adhoc

completed
2026-09-23T00:42:29.721430+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
416.4 s
total steps
263
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteTop view shows a small pen cap left of centre and a longer pen right of centre, both lying diagonally. Moving the right arm above the pen (yaw turned ~40° so the jaws close across the pen's length) to inspect with the wrist camera.
move_to
right_x0.3700right_y0.2300right_z0.1500right_yaw0.7000right_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, 0.7925, 0.6018, -0.3809, -0.0219, -0.0246, 0.9998, -0.0193, 0.7906, 0.6083, -0.3759, -0.0208, -0.0154, 0.9994] state[eef_state]: left_x=0.2943 left_y=0.0015 left_z=0.1792 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2956 right_y=0.0016 right_z=0.1837 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.3214, -1.4701, 10.5094, 1.7411, -0.0562, 0.0904, -0.0366, -0.6085, -1.1692, 9.9624, 1.7656, -0.0171, -0.0122, -0.0757] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.23, "right_z": 0.15, "right_yaw": 0.7, "right_gripper": 1}, "note": "Top view shows a small pen cap left of centre and a longer pen right of centre, both lying diagonally. Moving the right arm above the pen (yaw turned ~40\u00b0 so the jaws close across the pen's length) to inspect with the wrist camera."})
tool
executing move_to over 20 steps (2.0s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe right wrist view shows the pen running vertically right along the jaw column, so the jaws straddle it. Descending to table level before closing.
move_to
right_z0.0000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.7994, 0.6029, -0.3817, -0.0219, -0.025, 0.9998, 0.4595, 1.4616, 0.8188, 0.0044, -0.1776, -0.1181, 0.9993] state[eef_state]: left_x=0.2948 left_y=0.0014 left_z=0.1777 left_yaw=0.0002 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9998 right_x=0.3604 right_y=0.2172 right_z=0.1304 right_yaw=0.6663 right_pitch=-0.0687 right_roll=0.0116 right_gripper=0.9993 state[joint_eff]: [-0.1846, -1.7573, 6.9949, 1.7118, -0.0122, -0.0464, -0.0122, 0.3897, -6.3795, 8.9094, 1.917, -0.0806, -0.0464, -0.0757] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.0, "right_pitch": 0.0}, "note": "The right wrist view shows the pen running vertically right along the jaw column, so the jaws straddle it. Descending to table level before closing."})
tool
executing move_to over 9 steps (0.9s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteGripper is at table level with the pen lying between the jaws in the wrist view; closing to grasp the pen.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8013, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.458, 1.8751, 0.5472, 0.7216, -0.1852, -0.1246, 0.9993] state[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1772 left_yaw=0.0008 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9998 right_x=0.3578 right_y=0.2166 right_z=0.0018 right_yaw=0.6743 right_pitch=-0.0364 right_roll=0.0039 right_gripper=0.9993 state[joint_eff]: [-0.3761, -1.4291, 7.0222, 1.6923, -0.0562, -0.0464, -0.0171, -0.3624, -6.065, 3.1658, 1.1013, -0.1978, 0.1197, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Gripper is at table level with the pen lying between the jaws in the wrist view; closing to grasp the pen."})
tool
executing move_to over 10 steps (1.0s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteGripper settled at 0.048, consistent with a thin pen held. Lifting to 14 cm to confirm the pen came up with the jaws.
move_to
right_z0.1400
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8066, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.458, 1.8858, 0.5423, 0.7502, -0.1848, -0.1261, 0.0484] state[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1757 left_yaw=0.0008 left_pitch=-0.0133 left_roll=-0.0004 left_gripper=0.9998 right_x=0.3587 right_y=0.217 right_z=0.0017 right_yaw=0.6747 right_pitch=-0.0238 right_roll=-0.0004 right_gripper=0.0484 state[joint_eff]: [-0.0205, -1.4564, 7.0496, 1.7265, -0.0806, -0.0757, -0.0171, -0.0752, -8.4581, 4.7658, 1.4774, -0.1245, 0.022, 1.58] camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.14}, "note": "Gripper settled at 0.048, consistent with a thin pen held. Lifting to 14 cm to confirm the pen came up with the jaws."})
tool
executing move_to over 9 steps (0.9s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteThe pen is now held by the right arm (it lifted clear of the table). Moving the left arm above the remaining pen cap, yawed to put the jaws across the cap's axis, to inspect it in the left wrist camera.
move_to
left_x0.3600left_y-0.2200left_z0.1500left_yaw-1.1000left_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]: [-0.02, 0.8089, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.458, 1.4666, 0.7513, 0.1184, -0.1848, -0.1287, 0.0529] state[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1751 left_yaw=0.0008 left_pitch=-0.0156 left_roll=-0.0003 left_gripper=0.9998 right_x=0.3595 right_y=0.2174 right_z=0.1224 right_yaw=0.6761 right_pitch=-0.0271 right_roll=-0.0019 right_gripper=0.0529 state[joint_eff]: [-0.1162, -1.4838, 7.0496, 1.7558, -0.0659, -0.0171, -0.0171, -0.335, -7.8838, 8.6085, 1.6923, -0.1294, -0.0415, 1.0281] camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.22, "left_z": 0.15, "left_yaw": -1.1, "left_gripper": 1}, "note": "The pen is now held by the right arm (it lifted clear of the table). Moving the left arm above the remaining pen cap, yawed to put the jaws across the cap's axis, to inspect it in the left wrist camera."})
tool
executing move_to over 20 steps (2.0s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteIn the left wrist view the cap sits low and to the left of the jaw column, so I am shifting 3 cm along the tool's left direction (and slightly down) to centre it before descending.
move_to
left_x0.3790left_y-0.1900left_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]: [-0.3019, 1.541, 0.9375, -0.2024, 0.5713, 0.4355, 0.9998, 0.458, 1.4658, 0.7475, 0.0895, -0.1848, -0.1284, 0.0578] state[eef_state]: left_x=0.354 left_y=-0.2065 left_z=0.1286 left_yaw=-1.0194 left_pitch=-0.0813 left_roll=-0.0539 left_gripper=0.9998 right_x=0.355 right_y=0.2152 right_z=0.1153 right_yaw=0.6762 right_pitch=-0.0584 right_roll=0.0054 right_gripper=0.0578 state[joint_eff]: [-0.1983, -7.1179, 9.4427, 1.5263, 0.5153, 0.315, -0.0366, -0.3214, -6.1607, 6.8034, 1.9609, -0.1294, -0.0317, 1.033] camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.379, "left_y": -0.19, "left_z": 0.12}, "note": "In the left wrist view the cap sits low and to the left of the jaw column, so I am shifting 3 cm along the tool's left direction (and slightly down) to centre it before descending."})
tool
executing move_to over 2 steps (0.2s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteThe cap disappeared from the left wrist view (likely hidden right under the jaws). Raising the left arm to 22 cm to get a wider view and re-locate the cap.
move_to
left_z0.2200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2699, 1.5936, 0.9695, -0.2058, 0.6174, 0.4778, 0.9998, 0.458, 1.4658, 0.7475, 0.0853, -0.1844, -0.128, 0.0622] state[eef_state]: left_x=0.3635 left_y=-0.203 left_z=0.1236 left_yaw=-1.0451 left_pitch=-0.075 left_roll=-0.0613 left_gripper=0.9998 right_x=0.3545 right_y=0.2148 right_z=0.1144 right_yaw=0.6757 right_pitch=-0.0626 right_roll=0.0064 right_gripper=0.0622 state[joint_eff]: [1.265, -5.7368, 8.841, 1.4188, 0.2857, 0.1929, -0.0171, -0.0342, -6.1333, 6.5299, 1.7167, -0.1099, -0.022, 0.7399] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.22}, "note": "The cap disappeared from the left wrist view (likely hidden right under the jaws). Raising the left arm to 22 cm to get a wider view and re-locate the cap."})
tool
executing move_to over 7 steps (0.7s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteThe cap now appears just left of the jaw column at the bottom of the left wrist view; nudging ~1.5 cm along the tool's left axis and descending to table level to grasp it.
move_to
left_x0.3860left_y-0.1760left_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]: [-0.2276, 1.6466, 0.9737, -0.2203, 0.6029, 0.4812, 0.9998, 0.458, 1.4662, 0.7464, 0.0814, -0.1848, -0.1284, 0.0642] state[eef_state]: left_x=0.372 left_y=-0.1853 left_z=0.1016 left_yaw=-0.9989 left_pitch=-0.1278 left_roll=-0.0951 left_gripper=0.9998 right_x=0.3537 right_y=0.2145 right_z=0.1131 right_yaw=0.6763 right_pitch=-0.0677 right_roll=0.0075 right_gripper=0.0642 state[joint_eff]: [-0.4171, -8.6769, 8.759, 1.3748, 0.3541, 0.1343, -0.0171, -0.0342, -6.1197, 6.694, 1.7118, -0.1343, -0.0464, 1.033] camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.386, "left_y": -0.176, "left_z": 0.0}, "note": "The cap now appears just left of the jaw column at the bottom of the left wrist view; nudging ~1.5 cm along the tool's left axis and descending to table level to grasp it."})
tool
executing move_to over 7 steps (0.7s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteThe cap lies just at the jaw line in the left wrist view (the apparent left offset is largely wrist roll tilting the image). Closing the left gripper to test the grasp — a settled reading near 0.1 means the cap is held.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1883, 1.9007, 0.8677, 0.0563, 0.6304, 0.5121, 0.9996, 0.458, 1.4658, 0.7456, 0.0772, -0.1844, -0.1287, 0.0656] state[eef_state]: left_x=0.3757 left_y=-0.1739 left_z=0.0059 left_yaw=-1.0039 left_pitch=-0.1688 left_roll=-0.1475 left_gripper=0.9996 right_x=0.353 right_y=0.2141 right_z=0.1121 right_yaw=0.6763 right_pitch=-0.0722 right_roll=0.0079 right_gripper=0.0656 state[joint_eff]: [-0.9094, -8.7863, 5.9282, -0.4371, -1.199, -0.7057, -0.0562, -0.1299, -6.2017, 6.5026, 1.6874, -0.1197, -0.0513, 1.0281] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "The cap lies just at the jaw line in the left wrist view (the apparent left offset is largely wrist roll tilting the image). Closing the left gripper to test the grasp \u2014 a settled reading near 0.1 means the cap is held."})
tool
executing move_to over 10 steps (1.0s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteThe close came up empty (gripper 0.009), so the cap is not where I thought. Retracting and raising the left arm to clear the overhead view and re-locate the cap.
move_to
left_gripper1.0000left_z0.2500left_x0.3000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1864, 1.9121, 0.8574, 0.0669, 0.6289, 0.5072, 0.0088, 0.4587, 1.4662, 0.7448, 0.0746, -0.1844, -0.1284, 0.0684] state[eef_state]: left_x=0.3732 left_y=-0.1725 left_z=-0.0004 left_yaw=-0.9998 left_pitch=-0.1777 left_roll=-0.1585 left_gripper=0.0088 right_x=0.3523 right_y=0.2141 right_z=0.1111 right_yaw=0.6769 right_pitch=-0.076 right_roll=0.0091 right_gripper=0.0684 state[joint_eff]: [-0.5265, -9.5385, 5.9419, 1.116, 0.2857, 0.0366, 0.6374, -0.2393, -6.065, 6.5299, 1.6972, -0.1197, -0.0562, 0.8718] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1, "left_z": 0.25, "left_x": 0.3, "left_yaw": 0}, "note": "The close came up empty (gripper 0.009), so the cap is not where I thought. Retracting and raising the left arm to clear the overhead view and re-locate the cap."})
tool
executing move_to over 17 steps (1.7s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent noteThe left wrist view shows the cap up and to the image-left, i.e. further forward and to the arm's left than where I closed. Moving ~9 cm forward and ~4 cm left at 15 cm height to bring it onto the jaw column.
move_to
left_x0.3900left_y-0.1450left_z0.1500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7467, 1.2583, 1.1927, -0.7544, -0.3702, -0.6128, 0.9971, 0.4583, 1.4673, 0.7429, 0.0597, -0.1848, -0.1284, 0.0712] state[eef_state]: left_x=0.3009 left_y=-0.1865 left_z=0.2355 left_yaw=-0.108 left_pitch=-0.1883 left_roll=-0.1735 left_gripper=0.9971 right_x=0.3499 right_y=0.2128 right_z=0.107 right_yaw=0.6772 right_pitch=-0.0934 right_roll=0.0132 right_gripper=0.0712 state[joint_eff]: [-0.294, -3.8496, 9.1829, 1.3358, -0.398, 0.1294, 0.0659, -0.212, -6.2701, 6.6393, 1.7802, -0.1538, -0.0366, 0.8962] camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.39, "left_y": -0.145, "left_z": 0.15}, "note": "The left wrist view shows the cap up and to the image-left, i.e. further forward and to the arm's left than where I closed. Moving ~9 cm forward and ~4 cm left at 15 cm height to bring it onto the jaw column."})
tool
executing move_to over 7 steps (0.7s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent noteCap is now nearly on the jaw column in the left wrist view, 13 px to the left (~3.5 cm). Shifting 3.5 cm to the arm's left and descending to 7 cm for a final alignment check.
move_to
left_y-0.1000left_z0.0700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4404, 1.4441, 1.0039, -0.4, -0.1806, -0.4328, 0.9979, 0.4587, 1.4673, 0.7418, 0.057, -0.1844, -0.1284, 0.0712] state[eef_state]: left_x=0.3738 left_y=-0.1371 left_z=0.1423 left_yaw=-0.0542 left_pitch=-0.2594 left_roll=-0.1589 left_gripper=0.9979 right_x=0.3492 right_y=0.2126 right_z=0.106 right_yaw=0.6773 right_pitch=-0.0972 right_roll=0.0138 right_gripper=0.0712 state[joint_eff]: [0.2256, -6.1333, 6.8718, 1.746, -0.1148, 0.2564, 0.0757, -0.212, -6.188, 6.4889, 1.663, -0.1245, -0.0317, 0.862] 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": -0.1, "left_z": 0.07}, "note": "Cap is now nearly on the jaw column in the left wrist view, 13 px to the left (~3.5 cm). Shifting 3.5 cm to the arm's left and descending to 7 cm for a final alignment check."})
tool
executing move_to over 5 steps (0.5s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteThe cap overshot to the right of the jaw column (~2.7 cm); correcting back to the arm's right and descending to table level for the grasp.
move_to
left_y-0.1230left_z0.0100
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3241, 1.4872, 0.7551, -0.165, -0.1188, -0.3706, 0.998, 0.4587, 1.4673, 0.7418, 0.0582, -0.1844, -0.1284, 0.0709] state[eef_state]: left_x=0.3619 left_y=-0.0957 left_z=0.0642 left_yaw=-0.0201 left_pitch=-0.3241 left_roll=-0.1429 left_gripper=0.998 right_x=0.3493 right_y=0.2127 right_z=0.1062 right_yaw=0.6773 right_pitch=-0.0961 right_roll=0.0135 right_gripper=0.0709 state[joint_eff]: [0.3077, -5.4496, 6.8034, 1.7851, 0.0806, 0.2076, -0.0073, -0.212, -6.0103, 6.3932, 1.6044, -0.149, -0.0513, 0.9158] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.123, "left_z": 0.01}, "note": "The cap overshot to the right of the jaw column (~2.7 cm); correcting back to the arm's right and descending to table level for the grasp."})
tool
executing move_to over 4 steps (0.4s)
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 noteThe arm lagged behind the last short command (readback still y=-0.096, z=0.065). Re-issuing the target so it actually reaches 2.9 cm right and down to table level over the cap.
move_to
left_y-0.1250left_z0.0000left_x0.3700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3145, 1.499, 0.7364, -0.0875, -0.1108, -0.3561, 0.998, 0.4587, 1.4673, 0.7418, 0.0578, -0.1844, -0.1284, 0.0739] state[eef_state]: left_x=0.3702 left_y=-0.0961 left_z=0.065 left_yaw=-0.03 left_pitch=-0.2799 left_roll=-0.1535 left_gripper=0.998 right_x=0.3493 right_y=0.2126 right_z=0.1061 right_yaw=0.6773 right_pitch=-0.0965 right_roll=0.0136 right_gripper=0.0739 state[joint_eff]: [-0.0342, -6.0103, 6.5983, 1.707, 0.0562, 0.1832, -0.0122, -0.1983, -6.1744, 6.5436, 1.619, -0.1392, -0.0269, 0.5788] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.125, "left_z": 0.0, "left_x": 0.37}, "note": "The arm lagged behind the last short command (readback still y=-0.096, z=0.065). Re-issuing the target so it actually reaches 2.9 cm right and down to table level over the cap."})
tool
executing move_to over 5 steps (0.5s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteThe left arm has stopped tracking (identical readback twice), likely an awkward wrist pose; commanding pitch back to 0 with a slightly longer reach and lower z to free it and get the jaws down onto the cap.
move_to
left_pitch0.0000left_z0.0200left_x0.3900left_y-0.1150
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3145, 1.499, 0.7364, -0.0864, -0.1028, -0.3565, 0.998, 0.4587, 1.4673, 0.7418, 0.0582, -0.1844, -0.1284, 0.0753] state[eef_state]: left_x=0.3701 left_y=-0.0976 left_z=0.0651 left_yaw=-0.0368 left_pitch=-0.2805 left_roll=-0.1601 left_gripper=0.998 right_x=0.3493 right_y=0.2127 right_z=0.1062 right_yaw=0.6773 right_pitch=-0.0961 right_roll=0.0135 right_gripper=0.0753 state[joint_eff]: [-0.3487, -6.3521, 6.5573, 1.6337, -0.0415, 0.1392, -0.0122, -0.0752, -5.9966, 6.694, 1.6386, -0.0855, -0.0611, 0.735] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_pitch": 0.0, "left_z": 0.02, "left_x": 0.39, "left_y": -0.115}, "note": "The left arm has stopped tracking (identical readback twice), likely an awkward wrist pose; commanding pitch back to 0 with a slightly longer reach and lower z to free it and get the jaws down onto the cap."})
tool
executing move_to over 10 steps (1.0s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteJaws are now at table level with the cap sitting about 2 cm to the right of the jaw centre; lifting slightly and shifting right so I can drop straight down onto it without knocking it.
move_to
left_z0.0600left_y-0.1330
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3832, 1.7569, 0.5034, 0.5915, -0.2054, -0.3531, 0.998, 0.4587, 1.4673, 0.7418, 0.0586, -0.1848, -0.1284, 0.0773] state[eef_state]: left_x=0.3803 left_y=-0.1106 left_z=0.0082 left_yaw=-0.0306 left_pitch=-0.0808 left_roll=-0.1483 left_gripper=0.998 right_x=0.3494 right_y=0.2127 right_z=0.1063 right_yaw=0.6776 right_pitch=-0.0957 right_roll=0.0137 right_gripper=0.0773 state[joint_eff]: [-0.6769, -6.2017, 4.1231, 1.6679, 0.0513, 0.105, -0.0122, -0.1846, -5.9829, 6.4342, 1.6435, -0.1197, -0.0611, 0.5446] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.06, "left_y": -0.133}, "note": "Jaws are now at table level with the cap sitting about 2 cm to the right of the jaw centre; lifting slightly and shifting right so I can drop straight down onto it without knocking it."})
tool
executing move_to over 4 steps (0.4s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteThe cap is now centred on the jaw column at the bottom of the left wrist view; descending straight down to table level over it.
move_to
left_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]: [-0.4545, 1.6093, 0.5812, 0.3767, -0.247, -0.3923, 0.998, 0.4587, 1.4673, 0.7418, 0.0563, -0.1844, -0.1284, 0.0802] state[eef_state]: left_x=0.38 left_y=-0.1336 left_z=0.0508 left_yaw=-0.0465 left_pitch=-0.0646 left_roll=-0.1602 left_gripper=0.998 right_x=0.3491 right_y=0.2125 right_z=0.1058 right_yaw=0.6773 right_pitch=-0.0979 right_roll=0.014 right_gripper=0.0802 state[joint_eff]: [-0.3214, -7.4872, 7.4188, 1.6874, -0.1099, -0.0757, -0.0122, -0.0889, -6.106, 6.4205, 1.7216, -0.1001, -0.0415, 0.2808] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.0}, "note": "The cap is now centred on the jaw column at the bottom of the left wrist view; descending straight down to table level over it."})
tool
executing move_to over 4 steps (0.4s)
step 150
top_cam
camera top_cam step 150
left_cam
camera left_cam step 150
right_cam
camera right_cam step 150
assistant
agent noteJaws are at table level straddling the cap; closing the left gripper — a settled reading near 0.1 means the cap is held.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4591, 1.7878, 0.5335, 0.5842, -0.2707, -0.3901, 0.998, 0.4587, 1.4673, 0.7418, 0.0555, -0.1848, -0.1284, 0.0824] state[eef_state]: left_x=0.3798 left_y=-0.1311 left_z=0.0066 left_yaw=-0.0322 left_pitch=-0.0756 left_roll=-0.1374 left_gripper=0.998 right_x=0.3489 right_y=0.2125 right_z=0.1057 right_yaw=0.6777 right_pitch=-0.0986 right_roll=0.0144 right_gripper=0.0824 state[joint_eff]: [0.1162, -5.4085, 3.2752, 1.0476, 0.3785, -0.0855, -0.0122, -0.1709, -6.2017, 6.4342, 1.6093, -0.1099, -0.0464, 0.2222] camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "Jaws are at table level straddling the cap; closing the left gripper \u2014 a settled reading near 0.1 means the cap is held."})
tool
executing move_to over 10 steps (1.0s)
step 160
top_cam
camera top_cam step 160
left_cam
camera left_cam step 160
right_cam
camera right_cam step 160
assistant
agent noteSecond empty close — I may have been chasing a seam in the table rather than the cap. Retracting the left arm out of the way to get an unobstructed overhead view and re-locate the real cap.
move_to
left_x0.2000left_y-0.2500left_z0.2500left_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]: [-0.4587, 1.8053, 0.5251, 0.6018, -0.2787, -0.3935, 0.0092, 0.4587, 1.4673, 0.7418, 0.0555, -0.1844, -0.1284, 0.0844] state[eef_state]: left_x=0.3781 left_y=-0.1285 left_z=0.0008 left_yaw=-0.023 left_pitch=-0.0814 left_roll=-0.1321 left_gripper=0.0092 right_x=0.349 right_y=0.2125 right_z=0.1057 right_yaw=0.6773 right_pitch=-0.0987 right_roll=0.0141 right_gripper=0.0844 state[joint_eff]: [-0.0889, -8.5265, 5.2034, 1.6044, -0.1245, -0.0122, 0.4176, -0.1573, -6.0513, 6.4068, 1.619, -0.1148, -0.0611, 0.1929] camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.2, "left_y": -0.25, "left_z": 0.25, "left_gripper": 1}, "note": "Second empty close \u2014 I may have been chasing a seam in the table rather than the cap. Retracting the left arm out of the way to get an unobstructed overhead view and re-locate the real cap."})
tool
executing move_to over 17 steps (1.7s)
step 177
top_cam
camera top_cam step 177
left_cam
camera left_cam step 177
right_cam
camera right_cam step 177
assistant
agent noteWith the arm retracted I can see the cap clearly in both wrist views; triangulating both gives cap ≈ (x 0.41, y −0.08) in the left arm frame — much further to the arm's left than my earlier attempts. Flying there at 12 cm height.
move_to
left_x0.4100left_y-0.0800left_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]: [-1.3178, 1.3582, 1.2659, -0.9871, -0.7975, -1.1473, 0.9971, 0.4587, 1.4673, 0.738, 0.0525, -0.1844, -0.1284, 0.0866] state[eef_state]: left_x=0.2022 left_y=-0.2628 left_z=0.2368 left_yaw=-0.0717 left_pitch=-0.1003 left_roll=-0.165 left_gripper=0.9971 right_x=0.3476 right_y=0.2118 right_z=0.1035 right_yaw=0.6775 right_pitch=-0.1054 right_roll=0.0156 right_gripper=0.0866 state[joint_eff]: [-0.212, -4.9573, 8.335, 0.7106, -0.6325, 0.0171, -0.1245, -0.0889, -6.147, 6.735, 1.6825, -0.1392, -0.0757, 0.2173] camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": -0.08, "left_z": 0.12}, "note": "With the arm retracted I can see the cap clearly in both wrist views; triangulating both gives cap \u2248 (x 0.41, y \u22120.08) in the left arm frame \u2014 much further to the arm's left than my earlier attempts. Flying there at 12 cm height."})
tool
executing move_to over 17 steps (1.7s)
step 194
top_cam
camera top_cam step 194
left_cam
camera left_cam step 194
right_cam
camera right_cam step 194
assistant
agent noteThe overhead view shows the cap just to the right of and behind the left gripper, which puts it near (x 0.32, y −0.16); moving there at 14 cm so the wrist camera can confirm before I descend.
move_to
left_x0.3200left_y-0.1600left_z0.1400
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2321, 1.4502, 0.7822, -0.083, -0.0856, -0.3004, 0.9979, 0.4587, 1.4677, 0.7315, 0.0513, -0.1844, -0.1284, 0.0879] state[eef_state]: left_x=0.3914 left_y=-0.0733 left_z=0.1017 left_yaw=-0.0058 left_pitch=-0.184 left_roll=-0.1574 left_gripper=0.9979 right_x=0.3459 right_y=0.211 right_z=0.1005 right_yaw=0.6777 right_pitch=-0.1132 right_roll=0.0174 right_gripper=0.0879 state[joint_eff]: [0.1983, -6.1607, 8.5402, 1.9316, 0.1538, 0.2857, 0.0611, -0.2393, -6.1607, 6.8718, 1.5946, -0.1294, -0.0659, 0.1294] camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.32, "left_y": -0.16, "left_z": 0.14}, "note": "The overhead view shows the cap just to the right of and behind the left gripper, which puts it near (x 0.32, y \u22120.16); moving there at 14 cm so the wrist camera can confirm before I descend."})
tool
executing move_to over 8 steps (0.8s)
step 202
top_cam
camera top_cam step 202
left_cam
camera left_cam step 202
right_cam
camera right_cam step 202
assistant
agent noteThe cap is clearly visible in the left wrist view, a bit left of and beyond the jaws. Advancing ~9 cm forward and 4 cm left while dropping to 5 cm, which should bring it right under the fingertips.
move_to
left_x0.4100left_y-0.1150left_z0.0500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6426, 1.3098, 0.7872, -0.3252, -0.3355, -0.5613, 0.998, 0.4587, 1.4677, 0.7303, 0.0521, -0.1844, -0.1284, 0.0894] state[eef_state]: left_x=0.3179 left_y=-0.1609 left_z=0.1193 left_yaw=-0.0564 left_pitch=-0.2218 left_roll=-0.1411 left_gripper=0.998 right_x=0.3457 right_y=0.2109 right_z=0.1002 right_yaw=0.6777 right_pitch=-0.1136 right_roll=0.0175 right_gripper=0.0894 state[joint_eff]: [-0.1299, -6.5573, 10.0034, 1.4969, -0.3004, -0.0317, -0.0024, -0.0342, -6.0923, 6.4615, 1.6581, -0.1099, -0.0659, 0.1441] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": -0.115, "left_z": 0.05}, "note": "The cap is clearly visible in the left wrist view, a bit left of and beyond the jaws. Advancing ~9 cm forward and 4 cm left while dropping to 5 cm, which should bring it right under the fingertips."})
tool
executing move_to over 8 steps (0.8s)
step 210
top_cam
camera top_cam step 210
left_cam
camera left_cam step 210
right_cam
camera right_cam step 210
assistant
agent noteThe cap has slipped out of the left wrist view again, and the right wrist view places it further to the left (y≈−0.06) and further forward (x≈0.42) than I am; moving there to re-acquire it just in front of the jaws.
move_to
left_x0.4200left_y-0.0600left_z0.0600
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3454, 1.6676, 0.7708, -0.0017, -0.1581, -0.3775, 0.998, 0.4587, 1.4677, 0.7261, 0.0498, -0.1844, -0.1287, 0.0909] state[eef_state]: left_x=0.3848 left_y=-0.1051 left_z=0.0296 left_yaw=-0.0033 left_pitch=-0.3162 left_roll=-0.1162 left_gripper=0.998 right_x=0.3444 right_y=0.2102 right_z=0.098 right_yaw=0.6781 right_pitch=-0.1199 right_roll=0.0186 right_gripper=0.0909 state[joint_eff]: [0.212, -7.7744, 9.0051, 1.8877, -0.0513, 0.2466, -0.0122, -0.3624, -6.0376, 6.735, 1.6142, -0.1441, -0.0757, 0.1538] camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.06, "left_z": 0.06}, "note": "The cap has slipped out of the left wrist view again, and the right wrist view places it further to the left (y\u2248\u22120.06) and further forward (x\u22480.42) than I am; moving there to re-acquire it just in front of the jaws."})
tool
executing move_to over 5 steps (0.5s)
step 215
top_cam
camera top_cam step 215
left_cam
camera left_cam step 215
right_cam
camera right_cam step 215
assistant
agent noteOverhead view (calibrated from both gripper positions) puts the cap ~10 cm to the right of and ~10 cm behind the left gripper, i.e. near x=0.31, y=-0.155; going straight there at table level for a grasp attempt.
move_to
left_x0.3100left_y-0.1550left_z0.0100
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1802, 1.6943, 0.8761, -0.1123, -0.0811, -0.2886, 0.998, 0.4587, 1.4677, 0.7258, 0.0513, -0.1848, -0.1287, 0.0918] state[eef_state]: left_x=0.4074 left_y=-0.0561 left_z=0.0389 left_yaw=0.0467 left_pitch=-0.3591 left_roll=-0.1108 left_gripper=0.998 right_x=0.3444 right_y=0.2103 right_z=0.0982 right_yaw=0.6784 right_pitch=-0.1187 right_roll=0.0186 right_gripper=0.0918 state[joint_eff]: [0.212, -9.0598, 8.8, 1.5409, 0.0366, 0.1978, -0.0122, -0.0889, -5.9419, 6.612, 1.58, -0.1343, -0.0757, 0.0757] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.31, "left_y": -0.155, "left_z": 0.01}, "note": "Overhead view (calibrated from both gripper positions) puts the cap ~10 cm to the right of and ~10 cm behind the left gripper, i.e. near x=0.31, y=-0.155; going straight there at table level for a grasp attempt."})
tool
executing move_to over 9 steps (0.9s)
step 224
top_cam
camera top_cam step 224
assistant
agent noteThe arm refused the last move (readback unchanged), as happened before in a pitched-down pose; re-commanding the same target at 15 cm height with pitch reset to 0 to free the wrist.
move_to
left_x0.3100left_y-0.1550left_z0.1500left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1669, 1.6943, 0.8967, -0.1436, -0.062, -0.2596, 0.998, 0.4587, 1.4677, 0.7223, 0.0357, -0.1848, -0.1284, 0.0924] state[eef_state]: left_x=0.4083 left_y=-0.0541 left_z=0.0415 left_yaw=0.0272 left_pitch=-0.3712 left_roll=-0.1061 left_gripper=0.998 right_x=0.3414 right_y=0.2088 right_z=0.0938 right_yaw=0.6787 right_pitch=-0.1374 right_roll=0.0231 right_gripper=0.0924 state[joint_eff]: [-0.3214, -9.1282, 8.1026, 1.453, 0.0611, 0.1245, -0.0122, -0.0479, -6.0103, 6.612, 1.7753, -0.1294, -0.022, 0.0513] camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.31, "left_y": -0.155, "left_z": 0.15, "left_pitch": 0.0}, "note": "The arm refused the last move (readback unchanged), as happened before in a pitched-down pose; re-commanding the same target at 15 cm height with pitch reset to 0 to free the wrist."})
tool
executing move_to over 13 steps (1.3s)
step 237
assistant
agent noteThe cap is visible in the left wrist view just left of the jaw column near the bottom; moving 3.5 cm to the arm's left, 2 cm forward and down to table level.
move_to
left_x0.3300left_y-0.1280left_z0.0200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7429, 1.2175, 0.6865, -0.1703, -0.5201, -0.5518, 0.998, 0.4587, 1.4677, 0.7177, 0.0326, -0.1848, -0.1287, 0.093] state[eef_state]: left_x=0.313 left_y=-0.1634 left_z=0.1434 left_yaw=-0.0276 left_pitch=-0.0268 left_roll=-0.1193 left_gripper=0.998 right_x=0.3398 right_y=0.208 right_z=0.0914 right_yaw=0.6791 right_pitch=-0.1448 right_roll=0.0244 right_gripper=0.093 state[joint_eff]: [-0.2393, -5.1487, 6.7487, 1.5263, -0.2808, -0.0513, -0.0122, -0.335, -5.9419, 6.7761, 1.6825, -0.1245, -0.0708, 0.0415] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.33, "left_y": -0.128, "left_z": 0.02}, "note": "The cap is visible in the left wrist view just left of the jaw column near the bottom; moving 3.5 cm to the arm's left, 2 cm forward and down to table level."})
tool
executing move_to over 8 steps (0.8s)
step 245
assistant
agent noteThe cap now sits ahead and to the right of the jaws in the wrist view; sliding forward 5 cm and right 4 cm at table level so the open jaws straddle it.
move_to
left_x0.3650left_y-0.1600left_z0.0100
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5777, 1.5768, 0.3592, 0.4633, -0.4072, -0.4576, 0.998, 0.4587, 1.4673, 0.717, 0.0296, -0.1844, -0.1284, 0.0931] state[eef_state]: left_x=0.3183 left_y=-0.1197 left_z=0.0079 left_yaw=0.0004 left_pitch=-0.1099 left_roll=-0.0716 left_gripper=0.998 right_x=0.3392 right_y=0.2076 right_z=0.0907 right_yaw=0.6787 right_pitch=-0.1482 right_roll=0.0253 right_gripper=0.0931 state[joint_eff]: [0.335, -6.1607, 4.3966, 1.8632, -0.0757, 0.1294, -0.0122, -0.0205, -6.0513, 6.3521, 1.5702, -0.149, -0.0122, -0.0024] camera 'top_cam' (step 245): [image omitted: streamed camera frame] camera 'left_cam' (step 245): [image omitted: streamed camera frame] camera 'right_cam' (step 245): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.365, "left_y": -0.16, "left_z": 0.01}, "note": "The cap now sits ahead and to the right of the jaws in the wrist view; sliding forward 5 cm and right 4 cm at table level so the open jaws straddle it."})
tool
executing move_to over 4 steps (0.4s)
step 249
assistant
agent noteThe cap is centred on the jaw column but still ~3 cm beyond the fingertips; advancing radially so it sits between the jaws.
move_to
left_x0.3750
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5964, 1.684, 0.4629, 0.4683, -0.4118, -0.4698, 0.998, 0.4587, 1.4677, 0.7139, 0.0296, -0.1844, -0.1284, 0.0931] state[eef_state]: left_x=0.3392 left_y=-0.1405 left_z=0.0062 left_yaw=-0.0082 left_pitch=-0.1073 left_roll=-0.0793 left_gripper=0.998 right_x=0.3384 right_y=0.2073 right_z=0.0893 right_yaw=0.6788 right_pitch=-0.1516 right_roll=0.026 right_gripper=0.0931 state[joint_eff]: [-0.1436, -6.5983, 5.9419, 1.5751, -0.2759, -0.0269, -0.0122, -0.3487, -6.0786, 6.5162, 1.5702, -0.1441, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.375}, "note": "The cap is centred on the jaw column but still ~3 cm beyond the fingertips; advancing radially so it sits between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 252
assistant
agent noteThe arm has stopped tracking forward, but the cap lies on the jaw column right between the fingers; closing the gripper to try the grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5964, 1.684, 0.4629, 0.4507, -0.4141, -0.4698, 0.998, 0.4587, 1.4677, 0.7128, 0.0296, -0.1844, -0.1284, 0.0931] state[eef_state]: left_x=0.3369 left_y=-0.1385 left_z=0.0034 left_yaw=-0.0052 left_pitch=-0.121 left_roll=-0.0682 left_gripper=0.998 right_x=0.3381 right_y=0.2071 right_z=0.0889 right_yaw=0.6789 right_pitch=-0.1527 right_roll=0.0263 right_gripper=0.0931 state[joint_eff]: [-0.0615, -6.7077, 5.8462, 1.3944, -0.2076, -0.0317, -0.0122, -0.0615, -6.0513, 6.4068, 1.5897, -0.0904, -0.0269, -0.0171] camera 'top_cam' (step 252): [image omitted: streamed camera frame] camera 'left_cam' (step 252): [image omitted: streamed camera frame] camera 'right_cam' (step 252): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "The arm has stopped tracking forward, but the cap lies on the jaw column right between the fingers; closing the gripper to try the grasp."})
tool
executing move_to over 10 steps (1.0s)
step 262
assistant
agent noteI grasped and lifted the pen successfully with the right arm, but after many attempts I could not get the left gripper onto the small pen cap — my position estimates for the cap from the overhead and wrist cameras disagreed by ~10 cm and three closes came up empty (gripper settled at 0.009). With the call budget exhausted, the cap is still on the table, so the cap-on-pen assembly was not achieved.
give_up
hindsight1) Grasping a pen lying on the table works first try: yaw the tool so the jaws close across the pen, descend to z=0, close; a settled gripper reading of ~0.05 means the pen is held (and it stays visible sticking forward in its own wrist camera). 2) The small pen cap is very hard to localise: the top camera and the wrist camera gave estimates ~10 cm apart, and every "dark dash" near the jaws could be a table seam or a shadow — the table has a prominent dark seam line running forward that repeatedly fooled me. Get a fix while the arm is retracted and far (so the cap is high in the wrist frame), and verify with a deliberate 5 cm probe move to measure px/cm at that exact height before committing. 3) This left arm frequently refuses moves outright: the readback stays bit-identical and the commanded motion never starts, especially when the wrist has drifted to pitch ≈ −0.3. Re-sending the same target does nothing; commanding left_pitch=0 together with a higher z unsticks it. 4) Short commands (2–5 steps) often end before the arm catches up, so a small nudge can produce zero net motion — prefer combining moves into ≥8-step commands. 5) Budget: locating a small object costs many observe-move cycles; do not spend more than ~4 on it before switching strategy.
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5964, 1.684, 0.4625, 0.4366, -0.411, -0.4694, 0.0091, 0.4587, 1.4677, 0.7128, 0.0296, -0.1848, -0.1284, 0.0931] state[eef_state]: left_x=0.3348 left_y=-0.1376 left_z=0.0008 left_yaw=-0.0068 left_pitch=-0.1343 left_roll=-0.0616 left_gripper=0.0091 right_x=0.3381 right_y=0.2072 right_z=0.0889 right_yaw=0.6792 right_pitch=-0.1526 right_roll=0.0265 right_gripper=0.0931 state[joint_eff]: [-0.212, -6.2427, 4.4923, 1.6777, -0.2173, -0.0513, 0.5641, -0.0752, -6.0103, 6.4205, 1.5556, -0.1343, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 262): [image omitted: streamed camera frame] camera 'left_cam' (step 262): [image omitted: streamed camera frame] camera 'right_cam' (step 262): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I grasped and lifted the pen successfully with the right arm, but after many attempts I could not get the left gripper onto the small pen cap \u2014 my position estimates for the cap from the overhead and wrist cameras disagreed by ~10 cm and three closes came up empty (gripper settled at 0.009). With the call budget exhausted, the cap is still on the table, so the cap-on-pen assembly was not achieved.", "hindsight": "1) Grasping a pen lying on the table works first try: yaw the tool so the jaws close across the pen, descend to z=0, close; a settled gripper reading of ~0.05 means the pen is held (and it stays visible sticking forward in its own wrist camera). 2) The small pen cap is very hard to localise: the top camera and the wrist camera gave estimates ~10 cm apart, and every \"dark dash\" near the jaws could be a table seam or a shadow \u2014 the table has a prominent dark seam line running forward that repeatedly fooled me. Get a fix while the arm is retracted and far (so the cap is high in the wrist frame), and verify with a deliberate 5 cm probe move to measure px/cm at that exact height before committing. 3) This left arm frequently refuses moves outright: the readback stays bit-identical and the commanded motion never starts, especially when the wrist has drifted to pitch \u2248 \u22120.3. Re-sending the same target does nothing; commanding left_pitch=0 together with a higher z unsticks it. 4) Short commands (2\u20135 steps) often end before the arm catches up, so a small nudge can produce zero net motion \u2014 prefer combining moves into \u22658-step commands. 5) Budget: locating a small object costs many observe-move cycles; do not spend more than ~4 on it before switching strategy."})
tool
give_up: I grasped and lifted the pen successfully with the right arm, but after many attempts I could not get the left gripper onto the small pen cap — my position estimates for the cap from the overhead and wrist cameras disagreed by ~10 cm and three closes came up empty (gripper settled at 0.009). With the call budget exhausted, the cap is still on the table, so the cap-on-pen assembly was not achieved.
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 · 24.21 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Pick up the pen and the pen cap, then put the cap on the pen.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7925, 0.6018, -0.3809, -0.0219, -0.0246, 0.9998, -0.0193, 0.7906, 0.6083, -0.3759, -0.0208, -0.0154, 0.9994]\nstate[eef_state]: left_x=0.2943 left_y=0.0015 left_z=0.1792 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2956 right_y=0.0016 right_z=0.1837 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -1.4701, 10.5094, 1.7411, -0.0562, 0.0904, -0.0366, -0.6085, -1.1692, 9.9624, 1.7656, -0.0171, -0.0122, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72f3e7ab1db2eb1d200ac4173093ab3e74dc7ae128ceaba6c775acfb3379424a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fc2df3633f7fe653dd6eee4a8b2c83bd219abfe48d1505628e7d5c4f7368718",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:59becb7ddc8e58ef5d3f467e0c4d4987af34ed562f8daa68a812c63925400a55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /messages · status 200 · 8.389 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7925, 0.6018, -0.3809, -0.0219, -0.0246, 0.9998, -0.0193, 0.7906, 0.6083, -0.3759, -0.0208, -0.0154, 0.9994]\nstate[eef_state]: left_x=0.2943 left_y=0.0015 left_z=0.1792 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2956 right_y=0.0016 right_z=0.1837 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -1.4701, 10.5094, 1.7411, -0.0562, 0.0904, -0.0366, -0.6085, -1.1692, 9.9624, 1.7656, -0.0171, -0.0122, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72f3e7ab1db2eb1d200ac4173093ab3e74dc7ae128ceaba6c775acfb3379424a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fc2df3633f7fe653dd6eee4a8b2c83bd219abfe48d1505628e7d5c4f7368718",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59becb7ddc8e58ef5d3f467e0c4d4987af34ed562f8daa68a812c63925400a55",
        "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_01NtmKgzXuzVsPNEzdp4CtuR",
      "input": {
        "note": "Top view shows a small pen cap left of centre and a longer pen right of centre, both lying diagonally. Moving the right arm above the pen (yaw turned ~40° so the jaws close across the pen's length) to inspect with the wrist camera.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.37,
          "right_y": 0.23,
          "right_yaw": 0.7,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01NtmKgzXuzVsPNEzdp4CtuR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7994, 0.6029, -0.3817, -0.0219, -0.025, 0.9998, 0.4595, 1.4616, 0.8188, 0.0044, -0.1776, -0.1181, 0.9993]\nstate[eef_state]: left_x=0.2948 left_y=0.0014 left_z=0.1777 left_yaw=0.0002 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9998 right_x=0.3604 right_y=0.2172 right_z=0.1304 right_yaw=0.6663 right_pitch=-0.0687 right_roll=0.0116 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -1.7573, 6.9949, 1.7118, -0.0122, -0.0464, -0.0122, 0.3897, -6.3795, 8.9094, 1.917, -0.0806, -0.0464, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4930f8bc6b1de04676c8fb36c894d28659f8abca2134b2b6916441c45ac154df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae01be95a2c064d552081dcaf89352aeefff5b9e6f630c70a5d74f6fb71cea8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:64bacf755143f894046686d59693a2622339ee61bf0aa8e086ff332e11aa6f67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 4.991 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7925, 0.6018, -0.3809, -0.0219, -0.0246, 0.9998, -0.0193, 0.7906, 0.6083, -0.3759, -0.0208, -0.0154, 0.9994]\nstate[eef_state]: left_x=0.2943 left_y=0.0015 left_z=0.1792 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2956 right_y=0.0016 right_z=0.1837 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -1.4701, 10.5094, 1.7411, -0.0562, 0.0904, -0.0366, -0.6085, -1.1692, 9.9624, 1.7656, -0.0171, -0.0122, -0.0757]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7994, 0.6029, -0.3817, -0.0219, -0.025, 0.9998, 0.4595, 1.4616, 0.8188, 0.0044, -0.1776, -0.1181, 0.9993]\nstate[eef_state]: left_x=0.2948 left_y=0.0014 left_z=0.1777 left_yaw=0.0002 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9998 right_x=0.3604 right_y=0.2172 right_z=0.1304 right_yaw=0.6663 right_pitch=-0.0687 right_roll=0.0116 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -1.7573, 6.9949, 1.7118, -0.0122, -0.0464, -0.0122, 0.3897, -6.3795, 8.9094, 1.917, -0.0806, -0.0464, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4930f8bc6b1de04676c8fb36c894d28659f8abca2134b2b6916441c45ac154df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae01be95a2c064d552081dcaf89352aeefff5b9e6f630c70a5d74f6fb71cea8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64bacf755143f894046686d59693a2622339ee61bf0aa8e086ff332e11aa6f67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3wkKjgEIEhgCKkCXTP3m9bGK5jnE1uDY0vjgibfi4XnK4RoPwJ1WN3LueMNr2Ywn9LizQBRAXjyG4VzTPW5aWyceXr76AJ6RszWwMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaTBzNUGEgwkzZly/T2Qzbkx3E0aDP3bCIdRNTpDFyAS3CIwORHv2+e6hVDtY9NwM0SybULmiOAOLObh/FZaZY9+2mZnsD1rO5EXIxhMlCKBHI5XKv0HVnnyHyW7QIuydD0oMZ11ku8pzpqGD1f0i8M+8JIEOcfs6WJK1fyuW03llAvgGhvjmmn7SUd4afHxIo0Kx7Wab22cVpn+2sPh182pryRj2MBSGZ8ZutuqIboByUss41DaRMtX6EtUiQLevo3eUCvAHk2x+zx/PeyQQUNqTtj2F4WlFOWEI6St5QLfyqErM6RjgL5uGTTx+c/gmPCX1+xz1CXW8biqTqGBzwagYvZqlmbkieKBYdK5sKlmoRXZ4MxAUO8RJ2DJSDaREhOaFNko4NNzyuUjacyOxIW3ZhWDxbtZlj/J8DXND9BO7fpExsxKT2yxsnXensE0qdpoelMzFoevn4xtDyXVhuIg9JKcy/F66ECgYa7+yaTU07tU47XnyMdPEjEsyg5yMNfp6fAUQQ0HK/MjTWc0L3S9zbE98C4B4GveN0iF9Bgvzp1bvFmaCz42ASlMeS9blQRtecDt71c63IEv4i0Oe8DP3lkoxdmidkwEG/gTexItBjqyA7YrAbHJyrI7imcGiJODVb5fVlCQb4JDtti+1t3MzTQSDnQNiQ5cLu38MShcAPDqEbgeV8UR/k1Bsfpm2L4TF1O5oRPNMnJgaU+UNQypWFDSmPvsUawUF0kyihEmm+gJfa4t3C77dLJEC8muoKCGb5ByRYYWLSEyw4CVTKle+pMAHRKlTsyY81SZBFgNZ7qsPnFiKBpebI9Cs46xXPKBuuvwtuPh8xPpRsvfl8Yf/hrW+R75yRa3gPEukZQp2A3BQAKZVcTiHaZHQcBDN/NXzTh8vLKpFCuzrjfTejK3XyQ37O8kJ9pk/OYRbgVQHr5BDfCRV2JX3lGzr5pcXn40mOUdf2Z1BeZY4d5WuBJ2ODws+rrYOUGUIFh0HOwwww/Q3YhOps49y/2ePR04wgj8YPwRSMSjJ8tQzUuk3+W93F/YjeT81NfJf7npGheqvr5swKFM/SopQPKFUiX650QwxwbYVHmqQToKtoMSsGd6RhJNTKapJBjoffuhhzl/QBFNkDRsxY9VOCve0kQ7IsUFG8F4l9SclLr2u5Bh53NeSUVySYcu/Nt9dZzVUManW7JjSnOHQVInXpoCWbpCLjc7LtG8sC+YYLo0OI6Ndo8m2FyPREVqNvwrALHW6uNnTjhhohKbZzeR7WYxH0T/kL1oPrgbj8tAx/dXsfkc9Nl+LT4pjZihvr2sSEn7xGQSMO6c9RxNL8KddGOkKszns8LnWupU28RDkACZPfQ5jReeaj7o0HcbAYX5kZhk+UePTyP1b+DdO6tRi+UL4hfcYQe0l3joOhY36eHkgqb0v4tOP49dEXheRQO7ot44xsLfk/Xb5HSGJlUzm/IdeiWvvXMGtRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Hi8xkY55VznUtEAJzxeUTk",
      "input": {
        "note": "The right wrist view shows the pen running vertically right along the jaw column, so the jaws straddle it. Descending to table level before closing.",
        "targets": {
          "right_pitch": 0.0,
          "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_01Hi8xkY55VznUtEAJzxeUTk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8013, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.458, 1.8751, 0.5472, 0.7216, -0.1852, -0.1246, 0.9993]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1772 left_yaw=0.0008 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9998 right_x=0.3578 right_y=0.2166 right_z=0.0018 right_yaw=0.6743 right_pitch=-0.0364 right_roll=0.0039 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -1.4291, 7.0222, 1.6923, -0.0562, -0.0464, -0.0171, -0.3624, -6.065, 3.1658, 1.1013, -0.1978, 0.1197, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04ea6257dd9e330714f4f1e4b731df6481800fddc2712ef44e97cff27ab46f24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5392a8b37b0b7453ac31294426f339338e9f6ad3c5aacd7b737e95ae4b878b11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fefbcb33767d9e7074b2be11d90126544814b360dbf406dea22081fe9682ec58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 3.267 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7925, 0.6018, -0.3809, -0.0219, -0.0246, 0.9998, -0.0193, 0.7906, 0.6083, -0.3759, -0.0208, -0.0154, 0.9994]\nstate[eef_state]: left_x=0.2943 left_y=0.0015 left_z=0.1792 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2956 right_y=0.0016 right_z=0.1837 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -1.4701, 10.5094, 1.7411, -0.0562, 0.0904, -0.0366, -0.6085, -1.1692, 9.9624, 1.7656, -0.0171, -0.0122, -0.0757]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7994, 0.6029, -0.3817, -0.0219, -0.025, 0.9998, 0.4595, 1.4616, 0.8188, 0.0044, -0.1776, -0.1181, 0.9993]\nstate[eef_state]: left_x=0.2948 left_y=0.0014 left_z=0.1777 left_yaw=0.0002 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9998 right_x=0.3604 right_y=0.2172 right_z=0.1304 right_yaw=0.6663 right_pitch=-0.0687 right_roll=0.0116 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -1.7573, 6.9949, 1.7118, -0.0122, -0.0464, -0.0122, 0.3897, -6.3795, 8.9094, 1.917, -0.0806, -0.0464, -0.0757]",
      "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, 0.8013, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.458, 1.8751, 0.5472, 0.7216, -0.1852, -0.1246, 0.9993]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1772 left_yaw=0.0008 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9998 right_x=0.3578 right_y=0.2166 right_z=0.0018 right_yaw=0.6743 right_pitch=-0.0364 right_roll=0.0039 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -1.4291, 7.0222, 1.6923, -0.0562, -0.0464, -0.0171, -0.3624, -6.065, 3.1658, 1.1013, -0.1978, 0.1197, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04ea6257dd9e330714f4f1e4b731df6481800fddc2712ef44e97cff27ab46f24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5392a8b37b0b7453ac31294426f339338e9f6ad3c5aacd7b737e95ae4b878b11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fefbcb33767d9e7074b2be11d90126544814b360dbf406dea22081fe9682ec58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStQUKjgEIEhgCKkDQqTHJDMDDyiAcffQ/JP7sMRkkLLI14N2aM1yI31odX/jUp1TemNCkoxxmLvUV6XDPiJ8cAbJ0YaKaSULPqMGrMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAarBzNUGEgxmh5Lx43C+fUHd2jcaDFyBkXm6InCYnhjgviIwd1JcI7XJaGJRwLRbFjPuDQLLFvCVxejw0eZ/i52VnJk/wgvmaCqY/xgz0e/o+arSKtMDUISzqJmJTXSnh9kFrb58UOLdlMbf8cHe50qVEQv58hqPPrI4WL8lqsyKrM6NnZaLzBYf1v83VgCP1iANgjlsqpWy+H2oltcgMu3Fg6FH/3PA5sHtJlmKxv7O2IG7dosuK+ucXAytIRMyfbhyCaKY03Z6dIk+cX/gGs9g3F83x1kGG7yT5YMJMSbF/o4V2s4/i9zUnCun6xcWsqbu3W1h6K1JULLXfVCPYokcDe2rFT6CTwJNoLFwaLYXxVb2ny+kksvhEk2O4TlVrVIegI5meooWh58NoiRI81LaKC/AxDwfj0gt2ExqwglzCJThRTNOUEeAxJtBKZTorr2iR3yCLnJkYfkQkFhZqMVrR4u8kurvRgEEJIJUP26o85gIDCfI3c6YEIFPoYPbE7e3chkrmmkoJobZlJ/KMHw1tBOslyt1iP+vPYLojn48TpQrAEPrPdWIGzkfizVu9b3UuN+/hnwXMLBvWcgKEJbQtHGPIf+311WC4gelNfNGvV+o7HlwkWHY51HFYZcwM0/4Cm7A37rBbgzNCbUfalpYMg4z0yJcniY+X5HJhaEjMgRIk/9YacKfWKFALv88coN9rHH4L5oDeoNATtuK5gC8Zc7uL8ZYx1AYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MwLchK7YfChMyMA5WrU21r",
      "input": {
        "note": "Gripper is at table level with the pen lying between the jaws in the wrist view; closing to grasp the pen.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01MwLchK7YfChMyMA5WrU21r",
      "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, 0.8066, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.458, 1.8858, 0.5423, 0.7502, -0.1848, -0.1261, 0.0484]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1757 left_yaw=0.0008 left_pitch=-0.0133 left_roll=-0.0004 left_gripper=0.9998 right_x=0.3587 right_y=0.217 right_z=0.0017 right_yaw=0.6747 right_pitch=-0.0238 right_roll=-0.0004 right_gripper=0.0484\nstate[joint_eff]: [-0.0205, -1.4564, 7.0496, 1.7265, -0.0806, -0.0757, -0.0171, -0.0752, -8.4581, 4.7658, 1.4774, -0.1245, 0.022, 1.58]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f18546c117fd25e35abc6a30cb4ef6ac43310a1022871c42da9ab1c59c359fab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76e98f4aed1e08110f0294178a17b69354eeb7a791f63dbf274c4b4bc8569301",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:087810a16e03347b5fec2c43968e3871217f3891714694c9adbafe5775598c59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 44.46 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7994, 0.6029, -0.3817, -0.0219, -0.025, 0.9998, 0.4595, 1.4616, 0.8188, 0.0044, -0.1776, -0.1181, 0.9993]\nstate[eef_state]: left_x=0.2948 left_y=0.0014 left_z=0.1777 left_yaw=0.0002 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9998 right_x=0.3604 right_y=0.2172 right_z=0.1304 right_yaw=0.6663 right_pitch=-0.0687 right_roll=0.0116 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -1.7573, 6.9949, 1.7118, -0.0122, -0.0464, -0.0122, 0.3897, -6.3795, 8.9094, 1.917, -0.0806, -0.0464, -0.0757]",
      "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, 0.8013, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.458, 1.8751, 0.5472, 0.7216, -0.1852, -0.1246, 0.9993]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1772 left_yaw=0.0008 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9998 right_x=0.3578 right_y=0.2166 right_z=0.0018 right_yaw=0.6743 right_pitch=-0.0364 right_roll=0.0039 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -1.4291, 7.0222, 1.6923, -0.0562, -0.0464, -0.0171, -0.3624, -6.065, 3.1658, 1.1013, -0.1978, 0.1197, -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, 0.8066, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.458, 1.8858, 0.5423, 0.7502, -0.1848, -0.1261, 0.0484]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1757 left_yaw=0.0008 left_pitch=-0.0133 left_roll=-0.0004 left_gripper=0.9998 right_x=0.3587 right_y=0.217 right_z=0.0017 right_yaw=0.6747 right_pitch=-0.0238 right_roll=-0.0004 right_gripper=0.0484\nstate[joint_eff]: [-0.0205, -1.4564, 7.0496, 1.7265, -0.0806, -0.0757, -0.0171, -0.0752, -8.4581, 4.7658, 1.4774, -0.1245, 0.022, 1.58]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f18546c117fd25e35abc6a30cb4ef6ac43310a1022871c42da9ab1c59c359fab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76e98f4aed1e08110f0294178a17b69354eeb7a791f63dbf274c4b4bc8569301",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:087810a16e03347b5fec2c43968e3871217f3891714694c9adbafe5775598c59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS4gIKjgEIEhgCKkBDf1tn9lb9Yc7ggt+pHHZS2Ub6WEo73HyO7Lt0sj6jpOwJY0q3Znd/eP2UHJ5Lq6Vd325NVimGUpMCMmSnuA17Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAa7BzNUGEgzayGEBTPALnkgV3gwaDG7bY44SSsZzprWQ2yIwzblaV5lFW5t6Y7NXu2MjFXBlTbOdeyH4kzjXAeVpWNTh/M3gPmtSIA4CAiQMVde4KoABhhRaHjOPIu2gJ5Mg/KRgwTvthci8mJCbj79Q82+Ywv+xVTEYFe9VUmpeD/ebKM+tInsIy3TajSksgSyPU/2kOPDSEz5lHqYuKyjLmmI94fEKmZbodemF8p0u8hs6xJmGbQjH69YmvMwsP3eFek93fEdnWcrDlDwENGC5FzTU3PkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UsBT6JkFgoninTdLXzd1Cv",
      "input": {
        "note": "Gripper settled at 0.048, consistent with a thin pen held. Lifting to 14 cm to confirm the pen came up with the jaws.",
        "targets": {
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01UsBT6JkFgoninTdLXzd1Cv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8089, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.458, 1.4666, 0.7513, 0.1184, -0.1848, -0.1287, 0.0529]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1751 left_yaw=0.0008 left_pitch=-0.0156 left_roll=-0.0003 left_gripper=0.9998 right_x=0.3595 right_y=0.2174 right_z=0.1224 right_yaw=0.6761 right_pitch=-0.0271 right_roll=-0.0019 right_gripper=0.0529\nstate[joint_eff]: [-0.1162, -1.4838, 7.0496, 1.7558, -0.0659, -0.0171, -0.0171, -0.335, -7.8838, 8.6085, 1.6923, -0.1294, -0.0415, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac50c133e43a7a6b3fd6ad82ccf854dd50c5315649c742667e7e1e6f42671111",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc9721ced6eab448aba0479ee69b29b03b9943c4830592e58eedf100cb553740",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1070708848e39b9086f16e75fbc7589aca54ce4b167f15df25444f9dd8c8a13a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 19.87 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8013, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.458, 1.8751, 0.5472, 0.7216, -0.1852, -0.1246, 0.9993]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1772 left_yaw=0.0008 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9998 right_x=0.3578 right_y=0.2166 right_z=0.0018 right_yaw=0.6743 right_pitch=-0.0364 right_roll=0.0039 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -1.4291, 7.0222, 1.6923, -0.0562, -0.0464, -0.0171, -0.3624, -6.065, 3.1658, 1.1013, -0.1978, 0.1197, -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, 0.8066, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.458, 1.8858, 0.5423, 0.7502, -0.1848, -0.1261, 0.0484]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1757 left_yaw=0.0008 left_pitch=-0.0133 left_roll=-0.0004 left_gripper=0.9998 right_x=0.3587 right_y=0.217 right_z=0.0017 right_yaw=0.6747 right_pitch=-0.0238 right_roll=-0.0004 right_gripper=0.0484\nstate[joint_eff]: [-0.0205, -1.4564, 7.0496, 1.7265, -0.0806, -0.0757, -0.0171, -0.0752, -8.4581, 4.7658, 1.4774, -0.1245, 0.022, 1.58]",
      "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, 0.8089, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.458, 1.4666, 0.7513, 0.1184, -0.1848, -0.1287, 0.0529]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1751 left_yaw=0.0008 left_pitch=-0.0156 left_roll=-0.0003 left_gripper=0.9998 right_x=0.3595 right_y=0.2174 right_z=0.1224 right_yaw=0.6761 right_pitch=-0.0271 right_roll=-0.0019 right_gripper=0.0529\nstate[joint_eff]: [-0.1162, -1.4838, 7.0496, 1.7558, -0.0659, -0.0171, -0.0171, -0.335, -7.8838, 8.6085, 1.6923, -0.1294, -0.0415, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac50c133e43a7a6b3fd6ad82ccf854dd50c5315649c742667e7e1e6f42671111",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc9721ced6eab448aba0479ee69b29b03b9943c4830592e58eedf100cb553740",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1070708848e39b9086f16e75fbc7589aca54ce4b167f15df25444f9dd8c8a13a",
        "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_018dnhPHcyu7yhH2eUoV2Pnq",
      "input": {
        "note": "The pen is now held by the right arm (it lifted clear of the table). Moving the left arm above the remaining pen cap, yawed to put the jaws across the cap's axis, to inspect it in the left wrist camera.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.36,
          "left_y": -0.22,
          "left_yaw": -1.1,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_018dnhPHcyu7yhH2eUoV2Pnq",
      "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]: [-0.3019, 1.541, 0.9375, -0.2024, 0.5713, 0.4355, 0.9998, 0.458, 1.4658, 0.7475, 0.0895, -0.1848, -0.1284, 0.0578]\nstate[eef_state]: left_x=0.354 left_y=-0.2065 left_z=0.1286 left_yaw=-1.0194 left_pitch=-0.0813 left_roll=-0.0539 left_gripper=0.9998 right_x=0.355 right_y=0.2152 right_z=0.1153 right_yaw=0.6762 right_pitch=-0.0584 right_roll=0.0054 right_gripper=0.0578\nstate[joint_eff]: [-0.1983, -7.1179, 9.4427, 1.5263, 0.5153, 0.315, -0.0366, -0.3214, -6.1607, 6.8034, 1.9609, -0.1294, -0.0317, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b95e206bf7e433559cc9edc14ffb0a1b2d80be81aea921d14c14fd5fe77ad729",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b672a2e50dfc3e5657ee17777ebf29cea8a2ed85ba04ba81e5db89bca9511191",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d5f0a74a8ad8e569c2c9373b693f8d6239bb09179769d9ea25dd35ea2b6021e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 9.82 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8066, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.458, 1.8858, 0.5423, 0.7502, -0.1848, -0.1261, 0.0484]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1757 left_yaw=0.0008 left_pitch=-0.0133 left_roll=-0.0004 left_gripper=0.9998 right_x=0.3587 right_y=0.217 right_z=0.0017 right_yaw=0.6747 right_pitch=-0.0238 right_roll=-0.0004 right_gripper=0.0484\nstate[joint_eff]: [-0.0205, -1.4564, 7.0496, 1.7265, -0.0806, -0.0757, -0.0171, -0.0752, -8.4581, 4.7658, 1.4774, -0.1245, 0.022, 1.58]",
      "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, 0.8089, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.458, 1.4666, 0.7513, 0.1184, -0.1848, -0.1287, 0.0529]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1751 left_yaw=0.0008 left_pitch=-0.0156 left_roll=-0.0003 left_gripper=0.9998 right_x=0.3595 right_y=0.2174 right_z=0.1224 right_yaw=0.6761 right_pitch=-0.0271 right_roll=-0.0019 right_gripper=0.0529\nstate[joint_eff]: [-0.1162, -1.4838, 7.0496, 1.7558, -0.0659, -0.0171, -0.0171, -0.335, -7.8838, 8.6085, 1.6923, -0.1294, -0.0415, 1.0281]",
      "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]: [-0.3019, 1.541, 0.9375, -0.2024, 0.5713, 0.4355, 0.9998, 0.458, 1.4658, 0.7475, 0.0895, -0.1848, -0.1284, 0.0578]\nstate[eef_state]: left_x=0.354 left_y=-0.2065 left_z=0.1286 left_yaw=-1.0194 left_pitch=-0.0813 left_roll=-0.0539 left_gripper=0.9998 right_x=0.355 right_y=0.2152 right_z=0.1153 right_yaw=0.6762 right_pitch=-0.0584 right_roll=0.0054 right_gripper=0.0578\nstate[joint_eff]: [-0.1983, -7.1179, 9.4427, 1.5263, 0.5153, 0.315, -0.0366, -0.3214, -6.1607, 6.8034, 1.9609, -0.1294, -0.0317, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b95e206bf7e433559cc9edc14ffb0a1b2d80be81aea921d14c14fd5fe77ad729",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b672a2e50dfc3e5657ee17777ebf29cea8a2ed85ba04ba81e5db89bca9511191",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5f0a74a8ad8e569c2c9373b693f8d6239bb09179769d9ea25dd35ea2b6021e2",
        "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_01Kfy3FwaKF2R5qucchapSei",
      "input": {
        "note": "In the left wrist view the cap sits low and to the left of the jaw column, so I am shifting 3 cm along the tool's left direction (and slightly down) to centre it before descending.",
        "targets": {
          "left_x": 0.379,
          "left_y": -0.19,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Kfy3FwaKF2R5qucchapSei",
      "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]: [-0.2699, 1.5936, 0.9695, -0.2058, 0.6174, 0.4778, 0.9998, 0.458, 1.4658, 0.7475, 0.0853, -0.1844, -0.128, 0.0622]\nstate[eef_state]: left_x=0.3635 left_y=-0.203 left_z=0.1236 left_yaw=-1.0451 left_pitch=-0.075 left_roll=-0.0613 left_gripper=0.9998 right_x=0.3545 right_y=0.2148 right_z=0.1144 right_yaw=0.6757 right_pitch=-0.0626 right_roll=0.0064 right_gripper=0.0622\nstate[joint_eff]: [1.265, -5.7368, 8.841, 1.4188, 0.2857, 0.1929, -0.0171, -0.0342, -6.1333, 6.5299, 1.7167, -0.1099, -0.022, 0.7399]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:caa25abe007afa8587ae47c3639e13ba57d5d812d4ae5ffa833e49b7dea36276",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53307076ba6a2c4f78a80be648c492aa2c5bf04f8c1607aad6543de108b4115d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:335a8d264d31d95926b01114f249fe0d01a63511a1039ad906f42e8fb7700929",
        "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 · 7.348 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8089, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.458, 1.4666, 0.7513, 0.1184, -0.1848, -0.1287, 0.0529]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1751 left_yaw=0.0008 left_pitch=-0.0156 left_roll=-0.0003 left_gripper=0.9998 right_x=0.3595 right_y=0.2174 right_z=0.1224 right_yaw=0.6761 right_pitch=-0.0271 right_roll=-0.0019 right_gripper=0.0529\nstate[joint_eff]: [-0.1162, -1.4838, 7.0496, 1.7558, -0.0659, -0.0171, -0.0171, -0.335, -7.8838, 8.6085, 1.6923, -0.1294, -0.0415, 1.0281]",
      "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]: [-0.3019, 1.541, 0.9375, -0.2024, 0.5713, 0.4355, 0.9998, 0.458, 1.4658, 0.7475, 0.0895, -0.1848, -0.1284, 0.0578]\nstate[eef_state]: left_x=0.354 left_y=-0.2065 left_z=0.1286 left_yaw=-1.0194 left_pitch=-0.0813 left_roll=-0.0539 left_gripper=0.9998 right_x=0.355 right_y=0.2152 right_z=0.1153 right_yaw=0.6762 right_pitch=-0.0584 right_roll=0.0054 right_gripper=0.0578\nstate[joint_eff]: [-0.1983, -7.1179, 9.4427, 1.5263, 0.5153, 0.315, -0.0366, -0.3214, -6.1607, 6.8034, 1.9609, -0.1294, -0.0317, 1.033]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2699, 1.5936, 0.9695, -0.2058, 0.6174, 0.4778, 0.9998, 0.458, 1.4658, 0.7475, 0.0853, -0.1844, -0.128, 0.0622]\nstate[eef_state]: left_x=0.3635 left_y=-0.203 left_z=0.1236 left_yaw=-1.0451 left_pitch=-0.075 left_roll=-0.0613 left_gripper=0.9998 right_x=0.3545 right_y=0.2148 right_z=0.1144 right_yaw=0.6757 right_pitch=-0.0626 right_roll=0.0064 right_gripper=0.0622\nstate[joint_eff]: [1.265, -5.7368, 8.841, 1.4188, 0.2857, 0.1929, -0.0171, -0.0342, -6.1333, 6.5299, 1.7167, -0.1099, -0.022, 0.7399]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:caa25abe007afa8587ae47c3639e13ba57d5d812d4ae5ffa833e49b7dea36276",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53307076ba6a2c4f78a80be648c492aa2c5bf04f8c1607aad6543de108b4115d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:335a8d264d31d95926b01114f249fe0d01a63511a1039ad906f42e8fb7700929",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GwD7op1aHCP38QNSQiEShX",
      "input": {
        "note": "The cap disappeared from the left wrist view (likely hidden right under the jaws). Raising the left arm to 22 cm to get a wider view and re-locate the cap.",
        "targets": {
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01GwD7op1aHCP38QNSQiEShX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2276, 1.6466, 0.9737, -0.2203, 0.6029, 0.4812, 0.9998, 0.458, 1.4662, 0.7464, 0.0814, -0.1848, -0.1284, 0.0642]\nstate[eef_state]: left_x=0.372 left_y=-0.1853 left_z=0.1016 left_yaw=-0.9989 left_pitch=-0.1278 left_roll=-0.0951 left_gripper=0.9998 right_x=0.3537 right_y=0.2145 right_z=0.1131 right_yaw=0.6763 right_pitch=-0.0677 right_roll=0.0075 right_gripper=0.0642\nstate[joint_eff]: [-0.4171, -8.6769, 8.759, 1.3748, 0.3541, 0.1343, -0.0171, -0.0342, -6.1197, 6.694, 1.7118, -0.1343, -0.0464, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d02531d51d2ad8aae359dff4b136ac1ecce14d8b14e2f9000ba913ab85c43990",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ecf2fdfe5d67c7e9b6f3d5071a3b2fb95fc38ac1380599364f2097f7bd856c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e93299e921f0a2e88f1832f3060179167e899590a284e2771ec4d1083a803b7a",
        "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 · 12.66 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3019, 1.541, 0.9375, -0.2024, 0.5713, 0.4355, 0.9998, 0.458, 1.4658, 0.7475, 0.0895, -0.1848, -0.1284, 0.0578]\nstate[eef_state]: left_x=0.354 left_y=-0.2065 left_z=0.1286 left_yaw=-1.0194 left_pitch=-0.0813 left_roll=-0.0539 left_gripper=0.9998 right_x=0.355 right_y=0.2152 right_z=0.1153 right_yaw=0.6762 right_pitch=-0.0584 right_roll=0.0054 right_gripper=0.0578\nstate[joint_eff]: [-0.1983, -7.1179, 9.4427, 1.5263, 0.5153, 0.315, -0.0366, -0.3214, -6.1607, 6.8034, 1.9609, -0.1294, -0.0317, 1.033]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2699, 1.5936, 0.9695, -0.2058, 0.6174, 0.4778, 0.9998, 0.458, 1.4658, 0.7475, 0.0853, -0.1844, -0.128, 0.0622]\nstate[eef_state]: left_x=0.3635 left_y=-0.203 left_z=0.1236 left_yaw=-1.0451 left_pitch=-0.075 left_roll=-0.0613 left_gripper=0.9998 right_x=0.3545 right_y=0.2148 right_z=0.1144 right_yaw=0.6757 right_pitch=-0.0626 right_roll=0.0064 right_gripper=0.0622\nstate[joint_eff]: [1.265, -5.7368, 8.841, 1.4188, 0.2857, 0.1929, -0.0171, -0.0342, -6.1333, 6.5299, 1.7167, -0.1099, -0.022, 0.7399]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2276, 1.6466, 0.9737, -0.2203, 0.6029, 0.4812, 0.9998, 0.458, 1.4662, 0.7464, 0.0814, -0.1848, -0.1284, 0.0642]\nstate[eef_state]: left_x=0.372 left_y=-0.1853 left_z=0.1016 left_yaw=-0.9989 left_pitch=-0.1278 left_roll=-0.0951 left_gripper=0.9998 right_x=0.3537 right_y=0.2145 right_z=0.1131 right_yaw=0.6763 right_pitch=-0.0677 right_roll=0.0075 right_gripper=0.0642\nstate[joint_eff]: [-0.4171, -8.6769, 8.759, 1.3748, 0.3541, 0.1343, -0.0171, -0.0342, -6.1197, 6.694, 1.7118, -0.1343, -0.0464, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d02531d51d2ad8aae359dff4b136ac1ecce14d8b14e2f9000ba913ab85c43990",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ecf2fdfe5d67c7e9b6f3d5071a3b2fb95fc38ac1380599364f2097f7bd856c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e93299e921f0a2e88f1832f3060179167e899590a284e2771ec4d1083a803b7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStQgKjgEIEhgCKkBBpVwraQVQBfVfFjmTSfcQt2o++e5wfGe0KAnnuMrVh29InB4sy2yN9ycddvWTcnsOr+2LYRDecsoaqKkUiXtdMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYPCzNUGEgxSkQv8MuA0bfMpfL8aDIMJA4ZgtPzo8+oQXiIwGxin+sl3HxOOW/YjrG43mK356kfX0MdX1fQ6xr627peO/Ina/zYIuMmSpx7YaTrbKtMGDLQYVNIv2U2YEMGRf+jWYN3lXRU0Hibv75b+Lm0+laBtwDEAMfeoPLSqt5XKg20Ubir3LbmX2oMovavbvQS7ArxvhtABondJv7Il1EsXwwvdHzI1qufZyBUwI8bI/B8ruJFhzZtBTUzIElkr2q+XkSek8W9bk2yzCXTRuhOQphcCcxZEOAKOdHLotS2d5NuuwqdkIFECjtVWx9t+EAIslajtkQLOk0urxTxYC8NCdW8FFVFH/vNP6E0/Tz2oLx6Zl0BadQNzpIZK7cw+hPdjMGt1iFmXFf549wuBwyadgaov+YDYOfKqU2V75WeoWZHc9J/fOoD2q7B8sx3kYuJdqEiMUSDlXxDBzEWbaQNlDPwdxgH4AKsNz1zVC5mzAc/PejP2CnwWoack35puD5tb+P5zi1Q5CYUNyHSdhjhcLkT8VXuHEPwiz1oeeG/K8n785kEFtKIi/JfRF/sWOU3CsY9jMy0JOlF7f2hhlQJck3ClAY2iQfmkvfi91s7jmfDZXsXqwHcpiUnL4El7oaB56Qh+XDx8tRfIPDicIlrJgKSjl2sMjsfloItYWZphxjvBQFwwzK2R9q+943BC12Trx3jWMmLB7vjI4H1/zes8ICmFupLlx9Vz8Q2udbH1PM6KV75QT+4wkg3ShUH8rGnXlyddL1NLdSDi41aQswiAuOxYa4387lGx+l7pf9gp80ClpBVPvr2HeprLEOJRVTA/mTUeUIDGH+2HjSJgH22DjcBeCefvAcaVjHVUU/K2u8PCCLy0nyMbqXEe5Stl7UaLSKERv4E4Su/pFfRpc5FtMOYaTvzMMdHGeDcLsivp3TFmITd/6NbDlG0Y6M3HSuZxCB+gPpsfnEMgPLvftjspGCIrFjEinDHkF0BNcTxAx8wvoWzRfXSrpeM5dwGeinb9tW5KBRgKXv9asAvZ0U1w4QVi1b+DeQ6CTAS3ZF/Z5UkJiT7Kfs5vB8UA9mr9pU0boHZEQggFYjvgzsEJqio8aUUSG9v9WR/wmtwoqZxD5yAiXxie1EeW4CLkAx3NJ5455XPhAbo89gz1/8vlabgX7JouQuXvnQis6udzHTcHXteClI1hFUyqXGAct0UyK3Yhmv+GYidAOQ3buE1U842vfznboQYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013HvXMsUSJbd7ZfoVMNtPzq",
      "input": {
        "note": "The cap now appears just left of the jaw column at the bottom of the left wrist view; nudging ~1.5 cm along the tool's left axis and descending to table level to grasp it.",
        "targets": {
          "left_x": 0.386,
          "left_y": -0.176,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_013HvXMsUSJbd7ZfoVMNtPzq",
      "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]: [-0.1883, 1.9007, 0.8677, 0.0563, 0.6304, 0.5121, 0.9996, 0.458, 1.4658, 0.7456, 0.0772, -0.1844, -0.1287, 0.0656]\nstate[eef_state]: left_x=0.3757 left_y=-0.1739 left_z=0.0059 left_yaw=-1.0039 left_pitch=-0.1688 left_roll=-0.1475 left_gripper=0.9996 right_x=0.353 right_y=0.2141 right_z=0.1121 right_yaw=0.6763 right_pitch=-0.0722 right_roll=0.0079 right_gripper=0.0656\nstate[joint_eff]: [-0.9094, -8.7863, 5.9282, -0.4371, -1.199, -0.7057, -0.0562, -0.1299, -6.2017, 6.5026, 1.6874, -0.1197, -0.0513, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbb37601ad1801a9173608fd1bd25c477e074a197d2ae876a6e11ae9b3a8d4b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b5acece6973df8559ed4f400395ef6e70cede28831321b4cb31c4c86bde3763",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:32040e10e0f5c1f109cab0448590f1a17151039eae2a1ec233c84b2f75b56a0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 4.214 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2699, 1.5936, 0.9695, -0.2058, 0.6174, 0.4778, 0.9998, 0.458, 1.4658, 0.7475, 0.0853, -0.1844, -0.128, 0.0622]\nstate[eef_state]: left_x=0.3635 left_y=-0.203 left_z=0.1236 left_yaw=-1.0451 left_pitch=-0.075 left_roll=-0.0613 left_gripper=0.9998 right_x=0.3545 right_y=0.2148 right_z=0.1144 right_yaw=0.6757 right_pitch=-0.0626 right_roll=0.0064 right_gripper=0.0622\nstate[joint_eff]: [1.265, -5.7368, 8.841, 1.4188, 0.2857, 0.1929, -0.0171, -0.0342, -6.1333, 6.5299, 1.7167, -0.1099, -0.022, 0.7399]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2276, 1.6466, 0.9737, -0.2203, 0.6029, 0.4812, 0.9998, 0.458, 1.4662, 0.7464, 0.0814, -0.1848, -0.1284, 0.0642]\nstate[eef_state]: left_x=0.372 left_y=-0.1853 left_z=0.1016 left_yaw=-0.9989 left_pitch=-0.1278 left_roll=-0.0951 left_gripper=0.9998 right_x=0.3537 right_y=0.2145 right_z=0.1131 right_yaw=0.6763 right_pitch=-0.0677 right_roll=0.0075 right_gripper=0.0642\nstate[joint_eff]: [-0.4171, -8.6769, 8.759, 1.3748, 0.3541, 0.1343, -0.0171, -0.0342, -6.1197, 6.694, 1.7118, -0.1343, -0.0464, 1.033]",
      "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]: [-0.1883, 1.9007, 0.8677, 0.0563, 0.6304, 0.5121, 0.9996, 0.458, 1.4658, 0.7456, 0.0772, -0.1844, -0.1287, 0.0656]\nstate[eef_state]: left_x=0.3757 left_y=-0.1739 left_z=0.0059 left_yaw=-1.0039 left_pitch=-0.1688 left_roll=-0.1475 left_gripper=0.9996 right_x=0.353 right_y=0.2141 right_z=0.1121 right_yaw=0.6763 right_pitch=-0.0722 right_roll=0.0079 right_gripper=0.0656\nstate[joint_eff]: [-0.9094, -8.7863, 5.9282, -0.4371, -1.199, -0.7057, -0.0562, -0.1299, -6.2017, 6.5026, 1.6874, -0.1197, -0.0513, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbb37601ad1801a9173608fd1bd25c477e074a197d2ae876a6e11ae9b3a8d4b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b5acece6973df8559ed4f400395ef6e70cede28831321b4cb31c4c86bde3763",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32040e10e0f5c1f109cab0448590f1a17151039eae2a1ec233c84b2f75b56a0a",
        "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_01YNR3tkXfPyfLafaH2G67XH",
      "input": {
        "note": "The cap lies just at the jaw line in the left wrist view (the apparent left offset is largely wrist roll tilting the image). Closing the left gripper to test the grasp — a settled reading near 0.1 means the cap is held.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01YNR3tkXfPyfLafaH2G67XH",
      "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]: [-0.1864, 1.9121, 0.8574, 0.0669, 0.6289, 0.5072, 0.0088, 0.4587, 1.4662, 0.7448, 0.0746, -0.1844, -0.1284, 0.0684]\nstate[eef_state]: left_x=0.3732 left_y=-0.1725 left_z=-0.0004 left_yaw=-0.9998 left_pitch=-0.1777 left_roll=-0.1585 left_gripper=0.0088 right_x=0.3523 right_y=0.2141 right_z=0.1111 right_yaw=0.6769 right_pitch=-0.076 right_roll=0.0091 right_gripper=0.0684\nstate[joint_eff]: [-0.5265, -9.5385, 5.9419, 1.116, 0.2857, 0.0366, 0.6374, -0.2393, -6.065, 6.5299, 1.6972, -0.1197, -0.0562, 0.8718]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32acb72505e7c1883c972c188190f3f75e2342e1b47be45e146d09fe4d0c2f7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d59bf5582a1f8a7f9747b87b64d7c38c381e74058fcf05a59a7ce1083900810f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fab922adf51aef49bce5fb44034f27717b0aa54f004f94be022d6b7366cf8acf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 12.54 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2276, 1.6466, 0.9737, -0.2203, 0.6029, 0.4812, 0.9998, 0.458, 1.4662, 0.7464, 0.0814, -0.1848, -0.1284, 0.0642]\nstate[eef_state]: left_x=0.372 left_y=-0.1853 left_z=0.1016 left_yaw=-0.9989 left_pitch=-0.1278 left_roll=-0.0951 left_gripper=0.9998 right_x=0.3537 right_y=0.2145 right_z=0.1131 right_yaw=0.6763 right_pitch=-0.0677 right_roll=0.0075 right_gripper=0.0642\nstate[joint_eff]: [-0.4171, -8.6769, 8.759, 1.3748, 0.3541, 0.1343, -0.0171, -0.0342, -6.1197, 6.694, 1.7118, -0.1343, -0.0464, 1.033]",
      "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]: [-0.1883, 1.9007, 0.8677, 0.0563, 0.6304, 0.5121, 0.9996, 0.458, 1.4658, 0.7456, 0.0772, -0.1844, -0.1287, 0.0656]\nstate[eef_state]: left_x=0.3757 left_y=-0.1739 left_z=0.0059 left_yaw=-1.0039 left_pitch=-0.1688 left_roll=-0.1475 left_gripper=0.9996 right_x=0.353 right_y=0.2141 right_z=0.1121 right_yaw=0.6763 right_pitch=-0.0722 right_roll=0.0079 right_gripper=0.0656\nstate[joint_eff]: [-0.9094, -8.7863, 5.9282, -0.4371, -1.199, -0.7057, -0.0562, -0.1299, -6.2017, 6.5026, 1.6874, -0.1197, -0.0513, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "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]: [-0.1864, 1.9121, 0.8574, 0.0669, 0.6289, 0.5072, 0.0088, 0.4587, 1.4662, 0.7448, 0.0746, -0.1844, -0.1284, 0.0684]\nstate[eef_state]: left_x=0.3732 left_y=-0.1725 left_z=-0.0004 left_yaw=-0.9998 left_pitch=-0.1777 left_roll=-0.1585 left_gripper=0.0088 right_x=0.3523 right_y=0.2141 right_z=0.1111 right_yaw=0.6769 right_pitch=-0.076 right_roll=0.0091 right_gripper=0.0684\nstate[joint_eff]: [-0.5265, -9.5385, 5.9419, 1.116, 0.2857, 0.0366, 0.6374, -0.2393, -6.065, 6.5299, 1.6972, -0.1197, -0.0562, 0.8718]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32acb72505e7c1883c972c188190f3f75e2342e1b47be45e146d09fe4d0c2f7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d59bf5582a1f8a7f9747b87b64d7c38c381e74058fcf05a59a7ce1083900810f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fab922adf51aef49bce5fb44034f27717b0aa54f004f94be022d6b7366cf8acf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIShwUKjgEIEhgCKkD3BM/6g/q3PkHyHxuMWDa2qOYjuRPYiZ58tr0tmV5yc22Bzf89kqPV1tK00QEYdrCkXFH/xgHGqj1dEv+m/RH3Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZXCzNUGEgzhH4bwB9MTPh0gyYkaDGD2zh7pQp3fGiaMLCIwJBd7m8iexbLmdPsTHBmUYv1S9epsGYGvX1AkOxoqqVScFLsAjB2A1fKG87hNm8HbKqUD0B3GOHxz9YUeWuM1nc7yoFOrLR+jKwJxc6ewYe+GviH1e2/+WlVPXuXM4pPET5mDwV8bRHd0RaKnwre+jFEe+jkzfkx9dZ3RkmJKpPZgtds+pDku0Y2O/9+odDYCaD3vOzet/O4Zro1CQ1bDWCxS5IsYGaYW6V0EwhpTbcLTvj4hUxmHq1taTvnu/gteg1Xv66GZw3Yg4jdMQ4gOVZMX5YL2N9nr/XjPlIryHk4zLWQ1a7noiaEBjjxg1XnHSt49llQARE92wBKSo6PYWdd5ldypP+DXx00LnWNt+FV5J37lZpMr765/lj3Ur0MVh4SXYKNSHNwZrI3cdVDVj0/0rftcR2iVJbEM+YLtripFOQqz4WnW2kzzuv/ASZqqOby5TD2os+3Gma5jYMkdsVsib5qoOEN1wH4YO4uVGnaN08YVlP5MyemcVoY2+s4om+0rr8GXqoxkBkQZsEiEK48Lt7m1pV/yg1qu7gI7S0fZ5q4o6eyhSxJSfbu1PertiKdBiLYVct47+pweAJ6LFyKhEdOXa8uEdzlxMPtFygEfpi3y0/IBKBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RQhBy99vnSge5TmrRnJZcr",
      "input": {
        "note": "The close came up empty (gripper 0.009), so the cap is not where I thought. Retracting and raising the left arm to clear the overhead view and re-locate the cap.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.3,
          "left_yaw": 0,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01RQhBy99vnSge5TmrRnJZcr",
      "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]: [-0.7467, 1.2583, 1.1927, -0.7544, -0.3702, -0.6128, 0.9971, 0.4583, 1.4673, 0.7429, 0.0597, -0.1848, -0.1284, 0.0712]\nstate[eef_state]: left_x=0.3009 left_y=-0.1865 left_z=0.2355 left_yaw=-0.108 left_pitch=-0.1883 left_roll=-0.1735 left_gripper=0.9971 right_x=0.3499 right_y=0.2128 right_z=0.107 right_yaw=0.6772 right_pitch=-0.0934 right_roll=0.0132 right_gripper=0.0712\nstate[joint_eff]: [-0.294, -3.8496, 9.1829, 1.3358, -0.398, 0.1294, 0.0659, -0.212, -6.2701, 6.6393, 1.7802, -0.1538, -0.0366, 0.8962]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a0b0ff07086c107e12ebda713c1f834d7d5cbcb0bb7f1ef391c71be5b6f80c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6df9b187efc1ba2e92c01b98ad0eea75733da0771ebfaaaed45b4ab3ed2d405",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b0d7ffda5db07ea0b3f3cc01622cbbcba30e87379394010d4f7c6740a074576a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 15.42 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1883, 1.9007, 0.8677, 0.0563, 0.6304, 0.5121, 0.9996, 0.458, 1.4658, 0.7456, 0.0772, -0.1844, -0.1287, 0.0656]\nstate[eef_state]: left_x=0.3757 left_y=-0.1739 left_z=0.0059 left_yaw=-1.0039 left_pitch=-0.1688 left_roll=-0.1475 left_gripper=0.9996 right_x=0.353 right_y=0.2141 right_z=0.1121 right_yaw=0.6763 right_pitch=-0.0722 right_roll=0.0079 right_gripper=0.0656\nstate[joint_eff]: [-0.9094, -8.7863, 5.9282, -0.4371, -1.199, -0.7057, -0.0562, -0.1299, -6.2017, 6.5026, 1.6874, -0.1197, -0.0513, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "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]: [-0.1864, 1.9121, 0.8574, 0.0669, 0.6289, 0.5072, 0.0088, 0.4587, 1.4662, 0.7448, 0.0746, -0.1844, -0.1284, 0.0684]\nstate[eef_state]: left_x=0.3732 left_y=-0.1725 left_z=-0.0004 left_yaw=-0.9998 left_pitch=-0.1777 left_roll=-0.1585 left_gripper=0.0088 right_x=0.3523 right_y=0.2141 right_z=0.1111 right_yaw=0.6769 right_pitch=-0.076 right_roll=0.0091 right_gripper=0.0684\nstate[joint_eff]: [-0.5265, -9.5385, 5.9419, 1.116, 0.2857, 0.0366, 0.6374, -0.2393, -6.065, 6.5299, 1.6972, -0.1197, -0.0562, 0.8718]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.7467, 1.2583, 1.1927, -0.7544, -0.3702, -0.6128, 0.9971, 0.4583, 1.4673, 0.7429, 0.0597, -0.1848, -0.1284, 0.0712]\nstate[eef_state]: left_x=0.3009 left_y=-0.1865 left_z=0.2355 left_yaw=-0.108 left_pitch=-0.1883 left_roll=-0.1735 left_gripper=0.9971 right_x=0.3499 right_y=0.2128 right_z=0.107 right_yaw=0.6772 right_pitch=-0.0934 right_roll=0.0132 right_gripper=0.0712\nstate[joint_eff]: [-0.294, -3.8496, 9.1829, 1.3358, -0.398, 0.1294, 0.0659, -0.212, -6.2701, 6.6393, 1.7802, -0.1538, -0.0366, 0.8962]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a0b0ff07086c107e12ebda713c1f834d7d5cbcb0bb7f1ef391c71be5b6f80c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6df9b187efc1ba2e92c01b98ad0eea75733da0771ebfaaaed45b4ab3ed2d405",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0d7ffda5db07ea0b3f3cc01622cbbcba30e87379394010d4f7c6740a074576a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015zzb8gHjGsZqMgPA1D4N2T",
      "input": {
        "note": "The left wrist view shows the cap up and to the image-left, i.e. further forward and to the arm's left than where I closed. Moving ~9 cm forward and ~4 cm left at 15 cm height to bring it onto the jaw column.",
        "targets": {
          "left_x": 0.39,
          "left_y": -0.145,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_015zzb8gHjGsZqMgPA1D4N2T",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4404, 1.4441, 1.0039, -0.4, -0.1806, -0.4328, 0.9979, 0.4587, 1.4673, 0.7418, 0.057, -0.1844, -0.1284, 0.0712]\nstate[eef_state]: left_x=0.3738 left_y=-0.1371 left_z=0.1423 left_yaw=-0.0542 left_pitch=-0.2594 left_roll=-0.1589 left_gripper=0.9979 right_x=0.3492 right_y=0.2126 right_z=0.106 right_yaw=0.6773 right_pitch=-0.0972 right_roll=0.0138 right_gripper=0.0712\nstate[joint_eff]: [0.2256, -6.1333, 6.8718, 1.746, -0.1148, 0.2564, 0.0757, -0.212, -6.188, 6.4889, 1.663, -0.1245, -0.0317, 0.862]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a4ccdcf32e5741903d11a166a4cb4e4669b3d7313a89b994865a6267ce2b8b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2141812340c381b09085f61b0cbbf7130979de76ef630d7ed63bc9f6ad60ebd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:275f99787070f8187b1a95c62179fc922a601fb280a04002dd66c35b415009f7",
        "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 · 9.238 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1864, 1.9121, 0.8574, 0.0669, 0.6289, 0.5072, 0.0088, 0.4587, 1.4662, 0.7448, 0.0746, -0.1844, -0.1284, 0.0684]\nstate[eef_state]: left_x=0.3732 left_y=-0.1725 left_z=-0.0004 left_yaw=-0.9998 left_pitch=-0.1777 left_roll=-0.1585 left_gripper=0.0088 right_x=0.3523 right_y=0.2141 right_z=0.1111 right_yaw=0.6769 right_pitch=-0.076 right_roll=0.0091 right_gripper=0.0684\nstate[joint_eff]: [-0.5265, -9.5385, 5.9419, 1.116, 0.2857, 0.0366, 0.6374, -0.2393, -6.065, 6.5299, 1.6972, -0.1197, -0.0562, 0.8718]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.7467, 1.2583, 1.1927, -0.7544, -0.3702, -0.6128, 0.9971, 0.4583, 1.4673, 0.7429, 0.0597, -0.1848, -0.1284, 0.0712]\nstate[eef_state]: left_x=0.3009 left_y=-0.1865 left_z=0.2355 left_yaw=-0.108 left_pitch=-0.1883 left_roll=-0.1735 left_gripper=0.9971 right_x=0.3499 right_y=0.2128 right_z=0.107 right_yaw=0.6772 right_pitch=-0.0934 right_roll=0.0132 right_gripper=0.0712\nstate[joint_eff]: [-0.294, -3.8496, 9.1829, 1.3358, -0.398, 0.1294, 0.0659, -0.212, -6.2701, 6.6393, 1.7802, -0.1538, -0.0366, 0.8962]",
      "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]: [-0.4404, 1.4441, 1.0039, -0.4, -0.1806, -0.4328, 0.9979, 0.4587, 1.4673, 0.7418, 0.057, -0.1844, -0.1284, 0.0712]\nstate[eef_state]: left_x=0.3738 left_y=-0.1371 left_z=0.1423 left_yaw=-0.0542 left_pitch=-0.2594 left_roll=-0.1589 left_gripper=0.9979 right_x=0.3492 right_y=0.2126 right_z=0.106 right_yaw=0.6773 right_pitch=-0.0972 right_roll=0.0138 right_gripper=0.0712\nstate[joint_eff]: [0.2256, -6.1333, 6.8718, 1.746, -0.1148, 0.2564, 0.0757, -0.212, -6.188, 6.4889, 1.663, -0.1245, -0.0317, 0.862]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a4ccdcf32e5741903d11a166a4cb4e4669b3d7313a89b994865a6267ce2b8b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2141812340c381b09085f61b0cbbf7130979de76ef630d7ed63bc9f6ad60ebd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:275f99787070f8187b1a95c62179fc922a601fb280a04002dd66c35b415009f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISxwgKjgEIEhgCKkB/aOsbN5NMHGZfoZihDFaJDAjSUBjjU2UgS2a849lA0rzG+esa2mRcS2SkYQK0au6I5iGF4VTHOXoz99+D/Vr7Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbPCzNUGEgzDk6sIw5+IXSn9GzkaDAggA0WqOQ5x8XHRSSIwSbL4WF5JJUFJf6T74pZxQRowDAlXHQd7Ui4gMCHcCtJaI5DKEk9gXA3AyMlM6cX6KuUGHXCTBmlzeyqt9RUzEi0kjbYoWCjfNQhq7vC/hDqJ33RFQIVAi+9CCoqycOq/ZzMq+skO+1rjTo9kUEE3QmVlfs/4cypIafUpvf8mvIfakCYx9wI1ZywsbYne6BEpz5R2FBefIqsnzNaDZQpPvzwmLlJDXOUAuj3+trE4DTyYlt5lhLpJRtW4U6GteS5yBPAONTFbVZZqyOy4p60Xp1/mIO1sJvg7Cz6a92aMt3d2/nJVHsStMqBbNSRFTXSTgE+9Wwtz5BUwDlzEzowSHq1vfah513ZFEgTuu5aFfHCtFOHVxKC2R+/Yi6VclRXYb4H7z/hGEsSFTtEid+S617pqNucqEnmDsC38v+l/9mT2CMiX4TU35NXFqIzcRfpE+XOdbdSqmZ2I3eV8l9QfI2E56S7poZQfAfknUKlpyAWo+XNWDHB6tKbMBLMBM3pNlVvfD7g2U43xUMifH5wMc7RDFZAgsUE+Oei/+oI9oNlHm3cVnRS16UEuzYLU7rh6kVoPkivDp1JYLOU9OOoSBEIaBdz5S9qGiRNe5lV0mSR1wBLf06egGdQTPz1zcWWz7LkQYmRe2r9lzXZN0/Wc9GZBS79+UwuqmKmHfhN/7bonBqhZyiH+KX6yYPSPW/d+w3iTcNzfBDQon6Mt1T4HjZ1vSBRKF7mjuRypt7rx2xlVtONOYW3/ZsCHjp/T/2ZDiYC4bVI93DaNraw5UBD+y6fUehwgI9nBjCqxOgjckrXBBKnu90t0meDe5Vhx7fPLQQxlUQCnpMhbwZR9xjjHgzESMnqfq4JiYIevAPwFX/rg9vcv+VVDEIaioF91TSKtoUtgXQ/w0sUiIm6jLdVLh30BfbenzdpmQ1M49r7gHyGangcSkkifzAtQHSujK8i7jywFM1HJzuBBxpoQCEOeXiz6qo40SpeSsLdvG4OpFwj1pSa/j/BgotEYj8WJe9gmki+3ZCfM/LiBHGdMUN4C1DNYnDtV2Pn8NuPoUqlK4TPBSWmRk6LzgdLRXa/ghDjaWtO8UX/7gs/uok/DBr29kJCutJBHZQJ0ChtBlD3w/1fb+WhZE/ymAhyEYoIlyELTO4IL0laJwVIjDF1vCoeND82lso1Cyukzy0KcwlksfWkQk1CeAli56UUDaxgwMPGM1qocXQwayRYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YEufpYqMfUwsyHstyJ6iwF",
      "input": {
        "note": "Cap is now nearly on the jaw column in the left wrist view, 13 px to the left (~3.5 cm). Shifting 3.5 cm to the arm's left and descending to 7 cm for a final alignment check.",
        "targets": {
          "left_y": -0.1,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01YEufpYqMfUwsyHstyJ6iwF",
      "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]: [-0.3241, 1.4872, 0.7551, -0.165, -0.1188, -0.3706, 0.998, 0.4587, 1.4673, 0.7418, 0.0582, -0.1844, -0.1284, 0.0709]\nstate[eef_state]: left_x=0.3619 left_y=-0.0957 left_z=0.0642 left_yaw=-0.0201 left_pitch=-0.3241 left_roll=-0.1429 left_gripper=0.998 right_x=0.3493 right_y=0.2127 right_z=0.1062 right_yaw=0.6773 right_pitch=-0.0961 right_roll=0.0135 right_gripper=0.0709\nstate[joint_eff]: [0.3077, -5.4496, 6.8034, 1.7851, 0.0806, 0.2076, -0.0073, -0.212, -6.0103, 6.3932, 1.6044, -0.149, -0.0513, 0.9158]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d949ace48388be55993dace09d9b61a1d9e55cd3baf812064990f80db44ae512",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:788a9f8da4abc4a1cc3458b5e5ff45d9bfc85f40caf6c3cda4d913112208bd58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a6a14704eef5e3b4ed74ca48e5715782107109045d5adb82d8e2c432ca9397aa",
        "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 · 9.197 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7467, 1.2583, 1.1927, -0.7544, -0.3702, -0.6128, 0.9971, 0.4583, 1.4673, 0.7429, 0.0597, -0.1848, -0.1284, 0.0712]\nstate[eef_state]: left_x=0.3009 left_y=-0.1865 left_z=0.2355 left_yaw=-0.108 left_pitch=-0.1883 left_roll=-0.1735 left_gripper=0.9971 right_x=0.3499 right_y=0.2128 right_z=0.107 right_yaw=0.6772 right_pitch=-0.0934 right_roll=0.0132 right_gripper=0.0712\nstate[joint_eff]: [-0.294, -3.8496, 9.1829, 1.3358, -0.398, 0.1294, 0.0659, -0.212, -6.2701, 6.6393, 1.7802, -0.1538, -0.0366, 0.8962]",
      "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]: [-0.4404, 1.4441, 1.0039, -0.4, -0.1806, -0.4328, 0.9979, 0.4587, 1.4673, 0.7418, 0.057, -0.1844, -0.1284, 0.0712]\nstate[eef_state]: left_x=0.3738 left_y=-0.1371 left_z=0.1423 left_yaw=-0.0542 left_pitch=-0.2594 left_roll=-0.1589 left_gripper=0.9979 right_x=0.3492 right_y=0.2126 right_z=0.106 right_yaw=0.6773 right_pitch=-0.0972 right_roll=0.0138 right_gripper=0.0712\nstate[joint_eff]: [0.2256, -6.1333, 6.8718, 1.746, -0.1148, 0.2564, 0.0757, -0.212, -6.188, 6.4889, 1.663, -0.1245, -0.0317, 0.862]",
      "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]: [-0.3241, 1.4872, 0.7551, -0.165, -0.1188, -0.3706, 0.998, 0.4587, 1.4673, 0.7418, 0.0582, -0.1844, -0.1284, 0.0709]\nstate[eef_state]: left_x=0.3619 left_y=-0.0957 left_z=0.0642 left_yaw=-0.0201 left_pitch=-0.3241 left_roll=-0.1429 left_gripper=0.998 right_x=0.3493 right_y=0.2127 right_z=0.1062 right_yaw=0.6773 right_pitch=-0.0961 right_roll=0.0135 right_gripper=0.0709\nstate[joint_eff]: [0.3077, -5.4496, 6.8034, 1.7851, 0.0806, 0.2076, -0.0073, -0.212, -6.0103, 6.3932, 1.6044, -0.149, -0.0513, 0.9158]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d949ace48388be55993dace09d9b61a1d9e55cd3baf812064990f80db44ae512",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:788a9f8da4abc4a1cc3458b5e5ff45d9bfc85f40caf6c3cda4d913112208bd58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6a14704eef5e3b4ed74ca48e5715782107109045d5adb82d8e2c432ca9397aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqQgKjgEIEhgCKkDKYUQ3FnH0CyPaojcHR4RDep3Blwp0Rgh9p8emF8avgj8G1FIE1BQf17dp8ZFeH1ihTnBOylhYbMgp9Slamjp0Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAb3CzNUGEgzVwkmVYS1AlWxGBO0aDMeIokm04taXw0UmYSIwgv2G/OvUXvTN8xvnUoHxyambwrB85uZNBOVrAXiPKoo2zifzqRxWSjiIoFSB4k7kKscG6CHdoCp4WlpwlJOrI9ArTlApTARS8LnrN5YUnIVsNwIAywguAA9PNuw+eu93zdGCRMoRIt9Ae1EnT6stwm6tyepim6vJ9gFPrNl+mTXSWOdxbVfuuVz629M/sUX5M6KOX+gwWxCZhOBgjHiGq9MUF1XbPajdcYhPREOkZRKapxDVEVJWpvQq44qR/+9g8Cxs6IDgkJsZ00Uah8L6J/MkJ4W2vSCpis+mRZgAqq3FPPGjugcuXAYW6ia65VUGORzFAuYuyJQ0FmmYU67rNVmjlvkNGHdk/W0bq20iELkZsDkOifR5Kf1b0GHKvrBnJ1+6xOmg5vMwwtT1C5fxXSGylfgLJc1X5kxpFpT1c33YkaZ0jnJfZ6CAqrxfNTVJ0+aa9JXu7x7eItOcST9DKDd7RZaiyyfDhO7/7oHH8o6i3PVymM7YqeOcN2IhkYVXXNS6qkDjJJSsj14GjfMA4L0AyM7REBWPAsZeCqiRjSbIFXZW8I02RLMg4jSymdiAOBHEroyTrDPwU7kdgqyaL/yBsKp+EWgMs4ILrIlEaKOHaQQEbyW2u2TbNqKwG1JY+r3m252ekj32tof6wZEZo+zldc5T6nNWr4Z7Ita42hPwTbSLUxYB2S0LdvFBxYXm/5QIj8EpLCtR+DX7o/IQWco0ql9OBq8bpJ8nvZfwMNRMDUK1xuO3xVC2QIuvdFklsmhwRjX2KJQhSAYVWFGjSmlVYB3ws0gHiImjv39djGfDtPOe6SYTMsGr8PHfUVw+c9jUEaGksAq+CTsEP9fyclM4jaOzJ9wgyID7IcJEP0gaTiGEvCo+vu3HYEI9hl0N8jEPHLmQEMJHA5UADHCcSl5ToTtUwSSWqFQpCuWNLZoTqoRcu0DzhQMOaORB/DLu9JwGTHXGK84DJLs4e+69lNDRoRg270ecG3bZhuv2219WXz5440exxkvujYCCrDmhzrRhAwzUxrrnCguX7Rbaz2d4Xh5X5GMbCgjRa3RMqMSMqGT5w8vF16EUz/tCsdpy05xOIT7zOPbVTpgDOt7Eelvs2UodepdEwxbFW9R4Bc8d87uOwFvmGQ1tbMVhjcRgtDWCTFWuXK6ywlSKj04EYiOUAfCzLJJh0SkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0157SYCSLFRpp3GhL2hSsXz1",
      "input": {
        "note": "The cap overshot to the right of the jaw column (~2.7 cm); correcting back to the arm's right and descending to table level for the grasp.",
        "targets": {
          "left_y": -0.123,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_0157SYCSLFRpp3GhL2hSsXz1",
      "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]: [-0.3145, 1.499, 0.7364, -0.0875, -0.1108, -0.3561, 0.998, 0.4587, 1.4673, 0.7418, 0.0578, -0.1844, -0.1284, 0.0739]\nstate[eef_state]: left_x=0.3702 left_y=-0.0961 left_z=0.065 left_yaw=-0.03 left_pitch=-0.2799 left_roll=-0.1535 left_gripper=0.998 right_x=0.3493 right_y=0.2126 right_z=0.1061 right_yaw=0.6773 right_pitch=-0.0965 right_roll=0.0136 right_gripper=0.0739\nstate[joint_eff]: [-0.0342, -6.0103, 6.5983, 1.707, 0.0562, 0.1832, -0.0122, -0.1983, -6.1744, 6.5436, 1.619, -0.1392, -0.0269, 0.5788]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22b50b596753f6220c52bca956572d3d5a4458e00252a904b69ada458ceb11fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2376b5372e1bdfe3c58391424367a809a76096a17889ab7ec214a45437e52b92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bd2a5e43815e48b39d1a10759a5917d36274353da4781be02150811812031d8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 15.85 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4404, 1.4441, 1.0039, -0.4, -0.1806, -0.4328, 0.9979, 0.4587, 1.4673, 0.7418, 0.057, -0.1844, -0.1284, 0.0712]\nstate[eef_state]: left_x=0.3738 left_y=-0.1371 left_z=0.1423 left_yaw=-0.0542 left_pitch=-0.2594 left_roll=-0.1589 left_gripper=0.9979 right_x=0.3492 right_y=0.2126 right_z=0.106 right_yaw=0.6773 right_pitch=-0.0972 right_roll=0.0138 right_gripper=0.0712\nstate[joint_eff]: [0.2256, -6.1333, 6.8718, 1.746, -0.1148, 0.2564, 0.0757, -0.212, -6.188, 6.4889, 1.663, -0.1245, -0.0317, 0.862]",
      "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]: [-0.3241, 1.4872, 0.7551, -0.165, -0.1188, -0.3706, 0.998, 0.4587, 1.4673, 0.7418, 0.0582, -0.1844, -0.1284, 0.0709]\nstate[eef_state]: left_x=0.3619 left_y=-0.0957 left_z=0.0642 left_yaw=-0.0201 left_pitch=-0.3241 left_roll=-0.1429 left_gripper=0.998 right_x=0.3493 right_y=0.2127 right_z=0.1062 right_yaw=0.6773 right_pitch=-0.0961 right_roll=0.0135 right_gripper=0.0709\nstate[joint_eff]: [0.3077, -5.4496, 6.8034, 1.7851, 0.0806, 0.2076, -0.0073, -0.212, -6.0103, 6.3932, 1.6044, -0.149, -0.0513, 0.9158]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3145, 1.499, 0.7364, -0.0875, -0.1108, -0.3561, 0.998, 0.4587, 1.4673, 0.7418, 0.0578, -0.1844, -0.1284, 0.0739]\nstate[eef_state]: left_x=0.3702 left_y=-0.0961 left_z=0.065 left_yaw=-0.03 left_pitch=-0.2799 left_roll=-0.1535 left_gripper=0.998 right_x=0.3493 right_y=0.2126 right_z=0.1061 right_yaw=0.6773 right_pitch=-0.0965 right_roll=0.0136 right_gripper=0.0739\nstate[joint_eff]: [-0.0342, -6.0103, 6.5983, 1.707, 0.0562, 0.1832, -0.0122, -0.1983, -6.1744, 6.5436, 1.619, -0.1392, -0.0269, 0.5788]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22b50b596753f6220c52bca956572d3d5a4458e00252a904b69ada458ceb11fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2376b5372e1bdfe3c58391424367a809a76096a17889ab7ec214a45437e52b92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd2a5e43815e48b39d1a10759a5917d36274353da4781be02150811812031d8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlAoKjgEIEhgCKkDhhVJlzEQYoaAX0bVwldv3blUC2DNJxnwYkoeiVwt3ojX3V5CVyO1g9C/Lkz07EdND2gyLXOO55vuYBLaFu4ZjMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcbCzNUGEgzllEJRXi9AY4wtiRsaDI5h/9kqVUCNFkLD9SIwZiEx7cr+C0IhU2jKhlCbn/3wXvraCxktTv0GJ0YpwypXQpxNHVpFrTxTBalKw9kmKrII/p7GjQ//UCiClSF6FRPW7J+G7iYCYnlYvrJvOPRCA+pB+TU1xUUB59Kkm00f9WGrPrRPSf9f5iqYr551hxG9M+3nopvf6HQaMpYDP+02FlfzFVNdoiNO2WE8KMQ+BCQ7zn9aSE4xY5Wcc48dI6tAam47Vtl3/jQeY2Y8F88Bbt/x66qxMMAae5xeWU8Rm2BOPLl02xSByc/bCcj7oDQByNyN8rfDHv07yICDiqRx14JUO2hYP8kqOnhJZsq7p9USIta48pUIJTucYS6dVK/5502OdTB2iur1eiUDbNYm54MV7My29hN+5x/BoXuGhwT9jczk0DlLNzjNFlep3yXb9V57NNhw0VPfxJ37mzKTkhMwztOrAR8zCimqvxN6L7381iA3X5aJq1lJ9KoHcrZH720iHfF8hj2J5v+H+wX72WpdOdGLzE2zzPTu4pA4OinfAuhieJx1jPC4wbCWs7dPBNHmirL7QmkSm6SXk09w9+AGoLL0Q1GgaXXVNnStA7zNh+ZPF0lIRGeH7XrwAAY1XGdocVgYha0uMcSjXnflH0sU2k5B666Kx6RDz7v9L68zBdxDMC32yiNT4m+63TVjuSlvZMCKYumMmH6atmEb9Xrb2OQUgM4h71EEH72Fmw7/dBzynTqTpG7wPG6rMmmS9YEcT9TOMl70hXZsAqPAt15QY1jU4biPzlwHClT0enHaa7RjGCSHfjyS20SohNiWntE6Rdu4VlIOUB2Ql54U93nPvY2uIF+eNbT6BVAqIOlldnMMbDYMUKQMyqg8TadyN6ru0Bq9LDC+3q69t5/R9ncrPz6qXUCf0toBqzrrcuKLtDHkoODyq8yo7Mew2YZhB1FeXgN8CVA5FlzlQQubvbwML8D2t+CX+INUSaL/+fPAMeGRwyc66BkUqPwW4F+526duoVgou6e3OpmVdBF6RW/uW9zaja/B5uc+O3AeL8AnA2cFKNqEhK4WpAkTyOdxgzdQlQGRzw9fDvQz58yd2BeCzeaN5vhHnczpOaTQwXWibYrnJgeIc8KkoNjz46mgjVzvDt45XUGmGd+h2YjhyF97KddEe07C3tED1hvUO/DkDrFP96udRIjY1Zqjs3+nhxc0vxRcco6laPAqpJLoHhz4hyUVheyiPuBHHCTf/9HKHlOJiRlvVeiKSk910hjfZGrL3fBAQPwJPVHXgsG3ByZeBPj8mOLYeW9Xg2wExcZUld/lAjXlT6do7yZwYAZIcs/nSNfEB9iFU9Cct1h8wHtm3KLWrO71rSEleTwGHGf+IL31dDnnARVzfFOuJtcGO2yVg1vXJ+Smpvd+ujIFFOKNrBaNmqgHmszIYp2llXlHXwaJaBEhg3V14CMjsTFTbULoTzbrb5fNr3hQ8gBn1RhSHnjWBmRG1pTyGVEBv3LkmNR7lyt8MUtHoLbmd5qCB63mGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XkKSqEmFa15CxR9jZsPLky",
      "input": {
        "note": "The arm lagged behind the last short command (readback still y=-0.096, z=0.065). Re-issuing the target so it actually reaches 2.9 cm right and down to table level over the cap.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.125,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01XkKSqEmFa15CxR9jZsPLky",
      "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]: [-0.3145, 1.499, 0.7364, -0.0864, -0.1028, -0.3565, 0.998, 0.4587, 1.4673, 0.7418, 0.0582, -0.1844, -0.1284, 0.0753]\nstate[eef_state]: left_x=0.3701 left_y=-0.0976 left_z=0.0651 left_yaw=-0.0368 left_pitch=-0.2805 left_roll=-0.1601 left_gripper=0.998 right_x=0.3493 right_y=0.2127 right_z=0.1062 right_yaw=0.6773 right_pitch=-0.0961 right_roll=0.0135 right_gripper=0.0753\nstate[joint_eff]: [-0.3487, -6.3521, 6.5573, 1.6337, -0.0415, 0.1392, -0.0122, -0.0752, -5.9966, 6.694, 1.6386, -0.0855, -0.0611, 0.735]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc5f205707e0d59662e88ab64ad59e858a1aa16b4f57ad096bc0ac52a211ac3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fb6c5c290b5277f13b43c7c0cd7b4e6aca5b6808d43cd6f62fcc9d191c33ce2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e11b738326db59efcc74c109c0577c045a57eb7aa900999a4d890121ff48d020",
        "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 · 7.591 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3241, 1.4872, 0.7551, -0.165, -0.1188, -0.3706, 0.998, 0.4587, 1.4673, 0.7418, 0.0582, -0.1844, -0.1284, 0.0709]\nstate[eef_state]: left_x=0.3619 left_y=-0.0957 left_z=0.0642 left_yaw=-0.0201 left_pitch=-0.3241 left_roll=-0.1429 left_gripper=0.998 right_x=0.3493 right_y=0.2127 right_z=0.1062 right_yaw=0.6773 right_pitch=-0.0961 right_roll=0.0135 right_gripper=0.0709\nstate[joint_eff]: [0.3077, -5.4496, 6.8034, 1.7851, 0.0806, 0.2076, -0.0073, -0.212, -6.0103, 6.3932, 1.6044, -0.149, -0.0513, 0.9158]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3145, 1.499, 0.7364, -0.0875, -0.1108, -0.3561, 0.998, 0.4587, 1.4673, 0.7418, 0.0578, -0.1844, -0.1284, 0.0739]\nstate[eef_state]: left_x=0.3702 left_y=-0.0961 left_z=0.065 left_yaw=-0.03 left_pitch=-0.2799 left_roll=-0.1535 left_gripper=0.998 right_x=0.3493 right_y=0.2126 right_z=0.1061 right_yaw=0.6773 right_pitch=-0.0965 right_roll=0.0136 right_gripper=0.0739\nstate[joint_eff]: [-0.0342, -6.0103, 6.5983, 1.707, 0.0562, 0.1832, -0.0122, -0.1983, -6.1744, 6.5436, 1.619, -0.1392, -0.0269, 0.5788]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3145, 1.499, 0.7364, -0.0864, -0.1028, -0.3565, 0.998, 0.4587, 1.4673, 0.7418, 0.0582, -0.1844, -0.1284, 0.0753]\nstate[eef_state]: left_x=0.3701 left_y=-0.0976 left_z=0.0651 left_yaw=-0.0368 left_pitch=-0.2805 left_roll=-0.1601 left_gripper=0.998 right_x=0.3493 right_y=0.2127 right_z=0.1062 right_yaw=0.6773 right_pitch=-0.0961 right_roll=0.0135 right_gripper=0.0753\nstate[joint_eff]: [-0.3487, -6.3521, 6.5573, 1.6337, -0.0415, 0.1392, -0.0122, -0.0752, -5.9966, 6.694, 1.6386, -0.0855, -0.0611, 0.735]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc5f205707e0d59662e88ab64ad59e858a1aa16b4f57ad096bc0ac52a211ac3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fb6c5c290b5277f13b43c7c0cd7b4e6aca5b6808d43cd6f62fcc9d191c33ce2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e11b738326db59efcc74c109c0577c045a57eb7aa900999a4d890121ff48d020",
        "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_018FDqX9re8Bqc3JBAW71P4x",
      "input": {
        "note": "The left arm has stopped tracking (identical readback twice), likely an awkward wrist pose; commanding pitch back to 0 with a slightly longer reach and lower z to free it and get the jaws down onto the cap.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.39,
          "left_y": -0.115,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_018FDqX9re8Bqc3JBAW71P4x",
      "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]: [-0.3832, 1.7569, 0.5034, 0.5915, -0.2054, -0.3531, 0.998, 0.4587, 1.4673, 0.7418, 0.0586, -0.1848, -0.1284, 0.0773]\nstate[eef_state]: left_x=0.3803 left_y=-0.1106 left_z=0.0082 left_yaw=-0.0306 left_pitch=-0.0808 left_roll=-0.1483 left_gripper=0.998 right_x=0.3494 right_y=0.2127 right_z=0.1063 right_yaw=0.6776 right_pitch=-0.0957 right_roll=0.0137 right_gripper=0.0773\nstate[joint_eff]: [-0.6769, -6.2017, 4.1231, 1.6679, 0.0513, 0.105, -0.0122, -0.1846, -5.9829, 6.4342, 1.6435, -0.1197, -0.0611, 0.5446]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64de066f47902ec2cfb0b372abf1b844367fcb3959506571d0e539a35a46f2d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:942dd5507ba6e6dde2d776cfe22057b1e45d78fa275a32c8925fa5edd2a38e0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a62e29ae3173ca4163a8fb9da1deff53a8abfcb207f4dfd8bea0bea7f18543ff",
        "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 · 3.878 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3145, 1.499, 0.7364, -0.0875, -0.1108, -0.3561, 0.998, 0.4587, 1.4673, 0.7418, 0.0578, -0.1844, -0.1284, 0.0739]\nstate[eef_state]: left_x=0.3702 left_y=-0.0961 left_z=0.065 left_yaw=-0.03 left_pitch=-0.2799 left_roll=-0.1535 left_gripper=0.998 right_x=0.3493 right_y=0.2126 right_z=0.1061 right_yaw=0.6773 right_pitch=-0.0965 right_roll=0.0136 right_gripper=0.0739\nstate[joint_eff]: [-0.0342, -6.0103, 6.5983, 1.707, 0.0562, 0.1832, -0.0122, -0.1983, -6.1744, 6.5436, 1.619, -0.1392, -0.0269, 0.5788]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3145, 1.499, 0.7364, -0.0864, -0.1028, -0.3565, 0.998, 0.4587, 1.4673, 0.7418, 0.0582, -0.1844, -0.1284, 0.0753]\nstate[eef_state]: left_x=0.3701 left_y=-0.0976 left_z=0.0651 left_yaw=-0.0368 left_pitch=-0.2805 left_roll=-0.1601 left_gripper=0.998 right_x=0.3493 right_y=0.2127 right_z=0.1062 right_yaw=0.6773 right_pitch=-0.0961 right_roll=0.0135 right_gripper=0.0753\nstate[joint_eff]: [-0.3487, -6.3521, 6.5573, 1.6337, -0.0415, 0.1392, -0.0122, -0.0752, -5.9966, 6.694, 1.6386, -0.0855, -0.0611, 0.735]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3832, 1.7569, 0.5034, 0.5915, -0.2054, -0.3531, 0.998, 0.4587, 1.4673, 0.7418, 0.0586, -0.1848, -0.1284, 0.0773]\nstate[eef_state]: left_x=0.3803 left_y=-0.1106 left_z=0.0082 left_yaw=-0.0306 left_pitch=-0.0808 left_roll=-0.1483 left_gripper=0.998 right_x=0.3494 right_y=0.2127 right_z=0.1063 right_yaw=0.6776 right_pitch=-0.0957 right_roll=0.0137 right_gripper=0.0773\nstate[joint_eff]: [-0.6769, -6.2017, 4.1231, 1.6679, 0.0513, 0.105, -0.0122, -0.1846, -5.9829, 6.4342, 1.6435, -0.1197, -0.0611, 0.5446]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64de066f47902ec2cfb0b372abf1b844367fcb3959506571d0e539a35a46f2d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:942dd5507ba6e6dde2d776cfe22057b1e45d78fa275a32c8925fa5edd2a38e0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a62e29ae3173ca4163a8fb9da1deff53a8abfcb207f4dfd8bea0bea7f18543ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISxQgKjgEIEhgCKkBqsejZUu+JN87mE6HpEThDI9ujB5AjIB2bc7hzP6G4HlFVpH9CkIWfveUOBGnOUfkoQ514c+DS/uLEAaV8c6+qMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd/CzNUGEgw6HuaSHXcGHVlM+d0aDJfo1X113j/U+LT8fCIwjRn+D8R8vkykEfAu/UE4EwaQZ9z8szKmWO5IR7guXa8+Gui5OdJBZyxCCfTUXIcUKuMG+Fl42rBl30E4wfw9oelkPv9iSEwWvyqAazt3QicKOW3YlcySL3sxVu+4AriTz07PUxYug9BB3HDVdhfye+E5uKZcf/WNT7Azcq9Vk0TRHqp+j2doSbxl1/xYCXBzuWU6DEbcA+7LJTPC94AwH6qiQ2LZMNuvBC7ySbFT8MxfeeH8hpZuf4aT1n1LVQgE5CxSeMs789oM2rkDPnaedlCI9P2GG95MrxtiYFfrEF6EUJqO3/yQoNYyeAPdsj+k3YWSl6/hXR7IulAvDmR1/rDsePMp/a+L7LWNjnxGJ0t/Uf0W3G5ocxRQR1jon6xM2wN0TDZOIxbpbkkz5R4kgv85YC9NLcqW5M9Fq/Ap4yjkZoL//lDc9pcrFt2ciAQnQmm6wtznvvu9DQc8P+rn46EhyoiWdbl3O99O1P6aSKVphJmE6ZoDTqUfpC0i92Lk/zUKw1HEgxqXkSbYderX5G+dV8hNbFK3PYt1F/ZcghEcUI+MVYEhFjyzvl0In5epMfikhZETFO90RREPRMekGGwTusGL7h4yAqT7nz2fVBt+AI0Yu/7OR/cTQssUHDgKIkTI6BlZmNVZ2aH5QJzfqcJBE97ULQQZa0E4ChYJlPanSqoV06ypU+OnY6L92JKKVQP9kSR88EDJFA+UEqrYMwOs5la9xZAxd5YzQhQ6NMOrHCn7MvI1r7LfpTLszn/bfk7fsyIXFpkHEUlLXtHeiFOcNCVrDuymLNltBAaDQ57I+qEHjLUVuMNIBzEnpU+oaS2ftYYKz+6dDiKM7BL005Ir8sqT3Xar5cJxfQGlcgcqiHQeQJWDeoYIrVfbOLXQYwPG8ohBkFIMJmKLniM7m2aiu51RobTvE5TeNnArk3DXunABAstPyERpFLyqgGLZ6OtoPxNoA9AbK8U89kY3WHgczJ80N8l4CfeY9lpdpwj/+s2RyrVaX2x780TXvxdTE5eevMdSXirTzFFPAmU9jHZIrvFCjGaL4wRk8KSsAPDDpBj5NIPdnd5vPB0mssMGjBa596AaSow9d7p/C4c7TajoUmj9rTVk7Cdq61TDTg/zMQZjUu2wAdRVH3+uQrZWD5Z1Eaj6U7s4X7o4SBjQR0FEM6kOiBm2R0Kjw3b5INYofywwjVd0DHPgjiDIW9ZD5Vi5IjGQGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GhqY5CtWbCVrKWsSEW71SL",
      "input": {
        "note": "Jaws are now at table level with the cap sitting about 2 cm to the right of the jaw centre; lifting slightly and shifting right so I can drop straight down onto it without knocking it.",
        "targets": {
          "left_y": -0.133,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01GhqY5CtWbCVrKWsSEW71SL",
      "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]: [-0.4545, 1.6093, 0.5812, 0.3767, -0.247, -0.3923, 0.998, 0.4587, 1.4673, 0.7418, 0.0563, -0.1844, -0.1284, 0.0802]\nstate[eef_state]: left_x=0.38 left_y=-0.1336 left_z=0.0508 left_yaw=-0.0465 left_pitch=-0.0646 left_roll=-0.1602 left_gripper=0.998 right_x=0.3491 right_y=0.2125 right_z=0.1058 right_yaw=0.6773 right_pitch=-0.0979 right_roll=0.014 right_gripper=0.0802\nstate[joint_eff]: [-0.3214, -7.4872, 7.4188, 1.6874, -0.1099, -0.0757, -0.0122, -0.0889, -6.106, 6.4205, 1.7216, -0.1001, -0.0415, 0.2808]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aee8bc440877a6ee8739b336966cc66463594760fdf915ea3d71862aa15e9d35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b123235555104550399ac855972d0b2170acf3658ee8334e1e60156b0e220be8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:58407319b58d7cba3e74f815fe70f804839358107a3d70609d6130ad51003a71",
        "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 · 2.707 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3145, 1.499, 0.7364, -0.0864, -0.1028, -0.3565, 0.998, 0.4587, 1.4673, 0.7418, 0.0582, -0.1844, -0.1284, 0.0753]\nstate[eef_state]: left_x=0.3701 left_y=-0.0976 left_z=0.0651 left_yaw=-0.0368 left_pitch=-0.2805 left_roll=-0.1601 left_gripper=0.998 right_x=0.3493 right_y=0.2127 right_z=0.1062 right_yaw=0.6773 right_pitch=-0.0961 right_roll=0.0135 right_gripper=0.0753\nstate[joint_eff]: [-0.3487, -6.3521, 6.5573, 1.6337, -0.0415, 0.1392, -0.0122, -0.0752, -5.9966, 6.694, 1.6386, -0.0855, -0.0611, 0.735]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3832, 1.7569, 0.5034, 0.5915, -0.2054, -0.3531, 0.998, 0.4587, 1.4673, 0.7418, 0.0586, -0.1848, -0.1284, 0.0773]\nstate[eef_state]: left_x=0.3803 left_y=-0.1106 left_z=0.0082 left_yaw=-0.0306 left_pitch=-0.0808 left_roll=-0.1483 left_gripper=0.998 right_x=0.3494 right_y=0.2127 right_z=0.1063 right_yaw=0.6776 right_pitch=-0.0957 right_roll=0.0137 right_gripper=0.0773\nstate[joint_eff]: [-0.6769, -6.2017, 4.1231, 1.6679, 0.0513, 0.105, -0.0122, -0.1846, -5.9829, 6.4342, 1.6435, -0.1197, -0.0611, 0.5446]\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]: [-0.4545, 1.6093, 0.5812, 0.3767, -0.247, -0.3923, 0.998, 0.4587, 1.4673, 0.7418, 0.0563, -0.1844, -0.1284, 0.0802]\nstate[eef_state]: left_x=0.38 left_y=-0.1336 left_z=0.0508 left_yaw=-0.0465 left_pitch=-0.0646 left_roll=-0.1602 left_gripper=0.998 right_x=0.3491 right_y=0.2125 right_z=0.1058 right_yaw=0.6773 right_pitch=-0.0979 right_roll=0.014 right_gripper=0.0802\nstate[joint_eff]: [-0.3214, -7.4872, 7.4188, 1.6874, -0.1099, -0.0757, -0.0122, -0.0889, -6.106, 6.4205, 1.7216, -0.1001, -0.0415, 0.2808]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aee8bc440877a6ee8739b336966cc66463594760fdf915ea3d71862aa15e9d35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b123235555104550399ac855972d0b2170acf3658ee8334e1e60156b0e220be8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58407319b58d7cba3e74f815fe70f804839358107a3d70609d6130ad51003a71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS/QIKjgEIEhgCKkA77/ySNdieASkR5eC6dtiZvYbuXeJbLUUgYALNl8BG60QkQ24gTjrm/Abv9CTw7VMOsQBc/XT8jAdfYhqhGg+wMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeTCzNUGEgxBRyr0AN2Wa54eyHIaDJLrsOBIjYmLR+4IcCIwPqm4RkUSxOjhtqdpqopkjEqeNq4Z7N5nfdznV/LCriAsQ9I/OcQXZVQXk7al5OabKpsBxeslJkAwS28IeceD34CUZky2Uws72fEtvVsV4Bl4PTK7M9482luc/PMzLxoqLGTRuE06mN5NyAJfY7lUBQL/H0+COvRJUmhIolcETZm0UFl612Rgor8bKUdafA7BRGbGuZCR1S162/7cP952zzW7pUnPlCKQ4oWyiahhZQfJU49nqW1tZ1/VRqCBlcBWQ7pUvOygpJbGVhL2PqYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Sk5fSfJ1tbC4xt5tE7TGQW",
      "input": {
        "note": "The cap is now centred on the jaw column at the bottom of the left wrist view; descending straight down to table level over it.",
        "targets": {
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Sk5fSfJ1tbC4xt5tE7TGQW",
      "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]: [-0.4591, 1.7878, 0.5335, 0.5842, -0.2707, -0.3901, 0.998, 0.4587, 1.4673, 0.7418, 0.0555, -0.1848, -0.1284, 0.0824]\nstate[eef_state]: left_x=0.3798 left_y=-0.1311 left_z=0.0066 left_yaw=-0.0322 left_pitch=-0.0756 left_roll=-0.1374 left_gripper=0.998 right_x=0.3489 right_y=0.2125 right_z=0.1057 right_yaw=0.6777 right_pitch=-0.0986 right_roll=0.0144 right_gripper=0.0824\nstate[joint_eff]: [0.1162, -5.4085, 3.2752, 1.0476, 0.3785, -0.0855, -0.0122, -0.1709, -6.2017, 6.4342, 1.6093, -0.1099, -0.0464, 0.2222]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4831ac92a21b9921d5505287e4d00c17314bb9f9daea08563fe2fa0894da0fe7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7108ca0e997010ecd2c8152eb7a80032882fb1f0635931f3be1c52d54ff92607",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a6412e409276e648c56f3e721a87259dfa4fcce61444fa4f005495dcd2aebf42",
        "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 · 7.986 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3832, 1.7569, 0.5034, 0.5915, -0.2054, -0.3531, 0.998, 0.4587, 1.4673, 0.7418, 0.0586, -0.1848, -0.1284, 0.0773]\nstate[eef_state]: left_x=0.3803 left_y=-0.1106 left_z=0.0082 left_yaw=-0.0306 left_pitch=-0.0808 left_roll=-0.1483 left_gripper=0.998 right_x=0.3494 right_y=0.2127 right_z=0.1063 right_yaw=0.6776 right_pitch=-0.0957 right_roll=0.0137 right_gripper=0.0773\nstate[joint_eff]: [-0.6769, -6.2017, 4.1231, 1.6679, 0.0513, 0.105, -0.0122, -0.1846, -5.9829, 6.4342, 1.6435, -0.1197, -0.0611, 0.5446]\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]: [-0.4545, 1.6093, 0.5812, 0.3767, -0.247, -0.3923, 0.998, 0.4587, 1.4673, 0.7418, 0.0563, -0.1844, -0.1284, 0.0802]\nstate[eef_state]: left_x=0.38 left_y=-0.1336 left_z=0.0508 left_yaw=-0.0465 left_pitch=-0.0646 left_roll=-0.1602 left_gripper=0.998 right_x=0.3491 right_y=0.2125 right_z=0.1058 right_yaw=0.6773 right_pitch=-0.0979 right_roll=0.014 right_gripper=0.0802\nstate[joint_eff]: [-0.3214, -7.4872, 7.4188, 1.6874, -0.1099, -0.0757, -0.0122, -0.0889, -6.106, 6.4205, 1.7216, -0.1001, -0.0415, 0.2808]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4591, 1.7878, 0.5335, 0.5842, -0.2707, -0.3901, 0.998, 0.4587, 1.4673, 0.7418, 0.0555, -0.1848, -0.1284, 0.0824]\nstate[eef_state]: left_x=0.3798 left_y=-0.1311 left_z=0.0066 left_yaw=-0.0322 left_pitch=-0.0756 left_roll=-0.1374 left_gripper=0.998 right_x=0.3489 right_y=0.2125 right_z=0.1057 right_yaw=0.6777 right_pitch=-0.0986 right_roll=0.0144 right_gripper=0.0824\nstate[joint_eff]: [0.1162, -5.4085, 3.2752, 1.0476, 0.3785, -0.0855, -0.0122, -0.1709, -6.2017, 6.4342, 1.6093, -0.1099, -0.0464, 0.2222]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4831ac92a21b9921d5505287e4d00c17314bb9f9daea08563fe2fa0894da0fe7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7108ca0e997010ecd2c8152eb7a80032882fb1f0635931f3be1c52d54ff92607",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6412e409276e648c56f3e721a87259dfa4fcce61444fa4f005495dcd2aebf42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DeENshDxet6Ymq3bpWV3Dc",
      "input": {
        "note": "Jaws are at table level straddling the cap; closing the left gripper — a settled reading near 0.1 means the cap is held.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01DeENshDxet6Ymq3bpWV3Dc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4587, 1.8053, 0.5251, 0.6018, -0.2787, -0.3935, 0.0092, 0.4587, 1.4673, 0.7418, 0.0555, -0.1844, -0.1284, 0.0844]\nstate[eef_state]: left_x=0.3781 left_y=-0.1285 left_z=0.0008 left_yaw=-0.023 left_pitch=-0.0814 left_roll=-0.1321 left_gripper=0.0092 right_x=0.349 right_y=0.2125 right_z=0.1057 right_yaw=0.6773 right_pitch=-0.0987 right_roll=0.0141 right_gripper=0.0844\nstate[joint_eff]: [-0.0889, -8.5265, 5.2034, 1.6044, -0.1245, -0.0122, 0.4176, -0.1573, -6.0513, 6.4068, 1.619, -0.1148, -0.0611, 0.1929]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df5a63677a407e692f09796b703550fe14b6dc7947b3853ba1134004cc7037d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12f30bcfb78212e14a8d59cd51988b08ca4c285119ee5d820231994b1e55868a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8ca1714f7dfb28a2b98ddd231cfd865171e76c81577b13ed113a6d839f4dba59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 31.11 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4545, 1.6093, 0.5812, 0.3767, -0.247, -0.3923, 0.998, 0.4587, 1.4673, 0.7418, 0.0563, -0.1844, -0.1284, 0.0802]\nstate[eef_state]: left_x=0.38 left_y=-0.1336 left_z=0.0508 left_yaw=-0.0465 left_pitch=-0.0646 left_roll=-0.1602 left_gripper=0.998 right_x=0.3491 right_y=0.2125 right_z=0.1058 right_yaw=0.6773 right_pitch=-0.0979 right_roll=0.014 right_gripper=0.0802\nstate[joint_eff]: [-0.3214, -7.4872, 7.4188, 1.6874, -0.1099, -0.0757, -0.0122, -0.0889, -6.106, 6.4205, 1.7216, -0.1001, -0.0415, 0.2808]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4591, 1.7878, 0.5335, 0.5842, -0.2707, -0.3901, 0.998, 0.4587, 1.4673, 0.7418, 0.0555, -0.1848, -0.1284, 0.0824]\nstate[eef_state]: left_x=0.3798 left_y=-0.1311 left_z=0.0066 left_yaw=-0.0322 left_pitch=-0.0756 left_roll=-0.1374 left_gripper=0.998 right_x=0.3489 right_y=0.2125 right_z=0.1057 right_yaw=0.6777 right_pitch=-0.0986 right_roll=0.0144 right_gripper=0.0824\nstate[joint_eff]: [0.1162, -5.4085, 3.2752, 1.0476, 0.3785, -0.0855, -0.0122, -0.1709, -6.2017, 6.4342, 1.6093, -0.1099, -0.0464, 0.2222]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4587, 1.8053, 0.5251, 0.6018, -0.2787, -0.3935, 0.0092, 0.4587, 1.4673, 0.7418, 0.0555, -0.1844, -0.1284, 0.0844]\nstate[eef_state]: left_x=0.3781 left_y=-0.1285 left_z=0.0008 left_yaw=-0.023 left_pitch=-0.0814 left_roll=-0.1321 left_gripper=0.0092 right_x=0.349 right_y=0.2125 right_z=0.1057 right_yaw=0.6773 right_pitch=-0.0987 right_roll=0.0141 right_gripper=0.0844\nstate[joint_eff]: [-0.0889, -8.5265, 5.2034, 1.6044, -0.1245, -0.0122, 0.4176, -0.1573, -6.0513, 6.4068, 1.619, -0.1148, -0.0611, 0.1929]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df5a63677a407e692f09796b703550fe14b6dc7947b3853ba1134004cc7037d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12f30bcfb78212e14a8d59cd51988b08ca4c285119ee5d820231994b1e55868a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ca1714f7dfb28a2b98ddd231cfd865171e76c81577b13ed113a6d839f4dba59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqgoKjgEIEhgCKkDNpt8oJQLSdXd1dprEM24NdYpYgIm/98bPYdJ2/Ft4S80uc1/ZN5OVkpaK6vomRZhJg+mPTYZQIwr0epr3+eF2Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe/CzNUGEgyx6uSUylTyPRBqkgAaDHgkv0Rx77ZaLI0OASIwTe+LzjOoETGpA6Hfnq0BgYblLc69e8NmAFHZVFNq6nGYVxUf6LmKbumaPMvMp8XyKsgIcQF9T1r4SQxGmk7pz7a+eRgNVHvnTZktOTpssWSImYry8LJVMGFYGMJarzVSafi2k5dPz6bHEKv2/Ex0DMLcdJYcz+FOWwa260efC3VGnolQbdlWPZdC7xGGjKbQWMY8YeeTXe/zdOZQT5tsUXcyPgnyLA8UNb1G6mozl6CpuXTFyMXm/D6+aBZCCj3eQokp+2HWOWUVDaiGDM4w10mOBoWstUoAo3NENxEWCs4W9qATKD3OvsU3qVGbPRjLM6kQNIOASemrWYEGU5YAGZtbLv6y+4iG9W7zrjZj5y5Y/Dp2E3/A+dO4yuQ89dOX92XLyAQGULEKHp11vx+0s5v6wEYVOCJoYnDuG/G33yNvVSwwdbTqNmLxVJEss77Y7MJTGIZvua4E3uFE/Yd6DLNTUHNz36uJZS3tAJEEg+c5RUS7Dt3MMUFCEzrD24Hy3f3c28Mla1d4dQ6Ci/k4caiUdHyh03v13ocgIccVN+8n5Z3Yq/rmrpPEpFFrvySNQ/7TwFDH5yWlRdwmyYiiXmj1JnM2DCx2pn3HUZszODOZMmlXEMYJk1XcBtTq3QoPUPFmKjI6mWblF1lyJqMynwjXOr2bI/mzC7Z02/fcSS53y+Y1r/lUmrzWf6mdavpziatplHCjolPS/ooWSidUCvM7ntLas5WdtMyIsDkaQvrNfuvrTwEJYTAnzJIQFXjPh103bJPQGV3vTdAE35c6SglEBuu/+gTD0haQo+be3K+l+dWkpSamBVCYaDDORqACRy3LKv2OJiULIvuwcLeGR9qwjkENhLIQB0/uBfn63b1wTpE2qnXDFPgGh30zdTY6sIZqczjl+elOS9Sq2CjTXjTkvmVbMTmcX+SFnEPcwwcPfGVl0E/bsmgwTjb+wdJWQuvxr6cn4NbJwJvqqGis0Y3HHRrf97+sxHSKZ68lDFZwODmvoY+Wm5vq0ljLZioYxCPEEy99BXO8zYxcTp0UK/h2Apuy07pIkC4BAfka7cR1DVZutpKMCSNArNwttWPQUNa4JNZEvy/i8vSHqzsts+NlwR0/mkVE2ZLH01dBORPOSmPV/i0oJM4fTWTp76RttfN7RxNGlLlrQ4n4eL+F4RFEFf/JtSHZV+H9lG+wPAI8QK+hTv4eojKlYdynF5BOsDB1rS+vwI27rCpKsTGfi/sdPNr9QFUWFsZfoW8U/b0JM5JqCmAOTgCduE52j4btVAxi6Vv47EGYs9ZFtzzb1e/9XdYbj8A6EL74ZowHSjM3gPcE+oV4BA6xHAzzJOoU64Hj9Z9w+YagkPeJT1J5ibJBcKa2jVqeS2eITHycQv/tUV4FK1ljwgTwvNNBPz4A1cR6eAo5uhuuTOi/vJCXmXUoE5ywk9LQAqOyFHkSpDRvu+ldY0b5oc9EKVnI64++7jc4O+M7bRRnnttN9GjmVkQORt/lQ60O5PRIrdpvOdF1+n3lj5f0xUNhZxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YbWDz9aNeRayktb4FSfGSd",
      "input": {
        "note": "Second empty close — I may have been chasing a seam in the table rather than the cap. Retracting the left arm out of the way to get an unobstructed overhead view and re-locate the real cap.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.2,
          "left_y": -0.25,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01YbWDz9aNeRayktb4FSfGSd",
      "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]: [-1.3178, 1.3582, 1.2659, -0.9871, -0.7975, -1.1473, 0.9971, 0.4587, 1.4673, 0.738, 0.0525, -0.1844, -0.1284, 0.0866]\nstate[eef_state]: left_x=0.2022 left_y=-0.2628 left_z=0.2368 left_yaw=-0.0717 left_pitch=-0.1003 left_roll=-0.165 left_gripper=0.9971 right_x=0.3476 right_y=0.2118 right_z=0.1035 right_yaw=0.6775 right_pitch=-0.1054 right_roll=0.0156 right_gripper=0.0866\nstate[joint_eff]: [-0.212, -4.9573, 8.335, 0.7106, -0.6325, 0.0171, -0.1245, -0.0889, -6.147, 6.735, 1.6825, -0.1392, -0.0757, 0.2173]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71b9fbb7eb9ea6c0d4c2d037f722a402df53b21a4a8a2395efdea72d942f93cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:882d0df1551528ca7c4e351252208f0ddb048005dec226cd26913c8ef34b0287",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0517e99a30b13b053cdf151d938e7edccf4bc3c35caf01d2fcf490ea9b354e32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 37.28 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4591, 1.7878, 0.5335, 0.5842, -0.2707, -0.3901, 0.998, 0.4587, 1.4673, 0.7418, 0.0555, -0.1848, -0.1284, 0.0824]\nstate[eef_state]: left_x=0.3798 left_y=-0.1311 left_z=0.0066 left_yaw=-0.0322 left_pitch=-0.0756 left_roll=-0.1374 left_gripper=0.998 right_x=0.3489 right_y=0.2125 right_z=0.1057 right_yaw=0.6777 right_pitch=-0.0986 right_roll=0.0144 right_gripper=0.0824\nstate[joint_eff]: [0.1162, -5.4085, 3.2752, 1.0476, 0.3785, -0.0855, -0.0122, -0.1709, -6.2017, 6.4342, 1.6093, -0.1099, -0.0464, 0.2222]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4587, 1.8053, 0.5251, 0.6018, -0.2787, -0.3935, 0.0092, 0.4587, 1.4673, 0.7418, 0.0555, -0.1844, -0.1284, 0.0844]\nstate[eef_state]: left_x=0.3781 left_y=-0.1285 left_z=0.0008 left_yaw=-0.023 left_pitch=-0.0814 left_roll=-0.1321 left_gripper=0.0092 right_x=0.349 right_y=0.2125 right_z=0.1057 right_yaw=0.6773 right_pitch=-0.0987 right_roll=0.0141 right_gripper=0.0844\nstate[joint_eff]: [-0.0889, -8.5265, 5.2034, 1.6044, -0.1245, -0.0122, 0.4176, -0.1573, -6.0513, 6.4068, 1.619, -0.1148, -0.0611, 0.1929]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.3178, 1.3582, 1.2659, -0.9871, -0.7975, -1.1473, 0.9971, 0.4587, 1.4673, 0.738, 0.0525, -0.1844, -0.1284, 0.0866]\nstate[eef_state]: left_x=0.2022 left_y=-0.2628 left_z=0.2368 left_yaw=-0.0717 left_pitch=-0.1003 left_roll=-0.165 left_gripper=0.9971 right_x=0.3476 right_y=0.2118 right_z=0.1035 right_yaw=0.6775 right_pitch=-0.1054 right_roll=0.0156 right_gripper=0.0866\nstate[joint_eff]: [-0.212, -4.9573, 8.335, 0.7106, -0.6325, 0.0171, -0.1245, -0.0889, -6.147, 6.735, 1.6825, -0.1392, -0.0757, 0.2173]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71b9fbb7eb9ea6c0d4c2d037f722a402df53b21a4a8a2395efdea72d942f93cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:882d0df1551528ca7c4e351252208f0ddb048005dec226cd26913c8ef34b0287",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0517e99a30b13b053cdf151d938e7edccf4bc3c35caf01d2fcf490ea9b354e32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISnSgKjgEIEhgCKkBDP0jw2/sIBoJHrTO0exGdwJo6ooOtBOdfGo/tmSIgRc0z08iyGe2tTQaGo7CM5scY2chT+JsNrgj8UbUPYKlpMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZDDzNUGEgxMJ9S3AYeeC+HFO/gaDCZNIPpDv/DAEpaW8yIw8h1iKME+OFYJkW0kgNifIWErQqgtlwzg8LDClEJiBLJxKg2HaPKTWH/Iucw4S2VIKrsm/XJjR4I/zX1224CSuAyij5rYkFQlzlclEK7L10UeykaspaUEu6KjCHq3Aw4qyEaYh+nN0iI81e/urPIDiDqAde75Auaf+HZTOkB0qFokZOukLQHn7YHKs+8sMwFX8tKByq00bn47/G71joQmcUg3FRwsqguv1mWb/L3LGi+Vn8jZCDB6pIE4HnFUfBR+u3FpbeLToyRcAGNFxWvr6sYea5VU83rPTFLXQCWGXWEzZUY8ndaOK5c4etp5zG0B+o7gPiNjIqAXgdsxSiZvQlMeADTvJCi7D3ntMLv5MeeEom6A8Km8hR/MxjI5LcuZV3Aay1vob3/j9M2JxuhlRTJK/J886uhjMNBMEGYSnU7gX3sa2cf3GurgGi61G9ma09dFoQSY6116tqkEyFqBsoZVyCFYbFotl989d0yt7v0CjpiuDJq80dO3pZ6OgCRt6QM21PuHZYTz2JjzUtO+WZ+Y32DUawNN5CAGUyMwwd5Z8vUkQtdayV0ZVfZ3UGKyS5VRvv1WUkXzVdrCuQN/N7hPtuPgLx2bGAyVp6bImsLCpgZWzmTwUvuL84anN3z6O37XlpaMckt1OsCEth80HptrREa/Wg2myy4loGWB1ycIcdfo60N2XouJEB8B10B3+k7VhhdR85IyJ4Y3Kwn5y5nR1VHm2A16Q8KanFjTt27DoOoNAshJzUCWoK27dq0u6w26eMjyNvJffwir63KOwj6Nb/8ES1SMqCYhLDuHDNjdXprUMyTOrE9i0TAYrYKHBkwITb/p80gc15xHC80DLp1gNIzP3muv1v7GFFJz8BZbpk1at3T6NKDZEsEWPaE6H5ypg4X2MZcGXvBuHfxNt9BB85zFZmyBB8cJYjn4FOdJKJVkVQtaKJLiPY08dh/vAG4Fq4zfwSu5wvDKu/NDLjQbvcURsFmSJr7gzOFhk9Ms/4BGeDAswVbtW4qWIwT0wZUWK8OeIEMbGvmm0GL8VWdK4l0ozDHXtC+atqIDbngdkJcG8nC9wa5KJOT6aAJcS4+2DaqddzPY4d2r9Yd3tL5tWy9G9LatBl1zyc9VQMzrpU7nOXvVQzUxKPFqD2gHzRgoo+Ehg8hMGyAqyl3BX1AxG8xAZ+UOF1BSEmFpGL09kZJhqZ9uYmgCR/Yz8L3TIQSmTFLXIdbip5ZTzUYwO3w6RiB121EPd/jT4ga3JFl9EOs1yVmwKvo9I4qox+rPua4EbZTLymAyO1HRZ+fBhEsy7VDOvoVUtkDiMTEHbw/2jlm1CTzeLGX54Jer5NYR8+Q56rhl5gGcB/s1LuvkZE80JnUn6QC4V9mmsNAUaNKXlGjtfOhsfhwqicaTX/R+UBefhZSqHFZDF7TgPeKX4WJ0q07GANLquIhemuVcxumb3xYaCesripJaeEZBTHh96VcynX2Oeb2vYQV9iCiUgFkdmWN7IJIuIstSENWkR+eht+3iscO1mtV7U3PP7tHK7KE4lzst+Gwr+DSo2ZdwNZVtBW2EoYaujCBroQCgfLaIUCLr00zKYGM79W/Zg/XR8ACFGG1WB+CUIdSGaDuCsZCzvWG1Nn7zD0r8UfmOYwSmUUYOoruyzCCQgJHU8JhDsW+1mlrzMkCpuOK0W7lRPWlpfv+JB6FCV9iCHGW1nlxXcLfCJD7GXXBij73Qc4yK4O8mkBd1gm+WP0YtqeMk4VYrXrUW6PfvwAtwuxsI95Yfc1TJbHfwjkaKtQgMCio1OJ90LjDr5IDyFjxZDJUBtwCD1ZluF3smNSfneRcJ4wktSBTQeTpP8UmR+Hq9lSbwUvdDOfv6b2L2RDy4KJzTlsptkYQOuxedrtUt46VH2HKQ2PWgft4o0/Dyeo+tcp7PpS6XLkxkWghHBSm6vvR2TFMlLFP0Kg3r32aBEFcyG4IOVtYX2P6XONCWfX65Fvnw63piy8WTo1uzQnAtgAcEnJqxkALubPsoofr3YeZJy+s//UTahqwF2JQHGGs77H2FsYpk0D/mXpEDvb58jfsRemqUzxaqzMCuJV9qJJrZx2Ecei5YLgeaSRsUByt34VgkRCNV8S6MmNZd2jcSpvrICWEY89FlwFU9DQNuKwXNnn1oDDZP471WWmL9n+Yg40hSqw2Mz4vfon5OYpfSCMbAQxdAO7irc2Ginl1Fh0qxXAHVQRLETW4apPOtZ9VJ8Jd9QterI8J8Vv4Lho5vHtO7kfdFrehGkuM+xPHlymgRWcnzY+RN5jP8WdlURiklIW9lFtr7KE28WI64sRU/v0Z0pzD+7hmglS9q86ubaWk83bRWJKqn+fBzv9ln5uY5Hik8VxaU84GhMBFMzlkqGyU8rqSMGxNMFCKCTZHPV7fghasIJFTFe1YmmlTfINDEfErjjoBlnRhYPt0tO8aMH44guxvsToo+wB6uXCPx/SFaFdp69X8/TVRo7dwqn1o1T+vx4rIx6/6xUFZtY8xH754bPLaplkXcMcE8g1THr+2O0L4315Wj3tu1m3s05yIanqxXTeDcZS1Pya49bYnljDgdC6YH2wr6Co2jeFgtRvWoRUCf1UUAzQLC1N2s7ZzIJAkDzCmUh1PCicgXfS2riZk/tMl+BcHidiPOOcJGXgPPrjilICNhZRgconCbMipOnwaGyh95PTZT8GfBTqNgN9/lKxyJs8/v1QcHLL1SZlrV3jPhWhdCYKdR+Xn2IaHrADj/6moh+4LbGmrGIX7NGZj68pht43iObccapG+4ua/HqWR9CQn+w4ao5eEj97pbERXAPu++khJWA9Bqu0DpcsIGcXWcrLUKVooUuR7wZ+83DtRQoVhAUUp+LYnf+lL6O/28h7fmH5edRpi0dDn4Ag3P2awTttBBlUbbbxj9O1jzm5DSjQlz6nhbE56Ax0nV45g+RHY7T2cDRPr3MNylsRrAhUZ4IWF1n2VX/nHZ2KpGPtRGChTMTXYGAD0Yf1f/gppAH4CRiCQWov4oTi64O/tuKD7G9Cxn0gvVfG5Eu32ljTlT6huzleDjKhZMZUF5ZglLlzA6LXiY7lmvo4VlRPbPEnnjeo+YS1fO7XAtO0SDwjtsZpjEbQqbeHA2jkqHVjTtjXOcXRUYzdFhA62sF7YWehteczqYOxpkQKk3LMaBsjzQFhwFPjqvChPMbJ7HbAODgUXTEPV1O6FPSrRD1i7zmvNDA+uH3BWGC54nv4vAjbzM+WApZiqw7W5EvAwSHvWZaEtIC5h2RtkN1fOWN9pEaGIzR8p3piWvtGJXw0JtRrlWJpg7AHiGxJ5BF9jJOjr+Dbc0mSqDQjFOfZXU9bLIyt41GF5C5fpp88u3/k/BU8wrjXacyxXP+xWNX2DN8fyfM9WRN+1wtd4UlOD+W+bhuzt6Ux++a4f/LgmybGCscgHPfwsjlofPtmv9f73CnK2SM7SGoQ9nKdWGKxpLhjj4K0NPRJkSFOA253a1vIwTqz5MVQtVKjvrzMKCOzLE5n2K4KP3ge3HLPH3ycLW1G02d18SPQ30eWV+MUhza7UGmjF8Ig45QvinKuTBIXtwK4mrkeryD+DuQAVGRAtka15ZBmsPwh7Z1xkJHF5kGzVicI35dZsBdNfguFtAFD5xWlG4YFv01Ej4LPH9kzVu67SduB+rULC75qdFgvVr0XyDQiO7yUC0PIN+9MTpjr4+4VpdrvhZIMmY/NFub8zGev7KNKB2seCqPV/M2ixgj/DAnw1Ycpm9e6N2ULDfz0sfxwnoi6aTg7Bzm/dBk0BIe8x47/vqn7VOnHts878pbDzwzCTpitOTNV4X+uWCAkLAoHP+4oZiYzCOCSl9W7ndfM8f7tjydjeupvN8mTPwjEKRm88sDV1Iy4yjTJJ663whpH8AtKc6JCX08D3U8++pntuqE9rn+uSkEDIUcl0ZK+y7qxUGJFmFY9wCYEArectKJ8HU9fwO1c7G7oyA1S2cqzHUv33MYMEyLe0lRsGCooNjzdhFcZHS48Dija4fxu+9OQpmtROJ3dEeAdP2Vy+1mg/eb+Bl7cL9N9fB56J/FNqn1h3dWXt3Xqg3iNgf6M6vIWUYbGjTI9kR3B66a2UjFOthhvvPP6KdvKdO/+qVTEfBwzFHjo7dydfYlksuqn6cKoDvtOTaIo0icuR97115l3trzovNbr9NqF8Eh1z/UH0blZ5fnSyxNikhcwI5T9OjnwqLVpksJp10NGSMUXt+lA6iXmN+kFScVj1AGKU2SpFTxKA2YIlHUswST0E3OC8557Bk5Bf5qvRYeECozTkTylTQTQoJpYyVFCCLzHyRhrfaeAXj34Fw2zcY9fNFs1s1LKjlIymvTZFAHveaC1BZE/54lC6HZePKRopsjnKl4WO6ADMS8sSe21Y2w8GDaRep1TVPcJX5LItdfp2XrzSnGYerKNADGpMCdbp3jYC5DbqnDx6252JohWXuzXdC1diY2h6bauf5vD3ArcUuhFdh4/zRLEopIu8MinlQIAAabuxT1+9n4nSYZktQFHNUYHwt+dsrsOmallqvbDjaD9jsfvBYad76aYFcIvdblaBsBbATIOjaRU1LY41fZaqZp9BismK3JyRhqf2AKHvYRNYqg/mmOrNBp8HmGJ0L7hed74PYqnrx0C0tI2z1WbhYiuUpwK/hCSFBLi5ChT/AtQVPeaCI+LbbUCwk8JMtAHxehxmugZuYaFQoVBjKrHOdukpmQe8aYHsQZCkqDYStrJOsWTNLnEBnshYLrEIdEE9HIQ0Gt5DCUFj5fBnlLUsGKnYTrN2QtwFccugsvkzrUDoJGUJVMUWR85Z7DLmx1Q0RExfLrgknv/MHcmTiA2qhuO/R+prAExR9Di68uCDG9L+TdzGRSgD+8QPd9F+OkwbJSCjQ+TG1BzveYOiLLXqt+0R2HD1y8X74QEtUa7tpj93pfBgIgPRiBXkJ4lLBqxMFcn0Q/Hh2hw7zpxQ7FG8+f4S0aSQXE4qFn27nAoDoSWbtIPgTKc47pMoVaYDaoJKTJeDVJfUxqx/Mxd+ZCG3PNZDm0Obhg0Of4jJaA8O6imB9hBUA5QQ8on8AfWizokP+bdHYUPsILQ2UGlVMZVfylBnx7VJMfcKkVLrd0NikWiJvn5/Dc2ESHzxcb9z9JdQsfQiL82EEI2WPp9wbqJcfIRiifpExPinMpaUEb5pz5nIiNsXVyPhXJfuByZPMO+28RodCapLqkPTrTNLvU/l0msQ/04slF/LIhVy5cHklMDh/r0sc2Ji1zw967d2Bpzmo58iG3GAzCb1ALnRYlrJalgqLyITmGXKmNh/fhrhbeh08AlO4UwLJ3Oy74CWQib8PwRDN/Y4LxKbsXR7Wc0v1A1cZ/TtWqwEEMOoZrZb5k5GaBHOiOeRYu5DhG9j3fjk0WB/d1LPkeJ+K74+U8eBNriSnxzV32qgaZbe47NdlV40KJfCitrSVMKpe+EGXs30HpMa3UQ69FuMmOCwwskzTOHMheZxv//zJLKmA+m4RS5/eNyhNjo0TfsnuBPD3SqT3nJH3Kwj+0vhD8ElF7R9syyeYSwkCMG3IsQ4/t09hmzglaPkQk1ZWBfZDy5pieBrc8Y7tShrxLw83GraVRdlByJc8xlEmJktIP16LpXvLralPKQN9fPhgC7OxtU25V1p5qE2msFfID2mTVVZm3k2lBjLz0GFUO7q/7CvBPqHnn3+5pwfirovUwcRWqzmncwEzK59Xfi6YKu7UFhCYW5lAKKsZ9frWztmEEsGmHpH4A4pSQ1CTEdCwawSPQX1OZpgqzR0LwPbHbhUg9jdLuQ+fnlvgR8G2a46q32Xd1lMqd8S9YYl136cL0pUlEcqazJrmVztSzHrIzRzvFqsthYCnOTnikXUYoRH8TdzjAP8oReu0aWDabgzr1VcR7OyMA8z64RnUmEtQWKO148ktZ0Sz3JuG8tWPv4T61gXah/WckgbG5Ghaj+szwPMaJDRxInB5woHdM/qsZ7ZpQTwBqBWnuOGN6pYblsKif0zlmMGGuzn1bSHJ/Vps8u5zGnoT1iTELTjaEq98rxHa+8ChTgf7IzTz5n0i4YMFCNckEXqNwi3hRqHsW7C+pjWDHfl4vCYnDWu+AKRPGil3z7ZTp5rTkHqcfVAfTq3ldfmNbZg6Ykx6emWAlI5TnkTVvlJhiULcpXOqn+wqAA5oJVTmTGgprbGL8hDNjg4Qd5hDObHkPgU7fKgVEj6/4gjCxsEPLJEYg4KoypkaPu4YS/UzObKKHuyEoGTHkwx/KvryUtfXCe5VztdFCMhROXffU454g9owbvKzGIRM4wAorVWSrLMvjd2DzzyVy+l5PFF8UihFXp7wd/wSL6+E9Yzs4l5gj0FDBhfzQT2V2FsX2gii907GvTqlK+qEGDtqfX7eZt+HFUef6TzSS46KnOKqxCxa1aonQo0dCSxn8YoNzctEthNwGe31/q3Aj9RrHHjdG3IzAHC5/AP2haZXVuIqKg5lBp/a+ubEdt8eoin/vKDZai19vYkygge+wRNwuKSfWfy6SfFhGdRwg2ZEDQAxsWOka9DTdH+XYDyy3RCOKWw+F3bauT5Gvqc+LFCE1aDmDr9ve3W/dKQjZUofwcLgEa7AaMl/GGBqGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WV4dXzBDLtpRZqKLGahoqj",
      "input": {
        "note": "With the arm retracted I can see the cap clearly in both wrist views; triangulating both gives cap ≈ (x 0.41, y −0.08) in the left arm frame — much further to the arm's left than my earlier attempts. Flying there at 12 cm height.",
        "targets": {
          "left_x": 0.41,
          "left_y": -0.08,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01WV4dXzBDLtpRZqKLGahoqj",
      "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]: [-0.2321, 1.4502, 0.7822, -0.083, -0.0856, -0.3004, 0.9979, 0.4587, 1.4677, 0.7315, 0.0513, -0.1844, -0.1284, 0.0879]\nstate[eef_state]: left_x=0.3914 left_y=-0.0733 left_z=0.1017 left_yaw=-0.0058 left_pitch=-0.184 left_roll=-0.1574 left_gripper=0.9979 right_x=0.3459 right_y=0.211 right_z=0.1005 right_yaw=0.6777 right_pitch=-0.1132 right_roll=0.0174 right_gripper=0.0879\nstate[joint_eff]: [0.1983, -6.1607, 8.5402, 1.9316, 0.1538, 0.2857, 0.0611, -0.2393, -6.1607, 6.8718, 1.5946, -0.1294, -0.0659, 0.1294]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4e910e0ff0f55ba32cdb9888b3fa53e215911b5e69f87e65a3e2c7f454beffc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0bc50737702d7ad636af819a9095d2c6c4f73662322b6e3bbcd94c95f7fdfd57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8c69c7c7e8ae3e73598e4b2e6105a8cc18bf55ab695db5cf1bb5e57af9d2c62b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 11 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4587, 1.8053, 0.5251, 0.6018, -0.2787, -0.3935, 0.0092, 0.4587, 1.4673, 0.7418, 0.0555, -0.1844, -0.1284, 0.0844]\nstate[eef_state]: left_x=0.3781 left_y=-0.1285 left_z=0.0008 left_yaw=-0.023 left_pitch=-0.0814 left_roll=-0.1321 left_gripper=0.0092 right_x=0.349 right_y=0.2125 right_z=0.1057 right_yaw=0.6773 right_pitch=-0.0987 right_roll=0.0141 right_gripper=0.0844\nstate[joint_eff]: [-0.0889, -8.5265, 5.2034, 1.6044, -0.1245, -0.0122, 0.4176, -0.1573, -6.0513, 6.4068, 1.619, -0.1148, -0.0611, 0.1929]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.3178, 1.3582, 1.2659, -0.9871, -0.7975, -1.1473, 0.9971, 0.4587, 1.4673, 0.738, 0.0525, -0.1844, -0.1284, 0.0866]\nstate[eef_state]: left_x=0.2022 left_y=-0.2628 left_z=0.2368 left_yaw=-0.0717 left_pitch=-0.1003 left_roll=-0.165 left_gripper=0.9971 right_x=0.3476 right_y=0.2118 right_z=0.1035 right_yaw=0.6775 right_pitch=-0.1054 right_roll=0.0156 right_gripper=0.0866\nstate[joint_eff]: [-0.212, -4.9573, 8.335, 0.7106, -0.6325, 0.0171, -0.1245, -0.0889, -6.147, 6.735, 1.6825, -0.1392, -0.0757, 0.2173]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2321, 1.4502, 0.7822, -0.083, -0.0856, -0.3004, 0.9979, 0.4587, 1.4677, 0.7315, 0.0513, -0.1844, -0.1284, 0.0879]\nstate[eef_state]: left_x=0.3914 left_y=-0.0733 left_z=0.1017 left_yaw=-0.0058 left_pitch=-0.184 left_roll=-0.1574 left_gripper=0.9979 right_x=0.3459 right_y=0.211 right_z=0.1005 right_yaw=0.6777 right_pitch=-0.1132 right_roll=0.0174 right_gripper=0.0879\nstate[joint_eff]: [0.1983, -6.1607, 8.5402, 1.9316, 0.1538, 0.2857, 0.0611, -0.2393, -6.1607, 6.8718, 1.5946, -0.1294, -0.0659, 0.1294]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4e910e0ff0f55ba32cdb9888b3fa53e215911b5e69f87e65a3e2c7f454beffc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0bc50737702d7ad636af819a9095d2c6c4f73662322b6e3bbcd94c95f7fdfd57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c69c7c7e8ae3e73598e4b2e6105a8cc18bf55ab695db5cf1bb5e57af9d2c62b",
        "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_01ETvwGX16evi53A9TxZtp1N",
      "input": {
        "note": "The overhead view shows the cap just to the right of and behind the left gripper, which puts it near (x 0.32, y −0.16); moving there at 14 cm so the wrist camera can confirm before I descend.",
        "targets": {
          "left_x": 0.32,
          "left_y": -0.16,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01ETvwGX16evi53A9TxZtp1N",
      "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]: [-0.6426, 1.3098, 0.7872, -0.3252, -0.3355, -0.5613, 0.998, 0.4587, 1.4677, 0.7303, 0.0521, -0.1844, -0.1284, 0.0894]\nstate[eef_state]: left_x=0.3179 left_y=-0.1609 left_z=0.1193 left_yaw=-0.0564 left_pitch=-0.2218 left_roll=-0.1411 left_gripper=0.998 right_x=0.3457 right_y=0.2109 right_z=0.1002 right_yaw=0.6777 right_pitch=-0.1136 right_roll=0.0175 right_gripper=0.0894\nstate[joint_eff]: [-0.1299, -6.5573, 10.0034, 1.4969, -0.3004, -0.0317, -0.0024, -0.0342, -6.0923, 6.4615, 1.6581, -0.1099, -0.0659, 0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ec90bdc6fdf0b06e6a0869a91bf0fcb0abc485b5e1baf1489801478cf781cec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:611a79fc1a29489d6dffed28b3a5c73552139a2a55d48086ca7b8b8320362bd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:42f36db76ce78a2ce42b3d8d423ace4e5e78275084f7a8176c5b445078ca6cc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 18.42 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.3178, 1.3582, 1.2659, -0.9871, -0.7975, -1.1473, 0.9971, 0.4587, 1.4673, 0.738, 0.0525, -0.1844, -0.1284, 0.0866]\nstate[eef_state]: left_x=0.2022 left_y=-0.2628 left_z=0.2368 left_yaw=-0.0717 left_pitch=-0.1003 left_roll=-0.165 left_gripper=0.9971 right_x=0.3476 right_y=0.2118 right_z=0.1035 right_yaw=0.6775 right_pitch=-0.1054 right_roll=0.0156 right_gripper=0.0866\nstate[joint_eff]: [-0.212, -4.9573, 8.335, 0.7106, -0.6325, 0.0171, -0.1245, -0.0889, -6.147, 6.735, 1.6825, -0.1392, -0.0757, 0.2173]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2321, 1.4502, 0.7822, -0.083, -0.0856, -0.3004, 0.9979, 0.4587, 1.4677, 0.7315, 0.0513, -0.1844, -0.1284, 0.0879]\nstate[eef_state]: left_x=0.3914 left_y=-0.0733 left_z=0.1017 left_yaw=-0.0058 left_pitch=-0.184 left_roll=-0.1574 left_gripper=0.9979 right_x=0.3459 right_y=0.211 right_z=0.1005 right_yaw=0.6777 right_pitch=-0.1132 right_roll=0.0174 right_gripper=0.0879\nstate[joint_eff]: [0.1983, -6.1607, 8.5402, 1.9316, 0.1538, 0.2857, 0.0611, -0.2393, -6.1607, 6.8718, 1.5946, -0.1294, -0.0659, 0.1294]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6426, 1.3098, 0.7872, -0.3252, -0.3355, -0.5613, 0.998, 0.4587, 1.4677, 0.7303, 0.0521, -0.1844, -0.1284, 0.0894]\nstate[eef_state]: left_x=0.3179 left_y=-0.1609 left_z=0.1193 left_yaw=-0.0564 left_pitch=-0.2218 left_roll=-0.1411 left_gripper=0.998 right_x=0.3457 right_y=0.2109 right_z=0.1002 right_yaw=0.6777 right_pitch=-0.1136 right_roll=0.0175 right_gripper=0.0894\nstate[joint_eff]: [-0.1299, -6.5573, 10.0034, 1.4969, -0.3004, -0.0317, -0.0024, -0.0342, -6.0923, 6.4615, 1.6581, -0.1099, -0.0659, 0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ec90bdc6fdf0b06e6a0869a91bf0fcb0abc485b5e1baf1489801478cf781cec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:611a79fc1a29489d6dffed28b3a5c73552139a2a55d48086ca7b8b8320362bd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42f36db76ce78a2ce42b3d8d423ace4e5e78275084f7a8176c5b445078ca6cc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WJZtXCP22bJBL85rgmcwKW",
      "input": {
        "note": "The cap is clearly visible in the left wrist view, a bit left of and beyond the jaws. Advancing ~9 cm forward and 4 cm left while dropping to 5 cm, which should bring it right under the fingertips.",
        "targets": {
          "left_x": 0.41,
          "left_y": -0.115,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01WJZtXCP22bJBL85rgmcwKW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3454, 1.6676, 0.7708, -0.0017, -0.1581, -0.3775, 0.998, 0.4587, 1.4677, 0.7261, 0.0498, -0.1844, -0.1287, 0.0909]\nstate[eef_state]: left_x=0.3848 left_y=-0.1051 left_z=0.0296 left_yaw=-0.0033 left_pitch=-0.3162 left_roll=-0.1162 left_gripper=0.998 right_x=0.3444 right_y=0.2102 right_z=0.098 right_yaw=0.6781 right_pitch=-0.1199 right_roll=0.0186 right_gripper=0.0909\nstate[joint_eff]: [0.212, -7.7744, 9.0051, 1.8877, -0.0513, 0.2466, -0.0122, -0.3624, -6.0376, 6.735, 1.6142, -0.1441, -0.0757, 0.1538]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90ee4993a5f5a513761437de9535863f337719a1ffd2785ff7e09e0f1f65a8e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b10cb4f516b77a1d54e19350971176b166b76ae8a76c8e4199e034ae102c7d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:08322c631f5c9c2ed8e453f5df65a7ad502be65512b8328af8203b4736f9ce7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 19.87 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2321, 1.4502, 0.7822, -0.083, -0.0856, -0.3004, 0.9979, 0.4587, 1.4677, 0.7315, 0.0513, -0.1844, -0.1284, 0.0879]\nstate[eef_state]: left_x=0.3914 left_y=-0.0733 left_z=0.1017 left_yaw=-0.0058 left_pitch=-0.184 left_roll=-0.1574 left_gripper=0.9979 right_x=0.3459 right_y=0.211 right_z=0.1005 right_yaw=0.6777 right_pitch=-0.1132 right_roll=0.0174 right_gripper=0.0879\nstate[joint_eff]: [0.1983, -6.1607, 8.5402, 1.9316, 0.1538, 0.2857, 0.0611, -0.2393, -6.1607, 6.8718, 1.5946, -0.1294, -0.0659, 0.1294]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6426, 1.3098, 0.7872, -0.3252, -0.3355, -0.5613, 0.998, 0.4587, 1.4677, 0.7303, 0.0521, -0.1844, -0.1284, 0.0894]\nstate[eef_state]: left_x=0.3179 left_y=-0.1609 left_z=0.1193 left_yaw=-0.0564 left_pitch=-0.2218 left_roll=-0.1411 left_gripper=0.998 right_x=0.3457 right_y=0.2109 right_z=0.1002 right_yaw=0.6777 right_pitch=-0.1136 right_roll=0.0175 right_gripper=0.0894\nstate[joint_eff]: [-0.1299, -6.5573, 10.0034, 1.4969, -0.3004, -0.0317, -0.0024, -0.0342, -6.0923, 6.4615, 1.6581, -0.1099, -0.0659, 0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3454, 1.6676, 0.7708, -0.0017, -0.1581, -0.3775, 0.998, 0.4587, 1.4677, 0.7261, 0.0498, -0.1844, -0.1287, 0.0909]\nstate[eef_state]: left_x=0.3848 left_y=-0.1051 left_z=0.0296 left_yaw=-0.0033 left_pitch=-0.3162 left_roll=-0.1162 left_gripper=0.998 right_x=0.3444 right_y=0.2102 right_z=0.098 right_yaw=0.6781 right_pitch=-0.1199 right_roll=0.0186 right_gripper=0.0909\nstate[joint_eff]: [0.212, -7.7744, 9.0051, 1.8877, -0.0513, 0.2466, -0.0122, -0.3624, -6.0376, 6.735, 1.6142, -0.1441, -0.0757, 0.1538]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90ee4993a5f5a513761437de9535863f337719a1ffd2785ff7e09e0f1f65a8e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b10cb4f516b77a1d54e19350971176b166b76ae8a76c8e4199e034ae102c7d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08322c631f5c9c2ed8e453f5df65a7ad502be65512b8328af8203b4736f9ce7c",
        "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_014HrRCENmXX6y3CuPik1Ph8",
      "input": {
        "note": "The cap has slipped out of the left wrist view again, and the right wrist view places it further to the left (y≈−0.06) and further forward (x≈0.42) than I am; moving there to re-acquire it just in front of the jaws.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.06,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_014HrRCENmXX6y3CuPik1Ph8",
      "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]: [-0.1802, 1.6943, 0.8761, -0.1123, -0.0811, -0.2886, 0.998, 0.4587, 1.4677, 0.7258, 0.0513, -0.1848, -0.1287, 0.0918]\nstate[eef_state]: left_x=0.4074 left_y=-0.0561 left_z=0.0389 left_yaw=0.0467 left_pitch=-0.3591 left_roll=-0.1108 left_gripper=0.998 right_x=0.3444 right_y=0.2103 right_z=0.0982 right_yaw=0.6784 right_pitch=-0.1187 right_roll=0.0186 right_gripper=0.0918\nstate[joint_eff]: [0.212, -9.0598, 8.8, 1.5409, 0.0366, 0.1978, -0.0122, -0.0889, -5.9419, 6.612, 1.58, -0.1343, -0.0757, 0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92d14343357aaa4df22e19065e716ed922077a121b08a1e1012df6657d9d6677",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90ed6101d1efddfb8b995a05b0d03b3890ab1628df366ce1920c61498707d89c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5e02ffa0f00e4ac4ae0c1b2c8ba249ce16aef3ddd176b420fd74d1b886e8a2ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 5.079 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6426, 1.3098, 0.7872, -0.3252, -0.3355, -0.5613, 0.998, 0.4587, 1.4677, 0.7303, 0.0521, -0.1844, -0.1284, 0.0894]\nstate[eef_state]: left_x=0.3179 left_y=-0.1609 left_z=0.1193 left_yaw=-0.0564 left_pitch=-0.2218 left_roll=-0.1411 left_gripper=0.998 right_x=0.3457 right_y=0.2109 right_z=0.1002 right_yaw=0.6777 right_pitch=-0.1136 right_roll=0.0175 right_gripper=0.0894\nstate[joint_eff]: [-0.1299, -6.5573, 10.0034, 1.4969, -0.3004, -0.0317, -0.0024, -0.0342, -6.0923, 6.4615, 1.6581, -0.1099, -0.0659, 0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3454, 1.6676, 0.7708, -0.0017, -0.1581, -0.3775, 0.998, 0.4587, 1.4677, 0.7261, 0.0498, -0.1844, -0.1287, 0.0909]\nstate[eef_state]: left_x=0.3848 left_y=-0.1051 left_z=0.0296 left_yaw=-0.0033 left_pitch=-0.3162 left_roll=-0.1162 left_gripper=0.998 right_x=0.3444 right_y=0.2102 right_z=0.098 right_yaw=0.6781 right_pitch=-0.1199 right_roll=0.0186 right_gripper=0.0909\nstate[joint_eff]: [0.212, -7.7744, 9.0051, 1.8877, -0.0513, 0.2466, -0.0122, -0.3624, -6.0376, 6.735, 1.6142, -0.1441, -0.0757, 0.1538]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1802, 1.6943, 0.8761, -0.1123, -0.0811, -0.2886, 0.998, 0.4587, 1.4677, 0.7258, 0.0513, -0.1848, -0.1287, 0.0918]\nstate[eef_state]: left_x=0.4074 left_y=-0.0561 left_z=0.0389 left_yaw=0.0467 left_pitch=-0.3591 left_roll=-0.1108 left_gripper=0.998 right_x=0.3444 right_y=0.2103 right_z=0.0982 right_yaw=0.6784 right_pitch=-0.1187 right_roll=0.0186 right_gripper=0.0918\nstate[joint_eff]: [0.212, -9.0598, 8.8, 1.5409, 0.0366, 0.1978, -0.0122, -0.0889, -5.9419, 6.612, 1.58, -0.1343, -0.0757, 0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92d14343357aaa4df22e19065e716ed922077a121b08a1e1012df6657d9d6677",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90ed6101d1efddfb8b995a05b0d03b3890ab1628df366ce1920c61498707d89c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e02ffa0f00e4ac4ae0c1b2c8ba249ce16aef3ddd176b420fd74d1b886e8a2ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS6BkKjgEIEhgCKkCwndkevfpdQR7fQyfd8WeT92uwS2+nlm3EjTwRUxG8VE7GvryiXHRayTiRebMq2usfJZmvQuwpUfNaBwODL4YLMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAerDzNUGEgxWa/E2FBjwzzrGz6AaDNg7fr6qkIsATMNflSIwuTpYMjBvMf9PDqktFg639e0jtYsNVs5DYNvfy3Ij7ptgS9WB45iBS/XlUn8vUBPgKoYYy7bemRaq0CnXi0I9rzXCZcSva4nlm2U86UQmb+hIe4ikJTB+YQF98emGOg1cLf/w3fxFNC6l1EB3T3AV1IY2J1ri8vory66GKHj9LOKfHxuuPlC9fyV3p2ntIIyNUHUMNWXU5lIr7UeldMi0hEACf4HmHcZ/FMhkaY+ME/xxEAkTc/8IP/zBAx7iIy1A6QOMUYdM1FvgYV846TQX3KHnj0+h6hwjRAK14tANtipbXeEXrlotB7mQ3IDaQ/FpKShrqjAQMQVzlsc15ULAUWGAxkTLvRLSdN0EyKhyrsuA8J022Yhf3TrM9//pXFfdh3d02Xy97jciQSEHVjVhus4F2cQoCrH+6c61xrF0JrvXNjLawy7P5fw1y04Zkhz/m6De+UqkXlbRJmBseXOz9rEhteAPqXBBlg95YQogkdp5W2CkCml5M3xlX9RG+aXciKj/bDHPfqxJ+PNuoa8kI9DjdPVFnpXwXDYavmUY344Aeqyh3mA/lmdwkL63bu569Mu8WuKaV3XlKdzeTCI8HcceGg5agI7Jofs/3xJgyUNUqWw1gGAWSroe8Y0E2o5KLF6LCVCA5AT8lK7XhGbV3XdMgIKB2phHM34PSjdaJOBsCWfFbdFd00Ywsqu8CcteD/Bz1tJp5vT7f6pmo9W6AZe1oFi5fDhfNW7t+Gf2KWE35Fs2UXcuxFOlmvOzis2uXfgYEnhE+CAnLvhb8FT2Rxe8bndjphSCgjf8gkuM5AH1zGMEgRthBLUj9BBSRTo266PznWi3uQ75C91bI2vbK8hhaYWlGjeVb+rDihdKit0N+XSZXZovqf4Wtt5LVhsiCAUq1XDfC7yfyD5HiPjm9uPnWIq1qCuavqIxhDxIojpd4WBhyqfovzY4b6gFexfmuiby90uQiLyo+YVvM5JiGqRDir0+hyGU2Ar81ePatDeCU54ch4Qv149ltCRQlamFnAt2le6jO4j6pmxy5TnorPvanyX9y4Tk2vOqRvXs6weL5iOAROjvpC9Opn9efgcbHwmgwi9jfmIXndfg6s2AyA2ZbObL8X+OdFX0ASdIakVwKqI0w2dpjMYTtBO0+J04yE1h7X6MglbrrpiIuOD49+FGrLH9GFlsx+mU5LFO2uK6TTuFkXIgbZO3brMf9PbJiLbg7OO1iFSiEwvUoF94zOxTbhVXCkie33+VbmiAfOUsuhGwPaBfSyVP4Eh6ULEPmO4IfyjZjpPm7fmpHm0iek9xwsDjRj5DneQIh2fXxNghRXIPy/qagoFkNntGVeqHkk/70X9yAwQy3flRPC8IcHwobNjxS8TVmqW/RKqki+9NDrR5t070mNWUzPMI4n/gQpT6RRsc/glb4YnejzuWI3XIF+q0Kw4EnT80Z5DopxFAWGVytc96kboZF8XopPOF8r/rKp/KLYPt7dspqL+JiGNYLCKaHhSKmGTHcUrSArw7Hi5cGy2DFlXGEyW6lBNYU+7mxT1ejsooDH6JIutRhVH9d4F3h46KJM/h89/0WLu710chE5mAXSvtb05nmcmTCdOvxFRIZtkxEvyRGN7QMWXGJRY+VABuiMz22BsOz/nEbThijYc0n8s5pXri6zHcXSmy2FrNVsoxSzF3fAcYYNxbRIss4IB70zEgQ72Fh4YbqygQvzxlHjxKs7N50nanYb8R+zGBdvEaQY4THIZiMtSi9+A00QGgnynJYmNU20hpvfWyvQ7f0pdpqRX20sUP+vmT22IacIwfCVALjFnYCWXDN2+IKrWFKesx5PEJh3K/poDbAl7RnPSpni5HXWeUg93HIqs3X0zuFqetTFfgWxuv4tbSb89enQsS55MevkrXEM9nEhwZZqueinspM7HNYSF2abJ9udKS3FAKMbGyYfqAtWMcXLh6dBdTpOumAfzr4TEwcxwCkqzAWmlgffPBZq0Mg63A/XJoTZU1tuN3QVF3+wuFVRSYuFDTxeb1Qwayf6IvVh0+WRUJJVtW9yc2vZFs6COT2+FOfqieVxt+DxRIUTWKVXnpjQekt68/T91Fve19i6gVopXyIFFDQofZCDaQE5iJD1dtgHxmbsKzoyAjE7wdf8IiVDT5r9cqSyRSbotYoKDtb0Z89tH9/45TBcti7cN0z7o6V/NCD3FlyfUuakqJDnVya7y7myh2e83p7L9j0LDlVDtt1Av15m6d8gJRP/Sb+HakB+sqS9ppkpM7iOsXaPCcGlK+M8NimFvGklNqEBd3S+ZdADYJnaF+BgiIff6aMS3tGGnkwa+BWwrya8B7kWc9B7gneoBgpxr9AjnWYcbItpHiYEBZOUGPZqu1J+aXuz0j5hvvlYurc6iLWT3sIOCyCvb8K7UNvSLq5uLuAppOettcGn27i0ZG8Wpl/x5DkHrMiv5rGllNUHpkQU0sVDbubrZFq3hiUDZyRh0bQMPZOUUoGDh1l9ZLHl4cnGKYy0IZFzssr8J3NskGot2dtTZNF3kXDB3wTTJSoWMOv6NrkJn3IMQxvFSnCcm5I0AhkNTO/lzilFSjYo5r4ia7/frOvBUSd7hv8oal+BL/3AckKrMb/Qzp4KlVAinbvx7YtGsw5dzF71HWcKNvQ+5ixgb0WughC5xEqDqiYUgnceCc+xhbREn9BJItoO1wH8qkvD3MiYOz+1LA+B/P4D6VHKPRcabb8DeCC3qy20HoQzspIqb6hRuESY2o5AuB1KPGgDyBPu5sipp3wkulgJ+oBUsdZlHdJ0oKkZbhNYkNUu8+cKOtEZrRPYo+mmh8U+VuKGD7mTjc+5sQBJMzZkVw4a21taMfi9IVUGsh3fpFvzLkiZx1gXtWVOlxDonR7z4ali4QAVYTtJJuryN+Hy+O83mHcuKCdtNgjK8H7NgySjwGxjvIm6FjcpnhQ1PQAZrFUGikcGSqhv/atWsZvY7Z6ibMEJlKCdEInQcrSefkMN+h5IE+9VkhKkFXqioQ9M2+W/u/BRA4l4l/mGE+mlrKzswLyFHrGM4kvRmbItF+UmmYLoAR/LyniDn2XS1Sr9MfwDLK+Naf23QbFl+8R0MwPrIlp8+sDRtgUEv7ZTV3jGLTBjK3QPsEl161S7gUOotFIZpKZdwtS9R6CJW50NwStTLa6iFLQ2PJ9uVcmxC4cXPlOCvxVePguXCFwPnQw63nNtV37t9609ZZZdb0HkVGbtyXLInmALNiMae/O1JuCmXeGiPsmtMeAjdwD2Ra3bUjGFHQm3SUvszDgkEWUvik0iumIdw/C+DWji8mz8H7O1d9L4AVCEZ9myD0BZi3kZ7mYC2KrWhm0yJM0coMRD3D/4x8dUhtfrS+QMoGNUX52pKfLtCWuoOYnuOlvHM7ZeN3eG04vFY5g+osp7AHzBzUfx1fE/CI8KPpT/md9/MgSaSAUQtfjP+CEDx0nibHJNj+yuJ0tuJJaTkIIRVS+3yl1RI9S76JV0vUHXQCKE/QL0onrN9EgJf7zO9NKcfme928emDcXtkmlBGMvOA1LyF1lvpqBi4TSeh+Jktom0ViqWeI+5lLKyzPrYqBSypucf9NLsFwt6gQYGBnU4ALwOE7dMIiJ053ySRLz2TMaDPgCaaffVKXkj0pEznTrzVQ7KENQvdg+kJiiiQSX0vGpXLderQbbHNiYAV1oZhMMSABcSxssTl5gpE6MGZC1IIE2jMShU19pJxyE2HMbnhz+C0QZSQQqGEexwTSm8eg0F4Dol0Uzo1QTFLnTsSbNAuVXGvA/wb1W96OLOOTpaQq5bSUx2zHM9XpLeRJ/yzTAIWPMdsk79MEQwAbAqEM57bMGjdbCRrX98PjqXpfEOEeRmoeNnHy33NDu2oue/WaiUwUcUIBb7CFQKJcoDmEsas56207OW9LF2/yBdX0zaob+ekFNyDSrXidZYOB4ZicBUVAng+h/8D4P9cn0JdkKhfV8cI+A4T4S0da3cO6wt0fifgc98bGZIZx+JUNblmUOqRKIWVMM81xWkOFWFFDVNP4LLj1NCzVzTPRXwr+8QPAtaTK6KoNueJ6tTeUuNHljBmrg0/EtglVIsQYgJheRIZ9ViOAYS6jojOhtXlympEFCIKArjcrb1AudKiBvs0kynnqSED0hB9xHw52OdWo3ash+lfc//ePGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017He8LmiGv6nHYvg6V3RdL6",
      "input": {
        "note": "Overhead view (calibrated from both gripper positions) puts the cap ~10 cm to the right of and ~10 cm behind the left gripper, i.e. near x=0.31, y=-0.155; going straight there at table level for a grasp attempt.",
        "targets": {
          "left_x": 0.31,
          "left_y": -0.155,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_017He8LmiGv6nHYvg6V3RdL6",
      "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]: [-0.1669, 1.6943, 0.8967, -0.1436, -0.062, -0.2596, 0.998, 0.4587, 1.4677, 0.7223, 0.0357, -0.1848, -0.1284, 0.0924]\nstate[eef_state]: left_x=0.4083 left_y=-0.0541 left_z=0.0415 left_yaw=0.0272 left_pitch=-0.3712 left_roll=-0.1061 left_gripper=0.998 right_x=0.3414 right_y=0.2088 right_z=0.0938 right_yaw=0.6787 right_pitch=-0.1374 right_roll=0.0231 right_gripper=0.0924\nstate[joint_eff]: [-0.3214, -9.1282, 8.1026, 1.453, 0.0611, 0.1245, -0.0122, -0.0479, -6.0103, 6.612, 1.7753, -0.1294, -0.022, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5939864c6a892336d3a36370a1c32ff2ae92d18724007e43fd3a5869adf770cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02b30741e52c8f7e593d356a594232b02b9c927530c7d8b7898a118b0e1b3875",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:16759d24a3675f45f9a3d0921d8087fd66ea0f06713acd4ebaadc5202c4e00a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 6.706 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3454, 1.6676, 0.7708, -0.0017, -0.1581, -0.3775, 0.998, 0.4587, 1.4677, 0.7261, 0.0498, -0.1844, -0.1287, 0.0909]\nstate[eef_state]: left_x=0.3848 left_y=-0.1051 left_z=0.0296 left_yaw=-0.0033 left_pitch=-0.3162 left_roll=-0.1162 left_gripper=0.998 right_x=0.3444 right_y=0.2102 right_z=0.098 right_yaw=0.6781 right_pitch=-0.1199 right_roll=0.0186 right_gripper=0.0909\nstate[joint_eff]: [0.212, -7.7744, 9.0051, 1.8877, -0.0513, 0.2466, -0.0122, -0.3624, -6.0376, 6.735, 1.6142, -0.1441, -0.0757, 0.1538]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1802, 1.6943, 0.8761, -0.1123, -0.0811, -0.2886, 0.998, 0.4587, 1.4677, 0.7258, 0.0513, -0.1848, -0.1287, 0.0918]\nstate[eef_state]: left_x=0.4074 left_y=-0.0561 left_z=0.0389 left_yaw=0.0467 left_pitch=-0.3591 left_roll=-0.1108 left_gripper=0.998 right_x=0.3444 right_y=0.2103 right_z=0.0982 right_yaw=0.6784 right_pitch=-0.1187 right_roll=0.0186 right_gripper=0.0918\nstate[joint_eff]: [0.212, -9.0598, 8.8, 1.5409, 0.0366, 0.1978, -0.0122, -0.0889, -5.9419, 6.612, 1.58, -0.1343, -0.0757, 0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1669, 1.6943, 0.8967, -0.1436, -0.062, -0.2596, 0.998, 0.4587, 1.4677, 0.7223, 0.0357, -0.1848, -0.1284, 0.0924]\nstate[eef_state]: left_x=0.4083 left_y=-0.0541 left_z=0.0415 left_yaw=0.0272 left_pitch=-0.3712 left_roll=-0.1061 left_gripper=0.998 right_x=0.3414 right_y=0.2088 right_z=0.0938 right_yaw=0.6787 right_pitch=-0.1374 right_roll=0.0231 right_gripper=0.0924\nstate[joint_eff]: [-0.3214, -9.1282, 8.1026, 1.453, 0.0611, 0.1245, -0.0122, -0.0479, -6.0103, 6.612, 1.7753, -0.1294, -0.022, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5939864c6a892336d3a36370a1c32ff2ae92d18724007e43fd3a5869adf770cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02b30741e52c8f7e593d356a594232b02b9c927530c7d8b7898a118b0e1b3875",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16759d24a3675f45f9a3d0921d8087fd66ea0f06713acd4ebaadc5202c4e00a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS1gQKjgEIEhgCKkDvX0frVD1T8I66FqeS2ssfrU6flnjnqdxrUrBXhub4wUvkeXU9WPw+b4/0Bapp1qwedkY/AXkWN3QddRYqOb+dMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfDDzNUGEgxynJvAYszZm/2EJSMaDFIzoo3z2Yb1aXTJKyIwdWWHhX7pepFBT2fpOMyl6n8E6yn4wRjpVK9Pdt2uN/dul4BVtAEBtPr7i/HgVsEGKvQC8cmnxGbrJh8aK+QPGKY/6sNqs/SG5UbDS1ToPFs+AnhcoaabEon0VNk+4q3iKHO28B5rgOb/nExKZ9+z9Fa3HBnpGG5H3EV0QTWKpE02QDrp5lkK0dQZLm2Wwc1g2pRYVY28UfidBFboPwEgQMNijygLNbGGxtHtnuUG9Jy7rGqgKYWyhQLhshvieIUTFZyE2uklyas/KouAJBaSz5V8OVEM8CSIVB26ZQTVjF4iDLP6A1pPQ50qpwkr/ey9KosUpKl3iRtAbukBrRNJE2yTRVDDe1QnJos6FFF8nfbnUudGK6zo8otj95dxdLN48kxaDCfi/tllmACnkdpOdQ8GQlkxGilYQ0kFL7Om8a1T6EhJIqLct6TnPsU1f/Qgb342QyYvorQsPBycd2jlZvOV7zujchl7Gfcwk1HvTrw48ZOzkuz9/sTP3wwFNLo5P4esffsuDICbcsJzIVRpEnqdxkBLfmMGf/AGphTEikXEVUmBKv0HGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0137XbnA67DkaSHZgrSWxDme",
      "input": {
        "note": "The arm refused the last move (readback unchanged), as happened before in a pitched-down pose; re-commanding the same target at 15 cm height with pitch reset to 0 to free the wrist.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.31,
          "left_y": -0.155,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_0137XbnA67DkaSHZgrSWxDme",
      "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]: [-0.7429, 1.2175, 0.6865, -0.1703, -0.5201, -0.5518, 0.998, 0.4587, 1.4677, 0.7177, 0.0326, -0.1848, -0.1287, 0.093]\nstate[eef_state]: left_x=0.313 left_y=-0.1634 left_z=0.1434 left_yaw=-0.0276 left_pitch=-0.0268 left_roll=-0.1193 left_gripper=0.998 right_x=0.3398 right_y=0.208 right_z=0.0914 right_yaw=0.6791 right_pitch=-0.1448 right_roll=0.0244 right_gripper=0.093\nstate[joint_eff]: [-0.2393, -5.1487, 6.7487, 1.5263, -0.2808, -0.0513, -0.0122, -0.335, -5.9419, 6.7761, 1.6825, -0.1245, -0.0708, 0.0415]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83064c734eee5b01dd9d6626c809e5756c863cd50ba6d5ece1ffdabfcdd81ed7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66916115e55ee99faa6dc497c5e2e7a3ffc50e290e2e118b761b5684d5601415",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:443faaaf9c7231a69577e07f39873eb90f949039cf4ce7d8f06a8b349501c2db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 9.279 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1802, 1.6943, 0.8761, -0.1123, -0.0811, -0.2886, 0.998, 0.4587, 1.4677, 0.7258, 0.0513, -0.1848, -0.1287, 0.0918]\nstate[eef_state]: left_x=0.4074 left_y=-0.0561 left_z=0.0389 left_yaw=0.0467 left_pitch=-0.3591 left_roll=-0.1108 left_gripper=0.998 right_x=0.3444 right_y=0.2103 right_z=0.0982 right_yaw=0.6784 right_pitch=-0.1187 right_roll=0.0186 right_gripper=0.0918\nstate[joint_eff]: [0.212, -9.0598, 8.8, 1.5409, 0.0366, 0.1978, -0.0122, -0.0889, -5.9419, 6.612, 1.58, -0.1343, -0.0757, 0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1669, 1.6943, 0.8967, -0.1436, -0.062, -0.2596, 0.998, 0.4587, 1.4677, 0.7223, 0.0357, -0.1848, -0.1284, 0.0924]\nstate[eef_state]: left_x=0.4083 left_y=-0.0541 left_z=0.0415 left_yaw=0.0272 left_pitch=-0.3712 left_roll=-0.1061 left_gripper=0.998 right_x=0.3414 right_y=0.2088 right_z=0.0938 right_yaw=0.6787 right_pitch=-0.1374 right_roll=0.0231 right_gripper=0.0924\nstate[joint_eff]: [-0.3214, -9.1282, 8.1026, 1.453, 0.0611, 0.1245, -0.0122, -0.0479, -6.0103, 6.612, 1.7753, -0.1294, -0.022, 0.0513]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7429, 1.2175, 0.6865, -0.1703, -0.5201, -0.5518, 0.998, 0.4587, 1.4677, 0.7177, 0.0326, -0.1848, -0.1287, 0.093]\nstate[eef_state]: left_x=0.313 left_y=-0.1634 left_z=0.1434 left_yaw=-0.0276 left_pitch=-0.0268 left_roll=-0.1193 left_gripper=0.998 right_x=0.3398 right_y=0.208 right_z=0.0914 right_yaw=0.6791 right_pitch=-0.1448 right_roll=0.0244 right_gripper=0.093\nstate[joint_eff]: [-0.2393, -5.1487, 6.7487, 1.5263, -0.2808, -0.0513, -0.0122, -0.335, -5.9419, 6.7761, 1.6825, -0.1245, -0.0708, 0.0415]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83064c734eee5b01dd9d6626c809e5756c863cd50ba6d5ece1ffdabfcdd81ed7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66916115e55ee99faa6dc497c5e2e7a3ffc50e290e2e118b761b5684d5601415",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:443faaaf9c7231a69577e07f39873eb90f949039cf4ce7d8f06a8b349501c2db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0wYKjgEIEhgCKkB45bJxLbbl0BzLtaBi5f4mp9/RTKd3aBCu5rUKgQ5/tVdmCoCaQ2UHsr+T0voORA9Ctn4DcEkrXV+gBrLZF9ZDMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfjDzNUGEgzEWCrFVxurEd8asE8aDEuc5lMVxJJ5FgSYnCIwqZTwJ0jipL1Xp/6IG9RBqrSvLg89nLE+t/DXQ/RfisTJZw4bGiZ3OBsxZv4Vj8A9KvEEavdd8kmJyc1PshpUgpAUuWtD12P2SzcLSP+gugXbQTPN9r9LicUEeRZXigdNflaOhkvs8O9MuI4+3eIuLkIkQnBnXujeRVS7Yd+ChgldcGjLq/1AltDoPC5G8IxoWVetnccZPwrXysVxJvlnEP67dgxcSz40KzSP4aisS911FFk8xEW0BuL+24HqTpKC4cHfeQj8jrlJdAoliVV557JVBlQ3O126bOKuvZvMOhBta5C0l0sBbmBfjyoO1jZK+EYxK2pdlZsz+5tx4znM7hRG4uiy10FLPGcq3UvJe5VvKwSblu/b5kvvc3QbmyTkKaBq6RCQ/n0IBTJBMQnoBTfwKg0PDOtfbMvkxBWFupQFOVToNB0roaGwlNyXn3mzgLCwb/S5ErXzNpekC5mkYmFB94QcIP3s8sGYnJFxKSbeI0SQF5YS6/4ILVNPsSPYUHW68eyKRzcpJdQfPNBV9CpP929+vxlK8D9oxYTv5qUSYMy5+Tq3ec/slHeoh/uimJYbGfDFEnORisVhzWORMc3ArFLN2U7UsWvfNrX5RYmUFBhUspQCSM3eIAHLqV8JTJKZUFuLVdMNYq7dGcLLC1T0VlHTU/cNMHspZWsMJuDq75VABnh7vnQ0rme8l8RO60qx83tJ0XONQetKWf5MgFCCXI0PZM+1ygf7D4r54otwLOykvzjsQ1l+pr3bKsbm6Dip6B8oGfk6Fmk64WBRYfPIU0CkoZtsn0uQgaw8xomMO+60CVBm6jkwBLbkylwTisvwbjJ0Eaju+52X3uZQzPfEuW1HCoyxJe4PQtklsw6ms8BZu5Cxg6jxU3xkhFXmoGKBdBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Q7ZpbKKKqsYDW3M9hEVEWK",
      "input": {
        "note": "The cap is visible in the left wrist view just left of the jaw column near the bottom; moving 3.5 cm to the arm's left, 2 cm forward and down to table level.",
        "targets": {
          "left_x": 0.33,
          "left_y": -0.128,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01Q7ZpbKKKqsYDW3M9hEVEWK",
      "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]: [-0.5777, 1.5768, 0.3592, 0.4633, -0.4072, -0.4576, 0.998, 0.4587, 1.4673, 0.717, 0.0296, -0.1844, -0.1284, 0.0931]\nstate[eef_state]: left_x=0.3183 left_y=-0.1197 left_z=0.0079 left_yaw=0.0004 left_pitch=-0.1099 left_roll=-0.0716 left_gripper=0.998 right_x=0.3392 right_y=0.2076 right_z=0.0907 right_yaw=0.6787 right_pitch=-0.1482 right_roll=0.0253 right_gripper=0.0931\nstate[joint_eff]: [0.335, -6.1607, 4.3966, 1.8632, -0.0757, 0.1294, -0.0122, -0.0205, -6.0513, 6.3521, 1.5702, -0.149, -0.0122, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7da5eab0ab76df09098ec6b13825613f39be95c5b5d7ab5d54eb22d5e037bef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70d0054c67982d9305639658fc3cf7eef1ac75d6ba2e156abe34ba3b02ac1982",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:50ce10a1709045ad5911e189b444581b90629477e12dbf3f9e96feda03211a26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 5.812 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1669, 1.6943, 0.8967, -0.1436, -0.062, -0.2596, 0.998, 0.4587, 1.4677, 0.7223, 0.0357, -0.1848, -0.1284, 0.0924]\nstate[eef_state]: left_x=0.4083 left_y=-0.0541 left_z=0.0415 left_yaw=0.0272 left_pitch=-0.3712 left_roll=-0.1061 left_gripper=0.998 right_x=0.3414 right_y=0.2088 right_z=0.0938 right_yaw=0.6787 right_pitch=-0.1374 right_roll=0.0231 right_gripper=0.0924\nstate[joint_eff]: [-0.3214, -9.1282, 8.1026, 1.453, 0.0611, 0.1245, -0.0122, -0.0479, -6.0103, 6.612, 1.7753, -0.1294, -0.022, 0.0513]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7429, 1.2175, 0.6865, -0.1703, -0.5201, -0.5518, 0.998, 0.4587, 1.4677, 0.7177, 0.0326, -0.1848, -0.1287, 0.093]\nstate[eef_state]: left_x=0.313 left_y=-0.1634 left_z=0.1434 left_yaw=-0.0276 left_pitch=-0.0268 left_roll=-0.1193 left_gripper=0.998 right_x=0.3398 right_y=0.208 right_z=0.0914 right_yaw=0.6791 right_pitch=-0.1448 right_roll=0.0244 right_gripper=0.093\nstate[joint_eff]: [-0.2393, -5.1487, 6.7487, 1.5263, -0.2808, -0.0513, -0.0122, -0.335, -5.9419, 6.7761, 1.6825, -0.1245, -0.0708, 0.0415]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5777, 1.5768, 0.3592, 0.4633, -0.4072, -0.4576, 0.998, 0.4587, 1.4673, 0.717, 0.0296, -0.1844, -0.1284, 0.0931]\nstate[eef_state]: left_x=0.3183 left_y=-0.1197 left_z=0.0079 left_yaw=0.0004 left_pitch=-0.1099 left_roll=-0.0716 left_gripper=0.998 right_x=0.3392 right_y=0.2076 right_z=0.0907 right_yaw=0.6787 right_pitch=-0.1482 right_roll=0.0253 right_gripper=0.0931\nstate[joint_eff]: [0.335, -6.1607, 4.3966, 1.8632, -0.0757, 0.1294, -0.0122, -0.0205, -6.0513, 6.3521, 1.5702, -0.149, -0.0122, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7da5eab0ab76df09098ec6b13825613f39be95c5b5d7ab5d54eb22d5e037bef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70d0054c67982d9305639658fc3cf7eef1ac75d6ba2e156abe34ba3b02ac1982",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50ce10a1709045ad5911e189b444581b90629477e12dbf3f9e96feda03211a26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISzwoKjgEIEhgCKkDJJzhD70KEGmeUyBimt2bYfkSLVgC1EzXjYnqR1VkDTtxc3qN2B3j6Ynpj+KiCUElO8BYlm3NjwKJ2WPgUagD5Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYLEzNUGEgz7+4DUoFj6zmXIibgaDDaPA1WgtRHLQ7XJrCIw3P6HLM8chVhEc+xfyIfOhU+W9sw/R+RsVa3r/mcbBT4VZx78KIx/iOzrktybCa/mKu0IFvgRz2IO8Mq4IqV67ZWgnkAgAEfRpaFZHOsSw37hD3JRKvoK4L4TpRpbFsOWdL9NFTEJofH0hJ8STA/WuPZwEtVXEXeIPLjyCaoqm3RUnBEP9GHwEMORcEIKmRrahnVgICAUO6KLdJirzRzSDBcnZBtdvAnRCXx6Sl+im7uw82/REsVTuwFbxvg2Kzw/2uE6zQiGS/VPyZeR1mM+hcokg6Cb/NldZxTRh0rK9GFW8f9h3uW3nDO6Saz4PHxAjh/T9RB9GJMciUPh9W6DlRXQjUBAWHfuZc1CcpkbiJ5meVAoxOEhuM9rBVeNmNvx+5Rd+lMKsCPVagVdPf9T3V7uUJHjwHWBGfXmXiMYCZR2gselUhtWsaf0iRejVOnMN/eCQxQ5c3YSxPOkuXuXW1j+RF9s1IpuXh5AOCy76Wqoxzpm/Qf3d1Za4XDHV24tuKHog+UJyUGGfTLOPsuhJ8LuLA8CCEKmI9k90/UlIIuvf7r1iWgW1/DnMxuqnhAevMcIUEdJfBBvWBgJo2F1CnNeRT2U1pZ86WRMnHLukOUmRkWbdHo7ZA12Gjs4pRaaQO+JicrDLAMBAo4cEZp1QE+ohC0RrVRnTtQPbVPgj8541u3f9xv3MdlgNFkxijASMTvILMJxIqzjVS/Tq6BctalFiENp0oNfhuk5VuX756O1LUvjV8pWgUaflX+2xPZbxHvgYfjThWWkVXVqjYqa3pU34whE0nzXpGa0yHm0EaVLNxmJ9jngF/bvRGwPB8gjEGAFUjpFghHO8YfP6A8T85Dv6Bj+a5K70/kYuBE53Qd8Uz7+3O9DdgN2wyODcAxltwVlNQVG3Jj1FfCqSPOwFFmohvYMEukLp2yhG0W40lwrLSPV3a5QzGHCbqRPOiuIxkUXs+LDKek69Qzg9XeAycUCKnOcyIIGVJrwt1CXrnatWEa85EmYhqPsjXl8pTpAN98VeWFYKFvvsZnjM9o1szVORtLtBFgk42HoEcOFU2rPfsWHXLHgfPBWMEK+Gobz95Kv/TjEhjpakmVuKNSC+7Fr9VZ/3gHUDgzmfYD8CjZCFWd7vrRC10saLz3wflXct+voxluspmVXhB/bqdP1P+XJrMpMEL5bS8dlMJzs/yILdPnvc0BDBZnGLaqlafV87dMdaZoYbSMq5SdIZZ170DU4A2x6X+gpF/ML6RBlGzJCtk8ow4VgVxj2J/iMAoLDN0IzVD2skrp445Dp0NrlJtQ0DXEGl3oNWVkd1jDdyjHXh1Gcfps+1woAyOVNIVS1ylg6/nn7b40liw92O2J03V2oy2kz/dLGIS9auM7jS/j59gqFogg6Z9y70/YvA5CsbLp9neKuue9Kzkk/RdVwN8JvR7p2V2oFie37JFtrhuNe7c7fnCqGLV2glfPCuWZZ91JFkn6Q0UvUfKca2DXUq0ir74OXC5xOp78JMfobxGj+eprhhY7+6ZGcniZr7zodWQU8cUkyUyzxqaLQWzS74NfNEBKV828IBMVWnWLuRDgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015uTH7PJ8XdQdEKYFftcgUx",
      "input": {
        "note": "The cap now sits ahead and to the right of the jaws in the wrist view; sliding forward 5 cm and right 4 cm at table level so the open jaws straddle it.",
        "targets": {
          "left_x": 0.365,
          "left_y": -0.16,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_015uTH7PJ8XdQdEKYFftcgUx",
      "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]: [-0.5964, 1.684, 0.4629, 0.4683, -0.4118, -0.4698, 0.998, 0.4587, 1.4677, 0.7139, 0.0296, -0.1844, -0.1284, 0.0931]\nstate[eef_state]: left_x=0.3392 left_y=-0.1405 left_z=0.0062 left_yaw=-0.0082 left_pitch=-0.1073 left_roll=-0.0793 left_gripper=0.998 right_x=0.3384 right_y=0.2073 right_z=0.0893 right_yaw=0.6788 right_pitch=-0.1516 right_roll=0.026 right_gripper=0.0931\nstate[joint_eff]: [-0.1436, -6.5983, 5.9419, 1.5751, -0.2759, -0.0269, -0.0122, -0.3487, -6.0786, 6.5162, 1.5702, -0.1441, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:beeea6bd0f10c4e17f012c89ebaed4a261740c3b0aeb3dc84dab8c92ce2f699c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0db87f0cfcea3dc95d8c548ee6510fa108ef5e446fcfa4ae34b04698872ed4c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c2d89201da107706640be882ce53306aaa0c1be9906a6b294ef8bad66676c195",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 3.728 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7429, 1.2175, 0.6865, -0.1703, -0.5201, -0.5518, 0.998, 0.4587, 1.4677, 0.7177, 0.0326, -0.1848, -0.1287, 0.093]\nstate[eef_state]: left_x=0.313 left_y=-0.1634 left_z=0.1434 left_yaw=-0.0276 left_pitch=-0.0268 left_roll=-0.1193 left_gripper=0.998 right_x=0.3398 right_y=0.208 right_z=0.0914 right_yaw=0.6791 right_pitch=-0.1448 right_roll=0.0244 right_gripper=0.093\nstate[joint_eff]: [-0.2393, -5.1487, 6.7487, 1.5263, -0.2808, -0.0513, -0.0122, -0.335, -5.9419, 6.7761, 1.6825, -0.1245, -0.0708, 0.0415]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5777, 1.5768, 0.3592, 0.4633, -0.4072, -0.4576, 0.998, 0.4587, 1.4673, 0.717, 0.0296, -0.1844, -0.1284, 0.0931]\nstate[eef_state]: left_x=0.3183 left_y=-0.1197 left_z=0.0079 left_yaw=0.0004 left_pitch=-0.1099 left_roll=-0.0716 left_gripper=0.998 right_x=0.3392 right_y=0.2076 right_z=0.0907 right_yaw=0.6787 right_pitch=-0.1482 right_roll=0.0253 right_gripper=0.0931\nstate[joint_eff]: [0.335, -6.1607, 4.3966, 1.8632, -0.0757, 0.1294, -0.0122, -0.0205, -6.0513, 6.3521, 1.5702, -0.149, -0.0122, -0.0024]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5964, 1.684, 0.4629, 0.4683, -0.4118, -0.4698, 0.998, 0.4587, 1.4677, 0.7139, 0.0296, -0.1844, -0.1284, 0.0931]\nstate[eef_state]: left_x=0.3392 left_y=-0.1405 left_z=0.0062 left_yaw=-0.0082 left_pitch=-0.1073 left_roll=-0.0793 left_gripper=0.998 right_x=0.3384 right_y=0.2073 right_z=0.0893 right_yaw=0.6788 right_pitch=-0.1516 right_roll=0.026 right_gripper=0.0931\nstate[joint_eff]: [-0.1436, -6.5983, 5.9419, 1.5751, -0.2759, -0.0269, -0.0122, -0.3487, -6.0786, 6.5162, 1.5702, -0.1441, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:beeea6bd0f10c4e17f012c89ebaed4a261740c3b0aeb3dc84dab8c92ce2f699c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0db87f0cfcea3dc95d8c548ee6510fa108ef5e446fcfa4ae34b04698872ed4c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2d89201da107706640be882ce53306aaa0c1be9906a6b294ef8bad66676c195",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISmQYKjgEIEhgCKkD/dc8zGYJRRRwjXJkZKiEamK9bh2C/JUs1IruSHjHZY8QUnYGadb9o4WUQhM1aEHxR4sVjtWuDL+ahy13sB2ZMMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYjEzNUGEgzov2MMu5o6ym8J3cUaDKUXIu2AjCJUURatxCIwRK6uPaivqNPQ95WFTmzPWTm67v6mKwTJWsUhxbhvA6hJ8IXJsfnwjqOZcZlw5XbMKrcEPnJCqVM5qR47f+TScmQ2BrayW31WW8uXu5DJ5ri3Uu/oumJskYFzbvsmtwL7xDtY16vw+uEKVCq/4uy0w9nO/w38f6g5+MMGk3wg5aX9smzf1vcuNMuTbN8fUvYH586kFYc8Ynpcs5Y8ynbqT/h7vZWQaUOws6VB7Y2RJKZWdcJxAaoVadBklaa/O7vX2v1M28zDErEVwV1Q35Eff9rYRcfgJEKSy/SH63SDGGa40124kZKeCsza5cTJ4YMButOLqG2KAXN7cfAEvTkZRtqqYNxhtzNDsnuVHYcERoZqvSfSWSNmfiHkX7VOZ48Lab7+7ZaGsoeOWPKrVpkw1dfsZ0VWg15CXESfoG2gVAvisDaGSxb0oTfPhqkOYiWxlfB+yIx3Qdfa7jLZdhYle2za7zxL/oPotk96LFR2hibkk4LBjiU5RTLfhp0JzbA2dSNC9RVeM2mCq16tLMJns6+oqXU1Fbd/mN7+rTFsWzIArFThtpw/4Y1f/jsG8YdUZrwxRzpzc1dmPM1wrodvZr0DezWnCM0EsLwqJY/i78RdAKBUPCovyNreHH9ZYtmtVcpFhmvWzw3I2Dwl2sC6BUTQnryHWChAGGIbA2LnY37t7fDS95Se5Ts8pE/Z/67r4BoWXHDotnTn7bYaDWKzxPQS2Tp0Z1xl3vt1ft6UHDXf9y1rEZAMKxgMgDbzlYUfBiuI1rErJ/foc3QKkEDgNe4ARk9uW9aQrXZrsOWZgYtJgfAeA7t9DyYeGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PTiArWFPx6AUqiaZaHzwys",
      "input": {
        "note": "The cap is centred on the jaw column but still ~3 cm beyond the fingertips; advancing radially so it sits between the jaws.",
        "targets": {
          "left_x": 0.375
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01PTiArWFPx6AUqiaZaHzwys",
      "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]: [-0.5964, 1.684, 0.4629, 0.4507, -0.4141, -0.4698, 0.998, 0.4587, 1.4677, 0.7128, 0.0296, -0.1844, -0.1284, 0.0931]\nstate[eef_state]: left_x=0.3369 left_y=-0.1385 left_z=0.0034 left_yaw=-0.0052 left_pitch=-0.121 left_roll=-0.0682 left_gripper=0.998 right_x=0.3381 right_y=0.2071 right_z=0.0889 right_yaw=0.6789 right_pitch=-0.1527 right_roll=0.0263 right_gripper=0.0931\nstate[joint_eff]: [-0.0615, -6.7077, 5.8462, 1.3944, -0.2076, -0.0317, -0.0122, -0.0615, -6.0513, 6.4068, 1.5897, -0.0904, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:617f4075a1f24832b48899611c28e42184d950064e6f9e813e4166b1988d42f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12fc8c8000f1de951d87b2979d02b972f3f105a94a0171c0d0acb9a71e1ae344",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e650d2ecb8c06f8758c464e82a6719efe01ac487b2d96d3e3579c87b6b7d87f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 12.36 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5777, 1.5768, 0.3592, 0.4633, -0.4072, -0.4576, 0.998, 0.4587, 1.4673, 0.717, 0.0296, -0.1844, -0.1284, 0.0931]\nstate[eef_state]: left_x=0.3183 left_y=-0.1197 left_z=0.0079 left_yaw=0.0004 left_pitch=-0.1099 left_roll=-0.0716 left_gripper=0.998 right_x=0.3392 right_y=0.2076 right_z=0.0907 right_yaw=0.6787 right_pitch=-0.1482 right_roll=0.0253 right_gripper=0.0931\nstate[joint_eff]: [0.335, -6.1607, 4.3966, 1.8632, -0.0757, 0.1294, -0.0122, -0.0205, -6.0513, 6.3521, 1.5702, -0.149, -0.0122, -0.0024]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5964, 1.684, 0.4629, 0.4683, -0.4118, -0.4698, 0.998, 0.4587, 1.4677, 0.7139, 0.0296, -0.1844, -0.1284, 0.0931]\nstate[eef_state]: left_x=0.3392 left_y=-0.1405 left_z=0.0062 left_yaw=-0.0082 left_pitch=-0.1073 left_roll=-0.0793 left_gripper=0.998 right_x=0.3384 right_y=0.2073 right_z=0.0893 right_yaw=0.6788 right_pitch=-0.1516 right_roll=0.026 right_gripper=0.0931\nstate[joint_eff]: [-0.1436, -6.5983, 5.9419, 1.5751, -0.2759, -0.0269, -0.0122, -0.3487, -6.0786, 6.5162, 1.5702, -0.1441, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5964, 1.684, 0.4629, 0.4507, -0.4141, -0.4698, 0.998, 0.4587, 1.4677, 0.7128, 0.0296, -0.1844, -0.1284, 0.0931]\nstate[eef_state]: left_x=0.3369 left_y=-0.1385 left_z=0.0034 left_yaw=-0.0052 left_pitch=-0.121 left_roll=-0.0682 left_gripper=0.998 right_x=0.3381 right_y=0.2071 right_z=0.0889 right_yaw=0.6789 right_pitch=-0.1527 right_roll=0.0263 right_gripper=0.0931\nstate[joint_eff]: [-0.0615, -6.7077, 5.8462, 1.3944, -0.2076, -0.0317, -0.0122, -0.0615, -6.0513, 6.4068, 1.5897, -0.0904, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:617f4075a1f24832b48899611c28e42184d950064e6f9e813e4166b1988d42f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12fc8c8000f1de951d87b2979d02b972f3f105a94a0171c0d0acb9a71e1ae344",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e650d2ecb8c06f8758c464e82a6719efe01ac487b2d96d3e3579c87b6b7d87f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISjAQKjgEIEhgCKkC5ief1wYOB3Fx1x5e71WfVjVemr68V/7roqwL9FpZjUQ6U0MAsdPEf/vlXu+Ey26GiJw42h2zsPEJzX8uWT3OlMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYzEzNUGEgxmi3qN5F59YpsLdNEaDFkk4YzXVzxKD0+fhCIwv1VJbeObgQy/3D4p9IkSalUlRk7qxE3LnBT/GNxJzgalBuPzplXltsrA5IXxTsKQKqoCfsI/Kg3KiN/kHoc5wzFyee+1dtBFlPhnbhKX3dKr83W98JzjDA4jAqJaAHMvMwRNf7XECZRLgWWPFPNsyFbwpZTuxPd52rNDNr5LrPyUstuW8KA0hdX1q+T5OcwYnTbmYPjDUOEJdN4782GNKLG+xe94gEI8GUOu1otR0ilbx4r4x+l+PRZ5iPr3OV0q6cCKxeAfatj6+sqYTWPflTsibFEoJehFr4AFX1n9Rchmix7h6f7qoZyUlvWkyNeuEU2sYwcOI0GBqVI5289vwjPwLFlB3NQA+tB5DE2tzRqM6I1y3t1y8Drru8eZqtwXdGmuOt3nd05irjKIuCDg6co7b8gO+h34T/m7INMYB2cVcyWk/wrxU9kTQ5+AmUAt639YaJ70xG5yNZzjFxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012zv9FzCUZHnwCHjzGTgGvq",
      "input": {
        "note": "The arm has stopped tracking forward, but the cap lies on the jaw column right between the fingers; closing the gripper to try the grasp.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_012zv9FzCUZHnwCHjzGTgGvq",
      "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]: [-0.5964, 1.684, 0.4625, 0.4366, -0.411, -0.4694, 0.0091, 0.4587, 1.4677, 0.7128, 0.0296, -0.1848, -0.1284, 0.0931]\nstate[eef_state]: left_x=0.3348 left_y=-0.1376 left_z=0.0008 left_yaw=-0.0068 left_pitch=-0.1343 left_roll=-0.0616 left_gripper=0.0091 right_x=0.3381 right_y=0.2072 right_z=0.0889 right_yaw=0.6792 right_pitch=-0.1526 right_roll=0.0265 right_gripper=0.0931\nstate[joint_eff]: [-0.212, -6.2427, 4.4923, 1.6777, -0.2173, -0.0513, 0.5641, -0.0752, -6.0103, 6.4205, 1.5556, -0.1343, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d33b480cfdeebfae6376d5b90316c7ac15c86904e65a6c5aa66c493c3978b494",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:924a6811fad4997ef42f8e46eb65bb642bf5ca40f2ab843c6c6e884b8495fd6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1e217a74a28d19abc59f06a5b9d5727ebbcb9b9c48bb0977f39bd78a23b0a08e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]