adhoc

completed
2026-09-22T18:44:55.635468+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5-5
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
281.2 s
total steps
214
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent notePen lies diagonally just right of centre, cap left of centre. Moving the right arm above the pen, yawed to close across the pen's axis.
move_to
right_x0.3200right_y0.2400right_z0.1400right_yaw0.6600right_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]: [-0.017, 0.7929, 0.6025, -0.3794, -0.02, -0.0128, 0.9998, -0.0185, 0.7918, 0.6109, -0.3756, -0.0204, -0.0124, 0.9991] state[eef_state]: left_x=0.2946 left_y=0.0021 left_z=0.1797 left_yaw=0.0002 left_pitch=-0.0004 left_roll=-0.0003 left_gripper=0.9998 right_x=0.296 right_y=0.0017 right_z=0.1847 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.6085, -1.3333, 10.4957, 1.7656, -0.0708, -0.0317, -0.0317, -0.7726, -1.0872, 9.7299, 1.7118, -0.0122, -0.0366, -0.1148] 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": 0.32, "right_y": 0.24, "right_z": 0.14, "right_yaw": 0.66, "right_gripper": 1}, "note": "Pen lies diagonally just right of centre, cap left of centre. Moving the right arm above the pen, yawed to close across the pen's axis."})
tool
executing move_to over 20 steps (2.0s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteRight wrist cam shows the pen aligned with the jaw axis but offset to the right and slightly ahead. Shifting and descending partway to re-check alignment.
move_to
right_x0.3500right_y0.2050right_z0.0700
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, 0.6037, -0.3813, -0.02, -0.0185, 0.9998, 0.6052, 1.3228, 0.6617, 0.0334, -0.0265, -0.0158, 0.9991] state[eef_state]: left_x=0.2949 left_y=0.0011 left_z=0.1781 left_yaw=-0.0001 left_pitch=-0.0076 left_roll=-0.005 left_gripper=0.9998 right_x=0.3121 right_y=0.2259 right_z=0.1201 right_yaw=0.6308 right_pitch=-0.0712 right_roll=0.0021 right_gripper=0.9991 state[joint_eff]: [0.0752, -1.7573, 6.9675, 1.7167, -0.0366, 0.0122, -0.0122, 0.5128, -5.0667, 8.9641, 1.8584, -0.0513, -0.149, -0.1148] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.35, "right_y": 0.205, "right_z": 0.07}, "note": "Right wrist cam shows the pen aligned with the jaw axis but offset to the right and slightly ahead. Shifting and descending partway to re-check alignment."})
tool
executing move_to over 4 steps (0.4s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent notePen is nearly centred but slightly right, a bit ahead, and rotated ~14° CCW relative to the jaws. Correcting yaw and position and descending to table level.
move_to
right_x0.3700right_y0.1950right_z0.0000right_yaw0.8500right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.8021, 0.6029, -0.3813, -0.02, -0.0193, 0.9998, 0.4694, 1.5265, 0.6136, 0.2008, -0.1085, -0.0769, 0.999] state[eef_state]: left_x=0.295 left_y=0.0011 left_z=0.177 left_yaw=0.0003 left_pitch=-0.011 left_roll=-0.0056 left_gripper=0.9998 right_x=0.339 right_y=0.1974 right_z=0.0582 right_yaw=0.5982 right_pitch=-0.1508 right_roll=0.0115 right_gripper=0.999 state[joint_eff]: [-0.335, -1.4427, 7.0769, 1.7167, 0.0024, -0.0562, -0.0171, -0.1026, -6.8308, 6.0513, 2.0684, -0.0952, -0.0708, -0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.195, "right_z": 0.0, "right_yaw": 0.85, "right_pitch": 0}, "note": "Pen is nearly centred but slightly right, a bit ahead, and rotated ~14\u00b0 CCW relative to the jaws. Correcting yaw and position and descending to table level."})
tool
executing move_to over 6 steps (0.6s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent notePen runs straight down the jaw column at table level. Closing the right gripper on it.
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, 0.8062, 0.6029, -0.3817, -0.02, -0.0193, 0.9998, 0.2932, 1.8824, 0.5873, 0.6418, -0.4103, -0.2863, 0.9989] state[eef_state]: left_x=0.2952 left_y=0.0011 left_z=0.1758 left_yaw=0.0003 left_pitch=-0.0156 left_roll=-0.0055 left_gripper=0.9998 right_x=0.3709 right_y=0.1893 right_z=0.003 right_yaw=0.7836 right_pitch=-0.035 right_roll=0.0079 right_gripper=0.9989 state[joint_eff]: [-0.2256, -1.4427, 7.2137, 1.6874, -0.0806, -0.0366, -0.0122, -0.841, -6.0513, 4.465, 0.9255, -0.2125, 0.2076, -0.0171] camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Pen runs straight down the jaw column at table level. Closing the right gripper on it."})
tool
executing move_to over 10 steps (1.0s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteGripper closed with reading 0.045 and the pen appears between the jaws. Lifting to verify the grasp.
move_to
right_z0.1200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.807, 0.6029, -0.3809, -0.02, -0.0196, 0.9998, 0.2886, 1.8973, 0.5903, 0.6628, -0.4191, -0.2913, 0.045] state[eef_state]: left_x=0.2954 left_y=0.0011 left_z=0.1757 left_yaw=0.0005 left_pitch=-0.0156 left_roll=-0.0058 left_gripper=0.9998 right_x=0.3732 right_y=0.1895 right_z=0.0024 right_yaw=0.7886 right_pitch=-0.0244 right_roll=0.0041 right_gripper=0.045 state[joint_eff]: [-0.3761, -1.3744, 7.0769, 1.6874, -0.0513, -0.0611, -0.0122, 0.0479, -9.0051, 4.041, 1.4579, -0.1294, 0.0708, 1.5214] camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.12}, "note": "Gripper closed with reading 0.045 and the pen appears between the jaws. Lifting to verify the grasp."})
tool
executing move_to over 8 steps (0.8s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent notePen is held securely in the right gripper (tip pointing along the tool's forward axis). Now moving the left arm over the cap, yawed to close across the cap.
move_to
left_x0.3500left_y-0.1800left_z0.1200left_yaw-0.8000left_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, 0.807, 0.6029, -0.3809, -0.02, -0.0193, 0.9998, 0.2882, 1.544, 0.7475, 0.1513, -0.4198, -0.297, 0.0491] state[eef_state]: left_x=0.2954 left_y=0.0011 left_z=0.1757 left_yaw=0.0003 left_pitch=-0.0156 left_roll=-0.0055 left_gripper=0.9998 right_x=0.3736 right_y=0.1896 right_z=0.1037 right_yaw=0.7919 right_pitch=-0.0251 right_roll=0.0002 right_gripper=0.0491 state[joint_eff]: [-0.1846, -1.1829, 7.2274, 1.7314, -0.0806, -0.0513, -0.0122, -0.0889, -8.335, 8.2667, 1.5263, -0.2027, -0.0024, 1.033] camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.35, "left_y": -0.18, "left_z": 0.12, "left_yaw": -0.8, "left_gripper": 1}, "note": "Pen is held securely in the right gripper (tip pointing along the tool's forward axis). Now moving the left arm over the cap, yawed to close across the cap."})
tool
executing move_to over 17 steps (1.7s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent noteLeft wrist cam shows the cap left of the jaw column and tilted ~20° clockwise. Shifting toward tool-left, adjusting yaw, and descending partway.
move_to
left_x0.3700left_y-0.1300left_z0.0500left_yaw-1.0500left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3023, 1.3937, 0.6571, 0.0006, 0.3523, 0.234, 0.9998, 0.2882, 1.5402, 0.7444, 0.1337, -0.4202, -0.2974, 0.054] state[eef_state]: left_x=0.3363 left_y=-0.165 left_z=0.0935 left_yaw=-0.732 left_pitch=-0.1131 left_roll=-0.0549 left_gripper=0.9998 right_x=0.3705 right_y=0.1887 right_z=0.1008 right_yaw=0.7927 right_pitch=-0.0397 right_roll=0.0082 right_gripper=0.054 state[joint_eff]: [-0.2667, -5.8188, 9.306, 1.9853, 0.4078, 0.188, -0.0366, -0.0479, -6.2701, 6.5846, 1.746, -0.1685, -0.0659, 1.033] camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.37, "left_y": -0.13, "left_z": 0.05, "left_yaw": -1.05, "left_pitch": 0, "left_roll": 0}, "note": "Left wrist cam shows the cap left of the jaw column and tilted ~20\u00b0 clockwise. Shifting toward tool-left, adjusting yaw, and descending partway."})
tool
executing move_to over 4 steps (0.4s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteCap is still a few cm left of and ahead of the jaws, tilted slightly. Moving forward/left, rotating, and descending to table level.
move_to
left_x0.4000left_y-0.1200left_z0.0000left_yaw-1.1000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0639, 1.6752, 0.6762, 0.086, 0.6029, 0.5114, 0.9998, 0.2882, 1.5417, 0.7437, 0.1261, -0.4198, -0.2974, 0.054] state[eef_state]: left_x=0.3555 left_y=-0.1195 left_z=0.0305 left_yaw=-0.8489 left_pitch=-0.1432 left_roll=-0.0946 left_gripper=0.9998 right_x=0.3692 right_y=0.1883 right_z=0.0985 right_yaw=0.7926 right_pitch=-0.0485 right_roll=0.0128 right_gripper=0.054 state[joint_eff]: [-0.8957, -8.6222, 7.5829, 1.5604, 0.6422, 0.2125, -0.0171, -0.0615, -6.6803, 6.2291, 1.6581, -0.1587, -0.0317, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.12, "left_z": 0.0, "left_yaw": -1.1}, "note": "Cap is still a few cm left of and ahead of the jaws, tilted slightly. Moving forward/left, rotating, and descending to table level."})
tool
executing move_to over 4 steps (0.4s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent notePrevious move was speed-clamped and fell short; cap still left of the jaws. Re-issuing the approach with a bit more tool-left offset.
move_to
left_x0.4000left_y-0.1100left_z0.0000left_yaw-1.1000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0788, 1.6653, 0.6762, 0.0948, 0.6735, 0.5785, 0.9998, 0.2882, 1.5417, 0.7437, 0.1219, -0.4198, -0.2974, 0.054] state[eef_state]: left_x=0.3505 left_y=-0.1346 left_z=0.0409 left_yaw=-0.9466 left_pitch=-0.0873 left_roll=-0.0662 left_gripper=0.9998 right_x=0.3686 right_y=0.1881 right_z=0.0977 right_yaw=0.7927 right_pitch=-0.0522 right_roll=0.0148 right_gripper=0.054 state[joint_eff]: [-0.0068, -7.9521, 7.3778, 1.5458, 0.486, 0.1245, -0.0171, -0.0205, -6.4342, 6.1607, 1.619, -0.1978, -0.0415, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). 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": 0.4, "left_y": -0.11, "left_z": 0.0, "left_yaw": -1.1}, "note": "Previous move was speed-clamped and fell short; cap still left of the jaws. Re-issuing the approach with a bit more tool-left offset."})
tool
executing move_to over 4 steps (0.4s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteLeft arm stalled (no motion on the last command). Backing up to a less awkward pose above the cap before retrying.
move_to
left_x0.3700left_y-0.1200left_z0.0800left_yaw-0.9500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0788, 1.6653, 0.6762, 0.0948, 0.6735, 0.5789, 0.9997, 0.2882, 1.5417, 0.7437, 0.1188, -0.4198, -0.2974, 0.054] state[eef_state]: left_x=0.3505 left_y=-0.1346 left_z=0.0409 left_yaw=-0.9468 left_pitch=-0.0873 left_roll=-0.0659 left_gripper=0.9997 right_x=0.3682 right_y=0.188 right_z=0.0972 right_yaw=0.7928 right_pitch=-0.0549 right_roll=0.0163 right_gripper=0.054 state[joint_eff]: [-0.212, -8.1299, 7.5282, 1.5311, 0.4762, 0.1538, -0.0171, -0.2393, -6.6393, 6.1607, 1.5995, -0.1538, -0.0464, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.37, "left_y": -0.12, "left_z": 0.08, "left_yaw": -0.95}, "note": "Left arm stalled (no motion on the last command). Backing up to a less awkward pose above the cap before retrying."})
tool
executing move_to over 3 steps (0.3s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteLeft arm barely responding at low height. Trying a pure lift to see whether it tracks vertical motion.
move_to
left_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]: [-0.0547, 1.6657, 0.7372, -0.0082, 0.6823, 0.5964, 0.9997, 0.2882, 1.5417, 0.7437, 0.1181, -0.4198, -0.2974, 0.054] state[eef_state]: left_x=0.3561 left_y=-0.1275 left_z=0.0478 left_yaw=-0.9412 left_pitch=-0.1083 left_roll=-0.0892 left_gripper=0.9997 right_x=0.3681 right_y=0.188 right_z=0.097 right_yaw=0.7928 right_pitch=-0.0555 right_roll=0.0167 right_gripper=0.054 state[joint_eff]: [1.1419, -9.4427, 9.9077, 1.8486, 0.5348, 0.2027, -0.0122, -0.1573, -6.5983, 6.1607, 1.5946, -0.2271, -0.0708, 1.033] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.15}, "note": "Left arm barely responding at low height. Trying a pure lift to see whether it tracks vertical motion."})
tool
executing move_to over 7 steps (0.7s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteLift worked; the cap is ahead of the left grasp point (seen upper-left in the wrist cam, aligned with the jaws). Moving forward ~5 cm and slightly lower to centre over it.
move_to
left_x0.4100left_y-0.1250left_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]: [-0.0586, 1.5032, 0.9531, -0.4049, 0.6769, 0.5999, 0.9997, 0.2882, 1.5417, 0.7437, 0.1116, -0.4198, -0.2974, 0.054] state[eef_state]: left_x=0.3555 left_y=-0.1281 left_z=0.129 left_yaw=-0.9451 left_pitch=-0.1231 left_roll=-0.0981 left_gripper=0.9997 right_x=0.3672 right_y=0.1877 right_z=0.0959 right_yaw=0.793 right_pitch=-0.0612 right_roll=0.0198 right_gripper=0.054 state[joint_eff]: [0.1299, -8.3897, 8.8957, 1.2723, 0.2857, -0.0562, -0.0073, -0.0889, -6.5709, 6.147, 1.6239, -0.2222, -0.0611, 1.0281] camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": -0.125, "left_z": 0.1}, "note": "Lift worked; the cap is ahead of the left grasp point (seen upper-left in the wrist cam, aligned with the jaws). Moving forward ~5 cm and slightly lower to centre over it."})
tool
executing move_to over 5 steps (0.5s)
step 92
top_cam
camera top_cam step 92
left_cam
camera left_cam step 92
right_cam
camera right_cam step 92
assistant
agent noteCap still appears ahead and left of the jaw column in the left wrist cam. Continuing forward and down in a modest step, re-levelling the tool.
move_to
left_x0.4300left_y-0.1300left_z0.0500left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0429, 1.7397, 1.0397, -0.3706, 0.6685, 0.6037, 0.9997, 0.2882, 1.5421, 0.7429, 0.1078, -0.4198, -0.2974, 0.054] state[eef_state]: left_x=0.3856 left_y=-0.1226 left_z=0.0773 left_yaw=-0.9411 left_pitch=-0.201 left_roll=-0.1818 left_gripper=0.9997 right_x=0.3665 right_y=0.1875 right_z=0.0947 right_yaw=0.7931 right_pitch=-0.0656 right_roll=0.0222 right_gripper=0.054 state[joint_eff]: [0.294, -8.335, 9.1556, 1.4676, 0.4518, 0.1148, -0.0122, -0.1573, -6.6393, 6.2017, 1.5946, -0.2173, -0.0317, 1.0281] camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.13, "left_z": 0.05, "left_pitch": 0, "left_roll": 0}, "note": "Cap still appears ahead and left of the jaw column in the left wrist cam. Continuing forward and down in a modest step, re-levelling the tool."})
tool
executing move_to over 7 steps (0.7s)
step 99
top_cam
camera top_cam step 99
left_cam
camera left_cam step 99
right_cam
camera right_cam step 99
assistant
agent noteLeft arm is stuck near x=0.39 z=0.08 with the wrist apparently at a limit. Reducing the yaw demand to free the IK while continuing toward the cap.
move_to
left_x0.4200left_y-0.1300left_z0.0600left_yaw-0.6000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0399, 1.7538, 1.0576, -0.3481, 0.6659, 0.6041, 0.9998, 0.2886, 1.5421, 0.7429, 0.1043, -0.4198, -0.2974, 0.054] state[eef_state]: left_x=0.395 left_y=-0.1214 left_z=0.08 left_yaw=-0.9326 left_pitch=-0.1863 left_roll=-0.1591 left_gripper=0.9998 right_x=0.3659 right_y=0.1875 right_z=0.0941 right_yaw=0.7936 right_pitch=-0.0686 right_roll=0.0239 right_gripper=0.054 state[joint_eff]: [-0.212, -8.8, 8.9231, 1.4432, 0.4518, 0.0806, -0.0122, -0.0752, -6.5846, 6.2017, 1.5849, -0.2125, -0.022, 1.0281] 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_x": 0.42, "left_y": -0.13, "left_z": 0.06, "left_yaw": -0.6, "left_pitch": 0, "left_roll": 0}, "note": "Left arm is stuck near x=0.39 z=0.08 with the wrist apparently at a limit. Reducing the yaw demand to free the IK while continuing toward the cap."})
tool
executing move_to over 7 steps (0.7s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteCap is now close in the left wrist view, left of and slightly ahead of the jaws, tilted ~20°. Shifting tool-left/forward and rotating to align before grasping.
move_to
left_x0.4000left_y-0.1200left_z0.0300left_yaw-1.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1688, 1.7344, 0.7136, 0.0593, 0.4461, 0.3401, 0.9997, 0.2886, 1.5421, 0.7425, 0.1036, -0.4194, -0.2974, 0.054] state[eef_state]: left_x=0.356 left_y=-0.1344 left_z=0.0069 left_yaw=-0.7528 left_pitch=-0.2711 left_roll=-0.1508 left_gripper=0.9997 right_x=0.3657 right_y=0.1874 right_z=0.0938 right_yaw=0.7934 right_pitch=-0.0697 right_roll=0.0242 right_gripper=0.054 state[joint_eff]: [0.7726, -7.1043, 6.4205, 2.0733, 0.0024, 0.022, -0.0171, -0.0752, -6.3795, 6.1607, 1.6239, -0.1929, -0.0269, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.12, "left_z": 0.03, "left_yaw": -1.0, "left_pitch": 0, "left_roll": 0}, "note": "Cap is now close in the left wrist view, left of and slightly ahead of the jaws, tilted ~20\u00b0. Shifting tool-left/forward and rotating to align before grasping."})
tool
executing move_to over 10 steps (1.0s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteCap is ahead-left of the jaws. Keeping yaw nearly constant (large yaw changes seem to stall this arm) and translating toward the cap at table height.
move_to
left_x0.4100left_y-0.1000left_z0.0100left_yaw-0.8500left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1013, 1.7798, 0.6586, 0.2607, 0.5434, 0.3801, 0.9997, 0.2882, 1.5421, 0.7425, 0.1028, -0.4198, -0.2974, 0.0569] state[eef_state]: left_x=0.3688 left_y=-0.1257 left_z=0.0081 left_yaw=-0.7676 left_pitch=-0.1415 left_roll=-0.1249 left_gripper=0.9997 right_x=0.3656 right_y=0.1872 right_z=0.0937 right_yaw=0.7933 right_pitch=-0.0702 right_roll=0.0248 right_gripper=0.0569 state[joint_eff]: [-0.4308, -7.4188, 5.0667, 1.4725, 0.4518, 0.1734, -0.0122, -0.2393, -6.2838, 6.2974, 1.5604, -0.1929, -0.0073, 1.0281] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": -0.1, "left_z": 0.01, "left_yaw": -0.85, "left_pitch": 0, "left_roll": 0}, "note": "Cap is ahead-left of the jaws. Keeping yaw nearly constant (large yaw changes seem to stall this arm) and translating toward the cap at table height."})
tool
executing move_to over 5 steps (0.5s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteCap is now aligned on the left jaw column, ~3.5 cm ahead of the fingertips. Advancing along the tool's forward axis at table level.
move_to
left_x0.4300left_y-0.1260left_z0.0000left_yaw-0.8000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.009, 1.9133, 0.7319, 0.3683, 0.6533, 0.4992, 0.9997, 0.2882, 1.5421, 0.7418, 0.1005, -0.4198, -0.2974, 0.0569] state[eef_state]: left_x=0.4027 left_y=-0.1002 left_z=0.0041 left_yaw=-0.798 left_pitch=-0.0464 left_roll=-0.0594 left_gripper=0.9997 right_x=0.3651 right_y=0.1871 right_z=0.093 right_yaw=0.7934 right_pitch=-0.0729 right_roll=0.0263 right_gripper=0.0569 state[joint_eff]: [-0.8274, -8.3761, 5.1077, 1.2088, 0.3297, 0.0513, -0.0171, -0.1709, -6.612, 6.188, 1.5849, -0.188, -0.0611, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.126, "left_z": 0.0, "left_yaw": -0.8, "left_pitch": 0, "left_roll": 0}, "note": "Cap is now aligned on the left jaw column, ~3.5 cm ahead of the fingertips. Advancing along the tool's forward axis at table level."})
tool
executing move_to over 3 steps (0.3s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteCap is just ahead of the fingertips, centred on the jaw column. Nudging ~1.5 cm forward and pressing to table level before closing.
move_to
left_x0.4320left_y-0.1340left_z-0.0050
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0566, 1.9842, 0.7673, 0.4808, 0.6197, 0.4866, 0.9997, 0.2882, 1.5421, 0.7418, 0.102, -0.4198, -0.2974, 0.0589] state[eef_state]: left_x=0.4196 left_y=-0.123 left_z=0.0013 left_yaw=-0.8308 left_pitch=-0.009 left_roll=0.0015 left_gripper=0.9997 right_x=0.3653 right_y=0.1871 right_z=0.0933 right_yaw=0.7934 right_pitch=-0.0716 right_roll=0.0256 right_gripper=0.0589 state[joint_eff]: [-0.0752, -7.5009, 5.7094, 1.16, 0.1441, -0.2808, -0.0122, -0.1162, -6.5846, 6.1333, 1.5653, -0.1832, -0.0464, 0.9988] 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": 0.432, "left_y": -0.134, "left_z": -0.005}, "note": "Cap is just ahead of the fingertips, centred on the jaw column. Nudging ~1.5 cm forward and pressing to table level before closing."})
tool
executing move_to over 1 steps (0.1s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteCap sits centred between the left jaws at table level. Closing the left gripper.
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]: [-0.0784, 2.0003, 0.7773, 0.5163, 0.5987, 0.4465, 0.9997, 0.2882, 1.5421, 0.7418, 0.1017, -0.4198, -0.2974, 0.0569] state[eef_state]: left_x=0.4254 left_y=-0.1297 left_z=0.002 left_yaw=-0.8151 left_pitch=0.0031 left_roll=-0.002 left_gripper=0.9997 right_x=0.3653 right_y=0.1871 right_z=0.0932 right_yaw=0.7934 right_pitch=-0.0719 right_roll=0.0257 right_gripper=0.0569 state[joint_eff]: [0.1573, -8.0342, 5.7368, 1.5311, 0.1001, -0.0708, -0.0122, -0.0068, -6.3385, 6.3932, 1.5458, -0.188, -0.0513, 1.0281] camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "Cap sits centred between the left jaws at table level. Closing the left gripper."})
tool
executing move_to over 10 steps (1.0s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteCap is held in the left gripper (closed end pointing forward), pen in the right (tip forward). Lifting both and starting to rotate them toward yaw 0 so both point forward along one line.
move_to
left_z0.1500left_yaw-0.4000right_z0.1500right_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]: [-0.0841, 2.0209, 0.8047, 0.5186, 0.606, 0.4534, 0.0425, 0.2882, 1.5421, 0.7418, 0.1013, -0.4198, -0.2974, 0.0569] state[eef_state]: left_x=0.4316 left_y=-0.1338 left_z=0.0027 left_yaw=-0.8301 left_pitch=0.013 left_roll=0.0066 left_gripper=0.0425 right_x=0.3652 right_y=0.1871 right_z=0.0931 right_yaw=0.7934 right_pitch=-0.0722 right_roll=0.0259 right_gripper=0.0569 state[joint_eff]: [-0.6359, -7.5966, 5.9966, 1.4188, 0.1441, 0.1685, 1.2039, -0.1709, -6.4205, 6.1197, 1.5849, -0.1587, -0.0513, 1.033] camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.15, "left_yaw": -0.4, "right_z": 0.15, "right_yaw": 0.4}, "note": "Cap is held in the left gripper (closed end pointing forward), pen in the right (tip forward). Lifting both and starting to rotate them toward yaw 0 so both point forward along one line."})
tool
executing move_to over 10 steps (1.0s)
step 145
top_cam
camera top_cam step 145
left_cam
camera left_cam step 145
right_cam
camera right_cam step 145
assistant
agent noteBoth objects held and lifted. Moving the cap to the table centre line, far forward, pointing straight forward (open end facing back toward where the pen will come from).
move_to
left_x0.4600left_y-0.3000left_z0.1700left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2581, 1.5684, 0.852, 0.1265, 0.1654, 0.1116, 0.0445, 0.4786, 1.4155, 0.7963, -0.0654, -0.0181, 0.0109, 0.0569] state[eef_state]: left_x=0.4254 left_y=-0.1387 left_z=0.1246 left_yaw=-0.4638 left_pitch=-0.0116 left_roll=0.0011 left_gripper=0.0445 right_x=0.3561 right_y=0.1924 right_z=0.1237 right_yaw=0.4829 right_pitch=-0.1284 right_roll=0.0191 right_gripper=0.0569 state[joint_eff]: [-0.4308, -9.1282, 9.7573, 1.7021, 0.0269, -0.022, 1.0281, 0.2256, -8.2667, 9.2923, 1.7411, 0.1197, 0.1636, 1.0232] camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.46, "left_y": -0.3, "left_z": 0.17, "left_yaw": 0, "left_pitch": 0, "left_roll": 0}, "note": "Both objects held and lifted. Moving the cap to the table centre line, far forward, pointing straight forward (open end facing back toward where the pen will come from)."})
tool
executing move_to over 15 steps (1.5s)
step 160
top_cam
camera top_cam step 160
left_cam
camera left_cam step 160
right_cam
camera right_cam step 160
assistant
agent noteCap is held pointing forward at the centre line (left arm at x 0.46). Bringing the pen behind it on the same line, tip pointing forward, with a gap before insertion.
move_to
right_x0.2600right_y0.3500right_z0.1700right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7666, 1.9949, 1.5524, -0.2832, -0.5819, -0.4553, 0.0445, 0.4839, 1.4132, 0.7929, -0.0898, -0.0139, 0.0113, 0.0569] state[eef_state]: left_x=0.4578 left_y=-0.3011 left_z=0.1576 left_yaw=-0.0509 left_pitch=-0.0185 left_roll=-0.0017 left_gripper=0.0445 right_x=0.3512 right_y=0.1914 right_z=0.1185 right_yaw=0.4844 right_pitch=-0.154 right_roll=0.0167 right_gripper=0.0569 state[joint_eff]: [-0.294, -11.7538, 8.8137, 1.2381, -0.4908, 0.0269, 1.0281, -0.4034, -5.6957, 6.8855, 1.8095, -0.0952, -0.0317, 1.0232] camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.26, "right_y": 0.35, "right_z": 0.17, "right_yaw": 0, "right_pitch": 0, "right_roll": 0}, "note": "Cap is held pointing forward at the centre line (left arm at x 0.46). Bringing the pen behind it on the same line, tip pointing forward, with a gap before insertion."})
tool
executing move_to over 14 steps (1.4s)
step 174
top_cam
camera top_cam step 174
left_cam
camera left_cam step 174
right_cam
camera right_cam step 174
assistant
agent noteThe right arm's wrist ran under the left forearm (left arm got pushed 2 cm). Retreating the right arm to its side and rotating the pen so its tip will point sideways toward the centre instead.
move_to
right_x0.4000right_y0.2000right_z0.1700right_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]: [-0.7208, 1.9862, 1.5524, -0.3138, -0.5594, -0.4698, 0.0461, 1.1984, 1.8111, 1.3144, -0.7059, 0.8604, 0.9627, 0.057] state[eef_state]: left_x=0.4664 left_y=-0.2802 left_z=0.1558 left_yaw=-0.0139 left_pitch=-0.0448 left_roll=-0.011 left_gripper=0.0461 right_x=0.2645 right_y=0.319 right_z=0.1317 right_yaw=-0.0047 right_pitch=-0.1012 right_roll=-0.1103 right_gripper=0.057 state[joint_eff]: [-3.3709, -10.4, 6.8444, 1.7118, -0.1734, 0.1001, 1.033, 1.6889, -10.2769, 9.5248, 0.9988, 0.8962, 0.3443, 1.0134] 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": {"right_x": 0.4, "right_y": 0.2, "right_z": 0.17, "right_yaw": 1.2}, "note": "The right arm's wrist ran under the left forearm (left arm got pushed 2 cm). Retreating the right arm to its side and rotating the pen so its tip will point sideways toward the centre instead."})
tool
executing move_to over 11 steps (1.1s)
step 185
top_cam
camera top_cam step 185
left_cam
camera left_cam step 185
right_cam
camera right_cam step 185
assistant
agent notePen now points sideways toward the centre. Rotating the cap so its closed end points left and its open end faces the pen tip, at x 0.42.
move_to
left_x0.4200left_y-0.2400left_z0.1700left_yaw1.5700left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7166, 1.9957, 1.5524, -0.3229, -0.5682, -0.4728, 0.0461, 0.231, 1.6711, 1.2415, -0.3889, -0.5186, -0.6296, 0.0574] state[eef_state]: left_x=0.4673 left_y=-0.2762 left_z=0.15 left_yaw=-0.0008 left_pitch=-0.055 left_roll=0.0033 left_gripper=0.0461 right_x=0.4142 right_y=0.191 right_z=0.1642 right_yaw=0.9972 right_pitch=-0.1342 right_roll=-0.1121 right_gripper=0.0574 state[joint_eff]: [-0.4034, -11.8769, 6.7077, 1.5116, -0.1636, -0.0073, 1.0379, -0.3214, -8.4444, 7.2684, 1.1355, -0.5739, -0.1587, 1.0134] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.24, "left_z": 0.17, "left_yaw": 1.57, "left_pitch": 0, "left_roll": 0}, "note": "Pen now points sideways toward the centre. Rotating the cap so its closed end points left and its open end faces the pen tip, at x 0.42."})
tool
executing move_to over 11 steps (1.1s)
step 196
top_cam
camera top_cam step 196
assistant
agent noteThe left arm drifted to y -0.06 and sagged to z 0.07 during the big yaw change instead of reaching the centre. Re-commanding the centre position and height with the new yaw held.
move_to
left_x0.4200left_y-0.2400left_z0.1800left_yaw1.5700left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4828, 2.4317, 1.9919, -1.5326, -0.8825, -2.038, 0.0461, 0.2306, 1.7012, 1.2125, -0.4194, -0.4984, -0.6361, 0.0574] state[eef_state]: left_x=0.4157 left_y=-0.0598 left_z=0.0665 left_yaw=1.3733 left_pitch=-0.0557 left_roll=0.0281 left_gripper=0.0461 right_x=0.4057 right_y=0.1857 right_z=0.1343 right_yaw=0.996 right_pitch=-0.2097 right_roll=-0.0652 right_gripper=0.0574 state[joint_eff]: [0.8137, -16.1573, 4.4103, -0.6325, -0.3932, 0.0415, 1.033, -0.3077, -10.8923, 8.8821, 1.5995, -0.4664, 0.0073, 1.0232] camera 'top_cam' (step 196): [image omitted: streamed camera frame] camera 'left_cam' (step 196): [image omitted: streamed camera frame] camera 'right_cam' (step 196): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.24, "left_z": 0.18, "left_yaw": 1.57, "left_pitch": 0, "left_roll": 0}, "note": "The left arm drifted to y -0.06 and sagged to z 0.07 during the big yaw change instead of reaching the centre. Re-commanding the centre position and height with the new yaw held."})
tool
executing move_to over 17 steps (1.7s)
step 213
assistant
agent noteI picked up both the pen (right arm) and the cap (left arm), but I can't get them into a pose where they mate. I grasped the cap across its middle with its closed end sticking out past the fingertips, so its open end points back toward the left wrist and palm, where the pen tip can't get in. Bringing the pen in behind the cap on the same forward line made the right wrist hit the left forearm. The left arm also can't reach the yaw +1.57 pose (its tool pointing toward its own fence side) at the table centre: it drifted to y≈-0.03 and dropped to z≈0.07. Flipping the cap would take a place-and-regrasp sequence that won't fit in my remaining budget of about 12 calls.
give_up
hindsight1) Plan how the parts will mate before grasping. The jaws close across an object's axis, so a pen or cap held that way lies along the tool's x axis. One end sticks out past the fingertips and the other points back at the wrist/palm, which blocks it. For pen-capping, the pen tip AND the cap's open end must both stick out forward past the fingertips. Then bring the two tools nose-to-nose along world y: left yaw ≈ -1.57 (pointing toward the centre/right) and right yaw ≈ +1.57 (pointing left). Check in the wrist cam which end of the cap is the open end before grasping it, and pick the grasp yaw (θ vs θ+π) so the open end points away from the wrist. 2) Arms reaching toward the centre only like yaws that point inward (left arm: negative yaw, right arm: positive). Left yaw +1.57 near the centre can't be reached: the arm wandered off to y≈-0.03, z≈0.07. Also avoid lining the arms up one behind the other on the centre line, because the rear arm's wrist ends up under the other arm's forearm (collision, and the left arm got pushed 2 cm). 3) Big combined moves get speed-clamped and cut short. A move can end many cm from its target, and the left arm sometimes didn't move at all near x≈0.35–0.39, z≈0.04–0.08 with yaw ≈ -0.95. Lifting to z 0.15 and then going back down in small steps with pitch/roll set to 0 got it moving again. 4) Top-cam scale: the two grippers at x≈0.29, z≈0.18 appeared at image x≈15 and ≈200, about 2.85 px/cm across. The pen at image (127,103) turned out to be at right (0.37, 0.19); the cap at image (72,100) at left (0.43, -0.13). My first estimates were off by 4–7 cm, so plan on 2–3 wrist-cam correction steps. 5) The pen closed at a reading of ≈0.045–0.057 and the cap at ≈0.042–0.046. Both grasps were real despite being near the 0.04 'empty' level; a lift test confirmed them. 6) Wrist-cam alignment worked well: turn yaw until the object runs vertically down the jaw column (x≈110), then advance until it reaches the bottom of the image (rows ~150–210) before closing.
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4129, 2.4184, 1.9755, -1.5566, -0.8604, -2.0937, 0.0461, 0.2306, 1.7012, 1.2095, -0.4126, -0.4976, -0.6361, 0.0589] state[eef_state]: left_x=0.4103 left_y=-0.0296 left_z=0.0677 left_yaw=1.4841 left_pitch=-0.0659 left_roll=0.015 left_gripper=0.0461 right_x=0.4063 right_y=0.1857 right_z=0.134 right_yaw=0.9949 right_pitch=-0.2074 right_roll=-0.0683 right_gripper=0.0589 state[joint_eff]: [0.6496, -16.2803, 4.465, -0.6325, -0.7009, -0.0464, 1.0281, -0.2393, -8.4581, 6.8034, 1.2527, -0.2711, -0.0269, 1.0134] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I picked up both the pen (right arm) and the cap (left arm), but I can't get them into a pose where they mate. I grasped the cap across its middle with its closed end sticking out past the fingertips, so its open end points back toward the left wrist and palm, where the pen tip can't get in. Bringing the pen in behind the cap on the same forward line made the right wrist hit the left forearm. The left arm also can't reach the yaw +1.57 pose (its tool pointing toward its own fence side) at the table centre: it drifted to y\u2248-0.03 and dropped to z\u22480.07. Flipping the cap would take a place-and-regrasp sequence that won't fit in my remaining budget of about 12 calls.", "hindsight": "1) Plan how the parts will mate before grasping. The jaws close across an object's axis, so a pen or cap held that way lies along the tool's x axis. One end sticks out past the fingertips and the other points back at the wrist/palm, which blocks it. For pen-capping, the pen tip AND the cap's open end must both stick out forward past the fingertips. Then bring the two tools nose-to-nose along world y: left yaw \u2248 -1.57 (pointing toward the centre/right) and right yaw \u2248 +1.57 (pointing left). Check in the wrist cam which end of the cap is the open end before grasping it, and pick the grasp yaw (\u03b8 vs \u03b8+\u03c0) so the open end points away from the wrist. 2) Arms reaching toward the centre only like yaws that point inward (left arm: negative yaw, right arm: positive). Left yaw +1.57 near the centre can't be reached: the arm wandered off to y\u2248-0.03, z\u22480.07. Also avoid lining the arms up one behind the other on the centre line, because the rear arm's wrist ends up under the other arm's forearm (collision, and the left arm got pushed 2 cm). 3) Big combined moves get speed-clamped and cut short. A move can end many cm from its target, and the left arm sometimes didn't move at all near x\u22480.35\u20130.39, z\u22480.04\u20130.08 with yaw \u2248 -0.95. Lifting to z 0.15 and then going back down in small steps with pitch/roll set to 0 got it moving again. 4) Top-cam scale: the two grippers at x\u22480.29, z\u22480.18 appeared at image x\u224815 and \u2248200, about 2.85 px/cm across. The pen at image (127,103) turned out to be at right (0.37, 0.19); the cap at image (72,100) at left (0.43, -0.13). My first estimates were off by 4\u20137 cm, so plan on 2\u20133 wrist-cam correction steps. 5) The pen closed at a reading of \u22480.045\u20130.057 and the cap at \u22480.042\u20130.046. Both grasps were real despite being near the 0.04 'empty' level; a lift test confirmed them. 6) Wrist-cam alignment worked well: turn yaw until the object runs vertically down the jaw column (x\u2248110), then advance until it reaches the bottom of the image (rows ~150\u2013210) before closing."})
tool
give_up: I picked up both the pen (right arm) and the cap (left arm), but I can't get them into a pose where they mate. I grasped the cap across its middle with its closed end sticking out past the fingertips, so its open end points back toward the left wrist and palm, where the pen tip can't get in. Bringing the pen in behind the cap on the same forward line made the right wrist hit the left forearm. The left arm also can't reach the yaw +1.57 pose (its tool pointing toward its own fence side) at the table centre: it drifted to y≈-0.03 and dropped to z≈0.07. Flipping the cap would take a place-and-regrasp sequence that won't fit in my remaining budget of about 12 calls.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 19.27 s
model
claude-opus-5-5
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]: [-0.017, 0.7929, 0.6025, -0.3794, -0.02, -0.0128, 0.9998, -0.0185, 0.7918, 0.6109, -0.3756, -0.0204, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.0021 left_z=0.1797 left_yaw=0.0002 left_pitch=-0.0004 left_roll=-0.0003 left_gripper=0.9998 right_x=0.296 right_y=0.0017 right_z=0.1847 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.6085, -1.3333, 10.4957, 1.7656, -0.0708, -0.0317, -0.0317, -0.7726, -1.0872, 9.7299, 1.7118, -0.0122, -0.0366, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:208e2d8ecd46a269b2beccce1e16cc0d5b34f2e6a5192721a7052cf639bcf5a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba665efb1959d7bd794a108a399bca55f4cf5ba4656c8d4a2af4d1ea82335060",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ff0d1c744667ee7b9c87fa82c207f24f54397bc2bc48d960a58ee72f9bce5ded",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /messages · status 200 · 8.424 s
model
claude-opus-5-5
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]: [-0.017, 0.7929, 0.6025, -0.3794, -0.02, -0.0128, 0.9998, -0.0185, 0.7918, 0.6109, -0.3756, -0.0204, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.0021 left_z=0.1797 left_yaw=0.0002 left_pitch=-0.0004 left_roll=-0.0003 left_gripper=0.9998 right_x=0.296 right_y=0.0017 right_z=0.1847 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.6085, -1.3333, 10.4957, 1.7656, -0.0708, -0.0317, -0.0317, -0.7726, -1.0872, 9.7299, 1.7118, -0.0122, -0.0366, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:208e2d8ecd46a269b2beccce1e16cc0d5b34f2e6a5192721a7052cf639bcf5a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba665efb1959d7bd794a108a399bca55f4cf5ba4656c8d4a2af4d1ea82335060",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff0d1c744667ee7b9c87fa82c207f24f54397bc2bc48d960a58ee72f9bce5ded",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019d9G8Sz5wCPV7ACRSbaNrY",
      "input": {
        "note": "Pen lies diagonally just right of centre, cap left of centre. Moving the right arm above the pen, yawed to close across the pen's axis.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.32,
          "right_y": 0.24,
          "right_yaw": 0.66,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_019d9G8Sz5wCPV7ACRSbaNrY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7994, 0.6037, -0.3813, -0.02, -0.0185, 0.9998, 0.6052, 1.3228, 0.6617, 0.0334, -0.0265, -0.0158, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0011 left_z=0.1781 left_yaw=-0.0001 left_pitch=-0.0076 left_roll=-0.005 left_gripper=0.9998 right_x=0.3121 right_y=0.2259 right_z=0.1201 right_yaw=0.6308 right_pitch=-0.0712 right_roll=0.0021 right_gripper=0.9991\nstate[joint_eff]: [0.0752, -1.7573, 6.9675, 1.7167, -0.0366, 0.0122, -0.0122, 0.5128, -5.0667, 8.9641, 1.8584, -0.0513, -0.149, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:561b0ec1c2368bb2b6a133f13dfff5480d1e7fbe27a55a43b6f21b2f4bc6db47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:537cdf5c5d9940198067b1484602e306f10d64b85f9c4e156863911356d0c60c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b62f30831e353d15e04aedb87591c3671074887dbf396905dd0ded53b27baaa7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 8.522 s
model
claude-opus-5-5
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]: [-0.017, 0.7929, 0.6025, -0.3794, -0.02, -0.0128, 0.9998, -0.0185, 0.7918, 0.6109, -0.3756, -0.0204, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.0021 left_z=0.1797 left_yaw=0.0002 left_pitch=-0.0004 left_roll=-0.0003 left_gripper=0.9998 right_x=0.296 right_y=0.0017 right_z=0.1847 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.6085, -1.3333, 10.4957, 1.7656, -0.0708, -0.0317, -0.0317, -0.7726, -1.0872, 9.7299, 1.7118, -0.0122, -0.0366, -0.1148]",
      "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, 0.6037, -0.3813, -0.02, -0.0185, 0.9998, 0.6052, 1.3228, 0.6617, 0.0334, -0.0265, -0.0158, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0011 left_z=0.1781 left_yaw=-0.0001 left_pitch=-0.0076 left_roll=-0.005 left_gripper=0.9998 right_x=0.3121 right_y=0.2259 right_z=0.1201 right_yaw=0.6308 right_pitch=-0.0712 right_roll=0.0021 right_gripper=0.9991\nstate[joint_eff]: [0.0752, -1.7573, 6.9675, 1.7167, -0.0366, 0.0122, -0.0122, 0.5128, -5.0667, 8.9641, 1.8584, -0.0513, -0.149, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:561b0ec1c2368bb2b6a133f13dfff5480d1e7fbe27a55a43b6f21b2f4bc6db47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:537cdf5c5d9940198067b1484602e306f10d64b85f9c4e156863911356d0c60c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b62f30831e353d15e04aedb87591c3671074887dbf396905dd0ded53b27baaa7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GZbVn8A6QWNgZXkjQwZx1H",
      "input": {
        "note": "Right wrist cam shows the pen aligned with the jaw axis but offset to the right and slightly ahead. Shifting and descending partway to re-check alignment.",
        "targets": {
          "right_x": 0.35,
          "right_y": 0.205,
          "right_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01GZbVn8A6QWNgZXkjQwZx1H",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.8021, 0.6029, -0.3813, -0.02, -0.0193, 0.9998, 0.4694, 1.5265, 0.6136, 0.2008, -0.1085, -0.0769, 0.999]\nstate[eef_state]: left_x=0.295 left_y=0.0011 left_z=0.177 left_yaw=0.0003 left_pitch=-0.011 left_roll=-0.0056 left_gripper=0.9998 right_x=0.339 right_y=0.1974 right_z=0.0582 right_yaw=0.5982 right_pitch=-0.1508 right_roll=0.0115 right_gripper=0.999\nstate[joint_eff]: [-0.335, -1.4427, 7.0769, 1.7167, 0.0024, -0.0562, -0.0171, -0.1026, -6.8308, 6.0513, 2.0684, -0.0952, -0.0708, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92f6dde4e05d67416dfe913930896ff9553ee788719179c4de0ea99aafce0f08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:963643c1dbce9672b2c577a97c98c30081c1f03cfc2126afcad5f32d5c134e6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:16ccb48302450f66857a21b4ca16cc9048bd138f7829b0d17882326783a87c2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 3.473 s
model
claude-opus-5-5
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]: [-0.017, 0.7929, 0.6025, -0.3794, -0.02, -0.0128, 0.9998, -0.0185, 0.7918, 0.6109, -0.3756, -0.0204, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.0021 left_z=0.1797 left_yaw=0.0002 left_pitch=-0.0004 left_roll=-0.0003 left_gripper=0.9998 right_x=0.296 right_y=0.0017 right_z=0.1847 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.6085, -1.3333, 10.4957, 1.7656, -0.0708, -0.0317, -0.0317, -0.7726, -1.0872, 9.7299, 1.7118, -0.0122, -0.0366, -0.1148]",
      "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, 0.6037, -0.3813, -0.02, -0.0185, 0.9998, 0.6052, 1.3228, 0.6617, 0.0334, -0.0265, -0.0158, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0011 left_z=0.1781 left_yaw=-0.0001 left_pitch=-0.0076 left_roll=-0.005 left_gripper=0.9998 right_x=0.3121 right_y=0.2259 right_z=0.1201 right_yaw=0.6308 right_pitch=-0.0712 right_roll=0.0021 right_gripper=0.9991\nstate[joint_eff]: [0.0752, -1.7573, 6.9675, 1.7167, -0.0366, 0.0122, -0.0122, 0.5128, -5.0667, 8.9641, 1.8584, -0.0513, -0.149, -0.1148]",
      "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, 0.8021, 0.6029, -0.3813, -0.02, -0.0193, 0.9998, 0.4694, 1.5265, 0.6136, 0.2008, -0.1085, -0.0769, 0.999]\nstate[eef_state]: left_x=0.295 left_y=0.0011 left_z=0.177 left_yaw=0.0003 left_pitch=-0.011 left_roll=-0.0056 left_gripper=0.9998 right_x=0.339 right_y=0.1974 right_z=0.0582 right_yaw=0.5982 right_pitch=-0.1508 right_roll=0.0115 right_gripper=0.999\nstate[joint_eff]: [-0.335, -1.4427, 7.0769, 1.7167, 0.0024, -0.0562, -0.0171, -0.1026, -6.8308, 6.0513, 2.0684, -0.0952, -0.0708, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92f6dde4e05d67416dfe913930896ff9553ee788719179c4de0ea99aafce0f08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:963643c1dbce9672b2c577a97c98c30081c1f03cfc2126afcad5f32d5c134e6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16ccb48302450f66857a21b4ca16cc9048bd138f7829b0d17882326783a87c2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0194wNantCGhd6Wiv9M1ioHp",
      "input": {
        "note": "Pen is nearly centred but slightly right, a bit ahead, and rotated ~14° CCW relative to the jaws. Correcting yaw and position and descending to table level.",
        "targets": {
          "right_pitch": 0,
          "right_x": 0.37,
          "right_y": 0.195,
          "right_yaw": 0.85,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_0194wNantCGhd6Wiv9M1ioHp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.8062, 0.6029, -0.3817, -0.02, -0.0193, 0.9998, 0.2932, 1.8824, 0.5873, 0.6418, -0.4103, -0.2863, 0.9989]\nstate[eef_state]: left_x=0.2952 left_y=0.0011 left_z=0.1758 left_yaw=0.0003 left_pitch=-0.0156 left_roll=-0.0055 left_gripper=0.9998 right_x=0.3709 right_y=0.1893 right_z=0.003 right_yaw=0.7836 right_pitch=-0.035 right_roll=0.0079 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -1.4427, 7.2137, 1.6874, -0.0806, -0.0366, -0.0122, -0.841, -6.0513, 4.465, 0.9255, -0.2125, 0.2076, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1df277f40bf507ba49dc50be4208ba46ef65dffa3d68ec3050675aeb59a60d9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca49db3e79f7dac0fe429e6f50f95aab310fb9f802f1a84ddea9d469c454801d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3f937ccdb61cea77c47bc5fda09ca052ac4cb15c8148f790abfebb6744972018",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 3.615 s
model
claude-opus-5-5
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, 0.6037, -0.3813, -0.02, -0.0185, 0.9998, 0.6052, 1.3228, 0.6617, 0.0334, -0.0265, -0.0158, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0011 left_z=0.1781 left_yaw=-0.0001 left_pitch=-0.0076 left_roll=-0.005 left_gripper=0.9998 right_x=0.3121 right_y=0.2259 right_z=0.1201 right_yaw=0.6308 right_pitch=-0.0712 right_roll=0.0021 right_gripper=0.9991\nstate[joint_eff]: [0.0752, -1.7573, 6.9675, 1.7167, -0.0366, 0.0122, -0.0122, 0.5128, -5.0667, 8.9641, 1.8584, -0.0513, -0.149, -0.1148]",
      "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, 0.8021, 0.6029, -0.3813, -0.02, -0.0193, 0.9998, 0.4694, 1.5265, 0.6136, 0.2008, -0.1085, -0.0769, 0.999]\nstate[eef_state]: left_x=0.295 left_y=0.0011 left_z=0.177 left_yaw=0.0003 left_pitch=-0.011 left_roll=-0.0056 left_gripper=0.9998 right_x=0.339 right_y=0.1974 right_z=0.0582 right_yaw=0.5982 right_pitch=-0.1508 right_roll=0.0115 right_gripper=0.999\nstate[joint_eff]: [-0.335, -1.4427, 7.0769, 1.7167, 0.0024, -0.0562, -0.0171, -0.1026, -6.8308, 6.0513, 2.0684, -0.0952, -0.0708, -0.022]\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, 0.8062, 0.6029, -0.3817, -0.02, -0.0193, 0.9998, 0.2932, 1.8824, 0.5873, 0.6418, -0.4103, -0.2863, 0.9989]\nstate[eef_state]: left_x=0.2952 left_y=0.0011 left_z=0.1758 left_yaw=0.0003 left_pitch=-0.0156 left_roll=-0.0055 left_gripper=0.9998 right_x=0.3709 right_y=0.1893 right_z=0.003 right_yaw=0.7836 right_pitch=-0.035 right_roll=0.0079 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -1.4427, 7.2137, 1.6874, -0.0806, -0.0366, -0.0122, -0.841, -6.0513, 4.465, 0.9255, -0.2125, 0.2076, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1df277f40bf507ba49dc50be4208ba46ef65dffa3d68ec3050675aeb59a60d9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca49db3e79f7dac0fe429e6f50f95aab310fb9f802f1a84ddea9d469c454801d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f937ccdb61cea77c47bc5fda09ca052ac4cb15c8148f790abfebb6744972018",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0AYKEAgSGAI4AUIIdGhpbmtpbmcSDKE7pqqkZKIz0dhDfhoMr4GEiAU95ymhssUnIjDLIaVVSEeUOGzXIx6hK3AnTeUUxUfuEBzXmtODEgKKipt5DvVgyvsR7XSQHk3BlL8q7QUz8MNombNcMQnqSWPTk1aotGT/rmOjYvo4Xl2tf5TZCgsBGBtw0O2WlE0IO99P9Ki5pr9l07kG3iJptCUcM7caDPhAGTLvjboYvCILpWzl5GLtxohEbYApLgny62t9bf6sW8xegRfKK+/90wC/TOpUpvZnZVGlgQWiWcWKd9Nh27p/6sUszU/USvrBRk+UzrHx0h1QI+Yk4fPQU/BJRzCS6lyTSn6zvwSaYp4oYIhe/vlUKZZGj9zLszn74f3zUyHbDGaF+El/jO8n+f1UBuzOSfH42aWVOBrfzEIGOn5RcgO4qJlunUfOYuqDsl/rDsIP6oFIZ2OCyelsudeYh/HITCVHVC0+ZIj5ITCNCxXU+DOgKHr8BAoXmnXsg/KANUqW/Aa7xlCDCvj4qN9XvyBzYa91GktoVKpZ4jDjjpm3CFKpuy0XmzN7DA1D72B+tPYUTJFXYZ84bcc1SO7+gfJINwQpIVY9xYUov98iBGDctm7BrS9xHIGrpeqHv/7aqalWWpCuEEgOjCQrIo9GWovBJgOZ0n0cWMnmUspNJ9zxvZ/PogKiGZUwL+yFB/hwwsMcxD4WHuV3lYBFL9Fjlc5sVVPJkvKbzUcgofX2tweC4J6HkmycSNH7KW9uqWIW+ZYp1piPyQywK/H91GpJv+t/JJflsZmxdkIns5ovk3saLz2Mo+atrywX1ro2Bbm8v9KhD1BRRmMPDbIUmhl04qpyUkJNbX9DWxpbfLCMtnO/CrC+iilwCc75q0Qn5bIiaYV5OO7solPuAuKSDtNXnPdW9mJ4Rs27L0Az7pcYS+41ZS2Dt3aS5+k3R0rR2ITgeJflnrywHshEQHLOB6Ji1UnQgibDV6BRC4szk9yKYnqCOdlyCzrKWHJmuZx49bii+SW+SU1R0++o+WV0FPX8qFr9079KZlHfoVUu4dgN6uZM2rZk88iOLhGLa7kIecePQkieqDo5gZrfI8IDQuvlQ+E69fepKL4ODHDUHFp+lBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FiVDYgPq8HsYdLzKKHrCyF",
      "input": {
        "note": "Pen runs straight down the jaw column at table level. Closing the right gripper on it.",
        "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_01FiVDYgPq8HsYdLzKKHrCyF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.807, 0.6029, -0.3809, -0.02, -0.0196, 0.9998, 0.2886, 1.8973, 0.5903, 0.6628, -0.4191, -0.2913, 0.045]\nstate[eef_state]: left_x=0.2954 left_y=0.0011 left_z=0.1757 left_yaw=0.0005 left_pitch=-0.0156 left_roll=-0.0058 left_gripper=0.9998 right_x=0.3732 right_y=0.1895 right_z=0.0024 right_yaw=0.7886 right_pitch=-0.0244 right_roll=0.0041 right_gripper=0.045\nstate[joint_eff]: [-0.3761, -1.3744, 7.0769, 1.6874, -0.0513, -0.0611, -0.0122, 0.0479, -9.0051, 4.041, 1.4579, -0.1294, 0.0708, 1.5214]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28c79acf9bffcbe06587893d3188dfc0af2ffa9185c8fe69a97a4dd87f20213d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6b3cc5c6b1a9a01b635968d38546bce51edda38f5af0e225c25cc2e78c65876",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:425bf5a0003a6e1a10f2d683db0449fbb09a28f45c4624a997e2704e9be4d739",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 9.751 s
model
claude-opus-5-5
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, 0.8021, 0.6029, -0.3813, -0.02, -0.0193, 0.9998, 0.4694, 1.5265, 0.6136, 0.2008, -0.1085, -0.0769, 0.999]\nstate[eef_state]: left_x=0.295 left_y=0.0011 left_z=0.177 left_yaw=0.0003 left_pitch=-0.011 left_roll=-0.0056 left_gripper=0.9998 right_x=0.339 right_y=0.1974 right_z=0.0582 right_yaw=0.5982 right_pitch=-0.1508 right_roll=0.0115 right_gripper=0.999\nstate[joint_eff]: [-0.335, -1.4427, 7.0769, 1.7167, 0.0024, -0.0562, -0.0171, -0.1026, -6.8308, 6.0513, 2.0684, -0.0952, -0.0708, -0.022]\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, 0.8062, 0.6029, -0.3817, -0.02, -0.0193, 0.9998, 0.2932, 1.8824, 0.5873, 0.6418, -0.4103, -0.2863, 0.9989]\nstate[eef_state]: left_x=0.2952 left_y=0.0011 left_z=0.1758 left_yaw=0.0003 left_pitch=-0.0156 left_roll=-0.0055 left_gripper=0.9998 right_x=0.3709 right_y=0.1893 right_z=0.003 right_yaw=0.7836 right_pitch=-0.035 right_roll=0.0079 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -1.4427, 7.2137, 1.6874, -0.0806, -0.0366, -0.0122, -0.841, -6.0513, 4.465, 0.9255, -0.2125, 0.2076, -0.0171]",
      "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, 0.6029, -0.3809, -0.02, -0.0196, 0.9998, 0.2886, 1.8973, 0.5903, 0.6628, -0.4191, -0.2913, 0.045]\nstate[eef_state]: left_x=0.2954 left_y=0.0011 left_z=0.1757 left_yaw=0.0005 left_pitch=-0.0156 left_roll=-0.0058 left_gripper=0.9998 right_x=0.3732 right_y=0.1895 right_z=0.0024 right_yaw=0.7886 right_pitch=-0.0244 right_roll=0.0041 right_gripper=0.045\nstate[joint_eff]: [-0.3761, -1.3744, 7.0769, 1.6874, -0.0513, -0.0611, -0.0122, 0.0479, -9.0051, 4.041, 1.4579, -0.1294, 0.0708, 1.5214]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28c79acf9bffcbe06587893d3188dfc0af2ffa9185c8fe69a97a4dd87f20213d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6b3cc5c6b1a9a01b635968d38546bce51edda38f5af0e225c25cc2e78c65876",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:425bf5a0003a6e1a10f2d683db0449fbb09a28f45c4624a997e2704e9be4d739",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrgcKEAgSGAI4AUIIdGhpbmtpbmcSDLYoFsxH69vyMXZPnxoMAycvRziz08Rtm6AyIjAlyjXICjkMfzLwc8EMRqdtWTB9vKlNc63Fvsd1YuV1xiumIJghoB4JGOkUZeL/Id4qywa4kTwREgFbSq1KsG0KoVfS1BbgLMB9FgyYGN0lpfDbIqR3dVfBZVqHv4OXjh8tGIAfCamS59ipGNql9GNt7D6t+ute6oXJEVCF+IP3mXJyVCHmnYmyqSU55qZTQcXIbO+w/f07F4vceX54gzdEbMuQgldiEv9UWI7jE54nTK4EvmYfIUt9RpodyWTteyGAuZbaB4KiLSN6TtB8zxg4UTZ8+Ywmy1/sda4uhCMg8rzGJx78UNfDM+Ce6MM3wndIzhNR7S3lFnviHMTs0Qh9sFCW3pJEn9ud57Nf1qL6WB7QjTaAIcv4yoExwfXU6TM147o6KtmG3TfR0b3CknqPqj3/LM2ZL26e0DMckb/gejJQQbw8aoti1LcUKvIP6nUW7r7fhe/wDwNOXEvkZG9ONE5s9BJeukV6i66sSZWlQ+E6uXtNrE2pg+Ibu2nXA6voviTPx2vEbGJXtGZcxAor2GWAOgK+8OufrMwVE97gAW/VzWibIN6kMyfX7CaZTjri1NEJrxPlxl+aX8RnHVA2kzgYfwT2dnkyPsy4hXiR4B1KF4nmx+VcbSAM3qgOp+bPs4UTHd70rOVPyLjV+3PYeGvT1b8vk5HFqUYpqV4eVj2TYzS6NpmQUTcNiA0qN9k1smtShN5z1pMgisefyg304dGmaC0WoHWXtIDMEQYua68Z7GhUQLVTWItX/23Bg1WG2HEZ0htdj+uDrP/KKpkwJWhwE+NgXivaIwDyeoL7ZvP5Dl49h2yVtITVm1/+1iCTlm0dwH+5I2KsNR/c1o4TR2rhnRfM9u/ycUIFYNpO8rSmDS7IObCOMz19unDo2IgGmw8E7D+ShtnxtZbHSH+NKy5AudcDjNxkYvddf2vK0RJhhEHL1WRmdhCA7Y7MiCG3RksWRX3nErvdkKgykKjYqW4tV13TEhO8jYcC9EHbeFNAVaxdr1X5hVXLSKlqAyGMeTSfA7YdOnM8XIWDSq/Z/NQe66ZUo/+i/x7GPupTUmaKn6oFwPOrWhF0eIqprjKC1bFUdFUA7aThNSUb0SvAqYdl6AR5MBbjgcZcZxU64YKMmkPhHuaRtAt84DwzX5+Lw2VdcYEjEiY8cGg74N9RpFz7H6gu3UZwW018SZcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018xvqVS76nmEKsx667iqPKT",
      "input": {
        "note": "Gripper closed with reading 0.045 and the pen appears between the jaws. Lifting to verify the grasp.",
        "targets": {
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_018xvqVS76nmEKsx667iqPKT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.807, 0.6029, -0.3809, -0.02, -0.0193, 0.9998, 0.2882, 1.544, 0.7475, 0.1513, -0.4198, -0.297, 0.0491]\nstate[eef_state]: left_x=0.2954 left_y=0.0011 left_z=0.1757 left_yaw=0.0003 left_pitch=-0.0156 left_roll=-0.0055 left_gripper=0.9998 right_x=0.3736 right_y=0.1896 right_z=0.1037 right_yaw=0.7919 right_pitch=-0.0251 right_roll=0.0002 right_gripper=0.0491\nstate[joint_eff]: [-0.1846, -1.1829, 7.2274, 1.7314, -0.0806, -0.0513, -0.0122, -0.0889, -8.335, 8.2667, 1.5263, -0.2027, -0.0024, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3b27856e1630f76c00a7d19d340723d0748c86ae1686588529552a122b80c42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f06cb196275270a8247da0296da81479afa2fc4663a09d8db279896a49bea8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4e830bc8568ad23fc2e58e07346313a41a40ae6b3c094b4bba526a425a912dba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 6.065 s
model
claude-opus-5-5
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, 0.8062, 0.6029, -0.3817, -0.02, -0.0193, 0.9998, 0.2932, 1.8824, 0.5873, 0.6418, -0.4103, -0.2863, 0.9989]\nstate[eef_state]: left_x=0.2952 left_y=0.0011 left_z=0.1758 left_yaw=0.0003 left_pitch=-0.0156 left_roll=-0.0055 left_gripper=0.9998 right_x=0.3709 right_y=0.1893 right_z=0.003 right_yaw=0.7836 right_pitch=-0.035 right_roll=0.0079 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -1.4427, 7.2137, 1.6874, -0.0806, -0.0366, -0.0122, -0.841, -6.0513, 4.465, 0.9255, -0.2125, 0.2076, -0.0171]",
      "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, 0.6029, -0.3809, -0.02, -0.0196, 0.9998, 0.2886, 1.8973, 0.5903, 0.6628, -0.4191, -0.2913, 0.045]\nstate[eef_state]: left_x=0.2954 left_y=0.0011 left_z=0.1757 left_yaw=0.0005 left_pitch=-0.0156 left_roll=-0.0058 left_gripper=0.9998 right_x=0.3732 right_y=0.1895 right_z=0.0024 right_yaw=0.7886 right_pitch=-0.0244 right_roll=0.0041 right_gripper=0.045\nstate[joint_eff]: [-0.3761, -1.3744, 7.0769, 1.6874, -0.0513, -0.0611, -0.0122, 0.0479, -9.0051, 4.041, 1.4579, -0.1294, 0.0708, 1.5214]",
      "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, 0.6029, -0.3809, -0.02, -0.0193, 0.9998, 0.2882, 1.544, 0.7475, 0.1513, -0.4198, -0.297, 0.0491]\nstate[eef_state]: left_x=0.2954 left_y=0.0011 left_z=0.1757 left_yaw=0.0003 left_pitch=-0.0156 left_roll=-0.0055 left_gripper=0.9998 right_x=0.3736 right_y=0.1896 right_z=0.1037 right_yaw=0.7919 right_pitch=-0.0251 right_roll=0.0002 right_gripper=0.0491\nstate[joint_eff]: [-0.1846, -1.1829, 7.2274, 1.7314, -0.0806, -0.0513, -0.0122, -0.0889, -8.335, 8.2667, 1.5263, -0.2027, -0.0024, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3b27856e1630f76c00a7d19d340723d0748c86ae1686588529552a122b80c42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f06cb196275270a8247da0296da81479afa2fc4663a09d8db279896a49bea8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e830bc8568ad23fc2e58e07346313a41a40ae6b3c094b4bba526a425a912dba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JomZK6Lm5YWZyMVKnnaB8r",
      "input": {
        "note": "Pen is held securely in the right gripper (tip pointing along the tool's forward axis). Now moving the left arm over the cap, yawed to close across the cap.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.35,
          "left_y": -0.18,
          "left_yaw": -0.8,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01JomZK6Lm5YWZyMVKnnaB8r",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3023, 1.3937, 0.6571, 0.0006, 0.3523, 0.234, 0.9998, 0.2882, 1.5402, 0.7444, 0.1337, -0.4202, -0.2974, 0.054]\nstate[eef_state]: left_x=0.3363 left_y=-0.165 left_z=0.0935 left_yaw=-0.732 left_pitch=-0.1131 left_roll=-0.0549 left_gripper=0.9998 right_x=0.3705 right_y=0.1887 right_z=0.1008 right_yaw=0.7927 right_pitch=-0.0397 right_roll=0.0082 right_gripper=0.054\nstate[joint_eff]: [-0.2667, -5.8188, 9.306, 1.9853, 0.4078, 0.188, -0.0366, -0.0479, -6.2701, 6.5846, 1.746, -0.1685, -0.0659, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85942f7c35e1b915c64f10ee14b0f35950735268d841158314f7ffaaec2c0166",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:445e026f759c091e07d1cc48bc19b9c45e2962055ae00f4a4b1f8c3e8b95f07e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f8b3d026b17276246d55204e307935e20330b21ad27e1e9f73fc616b6128f403",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 6.069 s
model
claude-opus-5-5
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, 0.6029, -0.3809, -0.02, -0.0196, 0.9998, 0.2886, 1.8973, 0.5903, 0.6628, -0.4191, -0.2913, 0.045]\nstate[eef_state]: left_x=0.2954 left_y=0.0011 left_z=0.1757 left_yaw=0.0005 left_pitch=-0.0156 left_roll=-0.0058 left_gripper=0.9998 right_x=0.3732 right_y=0.1895 right_z=0.0024 right_yaw=0.7886 right_pitch=-0.0244 right_roll=0.0041 right_gripper=0.045\nstate[joint_eff]: [-0.3761, -1.3744, 7.0769, 1.6874, -0.0513, -0.0611, -0.0122, 0.0479, -9.0051, 4.041, 1.4579, -0.1294, 0.0708, 1.5214]",
      "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, 0.6029, -0.3809, -0.02, -0.0193, 0.9998, 0.2882, 1.544, 0.7475, 0.1513, -0.4198, -0.297, 0.0491]\nstate[eef_state]: left_x=0.2954 left_y=0.0011 left_z=0.1757 left_yaw=0.0003 left_pitch=-0.0156 left_roll=-0.0055 left_gripper=0.9998 right_x=0.3736 right_y=0.1896 right_z=0.1037 right_yaw=0.7919 right_pitch=-0.0251 right_roll=0.0002 right_gripper=0.0491\nstate[joint_eff]: [-0.1846, -1.1829, 7.2274, 1.7314, -0.0806, -0.0513, -0.0122, -0.0889, -8.335, 8.2667, 1.5263, -0.2027, -0.0024, 1.033]",
      "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]: [-0.3023, 1.3937, 0.6571, 0.0006, 0.3523, 0.234, 0.9998, 0.2882, 1.5402, 0.7444, 0.1337, -0.4202, -0.2974, 0.054]\nstate[eef_state]: left_x=0.3363 left_y=-0.165 left_z=0.0935 left_yaw=-0.732 left_pitch=-0.1131 left_roll=-0.0549 left_gripper=0.9998 right_x=0.3705 right_y=0.1887 right_z=0.1008 right_yaw=0.7927 right_pitch=-0.0397 right_roll=0.0082 right_gripper=0.054\nstate[joint_eff]: [-0.2667, -5.8188, 9.306, 1.9853, 0.4078, 0.188, -0.0366, -0.0479, -6.2701, 6.5846, 1.746, -0.1685, -0.0659, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85942f7c35e1b915c64f10ee14b0f35950735268d841158314f7ffaaec2c0166",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:445e026f759c091e07d1cc48bc19b9c45e2962055ae00f4a4b1f8c3e8b95f07e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8b3d026b17276246d55204e307935e20330b21ad27e1e9f73fc616b6128f403",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSyQoKEAgSGAI4AUIIdGhpbmtpbmcSDMMVNl3kWUR4tLvr/hoMr+hMe+/+QEdu504BIjCS4bqraa+zx1xh17krRGsz3QhOQG/G4KgZEUNSG6Fm74lpo+ZbuQdfpv+NIg2cBfQq5gkmW33VWopFnzHqiFHk724CnsEEq1h5Hx/6vLQ2Ka8NJauFuIBkCbQx7pDSj2lpSOzgE6+L/oONy6HqmvQlqVsZnRmtP+gfajE85TY1h8oM6KjpzAufL1IkO17XK/TYGhU7J/69NnPYm8Cy9llYDD/nV01E4g8YO6/OXF/09dNqtNwoq8oyoARhSjxcaDszQX/ce6gOOgGEacNWeEssWTkeDa/Y/Lf7y1TFTLUW+hyZ1IMOiF3P/lTkV1bssw4q47PrquTuvPsvc7K/g84zo3NgEUmDkkpOhp/sju4iAuCaAfoeluOqIMg6IylP6Sooo8UmU7D98QufxaRBLh1fikfxzaiGtd7xj7AXynH5/9D2YoyOCubmRpqFgvWN7cXasowlte8bNtFM281eMj0b32iiJeYcStkRWtiFdgi0yxovPDZmr1hM4ZEiwhrwnl8dNB1npXcvfzHwVrDhyUWum1uP804OzGcFIYsV2qkUpa7wtWW0OWbK3o3nU6RHd5ZmH8wL4Ir9KIKg/pttAYsTfHLQpGHrF1fc1fJsF/bsx7jfG/h3i6NiPSt0QY4xMa3yOG9z2vLeEymM3fT1sObC+brN3cs2O9GSUCNwsvt/SamEZROfACpwIQYDwjAIac0aKaT1Nk2nuHou0tnnI4dkoJx1nwWus/KY4Tvp4/RAy8UFkVYFCPfBE6iBvTdNZdOkhWeSd2+Tsy2ZU9XEZ1vn44HfjSizhdtL0IAQsnF3wMGNjF4TKIgs6ufCbQhKBuzuyxwF9d0P1wgpRwXbfuzWPg9xvPK2PdCQHGtAunSyedjl/UWyyDqb0If9aL5iUNhyX8O4mXWVZ2R7G/95BPsg2XE+JRPjaTxcHFV9ycisqv/Sv67oFUeIinA0J/4cy8CHOZDCl4IqEamETKaSKSA0729b3HUZaKvGEslW6zNeFkdHd3pcLFcO1l7gt0Vqs/6X6A6XUz2/r1oppHTRa1FdC65JM5LiR4cfYyseXHGH6x2vZVJlWkLQN7EM7s+NGYiO2GRXdCl63wad6BdXy3BqNWmIpxd7CaT5VcA0UPRdJODNRlVPNy2G5qslYeaFgpu9UvsryWVI3wsT8YvBay+jHoZRngpbCv6kK8m6bESv0lvkcRZxS7hTpOAbtgom/gAcekg24PxczsPg/ibW36fNoMiooY4qpfx7wMwCK95AcqfNndzxsIdY3Rj5+z8o2sXfj5C7i6/QOsftI5ZOjB0Vg3zWINxWKAwXK9oWBc6+x5QwUJuFna+q1FtHvda8RxKSPYloU4x370DrOXuhD4jN7iOTf8XkSHFoy7r04Ozl2r515Liq2cF0rvOErK0kGcnGf1E81IlykOUDMQRiKlmNR1JZHUCXAYldAYHNN14TUdHcGMdSI6tiySWDCoABN6/W1Xlc0CVANSCXdwDiAHjpXPXx+DoMNa60Cw8tsFCgfFlhg3Lio/yneBfI9z2oiGxXQ6KEIXYc7h5rBJes3CUL26WUDG8D6n4LsdCpUPkGAPmJ4bc1ajxUmLwfscWRWnklXFcVF0H6qsk1DHUjtpmrkf4/oZ4bW7VNKVovNY5aAG72qToZU5ZEHQgJvJ6fqQJwewcxkwDz2DdDXNSuI5GPNHg/uKnSFoklKCrdTApi/C1DsOqKTXrl2VQw33QpHGRr4yH9SI+D/vAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01A5fWrtMPw4FDNd28uy8dmR",
      "input": {
        "note": "Left wrist cam shows the cap left of the jaw column and tilted ~20° clockwise. Shifting toward tool-left, adjusting yaw, and descending partway.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.37,
          "left_y": -0.13,
          "left_yaw": -1.05,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01A5fWrtMPw4FDNd28uy8dmR",
      "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]: [-0.0639, 1.6752, 0.6762, 0.086, 0.6029, 0.5114, 0.9998, 0.2882, 1.5417, 0.7437, 0.1261, -0.4198, -0.2974, 0.054]\nstate[eef_state]: left_x=0.3555 left_y=-0.1195 left_z=0.0305 left_yaw=-0.8489 left_pitch=-0.1432 left_roll=-0.0946 left_gripper=0.9998 right_x=0.3692 right_y=0.1883 right_z=0.0985 right_yaw=0.7926 right_pitch=-0.0485 right_roll=0.0128 right_gripper=0.054\nstate[joint_eff]: [-0.8957, -8.6222, 7.5829, 1.5604, 0.6422, 0.2125, -0.0171, -0.0615, -6.6803, 6.2291, 1.6581, -0.1587, -0.0317, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2326222e48df30731d0c09e87ad88b9dc18cc4f647d6e44560d597cedc2f6df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:784df8071d4be133ceedd9a1fec8ce7abfbcda029d834ec5eb5fe34dd6283b7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c3227a01c850c9eb4b1a209c9612173d05ed991589b7d13d87e15cb38250a76c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 5.466 s
model
claude-opus-5-5
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, 0.6029, -0.3809, -0.02, -0.0193, 0.9998, 0.2882, 1.544, 0.7475, 0.1513, -0.4198, -0.297, 0.0491]\nstate[eef_state]: left_x=0.2954 left_y=0.0011 left_z=0.1757 left_yaw=0.0003 left_pitch=-0.0156 left_roll=-0.0055 left_gripper=0.9998 right_x=0.3736 right_y=0.1896 right_z=0.1037 right_yaw=0.7919 right_pitch=-0.0251 right_roll=0.0002 right_gripper=0.0491\nstate[joint_eff]: [-0.1846, -1.1829, 7.2274, 1.7314, -0.0806, -0.0513, -0.0122, -0.0889, -8.335, 8.2667, 1.5263, -0.2027, -0.0024, 1.033]",
      "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]: [-0.3023, 1.3937, 0.6571, 0.0006, 0.3523, 0.234, 0.9998, 0.2882, 1.5402, 0.7444, 0.1337, -0.4202, -0.2974, 0.054]\nstate[eef_state]: left_x=0.3363 left_y=-0.165 left_z=0.0935 left_yaw=-0.732 left_pitch=-0.1131 left_roll=-0.0549 left_gripper=0.9998 right_x=0.3705 right_y=0.1887 right_z=0.1008 right_yaw=0.7927 right_pitch=-0.0397 right_roll=0.0082 right_gripper=0.054\nstate[joint_eff]: [-0.2667, -5.8188, 9.306, 1.9853, 0.4078, 0.188, -0.0366, -0.0479, -6.2701, 6.5846, 1.746, -0.1685, -0.0659, 1.033]",
      "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]: [-0.0639, 1.6752, 0.6762, 0.086, 0.6029, 0.5114, 0.9998, 0.2882, 1.5417, 0.7437, 0.1261, -0.4198, -0.2974, 0.054]\nstate[eef_state]: left_x=0.3555 left_y=-0.1195 left_z=0.0305 left_yaw=-0.8489 left_pitch=-0.1432 left_roll=-0.0946 left_gripper=0.9998 right_x=0.3692 right_y=0.1883 right_z=0.0985 right_yaw=0.7926 right_pitch=-0.0485 right_roll=0.0128 right_gripper=0.054\nstate[joint_eff]: [-0.8957, -8.6222, 7.5829, 1.5604, 0.6422, 0.2125, -0.0171, -0.0615, -6.6803, 6.2291, 1.6581, -0.1587, -0.0317, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2326222e48df30731d0c09e87ad88b9dc18cc4f647d6e44560d597cedc2f6df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:784df8071d4be133ceedd9a1fec8ce7abfbcda029d834ec5eb5fe34dd6283b7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3227a01c850c9eb4b1a209c9612173d05ed991589b7d13d87e15cb38250a76c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStQkKEAgSGAI4AUIIdGhpbmtpbmcSDAm0FF2cdbpCAawE6RoMApqI3mTLRGy/GgfpIjBSrK8UEoOfV/jkw0bRn/UvQJHm2cv3SwWiv6DCPskrEHvTn2m6hSH3QaNF9+U84g4q0gjBzJ2CQCAQFUE5AiWbPA0ZNTeXF9QCzNBMtuJjZRgqO7FySaD19XhSqWrweoNQjVIa2gEGpcDWEu5igMhpa38iq6EsTaCjvv77rQinBysHt4BWxQjHf29TtiNCnSv83if35CjmBu8fhdjR0QzuRvk+GcRes5gqJWx6Bqa7YDBl1P14xxXJc2TiIRVru4YpXpSMVI0E8lnyRfyeMXlA2V5QjAZGEGl7cNP8jQiLLrdYw/6q9g8HZFaPX7H8Gqhoq3k95d4k4Ef31beser5ze/QHtJ2XDk1WhjWrEIL3ZjC6bxNPTir3RbnbLaNjFWQuLQ2V26d3zGx5n1kTdT9DIt7HddDw5y0EI7WbgGBs7kace9AyqNAtuC7UkNlzaYQZ46eX3vbpNM6/bPfR8FLQ+9xLKa1AsC6hDnwxBuvhmratXTdDJPerR4IU/KhmebCIJF67sgNi4CWuQXpCeqV8hN2ifBZfcXrK24b8VBdWV8L6AF1+gkqeoE2AFVWUjG178ScBMiAMkYa8AMHY6MwQVek0aDclXGQOXo79NgTK3HamtLvi3+ejtNlWvL91twK3/2kASM2nHUgJ5iUbdfqKJRghjeKSsBNClx+1rVXc4KOaPvOsIUuzns/LEtWL5GIJMVBZD5i5opispT3EYFmKJi/r3T9a6NXtruj0BKwRiVW+2pBl0pWXrM+ck9ihkzIxqLzcbBahm1SUC2pY2ewBO4Krp6grObDu52LHnuCjD32cgdf9dwZoR2f44zd8VGlEDwSxtMxMRql5tI0xX8Djz4eajgvV5DsfTntKYLyerLJPoDHEkjx3/xDmclLCUDQ+9w22ptBE8kgOiwNXdfUzI2EbTXriAc+K8yiiRdGbmGCD0VlKGS8bNCSxe06mc+nkA5MVwJSkTpK6UZsPgkLSoSpijEQQsBIpPJ2BSuCAZ9iVSSru18Ygc90nh8ZAfNVlEC24lwzzY6q2ZXBGoAHWpS6UAkn7E4kkzryxQczEJ7xV6/fmHbze9bs9FlB65lwzVsmJk4K0NxfyxKnNgJmX2G4xeg7cP5191dMYpQ1mtMv1kb3cbYC1BJXBkwik/jdVmpNL1UYXbMfLP/TD74bXgHHYgFToE3Mi2KfAdR9ClpdGBNjhyOiDpdnmWrX6e6EnGGtZhKRRWNCRCmUGSm/eqXJag5Wvt11GFIxWVzQ5UHmBvf9D2ose+GgADoIwmeiUi/GWU/KUq/4kOPFvlV0zlPfwcVqXNrwML9xhiQCmm3ChkxUek8tL5rXlKC1poIYAOaq0H/K5qDyZUA6Z2lyty7cTMG0IhvJhCSfZMVNXXWLMu3L/VKUZwxOYp02ZfCwEkNPnsT/IpDHRfTYb54YuBrjxnMQtGIVXlKQpLLaOd3Dq3NdDhYvUJ3yiGXxXxeS7JgEkkod7U9mROP+sF0PCYe3u6Oh02tSWBLiW4n3KZhXnbNVSrn3NzRVlBo7UuqBVT4E2JhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QRXGZyeweWQGHYMpqfzuxA",
      "input": {
        "note": "Cap is still a few cm left of and ahead of the jaws, tilted slightly. Moving forward/left, rotating, and descending to table level.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.12,
          "left_yaw": -1.1,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01QRXGZyeweWQGHYMpqfzuxA",
      "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]: [-0.0788, 1.6653, 0.6762, 0.0948, 0.6735, 0.5785, 0.9998, 0.2882, 1.5417, 0.7437, 0.1219, -0.4198, -0.2974, 0.054]\nstate[eef_state]: left_x=0.3505 left_y=-0.1346 left_z=0.0409 left_yaw=-0.9466 left_pitch=-0.0873 left_roll=-0.0662 left_gripper=0.9998 right_x=0.3686 right_y=0.1881 right_z=0.0977 right_yaw=0.7927 right_pitch=-0.0522 right_roll=0.0148 right_gripper=0.054\nstate[joint_eff]: [-0.0068, -7.9521, 7.3778, 1.5458, 0.486, 0.1245, -0.0171, -0.0205, -6.4342, 6.1607, 1.619, -0.1978, -0.0415, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c726e77217b2fc5e3b01dd6cf3659ecfae2fd29bda6515f9c18d7ed089fcb3bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90c50e8f585c1f92e929f69a99eab0c23fc7930ec5ff6a6799e7ad5ecadc3b6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f0a13e219f5745bc96e123ad4f616192028c88346351db608ec5f7f8b8b04359",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 4.539 s
model
claude-opus-5-5
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]: [-0.3023, 1.3937, 0.6571, 0.0006, 0.3523, 0.234, 0.9998, 0.2882, 1.5402, 0.7444, 0.1337, -0.4202, -0.2974, 0.054]\nstate[eef_state]: left_x=0.3363 left_y=-0.165 left_z=0.0935 left_yaw=-0.732 left_pitch=-0.1131 left_roll=-0.0549 left_gripper=0.9998 right_x=0.3705 right_y=0.1887 right_z=0.1008 right_yaw=0.7927 right_pitch=-0.0397 right_roll=0.0082 right_gripper=0.054\nstate[joint_eff]: [-0.2667, -5.8188, 9.306, 1.9853, 0.4078, 0.188, -0.0366, -0.0479, -6.2701, 6.5846, 1.746, -0.1685, -0.0659, 1.033]",
      "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]: [-0.0639, 1.6752, 0.6762, 0.086, 0.6029, 0.5114, 0.9998, 0.2882, 1.5417, 0.7437, 0.1261, -0.4198, -0.2974, 0.054]\nstate[eef_state]: left_x=0.3555 left_y=-0.1195 left_z=0.0305 left_yaw=-0.8489 left_pitch=-0.1432 left_roll=-0.0946 left_gripper=0.9998 right_x=0.3692 right_y=0.1883 right_z=0.0985 right_yaw=0.7926 right_pitch=-0.0485 right_roll=0.0128 right_gripper=0.054\nstate[joint_eff]: [-0.8957, -8.6222, 7.5829, 1.5604, 0.6422, 0.2125, -0.0171, -0.0615, -6.6803, 6.2291, 1.6581, -0.1587, -0.0317, 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 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]: [-0.0788, 1.6653, 0.6762, 0.0948, 0.6735, 0.5785, 0.9998, 0.2882, 1.5417, 0.7437, 0.1219, -0.4198, -0.2974, 0.054]\nstate[eef_state]: left_x=0.3505 left_y=-0.1346 left_z=0.0409 left_yaw=-0.9466 left_pitch=-0.0873 left_roll=-0.0662 left_gripper=0.9998 right_x=0.3686 right_y=0.1881 right_z=0.0977 right_yaw=0.7927 right_pitch=-0.0522 right_roll=0.0148 right_gripper=0.054\nstate[joint_eff]: [-0.0068, -7.9521, 7.3778, 1.5458, 0.486, 0.1245, -0.0171, -0.0205, -6.4342, 6.1607, 1.619, -0.1978, -0.0415, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c726e77217b2fc5e3b01dd6cf3659ecfae2fd29bda6515f9c18d7ed089fcb3bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90c50e8f585c1f92e929f69a99eab0c23fc7930ec5ff6a6799e7ad5ecadc3b6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0a13e219f5745bc96e123ad4f616192028c88346351db608ec5f7f8b8b04359",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2wgKEAgSGAI4AUIIdGhpbmtpbmcSDKeur2FIocrRApjpwhoMvuoGkGZs2Q1HyFoiIjB+LI/gWkAglO+TA0K0TNHNjGVQm+Bh+vepBHrtwrg+I1h1ZNO/aFPPUEt6uuBwW4oq+AdeDwotC1WJ2NRuhnipRA5z2po9IX+/vTWuV99Gk0u/+wJzv3y6cWklfIgzSJAnzeL6EsO5AqkOF0dfGk53nX5DXNb2M6KNTimrKlk6a6khhQwmcWMNDSp1smyWc+VU/HNzjXRfyZF6y5DRoBSU/pHbkmPRocwamuuNmIHwzC/4t2cJn7W5emmT4v6tuMcS5XtXWcSl1cibMUrfSm8MM2aEUNp+ZsLcRPlXiQTUYg6UWyNP1YoL2dtPh7dCVze83QAtpTid15fTFvEmTQaQlsgWmAirycyxBT2UzWLebhNnyN4l2pn0pcnP+Uv/0z05portgxzkxlJmtryf+ek0R9M4cQVPfEF2Vrc/SxSFXCVXWoxuRm0DaEhpVEyvjcQSxaC/SuYPzHvouEj0d1fQlJFGwiCZ4rQldmlYXa23QkywnoWCVOGTNrFuL+PSLXGsOL4c8XvaLFsiVYRcCpCr+QsbXjEn9whbQYe1e3S+ufEerufsxMTRaKI+DrsPdjWx1E2NvihNxDcQm6ocqTIUTxOpZcFQ3ars9wb9hl6xkN+z5Fj8ivySm1uFFnXJhTtdFe8xd/dHHDEpfgehohI7X1sbnA6hO6DCaE92xpzCxa1VpTnCNzDJolG/HIEUVdXUQ20F9678kO/QnPxFZTD7KJkqOT+70kO/rJFLE07jNAMUb/X9WRWFk4rrFb+p6hu0D9662CnqMvZuSDgMCMXWnCJ8a9LkD/EW4V0u3E2uoy9CwhBVFiMEAvap3PJ+0NlFyZrYxsz4N7amoPB7cxUt5YSxzxpaYO22d9J4Fr4btuAe/EjECXMdDx5n9loGU2TStTU8cklaRc2hYU2JAStthk3FwsloegpuzK0lxNiGcA0yNsb8AirXj8vHOsAF/bfUfo+EermCz0Fx5Nlm9bUWppymax592sPm3wjOZW/tLcjWmcJSr9vFD/liNicF7dUa6Dr/5lgolZ3IKL7+iz0Oi2Ow05WU7X1O59tXQQmviiWN1F8JUlp/z+EdByzEmlWEErCW2G2YH+vAK1tyzr9LhEgVFnM6cmSdDZ4QNU2/8LviU7BMorri1BHGFREbgjtRPgGZnzWzKu5b88STdAT7cxrlwAnoxLTwUwpxYnMj2zK5+yTStYJKXJsK0ieyTGKWiZrw9XiC359XcEUoR+kUbfqzEltdzATljUvEF7mc/sZaqd97Av6gMlhfOwUkNHAVA6jwJXQ8UGlzNzc26s9XhzvkKjuhCU8Ew+HqcLc/1E5rI5bWajLLFpyrf/sUPBV/+UcmqEhk7LCCrTNkxh3kvmpOwh+cQ/vJwCmSK1g9rCI2D7m6hDmdfZIEuT9wEUdzMLjpzVB2D5NhHxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UmbKCo9ue3DxSMkkzssbjp",
      "input": {
        "note": "Previous move was speed-clamped and fell short; cap still left of the jaws. Re-issuing the approach with a bit more tool-left offset.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.11,
          "left_yaw": -1.1,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01UmbKCo9ue3DxSMkkzssbjp",
      "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]: [-0.0788, 1.6653, 0.6762, 0.0948, 0.6735, 0.5789, 0.9997, 0.2882, 1.5417, 0.7437, 0.1188, -0.4198, -0.2974, 0.054]\nstate[eef_state]: left_x=0.3505 left_y=-0.1346 left_z=0.0409 left_yaw=-0.9468 left_pitch=-0.0873 left_roll=-0.0659 left_gripper=0.9997 right_x=0.3682 right_y=0.188 right_z=0.0972 right_yaw=0.7928 right_pitch=-0.0549 right_roll=0.0163 right_gripper=0.054\nstate[joint_eff]: [-0.212, -8.1299, 7.5282, 1.5311, 0.4762, 0.1538, -0.0171, -0.2393, -6.6393, 6.1607, 1.5995, -0.1538, -0.0464, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e087322bf266e53fefaf61ef4bbf90839a63578ebd1a2af5967ed06a0e9428c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b6f0d7ada16e769cdae87bd54af0f4a96fd67f9e49af336465828a0f2fc3c45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b795467ca2ecab52cb2fd3e60bccc183a554e12014bc0916de87fa16364e7ff5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 4.893 s
model
claude-opus-5-5
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]: [-0.0639, 1.6752, 0.6762, 0.086, 0.6029, 0.5114, 0.9998, 0.2882, 1.5417, 0.7437, 0.1261, -0.4198, -0.2974, 0.054]\nstate[eef_state]: left_x=0.3555 left_y=-0.1195 left_z=0.0305 left_yaw=-0.8489 left_pitch=-0.1432 left_roll=-0.0946 left_gripper=0.9998 right_x=0.3692 right_y=0.1883 right_z=0.0985 right_yaw=0.7926 right_pitch=-0.0485 right_roll=0.0128 right_gripper=0.054\nstate[joint_eff]: [-0.8957, -8.6222, 7.5829, 1.5604, 0.6422, 0.2125, -0.0171, -0.0615, -6.6803, 6.2291, 1.6581, -0.1587, -0.0317, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0788, 1.6653, 0.6762, 0.0948, 0.6735, 0.5785, 0.9998, 0.2882, 1.5417, 0.7437, 0.1219, -0.4198, -0.2974, 0.054]\nstate[eef_state]: left_x=0.3505 left_y=-0.1346 left_z=0.0409 left_yaw=-0.9466 left_pitch=-0.0873 left_roll=-0.0662 left_gripper=0.9998 right_x=0.3686 right_y=0.1881 right_z=0.0977 right_yaw=0.7927 right_pitch=-0.0522 right_roll=0.0148 right_gripper=0.054\nstate[joint_eff]: [-0.0068, -7.9521, 7.3778, 1.5458, 0.486, 0.1245, -0.0171, -0.0205, -6.4342, 6.1607, 1.619, -0.1978, -0.0415, 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 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]: [-0.0788, 1.6653, 0.6762, 0.0948, 0.6735, 0.5789, 0.9997, 0.2882, 1.5417, 0.7437, 0.1188, -0.4198, -0.2974, 0.054]\nstate[eef_state]: left_x=0.3505 left_y=-0.1346 left_z=0.0409 left_yaw=-0.9468 left_pitch=-0.0873 left_roll=-0.0659 left_gripper=0.9997 right_x=0.3682 right_y=0.188 right_z=0.0972 right_yaw=0.7928 right_pitch=-0.0549 right_roll=0.0163 right_gripper=0.054\nstate[joint_eff]: [-0.212, -8.1299, 7.5282, 1.5311, 0.4762, 0.1538, -0.0171, -0.2393, -6.6393, 6.1607, 1.5995, -0.1538, -0.0464, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e087322bf266e53fefaf61ef4bbf90839a63578ebd1a2af5967ed06a0e9428c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b6f0d7ada16e769cdae87bd54af0f4a96fd67f9e49af336465828a0f2fc3c45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b795467ca2ecab52cb2fd3e60bccc183a554e12014bc0916de87fa16364e7ff5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9gcKEAgSGAI4AUIIdGhpbmtpbmcSDDpRJpj4vbO3rhZaqRoMoKYEAU35fguC+APgIjBdDKZgrZfIl6M8PKWdZ4Y+2uMeF/EdS64JeRPd9NzLXKslGtY+H+h4sQXxLT38unsqkwc1DUyGl2YYLW8/tM8Mw1+/V8FijQvYzSSNoJ/dKU8IMTVXJLIXqb41EM5IHyZgue/cgXPBC4y0JX0Jyo05vSbaZkcm+f8y1Pfo9DUUV/RaFBBxn6rZKjEiXhq4iky7Zf8T19ipsu0l7tY4nVpbqWECxA//vjykTJUJ+3sHB7iVaMaT9NhNfa0qcRCbYSVzuzgpvTEZRaStcaLA1otXohOBIij43FQKOewWQ0AFhHaVNbzTDi5yN7XIdsDn7Xpn59eMOZ/yIWLOdQFJg7adw6fYUO+5igQNmRd+bkYljN/DqQtawPaJdNsk/vgbxu2Fge9Swle9ZoEpnuGYG7DcKVfYqsK7KRA3YhRb5yrHNGXpg94zSfB4MJ0zVp+oZn2vOE3bFKf7hJyzKJ7S+pKcYm19ZjuXMNAASVaHNZs6io7pR3blA8xHGNlcrkrI9hcUCW4rYFmKs2oaK1fiRrs17+XEg7ouPw2ljt1qBDQCYdYFYg+fNE674/Y9n1OZSTGvZb3Y+Gilzr8dFkNOts6xVpK++InbyxsKVn7J6+g0RiEWgkUcTH6F7bQe+aKsPqc1ib+ZrPPPQCPXYD80ZNJLqR6bSsjwr0afbWkNuBN2nTVjbweDO+mgw5l3z1sWp9gVQMaYGgmkvslkkthNEer4iXGmclDg5U/ugDgzdwUOmVtlYxXb/dEko8ZUlBE8T1luUa+FxsRoozEBYbRA0skQ/CfabbOHVccK6OK7sPCpr8EDIfHkm/32bcX7WsOSln1d2injNOgVPZ40w7Vpdf0OOYnJlQRx1uTBvS2/TSxKhrdl5EJtxeobfpAdn8VkcxJxKvnSzFfsvTiKs/Hde5km2WX6wochadpZ1ys+BMhViYDfHjtdkmgsIZt6C3JXC/9bSjNx91bSkjm/11lzaFFwL1NbA018hZlf6c83jFFhWsRgmWUjttTyvNWmg2qsWtgstAfQNbYr10fUjdEDrGNy/d5W6ZYJTxNCegosvzPl7l3BXXgy8dmR2iC23mudomQ8R+jx+rKzmq7XB64Kdtseu74bFY904qs3Oj7UOfl4AHbDvc3SZtvewQVNs3K1B5wR4sm1r4iaJP/6rYVWG2y/xMtTegWuu4E7pR2rM/1U2Z6RbiJtLby9mUhcrQBqtkJBdNzgNSSZN5bx6208FUxgUMwmyXfiHXjNyLAW4ADfToCpD4cFBawncq/x0LpS95vCtcKMANYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VeMVUEhxnL1YccjY7Zi9AC",
      "input": {
        "note": "Left arm stalled (no motion on the last command). Backing up to a less awkward pose above the cap before retrying.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.12,
          "left_yaw": -0.95,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01VeMVUEhxnL1YccjY7Zi9AC",
      "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]: [-0.0547, 1.6657, 0.7372, -0.0082, 0.6823, 0.5964, 0.9997, 0.2882, 1.5417, 0.7437, 0.1181, -0.4198, -0.2974, 0.054]\nstate[eef_state]: left_x=0.3561 left_y=-0.1275 left_z=0.0478 left_yaw=-0.9412 left_pitch=-0.1083 left_roll=-0.0892 left_gripper=0.9997 right_x=0.3681 right_y=0.188 right_z=0.097 right_yaw=0.7928 right_pitch=-0.0555 right_roll=0.0167 right_gripper=0.054\nstate[joint_eff]: [1.1419, -9.4427, 9.9077, 1.8486, 0.5348, 0.2027, -0.0122, -0.1573, -6.5983, 6.1607, 1.5946, -0.2271, -0.0708, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99b0ad91aa9b2f4f0396afea20073a6a99e05908e615db9451a694f5d66efaf6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:060110df2bfb4129db2bb803d25acd3a37d040a5573e1da06f6ace742a518015",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:437aee31198b77ef2417c665b51568651443f25a0654f810335a39dcaa78e843",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 17.5 s
model
claude-opus-5-5
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]: [-0.0788, 1.6653, 0.6762, 0.0948, 0.6735, 0.5785, 0.9998, 0.2882, 1.5417, 0.7437, 0.1219, -0.4198, -0.2974, 0.054]\nstate[eef_state]: left_x=0.3505 left_y=-0.1346 left_z=0.0409 left_yaw=-0.9466 left_pitch=-0.0873 left_roll=-0.0662 left_gripper=0.9998 right_x=0.3686 right_y=0.1881 right_z=0.0977 right_yaw=0.7927 right_pitch=-0.0522 right_roll=0.0148 right_gripper=0.054\nstate[joint_eff]: [-0.0068, -7.9521, 7.3778, 1.5458, 0.486, 0.1245, -0.0171, -0.0205, -6.4342, 6.1607, 1.619, -0.1978, -0.0415, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.0788, 1.6653, 0.6762, 0.0948, 0.6735, 0.5789, 0.9997, 0.2882, 1.5417, 0.7437, 0.1188, -0.4198, -0.2974, 0.054]\nstate[eef_state]: left_x=0.3505 left_y=-0.1346 left_z=0.0409 left_yaw=-0.9468 left_pitch=-0.0873 left_roll=-0.0659 left_gripper=0.9997 right_x=0.3682 right_y=0.188 right_z=0.0972 right_yaw=0.7928 right_pitch=-0.0549 right_roll=0.0163 right_gripper=0.054\nstate[joint_eff]: [-0.212, -8.1299, 7.5282, 1.5311, 0.4762, 0.1538, -0.0171, -0.2393, -6.6393, 6.1607, 1.5995, -0.1538, -0.0464, 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 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]: [-0.0547, 1.6657, 0.7372, -0.0082, 0.6823, 0.5964, 0.9997, 0.2882, 1.5417, 0.7437, 0.1181, -0.4198, -0.2974, 0.054]\nstate[eef_state]: left_x=0.3561 left_y=-0.1275 left_z=0.0478 left_yaw=-0.9412 left_pitch=-0.1083 left_roll=-0.0892 left_gripper=0.9997 right_x=0.3681 right_y=0.188 right_z=0.097 right_yaw=0.7928 right_pitch=-0.0555 right_roll=0.0167 right_gripper=0.054\nstate[joint_eff]: [1.1419, -9.4427, 9.9077, 1.8486, 0.5348, 0.2027, -0.0122, -0.1573, -6.5983, 6.1607, 1.5946, -0.2271, -0.0708, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99b0ad91aa9b2f4f0396afea20073a6a99e05908e615db9451a694f5d66efaf6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:060110df2bfb4129db2bb803d25acd3a37d040a5573e1da06f6ace742a518015",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:437aee31198b77ef2417c665b51568651443f25a0654f810335a39dcaa78e843",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwwkKEAgSGAI4AUIIdGhpbmtpbmcSDGxA9ykS0tEo4S8HwBoMaK4lG6PvwUkoh/CeIjDpYsILak7h9ui+g7LPlOYOuTR/DIzlFJFO7MZV3IYz8SRsjkldrjKj7RX0fIo1Kqkq4AhbcvomvFSB2lEuaWe8gEFgKzxGyjOxWcBS4TKE0a7wtWycPsBWRZOolZQCH0Em+6WchxEMKiP9Qee2ed0lxFMYaulpnDv5M8jKR+45/rJ5USSolm+UP47MzDZJyBH+qyHZ7iSRaB7vuUdykAA+9sDVyI7oSv/AxbsiDl638xsFCl1d/S8Nyirj7oyoBMwptSt7r3jjnPZ66svtTvMApEC0OOmwZKjTvRgVoJaVTUJesWDlDF16W5ksTtnPbD7Ub/K6oRBkYjHFHidPBGCHkn5HzCO3lV0g5uNhmGdbsHGrmiKwbM/sfWDlogjEG3y5aFuJTewRBmt6UqX+OKWWZq6GGg7diMhV7WcGqHf4mKc3Z8TsmBmRQbswf8cJKpTOxXtkuWQe0++iHo9ELiJw1D9nRDWfZIFm9rYxxaVuMRDRjGqZCGpXdOc0mkYznITqO3scPTjcCIgrNusG57DGLquPjPrSWNmOoftQF9YBsZWK92uzqcm6JUPVQ8Cxo8AK+RGjqOWnlknMoHqJDMJwHVP7wXbDTRIJ2RCRDeS0faKuFPGbTZmW2XERVkC0jHU1OeFR+FTzqW01xZ4ux1gGJIWp2DIu+fFToZ/AmLpRKxsggb6VkxaiO5d7OEUScXGZC98lVB4rLJO26DLc+RqH4nSJjpCxX3muMQxNvNKnWg9T9wLqi/deSRUJKZU3MS9NAWBX17ROqCJuyMlITBZJF1YJjZyK6f2m/dWFeUvRL4Bz2ldyC9Chn58mTktKaIAV1lcCVFIA5uelAknFMP8I3vA7nFjlIUtvbYl03Hbdd9XvpayreyzrIlMEUK2oTaWqLHP5rjSYRoNtxjovXvuQ0SeNgoLmHpPuoloBLA4fq0cvosEdCjz3Lkv3B9P4sqEaZh8GonyfD0AcLN8+tLkL3YfacthpB6RAH0nmAa/hbikYg/MP7WssqcsAjYVJae7XbX7sP7anoZ/XuJvK4Av554XIcyBnWjG8kigTw00PLFhtPGYmrteGo12+4G203UBgDVPKCp3ElnpO02Be0swzQObT3pzJyjzdRYYCH+Zeigd+l4p3EdR35LHptPExl9RxdWVl/2uat4CdVYLE7w4c9ObVIUpMQpxVxLOV2rWk8pqdwvz/6CzlZBfoGZ2rfuRJlm79kjBTOivpZ4gi0XMv1mM07h7ch3EB3kNmSKlDPlO9TSxP4oTZ9oxWMKMwpMNp8vbzZbfnaN00exZwDFuBZbJcnJYvRTJVvtXO/cskApqMQ+0S8eslCfwgOhA/gStLhqqZefa/ZWaQQncTQ13NIonhMVtPu5VFqYFeaabKdPAs+txZU3XvOW/2azlTJT9d48J3kUEwTbaxWG7LuA5RyKYQSoYmfWaBrhRCSqnfg21NtmgFysk3YFPyCENExWySKMEh9TywemJ/EjmrGOQMRYTvtjCrIWvHGNK8cj8A4TZcEbMYUTXbjcXioQ0JWscH2Tvk7fjkqe9za8bz29F/uQvXGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DJ5GVkEdPtPw4QLDWPkBc4",
      "input": {
        "note": "Left arm barely responding at low height. Trying a pure lift to see whether it tracks vertical motion.",
        "targets": {
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01DJ5GVkEdPtPw4QLDWPkBc4",
      "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]: [-0.0586, 1.5032, 0.9531, -0.4049, 0.6769, 0.5999, 0.9997, 0.2882, 1.5417, 0.7437, 0.1116, -0.4198, -0.2974, 0.054]\nstate[eef_state]: left_x=0.3555 left_y=-0.1281 left_z=0.129 left_yaw=-0.9451 left_pitch=-0.1231 left_roll=-0.0981 left_gripper=0.9997 right_x=0.3672 right_y=0.1877 right_z=0.0959 right_yaw=0.793 right_pitch=-0.0612 right_roll=0.0198 right_gripper=0.054\nstate[joint_eff]: [0.1299, -8.3897, 8.8957, 1.2723, 0.2857, -0.0562, -0.0073, -0.0889, -6.5709, 6.147, 1.6239, -0.2222, -0.0611, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e2856820647eb92060f8c8cd934e314c465171f4275945d8206c62c8c5a5314",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5924044f25495080f5a6d49128699bbeb80826768313f128d048c65b21140365",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0a4e12b8c468f7d4344556082d08d26b0786538c728456d1d5c5c792a18c496e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 11.1 s
model
claude-opus-5-5
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]: [-0.0788, 1.6653, 0.6762, 0.0948, 0.6735, 0.5789, 0.9997, 0.2882, 1.5417, 0.7437, 0.1188, -0.4198, -0.2974, 0.054]\nstate[eef_state]: left_x=0.3505 left_y=-0.1346 left_z=0.0409 left_yaw=-0.9468 left_pitch=-0.0873 left_roll=-0.0659 left_gripper=0.9997 right_x=0.3682 right_y=0.188 right_z=0.0972 right_yaw=0.7928 right_pitch=-0.0549 right_roll=0.0163 right_gripper=0.054\nstate[joint_eff]: [-0.212, -8.1299, 7.5282, 1.5311, 0.4762, 0.1538, -0.0171, -0.2393, -6.6393, 6.1607, 1.5995, -0.1538, -0.0464, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0547, 1.6657, 0.7372, -0.0082, 0.6823, 0.5964, 0.9997, 0.2882, 1.5417, 0.7437, 0.1181, -0.4198, -0.2974, 0.054]\nstate[eef_state]: left_x=0.3561 left_y=-0.1275 left_z=0.0478 left_yaw=-0.9412 left_pitch=-0.1083 left_roll=-0.0892 left_gripper=0.9997 right_x=0.3681 right_y=0.188 right_z=0.097 right_yaw=0.7928 right_pitch=-0.0555 right_roll=0.0167 right_gripper=0.054\nstate[joint_eff]: [1.1419, -9.4427, 9.9077, 1.8486, 0.5348, 0.2027, -0.0122, -0.1573, -6.5983, 6.1607, 1.5946, -0.2271, -0.0708, 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 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]: [-0.0586, 1.5032, 0.9531, -0.4049, 0.6769, 0.5999, 0.9997, 0.2882, 1.5417, 0.7437, 0.1116, -0.4198, -0.2974, 0.054]\nstate[eef_state]: left_x=0.3555 left_y=-0.1281 left_z=0.129 left_yaw=-0.9451 left_pitch=-0.1231 left_roll=-0.0981 left_gripper=0.9997 right_x=0.3672 right_y=0.1877 right_z=0.0959 right_yaw=0.793 right_pitch=-0.0612 right_roll=0.0198 right_gripper=0.054\nstate[joint_eff]: [0.1299, -8.3897, 8.8957, 1.2723, 0.2857, -0.0562, -0.0073, -0.0889, -6.5709, 6.147, 1.6239, -0.2222, -0.0611, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e2856820647eb92060f8c8cd934e314c465171f4275945d8206c62c8c5a5314",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5924044f25495080f5a6d49128699bbeb80826768313f128d048c65b21140365",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a4e12b8c468f7d4344556082d08d26b0786538c728456d1d5c5c792a18c496e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QBJeYWXgWaPhCdxKdDyqrA",
      "input": {
        "note": "Lift worked; the cap is ahead of the left grasp point (seen upper-left in the wrist cam, aligned with the jaws). Moving forward ~5 cm and slightly lower to centre over it.",
        "targets": {
          "left_x": 0.41,
          "left_y": -0.125,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01QBJeYWXgWaPhCdxKdDyqrA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0429, 1.7397, 1.0397, -0.3706, 0.6685, 0.6037, 0.9997, 0.2882, 1.5421, 0.7429, 0.1078, -0.4198, -0.2974, 0.054]\nstate[eef_state]: left_x=0.3856 left_y=-0.1226 left_z=0.0773 left_yaw=-0.9411 left_pitch=-0.201 left_roll=-0.1818 left_gripper=0.9997 right_x=0.3665 right_y=0.1875 right_z=0.0947 right_yaw=0.7931 right_pitch=-0.0656 right_roll=0.0222 right_gripper=0.054\nstate[joint_eff]: [0.294, -8.335, 9.1556, 1.4676, 0.4518, 0.1148, -0.0122, -0.1573, -6.6393, 6.2017, 1.5946, -0.2173, -0.0317, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e6c8bc6e3845d1303b18c8ace5a246c731284770c126f6097d335778a2fd61d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:988b68e5ef3ea0664274c7f5613910cb41e58f024dbdbd2f71e9c1faed18c05f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:18b2e3341c9916770ca6646ff762106588caabb5a9dd125afe6cb52a0727d809",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 7.301 s
model
claude-opus-5-5
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]: [-0.0547, 1.6657, 0.7372, -0.0082, 0.6823, 0.5964, 0.9997, 0.2882, 1.5417, 0.7437, 0.1181, -0.4198, -0.2974, 0.054]\nstate[eef_state]: left_x=0.3561 left_y=-0.1275 left_z=0.0478 left_yaw=-0.9412 left_pitch=-0.1083 left_roll=-0.0892 left_gripper=0.9997 right_x=0.3681 right_y=0.188 right_z=0.097 right_yaw=0.7928 right_pitch=-0.0555 right_roll=0.0167 right_gripper=0.054\nstate[joint_eff]: [1.1419, -9.4427, 9.9077, 1.8486, 0.5348, 0.2027, -0.0122, -0.1573, -6.5983, 6.1607, 1.5946, -0.2271, -0.0708, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0586, 1.5032, 0.9531, -0.4049, 0.6769, 0.5999, 0.9997, 0.2882, 1.5417, 0.7437, 0.1116, -0.4198, -0.2974, 0.054]\nstate[eef_state]: left_x=0.3555 left_y=-0.1281 left_z=0.129 left_yaw=-0.9451 left_pitch=-0.1231 left_roll=-0.0981 left_gripper=0.9997 right_x=0.3672 right_y=0.1877 right_z=0.0959 right_yaw=0.793 right_pitch=-0.0612 right_roll=0.0198 right_gripper=0.054\nstate[joint_eff]: [0.1299, -8.3897, 8.8957, 1.2723, 0.2857, -0.0562, -0.0073, -0.0889, -6.5709, 6.147, 1.6239, -0.2222, -0.0611, 1.0281]",
      "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]: [-0.0429, 1.7397, 1.0397, -0.3706, 0.6685, 0.6037, 0.9997, 0.2882, 1.5421, 0.7429, 0.1078, -0.4198, -0.2974, 0.054]\nstate[eef_state]: left_x=0.3856 left_y=-0.1226 left_z=0.0773 left_yaw=-0.9411 left_pitch=-0.201 left_roll=-0.1818 left_gripper=0.9997 right_x=0.3665 right_y=0.1875 right_z=0.0947 right_yaw=0.7931 right_pitch=-0.0656 right_roll=0.0222 right_gripper=0.054\nstate[joint_eff]: [0.294, -8.335, 9.1556, 1.4676, 0.4518, 0.1148, -0.0122, -0.1573, -6.6393, 6.2017, 1.5946, -0.2173, -0.0317, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e6c8bc6e3845d1303b18c8ace5a246c731284770c126f6097d335778a2fd61d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:988b68e5ef3ea0664274c7f5613910cb41e58f024dbdbd2f71e9c1faed18c05f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18b2e3341c9916770ca6646ff762106588caabb5a9dd125afe6cb52a0727d809",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KdpT44KTuPyaDUeXgCg1fW",
      "input": {
        "note": "Cap still appears ahead and left of the jaw column in the left wrist cam. Continuing forward and down in a modest step, re-levelling the tool.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.43,
          "left_y": -0.13,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01KdpT44KTuPyaDUeXgCg1fW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0399, 1.7538, 1.0576, -0.3481, 0.6659, 0.6041, 0.9998, 0.2886, 1.5421, 0.7429, 0.1043, -0.4198, -0.2974, 0.054]\nstate[eef_state]: left_x=0.395 left_y=-0.1214 left_z=0.08 left_yaw=-0.9326 left_pitch=-0.1863 left_roll=-0.1591 left_gripper=0.9998 right_x=0.3659 right_y=0.1875 right_z=0.0941 right_yaw=0.7936 right_pitch=-0.0686 right_roll=0.0239 right_gripper=0.054\nstate[joint_eff]: [-0.212, -8.8, 8.9231, 1.4432, 0.4518, 0.0806, -0.0122, -0.0752, -6.5846, 6.2017, 1.5849, -0.2125, -0.022, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94f4d657d65ba31ca4e6b379e53b023a2f7b6c8096836208892150cc43c6a0a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe3d3345fff1e8a0695b7fdeb1f8aefe43e3790da8d407dc08c0c976efb6e3b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5b933409f08055f37885ab3269723c0b7a2d4b7339796d0b7cf09060e408483b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 8.412 s
model
claude-opus-5-5
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]: [-0.0586, 1.5032, 0.9531, -0.4049, 0.6769, 0.5999, 0.9997, 0.2882, 1.5417, 0.7437, 0.1116, -0.4198, -0.2974, 0.054]\nstate[eef_state]: left_x=0.3555 left_y=-0.1281 left_z=0.129 left_yaw=-0.9451 left_pitch=-0.1231 left_roll=-0.0981 left_gripper=0.9997 right_x=0.3672 right_y=0.1877 right_z=0.0959 right_yaw=0.793 right_pitch=-0.0612 right_roll=0.0198 right_gripper=0.054\nstate[joint_eff]: [0.1299, -8.3897, 8.8957, 1.2723, 0.2857, -0.0562, -0.0073, -0.0889, -6.5709, 6.147, 1.6239, -0.2222, -0.0611, 1.0281]",
      "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]: [-0.0429, 1.7397, 1.0397, -0.3706, 0.6685, 0.6037, 0.9997, 0.2882, 1.5421, 0.7429, 0.1078, -0.4198, -0.2974, 0.054]\nstate[eef_state]: left_x=0.3856 left_y=-0.1226 left_z=0.0773 left_yaw=-0.9411 left_pitch=-0.201 left_roll=-0.1818 left_gripper=0.9997 right_x=0.3665 right_y=0.1875 right_z=0.0947 right_yaw=0.7931 right_pitch=-0.0656 right_roll=0.0222 right_gripper=0.054\nstate[joint_eff]: [0.294, -8.335, 9.1556, 1.4676, 0.4518, 0.1148, -0.0122, -0.1573, -6.6393, 6.2017, 1.5946, -0.2173, -0.0317, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0399, 1.7538, 1.0576, -0.3481, 0.6659, 0.6041, 0.9998, 0.2886, 1.5421, 0.7429, 0.1043, -0.4198, -0.2974, 0.054]\nstate[eef_state]: left_x=0.395 left_y=-0.1214 left_z=0.08 left_yaw=-0.9326 left_pitch=-0.1863 left_roll=-0.1591 left_gripper=0.9998 right_x=0.3659 right_y=0.1875 right_z=0.0941 right_yaw=0.7936 right_pitch=-0.0686 right_roll=0.0239 right_gripper=0.054\nstate[joint_eff]: [-0.212, -8.8, 8.9231, 1.4432, 0.4518, 0.0806, -0.0122, -0.0752, -6.5846, 6.2017, 1.5849, -0.2125, -0.022, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94f4d657d65ba31ca4e6b379e53b023a2f7b6c8096836208892150cc43c6a0a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe3d3345fff1e8a0695b7fdeb1f8aefe43e3790da8d407dc08c0c976efb6e3b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b933409f08055f37885ab3269723c0b7a2d4b7339796d0b7cf09060e408483b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GFaUH3EFxJh9MgxZsy3t2Y",
      "input": {
        "note": "Left arm is stuck near x=0.39 z=0.08 with the wrist apparently at a limit. Reducing the yaw demand to free the IK while continuing toward the cap.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.42,
          "left_y": -0.13,
          "left_yaw": -0.6,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01GFaUH3EFxJh9MgxZsy3t2Y",
      "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]: [-0.1688, 1.7344, 0.7136, 0.0593, 0.4461, 0.3401, 0.9997, 0.2886, 1.5421, 0.7425, 0.1036, -0.4194, -0.2974, 0.054]\nstate[eef_state]: left_x=0.356 left_y=-0.1344 left_z=0.0069 left_yaw=-0.7528 left_pitch=-0.2711 left_roll=-0.1508 left_gripper=0.9997 right_x=0.3657 right_y=0.1874 right_z=0.0938 right_yaw=0.7934 right_pitch=-0.0697 right_roll=0.0242 right_gripper=0.054\nstate[joint_eff]: [0.7726, -7.1043, 6.4205, 2.0733, 0.0024, 0.022, -0.0171, -0.0752, -6.3795, 6.1607, 1.6239, -0.1929, -0.0269, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9098417079f2f82383c603e0606c8d92f3ebb7b28af3a2c49dde7b2e9535606",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2a863b03938c0256a0fdcdad2f6e0821239083d2f24aad2d39ee090dacff371",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1af3c44ebbcae70911671d60ceee6d876b53788160955733f4746bfc912b0f14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 6.558 s
model
claude-opus-5-5
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]: [-0.0429, 1.7397, 1.0397, -0.3706, 0.6685, 0.6037, 0.9997, 0.2882, 1.5421, 0.7429, 0.1078, -0.4198, -0.2974, 0.054]\nstate[eef_state]: left_x=0.3856 left_y=-0.1226 left_z=0.0773 left_yaw=-0.9411 left_pitch=-0.201 left_roll=-0.1818 left_gripper=0.9997 right_x=0.3665 right_y=0.1875 right_z=0.0947 right_yaw=0.7931 right_pitch=-0.0656 right_roll=0.0222 right_gripper=0.054\nstate[joint_eff]: [0.294, -8.335, 9.1556, 1.4676, 0.4518, 0.1148, -0.0122, -0.1573, -6.6393, 6.2017, 1.5946, -0.2173, -0.0317, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0399, 1.7538, 1.0576, -0.3481, 0.6659, 0.6041, 0.9998, 0.2886, 1.5421, 0.7429, 0.1043, -0.4198, -0.2974, 0.054]\nstate[eef_state]: left_x=0.395 left_y=-0.1214 left_z=0.08 left_yaw=-0.9326 left_pitch=-0.1863 left_roll=-0.1591 left_gripper=0.9998 right_x=0.3659 right_y=0.1875 right_z=0.0941 right_yaw=0.7936 right_pitch=-0.0686 right_roll=0.0239 right_gripper=0.054\nstate[joint_eff]: [-0.212, -8.8, 8.9231, 1.4432, 0.4518, 0.0806, -0.0122, -0.0752, -6.5846, 6.2017, 1.5849, -0.2125, -0.022, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1688, 1.7344, 0.7136, 0.0593, 0.4461, 0.3401, 0.9997, 0.2886, 1.5421, 0.7425, 0.1036, -0.4194, -0.2974, 0.054]\nstate[eef_state]: left_x=0.356 left_y=-0.1344 left_z=0.0069 left_yaw=-0.7528 left_pitch=-0.2711 left_roll=-0.1508 left_gripper=0.9997 right_x=0.3657 right_y=0.1874 right_z=0.0938 right_yaw=0.7934 right_pitch=-0.0697 right_roll=0.0242 right_gripper=0.054\nstate[joint_eff]: [0.7726, -7.1043, 6.4205, 2.0733, 0.0024, 0.022, -0.0171, -0.0752, -6.3795, 6.1607, 1.6239, -0.1929, -0.0269, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9098417079f2f82383c603e0606c8d92f3ebb7b28af3a2c49dde7b2e9535606",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2a863b03938c0256a0fdcdad2f6e0821239083d2f24aad2d39ee090dacff371",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1af3c44ebbcae70911671d60ceee6d876b53788160955733f4746bfc912b0f14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015o2EkQdvuVzA9jde75Kxk9",
      "input": {
        "note": "Cap is now close in the left wrist view, left of and slightly ahead of the jaws, tilted ~20°. Shifting tool-left/forward and rotating to align before grasping.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.4,
          "left_y": -0.12,
          "left_yaw": -1.0,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015o2EkQdvuVzA9jde75Kxk9",
      "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]: [-0.1013, 1.7798, 0.6586, 0.2607, 0.5434, 0.3801, 0.9997, 0.2882, 1.5421, 0.7425, 0.1028, -0.4198, -0.2974, 0.0569]\nstate[eef_state]: left_x=0.3688 left_y=-0.1257 left_z=0.0081 left_yaw=-0.7676 left_pitch=-0.1415 left_roll=-0.1249 left_gripper=0.9997 right_x=0.3656 right_y=0.1872 right_z=0.0937 right_yaw=0.7933 right_pitch=-0.0702 right_roll=0.0248 right_gripper=0.0569\nstate[joint_eff]: [-0.4308, -7.4188, 5.0667, 1.4725, 0.4518, 0.1734, -0.0122, -0.2393, -6.2838, 6.2974, 1.5604, -0.1929, -0.0073, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2b73f9e3ff772c939dd1d09cd4cdd66ae1837df7d4997f0e0d7df381cc7add1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1c23bc9b18dcc61674fa92ad39a09086684427309514feab3a5a6220bb82f9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3e72d6b56d64ee9a5534f4fd13e86e613b87eab4f07920b4b51d6d8da44534f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 5.651 s
model
claude-opus-5-5
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]: [-0.0399, 1.7538, 1.0576, -0.3481, 0.6659, 0.6041, 0.9998, 0.2886, 1.5421, 0.7429, 0.1043, -0.4198, -0.2974, 0.054]\nstate[eef_state]: left_x=0.395 left_y=-0.1214 left_z=0.08 left_yaw=-0.9326 left_pitch=-0.1863 left_roll=-0.1591 left_gripper=0.9998 right_x=0.3659 right_y=0.1875 right_z=0.0941 right_yaw=0.7936 right_pitch=-0.0686 right_roll=0.0239 right_gripper=0.054\nstate[joint_eff]: [-0.212, -8.8, 8.9231, 1.4432, 0.4518, 0.0806, -0.0122, -0.0752, -6.5846, 6.2017, 1.5849, -0.2125, -0.022, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1688, 1.7344, 0.7136, 0.0593, 0.4461, 0.3401, 0.9997, 0.2886, 1.5421, 0.7425, 0.1036, -0.4194, -0.2974, 0.054]\nstate[eef_state]: left_x=0.356 left_y=-0.1344 left_z=0.0069 left_yaw=-0.7528 left_pitch=-0.2711 left_roll=-0.1508 left_gripper=0.9997 right_x=0.3657 right_y=0.1874 right_z=0.0938 right_yaw=0.7934 right_pitch=-0.0697 right_roll=0.0242 right_gripper=0.054\nstate[joint_eff]: [0.7726, -7.1043, 6.4205, 2.0733, 0.0024, 0.022, -0.0171, -0.0752, -6.3795, 6.1607, 1.6239, -0.1929, -0.0269, 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 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]: [-0.1013, 1.7798, 0.6586, 0.2607, 0.5434, 0.3801, 0.9997, 0.2882, 1.5421, 0.7425, 0.1028, -0.4198, -0.2974, 0.0569]\nstate[eef_state]: left_x=0.3688 left_y=-0.1257 left_z=0.0081 left_yaw=-0.7676 left_pitch=-0.1415 left_roll=-0.1249 left_gripper=0.9997 right_x=0.3656 right_y=0.1872 right_z=0.0937 right_yaw=0.7933 right_pitch=-0.0702 right_roll=0.0248 right_gripper=0.0569\nstate[joint_eff]: [-0.4308, -7.4188, 5.0667, 1.4725, 0.4518, 0.1734, -0.0122, -0.2393, -6.2838, 6.2974, 1.5604, -0.1929, -0.0073, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2b73f9e3ff772c939dd1d09cd4cdd66ae1837df7d4997f0e0d7df381cc7add1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1c23bc9b18dcc61674fa92ad39a09086684427309514feab3a5a6220bb82f9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e72d6b56d64ee9a5534f4fd13e86e613b87eab4f07920b4b51d6d8da44534f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2AoKEAgSGAI4AUIIdGhpbmtpbmcSDJH29lIYE6gmupTmFxoMcR+0AzEpPhB7FU0AIjDdrvSbY3pgS/OWc5UnaR32Qh8gC/qUmPH3C+OIT/3E3fClmrCcpr4+/TGvALGCuOsq9QmUeew80s/e8rFln63Xqon7oW/ppkq43mFMl17T3Ae+BV7YKBCH5MLCcA/5jAXfiIxpXDYwrpGHJVE43dkVtJIqkDdI1LFAl6SG5jmAqWC9L4NMj/vqGs1adyNJGkxOne/byBJ1tvdI0xUzwcM6B/ZUjTn1GPK1dr6xnSQo8NfjoJFBT+NHNPVCaDS6Lf01iD55jyRfbwl51HZhUDaSPCjEEK6XOXCNpZiwzR5NFa2CLg/iEO5fgPPfh+hgKS8qp3zW//GY+1/7jj41q1m142NfFVYn1F+xhU7DTeenJEkim8Ntbxmxmk6RoQw8Cg3qg/dNJz0ugNNdsRdg+ibyynSaMycrgBnclZCPMIZlGyZytd9L/46a4W2ICwNhMHkr/ojQKhvQ14bj+n7BN1SRA8tdO7IYNzGilZTKj48/f+KQzjkb2CXgE3F7K0j/AWyPIpvAez/r2T8yI+/f8Vxlr4j7yGNwWTwoZwHDlCF1LEAUgZgdjwzI2Wdm4UXknlXicGEEvX8OeB64kOeH9R1QG00JKW5Q8G8aJhUnyflKzcKSVpQhKp3PyVprfmrf71ipcgctmgtxjH0SdNzhsx7FHYvDnb4Uefjf6cTo7e0B1EXWqdysFQuhAzDeOGmF1cUBFRdyeTLql352m19n5HaAdGBRe1yoNsArfC53Q7a1lEpDv1ExOAyR+vdjUiB8eJ1xRzSdIJNw4x38Xgu2OyHbGgnDeLruV2866SLs2Z/gYPfgH+tXsmWSYjn+UdEFpvXBhz9KT/AgxyHYcgoxnQhcQqGpZ1x0GwwuYTo+q14TUA7bL+p+SY1A0bm0QppVb7JKKvGc5xVVHSyixPwWNg3m+laY1AxD/CcrJ9sUYncPjWM+PoRmKkPRhn0ttTh418ljUgyZdKlOxo3TSUqvbph9DjTrVu0AcMrAtzQZ58dl7XZ8s0lbBFzXNLGheXMlMfjEL9cHj7NIx39/3shJQ62Lh7BaVOlOiQ9U8fGcqXGFokwwjJt7ONWYkgAlJ/O9uDaag70r1qkn71X9uz9xVPCDh9hDKRcfijZVve5UBrs6vLfKyMiCwejH8h3V4CyT2JGtwjKOBXyf6oxYrV3hNtO58M441oIC+HsntyB8gz7G1cdslaWpHGPFZwx/nvZNYu1CoKHiurPKgWiMapjw6Ya2ey2N1NKxVzDWILLwPCAjB6Rk2jQFlWlKVTUYeXrQ9xzsMohQXvSIwbrw6nQ5f56gj8w+Nea50ex6mD3mgPwTpaK3FJoRCsDJ4spgb0P/OIqSQdHe+dqYnkQBUqN5YTgwQqgWPz5M1P7Vnr4VM0sUX7aN/+RofX3ESjvSlV3IbbNiSxKBVPY2osjc4QHVf4jOx+gANRK2MEHMCK/aQohPedagPGXGLERkPw7NtvX9s6e4Lgc03NFz3omPPQk0kFREhmH3TfuwtH/ni6IB/ntVaEiC4m1pFr1qtkPk4JcQygZ55MYqcAIjN8vq3NsOGH9URv92bh0QnN8olCjV8xnqsZ1xf7X5y4vLK6tvih9MUrX7d6e+i7zWicEewownCw4xSwWktnpXIhcR0v633e5KNoZYatV0hmNlrZ1g39TQrNspdi3Y5crPhxVbHZRZdSRdIgxbRVQ5QjP8q+VirIVC+3sp29AbXb6SZAV9b1IUnrI+V9Bd5LTDuwwVwfaLSWScmtkc+MmFGMMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Hmb3vmzBuBZpu3qo3scNsv",
      "input": {
        "note": "Cap is ahead-left of the jaws. Keeping yaw nearly constant (large yaw changes seem to stall this arm) and translating toward the cap at table height.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.41,
          "left_y": -0.1,
          "left_yaw": -0.85,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Hmb3vmzBuBZpu3qo3scNsv",
      "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]: [0.009, 1.9133, 0.7319, 0.3683, 0.6533, 0.4992, 0.9997, 0.2882, 1.5421, 0.7418, 0.1005, -0.4198, -0.2974, 0.0569]\nstate[eef_state]: left_x=0.4027 left_y=-0.1002 left_z=0.0041 left_yaw=-0.798 left_pitch=-0.0464 left_roll=-0.0594 left_gripper=0.9997 right_x=0.3651 right_y=0.1871 right_z=0.093 right_yaw=0.7934 right_pitch=-0.0729 right_roll=0.0263 right_gripper=0.0569\nstate[joint_eff]: [-0.8274, -8.3761, 5.1077, 1.2088, 0.3297, 0.0513, -0.0171, -0.1709, -6.612, 6.188, 1.5849, -0.188, -0.0611, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c0c5db9aac74834b821a6f107ffcc3aeca57b6e1d74bbf3ad4dab45815b496e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f9f7d45ebbc092ceaa34b79169092ae8a41fe3223adefa3a9f304d781594d04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:005dc407782870ee11ee9799bd497c81de01e78276def80df5f99c750fb6bfcd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 4.3 s
model
claude-opus-5-5
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]: [-0.1688, 1.7344, 0.7136, 0.0593, 0.4461, 0.3401, 0.9997, 0.2886, 1.5421, 0.7425, 0.1036, -0.4194, -0.2974, 0.054]\nstate[eef_state]: left_x=0.356 left_y=-0.1344 left_z=0.0069 left_yaw=-0.7528 left_pitch=-0.2711 left_roll=-0.1508 left_gripper=0.9997 right_x=0.3657 right_y=0.1874 right_z=0.0938 right_yaw=0.7934 right_pitch=-0.0697 right_roll=0.0242 right_gripper=0.054\nstate[joint_eff]: [0.7726, -7.1043, 6.4205, 2.0733, 0.0024, 0.022, -0.0171, -0.0752, -6.3795, 6.1607, 1.6239, -0.1929, -0.0269, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.1013, 1.7798, 0.6586, 0.2607, 0.5434, 0.3801, 0.9997, 0.2882, 1.5421, 0.7425, 0.1028, -0.4198, -0.2974, 0.0569]\nstate[eef_state]: left_x=0.3688 left_y=-0.1257 left_z=0.0081 left_yaw=-0.7676 left_pitch=-0.1415 left_roll=-0.1249 left_gripper=0.9997 right_x=0.3656 right_y=0.1872 right_z=0.0937 right_yaw=0.7933 right_pitch=-0.0702 right_roll=0.0248 right_gripper=0.0569\nstate[joint_eff]: [-0.4308, -7.4188, 5.0667, 1.4725, 0.4518, 0.1734, -0.0122, -0.2393, -6.2838, 6.2974, 1.5604, -0.1929, -0.0073, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [0.009, 1.9133, 0.7319, 0.3683, 0.6533, 0.4992, 0.9997, 0.2882, 1.5421, 0.7418, 0.1005, -0.4198, -0.2974, 0.0569]\nstate[eef_state]: left_x=0.4027 left_y=-0.1002 left_z=0.0041 left_yaw=-0.798 left_pitch=-0.0464 left_roll=-0.0594 left_gripper=0.9997 right_x=0.3651 right_y=0.1871 right_z=0.093 right_yaw=0.7934 right_pitch=-0.0729 right_roll=0.0263 right_gripper=0.0569\nstate[joint_eff]: [-0.8274, -8.3761, 5.1077, 1.2088, 0.3297, 0.0513, -0.0171, -0.1709, -6.612, 6.188, 1.5849, -0.188, -0.0611, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c0c5db9aac74834b821a6f107ffcc3aeca57b6e1d74bbf3ad4dab45815b496e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f9f7d45ebbc092ceaa34b79169092ae8a41fe3223adefa3a9f304d781594d04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:005dc407782870ee11ee9799bd497c81de01e78276def80df5f99c750fb6bfcd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzAkKEAgSGAI4AUIIdGhpbmtpbmcSDKn4mpGGqdQo22hAZhoM5pVLJf+bgEFq4Q4KIjD0UpsWX1e4WuWZGu1f+8Uj1Li+GhnMj1MJkWJh9urIxVUdX7poyJ1aZ9WLcg8byr4q6QiE1XEH+MQrRNMI2DHQvm8vRG77yHLt1RUmoWA6op2BWpoK98GOY+ElnvLyr80NPM0T/tYTRTVpdS162S1fHcXN9YVF3YOUr0py8QX4LHnmSSU5ts34K2U8PlBiapExxn6QMhCTBMFItw38cJDddHzQRAdz0nA/Nu+mbg3WIsfunWMVUWWAGTpZJyluK4ZkYdgaASkt3qF/yn9S/FaPAI01+mBGrdR2qgWmPncFC8JHKO3Behx7Ux4effkBU+b8p/Aizf5zXfT+pZzbESba+dpuDfHJropuq2gJSBBVYEwCAMNq2YiTJL/nCBizkcnR8IgEK3cAjiZnxa4WIw2IcxzOoU1WzIRYYewJFIm4eUOAHb3qoHDDtkxupSlJcRCgNKvx7XDrIhAm1uEvDOihjkC+jOLOXRyAzAmZY9tfxripRoqWQdc/H0cKPowYoctzZVIr9l/WtSjYNRQi0ci3tHcWE31P1sPf3CmmIAPwcEtYCtJhv5msKVwr/N1yE1I+UME7g+1lDbS5d0TFC/43wMbua2ET7+yJv/kqzdM8v0w8flgmxhvFqkSg74JAenySLTiY/CRuJVjbXIOrOOs7/wOUu/Qpls08+Y2Vq2WTisMcgG+di+r5RWD7UqyDVMPBj1Ek9yOmFLQ7PLDnTo1BPclaa1Z1c5ocUthJoMwNMzPQv4W8oyEaCp/Im/zOakoxmm+ODzd/z1hGwIQtgKMruJHUxBIHEA+Z39rwVpsro2pYqJPvm6DIJfEoQuVSLQM0LDttTNN6K1NOE7V8mXFsWL1P6tVcxyD/rg5TgwsICxLMU9C3SPSUsBxO0EhJsuHB+DeGLCSaW45XJATbSsmbD1uZ/qHq/+vbBb7X44n7DxuP03+RTIKwFfpF4ZukcjpPKmru1JeWeoSI+Pw4kLhdIHnejjA1V1+HcBk91HRGM8oMFspl+GU5QmwdhnDbcntNqFNMrx5dp+FkPcL6P70NQb1t1DsFhkq4ylNnbLn4KZKoapRjV0In+2m8x3n1a61PN3WWVT+eK3V/ipkCE19ju/UpBpuheZSZTwHl76TR0NZ0f7VcX/jR8FSPMlo8C5y+1lJIivc4er1fTTwtk0tEBoDOxxHoZCOJR+PsUswxKN1Ntn4ul14ftm0DNx+mdlF8e9pa5BgGGxUdX2EfKW9FkqxXkZUgdTjvNCtEksYwDcOpb4xdV8Dn5nZKd5cnrIkSBdYV871+LPdGcOF9IADcjtJw7biYcEjMjmnkO3AInl/JGeS75XA6wjWkamFTu7+p1s80MXQrMLdwsXQuiqqOZlf41v9EVCc5ncveK9Fhlal2t6/Rc0z5fqL459jCS8BpSEOUwZxTc0lxZTGic0f4Aum4e3RthfIsufle66EUyW6IrJLKSsDZ2q81JjORgpKvTcVL56wjd2AXY4o7UOKcCI8Blq24t5WUYrOTIvFbtT87F4uN3lbjVPJpDWKyMwkoph8JMaV0+dh1AbTggU0mK8GB3j9b9owaOZMmGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CWnuM72ZSpUPi5umVQJWjv",
      "input": {
        "note": "Cap is now aligned on the left jaw column, ~3.5 cm ahead of the fingertips. Advancing along the tool's forward axis at table level.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.43,
          "left_y": -0.126,
          "left_yaw": -0.8,
          "left_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_01CWnuM72ZSpUPi5umVQJWjv",
      "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]: [-0.0566, 1.9842, 0.7673, 0.4808, 0.6197, 0.4866, 0.9997, 0.2882, 1.5421, 0.7418, 0.102, -0.4198, -0.2974, 0.0589]\nstate[eef_state]: left_x=0.4196 left_y=-0.123 left_z=0.0013 left_yaw=-0.8308 left_pitch=-0.009 left_roll=0.0015 left_gripper=0.9997 right_x=0.3653 right_y=0.1871 right_z=0.0933 right_yaw=0.7934 right_pitch=-0.0716 right_roll=0.0256 right_gripper=0.0589\nstate[joint_eff]: [-0.0752, -7.5009, 5.7094, 1.16, 0.1441, -0.2808, -0.0122, -0.1162, -6.5846, 6.1333, 1.5653, -0.1832, -0.0464, 0.9988]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ba9d054a1f1baabb641752f624034f3880a83920d4aa1b29e0eee2a8e7438cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:041da243d13ea7a93ee590ff30ceed86a6f025e587e3a52967ad4a69d65cb955",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dd778678f702073cb82f09101e71b47659d673e36f1355894a64e547db6d7923",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 3.676 s
model
claude-opus-5-5
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]: [-0.1013, 1.7798, 0.6586, 0.2607, 0.5434, 0.3801, 0.9997, 0.2882, 1.5421, 0.7425, 0.1028, -0.4198, -0.2974, 0.0569]\nstate[eef_state]: left_x=0.3688 left_y=-0.1257 left_z=0.0081 left_yaw=-0.7676 left_pitch=-0.1415 left_roll=-0.1249 left_gripper=0.9997 right_x=0.3656 right_y=0.1872 right_z=0.0937 right_yaw=0.7933 right_pitch=-0.0702 right_roll=0.0248 right_gripper=0.0569\nstate[joint_eff]: [-0.4308, -7.4188, 5.0667, 1.4725, 0.4518, 0.1734, -0.0122, -0.2393, -6.2838, 6.2974, 1.5604, -0.1929, -0.0073, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [0.009, 1.9133, 0.7319, 0.3683, 0.6533, 0.4992, 0.9997, 0.2882, 1.5421, 0.7418, 0.1005, -0.4198, -0.2974, 0.0569]\nstate[eef_state]: left_x=0.4027 left_y=-0.1002 left_z=0.0041 left_yaw=-0.798 left_pitch=-0.0464 left_roll=-0.0594 left_gripper=0.9997 right_x=0.3651 right_y=0.1871 right_z=0.093 right_yaw=0.7934 right_pitch=-0.0729 right_roll=0.0263 right_gripper=0.0569\nstate[joint_eff]: [-0.8274, -8.3761, 5.1077, 1.2088, 0.3297, 0.0513, -0.0171, -0.1709, -6.612, 6.188, 1.5849, -0.188, -0.0611, 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 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]: [-0.0566, 1.9842, 0.7673, 0.4808, 0.6197, 0.4866, 0.9997, 0.2882, 1.5421, 0.7418, 0.102, -0.4198, -0.2974, 0.0589]\nstate[eef_state]: left_x=0.4196 left_y=-0.123 left_z=0.0013 left_yaw=-0.8308 left_pitch=-0.009 left_roll=0.0015 left_gripper=0.9997 right_x=0.3653 right_y=0.1871 right_z=0.0933 right_yaw=0.7934 right_pitch=-0.0716 right_roll=0.0256 right_gripper=0.0589\nstate[joint_eff]: [-0.0752, -7.5009, 5.7094, 1.16, 0.1441, -0.2808, -0.0122, -0.1162, -6.5846, 6.1333, 1.5653, -0.1832, -0.0464, 0.9988]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ba9d054a1f1baabb641752f624034f3880a83920d4aa1b29e0eee2a8e7438cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:041da243d13ea7a93ee590ff30ceed86a6f025e587e3a52967ad4a69d65cb955",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd778678f702073cb82f09101e71b47659d673e36f1355894a64e547db6d7923",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlQcKEAgSGAI4AUIIdGhpbmtpbmcSDKpNr8FRJvN4hiXKgBoMmaNFploNyviTGMsOIjDEozyFcC1ief8Xn9IlQ+SGsk+Lm1UnbnHms93vuKJNQVSpIe/DJIaRzMB5PZEsjNYqsgZLNnx+4VyB72/zpIvh5dcfiNxEldxBK+LvpjYHe9vNLVfe3s5gmsDtYyVCfuVu8t8uaw/wXrmbthdcZjAys/h0UHSjj7wJh5Ro7r0vnISTLh8G9aLJQWMGVqz2p1OXqNAodXXt+uAAQGZYeOq7Unmi8OOogmbxhogbCGoF+fo7/Qhth1rwtDobICwtJMA/7vfeA+CPK3hVEpgQUkOib0R6HI47jPp+q/csv3ZKqcYNFd5ByWjwa7b5RJ7HFkfcsuaQAmLd1TE8s5v88fCxVg6w2qk/+mz7Styn60C5SPpOY8tljXu9kYjvI1Me06lEY3hnFOdLgKSIeIv+osXJtqcyhWL7vDxhirWNmu4suBFJLEvEk6JIdF6TTwYXXACxuE12SaJ/0vJ+mDtKxZ1R3VuivbJn1l9SFv2wyRlou+KtGVkSv7hNLpQt3HXbL4yFSqrXwxaOtd/waj7v29OUzbYtI5MD6rsJQPj/Y7lx/z2bRBN/rJ9NbCChWfAY6CKDz1jER7UXx1/TS1gAvaNQuwXGl79dkzsU+nI5x++lQtVS5yCrF52P8J2+i6tNeAhPHKgYxngURTgssERq/Ujr/EZAsPDjBFqscjhCjxfmQSOsDzm6Rtd28eqs4ux7HbWRDQWfS7wWu8xzzRruGwik9ouR2DvYd8aaRMLm23r+AYVtUVOYZFFq+FNV4/bcYTBJB/6rcoYnpf4GR0Lc52YJkTfMsks3Cey4ZNF8zHxvWlsz+b3xk9cPdhnW29C5ceLnS9jDo7JXEK+Ycf04vVdveH3bekQKZWNDSmR86I52yeNqZrly2p1S/Dkx2ZNK7ENRMQD6GqFOgZ43jYt1+1+a0wn0wyAxAqG4+KYGxFQbYXmoFmBl1eYhu1vuJo7NEq7f0QTuOMo1o8Kc3bJonroVrAmYOU/HTRxVN8IAuVg+34SXAatInxNj5h/A5Tj6vo3FgukfePYeBbIvANpXsXov13ryceeSbyZng1hLPTsmYl6x5yBIXJnzVt68MZWvonT5rUpLH61O4jC9gyTRcDdasn5AwBUt+OqSt83Vm8lOQycn6oKVZciOg1HLNuy8wdA/D7rtUhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LLHPU5rp5ZVf9FnR2VGiZf",
      "input": {
        "note": "Cap is just ahead of the fingertips, centred on the jaw column. Nudging ~1.5 cm forward and pressing to table level before closing.",
        "targets": {
          "left_x": 0.432,
          "left_y": -0.134,
          "left_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 1 steps (0.1s)",
      "tool_use_id": "toolu_01LLHPU5rp5ZVf9FnR2VGiZf",
      "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]: [-0.0784, 2.0003, 0.7773, 0.5163, 0.5987, 0.4465, 0.9997, 0.2882, 1.5421, 0.7418, 0.1017, -0.4198, -0.2974, 0.0569]\nstate[eef_state]: left_x=0.4254 left_y=-0.1297 left_z=0.002 left_yaw=-0.8151 left_pitch=0.0031 left_roll=-0.002 left_gripper=0.9997 right_x=0.3653 right_y=0.1871 right_z=0.0932 right_yaw=0.7934 right_pitch=-0.0719 right_roll=0.0257 right_gripper=0.0569\nstate[joint_eff]: [0.1573, -8.0342, 5.7368, 1.5311, 0.1001, -0.0708, -0.0122, -0.0068, -6.3385, 6.3932, 1.5458, -0.188, -0.0513, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:121ed0f86da4209c5a62f132e0b982ba952bad2c2e585944007be9010208de01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f3ef396ff854bafc93320f02f504cb42e2a0689c4c39bd053124f9b91fa4f30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d995a09602dce2833d6cb897be353d4445544bb630812249618bbb3d4cabd32f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 16.11 s
model
claude-opus-5-5
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]: [0.009, 1.9133, 0.7319, 0.3683, 0.6533, 0.4992, 0.9997, 0.2882, 1.5421, 0.7418, 0.1005, -0.4198, -0.2974, 0.0569]\nstate[eef_state]: left_x=0.4027 left_y=-0.1002 left_z=0.0041 left_yaw=-0.798 left_pitch=-0.0464 left_roll=-0.0594 left_gripper=0.9997 right_x=0.3651 right_y=0.1871 right_z=0.093 right_yaw=0.7934 right_pitch=-0.0729 right_roll=0.0263 right_gripper=0.0569\nstate[joint_eff]: [-0.8274, -8.3761, 5.1077, 1.2088, 0.3297, 0.0513, -0.0171, -0.1709, -6.612, 6.188, 1.5849, -0.188, -0.0611, 1.0281]\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]: [-0.0566, 1.9842, 0.7673, 0.4808, 0.6197, 0.4866, 0.9997, 0.2882, 1.5421, 0.7418, 0.102, -0.4198, -0.2974, 0.0589]\nstate[eef_state]: left_x=0.4196 left_y=-0.123 left_z=0.0013 left_yaw=-0.8308 left_pitch=-0.009 left_roll=0.0015 left_gripper=0.9997 right_x=0.3653 right_y=0.1871 right_z=0.0933 right_yaw=0.7934 right_pitch=-0.0716 right_roll=0.0256 right_gripper=0.0589\nstate[joint_eff]: [-0.0752, -7.5009, 5.7094, 1.16, 0.1441, -0.2808, -0.0122, -0.1162, -6.5846, 6.1333, 1.5653, -0.1832, -0.0464, 0.9988]",
      "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]: [-0.0784, 2.0003, 0.7773, 0.5163, 0.5987, 0.4465, 0.9997, 0.2882, 1.5421, 0.7418, 0.1017, -0.4198, -0.2974, 0.0569]\nstate[eef_state]: left_x=0.4254 left_y=-0.1297 left_z=0.002 left_yaw=-0.8151 left_pitch=0.0031 left_roll=-0.002 left_gripper=0.9997 right_x=0.3653 right_y=0.1871 right_z=0.0932 right_yaw=0.7934 right_pitch=-0.0719 right_roll=0.0257 right_gripper=0.0569\nstate[joint_eff]: [0.1573, -8.0342, 5.7368, 1.5311, 0.1001, -0.0708, -0.0122, -0.0068, -6.3385, 6.3932, 1.5458, -0.188, -0.0513, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:121ed0f86da4209c5a62f132e0b982ba952bad2c2e585944007be9010208de01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f3ef396ff854bafc93320f02f504cb42e2a0689c4c39bd053124f9b91fa4f30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d995a09602dce2833d6cb897be353d4445544bb630812249618bbb3d4cabd32f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2wcKEAgSGAI4AUIIdGhpbmtpbmcSDE06pQcn4A7RSEimeRoMIB3mdH7aYRdc0y45IjBh9XCwo9YdH5adytjlofl3lFKrYgtvQ8UZCNzkHATBtpSjiXKHuVWF9QlxQFZ8Tfkq+AbGXgQsnm0p0SYG5wCCQK5q8Q1G7GC/1qNx57u4GdcwNu2IDrSApI2ByVLvGUgLOBm9Ith5aVAj7Qv8upAm1YmXAP3COJQt14oV+bWX6QdQ+RfP6nq34jP3PC6lowUvYk8E4A6RHfcSpNw7q+qEbKq5YbigFHK4sc9SSDisPx4ZnBdUNiVNB/m19hRjwEkD+MGyqypE8PdEDiMAVvt+v9AvkQ4O5YXXdrOWIHKAkrAILl+992GajMprp8VLLzIavcLpapS4wu957jTJtRRs43omJLw7lWW18NrmVdZlHY+5dteF6JMCUm0fe/ItZWPLmUtIDaE24ahKdbAbrTDmtJNv5canV1hWKr6D1g9Izs+vF+Fi/QR8n7wUGE/vavz/NIZ8Cv+hOpxr8oIZN1j98HpxIoFQZggTve75WIkZI258txeXsl7Fo4fMLbT6Yrd/2xRQI5CH9/x3C6HfZTin7E2HLjasmvhhc7vY9GYS8u9bdE8rIenNDm+kSfcX/28FrkKCqMwnJOcYCVyWHDPOIdvObJuEwk9e4hha0ZVtoQ2JhRPy6PhWmw3sQ6ALfhmFW+VOGrb6J9h9GE/eSzvf3CVrDky2UbWQhz6Ia/ao2MB5rRij2mC3JZfEt1ROJGsoXVDy3tMJy994bC//1r+Mtl/8OCfgWCx6V0mFbtml3d64v3q+5eK1an32ezDJF/Eq8PB4cMKt6At9kcrzAKRPDlBNCpLIuLg6jQHhtX1S/KIfuxFu2VZkaTaW1Fs/EoAxrW8A6PfcfxChf9T3Uj+cFcqHPcLZobItmaUVLY3Il2A9dkJ00vha6xFLvOONxHwMbkX1RQVofH8tkDihUKvzH/WOqgJulfqWrPwo6hhnDKnfNUNOAtlMTltC3g2ljl+Y8p2f4pqhCQfliAG+Skif3lHDP80BkR685oENr//NuehZBGtznfONFZlLDn5FpP39upCIA/hC+dWG0ACmasNKX+rr3Cl6klucJfSqO8NyveCqNlWEpadqKRvCKPyb6nLvNmhx/73X2stAKWkW5/JvRlWCo3bHxuXEjzOZXOOTm5/H+nnnTc/30dnZJlECEZzYww1heyFtQH2BcM9+L7ZVqp7R5IJWgU+7sv8Qo9X+nq9hm42fsNPFP6ZzTDMWajpi8l76Tdw1Wnfo7An3Cc3ZwqnXOjuScSUwwPMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01X5QasVdNKj5dD9YhnpxiJd",
      "input": {
        "note": "Cap sits centred between the left jaws at table level. Closing the left gripper.",
        "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_01X5QasVdNKj5dD9YhnpxiJd",
      "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]: [-0.0841, 2.0209, 0.8047, 0.5186, 0.606, 0.4534, 0.0425, 0.2882, 1.5421, 0.7418, 0.1013, -0.4198, -0.2974, 0.0569]\nstate[eef_state]: left_x=0.4316 left_y=-0.1338 left_z=0.0027 left_yaw=-0.8301 left_pitch=0.013 left_roll=0.0066 left_gripper=0.0425 right_x=0.3652 right_y=0.1871 right_z=0.0931 right_yaw=0.7934 right_pitch=-0.0722 right_roll=0.0259 right_gripper=0.0569\nstate[joint_eff]: [-0.6359, -7.5966, 5.9966, 1.4188, 0.1441, 0.1685, 1.2039, -0.1709, -6.4205, 6.1197, 1.5849, -0.1587, -0.0513, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95046abf30e1d00a5ea78b156092333e096bc83a17e132c51ac98ba53516ee0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db85b473f09f3f224e286e7011c0a536c8ba5eb3bf83b55bc0dd2f07dc1ae2fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:16238dd5749f7b909bbd31e27a8dd78b33acc796a7423b3503b2fd635f2ffcb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 5.098 s
model
claude-opus-5-5
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]: [-0.0566, 1.9842, 0.7673, 0.4808, 0.6197, 0.4866, 0.9997, 0.2882, 1.5421, 0.7418, 0.102, -0.4198, -0.2974, 0.0589]\nstate[eef_state]: left_x=0.4196 left_y=-0.123 left_z=0.0013 left_yaw=-0.8308 left_pitch=-0.009 left_roll=0.0015 left_gripper=0.9997 right_x=0.3653 right_y=0.1871 right_z=0.0933 right_yaw=0.7934 right_pitch=-0.0716 right_roll=0.0256 right_gripper=0.0589\nstate[joint_eff]: [-0.0752, -7.5009, 5.7094, 1.16, 0.1441, -0.2808, -0.0122, -0.1162, -6.5846, 6.1333, 1.5653, -0.1832, -0.0464, 0.9988]",
      "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]: [-0.0784, 2.0003, 0.7773, 0.5163, 0.5987, 0.4465, 0.9997, 0.2882, 1.5421, 0.7418, 0.1017, -0.4198, -0.2974, 0.0569]\nstate[eef_state]: left_x=0.4254 left_y=-0.1297 left_z=0.002 left_yaw=-0.8151 left_pitch=0.0031 left_roll=-0.002 left_gripper=0.9997 right_x=0.3653 right_y=0.1871 right_z=0.0932 right_yaw=0.7934 right_pitch=-0.0719 right_roll=0.0257 right_gripper=0.0569\nstate[joint_eff]: [0.1573, -8.0342, 5.7368, 1.5311, 0.1001, -0.0708, -0.0122, -0.0068, -6.3385, 6.3932, 1.5458, -0.188, -0.0513, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0841, 2.0209, 0.8047, 0.5186, 0.606, 0.4534, 0.0425, 0.2882, 1.5421, 0.7418, 0.1013, -0.4198, -0.2974, 0.0569]\nstate[eef_state]: left_x=0.4316 left_y=-0.1338 left_z=0.0027 left_yaw=-0.8301 left_pitch=0.013 left_roll=0.0066 left_gripper=0.0425 right_x=0.3652 right_y=0.1871 right_z=0.0931 right_yaw=0.7934 right_pitch=-0.0722 right_roll=0.0259 right_gripper=0.0569\nstate[joint_eff]: [-0.6359, -7.5966, 5.9966, 1.4188, 0.1441, 0.1685, 1.2039, -0.1709, -6.4205, 6.1197, 1.5849, -0.1587, -0.0513, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95046abf30e1d00a5ea78b156092333e096bc83a17e132c51ac98ba53516ee0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db85b473f09f3f224e286e7011c0a536c8ba5eb3bf83b55bc0dd2f07dc1ae2fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16238dd5749f7b909bbd31e27a8dd78b33acc796a7423b3503b2fd635f2ffcb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HinGwtQbK4cY8stcDacMTy",
      "input": {
        "note": "Cap is held in the left gripper (closed end pointing forward), pen in the right (tip forward). Lifting both and starting to rotate them toward yaw 0 so both point forward along one line.",
        "targets": {
          "left_yaw": -0.4,
          "left_z": 0.15,
          "right_yaw": 0.4,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01HinGwtQbK4cY8stcDacMTy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2581, 1.5684, 0.852, 0.1265, 0.1654, 0.1116, 0.0445, 0.4786, 1.4155, 0.7963, -0.0654, -0.0181, 0.0109, 0.0569]\nstate[eef_state]: left_x=0.4254 left_y=-0.1387 left_z=0.1246 left_yaw=-0.4638 left_pitch=-0.0116 left_roll=0.0011 left_gripper=0.0445 right_x=0.3561 right_y=0.1924 right_z=0.1237 right_yaw=0.4829 right_pitch=-0.1284 right_roll=0.0191 right_gripper=0.0569\nstate[joint_eff]: [-0.4308, -9.1282, 9.7573, 1.7021, 0.0269, -0.022, 1.0281, 0.2256, -8.2667, 9.2923, 1.7411, 0.1197, 0.1636, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:560aa862df8205010690218e06056ab8d36503fa1d17702e8d3fdb498005bc88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdf061a6360719c9e5a818d501cd07bdb88ff71cf118c318fdd4017588677f15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e2ab05c9c8b34f536726aa7320f88193a9a9741a07c4e9d21318da42e18f2334",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 7.7 s
model
claude-opus-5-5
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]: [-0.0784, 2.0003, 0.7773, 0.5163, 0.5987, 0.4465, 0.9997, 0.2882, 1.5421, 0.7418, 0.1017, -0.4198, -0.2974, 0.0569]\nstate[eef_state]: left_x=0.4254 left_y=-0.1297 left_z=0.002 left_yaw=-0.8151 left_pitch=0.0031 left_roll=-0.002 left_gripper=0.9997 right_x=0.3653 right_y=0.1871 right_z=0.0932 right_yaw=0.7934 right_pitch=-0.0719 right_roll=0.0257 right_gripper=0.0569\nstate[joint_eff]: [0.1573, -8.0342, 5.7368, 1.5311, 0.1001, -0.0708, -0.0122, -0.0068, -6.3385, 6.3932, 1.5458, -0.188, -0.0513, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0841, 2.0209, 0.8047, 0.5186, 0.606, 0.4534, 0.0425, 0.2882, 1.5421, 0.7418, 0.1013, -0.4198, -0.2974, 0.0569]\nstate[eef_state]: left_x=0.4316 left_y=-0.1338 left_z=0.0027 left_yaw=-0.8301 left_pitch=0.013 left_roll=0.0066 left_gripper=0.0425 right_x=0.3652 right_y=0.1871 right_z=0.0931 right_yaw=0.7934 right_pitch=-0.0722 right_roll=0.0259 right_gripper=0.0569\nstate[joint_eff]: [-0.6359, -7.5966, 5.9966, 1.4188, 0.1441, 0.1685, 1.2039, -0.1709, -6.4205, 6.1197, 1.5849, -0.1587, -0.0513, 1.033]",
      "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]: [-0.2581, 1.5684, 0.852, 0.1265, 0.1654, 0.1116, 0.0445, 0.4786, 1.4155, 0.7963, -0.0654, -0.0181, 0.0109, 0.0569]\nstate[eef_state]: left_x=0.4254 left_y=-0.1387 left_z=0.1246 left_yaw=-0.4638 left_pitch=-0.0116 left_roll=0.0011 left_gripper=0.0445 right_x=0.3561 right_y=0.1924 right_z=0.1237 right_yaw=0.4829 right_pitch=-0.1284 right_roll=0.0191 right_gripper=0.0569\nstate[joint_eff]: [-0.4308, -9.1282, 9.7573, 1.7021, 0.0269, -0.022, 1.0281, 0.2256, -8.2667, 9.2923, 1.7411, 0.1197, 0.1636, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:560aa862df8205010690218e06056ab8d36503fa1d17702e8d3fdb498005bc88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdf061a6360719c9e5a818d501cd07bdb88ff71cf118c318fdd4017588677f15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2ab05c9c8b34f536726aa7320f88193a9a9741a07c4e9d21318da42e18f2334",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxgcKEAgSGAI4AUIIdGhpbmtpbmcSDBglnXNiwLabTYTZzxoM1+7qc5DUFDsaTY8DIjAD/boRys2jzh6TBiH6UjvMGkUrFBgdPF7aM4C2UK0m0Xz2tAIrVfVyGtsF6raisU8q4wZu57ZDqKQb0A+YKrxVA9sVITw/khvSQQis0c9SK1sNJMcFQtkMN6ZAMez+4yiQnw6W8HqYBogRPTVoqEGa4mpblG2X8+YejuvRz0fS/otgZYJctT4kjXfEEaOCifEY/lz5Z+xTWKnzIf3p/2jSJxO6ngF7jYJEAhPFhF4AHtcfSyQebA9uq8yezMgqFBC6PXhMjX5RG0XP9JCaYAmdLn8beFe3WO2orixE/aNuWVoUECZFltX/d+58/gvdS/J/4USWiUo1I6btgyloNOTuNU6IXK0dMQ09Q5VE0bqBRB+3hITLjaL83QKCUM+qqTUWC/i/t7pmbV8dobSmjHCRde3BMY7K1Su44GHIUdw6WTOdPLji0ouLz5Tt9OMiz9jMcZVsyNr8b0yduJUbgvhRF7lJC6yTJhrI/h4q25oJhWavDI5Eeb6qT1NZClyWv3LQ+jaQwkyyPlQiyAkoYxv/l3HTRj1R+C17SbW/Tce4X3taiwTTDucC8op8Nymdy1LdxbVvbEgMJYlNq+z8mjNWWvpqgjitlVR/UILffTo1SJHUVu2gLN1lMj1rRFCnFkfbPOmx2L/1E3olTqtg+IlX5jm/2JvYXooo7HfW0hit1mXxABzQ/vDM7r/aTcFROVJy2U3XHENet05y8C5Rm57VKW5V9BUUBfyHgr+emMD8lJA4pQp5ZZQxab82EoEqIKgEO67r+KdiSNUvDO8CeG6/kcyj98SAhx+YeMpWbg2pyPV4JE9JFoXEzvEUCnb7MjZl1Vy3BEUVZON6C09BGIMAAP/JSt5a1FXcblgEmMX1a8aRXdGoo+wZMfymBbmJKKPK5s5MES4jRJX5LAn79rUme/aNJqVxvCnuG8PUL7njwdE0cYX2+++slduIamF2/qZNT1n9sGng+6tZz6EE8eLQff9ownq6szZMcFoQd6NLdbFy0YHoS6nj2nmuWuueVIqXltAfy+E3fYRtQ4DWnT9cZgsZf6b5H2j3w6ca/Fse4S/mSOBDDTDJIROTXBHGB0wQKFRKrGgzce/MUpND6+vFjNSxqC1F84oWoO6CshtUxZVH+iARVQb3spXeILEZ4PFWHBoTktzPECAFZ8GREPkVYl5+4qFCESYHn4jChasVdltEntcKCAudZ8Xbkrq8j3XI+i6FsA0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RXjj7iNGmranCLRi4xgHVX",
      "input": {
        "note": "Both objects held and lifted. Moving the cap to the table centre line, far forward, pointing straight forward (open end facing back toward where the pen will come from).",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.46,
          "left_y": -0.3,
          "left_yaw": 0,
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01RXjj7iNGmranCLRi4xgHVX",
      "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]: [-0.7666, 1.9949, 1.5524, -0.2832, -0.5819, -0.4553, 0.0445, 0.4839, 1.4132, 0.7929, -0.0898, -0.0139, 0.0113, 0.0569]\nstate[eef_state]: left_x=0.4578 left_y=-0.3011 left_z=0.1576 left_yaw=-0.0509 left_pitch=-0.0185 left_roll=-0.0017 left_gripper=0.0445 right_x=0.3512 right_y=0.1914 right_z=0.1185 right_yaw=0.4844 right_pitch=-0.154 right_roll=0.0167 right_gripper=0.0569\nstate[joint_eff]: [-0.294, -11.7538, 8.8137, 1.2381, -0.4908, 0.0269, 1.0281, -0.4034, -5.6957, 6.8855, 1.8095, -0.0952, -0.0317, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7f8a8cf01aa74d8ad26005799f14816d3484810300e9185806d35fdb285bc02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9dc787c932672fa434eef5a91a0a30f823e92b033f274d47c00cef9cdadd0c82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e7b0f2648fb9b774646a40cf91e7559dc6eaedf8958e2ec45e333b409c308f55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 15.09 s
model
claude-opus-5-5
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]: [-0.0841, 2.0209, 0.8047, 0.5186, 0.606, 0.4534, 0.0425, 0.2882, 1.5421, 0.7418, 0.1013, -0.4198, -0.2974, 0.0569]\nstate[eef_state]: left_x=0.4316 left_y=-0.1338 left_z=0.0027 left_yaw=-0.8301 left_pitch=0.013 left_roll=0.0066 left_gripper=0.0425 right_x=0.3652 right_y=0.1871 right_z=0.0931 right_yaw=0.7934 right_pitch=-0.0722 right_roll=0.0259 right_gripper=0.0569\nstate[joint_eff]: [-0.6359, -7.5966, 5.9966, 1.4188, 0.1441, 0.1685, 1.2039, -0.1709, -6.4205, 6.1197, 1.5849, -0.1587, -0.0513, 1.033]",
      "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]: [-0.2581, 1.5684, 0.852, 0.1265, 0.1654, 0.1116, 0.0445, 0.4786, 1.4155, 0.7963, -0.0654, -0.0181, 0.0109, 0.0569]\nstate[eef_state]: left_x=0.4254 left_y=-0.1387 left_z=0.1246 left_yaw=-0.4638 left_pitch=-0.0116 left_roll=0.0011 left_gripper=0.0445 right_x=0.3561 right_y=0.1924 right_z=0.1237 right_yaw=0.4829 right_pitch=-0.1284 right_roll=0.0191 right_gripper=0.0569\nstate[joint_eff]: [-0.4308, -9.1282, 9.7573, 1.7021, 0.0269, -0.022, 1.0281, 0.2256, -8.2667, 9.2923, 1.7411, 0.1197, 0.1636, 1.0232]",
      "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]: [-0.7666, 1.9949, 1.5524, -0.2832, -0.5819, -0.4553, 0.0445, 0.4839, 1.4132, 0.7929, -0.0898, -0.0139, 0.0113, 0.0569]\nstate[eef_state]: left_x=0.4578 left_y=-0.3011 left_z=0.1576 left_yaw=-0.0509 left_pitch=-0.0185 left_roll=-0.0017 left_gripper=0.0445 right_x=0.3512 right_y=0.1914 right_z=0.1185 right_yaw=0.4844 right_pitch=-0.154 right_roll=0.0167 right_gripper=0.0569\nstate[joint_eff]: [-0.294, -11.7538, 8.8137, 1.2381, -0.4908, 0.0269, 1.0281, -0.4034, -5.6957, 6.8855, 1.8095, -0.0952, -0.0317, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7f8a8cf01aa74d8ad26005799f14816d3484810300e9185806d35fdb285bc02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9dc787c932672fa434eef5a91a0a30f823e92b033f274d47c00cef9cdadd0c82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7b0f2648fb9b774646a40cf91e7559dc6eaedf8958e2ec45e333b409c308f55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Q6eE1ruCWeELv7sJTijNLe",
      "input": {
        "note": "Cap is held pointing forward at the centre line (left arm at x 0.46). Bringing the pen behind it on the same line, tip pointing forward, with a gap before insertion.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.26,
          "right_y": 0.35,
          "right_yaw": 0,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01Q6eE1ruCWeELv7sJTijNLe",
      "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]: [-0.7208, 1.9862, 1.5524, -0.3138, -0.5594, -0.4698, 0.0461, 1.1984, 1.8111, 1.3144, -0.7059, 0.8604, 0.9627, 0.057]\nstate[eef_state]: left_x=0.4664 left_y=-0.2802 left_z=0.1558 left_yaw=-0.0139 left_pitch=-0.0448 left_roll=-0.011 left_gripper=0.0461 right_x=0.2645 right_y=0.319 right_z=0.1317 right_yaw=-0.0047 right_pitch=-0.1012 right_roll=-0.1103 right_gripper=0.057\nstate[joint_eff]: [-3.3709, -10.4, 6.8444, 1.7118, -0.1734, 0.1001, 1.033, 1.6889, -10.2769, 9.5248, 0.9988, 0.8962, 0.3443, 1.0134]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62e40fc33dcb7a2a19606d92aff7985718b7bb94941fd49727eaa44135654f34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:761fe04a7b1db8ce8fc68813466550ce9f518faba77cbf663dff2837f26ad786",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2403433fc204791a4e272d78c931d05452ba625cf7b7db3a7b6ff4f1272a0899",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 5.134 s
model
claude-opus-5-5
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]: [-0.2581, 1.5684, 0.852, 0.1265, 0.1654, 0.1116, 0.0445, 0.4786, 1.4155, 0.7963, -0.0654, -0.0181, 0.0109, 0.0569]\nstate[eef_state]: left_x=0.4254 left_y=-0.1387 left_z=0.1246 left_yaw=-0.4638 left_pitch=-0.0116 left_roll=0.0011 left_gripper=0.0445 right_x=0.3561 right_y=0.1924 right_z=0.1237 right_yaw=0.4829 right_pitch=-0.1284 right_roll=0.0191 right_gripper=0.0569\nstate[joint_eff]: [-0.4308, -9.1282, 9.7573, 1.7021, 0.0269, -0.022, 1.0281, 0.2256, -8.2667, 9.2923, 1.7411, 0.1197, 0.1636, 1.0232]",
      "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]: [-0.7666, 1.9949, 1.5524, -0.2832, -0.5819, -0.4553, 0.0445, 0.4839, 1.4132, 0.7929, -0.0898, -0.0139, 0.0113, 0.0569]\nstate[eef_state]: left_x=0.4578 left_y=-0.3011 left_z=0.1576 left_yaw=-0.0509 left_pitch=-0.0185 left_roll=-0.0017 left_gripper=0.0445 right_x=0.3512 right_y=0.1914 right_z=0.1185 right_yaw=0.4844 right_pitch=-0.154 right_roll=0.0167 right_gripper=0.0569\nstate[joint_eff]: [-0.294, -11.7538, 8.8137, 1.2381, -0.4908, 0.0269, 1.0281, -0.4034, -5.6957, 6.8855, 1.8095, -0.0952, -0.0317, 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]: [-0.7208, 1.9862, 1.5524, -0.3138, -0.5594, -0.4698, 0.0461, 1.1984, 1.8111, 1.3144, -0.7059, 0.8604, 0.9627, 0.057]\nstate[eef_state]: left_x=0.4664 left_y=-0.2802 left_z=0.1558 left_yaw=-0.0139 left_pitch=-0.0448 left_roll=-0.011 left_gripper=0.0461 right_x=0.2645 right_y=0.319 right_z=0.1317 right_yaw=-0.0047 right_pitch=-0.1012 right_roll=-0.1103 right_gripper=0.057\nstate[joint_eff]: [-3.3709, -10.4, 6.8444, 1.7118, -0.1734, 0.1001, 1.033, 1.6889, -10.2769, 9.5248, 0.9988, 0.8962, 0.3443, 1.0134]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62e40fc33dcb7a2a19606d92aff7985718b7bb94941fd49727eaa44135654f34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:761fe04a7b1db8ce8fc68813466550ce9f518faba77cbf663dff2837f26ad786",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2403433fc204791a4e272d78c931d05452ba625cf7b7db3a7b6ff4f1272a0899",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5xgKEAgSGAI4AUIIdGhpbmtpbmcSDAqJmChGHJvp6q/T+hoMvZVjAuAgsJvirFFhIjDIDPYfdjuSvUG081Tvqm2WoO6VBZHquCeODzPDv9s+0mfCP4GfiZuf+9S5sId4n5AqhBgJl3HI9GHKJoCckabG80CB1mew4YleQCx/ltUm5KQeUK1kixWcM6I2Rs4P0tqFFsEZnquFJtjVIGMc24Px65WQdz8mUm5xvgkaPGomLYc1gZrECxuJcBpaV2/oe+D0S9/XtaEIS//lTV+H4wcTcuA95LRrKJh0FA5dK0KRsLOG4Utk6FnVQmljdu+D1xSDL5IdoxhLi/zAoqq5CuklWXox2JXuJKNpt0rg/cs9z00lc41qSDJeOUInql25JvOLFCCOsh3qCYFX2As0HbQ3zz/LbUE+kRhzTQ7IJwE5kWuMO5CiV4Kr9pfkg8qdqtNfBACYAA88I34KPNPU6da1V6g+3RAXyg0WIKUSVOrJo5xxD27oDzshMvOhUX7Vvfz6MX10nDOyDJ8ZwsFG1xtCn43Xi8VT+ebt1UW4NvCEkCvvobdsXwOuzFwaEadmj69DM7cYY0rhixbM5GEUsj62lD1fkhzysPwbbFB5QbF2JmJ07Q4Ib9VzW5Cw5N77SiAd/pocjJSZmVPWXfLuiRHO0WoymmdyVmQQaJ7NIgzfXPxpVxKDoEyNztbfUisiPdAYW+j21PSZPWxeK5BPBTTEEcvtWjadB8N3j85wKaXHC/04FoKxmzS1CNnxHTvamEZ7nqeSuIWf4+dhkTPOI1RtPSOmehvvE1H/QLcM1f2nA3D+xact2o+MO5/XzAIr930ZCyhDh/QRns7YxkJfyIbOCsPe2oIYitvK6F8pkCQM9V75ukU2WXxfC3ZudzK5jtvBTQvkNTdoSzzlWzwNjpasZMyxHJ5IDeCohRnsJzFQG512Ydd8EP/MB26kEkFS+ALmLd/I2frs4noDT3rX+Adrr/wJhZaxvFXd1J+tAgbIN41VWSIF7QOnDCiUuP4CESO+YjHWE3vKEEZqgdhn8IZWYtAq33dePsTk97K6eSpk4mC1ERVlzPh9Xkq+825+//uS3GqceLm4AMNBCJsYUcLTTukVBO89vhgQ7UT89DcLTQLx/AgaJgJ0Y4AZFxOlYuE3czcBUGipJOSveYRxd3vd2cG+LM1Dd69wdFr3qRk2XJdC5de8w6+eOOgSMwrPH1VfN7bHr8qqZH/QLEhmGIAYZkGJEEb+nfZ/hQuwpxAmUnLoXDu0+uwkByy9cudvyp63O6MWszCO+quzGaKN3ddU3OHUxZEdVwi0CqwyeIy5mqeg+vKzZa2zT3a9QmVSxjW4F5AUdHcjgNwHgVjZzs/KTSzX+/oZ5PzPb8Dyc0/8cQq73HX7hcvY0o8gx4CkTBwAMHXzD4g2vVtATyPyrsEI+nO91s85milbHYZtRyfr+ZJZkgqJ0k4n/fQh3FFz7PdbLxjcO8UWmXFTnV6feSyLIC+XN+/SlCChZQynZl6oaDLQuOVSdzTO1UlxaxLmIIvdg2HaKlf17ytqyLF8tOggXhv1DGS3nDkpa7K3Xt4POOSg772+0eLDvW1s2oZx6KG8rQ7SCRDpm4Tai9nwWVW5F2USyakSOhyOWayevhnGaNgRiC3Nf/BJpT/lH8BNkBGWvM5YNNO/GxMQWjwMnh7SVA5hQnsbGQbBNgwYliJd3uvftr0dvf4KA8j+g9fXYJtsCXCoCKTs95ELBhZyMsq2yXQmMyLtJa6kVpZoRLLq69VhZW03pWMMZw/NPuRqfWrPRRFrWu3YY7SEQMaeOu2eO1FBme5khCwkrq3qhCh5fsAx0ydFII+ihglBJOpN8eH5eMlN1RvtDLgnWgVZ08/4XBWIeAgXmIux9rYc5lLuHxa0UJywBcOOiOjo3ZD5/mYzhTRuP4Szfe2/7SjZTUq1bkL3QgVd36rpv+cBcKzSwwBK4ChF4ahGKoBOf6fxZA/n3PVfv/u1X8g9AIgA3nbz8a2zj+H/8mgxTTXvJLA005A/HSg3HlPpJZdMJuP91EatdLryfkggbkk1sfwhPaxVAf3f/buKi3Y0GVOcJuURC4ulStVm/0qRajq4/5DtvPCBvrTQVqZiBUqmHD0N0QOGgoZnufmmo5mOh2Vw0HsVuPBxDKq2J8gpOB/zwX2lT7cYhy28cFUMy4G+ubUdlQIiUX5GPoGV/YXmfiBvtetSyNojPnhLoBdpwQMzjGMOiYoGzyir5IaY1ZiN+4zq6ECMv5as2WWV0T9TYljGCdnUgve7UkwPE05rwM8w/gilFy+yc4PAlUzlt9PAX4Opc5suRIizDSZwvzTM5TdomQeJMhbK30TW3YAVsj6ZBQlVP9GJoZ9YT3Ld67Yxe/DS9s4djL+cRIpPFgGQQ9BeeN6toW/F9yakOqzIrFU5gk08wOdBbt+N289FC4XiSHuqJimsmGujfBDslWw7F3sBUUoawQorGA0onsPFdvsTTbyAfYTC2i+7ljslg4lTLveqv6kHex5PHRRkATvyjiVP+nZx9M4WKleo1p67kfyx9Xr7VJPSlwGlRQKNAFC7XpF05KrOHiiH1Ohr6ylvMnWYDnqSMNGVx+uAK97o5Js3q7BjlTGzHvrGNeqcDT/oevRaZtfpvz6UrdWclo0jfsdBUL9l/BXf+cufdkFf6k36B1UyiV88d6gI/dmRhcwV2BDAXzDMluczFtp9AAzsqode+h60gFQC1d68CBFmqnFzYU2RU/TA7qETPnqauGbMoJZXf/K0UNobfcNqfqLeIKw1WPayBdwOAWB9ALBLd/tXbBrSDEyhzgZ/o8TTP6gevldkRQWaHtcUKEQ5EwhHLlXbrv2VMVowL3gSp0Bid3AaY/1Zwg4dIct5TwpqgGGfRBuUWbtyb5H3/9qPluhH+vnFLqAPirnGaTwddVkjFUh2tmF62lyTG9WO9gEVo6yx6muGZZxRFwdyGNaikypY6jLKz1czh6t4mL08yQwaQhT9g3mjeyeSa30NalGZP8ktVdstyL/xyXSOd+N5z3VEUXlKYDt2wnhFSdh77ysIRJYQto8uovqAD+IKuitT5py3kFEcmZCN0APz0UElkCbOoBt1JUGUcoJuUQc1+BUz2yGEY5yjnrEIDTgJGY4vlRwZqd4phmVQp6BhaVPaknq2jyuvm/o0vZoQeS3WP10MsxRs3jh1iZmZ+j4/UXQw3b5meF5+ezk0gKLYcJ9R8BCP3Xc58SKbu4PWkEl/8YDXWhv+L6fGCkTvyw4mvCPR/BfRDrNTtGBWPghXPH5IjQpISdT0WWZHAXzbYibFaYUG2hlZMzH6VRK28ENS75FJR1HJNMHs6nGidxApHh7eFziZfMaGo4wX5kyX4nfNLiqBzItNCdRmiN/MnP+PIL2wbedd4LGzOQRE7GVUcDCo9rHpqcsotIkZV6Vc5e5XdTrn90dliJGztGiEceD1MduzqT16jdJVdTl0KXDGPFrKSS3D6g8cVYQAg9ae9oB8H6NZg3CY7Yuk0lbSPIZNVG/iuGZ1YvDNJTN0Q2rIvLpQWlWgWhrx4vteBb7qOtDhFtc3zmNxeJxgoYMFkaTQrQD34ul4Pqaml59/nEL9ZtrKKWf7WKN83Oo/lO930+jrQGC4ciUWN2ubrzU43aSbH9GJPZ6G3JI1eBzaB9LQufu6cWVxWbFBxk5nbI8qjuV9L01tHR1xT2OBk21Bo1Uqt4yJ8Jof1NkKCp6DD6+VbEDRooFQUvtpwIPTw5KWtgniOhl8RIQZvG4wFiJYTximyGQ/TpxEbIUs/GmqzmaMv+nsrdvvr41eC/IkYoVgkIURFf7OrgtUtoO7WmP9TqXhYpgfQekvQ4FGZkBIHu6cB85LUj2KtIIzjJgIAlDPrvVP1wxFRJX+DcA7Gy9d9qhLqN40F+2k9wnqWWaqP/JRMJ+1SisDxMy+1D7YcdNusAo6KbD5JzMVYYVLJztST4NAfwfgenAHp89ovimk+fkgyEGgdZ2EXJhdkyEIH92AH+RTyNtFdQKaEJi284tiEAUF7yvZa3/3kAKrOUSOcJXz3bGeTKj97FaBMWFYVTJkY2lyStmoM52sn+HyCMuV4Y2HV60QyshEK2LI5uLS87/MdpDSnOZWJAGVUr1ehrFk1pndLrkzW/HZVw9wM3Db7B+1qytvWV6mzWUjT7ClnmV7nYwbV1sWJamWTyVNj1iNFiD188VmprW6KlUXQQIcMbnnfl3mGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EDXMfXY4cWxooW4q3sPDwL",
      "input": {
        "note": "The right arm's wrist ran under the left forearm (left arm got pushed 2 cm). Retreating the right arm to its side and rotating the pen so its tip will point sideways toward the centre instead.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.2,
          "right_yaw": 1.2,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01EDXMfXY4cWxooW4q3sPDwL",
      "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]: [-0.7166, 1.9957, 1.5524, -0.3229, -0.5682, -0.4728, 0.0461, 0.231, 1.6711, 1.2415, -0.3889, -0.5186, -0.6296, 0.0574]\nstate[eef_state]: left_x=0.4673 left_y=-0.2762 left_z=0.15 left_yaw=-0.0008 left_pitch=-0.055 left_roll=0.0033 left_gripper=0.0461 right_x=0.4142 right_y=0.191 right_z=0.1642 right_yaw=0.9972 right_pitch=-0.1342 right_roll=-0.1121 right_gripper=0.0574\nstate[joint_eff]: [-0.4034, -11.8769, 6.7077, 1.5116, -0.1636, -0.0073, 1.0379, -0.3214, -8.4444, 7.2684, 1.1355, -0.5739, -0.1587, 1.0134]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40a6a72ea40ef1d59e93453b3cdf058dbd74aa9290566c12c38a4a3fc2bb644f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4299e1714f1112d0e7a7204e5d9fbfb1c61b179eefa38215d65b1823755dfeb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4078ec986beb88bece8b8642f7c7e448daa0a41870f7ef528fecc81a946edd85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 5.532 s
model
claude-opus-5-5
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]: [-0.7666, 1.9949, 1.5524, -0.2832, -0.5819, -0.4553, 0.0445, 0.4839, 1.4132, 0.7929, -0.0898, -0.0139, 0.0113, 0.0569]\nstate[eef_state]: left_x=0.4578 left_y=-0.3011 left_z=0.1576 left_yaw=-0.0509 left_pitch=-0.0185 left_roll=-0.0017 left_gripper=0.0445 right_x=0.3512 right_y=0.1914 right_z=0.1185 right_yaw=0.4844 right_pitch=-0.154 right_roll=0.0167 right_gripper=0.0569\nstate[joint_eff]: [-0.294, -11.7538, 8.8137, 1.2381, -0.4908, 0.0269, 1.0281, -0.4034, -5.6957, 6.8855, 1.8095, -0.0952, -0.0317, 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]: [-0.7208, 1.9862, 1.5524, -0.3138, -0.5594, -0.4698, 0.0461, 1.1984, 1.8111, 1.3144, -0.7059, 0.8604, 0.9627, 0.057]\nstate[eef_state]: left_x=0.4664 left_y=-0.2802 left_z=0.1558 left_yaw=-0.0139 left_pitch=-0.0448 left_roll=-0.011 left_gripper=0.0461 right_x=0.2645 right_y=0.319 right_z=0.1317 right_yaw=-0.0047 right_pitch=-0.1012 right_roll=-0.1103 right_gripper=0.057\nstate[joint_eff]: [-3.3709, -10.4, 6.8444, 1.7118, -0.1734, 0.1001, 1.033, 1.6889, -10.2769, 9.5248, 0.9988, 0.8962, 0.3443, 1.0134]",
      "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]: [-0.7166, 1.9957, 1.5524, -0.3229, -0.5682, -0.4728, 0.0461, 0.231, 1.6711, 1.2415, -0.3889, -0.5186, -0.6296, 0.0574]\nstate[eef_state]: left_x=0.4673 left_y=-0.2762 left_z=0.15 left_yaw=-0.0008 left_pitch=-0.055 left_roll=0.0033 left_gripper=0.0461 right_x=0.4142 right_y=0.191 right_z=0.1642 right_yaw=0.9972 right_pitch=-0.1342 right_roll=-0.1121 right_gripper=0.0574\nstate[joint_eff]: [-0.4034, -11.8769, 6.7077, 1.5116, -0.1636, -0.0073, 1.0379, -0.3214, -8.4444, 7.2684, 1.1355, -0.5739, -0.1587, 1.0134]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40a6a72ea40ef1d59e93453b3cdf058dbd74aa9290566c12c38a4a3fc2bb644f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4299e1714f1112d0e7a7204e5d9fbfb1c61b179eefa38215d65b1823755dfeb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4078ec986beb88bece8b8642f7c7e448daa0a41870f7ef528fecc81a946edd85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwgkKEAgSGAI4AUIIdGhpbmtpbmcSDDV6Ii51GwoPy0SdahoMWotH65zza36l7wzqIjDkSyXtIht6vXX6+7CRoQr7T4T5PNfvhf5u4Aft7WOK0erKbGj4CjW45wnPHbv4MgEq3whWWKI4DUbRMH8IVRzQOdbDJueYk/LFWyJZKnMvXe0cYNolqZ8qyuMuA8pGhuuONtvD19XSJtzAlKSJin6z21kGGCNc25cccP4dGdH4woQGywmdbOQNutULFxJ9hP0xtnPkwEd8LbWnpOePe68qlkf/ZvTOrguT5Syv/AvE5BarlW5uaoPYsU5NzshlSwLixW0L7TFZHaIbnnLf+gF1sjR4rfl8ezP9Yuj9bI8py3QLBnnmUWFh1IqjOVaugMw+OiRstZIdWbOtXfq8XF4KOdgZFVY19VCKEuDzOVF95IadoZDDAKCayMo66RnMm5uUh+Qs+/oih1PPKhkiNb/F/wv066TgvsTlqJDPDiPUhsnl8Erpc+DC8LU12ER2EW4RZHC+Ga9LocNyCkO64wJy4GIu+yAVQkuZvQ+BQpLKf/eajfLD2sgTxzUWCafrksUA40YIF5wW2iO6gugageY+PsSOqPTVaLvMFCs94wz4YCNB/yXHRFgBl/chMtqVI3B1OUP4gb9Hq0ku9w8L/fC903Lc6uRFpbpbnLJsNjH9WZ6e7JSK+X15StVU1+DmD/qTdTU0E3Djsbc+JyfWrOmotXKQoSfNKXJOT34wjuc30YGcawt86n9z1Y4aEvXwUFP4FN7QaulH6F6noeBdB1EAFPneuU4GM3sE72ye3bjdYdZGzGDuqmnd/LVeGmP4ZbmW6zmB5bfbhcDW5JAC3vSChiQ7hAurM8FyvFNfJ6n1QENguAS8XgqJ0lB4dZ6kjJu5ULPx8qOs3YFwiz9WJf3s4Bd1u4kcuq81X5Ob1Z9dD2bL6VtfGsD0rxLJjg/MjfWnenMPiRhIE4EqOdfE6qBheCyOMU+xwvXwwDcu5MCuatZE7WFwbFfwq8LFf1DjMQIbbtlr2iq5IfsulCwvzIRD7YyH41KGcYGh/rZb0OWg3obStObkG9xee0w9fkizPDkjFAtAcLmBhXY6VvdfxuC5isrD3r4NcZXUSDMnIm74y7/P738iRaCFzVvJE9nja8n4KxKQzejGUPHZ7mi2fbgmb7DuRPDS81Z+/6UMvM5D10smyLeXqVWePhMSthnacH4AsmRnLmbZFTktr9KgzE5fD6pxD/tBr8zcBbDWC7fLcdCrFRYeizhNqEV0mTjIm+UbEj76Vb0EaDAKNG9Gdws4/UyqqlYNckIp2eEMEExMnpqScAqeo/xnoy1z0j6f4tPl89928BLl0N9TPii72Lrn7XATfVyugJPuetXK2knSep4hF03HAGKQtlpdQ55V+VJ1Si7h5ertbaV/4PAPWJLIGPZVpFqhXTn9Gl2iL+WhXx6r4MdhXQrjJwwAnhMu96fsJ4bOpmfPG8gqvwsP+OZNc6v0LRYumuFIi4D7DJdfMnQFGqmv08f1LNTFdWdZkZ4PekAFpRMOcBheOPyQZ6DtY6E1FJc8XimG6I3LqGJLWteWmSzrPKZm0Wm0JQ1qT5QWigK1b5RhdE48dmEDBK3W6zoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018pAUSyJbkNct6aHpemd7UF",
      "input": {
        "note": "Pen now points sideways toward the centre. Rotating the cap so its closed end points left and its open end faces the pen tip, at x 0.42.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.42,
          "left_y": -0.24,
          "left_yaw": 1.57,
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_018pAUSyJbkNct6aHpemd7UF",
      "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]: [-0.4828, 2.4317, 1.9919, -1.5326, -0.8825, -2.038, 0.0461, 0.2306, 1.7012, 1.2125, -0.4194, -0.4984, -0.6361, 0.0574]\nstate[eef_state]: left_x=0.4157 left_y=-0.0598 left_z=0.0665 left_yaw=1.3733 left_pitch=-0.0557 left_roll=0.0281 left_gripper=0.0461 right_x=0.4057 right_y=0.1857 right_z=0.1343 right_yaw=0.996 right_pitch=-0.2097 right_roll=-0.0652 right_gripper=0.0574\nstate[joint_eff]: [0.8137, -16.1573, 4.4103, -0.6325, -0.3932, 0.0415, 1.033, -0.3077, -10.8923, 8.8821, 1.5995, -0.4664, 0.0073, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0811833622fdcdd2b342b326d068064f21e3868a32378935960d1e4949cd58dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d1d5d6c4e83b91bf98e8c3185ab4bc545173cf36244c0b2bde3326f0dcaad4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0cf6bbecc9eff210c1f59e59d1306ba59a01eca95dabf0ef330239ffdfae0513",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 54.55 s
model
claude-opus-5-5
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]: [-0.7208, 1.9862, 1.5524, -0.3138, -0.5594, -0.4698, 0.0461, 1.1984, 1.8111, 1.3144, -0.7059, 0.8604, 0.9627, 0.057]\nstate[eef_state]: left_x=0.4664 left_y=-0.2802 left_z=0.1558 left_yaw=-0.0139 left_pitch=-0.0448 left_roll=-0.011 left_gripper=0.0461 right_x=0.2645 right_y=0.319 right_z=0.1317 right_yaw=-0.0047 right_pitch=-0.1012 right_roll=-0.1103 right_gripper=0.057\nstate[joint_eff]: [-3.3709, -10.4, 6.8444, 1.7118, -0.1734, 0.1001, 1.033, 1.6889, -10.2769, 9.5248, 0.9988, 0.8962, 0.3443, 1.0134]",
      "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]: [-0.7166, 1.9957, 1.5524, -0.3229, -0.5682, -0.4728, 0.0461, 0.231, 1.6711, 1.2415, -0.3889, -0.5186, -0.6296, 0.0574]\nstate[eef_state]: left_x=0.4673 left_y=-0.2762 left_z=0.15 left_yaw=-0.0008 left_pitch=-0.055 left_roll=0.0033 left_gripper=0.0461 right_x=0.4142 right_y=0.191 right_z=0.1642 right_yaw=0.9972 right_pitch=-0.1342 right_roll=-0.1121 right_gripper=0.0574\nstate[joint_eff]: [-0.4034, -11.8769, 6.7077, 1.5116, -0.1636, -0.0073, 1.0379, -0.3214, -8.4444, 7.2684, 1.1355, -0.5739, -0.1587, 1.0134]\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 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]: [-0.4828, 2.4317, 1.9919, -1.5326, -0.8825, -2.038, 0.0461, 0.2306, 1.7012, 1.2125, -0.4194, -0.4984, -0.6361, 0.0574]\nstate[eef_state]: left_x=0.4157 left_y=-0.0598 left_z=0.0665 left_yaw=1.3733 left_pitch=-0.0557 left_roll=0.0281 left_gripper=0.0461 right_x=0.4057 right_y=0.1857 right_z=0.1343 right_yaw=0.996 right_pitch=-0.2097 right_roll=-0.0652 right_gripper=0.0574\nstate[joint_eff]: [0.8137, -16.1573, 4.4103, -0.6325, -0.3932, 0.0415, 1.033, -0.3077, -10.8923, 8.8821, 1.5995, -0.4664, 0.0073, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0811833622fdcdd2b342b326d068064f21e3868a32378935960d1e4949cd58dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d1d5d6c4e83b91bf98e8c3185ab4bc545173cf36244c0b2bde3326f0dcaad4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cf6bbecc9eff210c1f59e59d1306ba59a01eca95dabf0ef330239ffdfae0513",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnAgKEAgSGAI4AUIIdGhpbmtpbmcSDA0TMcu62vSoxyRjQRoMl3GynQVJQCZhHv8jIjAgc26IFKzADYe5xpo3TCiTYQVf7BK6B6r/bokZEAdKnJVqBkrxQNhEiPfgDUxLmnEquQcZ2oVS0VCc8D1vQkBuAh0ZNyajSwPBxPdsKZceGJRLASkk8GdNbWe0Pvz8eKNn1TcZLBaJfBNJuh5OQqCn2Dc4af+ZikNP9Y3GNGpL+NezezzIVVRE3FcBugynbN23qn5lhOyjIveI6gQtRtgDRPCR3hAp4sefcq8RSHrrAVWxGKTAkrqaeb7cbhcwZYn90fOiI42gEuRCX7Spy5HOi2AyLUBMZncpv029ttfYTxekmj66K9Uyvb7fTG8a5feCYozX0qYVZgjtTOwsnL32W1GNpr+F7HLwk3yc/t+pEi5FlPbUfzW2lbLPOXkCmSIwCOEX943YQlF+3B8x6bsX0XJOTv8gO2MUgGU6Cugkc0uzJxE0SwuCyahSGbh8E3/f+WANXtlYEkABpjPPDsEZS7KG0AX6FViAhWc8XQzaEUjrlPPB2yEPUf6c7DZj2X4O/uI8QRhdd/ZlrhGEprMRtB1455OyhBDEyThimK4r9pTPAkHXxCSbkix/RqFTo+7WTUlXODfBnfJAJBvwah45l9zRwj8bMn1pQ+bu9P+YvzXuuTrSyxyMMgmIoRqDzNZrfOye8Soer/9WLgqLET6NwfJ64xi/4FAZCQM7gUzYIwTVFxeBP9VEWx5NIqOHb58uL5lCBz8xPggt3L8MLp6pDRi8zeE8WjhOOsbEy5nPrZX+6HdXStxANZUqnQ1vcDRIDI6XUt15wPbx2mBQdpAiMC95AI5WPPgsJE4E1QXZL0UAo3syr31bSvDoKkLsu+pe+hU+eOStyLBb43oQmeDa9csF2UhbEMpAb4LRNg5CS9J1AP87FnoJifIa0Lo2yvRBoQZZ6ysAtcDb0wNdb7q4vU4s1kVamlgfKmjft5M10WZX8WL8UIIIc8fomlS9ChZlLpAUncOYpWAonaGn/LJyDQY+M9bmDBFGCd892Txx8aN2OV2ObeZFfFC6E8uOaq5zOXDf067cJuW6zofn7Nd3HpjnJtafa64N0zLcmQdDtU/DGdvdagsIuBJTJvZtOZivfz4F4heE6bnkUKgmSIABXTAMxwhQ16fOZxlcEGtu6LUFV/UU41jimFAcqEM+JBK+5WSkJfRpxf4XuvdeK9qA06e92A1IFf7bu5EHVw3PKmSonbLCQhq33pK8Roi+M1qcFfcLylarDoZ207le1pkthMqsEX4MADjSgwA5MpovzguIIVyn6dJIZDMhfuBrLn3MmmtvTPh86VsLNcGobV/uWXxVmk3NLxzaOEOrSE1Wt5p2OpnqDuq7Am4niRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JdA9zCKkLmhVmVSLKRtT6U",
      "input": {
        "note": "The left arm drifted to y -0.06 and sagged to z 0.07 during the big yaw change instead of reaching the centre. Re-commanding the centre position and height with the new yaw held.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.42,
          "left_y": -0.24,
          "left_yaw": 1.57,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01JdA9zCKkLmhVmVSLKRtT6U",
      "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]: [-0.4129, 2.4184, 1.9755, -1.5566, -0.8604, -2.0937, 0.0461, 0.2306, 1.7012, 1.2095, -0.4126, -0.4976, -0.6361, 0.0589]\nstate[eef_state]: left_x=0.4103 left_y=-0.0296 left_z=0.0677 left_yaw=1.4841 left_pitch=-0.0659 left_roll=0.015 left_gripper=0.0461 right_x=0.4063 right_y=0.1857 right_z=0.134 right_yaw=0.9949 right_pitch=-0.2074 right_roll=-0.0683 right_gripper=0.0589\nstate[joint_eff]: [0.6496, -16.2803, 4.465, -0.6325, -0.7009, -0.0464, 1.0281, -0.2393, -8.4581, 6.8034, 1.2527, -0.2711, -0.0269, 1.0134]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3fb0460291bc34fa0dc85f69467f0b2fb8e71a6fda2a3a8e6bb2475cc24b5e2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1830ae135a3c1b9ec665f7c657f590e9812cf1781608ef3cd886c22c95e56f2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2ac9db9b637435eb909d9c54621684dbc9c4d8994968f403bc3af8209f8bb82f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]