adhoc

completed
2026-09-22T19:50:49.214945+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
165.9 s
total steps
128
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

done

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 mid-table right of the cap; cap is left of it. Moving the right arm above the pen centre, yawed to close across the pen axis.
move_to
right_x0.4000right_y0.2600right_z0.1500right_yaw0.4700right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.7929, 0.6025, -0.3798, -0.0219, -0.0246, 0.9997, -0.0196, 0.791, 0.6109, -0.3756, -0.017, -0.0124, 0.9994] state[eef_state]: left_x=0.2946 left_y=0.0015 left_z=0.1797 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9997 right_x=0.296 right_y=0.0008 right_z=0.1849 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.3897, -1.5111, 10.4274, 1.7705, -0.0513, 0.0708, -0.0366, -0.6222, -1.1282, 9.6205, 1.7021, -0.0757, -0.0757, -0.0806] 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": 0.4, "right_y": 0.26, "right_z": 0.15, "right_yaw": 0.47, "right_gripper": 1}, "note": "Pen lies diagonally mid-table right of the cap; cap is left of it. Moving the right arm above the pen centre, yawed to close across the pen axis."})
tool
executing move_to over 22 steps (2.2s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteRight wrist cam shows the pen aligned with the jaw axis, slightly right of centre. Shifting ~1 cm to the tool's right and descending to table level to grasp.
move_to
right_x0.3950right_y0.2370right_z0.0000
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, 0.7994, 0.6029, -0.3813, -0.0216, -0.0254, 0.9997, 0.6067, 1.6123, 0.96, 0.0261, 0.1234, 0.0708, 0.9994] state[eef_state]: left_x=0.2948 left_y=0.0014 left_z=0.1777 left_yaw=0.0001 left_pitch=-0.0076 left_roll=-0.0007 left_gripper=0.9997 right_x=0.3891 right_y=0.248 right_z=0.1311 right_yaw=0.463 right_pitch=-0.0652 right_roll=-0.0132 right_gripper=0.9994 state[joint_eff]: [-0.3487, -1.7026, 7.3504, 1.7314, -0.0415, -0.0415, -0.0122, 0.4308, -7.5009, 8.8547, 2.0244, 0.1538, 0.0415, -0.0806] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.395, "right_y": 0.237, "right_z": 0.0}, "note": "Right wrist cam shows the pen aligned with the jaw axis, slightly right of centre. Shifting ~1 cm to the tool's right and descending to table level to grasp."})
tool
executing move_to over 9 steps (0.9s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent notePen is visible right of the jaw column and slightly tilted in the wrist view. Shifting ~2.5 cm toward tool-right and yawing a bit more to line up before closing.
move_to
right_x0.4010right_y0.2140right_z0.0050right_yaw0.6000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8024, 0.6029, -0.3813, -0.0219, -0.0254, 0.9997, 0.5751, 1.9411, 0.7475, 0.5346, 0.1009, 0.049, 0.9994] state[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1769 left_yaw=0.0008 left_pitch=-0.0107 left_roll=-0.0004 left_gripper=0.9997 right_x=0.3904 right_y=0.2361 right_z=0.002 right_yaw=0.4617 right_pitch=-0.0997 right_roll=-0.0215 right_gripper=0.9994 state[joint_eff]: [-0.0615, -0.9778, 7.0769, 1.7509, -0.0659, -0.0464, -0.0122, -0.9368, -6.8718, 4.0274, 1.4481, -0.1001, 0.022, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.401, "right_y": 0.214, "right_z": 0.005, "right_yaw": 0.6}, "note": "Pen is visible right of the jaw column and slightly tilted in the wrist view. Shifting ~2.5 cm toward tool-right and yawing a bit more to line up before closing."})
tool
executing move_to over 2 steps (0.2s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent notePrevious shift only partly executed; pen still right of the jaws. Continue the sideways shift toward tool-right.
move_to
right_x0.4030right_y0.2120right_z0.0050right_yaw0.6000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8024, 0.6029, -0.3809, -0.0219, -0.0254, 0.9997, 0.5091, 1.9499, 0.7429, 0.572, -0.0074, -0.0315, 0.9994] state[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.177 left_yaw=0.0008 left_pitch=-0.0103 left_roll=-0.0004 left_gripper=0.9997 right_x=0.399 right_y=0.2283 right_z=0.0035 right_yaw=0.5307 right_pitch=-0.0795 right_roll=-0.0195 right_gripper=0.9994 state[joint_eff]: [-0.1983, -1.2923, 7.0906, 1.6728, -0.0757, -0.0708, -0.0122, -2.0855, -10.3043, 4.8615, 1.4188, -0.0415, -0.0073, -0.0171] camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.403, "right_y": 0.212, "right_z": 0.005, "right_yaw": 0.6}, "note": "Previous shift only partly executed; pen still right of the jaws. Continue the sideways shift toward tool-right."})
tool
executing move_to over 2 steps (0.2s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent notePen is now centred and aligned on the jaw column in the right wrist view. Closing the gripper on it.
move_to
right_gripper0.0000right_z0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8036, 0.6029, -0.3809, -0.0219, -0.0254, 0.9997, 0.4496, 1.948, 0.7429, 0.5617, -0.0891, -0.107, 0.9993] state[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1767 left_yaw=0.0008 left_pitch=-0.0114 left_roll=-0.0004 left_gripper=0.9997 right_x=0.404 right_y=0.2164 right_z=0.0027 right_yaw=0.5808 right_pitch=-0.0852 right_roll=-0.031 right_gripper=0.9993 state[joint_eff]: [-0.0752, -1.2103, 7.0496, 1.7118, -0.0757, -0.0708, -0.0122, 0.6769, -9.0462, 4.0957, 1.7851, -0.0904, 0.1587, -0.0171] camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0, "right_z": 0.0}, "note": "Pen is now centred and aligned on the jaw column in the right wrist view. Closing the gripper on it."})
tool
executing move_to over 10 steps (1.0s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteGripper settled at 0.052 (~5 mm), pen appears held between the jaws. Lifting to check 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, 0.8036, 0.6029, -0.3809, -0.0219, -0.0254, 0.9997, 0.469, 1.948, 0.738, 0.5758, -0.0795, -0.0845, 0.0523] state[eef_state]: left_x=0.2952 left_y=0.0014 left_z=0.1767 left_yaw=0.0004 left_pitch=-0.0114 left_roll=-0.0004 left_gripper=0.9997 right_x=0.4008 right_y=0.2229 right_z=0.0037 right_yaw=0.5801 right_pitch=-0.0765 right_roll=-0.0197 right_gripper=0.0523 state[joint_eff]: [-0.3624, -1.2923, 7.0222, 1.7265, -0.022, -0.0562, -0.0073, -0.1983, -9.3197, 4.465, 1.6777, 0.0415, 0.0659, 1.3797] camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.12}, "note": "Gripper settled at 0.052 (~5 mm), pen appears held between the jaws. Lifting to check the grasp."})
tool
executing move_to over 8 steps (0.8s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent notePen is held in the right gripper, tip pointing forward. Now moving the left arm above the pen cap (left of centre, mid-table), yawed to close across the cap.
move_to
left_x0.4200left_y-0.2200left_z0.1200left_yaw-0.5000
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, -0.3805, -0.0219, -0.0254, 0.9997, 0.469, 1.6634, 0.8856, 0.1242, -0.0834, -0.0868, 0.0607] state[eef_state]: left_x=0.2954 left_y=0.0014 left_z=0.1758 left_yaw=0.0004 left_pitch=-0.0145 left_roll=-0.0003 left_gripper=0.9997 right_x=0.399 right_y=0.2227 right_z=0.0962 right_yaw=0.5848 right_pitch=-0.0956 right_roll=-0.017 right_gripper=0.0607 state[joint_eff]: [-0.3624, -1.5658, 7.0222, 1.7363, -0.0611, -0.0513, -0.0122, -0.1162, -10.0991, 8.8547, 1.79, -0.0171, -0.0366, 1.033] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.22, "left_z": 0.12, "left_yaw": -0.5}, "note": "Pen is held in the right gripper, tip pointing forward. Now moving the left arm above the pen cap (left of centre, mid-table), yawed to close across the cap."})
tool
executing move_to over 20 steps (2.0s)
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 noteLeft wrist cam shows the cap just left of the jaw column, slightly tilted, close to the fingertips. Shifting ~1.5 cm tool-left, yawing to align, and descending to table height.
move_to
left_x0.4120left_y-0.1900left_z0.0100left_yaw-0.7000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4816, 1.6581, 0.8898, 0.0978, -0.0219, -0.0399, 0.9997, 0.469, 1.6634, 0.8814, 0.1108, -0.0834, -0.0868, 0.0663] state[eef_state]: left_x=0.4061 left_y=-0.2038 left_z=0.0948 left_yaw=-0.4528 left_pitch=-0.1003 left_roll=-0.01 left_gripper=0.9997 right_x=0.3961 right_y=0.2212 right_z=0.0919 right_yaw=0.585 right_pitch=-0.113 right_roll=-0.015 right_gripper=0.0663 state[joint_eff]: [-0.5128, -8.1709, 9.2103, 1.9707, 0.149, 0.2662, -0.0122, -0.0068, -7.8017, 6.5983, 1.7265, -0.0659, -0.0464, 1.0281] 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": 0.412, "left_y": -0.19, "left_z": 0.01, "left_yaw": -0.7}, "note": "Left wrist cam shows the cap just left of the jaw column, slightly tilted, close to the fingertips. Shifting ~1.5 cm tool-left, yawing to align, and descending to table height."})
tool
executing move_to over 6 steps (0.6s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteCap is still ~2 cm left of the jaw column and a little ahead of the fingertips, slightly tilted. Advancing ~2 cm, shifting tool-left, and yawing further to square up.
move_to
left_x0.4340left_y-0.1740left_z0.0050left_yaw-0.8500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3389, 1.8973, 0.7887, 0.3531, 0.2123, 0.1555, 0.9997, 0.469, 1.6638, 0.8803, 0.1089, -0.0834, -0.0868, 0.0663] state[eef_state]: left_x=0.408 left_y=-0.1795 left_z=0.0032 left_yaw=-0.6162 left_pitch=-0.1647 left_roll=-0.0234 left_gripper=0.9997 right_x=0.3956 right_y=0.221 right_z=0.0909 right_yaw=0.585 right_pitch=-0.1164 right_roll=-0.0146 right_gripper=0.0663 state[joint_eff]: [0.4034, -8.0205, 5.1487, 1.2039, 0.2271, 0.0659, -0.0122, -0.2256, -7.8564, 6.3385, 1.6435, -0.0855, -0.022, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.434, "left_y": -0.174, "left_z": 0.005, "left_yaw": -0.85}, "note": "Cap is still ~2 cm left of the jaw column and a little ahead of the fingertips, slightly tilted. Advancing ~2 cm, shifting tool-left, and yawing further to square up."})
tool
executing move_to over 3 steps (0.3s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteCap is centred and aligned on the left jaw column, running into the jaws. Closing the left gripper.
move_to
left_gripper0.0000left_z0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2424, 1.9808, 0.9318, 0.2558, 0.3721, 0.3183, 0.9997, 0.469, 1.6638, 0.8795, 0.1047, -0.0834, -0.0868, 0.0663] state[eef_state]: left_x=0.4359 left_y=-0.1703 left_z=0.0045 left_yaw=-0.7423 left_pitch=-0.1561 left_roll=-0.0198 left_gripper=0.9997 right_x=0.3948 right_y=0.2206 right_z=0.0898 right_yaw=0.5851 right_pitch=-0.1213 right_roll=-0.014 right_gripper=0.0663 state[joint_eff]: [0.1299, -9.7709, 6.4068, 1.243, 0.2515, 0.1148, -0.0171, -0.0615, -7.8017, 6.3521, 1.6532, -0.0562, -0.0806, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0, "left_z": 0.0}, "note": "Cap is centred and aligned on the left jaw column, running into the jaws. Closing the left gripper."})
tool
executing move_to over 10 steps (1.0s)
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 noteLeft gripper settled at 0.047 with the cap visible in its jaws. Lifting it and rotating so the cap points toward the right arm (−y), in preparation to meet the pen.
move_to
left_z0.1300left_x0.4000left_y-0.2200left_yaw-1.5700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.239, 1.9961, 0.934, 0.2798, 0.3717, 0.3145, 0.0468, 0.469, 1.6638, 0.8768, 0.104, -0.0837, -0.0868, 0.0663] state[eef_state]: left_x=0.4396 left_y=-0.1695 left_z=0.0025 left_yaw=-0.7356 left_pitch=-0.1465 left_roll=-0.0171 left_gripper=0.0468 right_x=0.394 right_y=0.2202 right_z=0.0885 right_yaw=0.5855 right_pitch=-0.1247 right_roll=-0.0133 right_gripper=0.0663 state[joint_eff]: [-0.6085, -9.7846, 4.6701, 1.4481, 0.188, 0.0708, 1.2576, -0.1026, -7.8291, 6.4615, 1.6581, -0.0952, -0.0611, 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_z": 0.13, "left_x": 0.4, "left_y": -0.22, "left_yaw": -1.57}, "note": "Left gripper settled at 0.047 with the cap visible in its jaws. Lifting it and rotating so the cap points toward the right arm (\u2212y), in preparation to meet the pen."})
tool
executing move_to over 9 steps (0.9s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteCap is held by the left arm pointing right. Now raising the right arm and rotating the pen so its tip points left toward the cap.
move_to
right_z0.1300right_x0.4100right_y0.2400right_yaw1.5700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2123, 2.0304, 1.6222, -0.7807, 0.7681, 1.0615, 0.0517, 0.469, 1.6638, 0.8745, 0.1005, -0.0834, -0.0868, 0.0663] state[eef_state]: left_x=0.4238 left_y=-0.2132 left_z=0.1236 left_yaw=-1.4344 left_pitch=-0.161 left_roll=0.0182 left_gripper=0.0517 right_x=0.393 right_y=0.2196 right_z=0.0869 right_yaw=0.5853 right_pitch=-0.1304 right_roll=-0.0129 right_gripper=0.0663 state[joint_eff]: [-0.7726, -9.9897, 7.241, 0.5543, 0.5592, 0.2222, 1.033, 0.0068, -7.6376, 6.4205, 1.5849, -0.0904, -0.0806, 1.0281] camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.13, "right_x": 0.41, "right_y": 0.24, "right_yaw": 1.57}, "note": "Cap is held by the left arm pointing right. Now raising the right arm and rotating the pen so its tip points left toward the cap."})
tool
executing move_to over 7 steps (0.7s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent notePen (right) and cap (left) now point toward each other with ~10 cm gap, but x and height differ by ~2 cm. Matching x, z and yaw on both arms to make them coaxial.
move_to
left_x0.4200left_z0.1350left_yaw-1.5700right_x0.4200right_z0.1300right_yaw1.5700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2161, 2.0487, 1.618, -0.7994, 0.7589, 1.0702, 0.0517, 0.2493, 2.0457, 1.6318, -0.6281, -0.7391, -0.973, 0.0704] state[eef_state]: left_x=0.4194 left_y=-0.2129 left_z=0.1119 left_yaw=-1.4461 left_pitch=-0.183 left_roll=-0.0116 left_gripper=0.0517 right_x=0.4449 right_y=0.2398 right_z=0.1301 right_yaw=1.3753 right_pitch=-0.1392 right_roll=-0.0892 right_gripper=0.0704 state[joint_eff]: [0.3761, -12.5744, 6.5026, 1.116, 0.4567, -0.1441, 1.0281, -0.9915, -11.2752, 6.2017, 0.4371, -0.7155, -0.1783, 1.0281] camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_z": 0.135, "left_yaw": -1.57, "right_x": 0.42, "right_z": 0.13, "right_yaw": 1.57}, "note": "Pen (right) and cap (left) now point toward each other with ~10 cm gap, but x and height differ by ~2 cm. Matching x, z and yaw on both arms to make them coaxial."})
tool
executing move_to over 2 steps (0.2s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent notePen tip and cap appear roughly coaxial in both wrist views with a few cm gap. Advancing the pen 3.5 cm toward the cap.
move_to
right_y0.2750right_x0.4200right_z0.1220
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2115, 2.1132, 1.7588, -0.9394, 0.765, 1.1419, 0.0517, 0.2417, 2.0884, 1.6962, -0.8574, -0.8158, -1.2087, 0.0704] state[eef_state]: left_x=0.4256 left_y=-0.2129 left_z=0.1195 left_yaw=-1.4948 left_pitch=-0.1969 left_roll=-0.0222 left_gripper=0.0517 right_x=0.4152 right_y=0.2385 right_z=0.122 right_yaw=1.5578 right_pitch=-0.1532 right_roll=-0.0498 right_gripper=0.0704 state[joint_eff]: [0.6496, -12.0957, 7.8154, 0.4762, 0.5739, 0.2369, 1.0281, -0.4581, -11.0974, 8.3487, 0.9255, -0.4762, -0.1001, 1.0379] camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.275, "right_x": 0.42, "right_z": 0.122}, "note": "Pen tip and cap appear roughly coaxial in both wrist views with a few cm gap. Advancing the pen 3.5 cm toward the cap."})
tool
executing move_to over 4 steps (0.4s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent noteThe right arm did not advance (likely IK hold at this wrist yaw), and the left arm sagged to 10.6 cm. Moving the cap toward the pen instead and raising it to match pen height.
move_to
left_y-0.2450left_z0.1400left_x0.4180
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2096, 2.1349, 1.7546, -0.971, 0.757, 1.1553, 0.0517, 0.2417, 2.0892, 1.7035, -0.8577, -0.8127, -1.2324, 0.0704] state[eef_state]: left_x=0.4196 left_y=-0.2096 left_z=0.1063 left_yaw=-1.5095 left_pitch=-0.22 left_roll=-0.0669 left_gripper=0.0517 right_x=0.4169 right_y=0.2386 right_z=0.1235 right_yaw=1.5684 right_pitch=-0.1553 right_roll=-0.0746 right_gripper=0.0704 state[joint_eff]: [-0.3214, -13.4359, 6.5573, 0.8962, 0.4371, -0.0122, 1.0281, -0.4171, -11.453, 7.4735, 0.8083, -0.5641, -0.0806, 1.033] camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.245, "left_z": 0.14, "left_x": 0.418}, "note": "The right arm did not advance (likely IK hold at this wrist yaw), and the left arm sagged to 10.6 cm. Moving the cap toward the pen instead and raising it to match pen height."})
tool
executing move_to over 4 steps (0.4s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent noteBoth wrist views show the pen tip and cap on the same axis with a gap remaining. Advancing the cap another 3 cm toward the pen tip.
move_to
left_y-0.2750left_z0.1400left_x0.4180
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2813, 2.1349, 1.8324, -1.0164, 0.7307, 1.074, 0.0517, 0.2417, 2.0892, 1.7035, -0.8574, -0.8127, -1.2316, 0.0704] state[eef_state]: left_x=0.4131 left_y=-0.2384 left_z=0.1243 left_yaw=-1.5212 left_pitch=-0.2378 left_roll=-0.0855 left_gripper=0.0517 right_x=0.417 right_y=0.2386 right_z=0.1236 right_yaw=1.5679 right_pitch=-0.1551 right_roll=-0.0744 right_gripper=0.0704 state[joint_eff]: [-0.1162, -11.8769, 9.1692, 0.6276, 0.3639, -0.0464, 1.0281, -0.5128, -11.4393, 7.4872, 0.823, -0.5983, -0.0659, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.275, "left_z": 0.14, "left_x": 0.418}, "note": "Both wrist views show the pen tip and cap on the same axis with a gap remaining. Advancing the cap another 3 cm toward the pen tip."})
tool
executing move_to over 4 steps (0.4s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent notePen tip and cap end are nearly touching and coaxial in both wrist views. Pushing the cap another ~2 cm onto the pen tip.
move_to
left_y-0.2900left_z0.1400left_x0.4180
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.347, 2.1773, 1.9205, -1.0531, 0.7059, 0.9985, 0.0517, 0.2417, 2.0892, 1.7027, -0.8577, -0.8074, -1.2316, 0.0704] state[eef_state]: left_x=0.4093 left_y=-0.266 left_z=0.1273 left_yaw=-1.5343 left_pitch=-0.2609 left_roll=-0.1213 left_gripper=0.0517 right_x=0.4171 right_y=0.2379 right_z=0.1227 right_yaw=1.5662 right_pitch=-0.1603 right_roll=-0.0745 right_gripper=0.0704 state[joint_eff]: [-0.2393, -11.5077, 9.0188, 0.8718, 0.3394, -0.0024, 1.0281, -0.1709, -11.494, 6.2564, 0.8132, -0.4322, -0.0122, 1.0379] camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.29, "left_z": 0.14, "left_x": 0.418}, "note": "Pen tip and cap end are nearly touching and coaxial in both wrist views. Pushing the cap another ~2 cm onto the pen tip."})
tool
executing move_to over 3 steps (0.3s)
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 notePen tip has disappeared into the cap in both wrist views; the left arm stopped ~1 cm short, suggesting contact. Pressing a bit further to seat the cap.
move_to
left_y-0.2980left_z0.1400left_x0.4180
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3763, 2.2353, 2.0308, -1.1004, 0.6857, 0.9573, 0.0517, 0.2417, 2.0892, 1.6997, -0.8577, -0.8051, -1.2316, 0.0704] state[eef_state]: left_x=0.4151 left_y=-0.2804 left_z=0.1295 left_yaw=-1.5322 left_pitch=-0.2796 left_roll=-0.1373 left_gripper=0.0517 right_x=0.4166 right_y=0.2375 right_z=0.1214 right_yaw=1.5659 right_pitch=-0.1632 right_roll=-0.0721 right_gripper=0.0704 state[joint_eff]: [-0.8957, -12.1504, 9.2376, 0.5836, 0.4127, -0.1245, 1.0281, -0.2256, -11.4667, 6.612, 0.7839, -0.4811, -0.0269, 1.033] 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_y": -0.298, "left_z": 0.14, "left_x": 0.418}, "note": "Pen tip has disappeared into the cap in both wrist views; the left arm stopped ~1 cm short, suggesting contact. Pressing a bit further to seat the cap."})
tool
executing move_to over 2 steps (0.2s)
step 127
top_cam
camera top_cam step 127
left_cam
camera left_cam step 127
right_cam
camera right_cam step 127
assistant
agent noteI picked up the pen with the right arm and the cap with the left arm, lined them up end to end at about 12–13 cm above the table, and pushed the cap onto the pen's tip. In both wrist cameras the tip disappeared into the cap and the two now look like one piece. The left arm stopped about 1 cm short of its last two targets, which fits the cap sitting firmly on the tip, but I didn't pull-test the fit. I also never confirmed that the cap's open end was the one facing the pen. Both grippers are still holding.
done
hindsight- Top camera scale: the two gripper tips at y=0, x≈0.30 showed up at pixels (15,130) and (205,130), about 2.9 px/cm across. Image-y was compressed to roughly 2.2 px/cm, so position estimates from the first frame were within about 2 cm. - Yaw and the wrist view: rotating the tool to positive yaw turns the wrist image clockwise. Align objects vertically in the wrist image before closing, because the jaws close along image-x. - Small or thin objects (pen, cap) close to settled readings of 0.047–0.06, just above the 0.04 "empty" threshold. Check the grasp in the wrist view. - Moves near the table often ran only 2–4 steps and fell short, so re-send them. - Capping setup that worked: both arms at x≈0.42, z≈0.13, right arm yaw +1.57 and left arm yaw −1.57, so the held objects point at each other along y. The right arm at yaw 1.57 would not move further in +y (the controller held it), so do the final approach with the other arm. - The left arm sags about 1.5 cm when carrying, so command about 1.5 cm higher to match heights.
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3958, 2.2623, 2.0892, -1.1412, 0.6762, 0.9318, 0.0517, 0.2417, 2.0892, 1.6997, -0.8581, -0.8047, -1.232, 0.0704] state[eef_state]: left_x=0.4133 left_y=-0.2886 left_z=0.1313 left_yaw=-1.5364 left_pitch=-0.2939 left_roll=-0.1599 left_gripper=0.0517 right_x=0.4166 right_y=0.2375 right_z=0.1214 right_yaw=1.566 right_pitch=-0.1636 right_roll=-0.0721 right_gripper=0.0704 state[joint_eff]: [-1.1419, -11.8085, 8.9504, 0.7106, 0.4078, -0.0562, 1.0281, -0.3761, -11.412, 6.3795, 0.7692, -0.4029, -0.0415, 1.033] camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]
assistant
done({"summary": "I picked up the pen with the right arm and the cap with the left arm, lined them up end to end at about 12\u201313 cm above the table, and pushed the cap onto the pen's tip. In both wrist cameras the tip disappeared into the cap and the two now look like one piece. The left arm stopped about 1 cm short of its last two targets, which fits the cap sitting firmly on the tip, but I didn't pull-test the fit. I also never confirmed that the cap's open end was the one facing the pen. Both grippers are still holding.", "hindsight": "- Top camera scale: the two gripper tips at y=0, x\u22480.30 showed up at pixels (15,130) and (205,130), about 2.9 px/cm across. Image-y was compressed to roughly 2.2 px/cm, so position estimates from the first frame were within about 2 cm.\n- Yaw and the wrist view: rotating the tool to positive yaw turns the wrist image clockwise. Align objects vertically in the wrist image before closing, because the jaws close along image-x.\n- Small or thin objects (pen, cap) close to settled readings of 0.047\u20130.06, just above the 0.04 \"empty\" threshold. Check the grasp in the wrist view.\n- Moves near the table often ran only 2\u20134 steps and fell short, so re-send them.\n- Capping setup that worked: both arms at x\u22480.42, z\u22480.13, right arm yaw +1.57 and left arm yaw \u22121.57, so the held objects point at each other along y. The right arm at yaw 1.57 would not move further in +y (the controller held it), so do the final approach with the other arm.\n- The left arm sags about 1.5 cm when carrying, so command about 1.5 cm higher to match heights."})
tool
done: I picked up the pen with the right arm and the cap with the left arm, lined them up end to end at about 12–13 cm above the table, and pushed the cap onto the pen's tip. In both wrist cameras the tip disappeared into the cap and the two now look like one piece. The left arm stopped about 1 cm short of its last two targets, which fits the cap sitting firmly on the tip, but I didn't pull-test the fit. I also never confirmed that the cap's open end was the one facing the pen. Both grippers are still holding.
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 · 15.02 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]: [-0.0204, 0.7929, 0.6025, -0.3798, -0.0219, -0.0246, 0.9997, -0.0196, 0.791, 0.6109, -0.3756, -0.017, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2946 left_y=0.0015 left_z=0.1797 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9997 right_x=0.296 right_y=0.0008 right_z=0.1849 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3897, -1.5111, 10.4274, 1.7705, -0.0513, 0.0708, -0.0366, -0.6222, -1.1282, 9.6205, 1.7021, -0.0757, -0.0757, -0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d795e682062adcf50b920e04a70695a726d9621d3864e59f4e032d014cc75af7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dcebe364bee88e3071d9bea5ac031f1092fe6149756397ff9ed5942254a28a34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:afd7c549c31a1c42ac9bd1d10843053bff0a4d1a5087dcacfd9b219605b00835",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob d795e682062a
wire blob dcebe364bee8
wire blob afd7c549c31a
call 1 attempt 0 · /messages · status 200 · 6.269 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]: [-0.0204, 0.7929, 0.6025, -0.3798, -0.0219, -0.0246, 0.9997, -0.0196, 0.791, 0.6109, -0.3756, -0.017, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2946 left_y=0.0015 left_z=0.1797 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9997 right_x=0.296 right_y=0.0008 right_z=0.1849 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3897, -1.5111, 10.4274, 1.7705, -0.0513, 0.0708, -0.0366, -0.6222, -1.1282, 9.6205, 1.7021, -0.0757, -0.0757, -0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d795e682062adcf50b920e04a70695a726d9621d3864e59f4e032d014cc75af7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dcebe364bee88e3071d9bea5ac031f1092fe6149756397ff9ed5942254a28a34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afd7c549c31a1c42ac9bd1d10843053bff0a4d1a5087dcacfd9b219605b00835",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob d795e682062a]
[blob dcebe364bee8]
[blob afd7c549c31a]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J3VH9v5KtY8EwiZQj4Br9U",
      "input": {
        "note": "Pen lies diagonally mid-table right of the cap; cap is left of it. Moving the right arm above the pen centre, yawed to close across the pen axis.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.4,
          "right_y": 0.26,
          "right_yaw": 0.47,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_01J3VH9v5KtY8EwiZQj4Br9U",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7994, 0.6029, -0.3813, -0.0216, -0.0254, 0.9997, 0.6067, 1.6123, 0.96, 0.0261, 0.1234, 0.0708, 0.9994]\nstate[eef_state]: left_x=0.2948 left_y=0.0014 left_z=0.1777 left_yaw=0.0001 left_pitch=-0.0076 left_roll=-0.0007 left_gripper=0.9997 right_x=0.3891 right_y=0.248 right_z=0.1311 right_yaw=0.463 right_pitch=-0.0652 right_roll=-0.0132 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -1.7026, 7.3504, 1.7314, -0.0415, -0.0415, -0.0122, 0.4308, -7.5009, 8.8547, 2.0244, 0.1538, 0.0415, -0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0dc5e5974a0d317713c98be9a24c0f0c138fb6b98eddb1c08af35996747c33e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9ad3fcdf7bba3ddb5eb5f3114ab0654d63e7961f26097695b0dc097997643be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9c793d61f7e620aa6add1e622d74aef85fc3f511ef461b78e7001848f89c90dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob a0dc5e5974a0
wire blob b9ad3fcdf7bb
wire blob 9c793d61f7e6
call 2 attempt 0 · /messages · status 200 · 9.742 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]: [-0.0204, 0.7929, 0.6025, -0.3798, -0.0219, -0.0246, 0.9997, -0.0196, 0.791, 0.6109, -0.3756, -0.017, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2946 left_y=0.0015 left_z=0.1797 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9997 right_x=0.296 right_y=0.0008 right_z=0.1849 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3897, -1.5111, 10.4274, 1.7705, -0.0513, 0.0708, -0.0366, -0.6222, -1.1282, 9.6205, 1.7021, -0.0757, -0.0757, -0.0806]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7994, 0.6029, -0.3813, -0.0216, -0.0254, 0.9997, 0.6067, 1.6123, 0.96, 0.0261, 0.1234, 0.0708, 0.9994]\nstate[eef_state]: left_x=0.2948 left_y=0.0014 left_z=0.1777 left_yaw=0.0001 left_pitch=-0.0076 left_roll=-0.0007 left_gripper=0.9997 right_x=0.3891 right_y=0.248 right_z=0.1311 right_yaw=0.463 right_pitch=-0.0652 right_roll=-0.0132 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -1.7026, 7.3504, 1.7314, -0.0415, -0.0415, -0.0122, 0.4308, -7.5009, 8.8547, 2.0244, 0.1538, 0.0415, -0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0dc5e5974a0d317713c98be9a24c0f0c138fb6b98eddb1c08af35996747c33e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9ad3fcdf7bba3ddb5eb5f3114ab0654d63e7961f26097695b0dc097997643be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c793d61f7e620aa6add1e622d74aef85fc3f511ef461b78e7001848f89c90dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob a0dc5e5974a0]
[blob b9ad3fcdf7bb]
[blob 9c793d61f7e6]
{
  "content": [
    {
      "signature": "CAQSwgoKEAgSGAI4AUIIdGhpbmtpbmcSDK7BvvNXIwI0z8FZfBoMm6GrhE+ke44YlHwTIjAR48M4ztD2sNUKK8CvDT+8HlF6PeGtm26IWae1l1HQCmhgQsMTzQJMgV2gDxv9OHAq3wlUNJ7sO4GgOh/IF/+t+O/ZrLhiCLKPmU7kr4Wy0xuSpphKpMHTR8rQYxZOWPybOkLJdtWqj+z+iF7uH1Yzp1VYa7xIPEeZLENHn8GDQnzGaCUd1LDEjxxuFYlhqNG75uzMYjX+KlWWkWorYlr7B9a6XpbbmN+JdxHBlo/yAoEoV7AVUdJMEDGxShF9035ZskF0cIiUKy+FiTw4sk/j+FRNHeNnOQ/AysjpkOXG3jOKcIztoFY/WUYvAHLrhwPFVC32NgbNTv+fwORn0H0AzjQps77IgcM9l+XBFIrxii6E4xvb83VQ0KEeEoMjQ3ICCOYwkYNm+dNl9iDYm195ydWBZk9oztl7wAbUYGugGYt9KFgP6Z8h6ub+Suy3QJLr6yaklAKOyKvdFaVBHfmTT+QYkc4etdlrt+LsVHtB6VzPnES5vD5ZhzvtQUbNBn2MHnrhXRsmE8Daz23I5SNxLvCT0wubOwdNzlE8dLZjsPMhA4PMHaVDF/o1raGig66z8OoIIbeiwcboZuCtm41mcLhkcv1A/l7S0GaMbZjmjEOreXr4OSlVWhAW6sQaxL08J1HhEg54zWHFOEOBRqh+2GMmdRIjOnSEKeO33grIgRmNJGAcG6yRb0/p9YQVg7Nsk2EZmIM61P807xyiuntN0fyibMHgrYTfqttlGRUzBV2fnehG73Sb8wFBpoUhAGB7x8LDSNVcbFK2qqBjCyG3mhBRTzR387SwKhAqj0yN8W0Hy4RVLA+ez9eUPfcZpyugy09XGc9EKwSpMl3ybZZj/oGZbLAH10OBx0IjNV7DYF223DsVv4mCJCJNOFodgZAVNx5ueDMaR7y/EV6Kb2UUbClujowCXAsAcRlzhsgOh+lwDPdEHgZl+GDcva9ficCSKuTk6awdH9DH0cLMomgq9qcXSNi6+ABozrAXHIUVxEBqdMLOmychYV4RJkqkIXl37sHKFamOw/BfGK79Ru3zCiC5NKVqv7uNC3MAeI6ySz05UEnfs3n+sMpb+q8K2auiZ3ZfmIcdTvEn7Kxd0cS1IVdATv5sPC1z7WaIHmKA3uzifm2xcL8Vw74LZQGY7X9ArKPzqLHPyZHRS53caQMsZVgPT/4JPBLv17e1VopYNBJAIcRJnxfs2JKU6DbA/I9EUTEz8GLjy8t/tMxxqXp5Twxj7gc44kp0WmY4WptUeFuzTbiQnivDBUO3pL5bdS+3vT2bosknnIag8pYNsmvvN2d1hGmUe1psCzaf3aRxwEdPPCA1SQMzsJ9LRqadx9dzcnWxvparbXrWLLwtmBfk3/u7ZH992UcfE9wwNZSVKOinWYfborJWdUekpHacJ9P/lZNnNfTwUae+NHObV08oll1Zvw049oJT8yxqcsydRubzBp0QN/rS3NLOsFiXyx7JXKheUTGvDRSbHME55pV8znTSulPIhCnBNRAIWtWwccgy4CEdrSL5c1Rwdybyu64tbdmuxFExIgRwmO2ZsCNKy+w60ghKPF/LVRAT79xZv5vXtCaX/UR4fqPK6YJCZg12rsJfL1iGb70+PtTE7C5Y/lGwoX+UHu6qm/hiDgYsVOG/58U5H4hi7bZQ5Dum97IocrcTY0nIa6iQeAC5pVnGqU5gS22CLYRmEQGlubttZkMntTFN2BqRSzCOXw5WwE0XfhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BaVg5X2WH4L8zpYQGRv4jZ",
      "input": {
        "note": "Right wrist cam shows the pen aligned with the jaw axis, slightly right of centre. Shifting ~1 cm to the tool's right and descending to table level to grasp.",
        "targets": {
          "right_x": 0.395,
          "right_y": 0.237,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01BaVg5X2WH4L8zpYQGRv4jZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8024, 0.6029, -0.3813, -0.0219, -0.0254, 0.9997, 0.5751, 1.9411, 0.7475, 0.5346, 0.1009, 0.049, 0.9994]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1769 left_yaw=0.0008 left_pitch=-0.0107 left_roll=-0.0004 left_gripper=0.9997 right_x=0.3904 right_y=0.2361 right_z=0.002 right_yaw=0.4617 right_pitch=-0.0997 right_roll=-0.0215 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -0.9778, 7.0769, 1.7509, -0.0659, -0.0464, -0.0122, -0.9368, -6.8718, 4.0274, 1.4481, -0.1001, 0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d24fabbec7812ad75ca40cbe7eefffdb8cc173456a8e0cca0aa8fe07c8e0e32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c59f10f24d71d671b208548bb059d37a6ad17628cc45f89aca6df639173c9de2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c9dc04f9daaf781bc85514e4f90e100a3e84010f9bce81f8f65d1bc9d83e8017",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 2d24fabbec78
wire blob c59f10f24d71
wire blob c9dc04f9daaf
call 3 attempt 0 · /messages · status 200 · 3.556 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]: [-0.0204, 0.7929, 0.6025, -0.3798, -0.0219, -0.0246, 0.9997, -0.0196, 0.791, 0.6109, -0.3756, -0.017, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2946 left_y=0.0015 left_z=0.1797 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9997 right_x=0.296 right_y=0.0008 right_z=0.1849 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3897, -1.5111, 10.4274, 1.7705, -0.0513, 0.0708, -0.0366, -0.6222, -1.1282, 9.6205, 1.7021, -0.0757, -0.0757, -0.0806]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7994, 0.6029, -0.3813, -0.0216, -0.0254, 0.9997, 0.6067, 1.6123, 0.96, 0.0261, 0.1234, 0.0708, 0.9994]\nstate[eef_state]: left_x=0.2948 left_y=0.0014 left_z=0.1777 left_yaw=0.0001 left_pitch=-0.0076 left_roll=-0.0007 left_gripper=0.9997 right_x=0.3891 right_y=0.248 right_z=0.1311 right_yaw=0.463 right_pitch=-0.0652 right_roll=-0.0132 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -1.7026, 7.3504, 1.7314, -0.0415, -0.0415, -0.0122, 0.4308, -7.5009, 8.8547, 2.0244, 0.1538, 0.0415, -0.0806]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8024, 0.6029, -0.3813, -0.0219, -0.0254, 0.9997, 0.5751, 1.9411, 0.7475, 0.5346, 0.1009, 0.049, 0.9994]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1769 left_yaw=0.0008 left_pitch=-0.0107 left_roll=-0.0004 left_gripper=0.9997 right_x=0.3904 right_y=0.2361 right_z=0.002 right_yaw=0.4617 right_pitch=-0.0997 right_roll=-0.0215 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -0.9778, 7.0769, 1.7509, -0.0659, -0.0464, -0.0122, -0.9368, -6.8718, 4.0274, 1.4481, -0.1001, 0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d24fabbec7812ad75ca40cbe7eefffdb8cc173456a8e0cca0aa8fe07c8e0e32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c59f10f24d71d671b208548bb059d37a6ad17628cc45f89aca6df639173c9de2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9dc04f9daaf781bc85514e4f90e100a3e84010f9bce81f8f65d1bc9d83e8017",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 2d24fabbec78]
[blob c59f10f24d71]
[blob c9dc04f9daaf]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019on8XSicBaYwaBmMQWKysa",
      "input": {
        "note": "Pen is visible right of the jaw column and slightly tilted in the wrist view. Shifting ~2.5 cm toward tool-right and yawing a bit more to line up before closing.",
        "targets": {
          "right_x": 0.401,
          "right_y": 0.214,
          "right_yaw": 0.6,
          "right_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_019on8XSicBaYwaBmMQWKysa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8024, 0.6029, -0.3809, -0.0219, -0.0254, 0.9997, 0.5091, 1.9499, 0.7429, 0.572, -0.0074, -0.0315, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.177 left_yaw=0.0008 left_pitch=-0.0103 left_roll=-0.0004 left_gripper=0.9997 right_x=0.399 right_y=0.2283 right_z=0.0035 right_yaw=0.5307 right_pitch=-0.0795 right_roll=-0.0195 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.2923, 7.0906, 1.6728, -0.0757, -0.0708, -0.0122, -2.0855, -10.3043, 4.8615, 1.4188, -0.0415, -0.0073, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:583283e25fa23b1bf47049f889dec8087613fe13d69cc2de7129ab6fb5ed56f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e99c97677ef7605d0e6cb33dc5cdbf88734b7f4521ea005f141361caedaa85c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:586643ca1c3389fe2b606d785391ffc11c9d96c91d2fbe5691651b57f2251bc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 583283e25fa2
wire blob 3e99c97677ef
wire blob 586643ca1c33
call 4 attempt 0 · /messages · status 200 · 3.42 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, 0.6029, -0.3813, -0.0216, -0.0254, 0.9997, 0.6067, 1.6123, 0.96, 0.0261, 0.1234, 0.0708, 0.9994]\nstate[eef_state]: left_x=0.2948 left_y=0.0014 left_z=0.1777 left_yaw=0.0001 left_pitch=-0.0076 left_roll=-0.0007 left_gripper=0.9997 right_x=0.3891 right_y=0.248 right_z=0.1311 right_yaw=0.463 right_pitch=-0.0652 right_roll=-0.0132 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -1.7026, 7.3504, 1.7314, -0.0415, -0.0415, -0.0122, 0.4308, -7.5009, 8.8547, 2.0244, 0.1538, 0.0415, -0.0806]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8024, 0.6029, -0.3813, -0.0219, -0.0254, 0.9997, 0.5751, 1.9411, 0.7475, 0.5346, 0.1009, 0.049, 0.9994]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1769 left_yaw=0.0008 left_pitch=-0.0107 left_roll=-0.0004 left_gripper=0.9997 right_x=0.3904 right_y=0.2361 right_z=0.002 right_yaw=0.4617 right_pitch=-0.0997 right_roll=-0.0215 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -0.9778, 7.0769, 1.7509, -0.0659, -0.0464, -0.0122, -0.9368, -6.8718, 4.0274, 1.4481, -0.1001, 0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8024, 0.6029, -0.3809, -0.0219, -0.0254, 0.9997, 0.5091, 1.9499, 0.7429, 0.572, -0.0074, -0.0315, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.177 left_yaw=0.0008 left_pitch=-0.0103 left_roll=-0.0004 left_gripper=0.9997 right_x=0.399 right_y=0.2283 right_z=0.0035 right_yaw=0.5307 right_pitch=-0.0795 right_roll=-0.0195 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.2923, 7.0906, 1.6728, -0.0757, -0.0708, -0.0122, -2.0855, -10.3043, 4.8615, 1.4188, -0.0415, -0.0073, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:583283e25fa23b1bf47049f889dec8087613fe13d69cc2de7129ab6fb5ed56f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e99c97677ef7605d0e6cb33dc5cdbf88734b7f4521ea005f141361caedaa85c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:586643ca1c3389fe2b606d785391ffc11c9d96c91d2fbe5691651b57f2251bc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 583283e25fa2]
[blob 3e99c97677ef]
[blob 586643ca1c33]
{
  "content": [
    {
      "signature": "CAQS2wYKEAgSGAI4AUIIdGhpbmtpbmcSDP/v+ysVj4xcLqgjFxoMuf3OqcjUIWZ8FomGIjCXe6lCCyIxNqB0H1fcvgG9a/9Tds3b5leD9CxH4F+flD5f+auNBK99348AKB3xSowq+AVawZ0ca6asCbbaMuZ9wCyuZaRGQ/eSa46ZhHY8WGSkQtN0u3HZkmC+BbhkuMuvnVSD9GTRnmZT+QO4w//UsBExGiKPDQEu9f1Sfd7rHn4AKzf4FRXjVpKoYU8m0meY8LFnhjKkoq7HiWeDjPhn1EhY4fUekyQxNiAmcc/CQ3y3PZG1nIqcpGvILiaqZAZe8kUFEUEbmcXLCR2LANidQQPfYzKFwGLB13MVlCzXwO9+J+JqKec53Vzg77suAF2nxi3+x2JxncWqmNi6NF3iwa7stvVg/YFy9IOWy5HoIO1xMq0FXLsXeKLqol3BjxQI/91G0t2eZeNCBiH2WaBZSbBPjKgSNOFJKyo/ymppsVcSEMv2NMCOQBY/mz9D+XSJfOo/ZwrfnMMxKj7FK/74QcJTf4u1dJC/DFrFwLNi0iTJQx5mwm+lT6y9mfb2FGvhe9pLq+MScxw7wS93HkPPoMu6E136ceajT5SAersz2k/guPm35DlCDUgfaAo4HZPDot5NnY6sSqOHxUQ8bDALJkxSQVavvTL7juzJq8ihROGEa66EoD0QbRcALcjVYWgWt4i8kdqUj2U3jSOFrHcPkW0sjhZu0rkn3C3qZrhlNhdSyC3CXlKjCPi6W6OJdP50gtvhfnTsH0T0y3dyH2SeSuifwn5J+oqYzyo64DbW72Phr+DpRjCgnCuyyxHBZVmzDTtOuFxka6NSRZ7n2OOEO3/9ryi7InZkuc+Hcxe4+2LpDTOwi4ppCN23Qax7rj7V84+wdUm2DkDDMdcEdRsh+OfLMm5cHdvjO5KrExuygipagpgALXoBTBEgMEY2qEQIE0oygKkGw1fIf78iCbKl9m/kn4fymjjrb8GWm8W1FAPcFLUjzcevy7EXB1G7wH4kFpulC0iVBDcqDQ1/trXV4bXjLbyF/FEC9ZF6NHnjxvKShiK7U/omswpa3HBta9fyQYvncwcBiRY4tv7IomArpkKcxo9Qp2X3nhxquOKhmGgbSKAtAoNuhKpVGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RMPxjoqXstsVeXy9FbTRnF",
      "input": {
        "note": "Previous shift only partly executed; pen still right of the jaws. Continue the sideways shift toward tool-right.",
        "targets": {
          "right_x": 0.403,
          "right_y": 0.212,
          "right_yaw": 0.6,
          "right_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01RMPxjoqXstsVeXy9FbTRnF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8036, 0.6029, -0.3809, -0.0219, -0.0254, 0.9997, 0.4496, 1.948, 0.7429, 0.5617, -0.0891, -0.107, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1767 left_yaw=0.0008 left_pitch=-0.0114 left_roll=-0.0004 left_gripper=0.9997 right_x=0.404 right_y=0.2164 right_z=0.0027 right_yaw=0.5808 right_pitch=-0.0852 right_roll=-0.031 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -1.2103, 7.0496, 1.7118, -0.0757, -0.0708, -0.0122, 0.6769, -9.0462, 4.0957, 1.7851, -0.0904, 0.1587, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6314a36b92532e1fb5153f90f50d6dae7f2a7e21967cb612b824e23865f11f56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e754f08bb03bde2e48a2815c81ebcd5652d1daaec95126d5fd2951f38e2ce28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b74a1c05390b54671e7a63b3043129d5c4efbe72683403d538d5b909affb3e06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 6314a36b9253
wire blob 1e754f08bb03
wire blob b74a1c05390b
call 5 attempt 0 · /messages · status 200 · 3.547 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]: [-0.02, 0.8024, 0.6029, -0.3813, -0.0219, -0.0254, 0.9997, 0.5751, 1.9411, 0.7475, 0.5346, 0.1009, 0.049, 0.9994]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1769 left_yaw=0.0008 left_pitch=-0.0107 left_roll=-0.0004 left_gripper=0.9997 right_x=0.3904 right_y=0.2361 right_z=0.002 right_yaw=0.4617 right_pitch=-0.0997 right_roll=-0.0215 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -0.9778, 7.0769, 1.7509, -0.0659, -0.0464, -0.0122, -0.9368, -6.8718, 4.0274, 1.4481, -0.1001, 0.022, -0.0171]\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]: [-0.02, 0.8024, 0.6029, -0.3809, -0.0219, -0.0254, 0.9997, 0.5091, 1.9499, 0.7429, 0.572, -0.0074, -0.0315, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.177 left_yaw=0.0008 left_pitch=-0.0103 left_roll=-0.0004 left_gripper=0.9997 right_x=0.399 right_y=0.2283 right_z=0.0035 right_yaw=0.5307 right_pitch=-0.0795 right_roll=-0.0195 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.2923, 7.0906, 1.6728, -0.0757, -0.0708, -0.0122, -2.0855, -10.3043, 4.8615, 1.4188, -0.0415, -0.0073, -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]: [-0.02, 0.8036, 0.6029, -0.3809, -0.0219, -0.0254, 0.9997, 0.4496, 1.948, 0.7429, 0.5617, -0.0891, -0.107, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1767 left_yaw=0.0008 left_pitch=-0.0114 left_roll=-0.0004 left_gripper=0.9997 right_x=0.404 right_y=0.2164 right_z=0.0027 right_yaw=0.5808 right_pitch=-0.0852 right_roll=-0.031 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -1.2103, 7.0496, 1.7118, -0.0757, -0.0708, -0.0122, 0.6769, -9.0462, 4.0957, 1.7851, -0.0904, 0.1587, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6314a36b92532e1fb5153f90f50d6dae7f2a7e21967cb612b824e23865f11f56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e754f08bb03bde2e48a2815c81ebcd5652d1daaec95126d5fd2951f38e2ce28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b74a1c05390b54671e7a63b3043129d5c4efbe72683403d538d5b909affb3e06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 6314a36b9253]
[blob 1e754f08bb03]
[blob b74a1c05390b]
{
  "content": [
    {
      "signature": "CAQS9gYKEAgSGAI4AUIIdGhpbmtpbmcSDEkDrR2ON4VPbJOKdBoMJzrChaWGcd1Ssx4pIjBS6EfqKrkBrG8kAXHMT9yERg802dc1uCM6i16fP8S7h5/uaEL+5jz5OqbdsDWlCuAqkwbW45ODYot6AhpofI1ZW37NeXumt+tK98VhU4g7s4bAICf4Wi1ReW8p113u7n2BEQd/TqAQTPeEJ7dOrvIUn6tZj6Vd+xuCt5tHrFx3Pfcdd82Z7bGl8BpDIaNCQ64dZHd1WAYFmygceFPcAkoPK36br+k2tVSZbcOIAqx3eeumWOpQSlgaV88q2HJ2YNuIbmKpFt4cdKEFjdxAY+/4GRR/IScp+EtsNR0OIHgpVO4HCpN0/4NO5nQfVy7P4jFnYKTGMlVj1cEDRTSBcjKigEZYT0mpt4Jt8Br0KwlPKazsqDx2A47guBpNAcctTvq0szZxUnQLUCUhuXG0BpqVzzalkUlRYrjjue9bY9oAWmBJhcvqSZDWyepzOMr06tfdCGFQ94BoONaXER2GwrZr7Co8FeguSDdtGT6e4ztr/Tpx5vouw30PwZmX74f44qCpkfA7Q87whz/udaKfzZCuHrO6NxGU+pYhUE3kA03jBI1LX7XkXeO2djj0V0FX3Wa19V4B6g+LG+332N/3HjYDpl61av0I2gLWbOVQSHeeF07ZxXHm5c4hqHB+l8g98udrZIfyzzEjfgOb3ysK7VUlzbw0kvC+9wENZedVDTcOwVh2A3BcO/qJX4Q/b8Z5kIW2isuwzQjhD3LMDVGD2dQQgsJF91LPu+e8NYjXcmnRtMH/2q9WshcZdkWt5f98h8YGPS93CCF4aSxESWzmOSDmL3Y95Cp5NCVy/aL6oFUmMLvTvYv18mKCNDswh9R950/87vKYDxb4Tks+fnxYu0rSxnZe9jG0o4aOl3SfG6vgrellqSnzpAVE9ggE08Fpra+UB2VAvkmtzkz8dtG5PlJsI6UYeKrJkKrQijxdedMZTZQMu/6E9yBQPDnuqXijlo5nlh4Bv7DHjFod98LzaKpuQiM5jgqpDym4oW4ZjI+t1Po22CFo+qvX/xPVgx9mNnZAuavP0qn8VNUSj83remngi7XTISFkLR1FMoUO5qolrkK7edfez1ot0sj3rXAHHt36KoaoUkAh0BGrRaXg1SoYa0IHVoc1GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015yqdKjXA3CxMctGtuHwLKy",
      "input": {
        "note": "Pen is now centred and aligned on the jaw column in the right wrist view. Closing the gripper on it.",
        "targets": {
          "right_gripper": 0.0,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015yqdKjXA3CxMctGtuHwLKy",
      "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, 0.8036, 0.6029, -0.3809, -0.0219, -0.0254, 0.9997, 0.469, 1.948, 0.738, 0.5758, -0.0795, -0.0845, 0.0523]\nstate[eef_state]: left_x=0.2952 left_y=0.0014 left_z=0.1767 left_yaw=0.0004 left_pitch=-0.0114 left_roll=-0.0004 left_gripper=0.9997 right_x=0.4008 right_y=0.2229 right_z=0.0037 right_yaw=0.5801 right_pitch=-0.0765 right_roll=-0.0197 right_gripper=0.0523\nstate[joint_eff]: [-0.3624, -1.2923, 7.0222, 1.7265, -0.022, -0.0562, -0.0073, -0.1983, -9.3197, 4.465, 1.6777, 0.0415, 0.0659, 1.3797]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1febcc9f3a5da171ec21d895ece50c3b13dbc82983cab34159af2a7117e2d680",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a17882047cc905c82fa8d28d254ac5713e97b60a011cba7f300a94f4cd90d3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ff8a14a68975a6ed602c3ecd5722ce5ddd512e8b473f40c3813980b9537f26b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 1febcc9f3a5d
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 8.766 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]: [-0.02, 0.8024, 0.6029, -0.3809, -0.0219, -0.0254, 0.9997, 0.5091, 1.9499, 0.7429, 0.572, -0.0074, -0.0315, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.177 left_yaw=0.0008 left_pitch=-0.0103 left_roll=-0.0004 left_gripper=0.9997 right_x=0.399 right_y=0.2283 right_z=0.0035 right_yaw=0.5307 right_pitch=-0.0795 right_roll=-0.0195 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.2923, 7.0906, 1.6728, -0.0757, -0.0708, -0.0122, -2.0855, -10.3043, 4.8615, 1.4188, -0.0415, -0.0073, -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]: [-0.02, 0.8036, 0.6029, -0.3809, -0.0219, -0.0254, 0.9997, 0.4496, 1.948, 0.7429, 0.5617, -0.0891, -0.107, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1767 left_yaw=0.0008 left_pitch=-0.0114 left_roll=-0.0004 left_gripper=0.9997 right_x=0.404 right_y=0.2164 right_z=0.0027 right_yaw=0.5808 right_pitch=-0.0852 right_roll=-0.031 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -1.2103, 7.0496, 1.7118, -0.0757, -0.0708, -0.0122, 0.6769, -9.0462, 4.0957, 1.7851, -0.0904, 0.1587, -0.0171]",
      "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, 0.8036, 0.6029, -0.3809, -0.0219, -0.0254, 0.9997, 0.469, 1.948, 0.738, 0.5758, -0.0795, -0.0845, 0.0523]\nstate[eef_state]: left_x=0.2952 left_y=0.0014 left_z=0.1767 left_yaw=0.0004 left_pitch=-0.0114 left_roll=-0.0004 left_gripper=0.9997 right_x=0.4008 right_y=0.2229 right_z=0.0037 right_yaw=0.5801 right_pitch=-0.0765 right_roll=-0.0197 right_gripper=0.0523\nstate[joint_eff]: [-0.3624, -1.2923, 7.0222, 1.7265, -0.022, -0.0562, -0.0073, -0.1983, -9.3197, 4.465, 1.6777, 0.0415, 0.0659, 1.3797]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1febcc9f3a5da171ec21d895ece50c3b13dbc82983cab34159af2a7117e2d680",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a17882047cc905c82fa8d28d254ac5713e97b60a011cba7f300a94f4cd90d3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff8a14a68975a6ed602c3ecd5722ce5ddd512e8b473f40c3813980b9537f26b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 1febcc9f3a5d]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6gYKEAgSGAI4AUIIdGhpbmtpbmcSDO5zyomP4fG9nhuipxoM9+uBo8WOoN/Y699cIjA5QLQ8cAK6OeiQCU5U8FkDTYu08s+EulqN4ibGPmqDnExDHzFaZVhrBs1fSxL2rVsqhwY88/SU8RFIAq4opyreIXMPMvQkvX8DqJ4Yh0561pcAsyQR47AcY5Y5HfJM2rpATLQAmzCv5oDtUX/PxyQK/052rXHVpbc3bRl8/5TktR6BRFUF/Al7owNw1W8Q/W1+XLvwqkAUMyw6kBU9xxeK4cXUfJa+USeLny6WHlDBTxQp1w9ilaEAxLKpNYSXAlCu7QjLVRxWMjA05WB9KTgM9TNeXOn33oIRbu32JnoPJGn14wWIqgTgnHT5StAKqeWIBU8IR7WzMzYpUBVdLfsVOknbxQozs4443WuckTwcpKIf8ZMatIJ+LveQkqUass40uuUjd9al9I5kIxMmRi3AQzEEF1FZpxkU2Q/mEWFD07MuvcUfWZFQeHpTKtw6bdhwcLurFIqLBU+nCjK6NDtGnYCA4Sky+sTiKfd1Uo1ysl17Bon1m4m9+TSgpq7Tms45rNO7TKJZCNiMQMUIWlt8YtDxv/HDje1xi3Sgup4PR/evGJBQ+uxpgIAk3pBSKi9RD2YXp7nYoyrq14DGgmsKI2Hfogi9AhtCFjcjgV4rjWpd+jFzoDb/lIdPj2bYv6GNHjk1Pz4tI4rL2t9rq5vWzEd0AZSVp6hMp93TqPUzypwo7w8aDgrtxRSEfh0pUfrxrkQJixpykdR4MHkncVjuT4JPwvOp4Fw4tVk+FDW1smcCU6xEmWAMcWvwUIkcdaNAP9+tOG7VdfgRSiVvr1Xmt+uq7fnuDNdjyA/893lrAAzBmWr32qTUEE+wr5YHPTPVXK7NRA/VkKhHZIYlA4zbfw/Gt+VGadqWxgGi8QpNU5+ZTey5KOZvfLx3xDT+ABly5bR2NBsUr6xzQMXYtoRb/AWLRAnIfeQgUg++nEwbUA7JvvJH3XVCXDQ/PdLRd8NIO6ZZMfaoCsIhM9nbitjiMOH5095deCNsJ3/qsTM5Tf2Xgb8letxpZbG7i7hQ6WvJUBfYMaWIUCnX8Qo4NJtTk7gRg7XfdUB8jzzJAnEjrtfVo5anAyqYA/ipQiSLBNhRwnfWXS/rFrmdGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019suooy2i3tbAqGeKbpMWbw",
      "input": {
        "note": "Gripper settled at 0.052 (~5 mm), pen appears held between the jaws. Lifting to check 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_019suooy2i3tbAqGeKbpMWbw",
      "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, -0.3805, -0.0219, -0.0254, 0.9997, 0.469, 1.6634, 0.8856, 0.1242, -0.0834, -0.0868, 0.0607]\nstate[eef_state]: left_x=0.2954 left_y=0.0014 left_z=0.1758 left_yaw=0.0004 left_pitch=-0.0145 left_roll=-0.0003 left_gripper=0.9997 right_x=0.399 right_y=0.2227 right_z=0.0962 right_yaw=0.5848 right_pitch=-0.0956 right_roll=-0.017 right_gripper=0.0607\nstate[joint_eff]: [-0.3624, -1.5658, 7.0222, 1.7363, -0.0611, -0.0513, -0.0122, -0.1162, -10.0991, 8.8547, 1.79, -0.0171, -0.0366, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de2b9e3bf83333922678526f1f3357a6f25f9e0b3d20be1d68466f3a830907f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5dd8966ffdff881bd8223cd95a801303a70a37486bcaf907c667abb965f7ec4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:daf5c9247456bcb747db649a95d43b44d0eb9eba06a89731fc864e5628b080b5",
        "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 · 7.999 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]: [-0.02, 0.8036, 0.6029, -0.3809, -0.0219, -0.0254, 0.9997, 0.4496, 1.948, 0.7429, 0.5617, -0.0891, -0.107, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1767 left_yaw=0.0008 left_pitch=-0.0114 left_roll=-0.0004 left_gripper=0.9997 right_x=0.404 right_y=0.2164 right_z=0.0027 right_yaw=0.5808 right_pitch=-0.0852 right_roll=-0.031 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -1.2103, 7.0496, 1.7118, -0.0757, -0.0708, -0.0122, 0.6769, -9.0462, 4.0957, 1.7851, -0.0904, 0.1587, -0.0171]",
      "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, 0.8036, 0.6029, -0.3809, -0.0219, -0.0254, 0.9997, 0.469, 1.948, 0.738, 0.5758, -0.0795, -0.0845, 0.0523]\nstate[eef_state]: left_x=0.2952 left_y=0.0014 left_z=0.1767 left_yaw=0.0004 left_pitch=-0.0114 left_roll=-0.0004 left_gripper=0.9997 right_x=0.4008 right_y=0.2229 right_z=0.0037 right_yaw=0.5801 right_pitch=-0.0765 right_roll=-0.0197 right_gripper=0.0523\nstate[joint_eff]: [-0.3624, -1.2923, 7.0222, 1.7265, -0.022, -0.0562, -0.0073, -0.1983, -9.3197, 4.465, 1.6777, 0.0415, 0.0659, 1.3797]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.807, 0.6029, -0.3805, -0.0219, -0.0254, 0.9997, 0.469, 1.6634, 0.8856, 0.1242, -0.0834, -0.0868, 0.0607]\nstate[eef_state]: left_x=0.2954 left_y=0.0014 left_z=0.1758 left_yaw=0.0004 left_pitch=-0.0145 left_roll=-0.0003 left_gripper=0.9997 right_x=0.399 right_y=0.2227 right_z=0.0962 right_yaw=0.5848 right_pitch=-0.0956 right_roll=-0.017 right_gripper=0.0607\nstate[joint_eff]: [-0.3624, -1.5658, 7.0222, 1.7363, -0.0611, -0.0513, -0.0122, -0.1162, -10.0991, 8.8547, 1.79, -0.0171, -0.0366, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de2b9e3bf83333922678526f1f3357a6f25f9e0b3d20be1d68466f3a830907f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5dd8966ffdff881bd8223cd95a801303a70a37486bcaf907c667abb965f7ec4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:daf5c9247456bcb747db649a95d43b44d0eb9eba06a89731fc864e5628b080b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BMWAxmAjQ6ZubTEt8fLGQg",
      "input": {
        "note": "Pen is held in the right gripper, tip pointing forward. Now moving the left arm above the pen cap (left of centre, mid-table), yawed to close across the cap.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.22,
          "left_yaw": -0.5,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01BMWAxmAjQ6ZubTEt8fLGQg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4816, 1.6581, 0.8898, 0.0978, -0.0219, -0.0399, 0.9997, 0.469, 1.6634, 0.8814, 0.1108, -0.0834, -0.0868, 0.0663]\nstate[eef_state]: left_x=0.4061 left_y=-0.2038 left_z=0.0948 left_yaw=-0.4528 left_pitch=-0.1003 left_roll=-0.01 left_gripper=0.9997 right_x=0.3961 right_y=0.2212 right_z=0.0919 right_yaw=0.585 right_pitch=-0.113 right_roll=-0.015 right_gripper=0.0663\nstate[joint_eff]: [-0.5128, -8.1709, 9.2103, 1.9707, 0.149, 0.2662, -0.0122, -0.0068, -7.8017, 6.5983, 1.7265, -0.0659, -0.0464, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42023dd014a9e44970a02dbd88c84b66f849c68d031514e302b35c6f18f38113",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:836feb1c000b5f655fc8fab13588ced065742f060526d7257a115c656508e898",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8a6e4cfaf9193100701f80c3ef063705fdc9a7d24ab3df787df2e8b5e385cc91",
        "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 · 8.288 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, 0.8036, 0.6029, -0.3809, -0.0219, -0.0254, 0.9997, 0.469, 1.948, 0.738, 0.5758, -0.0795, -0.0845, 0.0523]\nstate[eef_state]: left_x=0.2952 left_y=0.0014 left_z=0.1767 left_yaw=0.0004 left_pitch=-0.0114 left_roll=-0.0004 left_gripper=0.9997 right_x=0.4008 right_y=0.2229 right_z=0.0037 right_yaw=0.5801 right_pitch=-0.0765 right_roll=-0.0197 right_gripper=0.0523\nstate[joint_eff]: [-0.3624, -1.2923, 7.0222, 1.7265, -0.022, -0.0562, -0.0073, -0.1983, -9.3197, 4.465, 1.6777, 0.0415, 0.0659, 1.3797]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.807, 0.6029, -0.3805, -0.0219, -0.0254, 0.9997, 0.469, 1.6634, 0.8856, 0.1242, -0.0834, -0.0868, 0.0607]\nstate[eef_state]: left_x=0.2954 left_y=0.0014 left_z=0.1758 left_yaw=0.0004 left_pitch=-0.0145 left_roll=-0.0003 left_gripper=0.9997 right_x=0.399 right_y=0.2227 right_z=0.0962 right_yaw=0.5848 right_pitch=-0.0956 right_roll=-0.017 right_gripper=0.0607\nstate[joint_eff]: [-0.3624, -1.5658, 7.0222, 1.7363, -0.0611, -0.0513, -0.0122, -0.1162, -10.0991, 8.8547, 1.79, -0.0171, -0.0366, 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]: [-0.4816, 1.6581, 0.8898, 0.0978, -0.0219, -0.0399, 0.9997, 0.469, 1.6634, 0.8814, 0.1108, -0.0834, -0.0868, 0.0663]\nstate[eef_state]: left_x=0.4061 left_y=-0.2038 left_z=0.0948 left_yaw=-0.4528 left_pitch=-0.1003 left_roll=-0.01 left_gripper=0.9997 right_x=0.3961 right_y=0.2212 right_z=0.0919 right_yaw=0.585 right_pitch=-0.113 right_roll=-0.015 right_gripper=0.0663\nstate[joint_eff]: [-0.5128, -8.1709, 9.2103, 1.9707, 0.149, 0.2662, -0.0122, -0.0068, -7.8017, 6.5983, 1.7265, -0.0659, -0.0464, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42023dd014a9e44970a02dbd88c84b66f849c68d031514e302b35c6f18f38113",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:836feb1c000b5f655fc8fab13588ced065742f060526d7257a115c656508e898",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a6e4cfaf9193100701f80c3ef063705fdc9a7d24ab3df787df2e8b5e385cc91",
        "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_01HCcwuBPT2XKv5WXHGLHR3a",
      "input": {
        "note": "Left wrist cam shows the cap just left of the jaw column, slightly tilted, close to the fingertips. Shifting ~1.5 cm tool-left, yawing to align, and descending to table height.",
        "targets": {
          "left_x": 0.412,
          "left_y": -0.19,
          "left_yaw": -0.7,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01HCcwuBPT2XKv5WXHGLHR3a",
      "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]: [-0.3389, 1.8973, 0.7887, 0.3531, 0.2123, 0.1555, 0.9997, 0.469, 1.6638, 0.8803, 0.1089, -0.0834, -0.0868, 0.0663]\nstate[eef_state]: left_x=0.408 left_y=-0.1795 left_z=0.0032 left_yaw=-0.6162 left_pitch=-0.1647 left_roll=-0.0234 left_gripper=0.9997 right_x=0.3956 right_y=0.221 right_z=0.0909 right_yaw=0.585 right_pitch=-0.1164 right_roll=-0.0146 right_gripper=0.0663\nstate[joint_eff]: [0.4034, -8.0205, 5.1487, 1.2039, 0.2271, 0.0659, -0.0122, -0.2256, -7.8564, 6.3385, 1.6435, -0.0855, -0.022, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:438da90fb479d70b9086ce82d7c06b09a75386053e05ddcdfde68ee9b264dd22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba06d6f089162841eb9f8a4b97db52869c5c9fcb28a258e712b33863b1ab362f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:04d2cc3c3849049d6ee201255a14e5afd1c3d7662bf2de0a19994c0bcc89c1d0",
        "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 · 3.388 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]: [-0.0204, 0.807, 0.6029, -0.3805, -0.0219, -0.0254, 0.9997, 0.469, 1.6634, 0.8856, 0.1242, -0.0834, -0.0868, 0.0607]\nstate[eef_state]: left_x=0.2954 left_y=0.0014 left_z=0.1758 left_yaw=0.0004 left_pitch=-0.0145 left_roll=-0.0003 left_gripper=0.9997 right_x=0.399 right_y=0.2227 right_z=0.0962 right_yaw=0.5848 right_pitch=-0.0956 right_roll=-0.017 right_gripper=0.0607\nstate[joint_eff]: [-0.3624, -1.5658, 7.0222, 1.7363, -0.0611, -0.0513, -0.0122, -0.1162, -10.0991, 8.8547, 1.79, -0.0171, -0.0366, 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]: [-0.4816, 1.6581, 0.8898, 0.0978, -0.0219, -0.0399, 0.9997, 0.469, 1.6634, 0.8814, 0.1108, -0.0834, -0.0868, 0.0663]\nstate[eef_state]: left_x=0.4061 left_y=-0.2038 left_z=0.0948 left_yaw=-0.4528 left_pitch=-0.1003 left_roll=-0.01 left_gripper=0.9997 right_x=0.3961 right_y=0.2212 right_z=0.0919 right_yaw=0.585 right_pitch=-0.113 right_roll=-0.015 right_gripper=0.0663\nstate[joint_eff]: [-0.5128, -8.1709, 9.2103, 1.9707, 0.149, 0.2662, -0.0122, -0.0068, -7.8017, 6.5983, 1.7265, -0.0659, -0.0464, 1.0281]",
      "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]: [-0.3389, 1.8973, 0.7887, 0.3531, 0.2123, 0.1555, 0.9997, 0.469, 1.6638, 0.8803, 0.1089, -0.0834, -0.0868, 0.0663]\nstate[eef_state]: left_x=0.408 left_y=-0.1795 left_z=0.0032 left_yaw=-0.6162 left_pitch=-0.1647 left_roll=-0.0234 left_gripper=0.9997 right_x=0.3956 right_y=0.221 right_z=0.0909 right_yaw=0.585 right_pitch=-0.1164 right_roll=-0.0146 right_gripper=0.0663\nstate[joint_eff]: [0.4034, -8.0205, 5.1487, 1.2039, 0.2271, 0.0659, -0.0122, -0.2256, -7.8564, 6.3385, 1.6435, -0.0855, -0.022, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:438da90fb479d70b9086ce82d7c06b09a75386053e05ddcdfde68ee9b264dd22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba06d6f089162841eb9f8a4b97db52869c5c9fcb28a258e712b33863b1ab362f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04d2cc3c3849049d6ee201255a14e5afd1c3d7662bf2de0a19994c0bcc89c1d0",
        "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_01UkHzdj7AQgzv5gEQF5UU7z",
      "input": {
        "note": "Cap is still ~2 cm left of the jaw column and a little ahead of the fingertips, slightly tilted. Advancing ~2 cm, shifting tool-left, and yawing further to square up.",
        "targets": {
          "left_x": 0.434,
          "left_y": -0.174,
          "left_yaw": -0.85,
          "left_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01UkHzdj7AQgzv5gEQF5UU7z",
      "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]: [-0.2424, 1.9808, 0.9318, 0.2558, 0.3721, 0.3183, 0.9997, 0.469, 1.6638, 0.8795, 0.1047, -0.0834, -0.0868, 0.0663]\nstate[eef_state]: left_x=0.4359 left_y=-0.1703 left_z=0.0045 left_yaw=-0.7423 left_pitch=-0.1561 left_roll=-0.0198 left_gripper=0.9997 right_x=0.3948 right_y=0.2206 right_z=0.0898 right_yaw=0.5851 right_pitch=-0.1213 right_roll=-0.014 right_gripper=0.0663\nstate[joint_eff]: [0.1299, -9.7709, 6.4068, 1.243, 0.2515, 0.1148, -0.0171, -0.0615, -7.8017, 6.3521, 1.6532, -0.0562, -0.0806, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f8ac6a210dc8611c42b7cced179419379126c00e436825472673d23aaad329d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f310a450c303beb4a6bb87dd281d4bac25593614897a32773e14ed78a36b73fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ddafce6612a435861d33363b8de5a9d02264015889aabb5086b545239a3a5e24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 10 attempt 0 · /messages · status 200 · 20.41 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]: [-0.4816, 1.6581, 0.8898, 0.0978, -0.0219, -0.0399, 0.9997, 0.469, 1.6634, 0.8814, 0.1108, -0.0834, -0.0868, 0.0663]\nstate[eef_state]: left_x=0.4061 left_y=-0.2038 left_z=0.0948 left_yaw=-0.4528 left_pitch=-0.1003 left_roll=-0.01 left_gripper=0.9997 right_x=0.3961 right_y=0.2212 right_z=0.0919 right_yaw=0.585 right_pitch=-0.113 right_roll=-0.015 right_gripper=0.0663\nstate[joint_eff]: [-0.5128, -8.1709, 9.2103, 1.9707, 0.149, 0.2662, -0.0122, -0.0068, -7.8017, 6.5983, 1.7265, -0.0659, -0.0464, 1.0281]",
      "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]: [-0.3389, 1.8973, 0.7887, 0.3531, 0.2123, 0.1555, 0.9997, 0.469, 1.6638, 0.8803, 0.1089, -0.0834, -0.0868, 0.0663]\nstate[eef_state]: left_x=0.408 left_y=-0.1795 left_z=0.0032 left_yaw=-0.6162 left_pitch=-0.1647 left_roll=-0.0234 left_gripper=0.9997 right_x=0.3956 right_y=0.221 right_z=0.0909 right_yaw=0.585 right_pitch=-0.1164 right_roll=-0.0146 right_gripper=0.0663\nstate[joint_eff]: [0.4034, -8.0205, 5.1487, 1.2039, 0.2271, 0.0659, -0.0122, -0.2256, -7.8564, 6.3385, 1.6435, -0.0855, -0.022, 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 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]: [-0.2424, 1.9808, 0.9318, 0.2558, 0.3721, 0.3183, 0.9997, 0.469, 1.6638, 0.8795, 0.1047, -0.0834, -0.0868, 0.0663]\nstate[eef_state]: left_x=0.4359 left_y=-0.1703 left_z=0.0045 left_yaw=-0.7423 left_pitch=-0.1561 left_roll=-0.0198 left_gripper=0.9997 right_x=0.3948 right_y=0.2206 right_z=0.0898 right_yaw=0.5851 right_pitch=-0.1213 right_roll=-0.014 right_gripper=0.0663\nstate[joint_eff]: [0.1299, -9.7709, 6.4068, 1.243, 0.2515, 0.1148, -0.0171, -0.0615, -7.8017, 6.3521, 1.6532, -0.0562, -0.0806, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f8ac6a210dc8611c42b7cced179419379126c00e436825472673d23aaad329d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f310a450c303beb4a6bb87dd281d4bac25593614897a32773e14ed78a36b73fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddafce6612a435861d33363b8de5a9d02264015889aabb5086b545239a3a5e24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS+QYKEAgSGAI4AUIIdGhpbmtpbmcSDAYEJOPbyMRbiSN2hxoMlnvcmjD3tHiuhJvzIjAFzfiCUWUwQZre3ocnTTxjgbRX+cRvdiHYgWPDHcarkTEibec3PLTgb+GlYFkfgXYqlgYhxnKH49GGTIi5klNuwcrOYx4OXTsqY9WHYOeeBjLtwr5YlDWcOS0ZnSq1lGxug5XiDyN0h5APE6J2DX0xw4y0YfO9G5jNv6CCHsE57T53UXa0WMZOmdMoHCvvxVCcIjyWJZ8mjyacfU6JIe1ZMhYo6C8GQmtVH011Il5TLaiIvGZIhp+1lxfdqIGG/le4SzmIwxD08dHzpV84Vg+VfVfVJwbrIMC6ZtYiMyhQgMGDuDscrEHSsG2W70xgeaiATqyy4EftbYgyar6rOG+mbGyeVzNRDy4qp+p0I/JrEyFLkjkqY8yvwiEQHQH7EtNkC+WsZbIV+7CJ1zlFH1Sa8ukNqkf1Y3kg4iH/az9K/MZtlXglPt6gFi7s2B4/iebYfdLDbb7Q9A6dTe/aYigHsRxzRqdoN0K8fTxZZXfPTvIDg3rGWDKIb5exWbJ3s+bpyMmp3aY5yZCc2wO1Jqcf7HxmdfErLKG8Z21+JcU+B7t5Jf36Xb61zehZcH+9kFZtn6WcJ8CTPdiFC3ZPmesK2pZ8grsavOT/CyUoFBhzxxkjJGkN9CgNIsC2OJpx+lBGVMS/iVSn1nNzV0+StHaQHGvEgDVyqAKkrktaTE1OKFnea7lKCt1s2Ouf3ibnrbdBqWO8obJS8eaX46655oDsSqZYvz4VBKA7of6djJqegO4Uwg9Bb8bzQiC7aQ6eg9nXseWOZ5kFEguZzrtnSvkrxjd9uot/eP/oogXDrRKuFYEUNQxzw645VYUGs7Z6qFu8tNfehr/BvbI+haGnnGOZG2nAXqc86zQg0/eeXQUQoWj5gSeFcwvvDQBfRTAbEJ5jChsnTllTkxbRdkRki1vKlhtFpRllWYeBVw+tgXE0cy9onq7gE/F+02YNUFnvvZMqRBJL9tfJC0s2PIVUss8YF0gzwWvFMgPphBVI8cyeq6l55/6Kp5sJomyvzuvICAv+5OovDhFIAhTBydFBkMj0l6XZmHSXHkSzMCicDdpyqad1h3nO8mXIGuCzN7ujaY/fp2ahi0yvQJFORyapEWR51VnCQLQlTvZoGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XcTp5LQfMSBK8pf4pMbbrK",
      "input": {
        "note": "Cap is centred and aligned on the left jaw column, running into the jaws. Closing the left gripper.",
        "targets": {
          "left_gripper": 0.0,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01XcTp5LQfMSBK8pf4pMbbrK",
      "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]: [-0.239, 1.9961, 0.934, 0.2798, 0.3717, 0.3145, 0.0468, 0.469, 1.6638, 0.8768, 0.104, -0.0837, -0.0868, 0.0663]\nstate[eef_state]: left_x=0.4396 left_y=-0.1695 left_z=0.0025 left_yaw=-0.7356 left_pitch=-0.1465 left_roll=-0.0171 left_gripper=0.0468 right_x=0.394 right_y=0.2202 right_z=0.0885 right_yaw=0.5855 right_pitch=-0.1247 right_roll=-0.0133 right_gripper=0.0663\nstate[joint_eff]: [-0.6085, -9.7846, 4.6701, 1.4481, 0.188, 0.0708, 1.2576, -0.1026, -7.8291, 6.4615, 1.6581, -0.0952, -0.0611, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87ece55b0b5d7c26106dbe8af18aa9d2a9b35a8c631723d072c58dd3be44056b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb64221553fddc1c24e060dab74d342616c42d20527303c91b2e4967d845094f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:243d27b5603f74c58525703f48149de95f28efa7446499ec61ba647bc796a004",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /messages · status 200 · 4.464 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]: [-0.3389, 1.8973, 0.7887, 0.3531, 0.2123, 0.1555, 0.9997, 0.469, 1.6638, 0.8803, 0.1089, -0.0834, -0.0868, 0.0663]\nstate[eef_state]: left_x=0.408 left_y=-0.1795 left_z=0.0032 left_yaw=-0.6162 left_pitch=-0.1647 left_roll=-0.0234 left_gripper=0.9997 right_x=0.3956 right_y=0.221 right_z=0.0909 right_yaw=0.585 right_pitch=-0.1164 right_roll=-0.0146 right_gripper=0.0663\nstate[joint_eff]: [0.4034, -8.0205, 5.1487, 1.2039, 0.2271, 0.0659, -0.0122, -0.2256, -7.8564, 6.3385, 1.6435, -0.0855, -0.022, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2424, 1.9808, 0.9318, 0.2558, 0.3721, 0.3183, 0.9997, 0.469, 1.6638, 0.8795, 0.1047, -0.0834, -0.0868, 0.0663]\nstate[eef_state]: left_x=0.4359 left_y=-0.1703 left_z=0.0045 left_yaw=-0.7423 left_pitch=-0.1561 left_roll=-0.0198 left_gripper=0.9997 right_x=0.3948 right_y=0.2206 right_z=0.0898 right_yaw=0.5851 right_pitch=-0.1213 right_roll=-0.014 right_gripper=0.0663\nstate[joint_eff]: [0.1299, -9.7709, 6.4068, 1.243, 0.2515, 0.1148, -0.0171, -0.0615, -7.8017, 6.3521, 1.6532, -0.0562, -0.0806, 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]: [-0.239, 1.9961, 0.934, 0.2798, 0.3717, 0.3145, 0.0468, 0.469, 1.6638, 0.8768, 0.104, -0.0837, -0.0868, 0.0663]\nstate[eef_state]: left_x=0.4396 left_y=-0.1695 left_z=0.0025 left_yaw=-0.7356 left_pitch=-0.1465 left_roll=-0.0171 left_gripper=0.0468 right_x=0.394 right_y=0.2202 right_z=0.0885 right_yaw=0.5855 right_pitch=-0.1247 right_roll=-0.0133 right_gripper=0.0663\nstate[joint_eff]: [-0.6085, -9.7846, 4.6701, 1.4481, 0.188, 0.0708, 1.2576, -0.1026, -7.8291, 6.4615, 1.6581, -0.0952, -0.0611, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87ece55b0b5d7c26106dbe8af18aa9d2a9b35a8c631723d072c58dd3be44056b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb64221553fddc1c24e060dab74d342616c42d20527303c91b2e4967d845094f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:243d27b5603f74c58525703f48149de95f28efa7446499ec61ba647bc796a004",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01E1mkcWd1fFQ2kGokoDc9R4",
      "input": {
        "note": "Left gripper settled at 0.047 with the cap visible in its jaws. Lifting it and rotating so the cap points toward the right arm (−y), in preparation to meet the pen.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.22,
          "left_yaw": -1.57,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01E1mkcWd1fFQ2kGokoDc9R4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2123, 2.0304, 1.6222, -0.7807, 0.7681, 1.0615, 0.0517, 0.469, 1.6638, 0.8745, 0.1005, -0.0834, -0.0868, 0.0663]\nstate[eef_state]: left_x=0.4238 left_y=-0.2132 left_z=0.1236 left_yaw=-1.4344 left_pitch=-0.161 left_roll=0.0182 left_gripper=0.0517 right_x=0.393 right_y=0.2196 right_z=0.0869 right_yaw=0.5853 right_pitch=-0.1304 right_roll=-0.0129 right_gripper=0.0663\nstate[joint_eff]: [-0.7726, -9.9897, 7.241, 0.5543, 0.5592, 0.2222, 1.033, 0.0068, -7.6376, 6.4205, 1.5849, -0.0904, -0.0806, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:849f98b52a2f8ca4413f54d31c2ea072a9d8cd7d60f385ea4bf006927ecdd1b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:889003bb7ae6d14f9192b0be1441a50f70775de13cb01fd72815eedbb4a270d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:45933b62602125e30593550da429c8620f961e6940500e5104dab25415dc0f99",
        "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 · 8.086 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]: [-0.2424, 1.9808, 0.9318, 0.2558, 0.3721, 0.3183, 0.9997, 0.469, 1.6638, 0.8795, 0.1047, -0.0834, -0.0868, 0.0663]\nstate[eef_state]: left_x=0.4359 left_y=-0.1703 left_z=0.0045 left_yaw=-0.7423 left_pitch=-0.1561 left_roll=-0.0198 left_gripper=0.9997 right_x=0.3948 right_y=0.2206 right_z=0.0898 right_yaw=0.5851 right_pitch=-0.1213 right_roll=-0.014 right_gripper=0.0663\nstate[joint_eff]: [0.1299, -9.7709, 6.4068, 1.243, 0.2515, 0.1148, -0.0171, -0.0615, -7.8017, 6.3521, 1.6532, -0.0562, -0.0806, 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]: [-0.239, 1.9961, 0.934, 0.2798, 0.3717, 0.3145, 0.0468, 0.469, 1.6638, 0.8768, 0.104, -0.0837, -0.0868, 0.0663]\nstate[eef_state]: left_x=0.4396 left_y=-0.1695 left_z=0.0025 left_yaw=-0.7356 left_pitch=-0.1465 left_roll=-0.0171 left_gripper=0.0468 right_x=0.394 right_y=0.2202 right_z=0.0885 right_yaw=0.5855 right_pitch=-0.1247 right_roll=-0.0133 right_gripper=0.0663\nstate[joint_eff]: [-0.6085, -9.7846, 4.6701, 1.4481, 0.188, 0.0708, 1.2576, -0.1026, -7.8291, 6.4615, 1.6581, -0.0952, -0.0611, 1.0281]",
      "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]: [-0.2123, 2.0304, 1.6222, -0.7807, 0.7681, 1.0615, 0.0517, 0.469, 1.6638, 0.8745, 0.1005, -0.0834, -0.0868, 0.0663]\nstate[eef_state]: left_x=0.4238 left_y=-0.2132 left_z=0.1236 left_yaw=-1.4344 left_pitch=-0.161 left_roll=0.0182 left_gripper=0.0517 right_x=0.393 right_y=0.2196 right_z=0.0869 right_yaw=0.5853 right_pitch=-0.1304 right_roll=-0.0129 right_gripper=0.0663\nstate[joint_eff]: [-0.7726, -9.9897, 7.241, 0.5543, 0.5592, 0.2222, 1.033, 0.0068, -7.6376, 6.4205, 1.5849, -0.0904, -0.0806, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:849f98b52a2f8ca4413f54d31c2ea072a9d8cd7d60f385ea4bf006927ecdd1b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:889003bb7ae6d14f9192b0be1441a50f70775de13cb01fd72815eedbb4a270d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45933b62602125e30593550da429c8620f961e6940500e5104dab25415dc0f99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6AcKEAgSGAI4AUIIdGhpbmtpbmcSDBQUx8vyHdl0Q34nnhoMKMM16qHgtxZKi9GUIjAjoN4B7hgfUNGR5wWHLZHxqo81/VGOBqHlmDfmQb6Xg7OOn0/J6ZPwTXGaIpEPXt0qhQdtYlBlNYf2X0SE+qcCnszu8gqrgVV9b4pdsL0p/qroX2ia5LeS19533TXRKWETEqSmj37cT4uHwpjxrLP29UhVXBbUdDanS9Ql9B14v/8zI8Hrm5fBGIL6wqIdtjLqlGpOPokNT6RorGyH2ip4OKqsWdrgqPf3muSbfewHTEKkbduN3+4xWdmBnaMOf1gAmXuz1FTD0njpjGxyZTtN6flj65WwuXEfV6v/e/cqGyYP9K65L8mG0sMehRV+mw9fgbhFBsZiXKWqY/1bF9RGq1euCl6MAumecDGzA7b4LBDlEpOGqbiaG02L2ayLIAQXGM9D0KfeyhM0aJWVHdZork66s/h+i3fKhf8i8erTHYga2eMSqFkVTIUIYpaT5XBizOeJ8A2i0AMpiLHxBGzmD/fW/I44jeEOOU6eudgZQo7lSdEHJLlMf9/w/Gtt3E2qaNeXGCPWa9ycJTiO0QjmikootrqAnn6BA5EXKa6xa6JxbCxmQ7Z7kbw3G2V3HJw2fsZSDx4bcBZDr22sBmh3MB3OLXtcpntT//HOlpc13knUECYuJ0eANx/qHyx53qUCTFFLyt9RlN5aNHIow/YqdrkJkwHC73lLvw1CIMFUVGaezAMkjxCLGDNfu3sT8Kj5aCDc9sMuT5UZTySAprzvZFcUdnpdzmeoh3Af8Qah7L3Z+s/12WavOgafGSUwC2k1ixhAJNMDkjeiEbP7Zaj37imaiM6Fejr3up17ybvqJolTAcaTnxyuPVVYGRf16neS6jnb8vcvdnXS6g8d40r18BlbbTc88OsBxuBM44eZbg/Dh7McYRANSz6zygJwlD/OLbR6TnVgpxOrLSuF025ghpen1fjaKMbTsoYc9VNZ2OCAP7zizcXdRApaTI67iIS9a7kfHxyWoQ4A1+7eVd4jFx15vbNy5ZRWK78OqJivOMdc/DCw8JmVx8qJGJWpdLdLw59BZH4loeODpZxMR7jrmhCIK1JCKJb+q1QQUQeZ3AX7OPEArjxA2RCgOdwdpG6hJybp5SqO612/oyAa8xfvd+09SkbSyXiM5u4F+lRdBF+Jh6SOYv14yMDSRVf0Oip8Zcw5OZfGv4Ji8M3mjuRvGjzFbOZoL2B38OVuqYlWelkkGnB5+wmF9OhmFAEwmZVteHXnGLN75vGcCn9u+7fWmbpaJmFVbJfmjVzaQZRQwuAxWNbBLs+bGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XSnFoNjKPmo4S5ye2CsiwH",
      "input": {
        "note": "Cap is held by the left arm pointing right. Now raising the right arm and rotating the pen so its tip points left toward the cap.",
        "targets": {
          "right_x": 0.41,
          "right_y": 0.24,
          "right_yaw": 1.57,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01XSnFoNjKPmo4S5ye2CsiwH",
      "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]: [-0.2161, 2.0487, 1.618, -0.7994, 0.7589, 1.0702, 0.0517, 0.2493, 2.0457, 1.6318, -0.6281, -0.7391, -0.973, 0.0704]\nstate[eef_state]: left_x=0.4194 left_y=-0.2129 left_z=0.1119 left_yaw=-1.4461 left_pitch=-0.183 left_roll=-0.0116 left_gripper=0.0517 right_x=0.4449 right_y=0.2398 right_z=0.1301 right_yaw=1.3753 right_pitch=-0.1392 right_roll=-0.0892 right_gripper=0.0704\nstate[joint_eff]: [0.3761, -12.5744, 6.5026, 1.116, 0.4567, -0.1441, 1.0281, -0.9915, -11.2752, 6.2017, 0.4371, -0.7155, -0.1783, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bafef13e1ce2eabd4edd1bc2d53b5c56bdb844be63e40598ec2a8eb5085d6f64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64f8e4e499ec86e10e365d7022b39602065e6eda2c579cf5a5d1d050fb0d3015",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fec6efcfbebf1bbd3e24ca672d774072ef7f1de18f38d1c04e5b91560afaf812",
        "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 · 10.18 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]: [-0.239, 1.9961, 0.934, 0.2798, 0.3717, 0.3145, 0.0468, 0.469, 1.6638, 0.8768, 0.104, -0.0837, -0.0868, 0.0663]\nstate[eef_state]: left_x=0.4396 left_y=-0.1695 left_z=0.0025 left_yaw=-0.7356 left_pitch=-0.1465 left_roll=-0.0171 left_gripper=0.0468 right_x=0.394 right_y=0.2202 right_z=0.0885 right_yaw=0.5855 right_pitch=-0.1247 right_roll=-0.0133 right_gripper=0.0663\nstate[joint_eff]: [-0.6085, -9.7846, 4.6701, 1.4481, 0.188, 0.0708, 1.2576, -0.1026, -7.8291, 6.4615, 1.6581, -0.0952, -0.0611, 1.0281]",
      "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]: [-0.2123, 2.0304, 1.6222, -0.7807, 0.7681, 1.0615, 0.0517, 0.469, 1.6638, 0.8745, 0.1005, -0.0834, -0.0868, 0.0663]\nstate[eef_state]: left_x=0.4238 left_y=-0.2132 left_z=0.1236 left_yaw=-1.4344 left_pitch=-0.161 left_roll=0.0182 left_gripper=0.0517 right_x=0.393 right_y=0.2196 right_z=0.0869 right_yaw=0.5853 right_pitch=-0.1304 right_roll=-0.0129 right_gripper=0.0663\nstate[joint_eff]: [-0.7726, -9.9897, 7.241, 0.5543, 0.5592, 0.2222, 1.033, 0.0068, -7.6376, 6.4205, 1.5849, -0.0904, -0.0806, 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]: [-0.2161, 2.0487, 1.618, -0.7994, 0.7589, 1.0702, 0.0517, 0.2493, 2.0457, 1.6318, -0.6281, -0.7391, -0.973, 0.0704]\nstate[eef_state]: left_x=0.4194 left_y=-0.2129 left_z=0.1119 left_yaw=-1.4461 left_pitch=-0.183 left_roll=-0.0116 left_gripper=0.0517 right_x=0.4449 right_y=0.2398 right_z=0.1301 right_yaw=1.3753 right_pitch=-0.1392 right_roll=-0.0892 right_gripper=0.0704\nstate[joint_eff]: [0.3761, -12.5744, 6.5026, 1.116, 0.4567, -0.1441, 1.0281, -0.9915, -11.2752, 6.2017, 0.4371, -0.7155, -0.1783, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bafef13e1ce2eabd4edd1bc2d53b5c56bdb844be63e40598ec2a8eb5085d6f64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64f8e4e499ec86e10e365d7022b39602065e6eda2c579cf5a5d1d050fb0d3015",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fec6efcfbebf1bbd3e24ca672d774072ef7f1de18f38d1c04e5b91560afaf812",
        "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_017A8odcXzy1tc3ZfEuJwk7D",
      "input": {
        "note": "Pen (right) and cap (left) now point toward each other with ~10 cm gap, but x and height differ by ~2 cm. Matching x, z and yaw on both arms to make them coaxial.",
        "targets": {
          "left_x": 0.42,
          "left_yaw": -1.57,
          "left_z": 0.135,
          "right_x": 0.42,
          "right_yaw": 1.57,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_017A8odcXzy1tc3ZfEuJwk7D",
      "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]: [-0.2115, 2.1132, 1.7588, -0.9394, 0.765, 1.1419, 0.0517, 0.2417, 2.0884, 1.6962, -0.8574, -0.8158, -1.2087, 0.0704]\nstate[eef_state]: left_x=0.4256 left_y=-0.2129 left_z=0.1195 left_yaw=-1.4948 left_pitch=-0.1969 left_roll=-0.0222 left_gripper=0.0517 right_x=0.4152 right_y=0.2385 right_z=0.122 right_yaw=1.5578 right_pitch=-0.1532 right_roll=-0.0498 right_gripper=0.0704\nstate[joint_eff]: [0.6496, -12.0957, 7.8154, 0.4762, 0.5739, 0.2369, 1.0281, -0.4581, -11.0974, 8.3487, 0.9255, -0.4762, -0.1001, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4ff7747ed7a55ce273ae1ee6ac731285e81659a5851d5f6f881a828cd990525",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b573cec702664f4cf2df8ca59b6dfa1dd7b8d24a5bafcad5008c4e65d74d0ca3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4c0ef9e9ad5ed24177f6de7f8a15f405fcbb4f4d8a292d0cc1885801abfdd58e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 4.69 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]: [-0.2123, 2.0304, 1.6222, -0.7807, 0.7681, 1.0615, 0.0517, 0.469, 1.6638, 0.8745, 0.1005, -0.0834, -0.0868, 0.0663]\nstate[eef_state]: left_x=0.4238 left_y=-0.2132 left_z=0.1236 left_yaw=-1.4344 left_pitch=-0.161 left_roll=0.0182 left_gripper=0.0517 right_x=0.393 right_y=0.2196 right_z=0.0869 right_yaw=0.5853 right_pitch=-0.1304 right_roll=-0.0129 right_gripper=0.0663\nstate[joint_eff]: [-0.7726, -9.9897, 7.241, 0.5543, 0.5592, 0.2222, 1.033, 0.0068, -7.6376, 6.4205, 1.5849, -0.0904, -0.0806, 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]: [-0.2161, 2.0487, 1.618, -0.7994, 0.7589, 1.0702, 0.0517, 0.2493, 2.0457, 1.6318, -0.6281, -0.7391, -0.973, 0.0704]\nstate[eef_state]: left_x=0.4194 left_y=-0.2129 left_z=0.1119 left_yaw=-1.4461 left_pitch=-0.183 left_roll=-0.0116 left_gripper=0.0517 right_x=0.4449 right_y=0.2398 right_z=0.1301 right_yaw=1.3753 right_pitch=-0.1392 right_roll=-0.0892 right_gripper=0.0704\nstate[joint_eff]: [0.3761, -12.5744, 6.5026, 1.116, 0.4567, -0.1441, 1.0281, -0.9915, -11.2752, 6.2017, 0.4371, -0.7155, -0.1783, 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]: [-0.2115, 2.1132, 1.7588, -0.9394, 0.765, 1.1419, 0.0517, 0.2417, 2.0884, 1.6962, -0.8574, -0.8158, -1.2087, 0.0704]\nstate[eef_state]: left_x=0.4256 left_y=-0.2129 left_z=0.1195 left_yaw=-1.4948 left_pitch=-0.1969 left_roll=-0.0222 left_gripper=0.0517 right_x=0.4152 right_y=0.2385 right_z=0.122 right_yaw=1.5578 right_pitch=-0.1532 right_roll=-0.0498 right_gripper=0.0704\nstate[joint_eff]: [0.6496, -12.0957, 7.8154, 0.4762, 0.5739, 0.2369, 1.0281, -0.4581, -11.0974, 8.3487, 0.9255, -0.4762, -0.1001, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4ff7747ed7a55ce273ae1ee6ac731285e81659a5851d5f6f881a828cd990525",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b573cec702664f4cf2df8ca59b6dfa1dd7b8d24a5bafcad5008c4e65d74d0ca3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c0ef9e9ad5ed24177f6de7f8a15f405fcbb4f4d8a292d0cc1885801abfdd58e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DLvNL1iMqPvhSwyHDnoMAy",
      "input": {
        "note": "Pen tip and cap appear roughly coaxial in both wrist views with a few cm gap. Advancing the pen 3.5 cm toward the cap.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.275,
          "right_z": 0.122
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01DLvNL1iMqPvhSwyHDnoMAy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2096, 2.1349, 1.7546, -0.971, 0.757, 1.1553, 0.0517, 0.2417, 2.0892, 1.7035, -0.8577, -0.8127, -1.2324, 0.0704]\nstate[eef_state]: left_x=0.4196 left_y=-0.2096 left_z=0.1063 left_yaw=-1.5095 left_pitch=-0.22 left_roll=-0.0669 left_gripper=0.0517 right_x=0.4169 right_y=0.2386 right_z=0.1235 right_yaw=1.5684 right_pitch=-0.1553 right_roll=-0.0746 right_gripper=0.0704\nstate[joint_eff]: [-0.3214, -13.4359, 6.5573, 0.8962, 0.4371, -0.0122, 1.0281, -0.4171, -11.453, 7.4735, 0.8083, -0.5641, -0.0806, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:721e4a3b26baec1df879229d2ecc314a4b7ac5f7d367a04fe6dfdcc37e6a121e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9ff2a072fce8c35d7499fc8ae5c8f2a7e8566af9fb1d6a91b77c2686c351080",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:032c05c898b38e4515f72714f18afff94c03357f1710adb9fb1c8641ee718dba",
        "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 · 7.039 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]: [-0.2161, 2.0487, 1.618, -0.7994, 0.7589, 1.0702, 0.0517, 0.2493, 2.0457, 1.6318, -0.6281, -0.7391, -0.973, 0.0704]\nstate[eef_state]: left_x=0.4194 left_y=-0.2129 left_z=0.1119 left_yaw=-1.4461 left_pitch=-0.183 left_roll=-0.0116 left_gripper=0.0517 right_x=0.4449 right_y=0.2398 right_z=0.1301 right_yaw=1.3753 right_pitch=-0.1392 right_roll=-0.0892 right_gripper=0.0704\nstate[joint_eff]: [0.3761, -12.5744, 6.5026, 1.116, 0.4567, -0.1441, 1.0281, -0.9915, -11.2752, 6.2017, 0.4371, -0.7155, -0.1783, 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]: [-0.2115, 2.1132, 1.7588, -0.9394, 0.765, 1.1419, 0.0517, 0.2417, 2.0884, 1.6962, -0.8574, -0.8158, -1.2087, 0.0704]\nstate[eef_state]: left_x=0.4256 left_y=-0.2129 left_z=0.1195 left_yaw=-1.4948 left_pitch=-0.1969 left_roll=-0.0222 left_gripper=0.0517 right_x=0.4152 right_y=0.2385 right_z=0.122 right_yaw=1.5578 right_pitch=-0.1532 right_roll=-0.0498 right_gripper=0.0704\nstate[joint_eff]: [0.6496, -12.0957, 7.8154, 0.4762, 0.5739, 0.2369, 1.0281, -0.4581, -11.0974, 8.3487, 0.9255, -0.4762, -0.1001, 1.0379]",
      "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]: [-0.2096, 2.1349, 1.7546, -0.971, 0.757, 1.1553, 0.0517, 0.2417, 2.0892, 1.7035, -0.8577, -0.8127, -1.2324, 0.0704]\nstate[eef_state]: left_x=0.4196 left_y=-0.2096 left_z=0.1063 left_yaw=-1.5095 left_pitch=-0.22 left_roll=-0.0669 left_gripper=0.0517 right_x=0.4169 right_y=0.2386 right_z=0.1235 right_yaw=1.5684 right_pitch=-0.1553 right_roll=-0.0746 right_gripper=0.0704\nstate[joint_eff]: [-0.3214, -13.4359, 6.5573, 0.8962, 0.4371, -0.0122, 1.0281, -0.4171, -11.453, 7.4735, 0.8083, -0.5641, -0.0806, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:721e4a3b26baec1df879229d2ecc314a4b7ac5f7d367a04fe6dfdcc37e6a121e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9ff2a072fce8c35d7499fc8ae5c8f2a7e8566af9fb1d6a91b77c2686c351080",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:032c05c898b38e4515f72714f18afff94c03357f1710adb9fb1c8641ee718dba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkAgKEAgSGAI4AUIIdGhpbmtpbmcSDCgO1jmBSQO8W4r4DBoMpzCAparzj/unB8JfIjDmU5mp/ZX/8k5beE0aA/SKoFIn9ddXQUh8+DgmHqHk9UvtYrirP1yj1rF9TaVqz4sqrQfxoUccWK7O2BuLR1CfYYyzZLFWHA3OIbkdLQLHtFX9BwNPbLIsHUjJlb00SqJj0bo4z5K2e+SNzZBH8/MC1QQZDVcVkY1hfpeIc2jJvFxg8j/Vl28WMuPeqrB6cYL2unc5qWTfgdT9X0k+nqLeRVCNHC5z2qYh7iwHpFhMV3VgSbcywb4sp289y4kN2YvN6vTXlku9kwj+pe2KNZRypQnNqXF9G6FaqvjgNPldVAAT+C1ln68ABU/w9jX0cOMuNzz3/5VDgJRx4WgdZZLhtXIm/+Fa4vf39i6WC14wPjHTNj5Xkou9iQxq8KCzg7kMp+30++iguD98dZkxl313seWaEIlOYp1Ocg3cQMldoitoAw8s5DQdAT+iLVBsc6Zc+bPTctphevJCrUyLYUFjehqFRN6IccnTXkG21K8HGg04LhW9ts7ti6a1R1Y6wOeZabaxpFQYbqFRS2KXcpUUcyOBot1AN5bToIoJhivVH24lPDJS3HaSPiNF5KRSHbrr4GKL6JE9pravCGa63DP92E3qQ7U+DE/dNwl/ujv7mPD/N9yqciXvfsuv3R7gff5yTiXG7NjOCZT6c1eWyXZeIl6yUH/KJYwOB8pI4y/nk294/BFNPSTOINSok0Gfyp51Zwx3le+lcd08mOviMsxFDnO3/CEUlrNvqEPui9hv7WZZby3BLr3QP8F2ywTUa/2bADGVeI+k88Ei61y2/B+UI2r1JMRHhCbmIDHRtGLKnd/usSRp47np4Fa+gQUxIubwUwPi08/JNJtz72H9j5ZGyPA9TUHLNKoHTRb/pAIDUX58Jxr+0ado0gFutpwZpeZ9OAfo0zDjALbBrmDf9smCWC0r/HXbJUnh5Taya61Tv+RDKlzGsZ2BnTEB5EqdstA57I/YWRK7BHtq4tbtE7q2Jpmvg/Yemskq5JPnt8bX8YrNUQHU7ZAACL580rPRkgdZVKYAdR0rMwjznhS5Yr2wA3geHbL/RNafYW2zEgb60Qq8kikEHbvxNtHu6NEV2z1Gz6gpYz0kNQHvnifQLgvDz2GfQu5uSaDZeNqirP40nF9DgEFC43l0nn28SPgb01Oz2vTMp+L+BD58I0ayCZD1Xz1EN9e45pCmxsflEyMXL/OJ5K0qLJf3nagWQAUQ4zoZZdb43acQJEBnN0EtOUewDdPWhdVDEh05SNmtcBLgQNsDf5VV8Z5AaPOEnxGyZ2/YADPeW99qlKp4tAsf2eebn4U9ZOlU21oNyvAmvy3+WhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RqPSWoGfgqckkvmK3zoXUP",
      "input": {
        "note": "The right arm did not advance (likely IK hold at this wrist yaw), and the left arm sagged to 10.6 cm. Moving the cap toward the pen instead and raising it to match pen height.",
        "targets": {
          "left_x": 0.418,
          "left_y": -0.245,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01RqPSWoGfgqckkvmK3zoXUP",
      "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]: [-0.2813, 2.1349, 1.8324, -1.0164, 0.7307, 1.074, 0.0517, 0.2417, 2.0892, 1.7035, -0.8574, -0.8127, -1.2316, 0.0704]\nstate[eef_state]: left_x=0.4131 left_y=-0.2384 left_z=0.1243 left_yaw=-1.5212 left_pitch=-0.2378 left_roll=-0.0855 left_gripper=0.0517 right_x=0.417 right_y=0.2386 right_z=0.1236 right_yaw=1.5679 right_pitch=-0.1551 right_roll=-0.0744 right_gripper=0.0704\nstate[joint_eff]: [-0.1162, -11.8769, 9.1692, 0.6276, 0.3639, -0.0464, 1.0281, -0.5128, -11.4393, 7.4872, 0.823, -0.5983, -0.0659, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ca3ed02360d18b89df5fc52c9f0765747eeb8b55fcc3edac835d6232974c0a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8285f3c62d86b8ee86bdd79bc0df1d9075024e555f66c83a8a3b3d965a3fb26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4fbd31b2544ff800e5e92e06881d6affbebbdc886d8374233926ed3d6f38bc65",
        "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 · 5.603 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]: [-0.2115, 2.1132, 1.7588, -0.9394, 0.765, 1.1419, 0.0517, 0.2417, 2.0884, 1.6962, -0.8574, -0.8158, -1.2087, 0.0704]\nstate[eef_state]: left_x=0.4256 left_y=-0.2129 left_z=0.1195 left_yaw=-1.4948 left_pitch=-0.1969 left_roll=-0.0222 left_gripper=0.0517 right_x=0.4152 right_y=0.2385 right_z=0.122 right_yaw=1.5578 right_pitch=-0.1532 right_roll=-0.0498 right_gripper=0.0704\nstate[joint_eff]: [0.6496, -12.0957, 7.8154, 0.4762, 0.5739, 0.2369, 1.0281, -0.4581, -11.0974, 8.3487, 0.9255, -0.4762, -0.1001, 1.0379]",
      "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]: [-0.2096, 2.1349, 1.7546, -0.971, 0.757, 1.1553, 0.0517, 0.2417, 2.0892, 1.7035, -0.8577, -0.8127, -1.2324, 0.0704]\nstate[eef_state]: left_x=0.4196 left_y=-0.2096 left_z=0.1063 left_yaw=-1.5095 left_pitch=-0.22 left_roll=-0.0669 left_gripper=0.0517 right_x=0.4169 right_y=0.2386 right_z=0.1235 right_yaw=1.5684 right_pitch=-0.1553 right_roll=-0.0746 right_gripper=0.0704\nstate[joint_eff]: [-0.3214, -13.4359, 6.5573, 0.8962, 0.4371, -0.0122, 1.0281, -0.4171, -11.453, 7.4735, 0.8083, -0.5641, -0.0806, 1.033]",
      "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]: [-0.2813, 2.1349, 1.8324, -1.0164, 0.7307, 1.074, 0.0517, 0.2417, 2.0892, 1.7035, -0.8574, -0.8127, -1.2316, 0.0704]\nstate[eef_state]: left_x=0.4131 left_y=-0.2384 left_z=0.1243 left_yaw=-1.5212 left_pitch=-0.2378 left_roll=-0.0855 left_gripper=0.0517 right_x=0.417 right_y=0.2386 right_z=0.1236 right_yaw=1.5679 right_pitch=-0.1551 right_roll=-0.0744 right_gripper=0.0704\nstate[joint_eff]: [-0.1162, -11.8769, 9.1692, 0.6276, 0.3639, -0.0464, 1.0281, -0.5128, -11.4393, 7.4872, 0.823, -0.5983, -0.0659, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ca3ed02360d18b89df5fc52c9f0765747eeb8b55fcc3edac835d6232974c0a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8285f3c62d86b8ee86bdd79bc0df1d9075024e555f66c83a8a3b3d965a3fb26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fbd31b2544ff800e5e92e06881d6affbebbdc886d8374233926ed3d6f38bc65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012XTJf9uMrnG5KZwKwzXMjs",
      "input": {
        "note": "Both wrist views show the pen tip and cap on the same axis with a gap remaining. Advancing the cap another 3 cm toward the pen tip.",
        "targets": {
          "left_x": 0.418,
          "left_y": -0.275,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_012XTJf9uMrnG5KZwKwzXMjs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.347, 2.1773, 1.9205, -1.0531, 0.7059, 0.9985, 0.0517, 0.2417, 2.0892, 1.7027, -0.8577, -0.8074, -1.2316, 0.0704]\nstate[eef_state]: left_x=0.4093 left_y=-0.266 left_z=0.1273 left_yaw=-1.5343 left_pitch=-0.2609 left_roll=-0.1213 left_gripper=0.0517 right_x=0.4171 right_y=0.2379 right_z=0.1227 right_yaw=1.5662 right_pitch=-0.1603 right_roll=-0.0745 right_gripper=0.0704\nstate[joint_eff]: [-0.2393, -11.5077, 9.0188, 0.8718, 0.3394, -0.0024, 1.0281, -0.1709, -11.494, 6.2564, 0.8132, -0.4322, -0.0122, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d12bdf286ffa7392730189e813fada8b284ffb2316373be8937d71360cc44d4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:769482018735a898724339ae40fa5817e8d2a4e6261b1fb669b949500cb6201a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c50682de1db1963761b851c690d586560c26e755a749627da268aa2887ca5a22",
        "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 · 5.426 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]: [-0.2096, 2.1349, 1.7546, -0.971, 0.757, 1.1553, 0.0517, 0.2417, 2.0892, 1.7035, -0.8577, -0.8127, -1.2324, 0.0704]\nstate[eef_state]: left_x=0.4196 left_y=-0.2096 left_z=0.1063 left_yaw=-1.5095 left_pitch=-0.22 left_roll=-0.0669 left_gripper=0.0517 right_x=0.4169 right_y=0.2386 right_z=0.1235 right_yaw=1.5684 right_pitch=-0.1553 right_roll=-0.0746 right_gripper=0.0704\nstate[joint_eff]: [-0.3214, -13.4359, 6.5573, 0.8962, 0.4371, -0.0122, 1.0281, -0.4171, -11.453, 7.4735, 0.8083, -0.5641, -0.0806, 1.033]",
      "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]: [-0.2813, 2.1349, 1.8324, -1.0164, 0.7307, 1.074, 0.0517, 0.2417, 2.0892, 1.7035, -0.8574, -0.8127, -1.2316, 0.0704]\nstate[eef_state]: left_x=0.4131 left_y=-0.2384 left_z=0.1243 left_yaw=-1.5212 left_pitch=-0.2378 left_roll=-0.0855 left_gripper=0.0517 right_x=0.417 right_y=0.2386 right_z=0.1236 right_yaw=1.5679 right_pitch=-0.1551 right_roll=-0.0744 right_gripper=0.0704\nstate[joint_eff]: [-0.1162, -11.8769, 9.1692, 0.6276, 0.3639, -0.0464, 1.0281, -0.5128, -11.4393, 7.4872, 0.823, -0.5983, -0.0659, 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 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]: [-0.347, 2.1773, 1.9205, -1.0531, 0.7059, 0.9985, 0.0517, 0.2417, 2.0892, 1.7027, -0.8577, -0.8074, -1.2316, 0.0704]\nstate[eef_state]: left_x=0.4093 left_y=-0.266 left_z=0.1273 left_yaw=-1.5343 left_pitch=-0.2609 left_roll=-0.1213 left_gripper=0.0517 right_x=0.4171 right_y=0.2379 right_z=0.1227 right_yaw=1.5662 right_pitch=-0.1603 right_roll=-0.0745 right_gripper=0.0704\nstate[joint_eff]: [-0.2393, -11.5077, 9.0188, 0.8718, 0.3394, -0.0024, 1.0281, -0.1709, -11.494, 6.2564, 0.8132, -0.4322, -0.0122, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d12bdf286ffa7392730189e813fada8b284ffb2316373be8937d71360cc44d4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:769482018735a898724339ae40fa5817e8d2a4e6261b1fb669b949500cb6201a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c50682de1db1963761b851c690d586560c26e755a749627da268aa2887ca5a22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpAoKEAgSGAI4AUIIdGhpbmtpbmcSDC0C8T+SqxtZFbjL3hoMnhSxsdZ/E8+7bR1LIjBizvLsnMeAyX6MSw1cVPEjPgW8zgBW3StO7hbdLFpXQwLZyXH/MsbfZmdpAPFQHKUqwQlgyOCzVBD+J1TvzJUblctag5GCEUazazB3KGAs0VwimJCzku3whxyf2v8q3rzOfeFz/i26aaQBnatEYi284XJUPmLu+QS1tmUSt0SyCZKLiLKTy+B3+Y/LUXi5EwbNuY0JW4GLm167PKDDLKha9t9VZzqbLGR4/F4f6ljQMivA5pUPFopqsthT4jj4lhi4gjFNDE00FQ8649LnJ7QaamOrpZqKzNVo1qznUSsh8SakczXNvLKmEAlYTua2f8x0ssAmvsAgeDy73w6CFMDbrxZbCyXHm98OuTK3DMToo8UTZZR/xC4YTYPMllYXkC7mC5gE46Wn+aOCXGxuGgqTBI3GEXHe48u1S7plCPCUOAzbW9zJcKFDbvypj+HI78JXHvIshtS/Dt/OvaBfVNkqLdvP27vqs63YR1s7qxasQD/fvdHl0KopAQoqE/PcN+rgCvBm1Dpan8qG5O4i/siKkv3nZVEtEg0K9AiSyoz2fF9jYUsa2Lp/fCLokYZQ9nmV/qub1FVSkRmTxbddeYrdcjE/bWCKK1ArklK7Yk2VQPKKkm3YMUYfVHvOp2PoVV5LWpb7ldpZjxEqIJcJD97PtFSYzNiS7zq/zZ/sfuycYmK37+89Ht8WLP5Pmqxh/E6z7UGgz6AbenraWuF1mO8VKWD91lI5v6nbjtYz8VqhcBnR9Urm8Tr+lIooOeSH0htX4i0rkcO6xlXgLYX1WnVjdbo0/e20+S+npohAQpw/frCjz94FkfaBLGNLueFdJ7J+/Y8083xNgibKtviKADPaAMWAaQL2kseeY3wraCPSbUsfxpVLzSpRZBT+YOUf+wx4h2JkrehfvQrN2Stf4pw8ocEgpRa2Lw4fyOpeO5JTi5bYH6upu6bnK2WpzyHTCYkNnEbyXG5ONOmMlkQ7/SBUxZ160WyJlrEn+ZfUOorT0YPNffLByd4AWDFr8xrtm0b/5mEG8DbKxsQHK2smsPlVecx3tAbiZREoYGJhC+LMUMicS9idOf/kJI0ES9Y7Ygnf1oEYYiDuiOy0UUiShnFUYNFFyEF+tNETRJ9ma5eK9qmjJS7lolfjaXXNH8j6urA5tVHEyHKF3twHrQrbs40AYMrLXWxuqBhHYUOQwT29f83/PBuK3J7oAhbWJ9F22d+S08h2Bwak00/Mfilii5YFrTMVq83ZRfV491SsTPIOETCILUADFedj3BwBM4ubTiPDerYv1Ojo87j6kYxurlcM99xwiXAKDUgIVmf83BsiGrU8d0Pi/Woahw45qLwrTcTCfG/+UuNbjijT+MLSqP3pMpLEKA9LB0FTZWpcBFLobiMGNmnZQMpwS4ZbhW19dTAbmm76G2ETXpFX4OXtVSkjz6urHZeb3SdqnDaVg1OLD0nqdMlulUaqhrsACFTf29SC0iuYM+tXaTr4kBID6M538sBKPh6WjtN+V5g0lKEAp79kFV8tuA2mtnbJ8NYBGuShQx7WQGWlXFpBGNoSVSzm6mzbctAr7gDjQfIFk1GMtWLJk53spMfSxFFat7d3jEzGW2Ij6I1SDuY7QF/yB4XrTlj/XtLCmzPyAQFnMxse71i2+Z+SFKQczToWwt0bEAkt8p1HdWnaMruCeqDSm0wcwhc5oBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BdietCuJ4JUnQHgUtFJwhc",
      "input": {
        "note": "Pen tip and cap end are nearly touching and coaxial in both wrist views. Pushing the cap another ~2 cm onto the pen tip.",
        "targets": {
          "left_x": 0.418,
          "left_y": -0.29,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01BdietCuJ4JUnQHgUtFJwhc",
      "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]: [-0.3763, 2.2353, 2.0308, -1.1004, 0.6857, 0.9573, 0.0517, 0.2417, 2.0892, 1.6997, -0.8577, -0.8051, -1.2316, 0.0704]\nstate[eef_state]: left_x=0.4151 left_y=-0.2804 left_z=0.1295 left_yaw=-1.5322 left_pitch=-0.2796 left_roll=-0.1373 left_gripper=0.0517 right_x=0.4166 right_y=0.2375 right_z=0.1214 right_yaw=1.5659 right_pitch=-0.1632 right_roll=-0.0721 right_gripper=0.0704\nstate[joint_eff]: [-0.8957, -12.1504, 9.2376, 0.5836, 0.4127, -0.1245, 1.0281, -0.2256, -11.4667, 6.612, 0.7839, -0.4811, -0.0269, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30383606b72161bb5a6769605b144e509fef631f4064edd83ed620d5726aff05",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba7513160a502aa9d50d8a2bb9e6a78e48d772c6e3830a5f41c07440d95110ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:75223d5aa93eab74fae821ce769bc6a97e0899019b49947bbe7feeed3e7218b0",
        "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 · 10.63 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]: [-0.2813, 2.1349, 1.8324, -1.0164, 0.7307, 1.074, 0.0517, 0.2417, 2.0892, 1.7035, -0.8574, -0.8127, -1.2316, 0.0704]\nstate[eef_state]: left_x=0.4131 left_y=-0.2384 left_z=0.1243 left_yaw=-1.5212 left_pitch=-0.2378 left_roll=-0.0855 left_gripper=0.0517 right_x=0.417 right_y=0.2386 right_z=0.1236 right_yaw=1.5679 right_pitch=-0.1551 right_roll=-0.0744 right_gripper=0.0704\nstate[joint_eff]: [-0.1162, -11.8769, 9.1692, 0.6276, 0.3639, -0.0464, 1.0281, -0.5128, -11.4393, 7.4872, 0.823, -0.5983, -0.0659, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.347, 2.1773, 1.9205, -1.0531, 0.7059, 0.9985, 0.0517, 0.2417, 2.0892, 1.7027, -0.8577, -0.8074, -1.2316, 0.0704]\nstate[eef_state]: left_x=0.4093 left_y=-0.266 left_z=0.1273 left_yaw=-1.5343 left_pitch=-0.2609 left_roll=-0.1213 left_gripper=0.0517 right_x=0.4171 right_y=0.2379 right_z=0.1227 right_yaw=1.5662 right_pitch=-0.1603 right_roll=-0.0745 right_gripper=0.0704\nstate[joint_eff]: [-0.2393, -11.5077, 9.0188, 0.8718, 0.3394, -0.0024, 1.0281, -0.1709, -11.494, 6.2564, 0.8132, -0.4322, -0.0122, 1.0379]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3763, 2.2353, 2.0308, -1.1004, 0.6857, 0.9573, 0.0517, 0.2417, 2.0892, 1.6997, -0.8577, -0.8051, -1.2316, 0.0704]\nstate[eef_state]: left_x=0.4151 left_y=-0.2804 left_z=0.1295 left_yaw=-1.5322 left_pitch=-0.2796 left_roll=-0.1373 left_gripper=0.0517 right_x=0.4166 right_y=0.2375 right_z=0.1214 right_yaw=1.5659 right_pitch=-0.1632 right_roll=-0.0721 right_gripper=0.0704\nstate[joint_eff]: [-0.8957, -12.1504, 9.2376, 0.5836, 0.4127, -0.1245, 1.0281, -0.2256, -11.4667, 6.612, 0.7839, -0.4811, -0.0269, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30383606b72161bb5a6769605b144e509fef631f4064edd83ed620d5726aff05",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba7513160a502aa9d50d8a2bb9e6a78e48d772c6e3830a5f41c07440d95110ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75223d5aa93eab74fae821ce769bc6a97e0899019b49947bbe7feeed3e7218b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStggKEAgSGAI4AUIIdGhpbmtpbmcSDF9AU5+hgWCZd+dI0xoM1po5BoLRRZO1OXIsIjC7Id9h53NArrrLznb+XYOf2+nP2y7fAMiYHpqrJE3kTeIGKvmpXVXazG7q0SYFu5Mq0wdLrv3hjjO8vWF3zLyQAderEdQ+wRYmkehOB8/u9QpDX9C4nt/B/Qhcxkvh/lNl8bJPtMsQT0FsN5WTgyOYEKS1mGHjbDqSoIrfZ6y+/Ocl7PoHSaouLNpRPiCyaE6wigX5M6z0C5Blywtb63MfURTBhlzBtarv5DkxreHR+N7iYcZTQ/To5pHck0SYKxargoTruUg+XnwzR7GJRooP5PYSpyZE0ouLb/4VY8OOdXa0DxuJ71nVcFzVnieEdvK1BXG4bWwVVb5pC+vi5CzeR8PwMGlsNGaq0nUMsA1q2Bw0A7mOMigQ10yVswS/lY7KiK1C5LzRFGH+uGH46N6exARLHn9t3Hn6qhI4tCbVkm5Axe0TUScaJcvBdu1t74gWuZfDsup9uPI30TMDOuw5dG3BpurNugY7BbyP9FlU7zLolF4uNwSsnnoP6RJqRWGBzVqnuOlnTM9A5jUjq/DlLRSeD3ws8UgnmFtwa0mg/oLEGfxbkuup50Gt6wIAfOGmsFC0razK5ODfHBuNAenBMmdYKE2RQJe5CeOomhiVrSSQgbCYmE2Vxs9iKo7nrdKVsRDMrMVbZsQZDxPd1rI2CkxbF3SdXn9ZkxmSL9I92qruHagRC1cgjaY3tPrYbQAdH7/dR7HX2DxUMdBwp60iGZA2tBB2dgzRBe0m/9/+jofW9BJHH6qFE8xqzM/h9NvQ2f5C52PpuuxSUppifBcVAIFvPft/zgf0bFElNnK4qArI9wwf1l9kKPm5v17+PdymfOSAJdRtHPjfcRodNjx6prMqfQapYr4qfEFptNdW00OxCLoRzWX8nD+3eUly88AEn5MXSXsJRUEpmbulHmlVfRKH6IH0PTT8X9IE72xidE5r5uVgy0ACZvKGv62m38dMcMIDehyzbJE/KVyxuyXnQNMmg0CfbKJ6wAXRSAzPmYKP6qnkP8vb/MsSZA6tRcssMsxn/4JFHWk4cKBjZcYikS8NDyu0XlBW3irk7+vA/56eLG5gnlzQa22xnNLxKO6d6Y4YG/MCwifJjitLbuHYWimbV63e048OzAeQ7QtNVw6IuFpQD3pnSHhVKRiocWuUijJd7AIMWsKV0epKV0qe85iJ3JQM7/uMhuhS/FYXcPuliR6BSFHP42/lHan+xt6P+X3KwWSw5OTnz6/brEql+P30sYuBYnwvJZHjUz+D54N4TrwiLpoUcwhyPpbGOsGItEtyC1GcGpoA30U9O3WctFagDYEs4Hy34OkyvjUaEDPmcYTUVLFIiX+Xm6VvHRNVBUMGtlhWBJDUunYYD+ERLJ2Jdm5hGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01A5q6Qi4HRn4r1SBKWbGFTJ",
      "input": {
        "note": "Pen tip has disappeared into the cap in both wrist views; the left arm stopped ~1 cm short, suggesting contact. Pressing a bit further to seat the cap.",
        "targets": {
          "left_x": 0.418,
          "left_y": -0.298,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01A5q6Qi4HRn4r1SBKWbGFTJ",
      "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]: [-0.3958, 2.2623, 2.0892, -1.1412, 0.6762, 0.9318, 0.0517, 0.2417, 2.0892, 1.6997, -0.8581, -0.8047, -1.232, 0.0704]\nstate[eef_state]: left_x=0.4133 left_y=-0.2886 left_z=0.1313 left_yaw=-1.5364 left_pitch=-0.2939 left_roll=-0.1599 left_gripper=0.0517 right_x=0.4166 right_y=0.2375 right_z=0.1214 right_yaw=1.566 right_pitch=-0.1636 right_roll=-0.0721 right_gripper=0.0704\nstate[joint_eff]: [-1.1419, -11.8085, 8.9504, 0.7106, 0.4078, -0.0562, 1.0281, -0.3761, -11.412, 6.3795, 0.7692, -0.4029, -0.0415, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9ae74fc5daad2c4dcc77308292f2da167a9d40d4b726070aca293880de453dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f12e157b14e8cd3bf074b1308a35fd541d0df26d5c777d61b30f814c7eea2924",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a2466019c601398353b8c77ef62804beb1e46799796032d0c764d08db04148f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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