adhoc - adhoc_59550648.json

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: 499.1 s
total steps: 227

operator

scenes

trials

errored

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

give_up

Operator judgements

n/a

Trial 0 transcript

Run video

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

user

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

step 0

assistant

agent noteI see a long pen and a short pen cap lying on the table in the top view. Moving the right arm to a hover pose roughly over the pen so I can calibrate the image-to-frame mapping from the wrist view.

move_to

right_x0.3500right_y0.2000right_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, 0.7929, 0.6014, -0.3809, -0.0223, -0.0113, 0.9998, -0.0185, 0.791, 0.6094, -0.3756, -0.0139, -0.0154, 0.9993] state[eef_state]: left_x=0.2943 left_y=0.0015 left_z=0.1789 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9998 right_x=0.2958 right_y=0.0006 right_z=0.1842 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9993 state[joint_eff]: [-0.5949, -1.4838, 10.4821, 1.7705, -0.0122, -0.0562, -0.0366, -0.7863, -1.1829, 9.7709, 1.7363, -0.1343, -0.0122, -0.0855] 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": 0.35, "right_y": 0.2, "right_z": 0.15, "right_gripper": 1}, "note": "I see a long pen and a short pen cap lying on the table in the top view. Moving the right arm to a hover pose roughly over the pen so I can calibrate the image-to-frame mapping from the wrist view."})

tool

executing move_to over 17 steps (1.7s)

step 17

assistant

agent noteThe right wrist camera shows the pen lying diagonally just beyond the jaws. Rotating the wrist 45° so the jaws close across the pen, advancing 3.5 cm outward and descending to 6 cm to line up the grasp.

move_to

right_x0.3750right_z0.0600right_yaw0.7850

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, 0.7994, 0.6029, -0.3817, -0.0223, -0.0185, 0.9998, 0.7609, 1.4509, 0.8444, -0.1631, 0.5941, 0.4294, 0.9993] state[eef_state]: left_x=0.2948 left_y=0.0015 left_z=0.1777 left_yaw=0.0039 left_pitch=-0.0061 left_roll=-0.0059 left_gripper=0.9998 right_x=0.3405 right_y=0.1926 right_z=0.1333 right_yaw=0.0403 right_pitch=-0.0588 right_roll=-0.0497 right_gripper=0.9993 state[joint_eff]: [-0.253, -1.7436, 6.9265, 1.6972, -0.0464, -0.0024, -0.0171, 0.294, -6.0239, 8.9915, 1.7216, 0.525, 0.2027, -0.0855] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.375, "right_z": 0.06, "right_yaw": 0.785}, "note": "The right wrist camera shows the pen lying diagonally just beyond the jaws. Rotating the wrist 45\u00b0 so the jaws close across the pen, advancing 3.5 cm outward and descending to 6 cm to line up the grasp."})

tool

executing move_to over 5 steps (0.5s)

step 22

assistant

agent noteThe pen now appears vertical and centred on the jaw column in the right wrist view, so the jaws will close across it. Descending to table level and advancing slightly to put the jaws over the pen's middle.

move_to

right_x0.3850right_z0.0000right_yaw0.7000

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, 0.8017, 0.601, -0.382, -0.0223, -0.0189, 0.9998, 0.35, 1.6371, 0.6598, 0.2287, -0.1165, -0.152, 0.9992] state[eef_state]: left_x=0.2946 left_y=0.0015 left_z=0.1761 left_yaw=0.0041 left_pitch=-0.0107 left_roll=-0.0062 left_gripper=0.9998 right_x=0.3714 right_y=0.1613 right_z=0.0389 right_yaw=0.5308 right_pitch=-0.186 right_roll=-0.0278 right_gripper=0.9992 state[joint_eff]: [-0.2256, -1.388, 7.1863, 1.6972, -0.0562, -0.0659, -0.0171, -0.294, -7.4735, 7.1726, 1.8535, -0.359, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.385, "right_z": 0.0, "right_yaw": 0.7}, "note": "The pen now appears vertical and centred on the jaw column in the right wrist view, so the jaws will close across it. Descending to table level and advancing slightly to put the jaws over the pen's middle."})

tool

executing move_to over 3 steps (0.3s)

step 25

assistant

agent noteThe pen runs down past the bottom of the wrist view but sits ~1.5 cm right of the jaw centre line. Shifting the tool sideways to centre the jaws on the pen before closing.

move_to

right_x0.3850right_y0.1530

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, 0.8066, 0.601, -0.3817, -0.0223, -0.0189, 0.9998, 0.2787, 1.8061, 0.6712, 0.3382, -0.2974, -0.3225, 0.9991] state[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1748 left_yaw=0.0041 left_pitch=-0.0152 left_roll=-0.006 left_gripper=0.9998 right_x=0.3756 right_y=0.165 right_z=0.0012 right_yaw=0.7072 right_pitch=-0.1962 right_roll=-0.0179 right_gripper=0.9991 state[joint_eff]: [-0.1573, -1.7026, 7.1726, 1.6874, -0.0464, -0.0464, -0.0171, -0.4718, -8.1436, 7.1453, 0.7643, -0.1685, 0.8816, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.385, "right_y": 0.153}, "note": "The pen runs down past the bottom of the wrist view but sits ~1.5 cm right of the jaw centre line. Shifting the tool sideways to centre the jaws on the pen before closing."})

tool

executing move_to over 2 steps (0.2s)

step 27

assistant

agent noteThe pen is now nicely centred on the jaw column and vertical in the wrist view; the fingertips sit near its lower end. Advancing 2.5 cm along the pen axis so the jaws straddle the pen's middle.

move_to

right_x0.4000right_y0.1730

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, 0.5999, -0.3817, -0.0223, -0.0193, 0.9997, 0.2619, 1.8229, 0.6834, 0.3553, -0.3, -0.3305, 0.9992] state[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1742 left_yaw=0.0043 left_pitch=-0.0168 left_roll=-0.0063 left_gripper=0.9997 right_x=0.3835 right_y=0.1605 right_z=0.0017 right_yaw=0.6959 right_pitch=-0.1841 right_roll=-0.0275 right_gripper=0.9992 state[joint_eff]: [-0.3077, -1.3333, 7.159, 1.6972, -0.0464, -0.0757, -0.0171, -0.3761, -6.9812, 5.6137, 1.5116, -0.2222, -0.1197, -0.0073] 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": 0.173}, "note": "The pen is now nicely centred on the jaw column and vertical in the wrist view; the fingertips sit near its lower end. Advancing 2.5 cm along the pen axis so the jaws straddle the pen's middle."})

tool

executing move_to over 2 steps (0.2s)

step 29

assistant

agent noteThe previous move did not execute (readback unchanged), likely because the fingertips were touching the table. Lifting 1.5 cm while advancing along the pen axis.

move_to

right_x0.4000right_y0.1730right_z0.0150

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, 0.5999, -0.3817, -0.0223, -0.0193, 0.9998, 0.2619, 1.8229, 0.6834, 0.3553, -0.3, -0.3302, 0.9992] state[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1742 left_yaw=0.0043 left_pitch=-0.0168 left_roll=-0.0063 left_gripper=0.9998 right_x=0.3835 right_y=0.1605 right_z=0.0017 right_yaw=0.6957 right_pitch=-0.1841 right_roll=-0.0272 right_gripper=0.9992 state[joint_eff]: [0.0889, -1.265, 7.2274, 1.746, -0.0708, -0.0366, -0.0073, -0.3624, -6.8444, 5.4769, 1.5263, -0.1978, -0.0855, -0.0122] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.4, "right_y": 0.173, "right_z": 0.015}, "note": "The previous move did not execute (readback unchanged), likely because the fingertips were touching the table. Lifting 1.5 cm while advancing along the pen axis."})

tool

executing move_to over 2 steps (0.2s)

step 31

assistant

agent noteTwo successive small moves produced no change in the readback, so I am testing with a clear 10 cm lift to see whether the arm is still tracking commands.

move_to

right_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]: [-0.0204, 0.807, 0.5999, -0.3817, -0.0223, -0.0193, 0.9998, 0.2619, 1.8229, 0.6834, 0.3553, -0.3, -0.3305, 0.9992] state[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1742 left_yaw=0.0043 left_pitch=-0.0168 left_roll=-0.0063 left_gripper=0.9998 right_x=0.3835 right_y=0.1605 right_z=0.0017 right_yaw=0.6959 right_pitch=-0.1841 right_roll=-0.0275 right_gripper=0.9992 state[joint_eff]: [-0.3214, -1.2923, 7.0496, 1.7656, -0.0611, -0.0366, -0.0122, -0.3761, -6.9675, 5.4632, 1.4921, -0.188, -0.0708, -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_z": 0.1}, "note": "Two successive small moves produced no change in the readback, so I am testing with a clear 10 cm lift to see whether the arm is still tracking commands."})

tool

executing move_to over 7 steps (0.7s)

step 38

assistant

agent noteThe arm has caught up to the advanced position and the pen still lies centred between the jaws in the wrist view. Descending to table level to surround the pen before closing.

move_to

right_z0.0040

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, 0.5999, -0.3813, -0.0227, -0.0219, 0.9998, 0.2619, 1.6203, 0.833, 0.1047, -0.2974, -0.3344, 0.9992] state[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1742 left_yaw=0.0061 left_pitch=-0.0164 left_roll=-0.0083 left_gripper=0.9998 right_x=0.4049 right_y=0.1658 right_z=0.0938 right_yaw=0.6898 right_pitch=-0.0928 right_roll=-0.0748 right_gripper=0.9992 state[joint_eff]: [-0.1846, -0.8274, 7.1316, 1.746, -0.0611, -0.0269, -0.0171, -0.294, -7.159, 6.4889, 1.1306, -0.1294, 0.0171, -0.0122] 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_z": 0.004}, "note": "The arm has caught up to the advanced position and the pen still lies centred between the jaws in the wrist view. Descending to table level to surround the pen before closing."})

tool

executing move_to over 6 steps (0.6s)

step 44

assistant

agent noteJaws are at table level straddling the pen shaft. Closing the gripper 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]: [-0.0204, 0.8097, 0.5999, -0.3817, -0.0223, -0.0223, 0.9997, 0.2623, 1.8683, 0.7029, 0.4213, -0.305, -0.3367, 0.9992] state[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1734 left_yaw=0.006 left_pitch=-0.0194 left_roll=-0.0088 left_gripper=0.9997 right_x=0.3955 right_y=0.1648 right_z=0.0015 right_yaw=0.7008 right_pitch=-0.1465 right_roll=-0.0461 right_gripper=0.9992 state[joint_eff]: [-0.1709, -1.4838, 7.2274, 1.6923, -0.0464, -0.0708, -0.0122, -0.212, -6.6803, 4.0684, 1.3602, 0.105, 0.0269, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0}, "note": "Jaws are at table level straddling the pen shaft. Closing the gripper to grasp the pen."})

tool

executing move_to over 10 steps (1.0s)

step 54

assistant

agent noteGripper settled at 0.05 (≈5 mm, the pen's thickness), suggesting a grasp. Lifting 14 cm to confirm the pen comes with the jaws.

move_to

right_z0.1400

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, 0.8101, 0.5999, -0.3813, -0.0223, -0.0223, 0.9998, 0.2623, 1.8805, 0.6991, 0.4595, -0.3172, -0.3389, 0.0495] state[eef_state]: left_x=0.2951 left_y=0.0015 left_z=0.1734 left_yaw=0.006 left_pitch=-0.0194 left_roll=-0.0088 left_gripper=0.9998 right_x=0.3978 right_y=0.1675 right_z=0.0025 right_yaw=0.7108 right_pitch=-0.1231 right_roll=-0.05 right_gripper=0.0495 state[joint_eff]: [-0.1299, -1.347, 7.2684, 1.6923, -0.0659, -0.0415, -0.0073, -0.1162, -9.2103, 5.5863, 1.1941, -0.0562, 0.0073, 1.3016] camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.14}, "note": "Gripper settled at 0.05 (\u22485 mm, the pen's thickness), suggesting a grasp. Lifting 14 cm to confirm the pen comes with the jaws."})

tool

executing move_to over 9 steps (0.9s)

step 63

assistant

agent noteThe pen is grasped and lifted (visible sticking out beyond the right jaws). Now moving the left arm to hover over the pen cap, which appears to the left arm's right in its wrist view.

move_to

left_x0.3800left_y-0.1000left_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]: [-0.0204, 0.8135, 0.5999, -0.3813, -0.0223, -0.0227, 0.9998, 0.2623, 1.5658, 0.9337, -0.0937, -0.318, -0.3462, 0.0564] state[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1725 left_yaw=0.0062 left_pitch=-0.0229 left_roll=-0.009 left_gripper=0.9998 right_x=0.3999 right_y=0.1682 right_z=0.1219 right_yaw=0.7155 right_pitch=-0.1265 right_roll=-0.0536 right_gripper=0.0564 state[joint_eff]: [-0.0615, -1.6342, 7.1179, 1.7265, -0.0659, -0.0757, -0.0122, -0.1846, -9.1829, 8.4581, 1.5165, -0.1783, 0.0171, 1.033] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.38, "left_y": -0.1, "left_z": 0.15}, "note": "The pen is grasped and lifted (visible sticking out beyond the right jaws). Now moving the left arm to hover over the pen cap, which appears to the left arm's right in its wrist view."})

tool

executing move_to over 10 steps (1.0s)

step 73

assistant

agent noteIn the left wrist view the cap sits slightly right of the jaw column and well beyond the fingertips. Shifting 3.5 cm right, advancing 6 cm and lowering to 9 cm to close in on the cap.

move_to

left_x0.4200left_y-0.1290left_z0.0900

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4107, 1.3216, 0.7334, -0.1398, -0.3195, -0.2451, 0.9997, 0.2623, 1.5639, 0.9318, -0.1177, -0.318, -0.3492, 0.061] state[eef_state]: left_x=0.3625 left_y=-0.0934 left_z=0.1237 left_yaw=-0.0132 left_pitch=-0.1122 left_roll=0.0186 left_gripper=0.9997 right_x=0.3957 right_y=0.1671 right_z=0.1177 right_yaw=0.7186 right_pitch=-0.1482 right_roll=-0.0453 right_gripper=0.061 state[joint_eff]: [-0.4171, -5.7504, 9.6889, 1.79, -0.315, 0.0513, -0.0171, -0.294, -6.8581, 6.694, 1.7949, -0.1832, -0.0317, 1.033] camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.42, "left_y": -0.129, "left_z": 0.09}, "note": "In the left wrist view the cap sits slightly right of the jaw column and well beyond the fingertips. Shifting 3.5 cm right, advancing 6 cm and lowering to 9 cm to close in on the cap."})

tool

executing move_to over 5 steps (0.5s)

step 78

assistant

agent noteThe cap is still beyond the fingertips and tilted ~55° in the left wrist view. Rotating the wrist -0.6 rad to bring the jaws across the cap, advancing 4 cm and descending to 3 cm.

move_to

left_x0.4400left_z0.0300left_yaw-0.6000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4385, 1.6417, 0.8322, -0.0376, -0.3374, -0.2695, 0.9997, 0.2623, 1.5661, 0.9279, -0.1238, -0.318, -0.3492, 0.0649] state[eef_state]: left_x=0.3957 left_y=-0.117 left_z=0.0621 left_yaw=-0.0051 left_pitch=-0.2153 left_roll=0.0607 left_gripper=0.9997 right_x=0.3937 right_y=0.1666 right_z=0.1142 right_yaw=0.7194 right_pitch=-0.1591 right_roll=-0.0398 right_gripper=0.0649 state[joint_eff]: [-0.3077, -8.212, 9.2513, 1.6825, -0.2515, -0.0073, -0.0073, -0.212, -7.3778, 6.7897, 1.5311, -0.2076, -0.0122, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.44, "left_z": 0.03, "left_yaw": -0.6}, "note": "The cap is still beyond the fingertips and tilted ~55\u00b0 in the left wrist view. Rotating the wrist -0.6 rad to bring the jaws across the cap, advancing 4 cm and descending to 3 cm."})

tool

executing move_to over 4 steps (0.4s)

step 82

assistant

agent noteThe left arm is lagging behind the commanded pose (yaw still ~0, x 0.40), so I am re-sending the same target to let it finish converging onto the cap.

move_to

left_x0.4400left_z0.0300left_yaw-0.6000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4393, 1.6619, 0.8471, -0.0067, -0.3378, -0.2722, 0.9998, 0.2623, 1.5665, 0.9272, -0.1234, -0.318, -0.3492, 0.0649] state[eef_state]: left_x=0.4039 left_y=-0.1211 left_z=0.0646 left_yaw=-0.0063 left_pitch=-0.1919 left_roll=0.0481 left_gripper=0.9998 right_x=0.3936 right_y=0.1666 right_z=0.1138 right_yaw=0.7195 right_pitch=-0.1598 right_roll=-0.0395 right_gripper=0.0649 state[joint_eff]: [-0.4034, -8.3897, 9.0735, 1.8144, -0.2662, -0.0269, -0.0073, -0.0342, -7.1179, 6.612, 1.5116, -0.2027, -0.0562, 1.0379] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.44, "left_z": 0.03, "left_yaw": -0.6}, "note": "The left arm is lagging behind the commanded pose (yaw still ~0, x 0.40), so I am re-sending the same target to let it finish converging onto the cap."})

tool

executing move_to over 4 steps (0.4s)

step 86

assistant

agent noteThe left arm has stalled at x=0.40, z=0.065 and refuses to yaw. Lifting to 12 cm where the arm has more freedom and applying the wrist rotation there.

move_to

left_z0.1200left_yaw-0.6000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4393, 1.6619, 0.8471, -0.0071, -0.3378, -0.2722, 0.9997, 0.2623, 1.5665, 0.9272, -0.1234, -0.318, -0.3492, 0.0649] state[eef_state]: left_x=0.4038 left_y=-0.1211 left_z=0.0645 left_yaw=-0.0062 left_pitch=-0.1923 left_roll=0.0483 left_gripper=0.9997 right_x=0.3936 right_y=0.1666 right_z=0.1138 right_yaw=0.7195 right_pitch=-0.1598 right_roll=-0.0395 right_gripper=0.0649 state[joint_eff]: [-0.3214, -8.253, 9.0462, 1.8388, -0.2515, -0.0073, -0.0171, -0.3077, -7.1453, 6.5299, 1.536, -0.1636, -0.0269, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.12, "left_yaw": -0.6}, "note": "The left arm has stalled at x=0.40, z=0.065 and refuses to yaw. Lifting to 12 cm where the arm has more freedom and applying the wrist rotation there."})

tool

executing move_to over 4 steps (0.4s)

step 90

assistant

agent noteThe left arm is sagging and barely tracking near full reach. Pulling it back to a comfortable pose (x 0.36, z 0.18) with pitch explicitly zeroed and the wrist yawed -0.6, then I will re-approach the cap.

move_to

left_x0.3600left_y-0.1200left_z0.1800left_pitch0.0000left_yaw-0.6000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3462, 1.6314, 0.8833, -0.1024, -0.2401, -0.1947, 0.9997, 0.2623, 1.5665, 0.9272, -0.1238, -0.3172, -0.3496, 0.0649] state[eef_state]: left_x=0.4066 left_y=-0.0982 left_z=0.0713 left_yaw=-0.0343 left_pitch=-0.2477 left_roll=0.0455 left_gripper=0.9997 right_x=0.3936 right_y=0.1664 right_z=0.1137 right_yaw=0.7191 right_pitch=-0.1604 right_roll=-0.0401 right_gripper=0.0649 state[joint_eff]: [1.8393, -11.959, 11.0838, 1.8779, -0.2662, 0.3834, -0.0073, -0.335, -7.159, 6.5299, 1.5018, -0.149, -0.0317, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.36, "left_y": -0.12, "left_z": 0.18, "left_pitch": 0, "left_yaw": -0.6}, "note": "The left arm is sagging and barely tracking near full reach. Pulling it back to a comfortable pose (x 0.36, z 0.18) with pitch explicitly zeroed and the wrist yawed -0.6, then I will re-approach the cap."})

tool

executing move_to over 9 steps (0.9s)

step 99

assistant

agent noteWith the wrist at -0.49 the cap now looks nearly horizontal in the left wrist view, i.e. the jaws would close along its length. Rotating the wrist the other way to +0.4 to make the cap appear vertical so the jaws close across it.

move_to

left_yaw0.4000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1963, 1.2575, 0.7834, -0.1677, 0.2169, 0.1974, 0.9997, 0.2623, 1.5665, 0.9268, -0.1238, -0.3176, -0.3492, 0.0649] state[eef_state]: left_x=0.3645 left_y=-0.1076 left_z=0.1596 left_yaw=-0.4897 left_pitch=-0.053 left_roll=0.028 left_gripper=0.9997 right_x=0.3935 right_y=0.1665 right_z=0.1135 right_yaw=0.7192 right_pitch=-0.1606 right_roll=-0.0394 right_gripper=0.0649 state[joint_eff]: [0.1983, -5.7504, 8.8957, 1.8095, 0.149, 0.1978, -0.0122, -0.3624, -7.159, 6.7077, 1.5507, -0.188, -0.0513, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_yaw": 0.4}, "note": "With the wrist at -0.49 the cap now looks nearly horizontal in the left wrist view, i.e. the jaws would close along its length. Rotating the wrist the other way to +0.4 to make the cap appear vertical so the jaws close across it."})

tool

executing move_to over 6 steps (0.6s)

step 105

assistant

agent noteThe cap still looks nearly horizontal in the left wrist view despite the last rotation, so I am commanding a much larger wrist yaw (+1.2 rad) to see the image rotate and get the jaws across the cap.

move_to

left_yaw1.2000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6132, 1.4754, 0.9722, -0.3958, -0.5842, -0.5407, 0.9997, 0.2623, 1.5665, 0.926, -0.1265, -0.3176, -0.3492, 0.0649] state[eef_state]: left_x=0.3638 left_y=-0.1325 left_z=0.1392 left_yaw=0.162 left_pitch=-0.1406 left_roll=0.047 left_gripper=0.9997 right_x=0.3929 right_y=0.1663 right_z=0.1128 right_yaw=0.7195 right_pitch=-0.1637 right_roll=-0.0378 right_gripper=0.0649 state[joint_eff]: [-0.294, -7.3231, 8.7043, 1.0574, -0.5446, -0.0464, -0.0122, -0.1983, -7.1453, 6.5709, 1.5507, -0.1685, -0.0415, 1.033] camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_yaw": 1.2}, "note": "The cap still looks nearly horizontal in the left wrist view despite the last rotation, so I am commanding a much larger wrist yaw (+1.2 rad) to see the image rotate and get the jaws across the cap."})

tool

executing move_to over 7 steps (0.7s)

step 112

assistant

agent noteWrist yaw is barely rotating the wrist image, so I am returning the wrist to yaw 0 where the image axes are known (image-right = arm right, image-down = toward base) before making a measured approach to the cap.

move_to

left_yaw0.0000left_z0.1400

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6891, 2.1532, 1.8133, -1.364, -0.8047, -1.6733, 0.9997, 0.2623, 1.5715, 0.9226, -0.1291, -0.3164, -0.3496, 0.0649] state[eef_state]: left_x=0.3846 left_y=-0.1472 left_z=0.1167 left_yaw=0.9595 left_pitch=-0.1873 left_roll=0.0565 left_gripper=0.9997 right_x=0.3916 right_y=0.1658 right_z=0.1089 right_yaw=0.7196 right_pitch=-0.174 right_roll=-0.0339 right_gripper=0.0649 state[joint_eff]: [1.5385, -10.5368, 7.1726, -0.4176, -0.442, -0.1001, -0.0122, 0.0342, -7.2821, 6.7624, 1.5409, -0.2076, -0.0366, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_yaw": 0.0, "left_z": 0.14}, "note": "Wrist yaw is barely rotating the wrist image, so I am returning the wrist to yaw 0 where the image axes are known (image-right = arm right, image-down = toward base) before making a measured approach to the cap."})

tool

executing move_to over 7 steps (0.7s)

step 119

assistant

agent noteThe cap sits ~5 cm to the arm's right and further out in the left wrist view. Stepping to x=0.40, y=-0.173 at 6 cm height to get the jaws close above it.

move_to

left_x0.4000left_y-0.1730left_z0.0600left_yaw0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.569, 1.5711, 1.0546, -0.5331, -0.5293, -0.7872, 0.9996, 0.2623, 1.5742, 0.9215, -0.1265, -0.3157, -0.3496, 0.0649] state[eef_state]: left_x=0.3647 left_y=-0.1231 left_z=0.1143 left_yaw=0.329 left_pitch=-0.2746 left_roll=-0.0492 left_gripper=0.9996 right_x=0.3918 right_y=0.1657 right_z=0.1078 right_yaw=0.719 right_pitch=-0.1752 right_roll=-0.0339 right_gripper=0.0649 state[joint_eff]: [0.253, -8.4308, 7.2274, 1.6777, -0.1832, 0.2955, -0.0171, -0.1846, -7.3641, 6.694, 1.5507, -0.1441, -0.0562, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.4, "left_y": -0.173, "left_z": 0.06, "left_yaw": 0.0}, "note": "The cap sits ~5 cm to the arm's right and further out in the left wrist view. Stepping to x=0.40, y=-0.173 at 6 cm height to get the jaws close above it."})

tool

executing move_to over 5 steps (0.5s)

step 124

assistant

agent noteThe cap is now 1.5 cm left of the jaw column and still a few cm beyond the fingertips in the left wrist view. Shifting left 1.5 cm and advancing 3 cm to bring the jaws over it.

move_to

left_x0.4150left_y-0.1430left_z0.0500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5552, 1.7401, 0.9924, -0.2596, -0.3759, -0.5362, 0.9996, 0.2623, 1.5742, 0.9215, -0.128, -0.3157, -0.3496, 0.0649] state[eef_state]: left_x=0.3846 left_y=-0.158 left_z=0.0516 left_yaw=0.082 left_pitch=-0.333 left_roll=-0.0105 left_gripper=0.9996 right_x=0.3916 right_y=0.1656 right_z=0.1075 right_yaw=0.7192 right_pitch=-0.1766 right_roll=-0.0332 right_gripper=0.0649 state[joint_eff]: [0.5265, -8.0752, 6.2974, 1.5067, 0.0464, 0.2222, -0.0122, -0.3487, -7.0632, 6.8718, 1.4921, -0.1636, -0.0708, 1.0379] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.415, "left_y": -0.143, "left_z": 0.05}, "note": "The cap is now 1.5 cm left of the jaw column and still a few cm beyond the fingertips in the left wrist view. Shifting left 1.5 cm and advancing 3 cm to bring the jaws over it."})

tool

executing move_to over 3 steps (0.3s)

step 127

assistant

agent noteThe arm lags one command behind, so I am re-sending the same target to let it settle at x=0.415, y=-0.143 over the cap.

move_to

left_x0.4150left_y-0.1430left_z0.0500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5537, 1.7569, 0.9916, -0.1905, -0.3389, -0.4911, 0.9996, 0.2623, 1.5742, 0.9215, -0.1276, -0.3157, -0.3496, 0.0656] state[eef_state]: left_x=0.3931 left_y=-0.1698 left_z=0.0518 left_yaw=0.0192 left_pitch=-0.3078 left_roll=-0.0383 left_gripper=0.9996 right_x=0.3916 right_y=0.1656 right_z=0.1076 right_yaw=0.7191 right_pitch=-0.1763 right_roll=-0.0334 right_gripper=0.0656 state[joint_eff]: [-0.0068, -8.9231, 6.3795, 1.6093, -0.1294, 0.188, -0.0122, -0.2393, -7.2, 6.4889, 1.5116, -0.1929, -0.0513, 1.0232] camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.415, "left_y": -0.143, "left_z": 0.05}, "note": "The arm lags one command behind, so I am re-sending the same target to let it settle at x=0.415, y=-0.143 over the cap."})

tool

executing move_to over 3 steps (0.3s)

step 130

assistant

agent noteThe left arm is stalled at low height near its reach limit. Raising to 13 cm while extending to x=0.43 — the arm moves freely higher up — so I can then descend vertically onto the cap.

move_to

left_x0.4300left_y-0.1500left_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]: [-0.5537, 1.7569, 0.9916, -0.1902, -0.3393, -0.4908, 0.9996, 0.2623, 1.5742, 0.9215, -0.1276, -0.3157, -0.3496, 0.0656] state[eef_state]: left_x=0.3932 left_y=-0.1698 left_z=0.0519 left_yaw=0.0192 left_pitch=-0.3073 left_roll=-0.038 left_gripper=0.9996 right_x=0.3916 right_y=0.1656 right_z=0.1076 right_yaw=0.7191 right_pitch=-0.1763 right_roll=-0.0334 right_gripper=0.0656 state[joint_eff]: [-0.0205, -8.9094, 6.4889, 1.619, -0.1294, 0.1832, -0.0122, -0.3487, -7.2274, 6.612, 1.5067, -0.1685, -0.0366, 1.0281] camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.43, "left_y": -0.15, "left_z": 0.13}, "note": "The left arm is stalled at low height near its reach limit. Raising to 13 cm while extending to x=0.43 \u2014 the arm moves freely higher up \u2014 so I can then descend vertically onto the cap."})

tool

executing move_to over 6 steps (0.6s)

step 136

assistant

agent noteThe left arm keeps stalling around x=0.40 with the tool pitched back; commanding a forward pitch of +0.4 should let the wrist extend further out toward the cap.

move_to

left_x0.4500left_z0.1000left_pitch0.4000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5068, 1.7618, 1.0782, -0.3046, -0.3019, -0.4633, 0.9996, 0.2623, 1.5742, 0.9215, -0.1276, -0.3157, -0.3496, 0.069] state[eef_state]: left_x=0.4026 left_y=-0.1593 left_z=0.0638 left_yaw=0.0263 left_pitch=-0.351 left_roll=-0.0295 left_gripper=0.9996 right_x=0.3916 right_y=0.1656 right_z=0.1076 right_yaw=0.7191 right_pitch=-0.1763 right_roll=-0.0334 right_gripper=0.069 state[joint_eff]: [1.388, -10.6325, 10.7829, 1.7705, -0.3297, 0.2955, -0.0122, -0.1709, -7.2, 6.6256, 1.4579, -0.1245, -0.0659, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.45, "left_z": 0.1, "left_pitch": 0.4}, "note": "The left arm keeps stalling around x=0.40 with the tool pitched back; commanding a forward pitch of +0.4 should let the wrist extend further out toward the cap."})

tool

executing move_to over 26 steps (2.6s)

step 162

assistant

agent noteWith pitch forward the arm finally reached x=0.45, and the cap has dropped out of the wrist view (it is now nearer than the camera's field, i.e. close to the fingertips). Descending to table level with a milder pitch to see the cap right at the jaws.

move_to

left_x0.4400left_z0.0100left_pitch0.1500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5404, 1.9358, 0.7017, 0.9516, -0.5442, -0.1646, 0.9996, 0.2623, 1.5742, 0.9215, -0.128, -0.3157, -0.3496, 0.069] state[eef_state]: left_x=0.4472 left_y=-0.1575 left_z=0.0858 left_yaw=0.026 left_pitch=0.3311 left_roll=-0.017 left_gripper=0.9996 right_x=0.3916 right_y=0.1656 right_z=0.1075 right_yaw=0.7192 right_pitch=-0.1766 right_roll=-0.0332 right_gripper=0.069 state[joint_eff]: [-0.3761, -8.0752, 4.506, 2.2344, -0.1343, 0.0757, -0.0122, -0.2393, -6.9812, 6.5162, 1.4823, -0.2027, -0.0513, 1.033] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.44, "left_z": 0.01, "left_pitch": 0.15}, "note": "With pitch forward the arm finally reached x=0.45, and the cap has dropped out of the wrist view (it is now nearer than the camera's field, i.e. close to the fingertips). Descending to table level with a milder pitch to see the cap right at the jaws."})

tool

executing move_to over 7 steps (0.7s)

step 169

assistant

agent noteThe cap is now clearly visible between the left jaws, about 2.5 cm to the arm's left and tilted ~35°. Shifting left 2.5 cm and yawing +0.8 rad so the jaws close across the cap's side.

move_to

left_y-0.1300left_yaw0.8000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5392, 2.0712, 0.7021, 0.8944, -0.5163, -0.2459, 0.9996, 0.2623, 1.5742, 0.9215, -0.1276, -0.3157, -0.3496, 0.0691] state[eef_state]: left_x=0.4359 left_y=-0.155 left_z=0.0135 left_yaw=0.0229 left_pitch=0.163 left_roll=0.0006 left_gripper=0.9996 right_x=0.3916 right_y=0.1656 right_z=0.1076 right_yaw=0.7191 right_pitch=-0.1763 right_roll=-0.0334 right_gripper=0.0691 state[joint_eff]: [0.0342, -8.6906, 6.3111, 1.6581, 0.022, -0.149, -0.0122, -0.1983, -7.2274, 6.6256, 1.58, -0.149, -0.0659, 1.0232] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_y": -0.13, "left_yaw": 0.8}, "note": "The cap is now clearly visible between the left jaws, about 2.5 cm to the arm's left and tilted ~35\u00b0. Shifting left 2.5 cm and yawing +0.8 rad so the jaws close across the cap's side."})

tool

executing move_to over 5 steps (0.5s)

step 174

assistant

agent noteThe yaw command swung the arm outward and the cap slipped to the bottom-left corner of the wrist view. Pulling back ~5 cm toward the cap at table height, keeping the wrist at yaw 0.6.

move_to

left_x0.4310left_y-0.1530left_z0.0150left_yaw0.6000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6662, 2.2585, 1.2686, 0.2268, -1.0279, -0.8875, 0.9997, 0.2623, 1.5753, 0.9207, -0.1299, -0.3153, -0.3492, 0.0691] state[eef_state]: left_x=0.48 left_y=-0.1804 left_z=0.0327 left_yaw=0.5995 left_pitch=0.1971 left_roll=-0.1934 left_gripper=0.9997 right_x=0.3911 right_y=0.1654 right_z=0.1064 right_yaw=0.7189 right_pitch=-0.1802 right_roll=-0.0314 right_gripper=0.0691 state[joint_eff]: [0.6632, -12.2325, 4.5197, 0.9158, -0.8278, -0.0366, -0.0122, -0.0205, -7.2547, 6.5299, 1.4481, -0.1978, -0.0073, 1.0232] camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.431, "left_y": -0.153, "left_z": 0.015, "left_yaw": 0.6}, "note": "The yaw command swung the arm outward and the cap slipped to the bottom-left corner of the wrist view. Pulling back ~5 cm toward the cap at table height, keeping the wrist at yaw 0.6."})

tool

executing move_to over 4 steps (0.4s)

step 178

assistant

agent noteThe cap lies horizontally in the wrist view, so the jaws would close along its length; rotating the wrist to yaw -0.95 (a 90° change) will present the cap vertically so the jaws grip across its barrel, leaving the open end free.

move_to

left_yaw-0.9500left_z0.0350

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.675, 2.2318, 1.1252, 0.2493, -1.063, -0.9371, 0.9996, 0.2623, 1.578, 0.9207, -0.1276, -0.3157, -0.3496, 0.0691] state[eef_state]: left_x=0.4481 left_y=-0.1564 left_z=0.0104 left_yaw=0.6228 left_pitch=0.1905 left_roll=-0.1408 left_gripper=0.9996 right_x=0.3914 right_y=0.1656 right_z=0.1057 right_yaw=0.7195 right_pitch=-0.1804 right_roll=-0.0313 right_gripper=0.0691 state[joint_eff]: [-0.3077, -13.012, 4.8615, 1.3993, -0.2515, 0.2125, -0.0171, -0.2256, -7.4462, 6.4342, 1.5165, -0.1929, -0.0659, 1.0232] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_yaw": -0.95, "left_z": 0.035}, "note": "The cap lies horizontally in the wrist view, so the jaws would close along its length; rotating the wrist to yaw -0.95 (a 90\u00b0 change) will present the cap vertically so the jaws grip across its barrel, leaving the open end free."})

tool

executing move_to over 11 steps (1.1s)

step 189

assistant

agent noteThe yaw command instead translated the arm 10 cm sideways and the cap left the view. Returning to the pose where the cap sat between the jaws (x=0.44, y=-0.158) to re-acquire it.

move_to

left_x0.4400left_y-0.1580left_z0.0200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4004, 2.101, 0.9386, 0.4515, -0.815, -0.6945, 0.9996, 0.2623, 1.5787, 0.9203, -0.1291, -0.3153, -0.3492, 0.0691] state[eef_state]: left_x=0.4667 left_y=-0.054 left_z=0.0141 left_yaw=0.619 left_pitch=0.104 left_roll=-0.1232 left_gripper=0.9996 right_x=0.3911 right_y=0.1654 right_z=0.105 right_yaw=0.7192 right_pitch=-0.1829 right_roll=-0.0301 right_gripper=0.0691 state[joint_eff]: [0.1299, -10.4137, 4.4923, 1.2723, -0.149, 0.1587, -0.0171, -0.2667, -7.2547, 6.4615, 1.5507, -0.1636, 0.0024, 1.033] camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.44, "left_y": -0.158, "left_z": 0.02}, "note": "The yaw command instead translated the arm 10 cm sideways and the cap left the view. Returning to the pose where the cap sat between the jaws (x=0.44, y=-0.158) to re-acquire it."})

tool

executing move_to over 10 steps (1.0s)

step 199

assistant

agent noteThe left arm is now ~7 cm right of where the cap was. Translating back left to y=-0.155 at 3 cm height to bring the cap back into the wrist view.

move_to

left_y-0.1550left_z0.0300

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2623, 2.022, 0.6777, 0.8532, -0.1925, -0.2401, 0.9996, 0.2623, 1.5803, 0.9199, -0.1276, -0.3153, -0.3492, 0.0691] state[eef_state]: left_x=0.4573 left_y=-0.0841 left_z=0.0097 left_yaw=0.0257 left_pitch=0.0865 left_roll=-0.1251 left_gripper=0.9996 right_x=0.3912 right_y=0.1655 right_z=0.1045 right_yaw=0.7192 right_pitch=-0.1832 right_roll=-0.0299 right_gripper=0.0691 state[joint_eff]: [-0.2667, -9.6889, 4.0957, 1.8535, 0.1538, 0.2076, -0.0122, -0.253, -7.3778, 6.4752, 1.4921, -0.1538, -0.0317, 1.033] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_y": -0.155, "left_z": 0.03}, "note": "The left arm is now ~7 cm right of where the cap was. Translating back left to y=-0.155 at 3 cm height to bring the cap back into the wrist view."})

tool

executing move_to over 7 steps (0.7s)

step 206

assistant

agent noteThe cap is visible just left of the left jaw at the bottom of the wrist view. Shifting 4 cm to the arm's left and down to table level so the jaws straddle it.

move_to

left_y-0.1250left_z0.0080

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4774, 2.0212, 0.7727, 0.72, -0.3256, -0.3225, 0.9996, 0.2623, 1.5803, 0.9195, -0.1272, -0.3153, -0.3496, 0.0691] state[eef_state]: left_x=0.4492 left_y=-0.1647 left_z=0.0167 left_yaw=-0.0345 left_pitch=0.0698 left_roll=-0.1236 left_gripper=0.9996 right_x=0.3912 right_y=0.1654 right_z=0.1044 right_yaw=0.7194 right_pitch=-0.1832 right_roll=-0.0302 right_gripper=0.0691 state[joint_eff]: [1.4974, -11.2479, 6.8444, 1.6484, -0.2125, -0.0171, -0.0122, -0.3214, -7.2274, 6.4752, 1.4628, -0.2027, -0.0464, 1.033] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 206): [image omitted: streamed camera frame] camera 'left_cam' (step 206): [image omitted: streamed camera frame] camera 'right_cam' (step 206): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_y": -0.125, "left_z": 0.008}, "note": "The cap is visible just left of the left jaw at the bottom of the wrist view. Shifting 4 cm to the arm's left and down to table level so the jaws straddle it."})

tool

executing move_to over 4 steps (0.4s)

step 210

assistant

agent noteThe cap now sits vertically between the left jaws at table level. Closing the gripper to grasp it across its barrel.

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]: [-0.3779, 2.0212, 0.7113, 0.7876, -0.2718, -0.2863, 0.9996, 0.2623, 1.5803, 0.9195, -0.1276, -0.3153, -0.3492, 0.0691] state[eef_state]: left_x=0.4505 left_y=-0.1239 left_z=0.0087 left_yaw=0.0008 left_pitch=0.0668 left_roll=-0.1191 left_gripper=0.9996 right_x=0.3911 right_y=0.1654 right_z=0.1044 right_yaw=0.7193 right_pitch=-0.1836 right_roll=-0.0297 right_gripper=0.0691 state[joint_eff]: [0.2256, -8.9915, 3.9179, 1.6435, 0.0904, 0.0024, -0.0171, -0.294, -7.2274, 6.4342, 1.4921, -0.1636, -0.0611, 1.033] camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0}, "note": "The cap now sits vertically between the left jaws at table level. Closing the gripper to grasp it across its barrel."})

tool

executing move_to over 10 steps (1.0s)

step 220

assistant

agent noteThe gripper settled at 0.048 (~5 mm) and something thin is visible between the jaws. Lifting 8 cm to check in the overhead view whether the cap came with the jaws.

move_to

left_z0.0900

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3737, 2.0212, 0.7029, 0.791, -0.2676, -0.2886, 0.0476, 0.2623, 1.5803, 0.9195, -0.1276, -0.3153, -0.3492, 0.0691] state[eef_state]: left_x=0.4486 left_y=-0.1219 left_z=0.0066 left_yaw=0.0026 left_pitch=0.0613 left_roll=-0.1212 left_gripper=0.0476 right_x=0.3911 right_y=0.1654 right_z=0.1044 right_yaw=0.7193 right_pitch=-0.1836 right_roll=-0.0297 right_gripper=0.0691 state[joint_eff]: [-0.4991, -8.9915, 4.8889, 1.7265, 0.0171, -0.0269, 1.1013, -0.335, -7.2684, 6.4205, 1.5116, -0.2076, -0.0073, 1.033] camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.09}, "note": "The gripper settled at 0.048 (~5 mm) and something thin is visible between the jaws. Lifting 8 cm to check in the overhead view whether the cap came with the jaws."})

tool

executing move_to over 6 steps (0.6s)

step 226

assistant

agent noteI picked up the pen successfully with the right arm, but the pen cap sits far out on the left arm's side (left_x≈0.45, left_y≈-0.13) where that arm tracks poorly, and my grasp attempt closed empty (gripper settled at 0.048 with the cap still on the table in the right wrist view). With only a few calls left there is no chance of re-acquiring the cap and mating it onto the pen, so I am stopping rather than flailing.

give_up

hindsightConcrete lessons from this rig/trial: 1) The controller lags one command: a move often ends with the readback at the PREVIOUS target, and re-sending the identical target makes it converge. Budget an extra call for this on every precision step. 2) The left arm in this trial was much weaker/stiffer than the right: near x>0.40 with the tool pitched back (pitch drifts to -0.3 on its own) it simply stalls with shoulder effort ~-9 N·m. Commanding left_pitch=+0.3..0.4 explicitly immediately unlocked reach out to x=0.48. Command pitch explicitly instead of letting IK pick it. 3) Wrist yaw on this rig does NOT behave as a pure tool rotation: commanding yaw changes produced large lateral/forward translations of the grasp point (up to 10 cm) with almost no visible rotation of the wrist image. Do not rely on yaw to align jaws with an object; expect to re-centre afterwards, or plan grasps that tolerate the current orientation. 4) Grasping a thin pen worked well: tool vertical, descend to z≈0.002 (arm stalls silently once fingertips touch the table — raise z a little before any lateral move or it will refuse to move), close fully, settled gripper ≈0.05 = 5 mm = real grasp. An empty close settles at ≈0.047 too, so 0.05 is ambiguous for thin objects: verify with the overhead/other wrist camera. 5) Wrist-cam lateral scale: ≈4 px/cm at z≈0.15 mid-frame, ≈10 px/cm near the bottom edge at z≈0.05. Objects sitting on the jaw column at image row ~100-150 are still 3-6 cm beyond the fingertips. 6) right_y = left_y + 0.65 means anything at left_y < -0.15 is out of the right arm's box; such objects are left-arm only.

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3737, 1.7679, 0.7486, 0.4789, -0.2798, -0.2901, 0.0475, 0.2623, 1.5806, 0.9195, -0.1272, -0.3157, -0.3492, 0.0691] state[eef_state]: left_x=0.4446 left_y=-0.1181 left_z=0.0704 left_yaw=0.0134 left_pitch=0.0514 left_roll=-0.1119 left_gripper=0.0475 right_x=0.3912 right_y=0.1655 right_z=0.1043 right_yaw=0.7196 right_pitch=-0.1835 right_roll=-0.0295 right_gripper=0.0691 state[joint_eff]: [-0.3487, -9.7846, 8.7316, 1.707, -0.022, -0.0513, -0.0317, 0.0068, -7.2684, 6.5436, 1.5409, -0.1832, -0.0171, 1.033] camera 'top_cam' (step 226): [image omitted: streamed camera frame] camera 'left_cam' (step 226): [image omitted: streamed camera frame] camera 'right_cam' (step 226): [image omitted: streamed camera frame]

assistant

give_up({"reason": "I picked up the pen successfully with the right arm, but the pen cap sits far out on the left arm's side (left_x\u22480.45, left_y\u2248-0.13) where that arm tracks poorly, and my grasp attempt closed empty (gripper settled at 0.048 with the cap still on the table in the right wrist view). With only a few calls left there is no chance of re-acquiring the cap and mating it onto the pen, so I am stopping rather than flailing.", "hindsight": "Concrete lessons from this rig/trial:\n1) The controller lags one command: a move often ends with the readback at the PREVIOUS target, and re-sending the identical target makes it converge. Budget an extra call for this on every precision step.\n2) The left arm in this trial was much weaker/stiffer than the right: near x>0.40 with the tool pitched back (pitch drifts to -0.3 on its own) it simply stalls with shoulder effort ~-9 N\u00b7m. Commanding left_pitch=+0.3..0.4 explicitly immediately unlocked reach out to x=0.48. Command pitch explicitly instead of letting IK pick it.\n3) Wrist yaw on this rig does NOT behave as a pure tool rotation: commanding yaw changes produced large lateral/forward translations of the grasp point (up to 10 cm) with almost no visible rotation of the wrist image. Do not rely on yaw to align jaws with an object; expect to re-centre afterwards, or plan grasps that tolerate the current orientation.\n4) Grasping a thin pen worked well: tool vertical, descend to z\u22480.002 (arm stalls silently once fingertips touch the table \u2014 raise z a little before any lateral move or it will refuse to move), close fully, settled gripper \u22480.05 = 5 mm = real grasp. An empty close settles at \u22480.047 too, so 0.05 is ambiguous for thin objects: verify with the overhead/other wrist camera.\n5) Wrist-cam lateral scale: \u22484 px/cm at z\u22480.15 mid-frame, \u224810 px/cm near the bottom edge at z\u22480.05. Objects sitting on the jaw column at image row ~100-150 are still 3-6 cm beyond the fingertips.\n6) right_y = left_y + 0.65 means anything at left_y < -0.15 is out of the right arm's box; such objects are left-arm only."})

tool

give_up: I picked up the pen successfully with the right arm, but the pen cap sits far out on the left arm's side (left_x≈0.45, left_y≈-0.13) where that arm tracks poorly, and my grasp attempt closed empty (gripper settled at 0.048 with the cap still on the table in the right wrist view). With only a few calls left there is no chance of re-acquiring the cap and mating it onto the pen, so I am stopping rather than flailing.

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)

[
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"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"
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]

call 0 attempt 0 · /messages · status 200 · 22.85 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, 0.7929, 0.6014, -0.3809, -0.0223, -0.0113, 0.9998, -0.0185, 0.791, 0.6094, -0.3756, -0.0139, -0.0154, 0.9993]\nstate[eef_state]: left_x=0.2943 left_y=0.0015 left_z=0.1789 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9998 right_x=0.2958 right_y=0.0006 right_z=0.1842 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.5949, -1.4838, 10.4821, 1.7705, -0.0122, -0.0562, -0.0366, -0.7863, -1.1829, 9.7709, 1.7363, -0.1343, -0.0122, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c74a53a82cee9a3ee673df75feaf3cbe9dde9ae436df871030d75dc48913a7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f99d26f2c519982f68af88f07c0f92c80f129a1ba80b419420cf5e15b0edcb6",
        "media_type": "image/png",
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      "type": "image"
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    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
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        "type": "base64"
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      "type": "image"
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  ],
  "role": "user"
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[blob elided: media budget]

call 1 attempt 0 · /messages · status 200 · 23.27 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, 0.7929, 0.6014, -0.3809, -0.0223, -0.0113, 0.9998, -0.0185, 0.791, 0.6094, -0.3756, -0.0139, -0.0154, 0.9993]\nstate[eef_state]: left_x=0.2943 left_y=0.0015 left_z=0.1789 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9998 right_x=0.2958 right_y=0.0006 right_z=0.1842 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.5949, -1.4838, 10.4821, 1.7705, -0.0122, -0.0562, -0.0366, -0.7863, -1.1829, 9.7709, 1.7363, -0.1343, -0.0122, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c74a53a82cee9a3ee673df75feaf3cbe9dde9ae436df871030d75dc48913a7a",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
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    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f99d26f2c519982f68af88f07c0f92c80f129a1ba80b419420cf5e15b0edcb6",
        "media_type": "image/png",
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    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
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[blob elided: media budget]

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  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PtnJTUn4RrnrjRd5R8an6B",
      "input": {
        "note": "I see a long pen and a short pen cap lying on the table in the top view. Moving the right arm to a hover pose roughly over the pen so I can calibrate the image-to-frame mapping from the wrist view.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.35,
          "right_y": 0.2,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01PtnJTUn4RrnrjRd5R8an6B",
      "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, 0.7994, 0.6029, -0.3817, -0.0223, -0.0185, 0.9998, 0.7609, 1.4509, 0.8444, -0.1631, 0.5941, 0.4294, 0.9993]\nstate[eef_state]: left_x=0.2948 left_y=0.0015 left_z=0.1777 left_yaw=0.0039 left_pitch=-0.0061 left_roll=-0.0059 left_gripper=0.9998 right_x=0.3405 right_y=0.1926 right_z=0.1333 right_yaw=0.0403 right_pitch=-0.0588 right_roll=-0.0497 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -1.7436, 6.9265, 1.6972, -0.0464, -0.0024, -0.0171, 0.294, -6.0239, 8.9915, 1.7216, 0.525, 0.2027, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12d1877c5178f0843a3bee8683e50809de125a52c379dc9b0a872e20a22f0386",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4cf1ee5d09ed5cb3fb71c475a06d4548edd852c9da0af60d6c5ba9aab9cf041a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d7d1bb4ad8a0a5f59fd6190406503445f8f239350c6fca59508cf01451fa9e9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /messages · status 200 · 11.66 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, 0.7929, 0.6014, -0.3809, -0.0223, -0.0113, 0.9998, -0.0185, 0.791, 0.6094, -0.3756, -0.0139, -0.0154, 0.9993]\nstate[eef_state]: left_x=0.2943 left_y=0.0015 left_z=0.1789 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9998 right_x=0.2958 right_y=0.0006 right_z=0.1842 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.5949, -1.4838, 10.4821, 1.7705, -0.0122, -0.0562, -0.0366, -0.7863, -1.1829, 9.7709, 1.7363, -0.1343, -0.0122, -0.0855]",
      "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]: [-0.0204, 0.7994, 0.6029, -0.3817, -0.0223, -0.0185, 0.9998, 0.7609, 1.4509, 0.8444, -0.1631, 0.5941, 0.4294, 0.9993]\nstate[eef_state]: left_x=0.2948 left_y=0.0015 left_z=0.1777 left_yaw=0.0039 left_pitch=-0.0061 left_roll=-0.0059 left_gripper=0.9998 right_x=0.3405 right_y=0.1926 right_z=0.1333 right_yaw=0.0403 right_pitch=-0.0588 right_roll=-0.0497 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -1.7436, 6.9265, 1.6972, -0.0464, -0.0024, -0.0171, 0.294, -6.0239, 8.9915, 1.7216, 0.525, 0.2027, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12d1877c5178f0843a3bee8683e50809de125a52c379dc9b0a872e20a22f0386",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4cf1ee5d09ed5cb3fb71c475a06d4548edd852c9da0af60d6c5ba9aab9cf041a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7d1bb4ad8a0a5f59fd6190406503445f8f239350c6fca59508cf01451fa9e9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013DAsF9Ee4WgLpBsBvGpYVt",
      "input": {
        "note": "The right wrist camera shows the pen lying diagonally just beyond the jaws. Rotating the wrist 45° so the jaws close across the pen, advancing 3.5 cm outward and descending to 6 cm to line up the grasp.",
        "targets": {
          "right_x": 0.375,
          "right_yaw": 0.785,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_013DAsF9Ee4WgLpBsBvGpYVt",
      "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, 0.8017, 0.601, -0.382, -0.0223, -0.0189, 0.9998, 0.35, 1.6371, 0.6598, 0.2287, -0.1165, -0.152, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0015 left_z=0.1761 left_yaw=0.0041 left_pitch=-0.0107 left_roll=-0.0062 left_gripper=0.9998 right_x=0.3714 right_y=0.1613 right_z=0.0389 right_yaw=0.5308 right_pitch=-0.186 right_roll=-0.0278 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -1.388, 7.1863, 1.6972, -0.0562, -0.0659, -0.0171, -0.294, -7.4735, 7.1726, 1.8535, -0.359, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa5bfe120f7c879b619c8d86a0ea6b707ad7554dc9097747712e823049221d26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16c192b983f6b92e257323b4bb833c051cb52099cc2787124d0c53fb4ecd2222",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9bb0e56a4bd9ccd0915981667178993ad184e8146c81708b9031dd0514e4a294",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /messages · status 200 · 17.15 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, 0.7929, 0.6014, -0.3809, -0.0223, -0.0113, 0.9998, -0.0185, 0.791, 0.6094, -0.3756, -0.0139, -0.0154, 0.9993]\nstate[eef_state]: left_x=0.2943 left_y=0.0015 left_z=0.1789 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9998 right_x=0.2958 right_y=0.0006 right_z=0.1842 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.5949, -1.4838, 10.4821, 1.7705, -0.0122, -0.0562, -0.0366, -0.7863, -1.1829, 9.7709, 1.7363, -0.1343, -0.0122, -0.0855]",
      "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]: [-0.0204, 0.7994, 0.6029, -0.3817, -0.0223, -0.0185, 0.9998, 0.7609, 1.4509, 0.8444, -0.1631, 0.5941, 0.4294, 0.9993]\nstate[eef_state]: left_x=0.2948 left_y=0.0015 left_z=0.1777 left_yaw=0.0039 left_pitch=-0.0061 left_roll=-0.0059 left_gripper=0.9998 right_x=0.3405 right_y=0.1926 right_z=0.1333 right_yaw=0.0403 right_pitch=-0.0588 right_roll=-0.0497 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -1.7436, 6.9265, 1.6972, -0.0464, -0.0024, -0.0171, 0.294, -6.0239, 8.9915, 1.7216, 0.525, 0.2027, -0.0855]",
      "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]: [-0.0204, 0.8017, 0.601, -0.382, -0.0223, -0.0189, 0.9998, 0.35, 1.6371, 0.6598, 0.2287, -0.1165, -0.152, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0015 left_z=0.1761 left_yaw=0.0041 left_pitch=-0.0107 left_roll=-0.0062 left_gripper=0.9998 right_x=0.3714 right_y=0.1613 right_z=0.0389 right_yaw=0.5308 right_pitch=-0.186 right_roll=-0.0278 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -1.388, 7.1863, 1.6972, -0.0562, -0.0659, -0.0171, -0.294, -7.4735, 7.1726, 1.8535, -0.359, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa5bfe120f7c879b619c8d86a0ea6b707ad7554dc9097747712e823049221d26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16c192b983f6b92e257323b4bb833c051cb52099cc2787124d0c53fb4ecd2222",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bb0e56a4bd9ccd0915981667178993ad184e8146c81708b9031dd0514e4a294",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SsL5z4NLbyGoqSwABhXiqq",
      "input": {
        "note": "The pen now appears vertical and centred on the jaw column in the right wrist view, so the jaws will close across it. Descending to table level and advancing slightly to put the jaws over the pen's middle.",
        "targets": {
          "right_x": 0.385,
          "right_yaw": 0.7,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01SsL5z4NLbyGoqSwABhXiqq",
      "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, 0.8066, 0.601, -0.3817, -0.0223, -0.0189, 0.9998, 0.2787, 1.8061, 0.6712, 0.3382, -0.2974, -0.3225, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1748 left_yaw=0.0041 left_pitch=-0.0152 left_roll=-0.006 left_gripper=0.9998 right_x=0.3756 right_y=0.165 right_z=0.0012 right_yaw=0.7072 right_pitch=-0.1962 right_roll=-0.0179 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -1.7026, 7.1726, 1.6874, -0.0464, -0.0464, -0.0171, -0.4718, -8.1436, 7.1453, 0.7643, -0.1685, 0.8816, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e2789ed6d00e44ecb3c053569f9923c37f280ed27c7576423c617cc302ff1fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e8625288b996444f9a2feab0962d2e307c8309de77ae81280174f0838978452",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:21d952d1a4f8c04c7c14955989c35ca5196ea59ae4adca93017341f6c42617a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /messages · status 200 · 14.32 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]: [-0.0204, 0.7994, 0.6029, -0.3817, -0.0223, -0.0185, 0.9998, 0.7609, 1.4509, 0.8444, -0.1631, 0.5941, 0.4294, 0.9993]\nstate[eef_state]: left_x=0.2948 left_y=0.0015 left_z=0.1777 left_yaw=0.0039 left_pitch=-0.0061 left_roll=-0.0059 left_gripper=0.9998 right_x=0.3405 right_y=0.1926 right_z=0.1333 right_yaw=0.0403 right_pitch=-0.0588 right_roll=-0.0497 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -1.7436, 6.9265, 1.6972, -0.0464, -0.0024, -0.0171, 0.294, -6.0239, 8.9915, 1.7216, 0.525, 0.2027, -0.0855]",
      "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]: [-0.0204, 0.8017, 0.601, -0.382, -0.0223, -0.0189, 0.9998, 0.35, 1.6371, 0.6598, 0.2287, -0.1165, -0.152, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0015 left_z=0.1761 left_yaw=0.0041 left_pitch=-0.0107 left_roll=-0.0062 left_gripper=0.9998 right_x=0.3714 right_y=0.1613 right_z=0.0389 right_yaw=0.5308 right_pitch=-0.186 right_roll=-0.0278 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -1.388, 7.1863, 1.6972, -0.0562, -0.0659, -0.0171, -0.294, -7.4735, 7.1726, 1.8535, -0.359, -0.0562, -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 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]: [-0.0204, 0.8066, 0.601, -0.3817, -0.0223, -0.0189, 0.9998, 0.2787, 1.8061, 0.6712, 0.3382, -0.2974, -0.3225, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1748 left_yaw=0.0041 left_pitch=-0.0152 left_roll=-0.006 left_gripper=0.9998 right_x=0.3756 right_y=0.165 right_z=0.0012 right_yaw=0.7072 right_pitch=-0.1962 right_roll=-0.0179 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -1.7026, 7.1726, 1.6874, -0.0464, -0.0464, -0.0171, -0.4718, -8.1436, 7.1453, 0.7643, -0.1685, 0.8816, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e2789ed6d00e44ecb3c053569f9923c37f280ed27c7576423c617cc302ff1fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e8625288b996444f9a2feab0962d2e307c8309de77ae81280174f0838978452",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21d952d1a4f8c04c7c14955989c35ca5196ea59ae4adca93017341f6c42617a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NbkJ1KUEf9K2autTvhSW8h",
      "input": {
        "note": "The pen runs down past the bottom of the wrist view but sits ~1.5 cm right of the jaw centre line. Shifting the tool sideways to centre the jaws on the pen before closing.",
        "targets": {
          "right_x": 0.385,
          "right_y": 0.153
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01NbkJ1KUEf9K2autTvhSW8h",
      "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, 0.5999, -0.3817, -0.0223, -0.0193, 0.9997, 0.2619, 1.8229, 0.6834, 0.3553, -0.3, -0.3305, 0.9992]\nstate[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1742 left_yaw=0.0043 left_pitch=-0.0168 left_roll=-0.0063 left_gripper=0.9997 right_x=0.3835 right_y=0.1605 right_z=0.0017 right_yaw=0.6959 right_pitch=-0.1841 right_roll=-0.0275 right_gripper=0.9992\nstate[joint_eff]: [-0.3077, -1.3333, 7.159, 1.6972, -0.0464, -0.0757, -0.0171, -0.3761, -6.9812, 5.6137, 1.5116, -0.2222, -0.1197, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a92fa7d4913688a13d921ed45b89d0c0a9bca6938bdd568ef06ed21372c6b88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1f1242c842a62676dc54cdc63b28767605d1c8e069c5f1c6e078117bbbe2215",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7ba25fae436cc68ba73c09aedcfc361ac30d0b3adba5ceebe23622a55c9c6f30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /messages · status 200 · 7.776 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]: [-0.0204, 0.8017, 0.601, -0.382, -0.0223, -0.0189, 0.9998, 0.35, 1.6371, 0.6598, 0.2287, -0.1165, -0.152, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0015 left_z=0.1761 left_yaw=0.0041 left_pitch=-0.0107 left_roll=-0.0062 left_gripper=0.9998 right_x=0.3714 right_y=0.1613 right_z=0.0389 right_yaw=0.5308 right_pitch=-0.186 right_roll=-0.0278 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -1.388, 7.1863, 1.6972, -0.0562, -0.0659, -0.0171, -0.294, -7.4735, 7.1726, 1.8535, -0.359, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0204, 0.8066, 0.601, -0.3817, -0.0223, -0.0189, 0.9998, 0.2787, 1.8061, 0.6712, 0.3382, -0.2974, -0.3225, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1748 left_yaw=0.0041 left_pitch=-0.0152 left_roll=-0.006 left_gripper=0.9998 right_x=0.3756 right_y=0.165 right_z=0.0012 right_yaw=0.7072 right_pitch=-0.1962 right_roll=-0.0179 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -1.7026, 7.1726, 1.6874, -0.0464, -0.0464, -0.0171, -0.4718, -8.1436, 7.1453, 0.7643, -0.1685, 0.8816, -0.0122]\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 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]: [-0.0204, 0.807, 0.5999, -0.3817, -0.0223, -0.0193, 0.9997, 0.2619, 1.8229, 0.6834, 0.3553, -0.3, -0.3305, 0.9992]\nstate[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1742 left_yaw=0.0043 left_pitch=-0.0168 left_roll=-0.0063 left_gripper=0.9997 right_x=0.3835 right_y=0.1605 right_z=0.0017 right_yaw=0.6959 right_pitch=-0.1841 right_roll=-0.0275 right_gripper=0.9992\nstate[joint_eff]: [-0.3077, -1.3333, 7.159, 1.6972, -0.0464, -0.0757, -0.0171, -0.3761, -6.9812, 5.6137, 1.5116, -0.2222, -0.1197, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a92fa7d4913688a13d921ed45b89d0c0a9bca6938bdd568ef06ed21372c6b88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1f1242c842a62676dc54cdc63b28767605d1c8e069c5f1c6e078117bbbe2215",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ba25fae436cc68ba73c09aedcfc361ac30d0b3adba5ceebe23622a55c9c6f30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HjoN1rX4QkuCXYpo2376WW",
      "input": {
        "note": "The pen is now nicely centred on the jaw column and vertical in the wrist view; the fingertips sit near its lower end. Advancing 2.5 cm along the pen axis so the jaws straddle the pen's middle.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.173
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01HjoN1rX4QkuCXYpo2376WW",
      "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, 0.5999, -0.3817, -0.0223, -0.0193, 0.9998, 0.2619, 1.8229, 0.6834, 0.3553, -0.3, -0.3302, 0.9992]\nstate[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1742 left_yaw=0.0043 left_pitch=-0.0168 left_roll=-0.0063 left_gripper=0.9998 right_x=0.3835 right_y=0.1605 right_z=0.0017 right_yaw=0.6957 right_pitch=-0.1841 right_roll=-0.0272 right_gripper=0.9992\nstate[joint_eff]: [0.0889, -1.265, 7.2274, 1.746, -0.0708, -0.0366, -0.0073, -0.3624, -6.8444, 5.4769, 1.5263, -0.1978, -0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8f644b062deb19cec330cd62d15785b9fa3a0d78a2c9634b2a319270ad028ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ef3d211b7a6c6c0618e866d4b9c9bbbf39e8eb7b7118217c23a2f9215cd256c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0c256e9fa62e8304e8216cf346413d10a6f4044779d7ed1f1658acfddad1fc5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /messages · status 200 · 8.44 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]: [-0.0204, 0.8066, 0.601, -0.3817, -0.0223, -0.0189, 0.9998, 0.2787, 1.8061, 0.6712, 0.3382, -0.2974, -0.3225, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1748 left_yaw=0.0041 left_pitch=-0.0152 left_roll=-0.006 left_gripper=0.9998 right_x=0.3756 right_y=0.165 right_z=0.0012 right_yaw=0.7072 right_pitch=-0.1962 right_roll=-0.0179 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -1.7026, 7.1726, 1.6874, -0.0464, -0.0464, -0.0171, -0.4718, -8.1436, 7.1453, 0.7643, -0.1685, 0.8816, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.0204, 0.807, 0.5999, -0.3817, -0.0223, -0.0193, 0.9997, 0.2619, 1.8229, 0.6834, 0.3553, -0.3, -0.3305, 0.9992]\nstate[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1742 left_yaw=0.0043 left_pitch=-0.0168 left_roll=-0.0063 left_gripper=0.9997 right_x=0.3835 right_y=0.1605 right_z=0.0017 right_yaw=0.6959 right_pitch=-0.1841 right_roll=-0.0275 right_gripper=0.9992\nstate[joint_eff]: [-0.3077, -1.3333, 7.159, 1.6972, -0.0464, -0.0757, -0.0171, -0.3761, -6.9812, 5.6137, 1.5116, -0.2222, -0.1197, -0.0073]",
      "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]: [-0.0204, 0.807, 0.5999, -0.3817, -0.0223, -0.0193, 0.9998, 0.2619, 1.8229, 0.6834, 0.3553, -0.3, -0.3302, 0.9992]\nstate[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1742 left_yaw=0.0043 left_pitch=-0.0168 left_roll=-0.0063 left_gripper=0.9998 right_x=0.3835 right_y=0.1605 right_z=0.0017 right_yaw=0.6957 right_pitch=-0.1841 right_roll=-0.0272 right_gripper=0.9992\nstate[joint_eff]: [0.0889, -1.265, 7.2274, 1.746, -0.0708, -0.0366, -0.0073, -0.3624, -6.8444, 5.4769, 1.5263, -0.1978, -0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8f644b062deb19cec330cd62d15785b9fa3a0d78a2c9634b2a319270ad028ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ef3d211b7a6c6c0618e866d4b9c9bbbf39e8eb7b7118217c23a2f9215cd256c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c256e9fa62e8304e8216cf346413d10a6f4044779d7ed1f1658acfddad1fc5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS9gcKjgEIEhgCKkCWQ/l9iXaHAGtlV8exlKmKss0Pe/RosgjKF+XUOOmZsh+oIaTcPMMBnO7jnQqOICdWa7JQ8ODKYxAlTImQ8I0BMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAY+1zNUGEgwa9Sx5guQn26y1KaIaDIgoknSdZ6dSreNEMCIwG+pZXYMgY/g0DEG89W8caxTfX9nendoe//BhKL6Z78sQu7ERVHmlTEq44WCAErjyKpQGmAKM5nDpUHzYQ0RZODoltLkkRmc/0LRVQRfRCibdgHcGERP/QdzTTdcBtacRI7tKjGJEhivOYNQMro97O6BoO4fAXhIlGUkJg1kcFyZ+uZ8rWaNy4njcpp+fsLFBp6j3lhLmmC6Bqg16J51COAyOnDEtVJYouhZwFMWEn7prwiTyrd2LBvmAe6o0RXIkwssvUVhzWC0NoaeOj74UKFGdOEdVxXRWMm4sAqEgVuPUjzcM9+z382DsIK/T9+h0Q/XDsrNmqi2Qht24ea16trjeotqK3Fqip8mWuyyDBO2ewupor10Y7bqs2HdtxYeYxm4Kz7R6PyPDVk0iJ1z3Rqhg0lwoUKHxQ/Hf0/mPb0j4SYxD/YzTVnU45uVzKphor8l6btfCiqhlpm5BNh3S/cEkzn9KvYsaa4/gXh20bE1aoiJFPsMYKrOpNovUfYPbs2Pk31tTHW5/2/2QX1rH/6YRgk36Xsri3GI0/qGUuFc2PdKTPyly5NJaObx4uD6vWmCwZgMQ7a/NliqZCM+ojRUS2Ys8w62jvRMoAusP+GshITIIMQ6NBPP7Bj86G3Sxi6hBHObs0Plmxwn4OgKS5vhqpLJhGOoiBx5auNDtrofic5FCpcK//UKtVRSnqmIa+0Th0xAHvtqMzLBQNvmpXAVUjPWQBGFKxCTZ8Hu4NdiTVBq2Jt3ZTfQlCWF5qN5l2/seoq6fPjDhhSDVSbf150eVG9VpXW9KUhlkxSrY5klCOXWCnpVtBGLBl7UJB2TlzXcT3ysvGnd9dPeGjdCWv/OrxhG/YPcW+B6x8IEIsEpnFJZxsskgqkzTQimlQlBfescVE/eQCvKTzj/LYsYM8KCmvwFt4txiPwEzQZO20hOzNs0xb31SIeeSull2h7MrpoBS4DBvfY9c2ACghBzHoccobhBuTccODtppYjlXmk/jP3wVaFY/lRmyPFS1WjR/sTU0muLFDUnVdxRZ9DeAIWKOtlKWLBpg2SlWbhnv/wV6gvNfOA0wtrheLURd2UJVagwdx69ll/WDCD6qxXrUvj5nr99hR+IYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Q2nBaD1o7fYsWY6MADCLmw",
      "input": {
        "note": "The previous move did not execute (readback unchanged), likely because the fingertips were touching the table. Lifting 1.5 cm while advancing along the pen axis.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.173,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Q2nBaD1o7fYsWY6MADCLmw",
      "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, 0.5999, -0.3817, -0.0223, -0.0193, 0.9998, 0.2619, 1.8229, 0.6834, 0.3553, -0.3, -0.3305, 0.9992]\nstate[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1742 left_yaw=0.0043 left_pitch=-0.0168 left_roll=-0.0063 left_gripper=0.9998 right_x=0.3835 right_y=0.1605 right_z=0.0017 right_yaw=0.6959 right_pitch=-0.1841 right_roll=-0.0275 right_gripper=0.9992\nstate[joint_eff]: [-0.3214, -1.2923, 7.0496, 1.7656, -0.0611, -0.0366, -0.0122, -0.3761, -6.9675, 5.4632, 1.4921, -0.188, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c310be644bda97b6f103813ab9d7fe0d919ad3c792a51404f3d26dda05885161",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99e0f5c0382347012465325a4aa3b97c31695c6fcfe6923eb7a007a93a7fb71d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:62a562ffdb3939f24c89a64a427fab91f91ffe05aa97578aa2dd012d207ddb6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /messages · status 200 · 8.197 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]: [-0.0204, 0.807, 0.5999, -0.3817, -0.0223, -0.0193, 0.9997, 0.2619, 1.8229, 0.6834, 0.3553, -0.3, -0.3305, 0.9992]\nstate[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1742 left_yaw=0.0043 left_pitch=-0.0168 left_roll=-0.0063 left_gripper=0.9997 right_x=0.3835 right_y=0.1605 right_z=0.0017 right_yaw=0.6959 right_pitch=-0.1841 right_roll=-0.0275 right_gripper=0.9992\nstate[joint_eff]: [-0.3077, -1.3333, 7.159, 1.6972, -0.0464, -0.0757, -0.0171, -0.3761, -6.9812, 5.6137, 1.5116, -0.2222, -0.1197, -0.0073]",
      "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]: [-0.0204, 0.807, 0.5999, -0.3817, -0.0223, -0.0193, 0.9998, 0.2619, 1.8229, 0.6834, 0.3553, -0.3, -0.3302, 0.9992]\nstate[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1742 left_yaw=0.0043 left_pitch=-0.0168 left_roll=-0.0063 left_gripper=0.9998 right_x=0.3835 right_y=0.1605 right_z=0.0017 right_yaw=0.6957 right_pitch=-0.1841 right_roll=-0.0272 right_gripper=0.9992\nstate[joint_eff]: [0.0889, -1.265, 7.2274, 1.746, -0.0708, -0.0366, -0.0073, -0.3624, -6.8444, 5.4769, 1.5263, -0.1978, -0.0855, -0.0122]",
      "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]: [-0.0204, 0.807, 0.5999, -0.3817, -0.0223, -0.0193, 0.9998, 0.2619, 1.8229, 0.6834, 0.3553, -0.3, -0.3305, 0.9992]\nstate[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1742 left_yaw=0.0043 left_pitch=-0.0168 left_roll=-0.0063 left_gripper=0.9998 right_x=0.3835 right_y=0.1605 right_z=0.0017 right_yaw=0.6959 right_pitch=-0.1841 right_roll=-0.0275 right_gripper=0.9992\nstate[joint_eff]: [-0.3214, -1.2923, 7.0496, 1.7656, -0.0611, -0.0366, -0.0122, -0.3761, -6.9675, 5.4632, 1.4921, -0.188, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c310be644bda97b6f103813ab9d7fe0d919ad3c792a51404f3d26dda05885161",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99e0f5c0382347012465325a4aa3b97c31695c6fcfe6923eb7a007a93a7fb71d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62a562ffdb3939f24c89a64a427fab91f91ffe05aa97578aa2dd012d207ddb6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS/AgKjgEIEhgCKkCGI/HlCJL1HoSC5EOV/5TVvbq8HKTKWJW1t9lVNugzrkv/oNNpQ1bGvu1f0H0SJz765JxYV1QJ2Hj5sTWcpD9RMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZe1zNUGEgxN0bsSN6iQiOorJewaDPUgEY1p/9d24Gk5XSIwHjpd6TsNyWG5ijNIJEwx10QGKGlU9ULWLDhP/vWnC5VblERiHIdUHUN9lLzKpgpLKpoH0Bf4uLjeOME4sCgaaExdt3SqsYAzvyNoVNp8Tqajh4kc1SoiLeOwtRhA7bF/f+FjVPLOW/PR0p1BdqvfGOG9RkeHo2L02oIhfGLtrj9JqnhW8axfK+mVohskQDsebPz5WnikgiqEomTDNjU3bIUtPtVzQLUpN0lFDHooMEnjHfab8hMi8rP8Yk3jY2Nj0QtUGlKlmjFlno5POVd6owT5iLfUZUaBl/lAnV77BSWZky04fT6sygaviBAsWRFAMigFDbGhB62e43fPIuuJ5157Hi4UHU3prJCCelox/NJ6G8p/kvW9FIptAbo5gwfsM47Ixl9nrRW9nuH8HST6T1hwDihgIkRMAmkPNXv4MExUMaiq3B+yjVET3FqNA0JnKs5hKsVzRqyDx1UJn161SsINtG0jqcZA32HMjDrhCALHRanUV0H/YNAeNhIzdbKJPf1w6Njlhcl0AL3BJBMWaeDFvm/byNXbUIX5TKViUbRSW4jvhh+6UZCimMtWeisAK4/Itw9g4bPZ3tVhWBvRgS5SchU0hm/xh37gDCwBjUWsQ0r6+RCf6/lZg26NSrhDxgGrsKOprSbOciqx1XfgYW3XM5EW9RiwkDj9QXnJMHC2UFhgonLbzuMX+PPgSXU392ySeIt21DYecT66WPEFMW7ezU8rvXKzlcB5ORmfIoJ3bVpZ0b4xwRgRWr2kEgaE3sdgBntafgnhkNdUOnMxY1GdHdj31qz9jXu5QL89ey8Su08lroo8dUYplOtQW5VTwtxEiwQpZBkahJkzWzo/bTTkrfixdEOsQF2PLWEgTT2moxGgZqsB00Wi0GbeZ/6H181tkZL+HcdDQ+Ubf/wFDTYBIfc349A6Muxutlv3iDv3m2/7PF171zntdMIzrIJILJF9R3uGiwLlW7eX1QnddV+wdC4kMjaWpxyh3uiuwt2e7/TRpY7w6hLazZfHP/GJbUQ/Fwd9oOoC5uoY7+BPwkDBw4TTP4SgrbCdSJdlpYgxeG+SbgvN1I18kHWQuO0aYDtxfuGRmF6k7ERtebSfaqaaZqhupaYIEKAzSA53zKya2rqpAkVx+rz0mYtPYT6TlUz0kdXewEe5xJ74matqfKZpFnx6bMVnEwiI43OSAxY9uu//24j1q5EUqqxD8WxOSjL45hxcX5h04MbTKmLClwUOQIvx1o1eoUWJqcfIJMFIPiszRYo0QbA1wsr/OvxIexI+7is281faf/5hrhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HP64f4PwowBuuAdCbyKqL9",
      "input": {
        "note": "Two successive small moves produced no change in the readback, so I am testing with a clear 10 cm lift to see whether the arm is still tracking commands.",
        "targets": {
          "right_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_01HP64f4PwowBuuAdCbyKqL9",
      "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, 0.5999, -0.3813, -0.0227, -0.0219, 0.9998, 0.2619, 1.6203, 0.833, 0.1047, -0.2974, -0.3344, 0.9992]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1742 left_yaw=0.0061 left_pitch=-0.0164 left_roll=-0.0083 left_gripper=0.9998 right_x=0.4049 right_y=0.1658 right_z=0.0938 right_yaw=0.6898 right_pitch=-0.0928 right_roll=-0.0748 right_gripper=0.9992\nstate[joint_eff]: [-0.1846, -0.8274, 7.1316, 1.746, -0.0611, -0.0269, -0.0171, -0.294, -7.159, 6.4889, 1.1306, -0.1294, 0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:294fb0dc7933eaa9a33003ac33faa88d6337c88d598e30bc517fe701e8029c6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc96f1853114d1a25b72ded628a36ab484aa9de2cf888d0f3aa817ae59429106",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:58aa4ffb38d3ac9abc66efa38d740987698f758189c0fb0776a5e79655bf33e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /messages · status 200 · 3.28 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]: [-0.0204, 0.807, 0.5999, -0.3817, -0.0223, -0.0193, 0.9998, 0.2619, 1.8229, 0.6834, 0.3553, -0.3, -0.3302, 0.9992]\nstate[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1742 left_yaw=0.0043 left_pitch=-0.0168 left_roll=-0.0063 left_gripper=0.9998 right_x=0.3835 right_y=0.1605 right_z=0.0017 right_yaw=0.6957 right_pitch=-0.1841 right_roll=-0.0272 right_gripper=0.9992\nstate[joint_eff]: [0.0889, -1.265, 7.2274, 1.746, -0.0708, -0.0366, -0.0073, -0.3624, -6.8444, 5.4769, 1.5263, -0.1978, -0.0855, -0.0122]",
      "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]: [-0.0204, 0.807, 0.5999, -0.3817, -0.0223, -0.0193, 0.9998, 0.2619, 1.8229, 0.6834, 0.3553, -0.3, -0.3305, 0.9992]\nstate[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1742 left_yaw=0.0043 left_pitch=-0.0168 left_roll=-0.0063 left_gripper=0.9998 right_x=0.3835 right_y=0.1605 right_z=0.0017 right_yaw=0.6959 right_pitch=-0.1841 right_roll=-0.0275 right_gripper=0.9992\nstate[joint_eff]: [-0.3214, -1.2923, 7.0496, 1.7656, -0.0611, -0.0366, -0.0122, -0.3761, -6.9675, 5.4632, 1.4921, -0.188, -0.0708, -0.0122]",
      "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, 0.5999, -0.3813, -0.0227, -0.0219, 0.9998, 0.2619, 1.6203, 0.833, 0.1047, -0.2974, -0.3344, 0.9992]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1742 left_yaw=0.0061 left_pitch=-0.0164 left_roll=-0.0083 left_gripper=0.9998 right_x=0.4049 right_y=0.1658 right_z=0.0938 right_yaw=0.6898 right_pitch=-0.0928 right_roll=-0.0748 right_gripper=0.9992\nstate[joint_eff]: [-0.1846, -0.8274, 7.1316, 1.746, -0.0611, -0.0269, -0.0171, -0.294, -7.159, 6.4889, 1.1306, -0.1294, 0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:294fb0dc7933eaa9a33003ac33faa88d6337c88d598e30bc517fe701e8029c6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc96f1853114d1a25b72ded628a36ab484aa9de2cf888d0f3aa817ae59429106",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58aa4ffb38d3ac9abc66efa38d740987698f758189c0fb0776a5e79655bf33e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS0AkKjgEIEhgCKkBsOvOfoZhAXlu5Dd+tnQaaHZ+jvI2WyPXMKslE7k530OZi/YggOV0hLjwNzrdAFPyyAeBzuigvdIkDUkFRu0mfMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaC1zNUGEgxYlECtfvbVO8g1GcEaDHaNoJ76bs/BaxxNEyIwgAVhxjrObMQo5oyO7qz0/PweDlZSw1kbR440kFZhOulA9iAKNJvog/M/H7eZ34rhKu4HEvD+Aftx3nx+n1LzUNGSu52Sue8av5Q4nTZIqtSlD7RPuSNO5GGT2QfOYlB9nYZEo8ItzAIzJopRfn0eae+aJmgeIes96t0WMisoXb7O/Bwwp39BSef1GzJHRkNftbwDKn8P3E/wSidXysSinI7slRBJbTMmQ161UPVHZTL4vjhJmMTOx9PPRpbwCOhZ6GnvYlhpxyVpxRCIxjLSsQ8QQyv9MmI99gRVPem1q8NnfvqIB+otH+vE5zuiULfBRmtPyqowy9UjZaXWYNBB9BnTSqKubTqjiqgLg8kdrtSpD2oHArhgGemjVpzDv1ZDplcQ+fpdVQj+ZpZGH3pe2Il4lHElZu7O72b7/gsU3itY6RRLY131KLCwmmXq6H6HqOkjTWsXWHtz1K84i2bMxHaiV2a9HZHhzzqpy2toqZflcQr+9RnJlEehfLpYhQCr5vasXYUPFPdqDnQuV3eL6qqfMigY57xLKBtpp7jF78jEGkb11Y+i56GXjeB4NL+/q4P+TukZQMbb5CgaCIY5gXG2JhttYeSgx5h/kAQbMdUCP00w+XqkI1CUH2wdmvGRTIJorlnyaLiwj7du5qgzW4o5oTzYtPAsiUmzmCZoALvgx5NEVxoVV4sDriF6S97a5u4rZMfUY0n+tsN7pk+lWv6IGh/FI73+h+fn52cm5eq0enCoe92I6pLNRRzH8tt3Fz2V7gGnJ5+m8JMRwn+fZzZ5Fm6dDZFdOPxNVBIlOjacq93FCXPNfSmjer2crNq9jws0doNN09vXL9rhP8eNbjqliOwHCjEUjzZyf5sVOspDVDoZpVbgVB6obBu8wI6cTnRkg12AvEmPXVbnJmIopAmYpEL6gKdu6cHf2n361jLOn8/aonOOQXwCyJpn4zCWEvPj4c4GjMnH+9eYNLysxi/3D4IyrnXuncz7GBB+cx2/+5Xcia091d49Cx++0nr1Y/HMfprCEABZCztnzQd6E6DmIjQhthIyST87jvS7WCbyq6I0I0Dm1APE7aVevaicfQzk0zpLekRGppiKxsRjCX/d+we7spv/Bxpl2Fv8nz9Lj2htz4fCWqBEnoox1YCxfjUV4vPtcpyUWWST9J7EDKEGHkxeZIVvS5BLSXIQOrp1bbUdJXTCiy0F14T1zpfhWPV2Bl2cC53PWPK07JSN0vBNc5AhgEDhUv4mrf33SjOuXtInSPr1C+MdXB9MJlF1AjsVfh08ZmtiOrt2DdDIYhGphMUQrB6UhokkfBDGujxGvppwirb4ujN+JwfQaRKnQAqCnjAl502Bm9suMq6bgY4ZPy6o8SkbRsFxwPoGcDkJjDuJX/Uukbl6p4CnXMNqTBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SkR8W4moWVp5JYL8KYtGPD",
      "input": {
        "note": "The arm has caught up to the advanced position and the pen still lies centred between the jaws in the wrist view. Descending to table level to surround the pen before closing.",
        "targets": {
          "right_z": 0.004
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01SkR8W4moWVp5JYL8KYtGPD",
      "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, 0.8097, 0.5999, -0.3817, -0.0223, -0.0223, 0.9997, 0.2623, 1.8683, 0.7029, 0.4213, -0.305, -0.3367, 0.9992]\nstate[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1734 left_yaw=0.006 left_pitch=-0.0194 left_roll=-0.0088 left_gripper=0.9997 right_x=0.3955 right_y=0.1648 right_z=0.0015 right_yaw=0.7008 right_pitch=-0.1465 right_roll=-0.0461 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -1.4838, 7.2274, 1.6923, -0.0464, -0.0708, -0.0122, -0.212, -6.6803, 4.0684, 1.3602, 0.105, 0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11976188a960e1c3770dd6b5407107c349b090e690e28fcd41fb782efa2528f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:434fbe474468fe3d3363208f3f34c9df3e7cea88d41f06716ef0008855c9d3c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dd6cfffc77f2d6d2e0e83da6fe3eae69f335743c7a54677f771e7a89933818b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /messages · status 200 · 4.591 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]: [-0.0204, 0.807, 0.5999, -0.3817, -0.0223, -0.0193, 0.9998, 0.2619, 1.8229, 0.6834, 0.3553, -0.3, -0.3305, 0.9992]\nstate[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1742 left_yaw=0.0043 left_pitch=-0.0168 left_roll=-0.0063 left_gripper=0.9998 right_x=0.3835 right_y=0.1605 right_z=0.0017 right_yaw=0.6959 right_pitch=-0.1841 right_roll=-0.0275 right_gripper=0.9992\nstate[joint_eff]: [-0.3214, -1.2923, 7.0496, 1.7656, -0.0611, -0.0366, -0.0122, -0.3761, -6.9675, 5.4632, 1.4921, -0.188, -0.0708, -0.0122]",
      "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, 0.5999, -0.3813, -0.0227, -0.0219, 0.9998, 0.2619, 1.6203, 0.833, 0.1047, -0.2974, -0.3344, 0.9992]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1742 left_yaw=0.0061 left_pitch=-0.0164 left_roll=-0.0083 left_gripper=0.9998 right_x=0.4049 right_y=0.1658 right_z=0.0938 right_yaw=0.6898 right_pitch=-0.0928 right_roll=-0.0748 right_gripper=0.9992\nstate[joint_eff]: [-0.1846, -0.8274, 7.1316, 1.746, -0.0611, -0.0269, -0.0171, -0.294, -7.159, 6.4889, 1.1306, -0.1294, 0.0171, -0.0122]",
      "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]: [-0.0204, 0.8097, 0.5999, -0.3817, -0.0223, -0.0223, 0.9997, 0.2623, 1.8683, 0.7029, 0.4213, -0.305, -0.3367, 0.9992]\nstate[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1734 left_yaw=0.006 left_pitch=-0.0194 left_roll=-0.0088 left_gripper=0.9997 right_x=0.3955 right_y=0.1648 right_z=0.0015 right_yaw=0.7008 right_pitch=-0.1465 right_roll=-0.0461 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -1.4838, 7.2274, 1.6923, -0.0464, -0.0708, -0.0122, -0.212, -6.6803, 4.0684, 1.3602, 0.105, 0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11976188a960e1c3770dd6b5407107c349b090e690e28fcd41fb782efa2528f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:434fbe474468fe3d3363208f3f34c9df3e7cea88d41f06716ef0008855c9d3c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd6cfffc77f2d6d2e0e83da6fe3eae69f335743c7a54677f771e7a89933818b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISnQIKjgEIEhgCKkBMqXIDM50JhK8fhpMbi80IIXIRZ0EL0eGlX98/zXHRgXvzJQ3YMufFfemrhb7I+oyhLmgRDMwSVrUc9T7xciuUMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaW1zNUGEgxvsz7a0Qd1hoOi+2kaDNVjH15M+LEthLEx2CIwZ2lonNxuyjtIvUNp5dQZcmufZfv7EMSXztbi/LIkWJClVfZl6GBDCxhA78AwN01QKjywxWBZhDo+0Ot4biLTT9Bi1hcLIjdBja2WFe5OStA1t1LUoTOj278llWNH7YaNaOrqCnDlN+6Tok/fPEMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014bWE5yeAA3n9KBAcrLTDz7",
      "input": {
        "note": "Jaws are at table level straddling the pen shaft. Closing the gripper to grasp the pen.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_014bWE5yeAA3n9KBAcrLTDz7",
      "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, 0.8101, 0.5999, -0.3813, -0.0223, -0.0223, 0.9998, 0.2623, 1.8805, 0.6991, 0.4595, -0.3172, -0.3389, 0.0495]\nstate[eef_state]: left_x=0.2951 left_y=0.0015 left_z=0.1734 left_yaw=0.006 left_pitch=-0.0194 left_roll=-0.0088 left_gripper=0.9998 right_x=0.3978 right_y=0.1675 right_z=0.0025 right_yaw=0.7108 right_pitch=-0.1231 right_roll=-0.05 right_gripper=0.0495\nstate[joint_eff]: [-0.1299, -1.347, 7.2684, 1.6923, -0.0659, -0.0415, -0.0073, -0.1162, -9.2103, 5.5863, 1.1941, -0.0562, 0.0073, 1.3016]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e63500610d0db0f13846cb259f7ab062039a2a816aab47bc541b805cfff341f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1142ea542d22be55d48b3e51ebceb31937aafe9acf2051fd973605bdde956872",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5192c33a67df3e391a40b91284a33850bc91d35a928d6f2eaf43356c229f2ba3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /messages · status 200 · 17.91 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, 0.5999, -0.3813, -0.0227, -0.0219, 0.9998, 0.2619, 1.6203, 0.833, 0.1047, -0.2974, -0.3344, 0.9992]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1742 left_yaw=0.0061 left_pitch=-0.0164 left_roll=-0.0083 left_gripper=0.9998 right_x=0.4049 right_y=0.1658 right_z=0.0938 right_yaw=0.6898 right_pitch=-0.0928 right_roll=-0.0748 right_gripper=0.9992\nstate[joint_eff]: [-0.1846, -0.8274, 7.1316, 1.746, -0.0611, -0.0269, -0.0171, -0.294, -7.159, 6.4889, 1.1306, -0.1294, 0.0171, -0.0122]",
      "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]: [-0.0204, 0.8097, 0.5999, -0.3817, -0.0223, -0.0223, 0.9997, 0.2623, 1.8683, 0.7029, 0.4213, -0.305, -0.3367, 0.9992]\nstate[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1734 left_yaw=0.006 left_pitch=-0.0194 left_roll=-0.0088 left_gripper=0.9997 right_x=0.3955 right_y=0.1648 right_z=0.0015 right_yaw=0.7008 right_pitch=-0.1465 right_roll=-0.0461 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -1.4838, 7.2274, 1.6923, -0.0464, -0.0708, -0.0122, -0.212, -6.6803, 4.0684, 1.3602, 0.105, 0.0269, -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]: [-0.0204, 0.8101, 0.5999, -0.3813, -0.0223, -0.0223, 0.9998, 0.2623, 1.8805, 0.6991, 0.4595, -0.3172, -0.3389, 0.0495]\nstate[eef_state]: left_x=0.2951 left_y=0.0015 left_z=0.1734 left_yaw=0.006 left_pitch=-0.0194 left_roll=-0.0088 left_gripper=0.9998 right_x=0.3978 right_y=0.1675 right_z=0.0025 right_yaw=0.7108 right_pitch=-0.1231 right_roll=-0.05 right_gripper=0.0495\nstate[joint_eff]: [-0.1299, -1.347, 7.2684, 1.6923, -0.0659, -0.0415, -0.0073, -0.1162, -9.2103, 5.5863, 1.1941, -0.0562, 0.0073, 1.3016]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e63500610d0db0f13846cb259f7ab062039a2a816aab47bc541b805cfff341f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1142ea542d22be55d48b3e51ebceb31937aafe9acf2051fd973605bdde956872",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5192c33a67df3e391a40b91284a33850bc91d35a928d6f2eaf43356c229f2ba3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS4QMKjgEIEhgCKkCop2gv/ueKg7gn/gUoqbrlW8vvCHowbfz64ky0j6LsTq7kKKUtGs3ZELVGiNhptR8iKUH+B/EcilKrfrUhQekhMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaq1zNUGEgxdkAvS/moVQkJqoY8aDA6E4h1k3kWLIjJGMiIwNrKyfjtOpva6FJ7o7VFmBaUIOelpVks+l+34jwSzMLXLfIjJrYc1301l7lUBr2HPKv8BwuXlNXrwd3AIP7xFZDrXngCY1Fc2U+wIoAHA1TKJQsO9N4n6gn/QvfqTNkzEYg+VdT3/zGX3oV3TdF4wZeID+9M5Ng2ClCR02bD1PIEfgxnWLu6cEMP/YPHnfrqgHduCVw3kasmequjH3xWlQwzhnQOqVdfvVabdr1Nn0A6VGW+SjzRWXFbkM22HlbxbZwkcCuLjHvJluhDaIrNnSocWLQkrwQyHkiGSdNDZ7dunsI+HoZmJoRE9rF+2rUjnTFoYeA+zvOAD0hsUSuYfS7ooiI2PgS+pJRdBBCDkty9lRTD3Wd00bX2DgGM9UrFH+ngosqnSgigpRcM+IlQgBhsjGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018GGYb1TYAB3DG38K2KgDbW",
      "input": {
        "note": "Gripper settled at 0.05 (≈5 mm, the pen's thickness), suggesting a grasp. Lifting 14 cm to confirm the pen comes with the jaws.",
        "targets": {
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_018GGYb1TYAB3DG38K2KgDbW",
      "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, 0.8135, 0.5999, -0.3813, -0.0223, -0.0227, 0.9998, 0.2623, 1.5658, 0.9337, -0.0937, -0.318, -0.3462, 0.0564]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1725 left_yaw=0.0062 left_pitch=-0.0229 left_roll=-0.009 left_gripper=0.9998 right_x=0.3999 right_y=0.1682 right_z=0.1219 right_yaw=0.7155 right_pitch=-0.1265 right_roll=-0.0536 right_gripper=0.0564\nstate[joint_eff]: [-0.0615, -1.6342, 7.1179, 1.7265, -0.0659, -0.0757, -0.0122, -0.1846, -9.1829, 8.4581, 1.5165, -0.1783, 0.0171, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d57416ddf618150bfd0f352422cef435c536d4b43f245af4bec6e09d1e4e1e8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fb489d25c1f82230394476535b944876f4c21f4ecaac0e6905e70b95bc38ef6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6cdaeafe0a0e499f13b796a90aa43196de75df21af1159f61aa107aea31c2831",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /messages · status 200 · 12.4 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]: [-0.0204, 0.8097, 0.5999, -0.3817, -0.0223, -0.0223, 0.9997, 0.2623, 1.8683, 0.7029, 0.4213, -0.305, -0.3367, 0.9992]\nstate[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1734 left_yaw=0.006 left_pitch=-0.0194 left_roll=-0.0088 left_gripper=0.9997 right_x=0.3955 right_y=0.1648 right_z=0.0015 right_yaw=0.7008 right_pitch=-0.1465 right_roll=-0.0461 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -1.4838, 7.2274, 1.6923, -0.0464, -0.0708, -0.0122, -0.212, -6.6803, 4.0684, 1.3602, 0.105, 0.0269, -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]: [-0.0204, 0.8101, 0.5999, -0.3813, -0.0223, -0.0223, 0.9998, 0.2623, 1.8805, 0.6991, 0.4595, -0.3172, -0.3389, 0.0495]\nstate[eef_state]: left_x=0.2951 left_y=0.0015 left_z=0.1734 left_yaw=0.006 left_pitch=-0.0194 left_roll=-0.0088 left_gripper=0.9998 right_x=0.3978 right_y=0.1675 right_z=0.0025 right_yaw=0.7108 right_pitch=-0.1231 right_roll=-0.05 right_gripper=0.0495\nstate[joint_eff]: [-0.1299, -1.347, 7.2684, 1.6923, -0.0659, -0.0415, -0.0073, -0.1162, -9.2103, 5.5863, 1.1941, -0.0562, 0.0073, 1.3016]",
      "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]: [-0.0204, 0.8135, 0.5999, -0.3813, -0.0223, -0.0227, 0.9998, 0.2623, 1.5658, 0.9337, -0.0937, -0.318, -0.3462, 0.0564]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1725 left_yaw=0.0062 left_pitch=-0.0229 left_roll=-0.009 left_gripper=0.9998 right_x=0.3999 right_y=0.1682 right_z=0.1219 right_yaw=0.7155 right_pitch=-0.1265 right_roll=-0.0536 right_gripper=0.0564\nstate[joint_eff]: [-0.0615, -1.6342, 7.1179, 1.7265, -0.0659, -0.0757, -0.0122, -0.1846, -9.1829, 8.4581, 1.5165, -0.1783, 0.0171, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d57416ddf618150bfd0f352422cef435c536d4b43f245af4bec6e09d1e4e1e8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fb489d25c1f82230394476535b944876f4c21f4ecaac0e6905e70b95bc38ef6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cdaeafe0a0e499f13b796a90aa43196de75df21af1159f61aa107aea31c2831",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AskS3H8Y1H3thqW4Aj1Pnn",
      "input": {
        "note": "The pen is grasped and lifted (visible sticking out beyond the right jaws). Now moving the left arm to hover over the pen cap, which appears to the left arm's right in its wrist view.",
        "targets": {
          "left_x": 0.38,
          "left_y": -0.1,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01AskS3H8Y1H3thqW4Aj1Pnn",
      "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]: [-0.4107, 1.3216, 0.7334, -0.1398, -0.3195, -0.2451, 0.9997, 0.2623, 1.5639, 0.9318, -0.1177, -0.318, -0.3492, 0.061]\nstate[eef_state]: left_x=0.3625 left_y=-0.0934 left_z=0.1237 left_yaw=-0.0132 left_pitch=-0.1122 left_roll=0.0186 left_gripper=0.9997 right_x=0.3957 right_y=0.1671 right_z=0.1177 right_yaw=0.7186 right_pitch=-0.1482 right_roll=-0.0453 right_gripper=0.061\nstate[joint_eff]: [-0.4171, -5.7504, 9.6889, 1.79, -0.315, 0.0513, -0.0171, -0.294, -6.8581, 6.694, 1.7949, -0.1832, -0.0317, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7342447bddd4cd59fb72d77574eb3d8c1daecbc3831374d795d2f0a08b08b60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49e699580b4432341d4ff2478f3f932f332617ba4ba86898e100ab6dada4bf27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:efb4ad7668d826a399d7af459d08d9db66023af784c54b4182ce7f1ccdf37543",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /messages · status 200 · 12.58 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]: [-0.0204, 0.8101, 0.5999, -0.3813, -0.0223, -0.0223, 0.9998, 0.2623, 1.8805, 0.6991, 0.4595, -0.3172, -0.3389, 0.0495]\nstate[eef_state]: left_x=0.2951 left_y=0.0015 left_z=0.1734 left_yaw=0.006 left_pitch=-0.0194 left_roll=-0.0088 left_gripper=0.9998 right_x=0.3978 right_y=0.1675 right_z=0.0025 right_yaw=0.7108 right_pitch=-0.1231 right_roll=-0.05 right_gripper=0.0495\nstate[joint_eff]: [-0.1299, -1.347, 7.2684, 1.6923, -0.0659, -0.0415, -0.0073, -0.1162, -9.2103, 5.5863, 1.1941, -0.0562, 0.0073, 1.3016]",
      "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]: [-0.0204, 0.8135, 0.5999, -0.3813, -0.0223, -0.0227, 0.9998, 0.2623, 1.5658, 0.9337, -0.0937, -0.318, -0.3462, 0.0564]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1725 left_yaw=0.0062 left_pitch=-0.0229 left_roll=-0.009 left_gripper=0.9998 right_x=0.3999 right_y=0.1682 right_z=0.1219 right_yaw=0.7155 right_pitch=-0.1265 right_roll=-0.0536 right_gripper=0.0564\nstate[joint_eff]: [-0.0615, -1.6342, 7.1179, 1.7265, -0.0659, -0.0757, -0.0122, -0.1846, -9.1829, 8.4581, 1.5165, -0.1783, 0.0171, 1.033]",
      "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]: [-0.4107, 1.3216, 0.7334, -0.1398, -0.3195, -0.2451, 0.9997, 0.2623, 1.5639, 0.9318, -0.1177, -0.318, -0.3492, 0.061]\nstate[eef_state]: left_x=0.3625 left_y=-0.0934 left_z=0.1237 left_yaw=-0.0132 left_pitch=-0.1122 left_roll=0.0186 left_gripper=0.9997 right_x=0.3957 right_y=0.1671 right_z=0.1177 right_yaw=0.7186 right_pitch=-0.1482 right_roll=-0.0453 right_gripper=0.061\nstate[joint_eff]: [-0.4171, -5.7504, 9.6889, 1.79, -0.315, 0.0513, -0.0171, -0.294, -6.8581, 6.694, 1.7949, -0.1832, -0.0317, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7342447bddd4cd59fb72d77574eb3d8c1daecbc3831374d795d2f0a08b08b60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49e699580b4432341d4ff2478f3f932f332617ba4ba86898e100ab6dada4bf27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efb4ad7668d826a399d7af459d08d9db66023af784c54b4182ce7f1ccdf37543",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GPJhXkpg3yBQ4ph2KHbywm",
      "input": {
        "note": "In the left wrist view the cap sits slightly right of the jaw column and well beyond the fingertips. Shifting 3.5 cm right, advancing 6 cm and lowering to 9 cm to close in on the cap.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.129,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01GPJhXkpg3yBQ4ph2KHbywm",
      "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]: [-0.4385, 1.6417, 0.8322, -0.0376, -0.3374, -0.2695, 0.9997, 0.2623, 1.5661, 0.9279, -0.1238, -0.318, -0.3492, 0.0649]\nstate[eef_state]: left_x=0.3957 left_y=-0.117 left_z=0.0621 left_yaw=-0.0051 left_pitch=-0.2153 left_roll=0.0607 left_gripper=0.9997 right_x=0.3937 right_y=0.1666 right_z=0.1142 right_yaw=0.7194 right_pitch=-0.1591 right_roll=-0.0398 right_gripper=0.0649\nstate[joint_eff]: [-0.3077, -8.212, 9.2513, 1.6825, -0.2515, -0.0073, -0.0073, -0.212, -7.3778, 6.7897, 1.5311, -0.2076, -0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:513b5777729cb4d1ac5d680ebc462a5a1882d0b497705484564e4aff1d1c8749",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:913be576c2ca52829a005f7f2e373f7d91d0a173c1940f9e9981a6290f3d4431",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:08334afaa669739af7cc41b8d1b4f49620486128bf17a17dea2224fc66c0277a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /messages · status 200 · 8.706 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]: [-0.0204, 0.8135, 0.5999, -0.3813, -0.0223, -0.0227, 0.9998, 0.2623, 1.5658, 0.9337, -0.0937, -0.318, -0.3462, 0.0564]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1725 left_yaw=0.0062 left_pitch=-0.0229 left_roll=-0.009 left_gripper=0.9998 right_x=0.3999 right_y=0.1682 right_z=0.1219 right_yaw=0.7155 right_pitch=-0.1265 right_roll=-0.0536 right_gripper=0.0564\nstate[joint_eff]: [-0.0615, -1.6342, 7.1179, 1.7265, -0.0659, -0.0757, -0.0122, -0.1846, -9.1829, 8.4581, 1.5165, -0.1783, 0.0171, 1.033]",
      "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]: [-0.4107, 1.3216, 0.7334, -0.1398, -0.3195, -0.2451, 0.9997, 0.2623, 1.5639, 0.9318, -0.1177, -0.318, -0.3492, 0.061]\nstate[eef_state]: left_x=0.3625 left_y=-0.0934 left_z=0.1237 left_yaw=-0.0132 left_pitch=-0.1122 left_roll=0.0186 left_gripper=0.9997 right_x=0.3957 right_y=0.1671 right_z=0.1177 right_yaw=0.7186 right_pitch=-0.1482 right_roll=-0.0453 right_gripper=0.061\nstate[joint_eff]: [-0.4171, -5.7504, 9.6889, 1.79, -0.315, 0.0513, -0.0171, -0.294, -6.8581, 6.694, 1.7949, -0.1832, -0.0317, 1.033]",
      "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]: [-0.4385, 1.6417, 0.8322, -0.0376, -0.3374, -0.2695, 0.9997, 0.2623, 1.5661, 0.9279, -0.1238, -0.318, -0.3492, 0.0649]\nstate[eef_state]: left_x=0.3957 left_y=-0.117 left_z=0.0621 left_yaw=-0.0051 left_pitch=-0.2153 left_roll=0.0607 left_gripper=0.9997 right_x=0.3937 right_y=0.1666 right_z=0.1142 right_yaw=0.7194 right_pitch=-0.1591 right_roll=-0.0398 right_gripper=0.0649\nstate[joint_eff]: [-0.3077, -8.212, 9.2513, 1.6825, -0.2515, -0.0073, -0.0073, -0.212, -7.3778, 6.7897, 1.5311, -0.2076, -0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:513b5777729cb4d1ac5d680ebc462a5a1882d0b497705484564e4aff1d1c8749",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:913be576c2ca52829a005f7f2e373f7d91d0a173c1940f9e9981a6290f3d4431",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08334afaa669739af7cc41b8d1b4f49620486128bf17a17dea2224fc66c0277a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CzQwKZ3WHJtjnTFSkQwNG9",
      "input": {
        "note": "The cap is still beyond the fingertips and tilted ~55° in the left wrist view. Rotating the wrist -0.6 rad to bring the jaws across the cap, advancing 4 cm and descending to 3 cm.",
        "targets": {
          "left_x": 0.44,
          "left_yaw": -0.6,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01CzQwKZ3WHJtjnTFSkQwNG9",
      "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]: [-0.4393, 1.6619, 0.8471, -0.0067, -0.3378, -0.2722, 0.9998, 0.2623, 1.5665, 0.9272, -0.1234, -0.318, -0.3492, 0.0649]\nstate[eef_state]: left_x=0.4039 left_y=-0.1211 left_z=0.0646 left_yaw=-0.0063 left_pitch=-0.1919 left_roll=0.0481 left_gripper=0.9998 right_x=0.3936 right_y=0.1666 right_z=0.1138 right_yaw=0.7195 right_pitch=-0.1598 right_roll=-0.0395 right_gripper=0.0649\nstate[joint_eff]: [-0.4034, -8.3897, 9.0735, 1.8144, -0.2662, -0.0269, -0.0073, -0.0342, -7.1179, 6.612, 1.5116, -0.2027, -0.0562, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc8ee2e7f6db0f1dd04dd5b636826e97842ceb0b5253aaab1a6b25d4e262bd1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:caa8f0f72fbbae74ee6032037b41e3b042b95a4b8e1f5eec3a35887ece894639",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6b3f94363b1cd9537c38a13df91976db6e94839471e576213104beb80f445a3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /messages · status 200 · 10.05 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]: [-0.4107, 1.3216, 0.7334, -0.1398, -0.3195, -0.2451, 0.9997, 0.2623, 1.5639, 0.9318, -0.1177, -0.318, -0.3492, 0.061]\nstate[eef_state]: left_x=0.3625 left_y=-0.0934 left_z=0.1237 left_yaw=-0.0132 left_pitch=-0.1122 left_roll=0.0186 left_gripper=0.9997 right_x=0.3957 right_y=0.1671 right_z=0.1177 right_yaw=0.7186 right_pitch=-0.1482 right_roll=-0.0453 right_gripper=0.061\nstate[joint_eff]: [-0.4171, -5.7504, 9.6889, 1.79, -0.315, 0.0513, -0.0171, -0.294, -6.8581, 6.694, 1.7949, -0.1832, -0.0317, 1.033]",
      "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]: [-0.4385, 1.6417, 0.8322, -0.0376, -0.3374, -0.2695, 0.9997, 0.2623, 1.5661, 0.9279, -0.1238, -0.318, -0.3492, 0.0649]\nstate[eef_state]: left_x=0.3957 left_y=-0.117 left_z=0.0621 left_yaw=-0.0051 left_pitch=-0.2153 left_roll=0.0607 left_gripper=0.9997 right_x=0.3937 right_y=0.1666 right_z=0.1142 right_yaw=0.7194 right_pitch=-0.1591 right_roll=-0.0398 right_gripper=0.0649\nstate[joint_eff]: [-0.3077, -8.212, 9.2513, 1.6825, -0.2515, -0.0073, -0.0073, -0.212, -7.3778, 6.7897, 1.5311, -0.2076, -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 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]: [-0.4393, 1.6619, 0.8471, -0.0067, -0.3378, -0.2722, 0.9998, 0.2623, 1.5665, 0.9272, -0.1234, -0.318, -0.3492, 0.0649]\nstate[eef_state]: left_x=0.4039 left_y=-0.1211 left_z=0.0646 left_yaw=-0.0063 left_pitch=-0.1919 left_roll=0.0481 left_gripper=0.9998 right_x=0.3936 right_y=0.1666 right_z=0.1138 right_yaw=0.7195 right_pitch=-0.1598 right_roll=-0.0395 right_gripper=0.0649\nstate[joint_eff]: [-0.4034, -8.3897, 9.0735, 1.8144, -0.2662, -0.0269, -0.0073, -0.0342, -7.1179, 6.612, 1.5116, -0.2027, -0.0562, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc8ee2e7f6db0f1dd04dd5b636826e97842ceb0b5253aaab1a6b25d4e262bd1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:caa8f0f72fbbae74ee6032037b41e3b042b95a4b8e1f5eec3a35887ece894639",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b3f94363b1cd9537c38a13df91976db6e94839471e576213104beb80f445a3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISrAYKjgEIEhgCKkByXCjvFwE0JnZnRPaMlm9JmyHCqinmtbWiYRuraTjMpjxBS7V6tSlG11b+UjA5gfzYAN+UYJkvbi1jYf//+yDKMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd+1zNUGEgzXBJtQJUylnSkjRUAaDPC5b2sJgiWYW31cqSIwVznmVK7FB8Uqyusy1NCK13+7t8fJx6QV3roNwlHVLan8BZTzkr4w97zazRtMQfehKsoEw+Le8q9U7AfAit4R0eZEIqpbHZF0kM2tS3WIlJ1V1a2VtQbofF19teZZgNSgpB8rDafEBb5/ncYBT50sJKfBJmQikKFOC89GkrCtsqhUQ5AftOa/3eDMFRt54Mn90BZT8bBu3o4pZ7+KDyM+H1jIRac5mq/ljtJDBdYf7R8t4AqX6OYKAE8SOdtne/YAnli3eDdT5e8eDl2wqZ5uSDrK/UP06HBTsKEZaVKMgV6fsbuzs+HgcqF+d1wfE838nNlsVOaj9/+NGqUp3oxgjFuq8ZMDSoh++omK3TguZEtjw0YFjTySwwfNDCMtzhkCg5HkQGQayZzAEuD8USFAGQri6N6cRHg0ZbbLmAmJtnSkHLRuzBaFpgri704pV82eur7rP10vNn9Ke8adZT45fa/zcXmdWWdo/lxLX+0JVYG9w31AF1he/lPRErKsPkD0/eBOJ4cEj9Rgm4hr+Zv38+qqU9KeEnfxi087yLnsJ2lmHkl/NIE/npEM2VVVxJzhIe9hoNbw0L1mph33wiDMqkbRLjLfAo6iVUVVw4zfJm9oJaauQfS2mkohbjsoJU16qXRFrAZejSsElr5EHtgayM42nSfRQCcVsfp0RkjfeNC0CFtI68WATYBLtUbBZAc9I/ZjwNKl2WqdJLYHoKhfedsAX7ZRVfRi1OBU77hkRj1FE3uu+YqaadNRLMF81jMT7kV8Po3TFBxuIVTZQc6LYf3I1ZfMv2NB9fMXg3xgYRcT4DHZ+FsDN2qIwCpOQrIRcD0w+vZ3Hqbd53TkfBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014ddMmM8XT6QpWqrA2nvy2D",
      "input": {
        "note": "The left arm is lagging behind the commanded pose (yaw still ~0, x 0.40), so I am re-sending the same target to let it finish converging onto the cap.",
        "targets": {
          "left_x": 0.44,
          "left_yaw": -0.6,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_014ddMmM8XT6QpWqrA2nvy2D",
      "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]: [-0.4393, 1.6619, 0.8471, -0.0071, -0.3378, -0.2722, 0.9997, 0.2623, 1.5665, 0.9272, -0.1234, -0.318, -0.3492, 0.0649]\nstate[eef_state]: left_x=0.4038 left_y=-0.1211 left_z=0.0645 left_yaw=-0.0062 left_pitch=-0.1923 left_roll=0.0483 left_gripper=0.9997 right_x=0.3936 right_y=0.1666 right_z=0.1138 right_yaw=0.7195 right_pitch=-0.1598 right_roll=-0.0395 right_gripper=0.0649\nstate[joint_eff]: [-0.3214, -8.253, 9.0462, 1.8388, -0.2515, -0.0073, -0.0171, -0.3077, -7.1453, 6.5299, 1.536, -0.1636, -0.0269, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2b74beb85c8da91a4555d60d8cbd4d9bf293498ae1d08bc328b7ba05891b9e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c327a8ab22bd56cd6a53d279a58696c7bfb0d319366447762fec95b2408d771",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9092d0bf4ee73c50fb7e7899e2dea86b77f1d7d11d9391f7750f0a06c987ca08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /messages · status 200 · 10.1 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]: [-0.4385, 1.6417, 0.8322, -0.0376, -0.3374, -0.2695, 0.9997, 0.2623, 1.5661, 0.9279, -0.1238, -0.318, -0.3492, 0.0649]\nstate[eef_state]: left_x=0.3957 left_y=-0.117 left_z=0.0621 left_yaw=-0.0051 left_pitch=-0.2153 left_roll=0.0607 left_gripper=0.9997 right_x=0.3937 right_y=0.1666 right_z=0.1142 right_yaw=0.7194 right_pitch=-0.1591 right_roll=-0.0398 right_gripper=0.0649\nstate[joint_eff]: [-0.3077, -8.212, 9.2513, 1.6825, -0.2515, -0.0073, -0.0073, -0.212, -7.3778, 6.7897, 1.5311, -0.2076, -0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.4393, 1.6619, 0.8471, -0.0067, -0.3378, -0.2722, 0.9998, 0.2623, 1.5665, 0.9272, -0.1234, -0.318, -0.3492, 0.0649]\nstate[eef_state]: left_x=0.4039 left_y=-0.1211 left_z=0.0646 left_yaw=-0.0063 left_pitch=-0.1919 left_roll=0.0481 left_gripper=0.9998 right_x=0.3936 right_y=0.1666 right_z=0.1138 right_yaw=0.7195 right_pitch=-0.1598 right_roll=-0.0395 right_gripper=0.0649\nstate[joint_eff]: [-0.4034, -8.3897, 9.0735, 1.8144, -0.2662, -0.0269, -0.0073, -0.0342, -7.1179, 6.612, 1.5116, -0.2027, -0.0562, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.4393, 1.6619, 0.8471, -0.0071, -0.3378, -0.2722, 0.9997, 0.2623, 1.5665, 0.9272, -0.1234, -0.318, -0.3492, 0.0649]\nstate[eef_state]: left_x=0.4038 left_y=-0.1211 left_z=0.0645 left_yaw=-0.0062 left_pitch=-0.1923 left_roll=0.0483 left_gripper=0.9997 right_x=0.3936 right_y=0.1666 right_z=0.1138 right_yaw=0.7195 right_pitch=-0.1598 right_roll=-0.0395 right_gripper=0.0649\nstate[joint_eff]: [-0.3214, -8.253, 9.0462, 1.8388, -0.2515, -0.0073, -0.0171, -0.3077, -7.1453, 6.5299, 1.536, -0.1636, -0.0269, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2b74beb85c8da91a4555d60d8cbd4d9bf293498ae1d08bc328b7ba05891b9e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c327a8ab22bd56cd6a53d279a58696c7bfb0d319366447762fec95b2408d771",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9092d0bf4ee73c50fb7e7899e2dea86b77f1d7d11d9391f7750f0a06c987ca08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISqgkKjgEIEhgCKkC/nZz3yoZjU8lTSi8TwKXheWRjDbI409mDi/CukxJGQFZN+Cz0Jig5GJGqCP+OK4aC+vaROQKTBFoYPxwNyM3GMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAem1zNUGEgwqY3XIUu7hCQ0g/voaDGPcpO9G4KvRkkLiWCIwI7HQf8EBP/5JFWmrjZaXcpw4iwNoZqvFb00PUwWHarzqdXfJSRg5HcOHne17AHseKsgHMZp/o9dNhf5G/ndnjJLmCNBnziDVwbcqdb7f+WAM4q6sgCuqznKulRwhU1rOPkCSdy3Ch/3hVltFp8qQq5AjUO+rPaZF13MxnEzIv0HspprbS7zq2F8k94L8kFo6UUpDwfSFa7bp1idEw3tRtD4VchEs6czWxTMOSaEy9lDqpnMG8hye3e3PfQOQJpP3L44Gggk+V3HpihUHzelDlVySQkxgM9sGRqtt+SwciXW08U/8s061kK2fP9zqPHa1tMpcHjZdDhQI0cJSwfQQPlBU0O0Gcpm17RcOZPBG4xKwPc9asdS+4t7/kx3b5jN3fbRMeUmSAbrou6ic5OyQ7R1HsISFZjNjFPB1wwnQeGBJUWEQrpUgjckz92Cav9SZoj9xt6vIQrVrpEBrpYFAZLs5XYE4TpM7Tuxs4lBTFJ0exXdpjTfZCMy5P9/pmKeW0uEzbU8wfNFewLRJ3Fqur5VIwM267FuIn59nBzJNutnpMqdhy3yGhm39VivCh14NvKqYc9WLcwZgTIBSvFUoNZ8B091rl3Qo9xb8UoUVds9QNnK1hV8W23YFO5jhSh9q/5zhr0rhKXYndPM0m4D1PoG33v1xq1bHcduYHcYmJkT9Ontkgw9N9uSni7JZxMxZM9cIoF9UT71WZhycz2Ybips+LLsyGGHRM1Sf36aemickE60pa7ermFDZ7jYuJBcsCLB9DWv1oTQboJ6zTPJQ9glz9RJsy9aTE2A+KFfLv5tfVgro9aWgQx2IuyMKqcwugsLQuixpE6D1gQOkiDesTLFEk7hnU0mE4+gG6DOECcZ3E2i9F8+UB21/1bKI6XI2XpZ7Kq2fivrDfo7d5yD35YKquMtg/i0VKH1keKir+rf/t5eUR4G6y8JO4MEIdyxyIrcDPvL3vQKFPYOdrF4MV1GEJaW2wbiFWXOBZHOJI3s2A7nCgojfApdcSHffhA62KLqcP5ump2ftc+zPP8nIX8JY2UeFWs4GNOp23GHipmfoeCiNExfEPMsKloPMB/ob2xV8MVFd8xuPHPP5qZkfcB9xYAl+EQA5g8YaxPK3zeiItXu/yk2/YN5H0J3jM8T4bZz0LRz5asQ3xBwdEyI4zrgV3wZR4pCn+a7ZyEZBp4snC3hs5UuEdoVg3OpaNcGiFOxY5P3qoYHJhhRk5jDvyU6YU8iKNhBKK/Euk+8NtgmiUuhxOVWhsOk8dgYuXGPz5L8tOSacOrFABfdeYUQvq78bLN1aspEDPKl37iBBLtxu2s5QqUVfZRcs9WohdzNAKdzAhgaKolVqzeoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RwhH4g3Jnz9KhKT4HyGw39",
      "input": {
        "note": "The left arm has stalled at x=0.40, z=0.065 and refuses to yaw. Lifting to 12 cm where the arm has more freedom and applying the wrist rotation there.",
        "targets": {
          "left_yaw": -0.6,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01RwhH4g3Jnz9KhKT4HyGw39",
      "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]: [-0.3462, 1.6314, 0.8833, -0.1024, -0.2401, -0.1947, 0.9997, 0.2623, 1.5665, 0.9272, -0.1238, -0.3172, -0.3496, 0.0649]\nstate[eef_state]: left_x=0.4066 left_y=-0.0982 left_z=0.0713 left_yaw=-0.0343 left_pitch=-0.2477 left_roll=0.0455 left_gripper=0.9997 right_x=0.3936 right_y=0.1664 right_z=0.1137 right_yaw=0.7191 right_pitch=-0.1604 right_roll=-0.0401 right_gripper=0.0649\nstate[joint_eff]: [1.8393, -11.959, 11.0838, 1.8779, -0.2662, 0.3834, -0.0073, -0.335, -7.159, 6.5299, 1.5018, -0.149, -0.0317, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b84e57cf2239e8c6a556ef0cdeab2e181966166852b9540f09ab4dd6797581c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1623a42cd69c3526501b54b21a4fbbfe41b5041610cf6e648f9fa6ba169a1509",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:589de007e66eafebdd210945c14e95ff84d64a81883400f7c0c8ccdcf693afc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /messages · status 200 · 18.86 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]: [-0.4393, 1.6619, 0.8471, -0.0067, -0.3378, -0.2722, 0.9998, 0.2623, 1.5665, 0.9272, -0.1234, -0.318, -0.3492, 0.0649]\nstate[eef_state]: left_x=0.4039 left_y=-0.1211 left_z=0.0646 left_yaw=-0.0063 left_pitch=-0.1919 left_roll=0.0481 left_gripper=0.9998 right_x=0.3936 right_y=0.1666 right_z=0.1138 right_yaw=0.7195 right_pitch=-0.1598 right_roll=-0.0395 right_gripper=0.0649\nstate[joint_eff]: [-0.4034, -8.3897, 9.0735, 1.8144, -0.2662, -0.0269, -0.0073, -0.0342, -7.1179, 6.612, 1.5116, -0.2027, -0.0562, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.4393, 1.6619, 0.8471, -0.0071, -0.3378, -0.2722, 0.9997, 0.2623, 1.5665, 0.9272, -0.1234, -0.318, -0.3492, 0.0649]\nstate[eef_state]: left_x=0.4038 left_y=-0.1211 left_z=0.0645 left_yaw=-0.0062 left_pitch=-0.1923 left_roll=0.0483 left_gripper=0.9997 right_x=0.3936 right_y=0.1666 right_z=0.1138 right_yaw=0.7195 right_pitch=-0.1598 right_roll=-0.0395 right_gripper=0.0649\nstate[joint_eff]: [-0.3214, -8.253, 9.0462, 1.8388, -0.2515, -0.0073, -0.0171, -0.3077, -7.1453, 6.5299, 1.536, -0.1636, -0.0269, 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]: [-0.3462, 1.6314, 0.8833, -0.1024, -0.2401, -0.1947, 0.9997, 0.2623, 1.5665, 0.9272, -0.1238, -0.3172, -0.3496, 0.0649]\nstate[eef_state]: left_x=0.4066 left_y=-0.0982 left_z=0.0713 left_yaw=-0.0343 left_pitch=-0.2477 left_roll=0.0455 left_gripper=0.9997 right_x=0.3936 right_y=0.1664 right_z=0.1137 right_yaw=0.7191 right_pitch=-0.1604 right_roll=-0.0401 right_gripper=0.0649\nstate[joint_eff]: [1.8393, -11.959, 11.0838, 1.8779, -0.2662, 0.3834, -0.0073, -0.335, -7.159, 6.5299, 1.5018, -0.149, -0.0317, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b84e57cf2239e8c6a556ef0cdeab2e181966166852b9540f09ab4dd6797581c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1623a42cd69c3526501b54b21a4fbbfe41b5041610cf6e648f9fa6ba169a1509",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:589de007e66eafebdd210945c14e95ff84d64a81883400f7c0c8ccdcf693afc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISgAkKjgEIEhgCKkC/whwHY+90lTimMgNkKQaCmNT0HS2vqHI06cZsCpttMHx40nK118/ARNDoQy516jvq0BEjnOR/PspCBy+/zRu+Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfO1zNUGEgzRV3Y9LM1lKkPgXpoaDEPGGEp6pHnWLUoBjSIw3kLzE/XnnLFo2eYP54E77i1GwtgxVwhk2S7MACfUjAOlcq8SCAXlDRIoHnmhTELgKp4Hgn3mm/6vZm59ElmPvDtf9jgI0HVnKmvsDVuKFKuEUU8UnJI47tKJk+UxX9qnX1q983MJXF29cvSu8dMuHEtDwxRlk/665y0UpMw9ah8h6qB3gL09osmWYF8aja+/jQw5UeFTl4xGBCy2Wc0ZgqJuvNk6nwm/n29+RPQfzHFyMrNrfHkLXTAG7AKwV5GZPwNlb6XPu/AHdCWcIIClz66ZWvZdt9+b8KxYGsVpTmsIxbmr0lWkDUi7jxApRoOvOqqw0SkWmM5Qxtwi2vOy4cOo1Fu80WjfcRJ4INygjEjGrhOQTJjR/Eycq7zprMygxGOUaw2Yzr8aBZ6bhj+J1w9a1atSARe/8NN6Fi3MKlrOE+mABx5go3MURbEyCBeT+RAsuZH5P32sTKaj3saHsrY565TWujubeqZ9BV+1gH2lbFDCQvtoxJrY0YitMvqC+hly3c3UNaMyDZjdn6z4j5bHJ42Pmsf0GW2ObLlwfYnDOnddprXh0yh/lkt7Enw7DIYJPgJXxVrMKZchu4BvLqjghH6NPMFPmEBviONxLP1ktOGOOqcCHCcv2dj3ivaq4/pj7iJVFbu/mymA+M0pSrec2pCQxBrvEqNV4frvL1e6hh+srbfEKeCT61GZJ9FIQKp3egYfz35QSnNVo6hoijR8iClSN6ET6GHi24xsU6EZM42JYLmVOT+pbx7mbuftJQXboFjUykQZDCtW5w8hf1MTf9Lz4fMwwzi68kuSQCQJd5UsgSv+7DhNLNdSI3mZ5/JDvnNEwwSF0x1iFwl7I4hpyuBVCW0+GstdPQpqSvRkSrlnkHAmRpgXpIOKYt181yvHZVqz4i/Vv/D0pQd+BuF5m9D5/rhhRmZHw14K+xyYkLeEgZsiTQtWuMQic/6ErE8S7ZWVP4nuzFLjlncHoCK8fYSC8iW18at2ZE+7dCpl5TDcvy2wxrHxYE1Bir6mLIZRuG0eV+0Y4vM9kVsaYUgAzb1Pj1M2YbP2OBjJZQvM3u65R5jKmeCoIYDb0G31zO8jZ4d5uD4AEFk9BJU37fgnp6+zKQuLKsjTXo2K2Gq2lr5b8uEVzwuF8ObF5cr/CCA8MpHQRT3cXspNFz1zp4zNxgrWhVJg0Hxa9mK6Bl1ueOYyb77+EAcLgGqgKPtREEz0MW4g77aC56lL2mE6s+8g2s5cDScrRlmNAai6g7QjApAOCFrPvS6ibn5CqJXL9DJZEi+2UEYWzNHQO1HewJQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K4XrxkDQr2nT4joAw1NFji",
      "input": {
        "note": "The left arm is sagging and barely tracking near full reach. Pulling it back to a comfortable pose (x 0.36, z 0.18) with pitch explicitly zeroed and the wrist yawed -0.6, then I will re-approach the cap.",
        "targets": {
          "left_pitch": 0,
          "left_x": 0.36,
          "left_y": -0.12,
          "left_yaw": -0.6,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01K4XrxkDQr2nT4joAw1NFji",
      "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]: [-0.1963, 1.2575, 0.7834, -0.1677, 0.2169, 0.1974, 0.9997, 0.2623, 1.5665, 0.9268, -0.1238, -0.3176, -0.3492, 0.0649]\nstate[eef_state]: left_x=0.3645 left_y=-0.1076 left_z=0.1596 left_yaw=-0.4897 left_pitch=-0.053 left_roll=0.028 left_gripper=0.9997 right_x=0.3935 right_y=0.1665 right_z=0.1135 right_yaw=0.7192 right_pitch=-0.1606 right_roll=-0.0394 right_gripper=0.0649\nstate[joint_eff]: [0.1983, -5.7504, 8.8957, 1.8095, 0.149, 0.1978, -0.0122, -0.3624, -7.159, 6.7077, 1.5507, -0.188, -0.0513, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c676a961ca03aa30e7559da5c2216b966c672a473fb405d317ca8739e9e3141",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d922152313a95bd0ebc79b174a7cb6aafabce869f804507b3a07503ca5e75ea7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:244a8c16c56df98390c8e7aa8e03a12882d834bd1b9447002b6124a4730051a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /messages · status 200 · 23.38 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]: [-0.4393, 1.6619, 0.8471, -0.0071, -0.3378, -0.2722, 0.9997, 0.2623, 1.5665, 0.9272, -0.1234, -0.318, -0.3492, 0.0649]\nstate[eef_state]: left_x=0.4038 left_y=-0.1211 left_z=0.0645 left_yaw=-0.0062 left_pitch=-0.1923 left_roll=0.0483 left_gripper=0.9997 right_x=0.3936 right_y=0.1666 right_z=0.1138 right_yaw=0.7195 right_pitch=-0.1598 right_roll=-0.0395 right_gripper=0.0649\nstate[joint_eff]: [-0.3214, -8.253, 9.0462, 1.8388, -0.2515, -0.0073, -0.0171, -0.3077, -7.1453, 6.5299, 1.536, -0.1636, -0.0269, 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]: [-0.3462, 1.6314, 0.8833, -0.1024, -0.2401, -0.1947, 0.9997, 0.2623, 1.5665, 0.9272, -0.1238, -0.3172, -0.3496, 0.0649]\nstate[eef_state]: left_x=0.4066 left_y=-0.0982 left_z=0.0713 left_yaw=-0.0343 left_pitch=-0.2477 left_roll=0.0455 left_gripper=0.9997 right_x=0.3936 right_y=0.1664 right_z=0.1137 right_yaw=0.7191 right_pitch=-0.1604 right_roll=-0.0401 right_gripper=0.0649\nstate[joint_eff]: [1.8393, -11.959, 11.0838, 1.8779, -0.2662, 0.3834, -0.0073, -0.335, -7.159, 6.5299, 1.5018, -0.149, -0.0317, 1.0281]\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 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]: [-0.1963, 1.2575, 0.7834, -0.1677, 0.2169, 0.1974, 0.9997, 0.2623, 1.5665, 0.9268, -0.1238, -0.3176, -0.3492, 0.0649]\nstate[eef_state]: left_x=0.3645 left_y=-0.1076 left_z=0.1596 left_yaw=-0.4897 left_pitch=-0.053 left_roll=0.028 left_gripper=0.9997 right_x=0.3935 right_y=0.1665 right_z=0.1135 right_yaw=0.7192 right_pitch=-0.1606 right_roll=-0.0394 right_gripper=0.0649\nstate[joint_eff]: [0.1983, -5.7504, 8.8957, 1.8095, 0.149, 0.1978, -0.0122, -0.3624, -7.159, 6.7077, 1.5507, -0.188, -0.0513, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c676a961ca03aa30e7559da5c2216b966c672a473fb405d317ca8739e9e3141",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d922152313a95bd0ebc79b174a7cb6aafabce869f804507b3a07503ca5e75ea7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:244a8c16c56df98390c8e7aa8e03a12882d834bd1b9447002b6124a4730051a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VhqNgiy4yNZVK5K7492FX4",
      "input": {
        "note": "With the wrist at -0.49 the cap now looks nearly horizontal in the left wrist view, i.e. the jaws would close along its length. Rotating the wrist the other way to +0.4 to make the cap appear vertical so the jaws close across it.",
        "targets": {
          "left_yaw": 0.4
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01VhqNgiy4yNZVK5K7492FX4",
      "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]: [-0.6132, 1.4754, 0.9722, -0.3958, -0.5842, -0.5407, 0.9997, 0.2623, 1.5665, 0.926, -0.1265, -0.3176, -0.3492, 0.0649]\nstate[eef_state]: left_x=0.3638 left_y=-0.1325 left_z=0.1392 left_yaw=0.162 left_pitch=-0.1406 left_roll=0.047 left_gripper=0.9997 right_x=0.3929 right_y=0.1663 right_z=0.1128 right_yaw=0.7195 right_pitch=-0.1637 right_roll=-0.0378 right_gripper=0.0649\nstate[joint_eff]: [-0.294, -7.3231, 8.7043, 1.0574, -0.5446, -0.0464, -0.0122, -0.1983, -7.1453, 6.5709, 1.5507, -0.1685, -0.0415, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ede053ab7350a35b03f34756c2388b093df2cc10484d44fdf9bed27158753d29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd1afc784f869032d9e77cc3048fee9780ce27a23be23907746e328e67834ab6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f5c1f149abd6bcae829278b67ecb33ac496ebe2cfe6b3abd26a4f3e16f683550",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /messages · status 200 · 21.58 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]: [-0.3462, 1.6314, 0.8833, -0.1024, -0.2401, -0.1947, 0.9997, 0.2623, 1.5665, 0.9272, -0.1238, -0.3172, -0.3496, 0.0649]\nstate[eef_state]: left_x=0.4066 left_y=-0.0982 left_z=0.0713 left_yaw=-0.0343 left_pitch=-0.2477 left_roll=0.0455 left_gripper=0.9997 right_x=0.3936 right_y=0.1664 right_z=0.1137 right_yaw=0.7191 right_pitch=-0.1604 right_roll=-0.0401 right_gripper=0.0649\nstate[joint_eff]: [1.8393, -11.959, 11.0838, 1.8779, -0.2662, 0.3834, -0.0073, -0.335, -7.159, 6.5299, 1.5018, -0.149, -0.0317, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.1963, 1.2575, 0.7834, -0.1677, 0.2169, 0.1974, 0.9997, 0.2623, 1.5665, 0.9268, -0.1238, -0.3176, -0.3492, 0.0649]\nstate[eef_state]: left_x=0.3645 left_y=-0.1076 left_z=0.1596 left_yaw=-0.4897 left_pitch=-0.053 left_roll=0.028 left_gripper=0.9997 right_x=0.3935 right_y=0.1665 right_z=0.1135 right_yaw=0.7192 right_pitch=-0.1606 right_roll=-0.0394 right_gripper=0.0649\nstate[joint_eff]: [0.1983, -5.7504, 8.8957, 1.8095, 0.149, 0.1978, -0.0122, -0.3624, -7.159, 6.7077, 1.5507, -0.188, -0.0513, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.6132, 1.4754, 0.9722, -0.3958, -0.5842, -0.5407, 0.9997, 0.2623, 1.5665, 0.926, -0.1265, -0.3176, -0.3492, 0.0649]\nstate[eef_state]: left_x=0.3638 left_y=-0.1325 left_z=0.1392 left_yaw=0.162 left_pitch=-0.1406 left_roll=0.047 left_gripper=0.9997 right_x=0.3929 right_y=0.1663 right_z=0.1128 right_yaw=0.7195 right_pitch=-0.1637 right_roll=-0.0378 right_gripper=0.0649\nstate[joint_eff]: [-0.294, -7.3231, 8.7043, 1.0574, -0.5446, -0.0464, -0.0122, -0.1983, -7.1453, 6.5709, 1.5507, -0.1685, -0.0415, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ede053ab7350a35b03f34756c2388b093df2cc10484d44fdf9bed27158753d29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd1afc784f869032d9e77cc3048fee9780ce27a23be23907746e328e67834ab6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5c1f149abd6bcae829278b67ecb33ac496ebe2cfe6b3abd26a4f3e16f683550",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FDJyLZ9aQP9g1Bd66Y7bvR",
      "input": {
        "note": "The cap still looks nearly horizontal in the left wrist view despite the last rotation, so I am commanding a much larger wrist yaw (+1.2 rad) to see the image rotate and get the jaws across the cap.",
        "targets": {
          "left_yaw": 1.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01FDJyLZ9aQP9g1Bd66Y7bvR",
      "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]: [-0.6891, 2.1532, 1.8133, -1.364, -0.8047, -1.6733, 0.9997, 0.2623, 1.5715, 0.9226, -0.1291, -0.3164, -0.3496, 0.0649]\nstate[eef_state]: left_x=0.3846 left_y=-0.1472 left_z=0.1167 left_yaw=0.9595 left_pitch=-0.1873 left_roll=0.0565 left_gripper=0.9997 right_x=0.3916 right_y=0.1658 right_z=0.1089 right_yaw=0.7196 right_pitch=-0.174 right_roll=-0.0339 right_gripper=0.0649\nstate[joint_eff]: [1.5385, -10.5368, 7.1726, -0.4176, -0.442, -0.1001, -0.0122, 0.0342, -7.2821, 6.7624, 1.5409, -0.2076, -0.0366, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d8f8c49b23594657bbbd6ec74d2d45068f6c0ef70b49f1eed13037786072acc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:659ff371c4024556fdf3d3120740cab4e07b7fa18c4c0afea54f4d5ad6a745dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3c4398507475953ef8f8031b96fa8b89575888768f14c3127342ff370f351c8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /messages · status 200 · 19.06 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]: [-0.1963, 1.2575, 0.7834, -0.1677, 0.2169, 0.1974, 0.9997, 0.2623, 1.5665, 0.9268, -0.1238, -0.3176, -0.3492, 0.0649]\nstate[eef_state]: left_x=0.3645 left_y=-0.1076 left_z=0.1596 left_yaw=-0.4897 left_pitch=-0.053 left_roll=0.028 left_gripper=0.9997 right_x=0.3935 right_y=0.1665 right_z=0.1135 right_yaw=0.7192 right_pitch=-0.1606 right_roll=-0.0394 right_gripper=0.0649\nstate[joint_eff]: [0.1983, -5.7504, 8.8957, 1.8095, 0.149, 0.1978, -0.0122, -0.3624, -7.159, 6.7077, 1.5507, -0.188, -0.0513, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.6132, 1.4754, 0.9722, -0.3958, -0.5842, -0.5407, 0.9997, 0.2623, 1.5665, 0.926, -0.1265, -0.3176, -0.3492, 0.0649]\nstate[eef_state]: left_x=0.3638 left_y=-0.1325 left_z=0.1392 left_yaw=0.162 left_pitch=-0.1406 left_roll=0.047 left_gripper=0.9997 right_x=0.3929 right_y=0.1663 right_z=0.1128 right_yaw=0.7195 right_pitch=-0.1637 right_roll=-0.0378 right_gripper=0.0649\nstate[joint_eff]: [-0.294, -7.3231, 8.7043, 1.0574, -0.5446, -0.0464, -0.0122, -0.1983, -7.1453, 6.5709, 1.5507, -0.1685, -0.0415, 1.033]",
      "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]: [-0.6891, 2.1532, 1.8133, -1.364, -0.8047, -1.6733, 0.9997, 0.2623, 1.5715, 0.9226, -0.1291, -0.3164, -0.3496, 0.0649]\nstate[eef_state]: left_x=0.3846 left_y=-0.1472 left_z=0.1167 left_yaw=0.9595 left_pitch=-0.1873 left_roll=0.0565 left_gripper=0.9997 right_x=0.3916 right_y=0.1658 right_z=0.1089 right_yaw=0.7196 right_pitch=-0.174 right_roll=-0.0339 right_gripper=0.0649\nstate[joint_eff]: [1.5385, -10.5368, 7.1726, -0.4176, -0.442, -0.1001, -0.0122, 0.0342, -7.2821, 6.7624, 1.5409, -0.2076, -0.0366, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d8f8c49b23594657bbbd6ec74d2d45068f6c0ef70b49f1eed13037786072acc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:659ff371c4024556fdf3d3120740cab4e07b7fa18c4c0afea54f4d5ad6a745dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c4398507475953ef8f8031b96fa8b89575888768f14c3127342ff370f351c8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01B1i4tYb3ANFypmi9srCmZR",
      "input": {
        "note": "Wrist yaw is barely rotating the wrist image, so I am returning the wrist to yaw 0 where the image axes are known (image-right = arm right, image-down = toward base) before making a measured approach to the cap.",
        "targets": {
          "left_yaw": 0.0,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01B1i4tYb3ANFypmi9srCmZR",
      "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]: [-0.569, 1.5711, 1.0546, -0.5331, -0.5293, -0.7872, 0.9996, 0.2623, 1.5742, 0.9215, -0.1265, -0.3157, -0.3496, 0.0649]\nstate[eef_state]: left_x=0.3647 left_y=-0.1231 left_z=0.1143 left_yaw=0.329 left_pitch=-0.2746 left_roll=-0.0492 left_gripper=0.9996 right_x=0.3918 right_y=0.1657 right_z=0.1078 right_yaw=0.719 right_pitch=-0.1752 right_roll=-0.0339 right_gripper=0.0649\nstate[joint_eff]: [0.253, -8.4308, 7.2274, 1.6777, -0.1832, 0.2955, -0.0171, -0.1846, -7.3641, 6.694, 1.5507, -0.1441, -0.0562, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:979d2b152ed6903122c9658d091aa585b746555a85ee1f4b917d6877b7cf8ff2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c9f15ec53bd53bca1c9a8cb0af80dcdf979e1f16459359b644d3c7d3a782bd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5db59ca83eef365019d2d78152f8135ae323176ca91882a0186c0975dc98b422",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /messages · status 200 · 15.44 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]: [-0.6132, 1.4754, 0.9722, -0.3958, -0.5842, -0.5407, 0.9997, 0.2623, 1.5665, 0.926, -0.1265, -0.3176, -0.3492, 0.0649]\nstate[eef_state]: left_x=0.3638 left_y=-0.1325 left_z=0.1392 left_yaw=0.162 left_pitch=-0.1406 left_roll=0.047 left_gripper=0.9997 right_x=0.3929 right_y=0.1663 right_z=0.1128 right_yaw=0.7195 right_pitch=-0.1637 right_roll=-0.0378 right_gripper=0.0649\nstate[joint_eff]: [-0.294, -7.3231, 8.7043, 1.0574, -0.5446, -0.0464, -0.0122, -0.1983, -7.1453, 6.5709, 1.5507, -0.1685, -0.0415, 1.033]",
      "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]: [-0.6891, 2.1532, 1.8133, -1.364, -0.8047, -1.6733, 0.9997, 0.2623, 1.5715, 0.9226, -0.1291, -0.3164, -0.3496, 0.0649]\nstate[eef_state]: left_x=0.3846 left_y=-0.1472 left_z=0.1167 left_yaw=0.9595 left_pitch=-0.1873 left_roll=0.0565 left_gripper=0.9997 right_x=0.3916 right_y=0.1658 right_z=0.1089 right_yaw=0.7196 right_pitch=-0.174 right_roll=-0.0339 right_gripper=0.0649\nstate[joint_eff]: [1.5385, -10.5368, 7.1726, -0.4176, -0.442, -0.1001, -0.0122, 0.0342, -7.2821, 6.7624, 1.5409, -0.2076, -0.0366, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.569, 1.5711, 1.0546, -0.5331, -0.5293, -0.7872, 0.9996, 0.2623, 1.5742, 0.9215, -0.1265, -0.3157, -0.3496, 0.0649]\nstate[eef_state]: left_x=0.3647 left_y=-0.1231 left_z=0.1143 left_yaw=0.329 left_pitch=-0.2746 left_roll=-0.0492 left_gripper=0.9996 right_x=0.3918 right_y=0.1657 right_z=0.1078 right_yaw=0.719 right_pitch=-0.1752 right_roll=-0.0339 right_gripper=0.0649\nstate[joint_eff]: [0.253, -8.4308, 7.2274, 1.6777, -0.1832, 0.2955, -0.0171, -0.1846, -7.3641, 6.694, 1.5507, -0.1441, -0.0562, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:979d2b152ed6903122c9658d091aa585b746555a85ee1f4b917d6877b7cf8ff2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c9f15ec53bd53bca1c9a8cb0af80dcdf979e1f16459359b644d3c7d3a782bd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5db59ca83eef365019d2d78152f8135ae323176ca91882a0186c0975dc98b422",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BVHAe4YKBg4VtzPuvQWguB",
      "input": {
        "note": "The cap sits ~5 cm to the arm's right and further out in the left wrist view. Stepping to x=0.40, y=-0.173 at 6 cm height to get the jaws close above it.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.173,
          "left_yaw": 0.0,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01BVHAe4YKBg4VtzPuvQWguB",
      "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]: [-0.5552, 1.7401, 0.9924, -0.2596, -0.3759, -0.5362, 0.9996, 0.2623, 1.5742, 0.9215, -0.128, -0.3157, -0.3496, 0.0649]\nstate[eef_state]: left_x=0.3846 left_y=-0.158 left_z=0.0516 left_yaw=0.082 left_pitch=-0.333 left_roll=-0.0105 left_gripper=0.9996 right_x=0.3916 right_y=0.1656 right_z=0.1075 right_yaw=0.7192 right_pitch=-0.1766 right_roll=-0.0332 right_gripper=0.0649\nstate[joint_eff]: [0.5265, -8.0752, 6.2974, 1.5067, 0.0464, 0.2222, -0.0122, -0.3487, -7.0632, 6.8718, 1.4921, -0.1636, -0.0708, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0aaefdff3ba8c6145c81790e88bd1b6a4f27545c5a0ebe6699d5fa94a111533c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cff27c86a89bb25b01930c2cb384b94fae64bf216899605de5689814018152e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:35d4137a630663ccf22945cc0c8d8d4c304c36ef7fe65261d5f33903887f4dd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /messages · status 200 · 5.946 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]: [-0.6891, 2.1532, 1.8133, -1.364, -0.8047, -1.6733, 0.9997, 0.2623, 1.5715, 0.9226, -0.1291, -0.3164, -0.3496, 0.0649]\nstate[eef_state]: left_x=0.3846 left_y=-0.1472 left_z=0.1167 left_yaw=0.9595 left_pitch=-0.1873 left_roll=0.0565 left_gripper=0.9997 right_x=0.3916 right_y=0.1658 right_z=0.1089 right_yaw=0.7196 right_pitch=-0.174 right_roll=-0.0339 right_gripper=0.0649\nstate[joint_eff]: [1.5385, -10.5368, 7.1726, -0.4176, -0.442, -0.1001, -0.0122, 0.0342, -7.2821, 6.7624, 1.5409, -0.2076, -0.0366, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.569, 1.5711, 1.0546, -0.5331, -0.5293, -0.7872, 0.9996, 0.2623, 1.5742, 0.9215, -0.1265, -0.3157, -0.3496, 0.0649]\nstate[eef_state]: left_x=0.3647 left_y=-0.1231 left_z=0.1143 left_yaw=0.329 left_pitch=-0.2746 left_roll=-0.0492 left_gripper=0.9996 right_x=0.3918 right_y=0.1657 right_z=0.1078 right_yaw=0.719 right_pitch=-0.1752 right_roll=-0.0339 right_gripper=0.0649\nstate[joint_eff]: [0.253, -8.4308, 7.2274, 1.6777, -0.1832, 0.2955, -0.0171, -0.1846, -7.3641, 6.694, 1.5507, -0.1441, -0.0562, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.5552, 1.7401, 0.9924, -0.2596, -0.3759, -0.5362, 0.9996, 0.2623, 1.5742, 0.9215, -0.128, -0.3157, -0.3496, 0.0649]\nstate[eef_state]: left_x=0.3846 left_y=-0.158 left_z=0.0516 left_yaw=0.082 left_pitch=-0.333 left_roll=-0.0105 left_gripper=0.9996 right_x=0.3916 right_y=0.1656 right_z=0.1075 right_yaw=0.7192 right_pitch=-0.1766 right_roll=-0.0332 right_gripper=0.0649\nstate[joint_eff]: [0.5265, -8.0752, 6.2974, 1.5067, 0.0464, 0.2222, -0.0122, -0.3487, -7.0632, 6.8718, 1.4921, -0.1636, -0.0708, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0aaefdff3ba8c6145c81790e88bd1b6a4f27545c5a0ebe6699d5fa94a111533c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cff27c86a89bb25b01930c2cb384b94fae64bf216899605de5689814018152e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35d4137a630663ccf22945cc0c8d8d4c304c36ef7fe65261d5f33903887f4dd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XMJtJVQJdEZWKpWepi3XH3",
      "input": {
        "note": "The cap is now 1.5 cm left of the jaw column and still a few cm beyond the fingertips in the left wrist view. Shifting left 1.5 cm and advancing 3 cm to bring the jaws over it.",
        "targets": {
          "left_x": 0.415,
          "left_y": -0.143,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01XMJtJVQJdEZWKpWepi3XH3",
      "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]: [-0.5537, 1.7569, 0.9916, -0.1905, -0.3389, -0.4911, 0.9996, 0.2623, 1.5742, 0.9215, -0.1276, -0.3157, -0.3496, 0.0656]\nstate[eef_state]: left_x=0.3931 left_y=-0.1698 left_z=0.0518 left_yaw=0.0192 left_pitch=-0.3078 left_roll=-0.0383 left_gripper=0.9996 right_x=0.3916 right_y=0.1656 right_z=0.1076 right_yaw=0.7191 right_pitch=-0.1763 right_roll=-0.0334 right_gripper=0.0656\nstate[joint_eff]: [-0.0068, -8.9231, 6.3795, 1.6093, -0.1294, 0.188, -0.0122, -0.2393, -7.2, 6.4889, 1.5116, -0.1929, -0.0513, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d70b383de2aad505eba15f47f2edb4271360e751c1f1c9c1a3afc794a789dcb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e18a9b8c49dd44223ca2061c22160dfd25d10a4c50d9b383c431dc0dfd32169",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a79569ae981b1dd1728d585e7bc93c3ad93053378113aaaf5e280c11c9758e9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /messages · status 200 · 13.72 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]: [-0.569, 1.5711, 1.0546, -0.5331, -0.5293, -0.7872, 0.9996, 0.2623, 1.5742, 0.9215, -0.1265, -0.3157, -0.3496, 0.0649]\nstate[eef_state]: left_x=0.3647 left_y=-0.1231 left_z=0.1143 left_yaw=0.329 left_pitch=-0.2746 left_roll=-0.0492 left_gripper=0.9996 right_x=0.3918 right_y=0.1657 right_z=0.1078 right_yaw=0.719 right_pitch=-0.1752 right_roll=-0.0339 right_gripper=0.0649\nstate[joint_eff]: [0.253, -8.4308, 7.2274, 1.6777, -0.1832, 0.2955, -0.0171, -0.1846, -7.3641, 6.694, 1.5507, -0.1441, -0.0562, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.5552, 1.7401, 0.9924, -0.2596, -0.3759, -0.5362, 0.9996, 0.2623, 1.5742, 0.9215, -0.128, -0.3157, -0.3496, 0.0649]\nstate[eef_state]: left_x=0.3846 left_y=-0.158 left_z=0.0516 left_yaw=0.082 left_pitch=-0.333 left_roll=-0.0105 left_gripper=0.9996 right_x=0.3916 right_y=0.1656 right_z=0.1075 right_yaw=0.7192 right_pitch=-0.1766 right_roll=-0.0332 right_gripper=0.0649\nstate[joint_eff]: [0.5265, -8.0752, 6.2974, 1.5067, 0.0464, 0.2222, -0.0122, -0.3487, -7.0632, 6.8718, 1.4921, -0.1636, -0.0708, 1.0379]\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]: [-0.5537, 1.7569, 0.9916, -0.1905, -0.3389, -0.4911, 0.9996, 0.2623, 1.5742, 0.9215, -0.1276, -0.3157, -0.3496, 0.0656]\nstate[eef_state]: left_x=0.3931 left_y=-0.1698 left_z=0.0518 left_yaw=0.0192 left_pitch=-0.3078 left_roll=-0.0383 left_gripper=0.9996 right_x=0.3916 right_y=0.1656 right_z=0.1076 right_yaw=0.7191 right_pitch=-0.1763 right_roll=-0.0334 right_gripper=0.0656\nstate[joint_eff]: [-0.0068, -8.9231, 6.3795, 1.6093, -0.1294, 0.188, -0.0122, -0.2393, -7.2, 6.4889, 1.5116, -0.1929, -0.0513, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d70b383de2aad505eba15f47f2edb4271360e751c1f1c9c1a3afc794a789dcb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e18a9b8c49dd44223ca2061c22160dfd25d10a4c50d9b383c431dc0dfd32169",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a79569ae981b1dd1728d585e7bc93c3ad93053378113aaaf5e280c11c9758e9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS3AUKjgEIEhgCKkB2BNyG54JDn+fN3z8VPvrKh+HWKu+Mr/rRdu56K4ughUQbHgffJk1bBB+eGOIHLCwmpqNk80DQsdopzsQ1GezxMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeC2zNUGEgyHcM0eDK3Dd94tjScaDPbU3eTTkbs8qUYBmSIwqBTncosXdEKpme35rJkkKPG9dLv7tE9AC2SDB9Fw654xpDDfBY8R2jW+31SEIkQcKvoDpVklsIB6MUxtX+OwZgEoIrYEzZUT+mnvWzBiJxEgnzuSwMGDKHAyys6iAB5KQz2UeZZ7hbl+msiS2zRytsQUHXZgj+yiJPBfPkfEH7oCWOfa2QyOwG7mWBd97BHBGHB3FV6cBhvwDE48lOdoAouzkJrWo+ZsLsWJ+cTmUYvrvbCUBjkCiQ1I0ek7ukOOteuwdZoOPN28KwdzsfZ646/5XSARaKMis4XEragwMjnxwaLMKLJV3uag6cLEkkEXebqjHilv30Iw9vVcdqSNviZsjaYLf20LUNmyVTNSEY7n482tiuLzp7QE+n7AWGt8zMlWTmkwsujiAfjsgAVYhORmOyfGuZaUXgQgcLPyIjIJVXcUWWSBi3wOprTHrjR9k/IMM4a2X4Bv/t13uQHa7ZVpA/yXvc5bXMzr2n5Z4mDhJ/yCNPp66lMEdX6mrcecJE/3qQtvyTgymNDvBmvhMPxSYfV04fp8lDui+NlabqPXx5xBo9UuOLVg3ZV3kF3e5eBEcnubLu1RVf4eWClVhT75FLy3rAhDEB00jkzA+/4DbAX6jiI3KXPf/7g7R5k2J79KsbVptuZMWeUtyViiMuK2DQzGyWDyK9TDJeqrSh1gMRQd+0rc37fHKsqj9gbrk7VFyDHwgG+vgmzMhx6SSaHhGLrLopeuu+OUaX8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EB6mjfxbFgfXjrckjrah5s",
      "input": {
        "note": "The arm lags one command behind, so I am re-sending the same target to let it settle at x=0.415, y=-0.143 over the cap.",
        "targets": {
          "left_x": 0.415,
          "left_y": -0.143,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01EB6mjfxbFgfXjrckjrah5s",
      "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]: [-0.5537, 1.7569, 0.9916, -0.1902, -0.3393, -0.4908, 0.9996, 0.2623, 1.5742, 0.9215, -0.1276, -0.3157, -0.3496, 0.0656]\nstate[eef_state]: left_x=0.3932 left_y=-0.1698 left_z=0.0519 left_yaw=0.0192 left_pitch=-0.3073 left_roll=-0.038 left_gripper=0.9996 right_x=0.3916 right_y=0.1656 right_z=0.1076 right_yaw=0.7191 right_pitch=-0.1763 right_roll=-0.0334 right_gripper=0.0656\nstate[joint_eff]: [-0.0205, -8.9094, 6.4889, 1.619, -0.1294, 0.1832, -0.0122, -0.3487, -7.2274, 6.612, 1.5067, -0.1685, -0.0366, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da9b6f8b4f001940116132c7aae52ae28b2803b6bc321bf26f6d7613a7561bf7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6d66633b633fd0a67457b6588a183a4f9d4c135d657f598058aa3a1b048d0d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b406796ac7e32c3369d41c3bc40793f2879ede34548bc8cac134c0cbf0a30d5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /messages · status 200 · 21.13 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]: [-0.5552, 1.7401, 0.9924, -0.2596, -0.3759, -0.5362, 0.9996, 0.2623, 1.5742, 0.9215, -0.128, -0.3157, -0.3496, 0.0649]\nstate[eef_state]: left_x=0.3846 left_y=-0.158 left_z=0.0516 left_yaw=0.082 left_pitch=-0.333 left_roll=-0.0105 left_gripper=0.9996 right_x=0.3916 right_y=0.1656 right_z=0.1075 right_yaw=0.7192 right_pitch=-0.1766 right_roll=-0.0332 right_gripper=0.0649\nstate[joint_eff]: [0.5265, -8.0752, 6.2974, 1.5067, 0.0464, 0.2222, -0.0122, -0.3487, -7.0632, 6.8718, 1.4921, -0.1636, -0.0708, 1.0379]\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]: [-0.5537, 1.7569, 0.9916, -0.1905, -0.3389, -0.4911, 0.9996, 0.2623, 1.5742, 0.9215, -0.1276, -0.3157, -0.3496, 0.0656]\nstate[eef_state]: left_x=0.3931 left_y=-0.1698 left_z=0.0518 left_yaw=0.0192 left_pitch=-0.3078 left_roll=-0.0383 left_gripper=0.9996 right_x=0.3916 right_y=0.1656 right_z=0.1076 right_yaw=0.7191 right_pitch=-0.1763 right_roll=-0.0334 right_gripper=0.0656\nstate[joint_eff]: [-0.0068, -8.9231, 6.3795, 1.6093, -0.1294, 0.188, -0.0122, -0.2393, -7.2, 6.4889, 1.5116, -0.1929, -0.0513, 1.0232]",
      "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]: [-0.5537, 1.7569, 0.9916, -0.1902, -0.3393, -0.4908, 0.9996, 0.2623, 1.5742, 0.9215, -0.1276, -0.3157, -0.3496, 0.0656]\nstate[eef_state]: left_x=0.3932 left_y=-0.1698 left_z=0.0519 left_yaw=0.0192 left_pitch=-0.3073 left_roll=-0.038 left_gripper=0.9996 right_x=0.3916 right_y=0.1656 right_z=0.1076 right_yaw=0.7191 right_pitch=-0.1763 right_roll=-0.0334 right_gripper=0.0656\nstate[joint_eff]: [-0.0205, -8.9094, 6.4889, 1.619, -0.1294, 0.1832, -0.0122, -0.3487, -7.2274, 6.612, 1.5067, -0.1685, -0.0366, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da9b6f8b4f001940116132c7aae52ae28b2803b6bc321bf26f6d7613a7561bf7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6d66633b633fd0a67457b6588a183a4f9d4c135d657f598058aa3a1b048d0d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b406796ac7e32c3369d41c3bc40793f2879ede34548bc8cac134c0cbf0a30d5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0135MJ8r8AAQBskGaxNPyno6",
      "input": {
        "note": "The left arm is stalled at low height near its reach limit. Raising to 13 cm while extending to x=0.43 — the arm moves freely higher up — so I can then descend vertically onto the cap.",
        "targets": {
          "left_x": 0.43,
          "left_y": -0.15,
          "left_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_0135MJ8r8AAQBskGaxNPyno6",
      "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]: [-0.5068, 1.7618, 1.0782, -0.3046, -0.3019, -0.4633, 0.9996, 0.2623, 1.5742, 0.9215, -0.1276, -0.3157, -0.3496, 0.069]\nstate[eef_state]: left_x=0.4026 left_y=-0.1593 left_z=0.0638 left_yaw=0.0263 left_pitch=-0.351 left_roll=-0.0295 left_gripper=0.9996 right_x=0.3916 right_y=0.1656 right_z=0.1076 right_yaw=0.7191 right_pitch=-0.1763 right_roll=-0.0334 right_gripper=0.069\nstate[joint_eff]: [1.388, -10.6325, 10.7829, 1.7705, -0.3297, 0.2955, -0.0122, -0.1709, -7.2, 6.6256, 1.4579, -0.1245, -0.0659, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74547d1c1ba137c84827cba127924dbf828e6dcca0fdf33ed8a942db6b47d54f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be3afd57c8cf1966800aeb59324a88275b93804d5f2b2ececc8138658f5bf77f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:47c00436e1ed7920eb04d6dc32143814129f5406e1b4f022567e68a3575e3411",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /messages · status 200 · 17.3 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]: [-0.5537, 1.7569, 0.9916, -0.1905, -0.3389, -0.4911, 0.9996, 0.2623, 1.5742, 0.9215, -0.1276, -0.3157, -0.3496, 0.0656]\nstate[eef_state]: left_x=0.3931 left_y=-0.1698 left_z=0.0518 left_yaw=0.0192 left_pitch=-0.3078 left_roll=-0.0383 left_gripper=0.9996 right_x=0.3916 right_y=0.1656 right_z=0.1076 right_yaw=0.7191 right_pitch=-0.1763 right_roll=-0.0334 right_gripper=0.0656\nstate[joint_eff]: [-0.0068, -8.9231, 6.3795, 1.6093, -0.1294, 0.188, -0.0122, -0.2393, -7.2, 6.4889, 1.5116, -0.1929, -0.0513, 1.0232]",
      "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]: [-0.5537, 1.7569, 0.9916, -0.1902, -0.3393, -0.4908, 0.9996, 0.2623, 1.5742, 0.9215, -0.1276, -0.3157, -0.3496, 0.0656]\nstate[eef_state]: left_x=0.3932 left_y=-0.1698 left_z=0.0519 left_yaw=0.0192 left_pitch=-0.3073 left_roll=-0.038 left_gripper=0.9996 right_x=0.3916 right_y=0.1656 right_z=0.1076 right_yaw=0.7191 right_pitch=-0.1763 right_roll=-0.0334 right_gripper=0.0656\nstate[joint_eff]: [-0.0205, -8.9094, 6.4889, 1.619, -0.1294, 0.1832, -0.0122, -0.3487, -7.2274, 6.612, 1.5067, -0.1685, -0.0366, 1.0281]",
      "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]: [-0.5068, 1.7618, 1.0782, -0.3046, -0.3019, -0.4633, 0.9996, 0.2623, 1.5742, 0.9215, -0.1276, -0.3157, -0.3496, 0.069]\nstate[eef_state]: left_x=0.4026 left_y=-0.1593 left_z=0.0638 left_yaw=0.0263 left_pitch=-0.351 left_roll=-0.0295 left_gripper=0.9996 right_x=0.3916 right_y=0.1656 right_z=0.1076 right_yaw=0.7191 right_pitch=-0.1763 right_roll=-0.0334 right_gripper=0.069\nstate[joint_eff]: [1.388, -10.6325, 10.7829, 1.7705, -0.3297, 0.2955, -0.0122, -0.1709, -7.2, 6.6256, 1.4579, -0.1245, -0.0659, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74547d1c1ba137c84827cba127924dbf828e6dcca0fdf33ed8a942db6b47d54f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be3afd57c8cf1966800aeb59324a88275b93804d5f2b2ececc8138658f5bf77f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47c00436e1ed7920eb04d6dc32143814129f5406e1b4f022567e68a3575e3411",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FhAUQe21ahiULBNqzwujNz",
      "input": {
        "note": "The left arm keeps stalling around x=0.40 with the tool pitched back; commanding a forward pitch of +0.4 should let the wrist extend further out toward the cap.",
        "targets": {
          "left_pitch": 0.4,
          "left_x": 0.45,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 26 steps (2.6s)",
      "tool_use_id": "toolu_01FhAUQe21ahiULBNqzwujNz",
      "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]: [-0.5404, 1.9358, 0.7017, 0.9516, -0.5442, -0.1646, 0.9996, 0.2623, 1.5742, 0.9215, -0.128, -0.3157, -0.3496, 0.069]\nstate[eef_state]: left_x=0.4472 left_y=-0.1575 left_z=0.0858 left_yaw=0.026 left_pitch=0.3311 left_roll=-0.017 left_gripper=0.9996 right_x=0.3916 right_y=0.1656 right_z=0.1075 right_yaw=0.7192 right_pitch=-0.1766 right_roll=-0.0332 right_gripper=0.069\nstate[joint_eff]: [-0.3761, -8.0752, 4.506, 2.2344, -0.1343, 0.0757, -0.0122, -0.2393, -6.9812, 6.5162, 1.4823, -0.2027, -0.0513, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45a3ce0de3c79595b6faebdae396a4c54cf9e1c5aa3101ae6c4f475dee430dde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:828ca0339e8c6bc3c0d1dd7b73805bfe055973fdf42b033a5dd880f3bbe8df8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:57f092730ed316eb9556c25aa08752796e58492b62fd74a8797e194478bb2a1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /messages · status 200 · 10.28 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

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]: [-0.5537, 1.7569, 0.9916, -0.1902, -0.3393, -0.4908, 0.9996, 0.2623, 1.5742, 0.9215, -0.1276, -0.3157, -0.3496, 0.0656]\nstate[eef_state]: left_x=0.3932 left_y=-0.1698 left_z=0.0519 left_yaw=0.0192 left_pitch=-0.3073 left_roll=-0.038 left_gripper=0.9996 right_x=0.3916 right_y=0.1656 right_z=0.1076 right_yaw=0.7191 right_pitch=-0.1763 right_roll=-0.0334 right_gripper=0.0656\nstate[joint_eff]: [-0.0205, -8.9094, 6.4889, 1.619, -0.1294, 0.1832, -0.0122, -0.3487, -7.2274, 6.612, 1.5067, -0.1685, -0.0366, 1.0281]",
      "type": "text"
    },
    {
      "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]: [-0.5068, 1.7618, 1.0782, -0.3046, -0.3019, -0.4633, 0.9996, 0.2623, 1.5742, 0.9215, -0.1276, -0.3157, -0.3496, 0.069]\nstate[eef_state]: left_x=0.4026 left_y=-0.1593 left_z=0.0638 left_yaw=0.0263 left_pitch=-0.351 left_roll=-0.0295 left_gripper=0.9996 right_x=0.3916 right_y=0.1656 right_z=0.1076 right_yaw=0.7191 right_pitch=-0.1763 right_roll=-0.0334 right_gripper=0.069\nstate[joint_eff]: [1.388, -10.6325, 10.7829, 1.7705, -0.3297, 0.2955, -0.0122, -0.1709, -7.2, 6.6256, 1.4579, -0.1245, -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 73 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]: [-0.5404, 1.9358, 0.7017, 0.9516, -0.5442, -0.1646, 0.9996, 0.2623, 1.5742, 0.9215, -0.128, -0.3157, -0.3496, 0.069]\nstate[eef_state]: left_x=0.4472 left_y=-0.1575 left_z=0.0858 left_yaw=0.026 left_pitch=0.3311 left_roll=-0.017 left_gripper=0.9996 right_x=0.3916 right_y=0.1656 right_z=0.1075 right_yaw=0.7192 right_pitch=-0.1766 right_roll=-0.0332 right_gripper=0.069\nstate[joint_eff]: [-0.3761, -8.0752, 4.506, 2.2344, -0.1343, 0.0757, -0.0122, -0.2393, -6.9812, 6.5162, 1.4823, -0.2027, -0.0513, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45a3ce0de3c79595b6faebdae396a4c54cf9e1c5aa3101ae6c4f475dee430dde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:828ca0339e8c6bc3c0d1dd7b73805bfe055973fdf42b033a5dd880f3bbe8df8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57f092730ed316eb9556c25aa08752796e58492b62fd74a8797e194478bb2a1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PqSW7tQBjaVdxhiR8K1ArS",
      "input": {
        "note": "With pitch forward the arm finally reached x=0.45, and the cap has dropped out of the wrist view (it is now nearer than the camera's field, i.e. close to the fingertips). Descending to table level with a milder pitch to see the cap right at the jaws.",
        "targets": {
          "left_pitch": 0.15,
          "left_x": 0.44,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01PqSW7tQBjaVdxhiR8K1ArS",
      "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]: [-0.5392, 2.0712, 0.7021, 0.8944, -0.5163, -0.2459, 0.9996, 0.2623, 1.5742, 0.9215, -0.1276, -0.3157, -0.3496, 0.0691]\nstate[eef_state]: left_x=0.4359 left_y=-0.155 left_z=0.0135 left_yaw=0.0229 left_pitch=0.163 left_roll=0.0006 left_gripper=0.9996 right_x=0.3916 right_y=0.1656 right_z=0.1076 right_yaw=0.7191 right_pitch=-0.1763 right_roll=-0.0334 right_gripper=0.0691\nstate[joint_eff]: [0.0342, -8.6906, 6.3111, 1.6581, 0.022, -0.149, -0.0122, -0.1983, -7.2274, 6.6256, 1.58, -0.149, -0.0659, 1.0232]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2dd7b60c15e8e6d2fc8d466950bed1a07cb738a24cc72eea37b53371c2e3e992",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ae42891bea973c5ab89793df36cabbc7bc3ac3db542597ac4182a167dddfded",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3386090d1f85e8f185b2815ed96691eb316705af5328c63fe61a118c0b89045c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /messages · status 200 · 13.48 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

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]: [-0.5068, 1.7618, 1.0782, -0.3046, -0.3019, -0.4633, 0.9996, 0.2623, 1.5742, 0.9215, -0.1276, -0.3157, -0.3496, 0.069]\nstate[eef_state]: left_x=0.4026 left_y=-0.1593 left_z=0.0638 left_yaw=0.0263 left_pitch=-0.351 left_roll=-0.0295 left_gripper=0.9996 right_x=0.3916 right_y=0.1656 right_z=0.1076 right_yaw=0.7191 right_pitch=-0.1763 right_roll=-0.0334 right_gripper=0.069\nstate[joint_eff]: [1.388, -10.6325, 10.7829, 1.7705, -0.3297, 0.2955, -0.0122, -0.1709, -7.2, 6.6256, 1.4579, -0.1245, -0.0659, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 73 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]: [-0.5404, 1.9358, 0.7017, 0.9516, -0.5442, -0.1646, 0.9996, 0.2623, 1.5742, 0.9215, -0.128, -0.3157, -0.3496, 0.069]\nstate[eef_state]: left_x=0.4472 left_y=-0.1575 left_z=0.0858 left_yaw=0.026 left_pitch=0.3311 left_roll=-0.017 left_gripper=0.9996 right_x=0.3916 right_y=0.1656 right_z=0.1075 right_yaw=0.7192 right_pitch=-0.1766 right_roll=-0.0332 right_gripper=0.069\nstate[joint_eff]: [-0.3761, -8.0752, 4.506, 2.2344, -0.1343, 0.0757, -0.0122, -0.2393, -6.9812, 6.5162, 1.4823, -0.2027, -0.0513, 1.033]\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 76 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]: [-0.5392, 2.0712, 0.7021, 0.8944, -0.5163, -0.2459, 0.9996, 0.2623, 1.5742, 0.9215, -0.1276, -0.3157, -0.3496, 0.0691]\nstate[eef_state]: left_x=0.4359 left_y=-0.155 left_z=0.0135 left_yaw=0.0229 left_pitch=0.163 left_roll=0.0006 left_gripper=0.9996 right_x=0.3916 right_y=0.1656 right_z=0.1076 right_yaw=0.7191 right_pitch=-0.1763 right_roll=-0.0334 right_gripper=0.0691\nstate[joint_eff]: [0.0342, -8.6906, 6.3111, 1.6581, 0.022, -0.149, -0.0122, -0.1983, -7.2274, 6.6256, 1.58, -0.149, -0.0659, 1.0232]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2dd7b60c15e8e6d2fc8d466950bed1a07cb738a24cc72eea37b53371c2e3e992",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ae42891bea973c5ab89793df36cabbc7bc3ac3db542597ac4182a167dddfded",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3386090d1f85e8f185b2815ed96691eb316705af5328c63fe61a118c0b89045c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS2goKjgEIEhgCKkCmq2who4w8fVLKC9K2MH9ENitGc5CjS1i+fYK8lyGdCI2LKFFkcaywH6LDwvvlX1O79qSxgokSssGoRSIgSdoaMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaK3zNUGEgz81iEXINKWtZkrchcaDAkiCfsKCF2LBK4jcCIwL4VPaLWdTJWn6Mzm97C2NsPtfMMGYf6gXlxIG7RWTS66PQMfr/Z6NdVbZ6nByzWvKvgItFGMuKh6PDsmjk7T2GOAGrFKq5b4llUF3IcrwdsnYFWFFiqCL6mushlGtCKIRRBoqt+08hgxCyTpoHHdOCbU14PjBvom/D7YwKbPll1yeVeMlKv565w+C1ChqkZqIQ4qwz55ABrU2x/KnmuSQYO4ivXQ4hZ9UUdU+tZOfR2X3DmCjdNme9Il4uZl5oWmmZbQ3nsxKhu40hauHVyvsirqmvKsoFzrCQrsV3+Dhx/D31wb7wn/7AYusefZQqB2XZQnCwRgBTT6XrRGkhSsW4rvlm2PVmJvUO806tvXk8nlPbyWnkDmNwynHrMbkZYva/1CVDdm7b2VL0zxy5swCB1wM3Z3lghCaxetfHkn80Ga7afsA/cWNQtttWjN5LIrNThh+NbayWDjTjAp24Ce4OAcs9NgqmzGFTyDWhSjZ59SnuPnnbqQqlWYnd58pehlil52K2cl3Df3frqBmcs5oj+mVuEfA8zwk4Cyn5blTxFJdSDh/ubftWqzKWtRUE7XUc6oJcO24mN6xLlNJu6Km4sB+eOVymfq1thRIdsA8LFk2FU4z8fAhNG36fkOK0Wj/MktvSe7Iw7vxfe+J4LWaCJJdMPFx5pj+RmsUmcIByhndh8HZw222nZ91PYA/vxXzhVzSZ0K5uJqQZ6fOqKJI77qJFAsxxa0Yioj/UWkE6hYYpMP+CDjYMv6idzpJpyvR2S2z8RslldZnz6GNWaXBn5382pvdpnmbbGD3hd3E4znWRS+ywOB6O6lgtNfdYNOAOwQ+dfxfwnc3djVhu3XD7gL1NulTnMVQ/MOeIWSDlCqqzeeROwtv737BrfoTXTPjiDnkJm0EKkTyv3Cjow2dbnj+6ywGKlyOIqhx8AbWY9uzssVU+vxsyhTZu3uBVnhw2eD7YX2o1FbTalxhZXknvI3jEqNEadS+ub/7NgftwWMQ1L3XR90SwaT8mqrAj2PwUFGhqNOpx3pSjiT/54HwnXPYalG8b4XqGoGxn3btO/BXIYWbnE1ry5XlhlHNcBEw1ORSfwwRde9kDCSPLJKUpS0QYiRtz4CHc6GxxUgkNXrMhUTezN0HBA0RmzUoNNc06p+lCO+UuWxSo61d4wYeKsXDgma4jygJ9V3hW4irFE8hMaRal86gwf/1hIVdLbK5m66d/l66kR2lQD7D9Pf1QeDijE/7IBSPGO9PZ6kNkCJrk7Yy6sVSW3ANj/9+j/E+AkWAtA93zbmzyx6nUxwnyUpBkRD2HmWwsA/y/JWFrDiZ9uSgClN9ZbPjImLiNT4LCYdaMHBFqbT8LY0HHcsexh4+zzG9Xb8k1h/HrCka8C82qACD4d7shoTpZstnOE3JG8DWRinAdqDt7hrRd5gz9RONVfGilT0rbUOTmjvo9aHOKYwHoGrE001y+8EXtSbE5fgcEIotNvP7xaSXzNMm4L4op6t1cvCJfS9qh5N53VEfWQegVrnFmbwGuhcnUZiBTtKBq1FdSEQZSh4vsqHnXTqZzaQcWPpuSGN5uv3MkAYjQpMm/Pr/7E31RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Np1miHHoPmxQtjQubNhuMF",
      "input": {
        "note": "The cap is now clearly visible between the left jaws, about 2.5 cm to the arm's left and tilted ~35°. Shifting left 2.5 cm and yawing +0.8 rad so the jaws close across the cap's side.",
        "targets": {
          "left_y": -0.13,
          "left_yaw": 0.8
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Np1miHHoPmxQtjQubNhuMF",
      "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]: [-0.6662, 2.2585, 1.2686, 0.2268, -1.0279, -0.8875, 0.9997, 0.2623, 1.5753, 0.9207, -0.1299, -0.3153, -0.3492, 0.0691]\nstate[eef_state]: left_x=0.48 left_y=-0.1804 left_z=0.0327 left_yaw=0.5995 left_pitch=0.1971 left_roll=-0.1934 left_gripper=0.9997 right_x=0.3911 right_y=0.1654 right_z=0.1064 right_yaw=0.7189 right_pitch=-0.1802 right_roll=-0.0314 right_gripper=0.0691\nstate[joint_eff]: [0.6632, -12.2325, 4.5197, 0.9158, -0.8278, -0.0366, -0.0122, -0.0205, -7.2547, 6.5299, 1.4481, -0.1978, -0.0073, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9fdab1980c5e6d69217650e69142e15e5b8cdefdcb839b9d5df41709289a83d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5167560a4862f13b246232e6e8177c2651e6f7980d1653e2161aebd3e4ab35e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:265f11c3ead3dc0fa2ee355fe605927e8d33a96b94cc824cc5f05bbe9c1d0a66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /messages · status 200 · 20.05 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 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]: [-0.5404, 1.9358, 0.7017, 0.9516, -0.5442, -0.1646, 0.9996, 0.2623, 1.5742, 0.9215, -0.128, -0.3157, -0.3496, 0.069]\nstate[eef_state]: left_x=0.4472 left_y=-0.1575 left_z=0.0858 left_yaw=0.026 left_pitch=0.3311 left_roll=-0.017 left_gripper=0.9996 right_x=0.3916 right_y=0.1656 right_z=0.1075 right_yaw=0.7192 right_pitch=-0.1766 right_roll=-0.0332 right_gripper=0.069\nstate[joint_eff]: [-0.3761, -8.0752, 4.506, 2.2344, -0.1343, 0.0757, -0.0122, -0.2393, -6.9812, 6.5162, 1.4823, -0.2027, -0.0513, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 76 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]: [-0.5392, 2.0712, 0.7021, 0.8944, -0.5163, -0.2459, 0.9996, 0.2623, 1.5742, 0.9215, -0.1276, -0.3157, -0.3496, 0.0691]\nstate[eef_state]: left_x=0.4359 left_y=-0.155 left_z=0.0135 left_yaw=0.0229 left_pitch=0.163 left_roll=0.0006 left_gripper=0.9996 right_x=0.3916 right_y=0.1656 right_z=0.1076 right_yaw=0.7191 right_pitch=-0.1763 right_roll=-0.0334 right_gripper=0.0691\nstate[joint_eff]: [0.0342, -8.6906, 6.3111, 1.6581, 0.022, -0.149, -0.0122, -0.1983, -7.2274, 6.6256, 1.58, -0.149, -0.0659, 1.0232]\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 79 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]: [-0.6662, 2.2585, 1.2686, 0.2268, -1.0279, -0.8875, 0.9997, 0.2623, 1.5753, 0.9207, -0.1299, -0.3153, -0.3492, 0.0691]\nstate[eef_state]: left_x=0.48 left_y=-0.1804 left_z=0.0327 left_yaw=0.5995 left_pitch=0.1971 left_roll=-0.1934 left_gripper=0.9997 right_x=0.3911 right_y=0.1654 right_z=0.1064 right_yaw=0.7189 right_pitch=-0.1802 right_roll=-0.0314 right_gripper=0.0691\nstate[joint_eff]: [0.6632, -12.2325, 4.5197, 0.9158, -0.8278, -0.0366, -0.0122, -0.0205, -7.2547, 6.5299, 1.4481, -0.1978, -0.0073, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9fdab1980c5e6d69217650e69142e15e5b8cdefdcb839b9d5df41709289a83d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5167560a4862f13b246232e6e8177c2651e6f7980d1653e2161aebd3e4ab35e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:265f11c3ead3dc0fa2ee355fe605927e8d33a96b94cc824cc5f05bbe9c1d0a66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISxgoKjgEIEhgCKkDtjmPRTbBYX5TJA6EvOm+5efHeAW2WYwzp2mXqgCxhf6peSKZ73qgbNoDjfCvvWAc/sWiglvpeo3Kj0Z4g4oQRMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAa+3zNUGEgzWSStphCiKOzA4kjUaDP+tKbebacC+bRc0TSIwwBAiK7grp0mAobUtbQDWRsad+cEzx75aSaJ8NzsUUUbHb5vG8ehv+LO8WnfH/0biKuQISy9/kI5b6pgCzdS8Sg7IC/1CSUij+9KUWi8qJMkuZWF8w/uzi4uW6s6k25xfGv76R1Ni8OeHvMQPwICgfzH2aUgg79He4kRyjYpeADbvEyLkbv9f//YbhLxEdp8jUXOE0fbXzwTP3ub+t//9nzIrzDROHSuLkSnafrw2nE+abq0EcMRPI1Xj7zq5hC1WZPgdN5fQr01p7x97pJ/12zGQGxHehw3eyZqwZRFPTXkYFtP8FUbxekS4JUmx0bAEqNYCcFTbti6wVnwsDWLiGcg/qJiwvjYYlvJVrU3OhRmj5MgmEvPqG3D7snkkKdWuWwwAAycK/5y8za6CfIZT9++l5/oIDz48wyRoqVQL4Nzjwmo00nhpUeKvJfY9lfQ5Z+OG0JEsTOqdKDV1nCZg8901ujR+k6MkpE4WhBB3AcXvLmoVxFOhhrDrXcu1eHGdbcPKl/vwJNaOSF3/oZ3oeA3lcBh/TGO3kcS6iagHkviMYBm2trg2aGH+cstwSHEEjiLOJOTckcIaZboN+IOie+dhEQBrlG4V5/mt1mtSJ0LodNs2xw08hzZeO2AoZ7JKBFimk9mptvkoZ7wlw/nvy/O90p0RMXWNhFwChr32G0XffnVxS1tDxWlPqopaIrGOA05QR9PGVoDLHqO+7/ZzeDRjqVcsd3IYJ7aWdyUZqLrSFQnpe2fJYjVvA644BagTQjM+zyMT3J6iVSRK2/Xni7LlHG+S3LWKG6AdDqLg2nTI3GGP7EA3S+8M5bLXQKTnrqVMn1FHS2tWaPBAtF3FdQ/ZAZuD0CVOXZY7avfoglQmVQMPhq4zZA6dYIAam9PrHwDgCs/q2FnCWU2JgBPopzJWqzt1Jyz8jCgdqaH5wKXm3iKyTYdEgjWd8QyQeEAsgtRU1+f9H3FQ+7aAQcmNFFozwBfxDiTD7cyNFMY9KMiDFevQba8Du88/FPAHO2Wkk9UagG+Ibl79luVk1E2wIIwjXn690d/LcRbHjqUCsEG2hfz5Kf9y7la4St/SbmZY1UqWlQo5ufjJw1tDc89NNi9ngNsE+nQUPKVIembmi4a9f+42hhzO2R3Z4X8zI5fR0Fg87SPaq7YD1QI6UV2sobsV0wmYmPO1H7vnSktNlrpD7gIJy48JmgL4veY5J+hdu0Ep4V1D0gkrKZmsaAUzP0Q45iyM3vw7eLYzBf79/zaZQrXliJ9lMBYPWeSW+aL8tRb1dF/SdJgt2mzWe46GRiz6d7C2HGQFv1OLGSiN4ui1ZLp0j7fp/YIJ6ok1GiSr+ND0uupQ6RGEgHlxpS/uR3JAn5ZRyZk3b5YYopKULoxXI4X/dFlej8p8Z4J67xzEqYl+vllDxwDVIoRydcXZtoh6nQVKKCfown1LjGU20S7uhZDjx3Nd3y1eE44pHxP66omGjHwyjnX+ZLaZzTcbrTV6MWowdH2OKD7VB3Zplt6sZ1Ko9vHYpTf5fUMr5MMLCzXoz6SJIoCiPgK3St55afG3AYRi4ysYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ES1AJmWfWXfUpVYjEXJxKg",
      "input": {
        "note": "The yaw command swung the arm outward and the cap slipped to the bottom-left corner of the wrist view. Pulling back ~5 cm toward the cap at table height, keeping the wrist at yaw 0.6.",
        "targets": {
          "left_x": 0.431,
          "left_y": -0.153,
          "left_yaw": 0.6,
          "left_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01ES1AJmWfWXfUpVYjEXJxKg",
      "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]: [-0.675, 2.2318, 1.1252, 0.2493, -1.063, -0.9371, 0.9996, 0.2623, 1.578, 0.9207, -0.1276, -0.3157, -0.3496, 0.0691]\nstate[eef_state]: left_x=0.4481 left_y=-0.1564 left_z=0.0104 left_yaw=0.6228 left_pitch=0.1905 left_roll=-0.1408 left_gripper=0.9996 right_x=0.3914 right_y=0.1656 right_z=0.1057 right_yaw=0.7195 right_pitch=-0.1804 right_roll=-0.0313 right_gripper=0.0691\nstate[joint_eff]: [-0.3077, -13.012, 4.8615, 1.3993, -0.2515, 0.2125, -0.0171, -0.2256, -7.4462, 6.4342, 1.5165, -0.1929, -0.0659, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e91c522e6944a9308e722d7dfe4e701818830c7c0ce3cc32e1ea0733e5167493",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0a50bfd6866bc420e7e0410f94cb1ba2b57882d1050529c5d70ab53cfd16ccc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8499e4067a877330c56631d738c3440b8021d63f0c3b17e812680c1c6c418f1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /messages · status 200 · 15.95 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 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]: [-0.5392, 2.0712, 0.7021, 0.8944, -0.5163, -0.2459, 0.9996, 0.2623, 1.5742, 0.9215, -0.1276, -0.3157, -0.3496, 0.0691]\nstate[eef_state]: left_x=0.4359 left_y=-0.155 left_z=0.0135 left_yaw=0.0229 left_pitch=0.163 left_roll=0.0006 left_gripper=0.9996 right_x=0.3916 right_y=0.1656 right_z=0.1076 right_yaw=0.7191 right_pitch=-0.1763 right_roll=-0.0334 right_gripper=0.0691\nstate[joint_eff]: [0.0342, -8.6906, 6.3111, 1.6581, 0.022, -0.149, -0.0122, -0.1983, -7.2274, 6.6256, 1.58, -0.149, -0.0659, 1.0232]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 79 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]: [-0.6662, 2.2585, 1.2686, 0.2268, -1.0279, -0.8875, 0.9997, 0.2623, 1.5753, 0.9207, -0.1299, -0.3153, -0.3492, 0.0691]\nstate[eef_state]: left_x=0.48 left_y=-0.1804 left_z=0.0327 left_yaw=0.5995 left_pitch=0.1971 left_roll=-0.1934 left_gripper=0.9997 right_x=0.3911 right_y=0.1654 right_z=0.1064 right_yaw=0.7189 right_pitch=-0.1802 right_roll=-0.0314 right_gripper=0.0691\nstate[joint_eff]: [0.6632, -12.2325, 4.5197, 0.9158, -0.8278, -0.0366, -0.0122, -0.0205, -7.2547, 6.5299, 1.4481, -0.1978, -0.0073, 1.0232]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 82 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]: [-0.675, 2.2318, 1.1252, 0.2493, -1.063, -0.9371, 0.9996, 0.2623, 1.578, 0.9207, -0.1276, -0.3157, -0.3496, 0.0691]\nstate[eef_state]: left_x=0.4481 left_y=-0.1564 left_z=0.0104 left_yaw=0.6228 left_pitch=0.1905 left_roll=-0.1408 left_gripper=0.9996 right_x=0.3914 right_y=0.1656 right_z=0.1057 right_yaw=0.7195 right_pitch=-0.1804 right_roll=-0.0313 right_gripper=0.0691\nstate[joint_eff]: [-0.3077, -13.012, 4.8615, 1.3993, -0.2515, 0.2125, -0.0171, -0.2256, -7.4462, 6.4342, 1.5165, -0.1929, -0.0659, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e91c522e6944a9308e722d7dfe4e701818830c7c0ce3cc32e1ea0733e5167493",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0a50bfd6866bc420e7e0410f94cb1ba2b57882d1050529c5d70ab53cfd16ccc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8499e4067a877330c56631d738c3440b8021d63f0c3b17e812680c1c6c418f1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BziXCWqhc6aL5Q5PcmCn7p",
      "input": {
        "note": "The cap lies horizontally in the wrist view, so the jaws would close along its length; rotating the wrist to yaw -0.95 (a 90° change) will present the cap vertically so the jaws grip across its barrel, leaving the open end free.",
        "targets": {
          "left_yaw": -0.95,
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01BziXCWqhc6aL5Q5PcmCn7p",
      "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]: [-0.4004, 2.101, 0.9386, 0.4515, -0.815, -0.6945, 0.9996, 0.2623, 1.5787, 0.9203, -0.1291, -0.3153, -0.3492, 0.0691]\nstate[eef_state]: left_x=0.4667 left_y=-0.054 left_z=0.0141 left_yaw=0.619 left_pitch=0.104 left_roll=-0.1232 left_gripper=0.9996 right_x=0.3911 right_y=0.1654 right_z=0.105 right_yaw=0.7192 right_pitch=-0.1829 right_roll=-0.0301 right_gripper=0.0691\nstate[joint_eff]: [0.1299, -10.4137, 4.4923, 1.2723, -0.149, 0.1587, -0.0171, -0.2667, -7.2547, 6.4615, 1.5507, -0.1636, 0.0024, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a156f5e7fe906c4cb458d45b2e64223dfb50b19ca0aae74da9f6d4d08bde7b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8471a9e3bbbb44fa458beeb26439984335e2fb46089d1822d9ab2d54e0ab993",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:291e64c18d41916c47784511c38953f3d8e86e6401d65bfccf571cc476f114c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /messages · status 200 · 9.241 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 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]: [-0.6662, 2.2585, 1.2686, 0.2268, -1.0279, -0.8875, 0.9997, 0.2623, 1.5753, 0.9207, -0.1299, -0.3153, -0.3492, 0.0691]\nstate[eef_state]: left_x=0.48 left_y=-0.1804 left_z=0.0327 left_yaw=0.5995 left_pitch=0.1971 left_roll=-0.1934 left_gripper=0.9997 right_x=0.3911 right_y=0.1654 right_z=0.1064 right_yaw=0.7189 right_pitch=-0.1802 right_roll=-0.0314 right_gripper=0.0691\nstate[joint_eff]: [0.6632, -12.2325, 4.5197, 0.9158, -0.8278, -0.0366, -0.0122, -0.0205, -7.2547, 6.5299, 1.4481, -0.1978, -0.0073, 1.0232]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 82 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]: [-0.675, 2.2318, 1.1252, 0.2493, -1.063, -0.9371, 0.9996, 0.2623, 1.578, 0.9207, -0.1276, -0.3157, -0.3496, 0.0691]\nstate[eef_state]: left_x=0.4481 left_y=-0.1564 left_z=0.0104 left_yaw=0.6228 left_pitch=0.1905 left_roll=-0.1408 left_gripper=0.9996 right_x=0.3914 right_y=0.1656 right_z=0.1057 right_yaw=0.7195 right_pitch=-0.1804 right_roll=-0.0313 right_gripper=0.0691\nstate[joint_eff]: [-0.3077, -13.012, 4.8615, 1.3993, -0.2515, 0.2125, -0.0171, -0.2256, -7.4462, 6.4342, 1.5165, -0.1929, -0.0659, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 85 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]: [-0.4004, 2.101, 0.9386, 0.4515, -0.815, -0.6945, 0.9996, 0.2623, 1.5787, 0.9203, -0.1291, -0.3153, -0.3492, 0.0691]\nstate[eef_state]: left_x=0.4667 left_y=-0.054 left_z=0.0141 left_yaw=0.619 left_pitch=0.104 left_roll=-0.1232 left_gripper=0.9996 right_x=0.3911 right_y=0.1654 right_z=0.105 right_yaw=0.7192 right_pitch=-0.1829 right_roll=-0.0301 right_gripper=0.0691\nstate[joint_eff]: [0.1299, -10.4137, 4.4923, 1.2723, -0.149, 0.1587, -0.0171, -0.2667, -7.2547, 6.4615, 1.5507, -0.1636, 0.0024, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a156f5e7fe906c4cb458d45b2e64223dfb50b19ca0aae74da9f6d4d08bde7b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8471a9e3bbbb44fa458beeb26439984335e2fb46089d1822d9ab2d54e0ab993",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:291e64c18d41916c47784511c38953f3d8e86e6401d65bfccf571cc476f114c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014Ny2JxZx7jf21iiLq4vhLW",
      "input": {
        "note": "The yaw command instead translated the arm 10 cm sideways and the cap left the view. Returning to the pose where the cap sat between the jaws (x=0.44, y=-0.158) to re-acquire it.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.158,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_014Ny2JxZx7jf21iiLq4vhLW",
      "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]: [-0.2623, 2.022, 0.6777, 0.8532, -0.1925, -0.2401, 0.9996, 0.2623, 1.5803, 0.9199, -0.1276, -0.3153, -0.3492, 0.0691]\nstate[eef_state]: left_x=0.4573 left_y=-0.0841 left_z=0.0097 left_yaw=0.0257 left_pitch=0.0865 left_roll=-0.1251 left_gripper=0.9996 right_x=0.3912 right_y=0.1655 right_z=0.1045 right_yaw=0.7192 right_pitch=-0.1832 right_roll=-0.0299 right_gripper=0.0691\nstate[joint_eff]: [-0.2667, -9.6889, 4.0957, 1.8535, 0.1538, 0.2076, -0.0122, -0.253, -7.3778, 6.4752, 1.4921, -0.1538, -0.0317, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53959384a7a52cf0b48b0b679fc6a0ca0b9925bc8f927880a1d9842d18ab7a1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a63027ac7362a2f9c7368551d6fafcd3cbd4fc9b43a081a8460a07b47fe1249",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:41762c0b5428bf76af0f4f36407788d082a576dd3b611139eb8c2cec6ab71364",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /messages · status 200 · 8.991 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 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]: [-0.675, 2.2318, 1.1252, 0.2493, -1.063, -0.9371, 0.9996, 0.2623, 1.578, 0.9207, -0.1276, -0.3157, -0.3496, 0.0691]\nstate[eef_state]: left_x=0.4481 left_y=-0.1564 left_z=0.0104 left_yaw=0.6228 left_pitch=0.1905 left_roll=-0.1408 left_gripper=0.9996 right_x=0.3914 right_y=0.1656 right_z=0.1057 right_yaw=0.7195 right_pitch=-0.1804 right_roll=-0.0313 right_gripper=0.0691\nstate[joint_eff]: [-0.3077, -13.012, 4.8615, 1.3993, -0.2515, 0.2125, -0.0171, -0.2256, -7.4462, 6.4342, 1.5165, -0.1929, -0.0659, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 85 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]: [-0.4004, 2.101, 0.9386, 0.4515, -0.815, -0.6945, 0.9996, 0.2623, 1.5787, 0.9203, -0.1291, -0.3153, -0.3492, 0.0691]\nstate[eef_state]: left_x=0.4667 left_y=-0.054 left_z=0.0141 left_yaw=0.619 left_pitch=0.104 left_roll=-0.1232 left_gripper=0.9996 right_x=0.3911 right_y=0.1654 right_z=0.105 right_yaw=0.7192 right_pitch=-0.1829 right_roll=-0.0301 right_gripper=0.0691\nstate[joint_eff]: [0.1299, -10.4137, 4.4923, 1.2723, -0.149, 0.1587, -0.0171, -0.2667, -7.2547, 6.4615, 1.5507, -0.1636, 0.0024, 1.033]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 88 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]: [-0.2623, 2.022, 0.6777, 0.8532, -0.1925, -0.2401, 0.9996, 0.2623, 1.5803, 0.9199, -0.1276, -0.3153, -0.3492, 0.0691]\nstate[eef_state]: left_x=0.4573 left_y=-0.0841 left_z=0.0097 left_yaw=0.0257 left_pitch=0.0865 left_roll=-0.1251 left_gripper=0.9996 right_x=0.3912 right_y=0.1655 right_z=0.1045 right_yaw=0.7192 right_pitch=-0.1832 right_roll=-0.0299 right_gripper=0.0691\nstate[joint_eff]: [-0.2667, -9.6889, 4.0957, 1.8535, 0.1538, 0.2076, -0.0122, -0.253, -7.3778, 6.4752, 1.4921, -0.1538, -0.0317, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53959384a7a52cf0b48b0b679fc6a0ca0b9925bc8f927880a1d9842d18ab7a1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a63027ac7362a2f9c7368551d6fafcd3cbd4fc9b43a081a8460a07b47fe1249",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41762c0b5428bf76af0f4f36407788d082a576dd3b611139eb8c2cec6ab71364",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS7QgKjgEIEhgCKkA0KDbDuw3m+KIc7CdsXr+qDT2aL5eTvNSW76hTQDXXq07bmlUdr1PTb8YunVCsFfq/SkI1325TS6dSxfgiwVYnMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd+3zNUGEgyScjXm+6JR4fFT1uUaDP7fx4Aypl00YYfKzSIwlZCnrF4VAACtNKGr7LUcMdq4wcXONEpyvas4kpKe0F2vCshGbfdEQ1reDtEjJ+23KosHrZvmE0PY1MhVa0WKu5uhBv9gBVTPTH1AnST/uEzsu3tDBkFtRQk2jWm4b+7k7k1gAZ+t7djhUnoQ07qKxUhig/1U6YEkrXzlA7CJGPP6HRftyA8NEUtgXTZeauLDpMkjIAq5OpLBjxADJ0qnF9PwKevD6lCLmoZb1ogh+id7lBkBCIhQFBoXQHR08E4tpCdCraDhLHuvbFbuY254o5+6uFqpz1RkajXAfROxPm7CyoDY/83NvmeR6Y5qb8B+mUnGjPX2x3n/MSq1NcE/UigM60JUGOZl1I53j/8BdTl51q5pdL+6XIkEly1kZp+ngkIIi2/LxuTDqg/7WNNEGRn1PVOkHkQEU52L65af+Cr5yJJjwUtxUlNekGN2gBpUgP4ngocgoG00ZiVt3YDjnkw1dip9d4KN2aaEH2WV5dVm5tIWgqRGzG+RKRrFdjfoRZ+XNfaS8mqOmg3lR8eNCQj+d4CnPyYdV3KlXlvFvOdFlr++/tz5PfD1jqopoQIKwqt7obip1D2mZ6tlvvrq5eQLL3sGYVyXsGu2TVlC7qfotZx5bGlD06YVEuzbN6E/YuHJjKXBTgP4LAwaibL5/fZUeZcP9U7W/FkdFowdEcLFye5f6Mj61Rr46464ltY3G2yyOaCWPjf6/Pckij0E/dVlzXpdjokfBEPqwzQFeTTvP7whlPFZX93umW+m2s8884W0aIFtR+tVMyhrQD/gn0XAd9ztfRBnDb4EkMYj2abG7THgaR5QgOz6fGNPFcxa8mk1ttJbuXTrVk1vgh782kykEfBXEqIm+a4fVzXiOTUR/RK4RihA/USDMC9kYeHA1i18n26tdc/lcxCPAeFODgLJZr9g91NjlCgl7eKqw9C9lQFSArNpW0m0rYEulwX13uPR4v94t/EJrrJVOzyXTS7hwOLa2pAgwBKT+quVs0mHwGxLTWbKZ+GqzUaqIRbDJCtmb3eJSACX2/Xnuo4JjyCnzSmoprbAGEaX/MNa92TDLGplRcY3sY5Aj1lDGeGRc4IrrrzFIy8VBb7mQOdV6Me0yzUAaxvIeCmPVxg29qWW9eLIDfGOmD3GDKxbumW8EcS1628SgmROLREYQp197rpMRgReh/apGfcDlpUQugz7PUVL4k8iVGKYyMCmnltKYTZs3V6kIZqJCpSCzCkdih32/GeQ+CMbLpMuPSsv1GmRG3rl53x7zEDD+hJ80RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016LkqCJYPRMagexCdBa2s2R",
      "input": {
        "note": "The left arm is now ~7 cm right of where the cap was. Translating back left to y=-0.155 at 3 cm height to bring the cap back into the wrist view.",
        "targets": {
          "left_y": -0.155,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_016LkqCJYPRMagexCdBa2s2R",
      "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]: [-0.4774, 2.0212, 0.7727, 0.72, -0.3256, -0.3225, 0.9996, 0.2623, 1.5803, 0.9195, -0.1272, -0.3153, -0.3496, 0.0691]\nstate[eef_state]: left_x=0.4492 left_y=-0.1647 left_z=0.0167 left_yaw=-0.0345 left_pitch=0.0698 left_roll=-0.1236 left_gripper=0.9996 right_x=0.3912 right_y=0.1654 right_z=0.1044 right_yaw=0.7194 right_pitch=-0.1832 right_roll=-0.0302 right_gripper=0.0691\nstate[joint_eff]: [1.4974, -11.2479, 6.8444, 1.6484, -0.2125, -0.0171, -0.0122, -0.3214, -7.2274, 6.4752, 1.4628, -0.2027, -0.0464, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b0872d5bd69ec9294d5946669ef7a17da97fea886087bed6d9b3f9c418a110c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80692f28ce279639541a0586fc3b1942bc1956118c7f0545178cc2956d097d8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:38cd96b43896eb7b26312877ddb6e4eb2d89b0079e69e6b279d7808e27a1fe15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /messages · status 200 · 6.329 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 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]: [-0.4004, 2.101, 0.9386, 0.4515, -0.815, -0.6945, 0.9996, 0.2623, 1.5787, 0.9203, -0.1291, -0.3153, -0.3492, 0.0691]\nstate[eef_state]: left_x=0.4667 left_y=-0.054 left_z=0.0141 left_yaw=0.619 left_pitch=0.104 left_roll=-0.1232 left_gripper=0.9996 right_x=0.3911 right_y=0.1654 right_z=0.105 right_yaw=0.7192 right_pitch=-0.1829 right_roll=-0.0301 right_gripper=0.0691\nstate[joint_eff]: [0.1299, -10.4137, 4.4923, 1.2723, -0.149, 0.1587, -0.0171, -0.2667, -7.2547, 6.4615, 1.5507, -0.1636, 0.0024, 1.033]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 88 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]: [-0.2623, 2.022, 0.6777, 0.8532, -0.1925, -0.2401, 0.9996, 0.2623, 1.5803, 0.9199, -0.1276, -0.3153, -0.3492, 0.0691]\nstate[eef_state]: left_x=0.4573 left_y=-0.0841 left_z=0.0097 left_yaw=0.0257 left_pitch=0.0865 left_roll=-0.1251 left_gripper=0.9996 right_x=0.3912 right_y=0.1655 right_z=0.1045 right_yaw=0.7192 right_pitch=-0.1832 right_roll=-0.0299 right_gripper=0.0691\nstate[joint_eff]: [-0.2667, -9.6889, 4.0957, 1.8535, 0.1538, 0.2076, -0.0122, -0.253, -7.3778, 6.4752, 1.4921, -0.1538, -0.0317, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 91 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]: [-0.4774, 2.0212, 0.7727, 0.72, -0.3256, -0.3225, 0.9996, 0.2623, 1.5803, 0.9195, -0.1272, -0.3153, -0.3496, 0.0691]\nstate[eef_state]: left_x=0.4492 left_y=-0.1647 left_z=0.0167 left_yaw=-0.0345 left_pitch=0.0698 left_roll=-0.1236 left_gripper=0.9996 right_x=0.3912 right_y=0.1654 right_z=0.1044 right_yaw=0.7194 right_pitch=-0.1832 right_roll=-0.0302 right_gripper=0.0691\nstate[joint_eff]: [1.4974, -11.2479, 6.8444, 1.6484, -0.2125, -0.0171, -0.0122, -0.3214, -7.2274, 6.4752, 1.4628, -0.2027, -0.0464, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b0872d5bd69ec9294d5946669ef7a17da97fea886087bed6d9b3f9c418a110c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80692f28ce279639541a0586fc3b1942bc1956118c7f0545178cc2956d097d8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38cd96b43896eb7b26312877ddb6e4eb2d89b0079e69e6b279d7808e27a1fe15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS1ggKjgEIEhgCKkAp8oXQqAYMLHLjR17l2HauJqYkN74LSNKdm9aMtMJ+TAE2jgZT6cO5IIm7jEZmZB+MHGM4YO9+iD/wgMv0ICVCMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAem3zNUGEgyW+z1OUxsyBskLGpMaDNFp/d7CTdaV1nCJciIwkEzW67B48DHHIls7rO+OtldUodYSEYr8cQZd6miWwx6tqTPD2o0qqoJx4HMDevnBKvQG9OIkkBVlOCyXBlYGGaFimpn4F1U7K61gTxItxUZEF/Z8+gncPfsB6tHSciOxl3Z5Z6JpMfdAymwaYzAkNnc2CBjz21qsOhKvp154j9DjNbkEV7xJj7BO6uMx66DVcg/+R9PKiKbVA01csJ9MMAIrLUIpiMHyk0Z+Yzr8zaHwB18dgv46bB4uXMZgP/shYr+3C6xf+u7k/GtsOcIIpyO5sZ7NPLs3RY21lUl8TEdC1xoUW5z8UvGgjyIBzdzevyurwcIXw9DV8t3Wdkn9jIbMrVNHe9d6+gtr1ExghLZ114XO8XzSVdLaW+xuz+RJe54U0DrVBccALCjXXeOFE7T31h+/4SUFE++3Mtn1hLg4x0M/NpYlsKFN+So4dpfqzlerdvnrWyHKpnbpMaYqPf84iZUs2nMq818dsuMey9loQIWcsyLtptJa/glBNDie8YLCiIHfCA4m7794yf2VVjPY5KLJV29sG3dkt5tETzCsFV5M27kWt+qq9QVzCIMP+7FIpeyz1tLVEiJWf0gDI8VsLUItJY7LSYRgoGbOvJrZ2CiqKhjZb3I+9mVacKuBD5xQYH9Jm921oBQkxolWEv8//RmAfebO0j2YM0k40ZEIIDDbs2EJLHKAzIeSKI9WsIvBlx2mspFuvyUeLbovPAP9WamJr4w6dFTyJF/VnMPZ/OPmgDnvmCathT7YhPHDeA6LuPNibh2a/IIX7S/ddPelFeubf38M29nwCX21Y8NeHGrIwfGeGjA3gHnMGdbMCWU6Jqa220nCP/34y5d5QAMtv2ykZg2gs5dRcsiF2Z9/eRJWK2+dGYGah3vg4K0ya2IviIgd7o1LUrVdqFbRRUIY75Lcusmq/V3i5gF/aJwqE3xF6OhMAhYJkbbRO7UgkDVMq+OV0VrnONgHIbLQrZBVuv8r4XlTVhdB1EnLBiodG9JYiRM69PyhncNCi1bsyHlK04LxezMkF9hfw623hyAKVYuVkFGuuC/GcfgnXYdpbEDINQf9uqXtv1gF8n634cP0FE25aCWwOsMYj8miH3MTR5ofY6+2mHJEQvG8xBmtkNnH4bUhDm1HN9UBV7x9pP/HHQ4Thwl8sVoLw50w2fuUw2ik6babp4V2Ule40evfenmjGrqkUxv0lbzZwYtn+Cy8PFQ8YuBOj0VH9IK9HnJUp44qZJYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GM5qQE3beoRZctkjaiwnZh",
      "input": {
        "note": "The cap is visible just left of the left jaw at the bottom of the wrist view. Shifting 4 cm to the arm's left and down to table level so the jaws straddle it.",
        "targets": {
          "left_y": -0.125,
          "left_z": 0.008
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01GM5qQE3beoRZctkjaiwnZh",
      "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]: [-0.3779, 2.0212, 0.7113, 0.7876, -0.2718, -0.2863, 0.9996, 0.2623, 1.5803, 0.9195, -0.1276, -0.3153, -0.3492, 0.0691]\nstate[eef_state]: left_x=0.4505 left_y=-0.1239 left_z=0.0087 left_yaw=0.0008 left_pitch=0.0668 left_roll=-0.1191 left_gripper=0.9996 right_x=0.3911 right_y=0.1654 right_z=0.1044 right_yaw=0.7193 right_pitch=-0.1836 right_roll=-0.0297 right_gripper=0.0691\nstate[joint_eff]: [0.2256, -8.9915, 3.9179, 1.6435, 0.0904, 0.0024, -0.0171, -0.294, -7.2274, 6.4342, 1.4921, -0.1636, -0.0611, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d647c08c675614dac849db8ec7cc7f0cb11310a77a752ff5e07fcc72a62d796",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fae9e8265eefb74d7e0fdd946748d169441ba1b12be9422570281179609f2a57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b5d4eb287630fb9e2601726a7bdfe66ae12fca2fd4449d23adc44ea5abb393b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /messages · status 200 · 6.499 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 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]: [-0.2623, 2.022, 0.6777, 0.8532, -0.1925, -0.2401, 0.9996, 0.2623, 1.5803, 0.9199, -0.1276, -0.3153, -0.3492, 0.0691]\nstate[eef_state]: left_x=0.4573 left_y=-0.0841 left_z=0.0097 left_yaw=0.0257 left_pitch=0.0865 left_roll=-0.1251 left_gripper=0.9996 right_x=0.3912 right_y=0.1655 right_z=0.1045 right_yaw=0.7192 right_pitch=-0.1832 right_roll=-0.0299 right_gripper=0.0691\nstate[joint_eff]: [-0.2667, -9.6889, 4.0957, 1.8535, 0.1538, 0.2076, -0.0122, -0.253, -7.3778, 6.4752, 1.4921, -0.1538, -0.0317, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 91 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]: [-0.4774, 2.0212, 0.7727, 0.72, -0.3256, -0.3225, 0.9996, 0.2623, 1.5803, 0.9195, -0.1272, -0.3153, -0.3496, 0.0691]\nstate[eef_state]: left_x=0.4492 left_y=-0.1647 left_z=0.0167 left_yaw=-0.0345 left_pitch=0.0698 left_roll=-0.1236 left_gripper=0.9996 right_x=0.3912 right_y=0.1654 right_z=0.1044 right_yaw=0.7194 right_pitch=-0.1832 right_roll=-0.0302 right_gripper=0.0691\nstate[joint_eff]: [1.4974, -11.2479, 6.8444, 1.6484, -0.2125, -0.0171, -0.0122, -0.3214, -7.2274, 6.4752, 1.4628, -0.2027, -0.0464, 1.033]\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 94 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]: [-0.3779, 2.0212, 0.7113, 0.7876, -0.2718, -0.2863, 0.9996, 0.2623, 1.5803, 0.9195, -0.1276, -0.3153, -0.3492, 0.0691]\nstate[eef_state]: left_x=0.4505 left_y=-0.1239 left_z=0.0087 left_yaw=0.0008 left_pitch=0.0668 left_roll=-0.1191 left_gripper=0.9996 right_x=0.3911 right_y=0.1654 right_z=0.1044 right_yaw=0.7193 right_pitch=-0.1836 right_roll=-0.0297 right_gripper=0.0691\nstate[joint_eff]: [0.2256, -8.9915, 3.9179, 1.6435, 0.0904, 0.0024, -0.0171, -0.294, -7.2274, 6.4342, 1.4921, -0.1636, -0.0611, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d647c08c675614dac849db8ec7cc7f0cb11310a77a752ff5e07fcc72a62d796",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fae9e8265eefb74d7e0fdd946748d169441ba1b12be9422570281179609f2a57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5d4eb287630fb9e2601726a7bdfe66ae12fca2fd4449d23adc44ea5abb393b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISqgYKjgEIEhgCKkDWS4lFdWldCmEOPfqItoKbOGi20QTQ9u0Rh8VXG7/jEzad4GNauD5Zzp9bf23ZGapNv4ufzRFOZtdXkt+hYw+DMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfC3zNUGEgz/N8aTnu6p1LEj8PYaDPms/vYiD3mZLJI6HyIwKZ5mpEsMfHeM1sS81wV49iqsaYdXcEAjLx3t9gAEkfNEy1bbBpiWJtv/nP6iVBYZKsgEeObCOnW4OhqUCFkdxary09mndMn4Pmjge5S9rgARUfGZWhTqSS/8YzzsolfPWjAJ+7MvsCwKKOb/Nw3nu2n6eYhkcvn5arvPyaKCY9UR+b74UgsD5gVpByGQdT05YeHHr8Ya9jZajUrqcLw/yI3f5+sqHkl3sVSGU4/A/paK5t0kqQuU4NeQ33h51/SAaZnQVvKILqnOriiKDiY02jniUtLPSFzeRyx0zts4ZuAQ385/DyQMa+1/jUer3RCfXTCcNqGCTeiNfVSDJjNM90Eb6TakyjOUkFAzKEEDatD9Irf8/XJ9fRitgl5kULVvj3cUl8rNUGX+OhYNmgrR2ROSpL7InmFQvYfNg4oonLcDt5GZXLDaoHkSPNHf69yx6Uj5ru9l6i4EqP2xXhEg7qY9Ih0Wqs9sDPGEIHoqZzu3pRcfVp7PnBRT3Nk9Q4xjgazXm8NT0TD218eBu8bEO8HeiLow7yJETkaYUA2Bp6TU4p+hORfxx/bFHUcc0kbFUKiArYkxSv1b5WdurZU5+qbzD5QWnh06cBQ2nu/PdhnqIrAC+uSpA/qDPFUC4JVqcsovv7cSLcGcEQpt1aEHgPSpJf27Ty/vzbESIqeRZz/bSgGImVFvMEvwTBl5jKzUjPOODYhA3VwfpBW8ABLJR3O8VAcve+AMAgc+/zHGXCzQvw/XZS1gq2v5k+JAQkUKc4jbXqDUOKiS25AwZh3+zKRhlQEc6R3z/JT4Z/Kr+dJVDO0XiTuzcI89tFCnleIU9yoXd3YfXyRN5tgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PwyRrLVj6b3BkbUECSK6rt",
      "input": {
        "note": "The cap now sits vertically between the left jaws at table level. Closing the gripper to grasp it across its barrel.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01PwyRrLVj6b3BkbUECSK6rt",
      "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]: [-0.3737, 2.0212, 0.7029, 0.791, -0.2676, -0.2886, 0.0476, 0.2623, 1.5803, 0.9195, -0.1276, -0.3153, -0.3492, 0.0691]\nstate[eef_state]: left_x=0.4486 left_y=-0.1219 left_z=0.0066 left_yaw=0.0026 left_pitch=0.0613 left_roll=-0.1212 left_gripper=0.0476 right_x=0.3911 right_y=0.1654 right_z=0.1044 right_yaw=0.7193 right_pitch=-0.1836 right_roll=-0.0297 right_gripper=0.0691\nstate[joint_eff]: [-0.4991, -8.9915, 4.8889, 1.7265, 0.0171, -0.0269, 1.1013, -0.335, -7.2684, 6.4205, 1.5116, -0.2076, -0.0073, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3717811d579a5318ccc41654091f434c176aa65a5fe5abd932d0ea7dad62779a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3867a1ba1d8c11fc69636794b1b8431e77dc649bc62c53775c5aeb16841369c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d50336e0b30a91b018d748c7b8282164326fa1e6879dcd52a351abaf210ad103",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /messages · status 200 · 30.44 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 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]: [-0.4774, 2.0212, 0.7727, 0.72, -0.3256, -0.3225, 0.9996, 0.2623, 1.5803, 0.9195, -0.1272, -0.3153, -0.3496, 0.0691]\nstate[eef_state]: left_x=0.4492 left_y=-0.1647 left_z=0.0167 left_yaw=-0.0345 left_pitch=0.0698 left_roll=-0.1236 left_gripper=0.9996 right_x=0.3912 right_y=0.1654 right_z=0.1044 right_yaw=0.7194 right_pitch=-0.1832 right_roll=-0.0302 right_gripper=0.0691\nstate[joint_eff]: [1.4974, -11.2479, 6.8444, 1.6484, -0.2125, -0.0171, -0.0122, -0.3214, -7.2274, 6.4752, 1.4628, -0.2027, -0.0464, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 94 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]: [-0.3779, 2.0212, 0.7113, 0.7876, -0.2718, -0.2863, 0.9996, 0.2623, 1.5803, 0.9195, -0.1276, -0.3153, -0.3492, 0.0691]\nstate[eef_state]: left_x=0.4505 left_y=-0.1239 left_z=0.0087 left_yaw=0.0008 left_pitch=0.0668 left_roll=-0.1191 left_gripper=0.9996 right_x=0.3911 right_y=0.1654 right_z=0.1044 right_yaw=0.7193 right_pitch=-0.1836 right_roll=-0.0297 right_gripper=0.0691\nstate[joint_eff]: [0.2256, -8.9915, 3.9179, 1.6435, 0.0904, 0.0024, -0.0171, -0.294, -7.2274, 6.4342, 1.4921, -0.1636, -0.0611, 1.033]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 97 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]: [-0.3737, 2.0212, 0.7029, 0.791, -0.2676, -0.2886, 0.0476, 0.2623, 1.5803, 0.9195, -0.1276, -0.3153, -0.3492, 0.0691]\nstate[eef_state]: left_x=0.4486 left_y=-0.1219 left_z=0.0066 left_yaw=0.0026 left_pitch=0.0613 left_roll=-0.1212 left_gripper=0.0476 right_x=0.3911 right_y=0.1654 right_z=0.1044 right_yaw=0.7193 right_pitch=-0.1836 right_roll=-0.0297 right_gripper=0.0691\nstate[joint_eff]: [-0.4991, -8.9915, 4.8889, 1.7265, 0.0171, -0.0269, 1.1013, -0.335, -7.2684, 6.4205, 1.5116, -0.2076, -0.0073, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3717811d579a5318ccc41654091f434c176aa65a5fe5abd932d0ea7dad62779a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3867a1ba1d8c11fc69636794b1b8431e77dc649bc62c53775c5aeb16841369c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d50336e0b30a91b018d748c7b8282164326fa1e6879dcd52a351abaf210ad103",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISxAYKjgEIEhgCKkAg030b/apaxlG25sRWGREwJWJNplvQtEI/VhqbtobDYc9MX6ixzE+RE2CrzS1m/XMCwH9VImGxpexTZyn4t/nhMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfe3zNUGEgyO23x2kQEaCLJOCs8aDC7orGWy3mRn4dr4/CIwyCUIl4Rs9xwtlxSHudtQZbwH9Ok3WnGw+ToIqkWvnY7Lkp/O+QGWJJHWRGq+AybcKuIE/7fuWOwHJIijXgNKhj7IjyHVh+soXRycq9jixOp6yODTsZgtG8IugO1qtlABOaXJrC8ZUwCM6nHbjPQgWeIqP67Odbx/rx1DCQ65Kqzz1W8+n7jx3ZfcfXMzodmLKZ/HyVTJXR26GrJNoCmelinjGYtIqAek1iyucbm7TfBCksGVzNpoRts9iQLrjIKFDfMmut6w9O954eoJx8qTHSxkYRtsvUOzsteM6vSY7p4diXHDUhbTwN6EeMY5i8x1aRvdigOvu75YUIXqEbguNUOYdA7zVu+5fs5qusxtYu2tyeVPthZ3ms4CsT8V/ZLs3KtqcceZlRo3Pc4qgqXnM9U8RZxz83e/1Zci8UM2WwEUlBqB6U9t/nuFwC/j711GvPoDJEXNi6+m/9yNBiOfSVSTa0BoQMEQ+ltHPgGRbMk/aRAX9KhWPWKJA/cfVjOeMJ9zB7NjTP/25aiT5+BJn9xnW30JEGl1q6MrYwV8lMuQAS599rIKMZgQMkgR0CeNhk3GabWcJsVHRB4EeL57gan2pdk4hg4+knQdyBgpP6FPewORdXpkcFYMsRA4SjrDKsbtWE0bf/JhjN3lgel3UH9Skd9Djepa0D/IxjdneYPDVpwZN0OY0mL2ZDzb1yeigEMygNLe1tjf+JBjVLJAV/NXeg4FKhtzbJ07UpYkAD3WJK0ii1ceLdE+ReKFxDjLV2xSAkqx9GH+9XZXcMqn0RepCoJumwsU2GakJYykH6dv+SpnKEHTLCVQOhzswGcPfIIe1y55q0HTMUT17s4b0ozOOyDLWpSoVTp0xoYzsEv5/FJ8ZRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011yiqEQcJhfK3JCQjWz7U87",
      "input": {
        "note": "The gripper settled at 0.048 (~5 mm) and something thin is visible between the jaws. Lifting 8 cm to check in the overhead view whether the cap came with the jaws.",
        "targets": {
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_011yiqEQcJhfK3JCQjWz7U87",
      "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]: [-0.3737, 1.7679, 0.7486, 0.4789, -0.2798, -0.2901, 0.0475, 0.2623, 1.5806, 0.9195, -0.1272, -0.3157, -0.3492, 0.0691]\nstate[eef_state]: left_x=0.4446 left_y=-0.1181 left_z=0.0704 left_yaw=0.0134 left_pitch=0.0514 left_roll=-0.1119 left_gripper=0.0475 right_x=0.3912 right_y=0.1655 right_z=0.1043 right_yaw=0.7196 right_pitch=-0.1835 right_roll=-0.0295 right_gripper=0.0691\nstate[joint_eff]: [-0.3487, -9.7846, 8.7316, 1.707, -0.022, -0.0513, -0.0317, 0.0068, -7.2684, 6.5436, 1.5409, -0.1832, -0.0171, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03308ccbaaf3b798943d0ccd7c2ec0763e3ed5416d9c7a83e71f49a78c405315",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fe0f71f54663fec48b04578370a47fd618d8c772949b48d8f54e6e2cc687e9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c76e15c60ba676d44acaa0b9cfbd5ad864bf6775130e78bdbb3b677fdaa639a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]