frame (0.43,-0.30,0.13). Moving the left arm with the cap to a staging point ~5 cm beyond the pen tip along the pen axis, cap opening facing back at the tip.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.482,
          "left_y": -0.278,
          "left_yaw": 0.49,
          "left_z": 0.129
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01EtDDgbCMTSvsAPGZPckmno",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7601, 2.3322, 2.0407, -0.82, -0.8677, -1.084, 0.0597, 0.865, 1.5951, 0.8524, -0.0452, 0.3511, 0.1478, 0.0617]\nstate[eef_state]: left_x=0.4836 left_y=-0.2688 left_z=0.1251 left_yaw=0.4876 left_pitch=-0.0504 left_roll=-0.0638 left_gripper=0.0597 right_x=0.312 right_y=0.278 right_z=0.0873 right_yaw=0.4773 right_pitch=-0.1764 right_roll=-0.1408 right_gripper=0.0617\nstate[joint_eff]: [-1.1829, -12.2188, 7.7607, 0.8474, -0.652, -0.0415, 1.0281, 0.1436, -8.5675, 8.2667, 2.5275, 0.1245, -0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd533e6d84cbcdc50405aa9337089a6995234c0f2fc4ff8013bd59597a629424",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19a1b0760de348760b8c7f4f864d39c7bb2da926598a12ba9e78ce570f76471c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2b764a0edd798dcfbe10dfcd0de8be225521805a0bf58865667327599ba8c54f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 29.2 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.593, 1.7645, 1.2682, -0.4805, -0.5152, -0.691, 0.0597, 0.4988, 1.5642, 0.9249, -0.2367, 0.0734, -0.0418, 0.0574]\nstate[eef_state]: left_x=0.4156 left_y=-0.1708 left_z=0.1218 left_yaw=0.2202 left_pitch=-0.2369 left_roll=-0.0371 left_gripper=0.0597 right_x=0.3631 right_y=0.1871 right_z=0.0889 right_yaw=0.4484 right_pitch=-0.3174 right_roll=-0.0895 right_gripper=0.0574\nstate[joint_eff]: [-0.3214, -9.1145, 7.7197, 0.9206, -0.4713, -0.1099, 1.033, -0.3624, -7.1453, 6.5436, 1.4725, -0.0024, -0.0659, 1.0232]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6338, 1.8549, 1.3972, -0.6708, -0.6189, -0.9489, 0.0597, 0.8703, 1.5787, 0.8764, 0.0319, 0.3557, 0.1394, 0.0574]\nstate[eef_state]: left_x=0.4108 left_y=-0.1703 left_z=0.1177 left_yaw=0.4192 left_pitch=-0.2588 left_roll=-0.0379 left_gripper=0.0597 right_x=0.3232 right_y=0.2934 right_z=0.1173 right_yaw=0.4888 right_pitch=-0.0668 right_roll=-0.1058 right_gripper=0.0574\nstate[joint_eff]: [-0.6359, -7.7333, 9.0462, 1.0623, -0.5543, -0.0317, 1.0281, 0.4171, -6.3795, 7.5282, 1.8046, 0.3004, 0.1245, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7601, 2.3322, 2.0407, -0.82, -0.8677, -1.084, 0.0597, 0.865, 1.5951, 0.8524, -0.0452, 0.3511, 0.1478, 0.0617]\nstate[eef_state]: left_x=0.4836 left_y=-0.2688 left_z=0.1251 left_yaw=0.4876 left_pitch=-0.0504 left_roll=-0.0638 left_gripper=0.0597 right_x=0.312 right_y=0.278 right_z=0.0873 right_yaw=0.4773 right_pitch=-0.1764 right_roll=-0.1408 right_gripper=0.0617\nstate[joint_eff]: [-1.1829, -12.2188, 7.7607, 0.8474, -0.652, -0.0415, 1.0281, 0.1436, -8.5675, 8.2667, 2.5275, 0.1245, -0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd533e6d84cbcdc50405aa9337089a6995234c0f2fc4ff8013bd59597a629424",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19a1b0760de348760b8c7f4f864d39c7bb2da926598a12ba9e78ce570f76471c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b764a0edd798dcfbe10dfcd0de8be225521805a0bf58865667327599ba8c54f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RRucceGS582S6UixfKGe1n",
      "input": {
        "note": "Re-commanding the right arm to hold the pen steady (it sags a few cm) and sliding the cap in along the pen axis to about a 4 cm gap from the estimated pen tip, matching the pen's slight upward tilt.",
        "targets": {
          "left_pitch": -0.15,
          "left_x": 0.452,
          "left_y": -0.299,
          "left_yaw": 0.477,
          "left_z": 0.115,
          "right_pitch": 0.0,
          "right_x": 0.33,
          "right_y": 0.3,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01RRucceGS582S6UixfKGe1n",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8127, 2.3631, 2.1159, -0.963, -0.8078, -1.1896, 0.0597, 0.8799, 1.5963, 0.8516, 0.0357, 0.3786, 0.1146, 0.0617]\nstate[eef_state]: left_x=0.4583 left_y=-0.2931 left_z=0.116 left_yaw=0.4754 left_pitch=-0.1356 left_roll=-0.0693 left_gripper=0.0597 right_x=0.3187 right_y=0.2885 right_z=0.1017 right_yaw=0.4914 right_pitch=-0.0986 right_roll=-0.1538 right_gripper=0.0617\nstate[joint_eff]: [-0.8684, -11.8769, 8.841, 0.652, -0.5201, -0.1587, 1.0281, 0.7179, -7.6786, 9.0598, 1.9072, 0.359, -0.105, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:534b3dedfaa817de0b90c8336782df1997c2ca471c191f5c4120f544e193d5e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70f2ee7675cfa5a720a27e1a66a88dbb05f36780a0dc1af946959e17b20fc0d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:91a678d326784111c5465d288159adbcaff6db6c0cb33518b60c8b6953ae8531",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 17.1 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6338, 1.8549, 1.3972, -0.6708, -0.6189, -0.9489, 0.0597, 0.8703, 1.5787, 0.8764, 0.0319, 0.3557, 0.1394, 0.0574]\nstate[eef_state]: left_x=0.4108 left_y=-0.1703 left_z=0.1177 left_yaw=0.4192 left_pitch=-0.2588 left_roll=-0.0379 left_gripper=0.0597 right_x=0.3232 right_y=0.2934 right_z=0.1173 right_yaw=0.4888 right_pitch=-0.0668 right_roll=-0.1058 right_gripper=0.0574\nstate[joint_eff]: [-0.6359, -7.7333, 9.0462, 1.0623, -0.5543, -0.0317, 1.0281, 0.4171, -6.3795, 7.5282, 1.8046, 0.3004, 0.1245, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7601, 2.3322, 2.0407, -0.82, -0.8677, -1.084, 0.0597, 0.865, 1.5951, 0.8524, -0.0452, 0.3511, 0.1478, 0.0617]\nstate[eef_state]: left_x=0.4836 left_y=-0.2688 left_z=0.1251 left_yaw=0.4876 left_pitch=-0.0504 left_roll=-0.0638 left_gripper=0.0597 right_x=0.312 right_y=0.278 right_z=0.0873 right_yaw=0.4773 right_pitch=-0.1764 right_roll=-0.1408 right_gripper=0.0617\nstate[joint_eff]: [-1.1829, -12.2188, 7.7607, 0.8474, -0.652, -0.0415, 1.0281, 0.1436, -8.5675, 8.2667, 2.5275, 0.1245, -0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8127, 2.3631, 2.1159, -0.963, -0.8078, -1.1896, 0.0597, 0.8799, 1.5963, 0.8516, 0.0357, 0.3786, 0.1146, 0.0617]\nstate[eef_state]: left_x=0.4583 left_y=-0.2931 left_z=0.116 left_yaw=0.4754 left_pitch=-0.1356 left_roll=-0.0693 left_gripper=0.0597 right_x=0.3187 right_y=0.2885 right_z=0.1017 right_yaw=0.4914 right_pitch=-0.0986 right_roll=-0.1538 right_gripper=0.0617\nstate[joint_eff]: [-0.8684, -11.8769, 8.841, 0.652, -0.5201, -0.1587, 1.0281, 0.7179, -7.6786, 9.0598, 1.9072, 0.359, -0.105, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:534b3dedfaa817de0b90c8336782df1997c2ca471c191f5c4120f544e193d5e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70f2ee7675cfa5a720a27e1a66a88dbb05f36780a0dc1af946959e17b20fc0d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91a678d326784111c5465d288159adbcaff6db6c0cb33518b60c8b6953ae8531",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SjyyTzsXAjKgGX4bsBKBsH",
      "input": {
        "note": "The cap is just out of the right camera's frame above the pen tip, so I am closing the remaining gap 3 cm along the pen axis; if the cap touches the pen off-centre the pen will visibly deflect in the right wrist view and I can correct.",
        "targets": {
          "left_x": 0.432,
          "left_y": -0.307,
          "left_z": 0.111,
          "right_pitch": 0.0,
          "right_x": 0.33,
          "right_y": 0.3,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01SjyyTzsXAjKgGX4bsBKBsH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8322, 2.3646, 2.0926, -0.9928, -0.8047, -1.2495, 0.0597, 0.8871, 1.5967, 0.8543, 0.0383, 0.3901, 0.0933, 0.0617]\nstate[eef_state]: left_x=0.4457 left_y=-0.2951 left_z=0.1056 left_yaw=0.4951 left_pitch=-0.1545 left_roll=-0.0626 left_gripper=0.0597 right_x=0.3184 right_y=0.2901 right_z=0.1035 right_yaw=0.5007 right_pitch=-0.0929 right_roll=-0.1759 right_gripper=0.0617\nstate[joint_eff]: [-3.5897, -14.9402, 4.6974, 0.735, -0.7009, 0.0122, 1.0281, -0.0889, -7.5145, 8.5675, 2.3321, 0.2857, -0.0855, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10f144a6e34d76e60d19c9dbe7222647ab6517b948aae3be10e9af0929d52e4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45e82eda3fd4425db8e01d13996baeab2d179c57233e7dab8938829fc874da1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:720c87af4ae0f9578d863a84875219dcefd2fa10caa6eabbae2f516b11b3a7a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 21.21 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7601, 2.3322, 2.0407, -0.82, -0.8677, -1.084, 0.0597, 0.865, 1.5951, 0.8524, -0.0452, 0.3511, 0.1478, 0.0617]\nstate[eef_state]: left_x=0.4836 left_y=-0.2688 left_z=0.1251 left_yaw=0.4876 left_pitch=-0.0504 left_roll=-0.0638 left_gripper=0.0597 right_x=0.312 right_y=0.278 right_z=0.0873 right_yaw=0.4773 right_pitch=-0.1764 right_roll=-0.1408 right_gripper=0.0617\nstate[joint_eff]: [-1.1829, -12.2188, 7.7607, 0.8474, -0.652, -0.0415, 1.0281, 0.1436, -8.5675, 8.2667, 2.5275, 0.1245, -0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8127, 2.3631, 2.1159, -0.963, -0.8078, -1.1896, 0.0597, 0.8799, 1.5963, 0.8516, 0.0357, 0.3786, 0.1146, 0.0617]\nstate[eef_state]: left_x=0.4583 left_y=-0.2931 left_z=0.116 left_yaw=0.4754 left_pitch=-0.1356 left_roll=-0.0693 left_gripper=0.0597 right_x=0.3187 right_y=0.2885 right_z=0.1017 right_yaw=0.4914 right_pitch=-0.0986 right_roll=-0.1538 right_gripper=0.0617\nstate[joint_eff]: [-0.8684, -11.8769, 8.841, 0.652, -0.5201, -0.1587, 1.0281, 0.7179, -7.6786, 9.0598, 1.9072, 0.359, -0.105, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8322, 2.3646, 2.0926, -0.9928, -0.8047, -1.2495, 0.0597, 0.8871, 1.5967, 0.8543, 0.0383, 0.3901, 0.0933, 0.0617]\nstate[eef_state]: left_x=0.4457 left_y=-0.2951 left_z=0.1056 left_yaw=0.4951 left_pitch=-0.1545 left_roll=-0.0626 left_gripper=0.0597 right_x=0.3184 right_y=0.2901 right_z=0.1035 right_yaw=0.5007 right_pitch=-0.0929 right_roll=-0.1759 right_gripper=0.0617\nstate[joint_eff]: [-3.5897, -14.9402, 4.6974, 0.735, -0.7009, 0.0122, 1.0281, -0.0889, -7.5145, 8.5675, 2.3321, 0.2857, -0.0855, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10f144a6e34d76e60d19c9dbe7222647ab6517b948aae3be10e9af0929d52e4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45e82eda3fd4425db8e01d13996baeab2d179c57233e7dab8938829fc874da1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:720c87af4ae0f9578d863a84875219dcefd2fa10caa6eabbae2f516b11b3a7a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QwdmniMXKaVnZwyqzjmZmK",
      "input": {
        "note": "In the right wrist view the left gripper/cap sits well to the right of the pen's axis, so the cap is offset toward the right arm's side. Shifting the left arm 3 cm in +y to bring the cap onto the pen's line and to calibrate how far that moves it in the image.",
        "targets": {
          "left_y": -0.265,
          "right_pitch": 0.0,
          "right_x": 0.33,
          "right_y": 0.3,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01QwdmniMXKaVnZwyqzjmZmK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8413, 2.3646, 2.0853, -0.9924, -0.8074, -1.2678, 0.0597, 0.8993, 1.5967, 0.8543, 0.0372, 0.3923, 0.0925, 0.0617]\nstate[eef_state]: left_x=0.4423 left_y=-0.2979 left_z=0.1037 left_yaw=0.4979 left_pitch=-0.1542 left_roll=-0.0691 left_gripper=0.0597 right_x=0.3149 right_y=0.2935 right_z=0.1034 right_yaw=0.5114 right_pitch=-0.0935 right_roll=-0.1783 right_gripper=0.0617\nstate[joint_eff]: [-2.8239, -14.8444, 5.1077, 0.6764, -0.6667, -0.0611, 1.0281, -1.3197, -7.8291, 8.5538, 2.1807, 0.2955, -0.0904, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7a642dc83ed7f649154687a4da4da5ae2b21fd2198973913378062c5e0c3d17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:621cd59e6de6b39688eebd66447d121b71403b618e6f41955f24b19a523a40d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3f584caceecdc5272c2542b6bc27968ee7389d20e260c067fea9471bc34b83a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]