adhoc

completed
2026-09-22T22:09:51.405933+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
348.8 s
total steps
220
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteTwo small dark objects lie near the middle of the table: a short one left-of-center (likely the cap) and a longer thin one right-of-center (the pen). Moving the left gripper above the short left-hand object to inspect it with the wrist camera.
move_to
left_x0.3300left_y-0.1600left_z0.1500left_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, 0.7929, 0.6025, -0.3801, -0.0196, -0.0113, 0.9998, -0.0185, 0.7902, 0.6094, -0.3759, -0.0223, -0.033, 0.9994] state[eef_state]: left_x=0.2945 left_y=0.0012 left_z=0.1796 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2957 right_y=0.0021 right_z=0.1843 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.335, -1.5385, 10.4821, 1.8046, -0.0317, -0.0513, -0.0366, -0.5402, -1.1556, 9.7709, 1.7558, -0.022, 0.1685, -0.0708] 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": {"left_x": 0.33, "left_y": -0.16, "left_z": 0.15, "left_gripper": 1}, "note": "Two small dark objects lie near the middle of the table: a short one left-of-center (likely the cap) and a longer thin one right-of-center (the pen). Moving the left gripper above the short left-hand object to inspect it with the wrist camera."})
tool
executing move_to over 15 steps (1.5s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteWrist view shows the small dark cap well to the left of the jaw column, so I am shifting the left gripper ~5 cm toward +y to line it up over the cap.
move_to
left_x0.3300left_y-0.1050left_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]: [-0.7273, 1.2839, 0.7101, -0.2127, -0.5705, -0.4374, 0.9998, -0.0193, 0.7979, 0.6132, -0.3897, -0.0227, -0.0341, 0.9994] state[eef_state]: left_x=0.3185 left_y=-0.1509 left_z=0.1279 left_yaw=-0.0242 left_pitch=-0.0687 left_roll=0.0459 left_gripper=0.9998 right_x=0.2949 right_y=0.0019 right_z=0.1811 right_yaw=0.0002 right_pitch=-0.0175 right_roll=-0.0004 right_gripper=0.9994 state[joint_eff]: [-0.253, -4.9573, 9.7709, 1.7851, -0.359, -0.0855, -0.0366, -0.0068, -1.8393, 6.7487, 1.8535, -0.022, -0.0171, -0.0122] camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.33, "left_y": -0.105, "left_z": 0.15}, "note": "Wrist view shows the small dark cap well to the left of the jaw column, so I am shifting the left gripper ~5 cm toward +y to line it up over the cap."})
tool
executing move_to over 5 steps (0.5s)
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 cap is now nearly on the jaw column but still ahead of the fingertips in the wrist view; advancing ~2.5 cm radially and nudging 1.7 cm in y to center it before descending.
move_to
left_x0.3550left_y-0.0880left_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]: [-0.5468, 1.19, 0.7048, -0.2516, -0.4644, -0.3367, 0.9998, -0.0193, 0.7979, 0.6132, -0.3904, -0.0227, -0.0341, 0.9994] state[eef_state]: left_x=0.3296 left_y=-0.1038 left_z=0.1428 left_yaw=0.0186 left_pitch=-0.0747 left_roll=0.0382 left_gripper=0.9998 right_x=0.2948 right_y=0.0019 right_z=0.181 right_yaw=0.0002 right_pitch=-0.0183 right_roll=-0.0004 right_gripper=0.9994 state[joint_eff]: [0.253, -5.1624, 7.5966, 1.5995, -0.1783, 0.1441, -0.0171, -0.0205, -1.2923, 7.0906, 1.7802, -0.0659, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). 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": {"left_x": 0.355, "left_y": -0.088, "left_z": 0.15}, "note": "The cap is now nearly on the jaw column but still ahead of the fingertips in the wrist view; advancing ~2.5 cm radially and nudging 1.7 cm in y to center it before descending."})
tool
executing move_to over 2 steps (0.2s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteCap is centered on the jaw column in the wrist view; descending to 4.5 cm for a closer alignment check before the final drop.
move_to
left_z0.0450
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4728, 1.2209, 0.7208, -0.2501, -0.4084, -0.2928, 0.9997, -0.0193, 0.7979, 0.6132, -0.3912, -0.0227, -0.0341, 0.9994] state[eef_state]: left_x=0.3392 left_y=-0.0907 left_z=0.137 left_yaw=0.0252 left_pitch=-0.1066 left_roll=0.047 left_gripper=0.9997 right_x=0.2947 right_y=0.0019 right_z=0.1808 right_yaw=0.0002 right_pitch=-0.0191 right_roll=-0.0004 right_gripper=0.9994 state[joint_eff]: [0.1299, -4.3282, 9.5795, 1.5214, 0.0464, 0.1832, -0.0171, 0.0068, -1.2103, 7.0222, 1.7411, -0.0464, -0.0611, -0.0122] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.045}, "note": "Cap is centered on the jaw column in the wrist view; descending to 4.5 cm for a closer alignment check before the final drop."})
tool
executing move_to over 6 steps (0.6s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteThe arm only sagged to z=0.13 instead of 0.045, so re-commanding a full descent to table level over the cap.
move_to
left_z0.0000left_x0.3500left_y-0.0820
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4324, 1.2522, 0.7284, -0.2436, -0.3851, -0.2775, 0.9998, -0.0193, 0.7998, 0.6132, -0.3927, -0.0227, -0.0341, 0.9994] state[eef_state]: left_x=0.3451 left_y=-0.0822 left_z=0.13 left_yaw=0.0397 left_pitch=-0.1297 left_roll=0.0526 left_gripper=0.9998 right_x=0.2946 right_y=0.0019 right_z=0.18 right_yaw=0.0002 right_pitch=-0.0225 right_roll=-0.0003 right_gripper=0.9994 state[joint_eff]: [-0.335, -5.012, 9.3197, 1.7656, -0.1538, 0.2027, -0.0122, -0.2256, -1.4427, 7.0496, 1.7998, -0.0317, -0.0366, -0.0122] camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.0, "left_x": 0.35, "left_y": -0.082}, "note": "The arm only sagged to z=0.13 instead of 0.045, so re-commanding a full descent to table level over the cap."})
tool
executing move_to over 9 steps (0.9s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteAt table level the wrist view shows the small object still ahead of and slightly right of the jaws; lifting slightly and moving 3.5 cm forward / 3 cm right to straddle it.
move_to
left_x0.3850left_y-0.1120left_z0.0400
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4313, 1.6341, 0.4534, 0.3599, -0.3859, -0.2951, 0.9993, -0.0193, 0.8043, 0.6132, -0.3962, -0.025, -0.0341, 0.9994] state[eef_state]: left_x=0.3425 left_y=-0.0805 left_z=0.0008 left_yaw=0.0549 left_pitch=-0.1762 left_roll=0.0647 left_gripper=0.9993 right_x=0.2944 right_y=0.0023 right_z=0.178 right_yaw=0.0021 right_pitch=-0.0305 right_roll=0.0011 right_gripper=0.9994 state[joint_eff]: [0.5949, -4.6154, 3.2342, 0.696, -0.1441, 0.1685, -0.0562, -0.0752, -1.5385, 7.0222, 1.7656, 0.105, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.385, "left_y": -0.112, "left_z": 0.04}, "note": "At table level the wrist view shows the small object still ahead of and slightly right of the jaws; lifting slightly and moving 3.5 cm forward / 3 cm right to straddle it."})
tool
executing move_to over 4 steps (0.4s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteThe cap now sits right between the open jaws at the bottom of the wrist view; descending to table level to grasp it.
move_to
left_z-0.0050
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.466, 1.668, 0.675, 0.1955, -0.3958, -0.3206, 0.9993, -0.0193, 0.8051, 0.6132, -0.3992, -0.0261, -0.0341, 0.9994] state[eef_state]: left_x=0.3829 left_y=-0.1123 left_z=0.0357 left_yaw=0.0402 left_pitch=-0.1516 left_roll=0.0406 left_gripper=0.9993 right_x=0.294 right_y=0.0025 right_z=0.1772 right_yaw=0.0031 right_pitch=-0.0343 right_roll=0.0018 right_gripper=0.9994 state[joint_eff]: [-0.4991, -6.5846, 7.2, 1.2772, -0.3394, -0.0513, -0.0171, -0.0342, -1.388, 7.0222, 1.7314, -0.022, -0.0122, -0.0122] camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": -0.005}, "note": "The cap now sits right between the open jaws at the bottom of the wrist view; descending to table level to grasp it."})
tool
executing move_to over 3 steps (0.3s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteThe cap sits ~2 cm left of the jaw centre line in the wrist view; nudging +y to center it before closing.
move_to
left_y-0.0950
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4671, 1.7889, 0.6338, 0.3389, -0.3946, -0.3424, 0.999, -0.0193, 0.807, 0.6132, -0.4122, -0.0261, -0.0341, 0.9994] state[eef_state]: left_x=0.3811 left_y=-0.1121 left_z=0.0001 left_yaw=0.0515 left_pitch=-0.1678 left_roll=0.0328 left_gripper=0.999 right_x=0.2924 right_y=0.0026 right_z=0.174 right_yaw=0.0031 right_pitch=-0.0491 right_roll=0.0021 right_gripper=0.9994 state[joint_eff]: [0.0615, -5.3675, 3.8496, 1.0085, -0.2125, 0.2515, -0.0513, -0.0068, -1.2786, 7.0222, 1.8828, -0.0415, -0.0415, -0.0122] camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.095}, "note": "The cap sits ~2 cm left of the jaw centre line in the wrist view; nudging +y to center it before closing."})
tool
executing move_to over 2 steps (0.2s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteCap is between the fingertips at table level; closing the left gripper on it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4519, 1.7996, 0.6231, 0.392, -0.3847, -0.337, 0.9986, -0.0193, 0.8074, 0.6132, -0.4122, -0.0261, -0.0341, 0.9994] state[eef_state]: left_x=0.3858 left_y=-0.1096 left_z=0.0009 left_yaw=0.0535 left_pitch=-0.1437 left_roll=0.0148 left_gripper=0.9986 right_x=0.2924 right_y=0.0026 right_z=0.1739 right_yaw=0.0031 right_pitch=-0.0495 right_roll=0.0022 right_gripper=0.9994 state[joint_eff]: [0.5402, -8.8821, 4.1504, 1.2918, -0.0952, 0.1636, -0.0513, -0.1436, -1.1009, 7.2137, 1.6923, -0.0366, -0.0464, -0.0171] camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "Cap is between the fingertips at table level; closing the left gripper on it."})
tool
executing move_to over 10 steps (1.0s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteGripper closed to 0.048 (~0.5 cm), suggesting something thin is held; lifting 12 cm to verify in the overhead view.
move_to
left_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]: [-0.4389, 1.7924, 0.6231, 0.382, -0.3878, -0.3305, 0.0481, -0.0193, 0.8074, 0.6132, -0.4126, -0.0261, -0.0341, 0.9994] state[eef_state]: left_x=0.3865 left_y=-0.1037 left_z=0.0021 left_yaw=0.0655 left_pitch=-0.1451 left_roll=0.023 left_gripper=0.0481 right_x=0.2923 right_y=0.0026 right_z=0.1739 right_yaw=0.0031 right_pitch=-0.0499 right_roll=0.0022 right_gripper=0.9994 state[joint_eff]: [-0.2667, -8.5675, 4.4376, 1.2039, -0.0415, 0.0464, 1.0232, -0.212, -1.2376, 7.0769, 1.7851, -0.0171, -0.0513, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.12}, "note": "Gripper closed to 0.048 (~0.5 cm), suggesting something thin is held; lifting 12 cm to verify in the overhead view."})
tool
executing move_to over 8 steps (0.8s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteThe lift shows the left gripper is empty — the blob I grasped was a table mark. Parking the left arm and bringing the right arm over the only visible object (the pen near table centre) to inspect it and look for the cap.
move_to
left_x0.2900left_y0.0000left_z0.1800left_gripper1.0000right_x0.3600right_y0.2600right_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]: [-0.4389, 1.5005, 0.8169, -0.1135, -0.3878, -0.3389, 0.0506, -0.0193, 0.8093, 0.6132, -0.4126, -0.0261, -0.0341, 0.9994] state[eef_state]: left_x=0.3853 left_y=-0.1031 left_z=0.1002 left_yaw=0.0709 left_pitch=-0.1536 left_roll=0.0215 left_gripper=0.0506 right_x=0.2924 right_y=0.0026 right_z=0.1733 right_yaw=0.0031 right_pitch=-0.0518 right_roll=0.0022 right_gripper=0.9994 state[joint_eff]: [-0.1709, -7.9521, 9.1145, 1.4921, -0.2173, 0.0415, 1.0281, -0.0068, -1.2376, 7.0222, 1.7265, -0.0024, -0.0708, -0.0122] camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.29, "left_y": 0.0, "left_z": 0.18, "left_gripper": 1, "right_x": 0.36, "right_y": 0.26, "right_z": 0.15}, "note": "The lift shows the left gripper is empty \u2014 the blob I grasped was a table mark. Parking the left arm and bringing the right arm over the only visible object (the pen near table centre) to inspect it and look for the cap."})
tool
executing move_to over 22 steps (2.2s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteRight wrist camera shows the pen running diagonally under the jaws; yawing the tool -57° so the jaws will close across the pen's axis, and dropping to 12 cm.
move_to
right_yaw-1.0000right_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]: [-0.1081, 0.9134, 0.7326, -0.5655, -0.1661, -0.1268, 0.998, 0.8551, 1.6577, 1.0981, -0.2852, 0.6296, 0.5255, 0.9994] state[eef_state]: left_x=0.2918 left_y=0.0013 left_z=0.1702 left_yaw=0.1001 left_pitch=-0.1635 left_roll=0.0172 left_gripper=0.998 right_x=0.3538 right_y=0.2539 right_z=0.1367 right_yaw=0.0373 right_pitch=-0.0925 right_roll=-0.0336 right_gripper=0.9994 state[joint_eff]: [0.4171, -2.359, 8.8957, 1.4872, 0.0122, 0.1978, -0.0757, 0.5402, -8.0889, 8.4171, 1.3797, 0.5788, 0.2222, -0.0171] camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_yaw": -1.0, "right_z": 0.12}, "note": "Right wrist camera shows the pen running diagonally under the jaws; yawing the tool -57\u00b0 so the jaws will close across the pen's axis, and dropping to 12 cm."})
tool
executing move_to over 7 steps (0.7s)
step 93
top_cam
camera top_cam step 93
left_cam
camera left_cam step 93
right_cam
camera right_cam step 93
assistant
agent noteWith yaw -0.73 the pen now lies horizontal in the wrist view, which is parallel to the jaw closing direction; rotating to yaw +0.85 to make the pen appear vertical so the jaws close across it.
move_to
right_yaw0.8500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1051, 0.9192, 0.7326, -0.5873, -0.157, -0.1291, 0.9985, 0.9192, 2.3566, 2.0212, -1.3159, 0.8532, 1.6531, 0.9993] state[eef_state]: left_x=0.2885 left_y=0.0009 left_z=0.1647 left_yaw=0.0977 left_pitch=-0.1916 left_roll=0.0149 left_gripper=0.9985 right_x=0.3714 right_y=0.2734 right_z=0.0892 right_yaw=-0.7268 right_pitch=-0.1582 right_roll=-0.0052 right_gripper=0.9993 state[joint_eff]: [-0.4171, -2.359, 6.8581, 1.7265, -0.1929, -0.022, 0.0366, -2.5368, -11.9179, 5.9692, 0.2027, 0.5495, 0.1832, -0.0171] camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_yaw": 0.85}, "note": "With yaw -0.73 the pen now lies horizontal in the wrist view, which is parallel to the jaw closing direction; rotating to yaw +0.85 to make the pen appear vertical so the jaws close across it."})
tool
executing move_to over 11 steps (1.1s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent notePen now appears vertical in the right wrist view but offset ~5 cm to the image-right of the jaws; translating along the yawed tool's right axis to bring it onto the jaw column.
move_to
right_x0.4050right_y0.2220right_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]: [-0.1051, 0.9245, 0.7326, -0.5957, -0.1562, -0.1295, 0.9985, 0.5602, 1.7245, 0.963, -0.0288, -0.0597, -0.017, 0.9993] state[eef_state]: left_x=0.2873 left_y=0.0009 left_z=0.1618 left_yaw=0.0978 left_pitch=-0.2052 left_roll=0.0169 left_gripper=0.9985 right_x=0.3759 right_y=0.2525 right_z=0.0723 right_yaw=0.6031 right_pitch=-0.2329 right_roll=0.0433 right_gripper=0.9993 state[joint_eff]: [-0.1299, -2.3863, 6.8308, 1.5751, -0.1148, -0.0562, -0.0073, -0.253, -8.7179, 7.5145, 1.7509, -0.1978, -0.1343, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.405, "right_y": 0.222, "right_z": 0.07}, "note": "Pen now appears vertical in the right wrist view but offset ~5 cm to the image-right of the jaws; translating along the yawed tool's right axis to bring it onto the jaw column."})
tool
executing move_to over 3 steps (0.3s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent notePen is now ~2.5 cm right of the jaw column; shifting a bit further along the tool's right axis while descending toward the table.
move_to
right_x0.4050right_y0.2100right_z0.0300
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1051, 0.9249, 0.7326, -0.5976, -0.1562, -0.1303, 0.9985, 0.4641, 1.755, 0.9745, -0.0334, -0.1696, -0.1387, 0.9993] state[eef_state]: left_x=0.287 left_y=0.001 left_z=0.1613 left_yaw=0.0983 left_pitch=-0.2074 left_roll=0.0168 left_gripper=0.9985 right_x=0.3896 right_y=0.2324 right_z=0.0644 right_yaw=0.6693 right_pitch=-0.2431 right_roll=0.0392 right_gripper=0.9993 state[joint_eff]: [-0.335, -1.6479, 6.9949, 1.5165, -0.0904, -0.0513, -0.0122, -0.3897, -7.6923, 8.9231, 1.5604, -0.0659, 0.1392, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.405, "right_y": 0.21, "right_z": 0.03}, "note": "Pen is now ~2.5 cm right of the jaw column; shifting a bit further along the tool's right axis while descending toward the table."})
tool
executing move_to over 3 steps (0.3s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent notePen is aligned vertically on the jaw column; descending to table level for the grasp.
move_to
right_z0.0050right_y0.2060
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1051, 0.9249, 0.7326, -0.6025, -0.1562, -0.1299, 0.9985, 0.4343, 1.763, 0.9798, -0.0444, -0.1513, -0.1158, 0.9993] state[eef_state]: left_x=0.2861 left_y=0.0011 left_z=0.1605 left_yaw=0.0983 left_pitch=-0.2123 left_roll=0.0181 left_gripper=0.9985 right_x=0.3974 right_y=0.2176 right_z=0.0608 right_yaw=0.6118 right_pitch=-0.2598 right_roll=0.0446 right_gripper=0.9993 state[joint_eff]: [-0.212, -1.7299, 7.0085, 1.5702, -0.0952, -0.0317, -0.0122, -0.0205, -8.3077, 8.1436, 1.5458, -0.0708, 0.0611, -0.0122] camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.005, "right_y": 0.206}, "note": "Pen is aligned vertically on the jaw column; descending to table level for the grasp."})
tool
executing move_to over 4 steps (0.4s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent noteThe last command produced no motion (z stuck at 0.06); re-commanding a firmer descent to table level over the pen.
move_to
right_z-0.0100right_x0.4000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1051, 0.9249, 0.7326, -0.6025, -0.1562, -0.1318, 0.9985, 0.4343, 1.763, 0.9798, -0.0441, -0.1509, -0.1158, 0.9993] state[eef_state]: left_x=0.2861 left_y=0.0011 left_z=0.1605 left_yaw=0.0994 left_pitch=-0.2123 left_roll=0.0168 left_gripper=0.9985 right_x=0.3974 right_y=0.2176 right_z=0.0608 right_yaw=0.6115 right_pitch=-0.2595 right_roll=0.0443 right_gripper=0.9993 state[joint_eff]: [-0.1026, -1.4838, 6.8171, 1.5263, -0.1294, -0.0317, -0.0122, 0.0068, -8.0752, 8.1436, 1.5458, -0.0708, 0.0562, -0.0073] camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": -0.01, "right_x": 0.4}, "note": "The last command produced no motion (z stuck at 0.06); re-commanding a firmer descent to table level over the pen."})
tool
executing move_to over 5 steps (0.5s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent notePen is centred between the jaws; continuing the descent to table level.
move_to
right_z-0.0150
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1051, 0.9241, 0.7326, -0.6033, -0.1562, -0.1322, 0.9985, 0.4332, 1.8404, 0.9455, 0.0872, -0.1551, -0.1181, 0.9993] state[eef_state]: left_x=0.2859 left_y=0.0011 left_z=0.1605 left_yaw=0.0996 left_pitch=-0.2123 left_roll=0.0165 left_gripper=0.9985 right_x=0.4041 right_y=0.2209 right_z=0.0362 right_yaw=0.6144 right_pitch=-0.2397 right_roll=0.0422 right_gripper=0.9993 state[joint_eff]: [-0.3077, -1.7983, 6.8171, 1.5165, -0.0855, -0.0708, -0.0122, -0.294, -4.506, 2.2222, 0.5397, -0.0806, -0.0073, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": -0.015}, "note": "Pen is centred between the jaws; continuing the descent to table level."})
tool
executing move_to over 4 steps (0.4s)
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 noteGripper is at table level with the pen between the jaws; closing to grasp the pen.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1051, 0.9302, 0.7319, -0.6113, -0.1562, -0.1318, 0.9985, 0.4335, 1.9453, 0.897, 0.2707, -0.1532, -0.139, 0.9993] state[eef_state]: left_x=0.2847 left_y=0.0012 left_z=0.1573 left_yaw=0.1001 left_pitch=-0.2268 left_roll=0.0199 left_gripper=0.9985 right_x=0.4094 right_y=0.2232 right_z=0.0038 right_yaw=0.6232 right_pitch=-0.2099 right_roll=0.0198 right_gripper=0.9993 state[joint_eff]: [-0.1846, -2.4957, 6.9949, 1.5702, -0.0904, -0.0317, -0.0122, -0.1026, -6.5299, 4.0821, 0.9988, -0.1245, 0.149, -0.0171] 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": {"right_gripper": 0}, "note": "Gripper is at table level with the pen between the jaws; closing to grasp the pen."})
tool
executing move_to over 10 steps (1.0s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteClosed on the pen (gripper settled at 0.047); lifting 12 cm to confirm the pen came up with the jaws.
move_to
right_z0.1200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1051, 0.9306, 0.7319, -0.6132, -0.1562, -0.1322, 0.9985, 0.4332, 1.9648, 0.8909, 0.3313, -0.1558, -0.1238, 0.0471] state[eef_state]: left_x=0.2844 left_y=0.0012 left_z=0.1568 left_yaw=0.1004 left_pitch=-0.2291 left_roll=0.0201 left_gripper=0.9985 right_x=0.4146 right_y=0.2259 right_z=0.0038 right_yaw=0.6156 right_pitch=-0.1754 right_roll=0.0264 right_gripper=0.0471 state[joint_eff]: [-0.1709, -2.0308, 6.8718, 1.5458, -0.1343, -0.0513, -0.0122, -0.0752, -7.7197, 4.6838, 1.2576, -0.0757, -0.022, 1.0916] camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.12}, "note": "Closed on the pen (gripper settled at 0.047); lifting 12 cm to confirm the pen came up with the jaws."})
tool
executing move_to over 8 steps (0.8s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent noteThe pen is grasped and lifted by the right arm. The cap is the small dark object visible in the top view left of centre; moving the left gripper above my overhead estimate of it.
move_to
left_x0.3000left_y-0.1750left_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]: [-0.1051, 0.9314, 0.7319, -0.6136, -0.1562, -0.1322, 0.9985, 0.4335, 1.7439, 1.0641, -0.0792, -0.1577, -0.1276, 0.0497] state[eef_state]: left_x=0.2843 left_y=0.0012 left_z=0.1566 left_yaw=0.1004 left_pitch=-0.2302 left_roll=0.0203 left_gripper=0.9985 right_x=0.4145 right_y=0.2264 right_z=0.0966 right_yaw=0.6202 right_pitch=-0.1912 right_roll=0.0279 right_gripper=0.0497 state[joint_eff]: [-0.1026, -2.0581, 6.9949, 1.4628, -0.1099, -0.0562, -0.0122, -0.3077, -11.0701, 8.9915, 1.5409, -0.0806, 0.0171, 1.033] camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.175, "left_z": 0.12}, "note": "The pen is grasped and lifted by the right arm. The cap is the small dark object visible in the top view left of centre; moving the left gripper above my overhead estimate of it."})
tool
executing move_to over 16 steps (1.6s)
step 157
top_cam
camera top_cam step 157
left_cam
camera left_cam step 157
right_cam
camera right_cam step 157
assistant
agent noteThe cap-like object sits left of the jaw column in the left wrist view; moving back left and forward to the pose where it previously lined up between the jaws, now lower for a better look.
move_to
left_x0.3500left_y-0.1060left_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]: [-0.8204, 1.4151, 0.8803, -0.5713, -0.5674, -0.7269, 0.9985, 0.4332, 1.7409, 1.0653, -0.0971, -0.1577, -0.1272, 0.0544] state[eef_state]: left_x=0.2893 left_y=-0.1658 left_z=0.1039 left_yaw=0.0825 left_pitch=-0.2853 left_roll=0.0619 left_gripper=0.9985 right_x=0.4121 right_y=0.2251 right_z=0.0952 right_yaw=0.6202 right_pitch=-0.2047 right_roll=0.0308 right_gripper=0.0544 state[joint_eff]: [-0.335, -5.5043, 9.3197, 1.16, -0.4811, -0.022, -0.0122, -0.1026, -8.4991, 6.3521, 1.663, -0.1294, -0.0269, 1.0281] camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.35, "left_y": -0.106, "left_z": 0.06}, "note": "The cap-like object sits left of the jaw column in the left wrist view; moving back left and forward to the pose where it previously lined up between the jaws, now lower for a better look."})
tool
executing move_to over 6 steps (0.6s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteThe cap is now centred on the jaw column but a few cm ahead of the fingertips; advancing ~3 cm and dropping to table level to straddle it.
move_to
left_x0.3680left_y-0.1000left_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]: [-0.5144, 1.504, 0.7612, -0.2905, -0.4305, -0.485, 0.9985, 0.4332, 1.7409, 1.0645, -0.1005, -0.1577, -0.1276, 0.0544] state[eef_state]: left_x=0.3353 left_y=-0.1007 left_z=0.056 left_yaw=0.1423 left_pitch=-0.3282 left_roll=0.0809 left_gripper=0.9985 right_x=0.4114 right_y=0.2248 right_z=0.0943 right_yaw=0.6205 right_pitch=-0.2088 right_roll=0.0313 right_gripper=0.0544 state[joint_eff]: [0.212, -5.6547, 5.7641, 1.4335, -0.1148, 0.2418, -0.0122, -0.212, -8.6906, 6.4752, 1.5702, -0.1245, -0.0562, 1.0379] camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.368, "left_y": -0.1, "left_z": 0.0}, "note": "The cap is now centred on the jaw column but a few cm ahead of the fingertips; advancing ~3 cm and dropping to table level to straddle it."})
tool
executing move_to over 4 steps (0.4s)
step 167
top_cam
camera top_cam step 167
left_cam
camera left_cam step 167
right_cam
camera right_cam step 167
assistant
agent noteThe cap is now between the fingertips at table level; closing the left gripper on it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4641, 1.7245, 0.7525, -0.0731, -0.4107, -0.45, 0.9985, 0.4335, 1.7412, 1.0634, -0.1001, -0.1574, -0.1272, 0.0544] state[eef_state]: left_x=0.3591 left_y=-0.0969 left_z=0.0038 left_yaw=0.1603 left_pitch=-0.3497 left_roll=0.0967 left_gripper=0.9985 right_x=0.4111 right_y=0.2248 right_z=0.0938 right_yaw=0.6204 right_pitch=-0.21 right_roll=0.0316 right_gripper=0.0544 state[joint_eff]: [0.3077, -5.3675, 5.6274, 0.9353, -0.0757, 0.1538, -0.0073, -0.0205, -8.3487, 6.6667, 1.5116, -0.0659, -0.0171, 1.0379] camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "The cap is now between the fingertips at table level; closing the left gripper on it."})
tool
executing move_to over 10 steps (1.0s)
step 177
top_cam
camera top_cam step 177
assistant
agent noteThe left close came up empty (0.009) and the cap is no longer in the wrist view, so I am pulling both arms back and up — right arm still holding the pen — to get an unobstructed overhead view and re-locate the cap.
move_to
left_x0.2400left_y0.0000left_z0.2500left_gripper1.0000right_x0.3000right_y0.0500right_z0.3000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4583, 1.7496, 0.7525, -0.0105, -0.4107, -0.4427, 0.0092, 0.4332, 1.7412, 1.0634, -0.0982, -0.1577, -0.1272, 0.0588] state[eef_state]: left_x=0.3683 left_y=-0.0991 left_z=0.0025 left_yaw=0.1543 left_pitch=-0.3196 left_roll=0.0785 left_gripper=0.0092 right_x=0.4115 right_y=0.2248 right_z=0.0941 right_yaw=0.6203 right_pitch=-0.208 right_roll=0.0315 right_gripper=0.0588 state[joint_eff]: [-0.0205, -7.0085, 5.2991, 1.2137, -0.1001, 0.1197, 0.7009, -0.2256, -8.6222, 6.4342, 1.5458, -0.1001, -0.022, 1.033] 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": 0.24, "left_y": 0.0, "left_z": 0.25, "left_gripper": 1, "right_x": 0.3, "right_y": 0.05, "right_z": 0.3}, "note": "The left close came up empty (0.009) and the cap is no longer in the wrist view, so I am pulling both arms back and up \u2014 right arm still holding the pen \u2014 to get an unobstructed overhead view and re-locate the cap."})
tool
executing move_to over 16 steps (1.6s)
step 193
assistant
agent noteClean overhead view shows the cap alone on the table left-of-centre; moving the left gripper above my recomputed estimate of its position.
move_to
left_x0.2700left_y-0.2200left_z0.0800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2279, 0.9703, 1.1378, -1.0969, -0.2909, -0.2737, 0.9971, -0.1314, 1.256, 1.4399, -1.0943, -0.4953, -0.543, 0.0589] state[eef_state]: left_x=0.2515 left_y=-0.0026 left_z=0.2382 left_yaw=0.1807 left_pitch=-0.3065 left_roll=0.0605 left_gripper=0.9971 right_x=0.3153 right_y=0.0466 right_z=0.2889 right_yaw=0.5691 right_pitch=-0.2118 right_roll=0.0169 right_gripper=0.0589 state[joint_eff]: [0.294, -2.1949, 8.5402, 1.1453, -0.1734, 0.2271, -0.022, -0.3897, -4.4513, 7.8291, 1.2918, -0.3541, -0.0757, 1.033] camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.27, "left_y": -0.22, "left_z": 0.08}, "note": "Clean overhead view shows the cap alone on the table left-of-centre; moving the left gripper above my recomputed estimate of its position."})
tool
executing move_to over 20 steps (2.0s)
step 213
assistant
agent noteUsing the overhead frame with the gripper itself as a reference, the cap lies ~6 cm ahead and 2 cm to the left of the current jaws; moving there at table level to straddle it.
move_to
left_x0.3350left_y-0.1810left_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]: [-0.9985, 1.6348, 0.9962, -0.7311, -0.6247, -1.0344, 0.9979, -0.131, 1.2602, 1.4376, -1.1156, -0.4976, -0.561, 0.0589] state[eef_state]: left_x=0.2588 left_y=-0.2043 left_z=0.0687 left_yaw=0.184 left_pitch=-0.3557 left_roll=0.1275 left_gripper=0.9979 right_x=0.312 right_y=0.0476 right_z=0.2841 right_yaw=0.5849 right_pitch=-0.2315 right_roll=0.0238 right_gripper=0.0589 state[joint_eff]: [-0.4991, -7.3094, 8.7453, 0.6471, -0.6618, -0.0952, 0.0708, -0.3897, -4.2325, 6.2427, 1.4823, -0.2857, 0.149, 1.033] camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.335, "left_y": -0.181, "left_z": 0.0}, "note": "Using the overhead frame with the gripper itself as a reference, the cap lies ~6 cm ahead and 2 cm to the left of the current jaws; moving there at table level to straddle it."})
tool
executing move_to over 6 steps (0.6s)
step 219
assistant
agent notePartial: the right arm located, aligned to (via a wrist yaw so the pen appeared vertical in the wrist view) and successfully grasped the pen, and is holding it. The pen cap proved very hard to localise — repeated approaches with the left arm closed empty (settled readings 0.009–0.048) because the overhead pixel→metre conversion and the wrist-camera offset disagreed by several centimetres. I ran out of LLM-call budget with the cap still on the table, so the cap was never picked up or fitted onto the pen.
done
hindsightKey lessons for this rig/task: (1) The top camera's dark wood grain contains knots/marks that look exactly like a small dark pen cap in the 224px wrist views — verify an "object" by moving the arm and checking parallax before spending grasps on it. (2) The most reliable overhead localisation is *relative*: put the gripper on the table near the object, read its own jaws' pixel position in top_cam, and convert the pixel offset between jaws and object (≈3.0 px/cm across, ≈2.3 px/cm in depth) — absolute pixel→frame maps built from an elevated gripper are off by several cm because of the oblique view. (3) Wrist-camera lateral offsets at z<0.1 m are badly non-linear; a target at image row 75 is far away (>15 cm), at row 150 it is a few cm ahead of the fingertips. (4) The controller only tracks ~50-70% of a commanded Cartesian delta per call, and occasionally executes nothing; budget 2 calls per intended move, and re-send rather than assume. (5) Yaw calibration trick that worked: command a yaw, see how the object's image angle changes, then solve image_angle = initial + yaw_deg; set yaw so the object appears vertical in the wrist view, since jaws always close along image-x. (6) Pen-sized objects give a settled gripper reading of only ~0.05, barely above the 0.04 "empty" threshold — confirm grasps by lifting and looking for the object moving with the jaws, not by the number. (7) Budget: 40 calls is barely enough; do not spend more than ~6 on locating one small object.
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7704, 1.8271, 0.9325, -0.371, -0.5728, -0.8234, 0.998, -0.131, 1.2606, 1.4376, -1.1194, -0.4976, -0.5587, 0.0589] state[eef_state]: left_x=0.3222 left_y=-0.1743 left_z=0.0056 left_yaw=0.2345 left_pitch=-0.3682 left_roll=0.1387 left_gripper=0.998 right_x=0.3114 right_y=0.0476 right_z=0.2835 right_yaw=0.5843 right_pitch=-0.2347 right_roll=0.0283 right_gripper=0.0589 state[joint_eff]: [0.4581, -6.0239, 5.8462, 0.5055, -0.2173, 0.3248, -0.0073, -0.3214, -3.9726, 6.0923, 1.2821, -0.2759, -0.0855, 1.0281] camera 'top_cam' (step 219): [image omitted: streamed camera frame] camera 'left_cam' (step 219): [image omitted: streamed camera frame] camera 'right_cam' (step 219): [image omitted: streamed camera frame]
assistant
done({"summary": "Partial: the right arm located, aligned to (via a wrist yaw so the pen appeared vertical in the wrist view) and successfully grasped the pen, and is holding it. The pen cap proved very hard to localise \u2014 repeated approaches with the left arm closed empty (settled readings 0.009\u20130.048) because the overhead pixel\u2192metre conversion and the wrist-camera offset disagreed by several centimetres. I ran out of LLM-call budget with the cap still on the table, so the cap was never picked up or fitted onto the pen.", "hindsight": "Key lessons for this rig/task: (1) The top camera's dark wood grain contains knots/marks that look exactly like a small dark pen cap in the 224px wrist views \u2014 verify an \"object\" by moving the arm and checking parallax before spending grasps on it. (2) The most reliable overhead localisation is *relative*: put the gripper on the table near the object, read its own jaws' pixel position in top_cam, and convert the pixel offset between jaws and object (\u22483.0 px/cm across, \u22482.3 px/cm in depth) \u2014 absolute pixel\u2192frame maps built from an elevated gripper are off by several cm because of the oblique view. (3) Wrist-camera lateral offsets at z<0.1 m are badly non-linear; a target at image row 75 is far away (>15 cm), at row 150 it is a few cm ahead of the fingertips. (4) The controller only tracks ~50-70% of a commanded Cartesian delta per call, and occasionally executes nothing; budget 2 calls per intended move, and re-send rather than assume. (5) Yaw calibration trick that worked: command a yaw, see how the object's image angle changes, then solve image_angle = initial + yaw_deg; set yaw so the object appears vertical in the wrist view, since jaws always close along image-x. (6) Pen-sized objects give a settled gripper reading of only ~0.05, barely above the 0.04 \"empty\" threshold \u2014 confirm grasps by lifting and looking for the object moving with the jaws, not by the number. (7) Budget: 40 calls is barely enough; do not spend more than ~6 on locating one small object."})
tool
done: Partial: the right arm located, aligned to (via a wrist yaw so the pen appeared vertical in the wrist view) and successfully grasped the pen, and is holding it. The pen cap proved very hard to localise — repeated approaches with the left arm closed empty (settled readings 0.009–0.048) because the overhead pixel→metre conversion and the wrist-camera offset disagreed by several centimetres. I ran out of LLM-call budget with the cap still on the table, so the cap was never picked up or fitted onto the pen.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 15.95 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]: [-0.02, 0.7929, 0.6025, -0.3801, -0.0196, -0.0113, 0.9998, -0.0185, 0.7902, 0.6094, -0.3759, -0.0223, -0.033, 0.9994]\nstate[eef_state]: left_x=0.2945 left_y=0.0012 left_z=0.1796 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2957 right_y=0.0021 right_z=0.1843 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.5385, 10.4821, 1.8046, -0.0317, -0.0513, -0.0366, -0.5402, -1.1556, 9.7709, 1.7558, -0.022, 0.1685, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95fc502053fdffc9f1c6f9ddb38031f6028cdd584640916421572dd1f1cea129",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd51d663ec019f961608926d5dd0c0fb75b50aef89b2b833f6fb4a7fd8dc237d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:59ac962424b0d8a78ab332ad2d2dc85b8650080e28238768f24cf1106b576206",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 7.007 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]: [-0.02, 0.7929, 0.6025, -0.3801, -0.0196, -0.0113, 0.9998, -0.0185, 0.7902, 0.6094, -0.3759, -0.0223, -0.033, 0.9994]\nstate[eef_state]: left_x=0.2945 left_y=0.0012 left_z=0.1796 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2957 right_y=0.0021 right_z=0.1843 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.5385, 10.4821, 1.8046, -0.0317, -0.0513, -0.0366, -0.5402, -1.1556, 9.7709, 1.7558, -0.022, 0.1685, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95fc502053fdffc9f1c6f9ddb38031f6028cdd584640916421572dd1f1cea129",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd51d663ec019f961608926d5dd0c0fb75b50aef89b2b833f6fb4a7fd8dc237d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59ac962424b0d8a78ab332ad2d2dc85b8650080e28238768f24cf1106b576206",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0146P7mJ2h61ZdavcmJdavPe",
      "input": {
        "note": "Two small dark objects lie near the middle of the table: a short one left-of-center (likely the cap) and a longer thin one right-of-center (the pen). Moving the left gripper above the short left-hand object to inspect it with the wrist camera.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.33,
          "left_y": -0.16,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_0146P7mJ2h61ZdavcmJdavPe",
      "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]: [-0.7273, 1.2839, 0.7101, -0.2127, -0.5705, -0.4374, 0.9998, -0.0193, 0.7979, 0.6132, -0.3897, -0.0227, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.3185 left_y=-0.1509 left_z=0.1279 left_yaw=-0.0242 left_pitch=-0.0687 left_roll=0.0459 left_gripper=0.9998 right_x=0.2949 right_y=0.0019 right_z=0.1811 right_yaw=0.0002 right_pitch=-0.0175 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -4.9573, 9.7709, 1.7851, -0.359, -0.0855, -0.0366, -0.0068, -1.8393, 6.7487, 1.8535, -0.022, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74ecb59816bc5d4e2c805fbc70e5ed62ba120e4f64ac86843812b873a735efd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:784e6959feef464a6ac2ef3d35a768cd7d925e5a921a4b1e0bb3e40ac0723dff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0e467b4683db454d7dc3703ce6cc0f4c8ce03f7ea2ad26b31d4d4ce51748f884",
        "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 · 7.587 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]: [-0.02, 0.7929, 0.6025, -0.3801, -0.0196, -0.0113, 0.9998, -0.0185, 0.7902, 0.6094, -0.3759, -0.0223, -0.033, 0.9994]\nstate[eef_state]: left_x=0.2945 left_y=0.0012 left_z=0.1796 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2957 right_y=0.0021 right_z=0.1843 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.5385, 10.4821, 1.8046, -0.0317, -0.0513, -0.0366, -0.5402, -1.1556, 9.7709, 1.7558, -0.022, 0.1685, -0.0708]",
      "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]: [-0.7273, 1.2839, 0.7101, -0.2127, -0.5705, -0.4374, 0.9998, -0.0193, 0.7979, 0.6132, -0.3897, -0.0227, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.3185 left_y=-0.1509 left_z=0.1279 left_yaw=-0.0242 left_pitch=-0.0687 left_roll=0.0459 left_gripper=0.9998 right_x=0.2949 right_y=0.0019 right_z=0.1811 right_yaw=0.0002 right_pitch=-0.0175 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -4.9573, 9.7709, 1.7851, -0.359, -0.0855, -0.0366, -0.0068, -1.8393, 6.7487, 1.8535, -0.022, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74ecb59816bc5d4e2c805fbc70e5ed62ba120e4f64ac86843812b873a735efd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:784e6959feef464a6ac2ef3d35a768cd7d925e5a921a4b1e0bb3e40ac0723dff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e467b4683db454d7dc3703ce6cc0f4c8ce03f7ea2ad26b31d4d4ce51748f884",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISowcKjgEIEhgCKkCtrzuoK8jTdq3D1HMYhKQXOmrCgWatyyQwOv+ZFDM6uA4MZ95TSsm7DlJaT2T/QuGy8kQV8yEImiQ3F2Hh43aMMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdP5y9UGEgw1HasMXbIvpFKAiHUaDBFjW/vICFl5u22yDSIwhDObUxrwpAxXajIv8P8TcU2sfKMOovX/wbb6i0qOD+6T9q+aETEvzmEntqJdN9SfKsEFuUXLEpjSC2a06YklbcUGAP6IkrdELkM+9V7XAM8UYEjXW/BMencZLjzfpU7FNvtcv7e0VU1mdyDfFLK+0bZRHiXdzDQhJG0l7eoGRDT7OuM0peRRK7peV7EN0mfLwtO1EQRIALDcpV9/eCxxW8Vrt3RWmg4xaiFuHinSSz2KEQKZDHOQHTKFY3r8zve9Z0DWQp2gNJ6xa7PmpoFiS1IpCNxWAsbC37/8fA01M9pciLtTuOCw3v9PQ6A18gFdHxJr/cTLch7u6An6FRgN1vB38ej1PsYScAMPdiQ6LQPwUUe/YmOod4J82mYc2FBtotHGtzXJ4RD+7eoUuTR+F/DEAZokMFWcFiY3+QLzfaiNAJBtDWWQQF0j88ZXPsW1mNff57sRPjWRYFjAKuaAAOLtLpIn/aa80mpQSm2hG79sAjpJkWacGfgUFpqd6i3ZYudkcuSSAtj/wPQet2qMVKBzeN4bN7+cLWRs+bVEUrG4R8+uS+w9CBGhEUo1PK5/aS8+0lf/qciuZJslZ3zmg25o2U7Ep77zCN3qvd7UrR2xODd11hxmynOhTlAJKBLqoNIb9fn1E787pBw6gxXPTsE/RvPkR4+c+nHeNzzHZtv//UwM8Ioe7+aBg/0ePl/ZkmZUeq9j9M5xb8hwnR2f7BNK05q98+L8VwmicIhdDeAKhp5U52p9b+nQSnwFzetuJnMuQUp1MKG7PITrQR5RBJCsNr9dPffWicjPHe3hYLGs8nsJ87HkQOQDIoRdPJ0SI8Nys3jLHa29CnDEb+xUyDuJZvwUMyav+ehP8ipZAN32ZZDiH+KLo+BI/Oc3SRAzXjJZztVXC14UDAdDcBlvU19YiNtXMny5svhN/KORZfRgUw4xE4mkx5ro5PtWXOzBLx7ei5A8jlI4RCj7RWLD5YeKW9Ugy8RBI2clHz7W3NbxsG1FGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NtDGW7pEdKyfxvygdY5rQi",
      "input": {
        "note": "Wrist view shows the small dark cap well to the left of the jaw column, so I am shifting the left gripper ~5 cm toward +y to line it up over the cap.",
        "targets": {
          "left_x": 0.33,
          "left_y": -0.105,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01NtDGW7pEdKyfxvygdY5rQi",
      "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]: [-0.5468, 1.19, 0.7048, -0.2516, -0.4644, -0.3367, 0.9998, -0.0193, 0.7979, 0.6132, -0.3904, -0.0227, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.3296 left_y=-0.1038 left_z=0.1428 left_yaw=0.0186 left_pitch=-0.0747 left_roll=0.0382 left_gripper=0.9998 right_x=0.2948 right_y=0.0019 right_z=0.181 right_yaw=0.0002 right_pitch=-0.0183 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [0.253, -5.1624, 7.5966, 1.5995, -0.1783, 0.1441, -0.0171, -0.0205, -1.2923, 7.0906, 1.7802, -0.0659, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ace1039040b483f46ab6573f85b5c95d6d9611f8e31bca883ca92dedaea6734b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1433abf5417c7f6dafeff8a209e4678255f3116fff928f07b60f1c8398182fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f290a0d0ad413e5c8fe5176b1b6e0dc8b1be07aabc5413dcdc9abdd7e0925dab",
        "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 · 5.713 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]: [-0.02, 0.7929, 0.6025, -0.3801, -0.0196, -0.0113, 0.9998, -0.0185, 0.7902, 0.6094, -0.3759, -0.0223, -0.033, 0.9994]\nstate[eef_state]: left_x=0.2945 left_y=0.0012 left_z=0.1796 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2957 right_y=0.0021 right_z=0.1843 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.5385, 10.4821, 1.8046, -0.0317, -0.0513, -0.0366, -0.5402, -1.1556, 9.7709, 1.7558, -0.022, 0.1685, -0.0708]",
      "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]: [-0.7273, 1.2839, 0.7101, -0.2127, -0.5705, -0.4374, 0.9998, -0.0193, 0.7979, 0.6132, -0.3897, -0.0227, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.3185 left_y=-0.1509 left_z=0.1279 left_yaw=-0.0242 left_pitch=-0.0687 left_roll=0.0459 left_gripper=0.9998 right_x=0.2949 right_y=0.0019 right_z=0.1811 right_yaw=0.0002 right_pitch=-0.0175 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -4.9573, 9.7709, 1.7851, -0.359, -0.0855, -0.0366, -0.0068, -1.8393, 6.7487, 1.8535, -0.022, -0.0171, -0.0122]",
      "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]: [-0.5468, 1.19, 0.7048, -0.2516, -0.4644, -0.3367, 0.9998, -0.0193, 0.7979, 0.6132, -0.3904, -0.0227, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.3296 left_y=-0.1038 left_z=0.1428 left_yaw=0.0186 left_pitch=-0.0747 left_roll=0.0382 left_gripper=0.9998 right_x=0.2948 right_y=0.0019 right_z=0.181 right_yaw=0.0002 right_pitch=-0.0183 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [0.253, -5.1624, 7.5966, 1.5995, -0.1783, 0.1441, -0.0171, -0.0205, -1.2923, 7.0906, 1.7802, -0.0659, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ace1039040b483f46ab6573f85b5c95d6d9611f8e31bca883ca92dedaea6734b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1433abf5417c7f6dafeff8a209e4678255f3116fff928f07b60f1c8398182fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f290a0d0ad413e5c8fe5176b1b6e0dc8b1be07aabc5413dcdc9abdd7e0925dab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9AkKjgEIEhgCKkCtc4Mypuobh5wrRBYNHXDbBCBs19FLGzrl25+pqg71QTxNJItW2aqNBXbCOPZcLScOZBV3u9E6CPFDNyua0rBMMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdv5y9UGEgzPT6M0B5uSMoPQmFIaDAtUEAb/qrNgM6B4eyIwYbf17qY0XPxqWhGl/5WgcMNkwIPPJqjAzUtaEEFtHC0FmQOG4k7/foLTyeYc+6GNKpIIfxllqbyxGpv7fg6/dfQJozpfVAhGaQIcHKdFxUP/mg966DLkOD8HySQIi9jNyhz7rqXpQ1V7tYw09Ux9iirU1Ys71+o1JtidKsA2KenJ1Q3PeYAp4zOh46v3cXVyb6/DQ5zPaO7OOu7knIlzV8k8sFA67AFGR/zxKIu63q1v5qGQYZblM3/BxwqA9xcZASbrVMapFeQKOzjKGZO71r5MovTW53AjbZrHEQdb1qysC3Jfrpl4IzW7xHTm7t3fI6dXOpz13LULLXzAPiYC+RRhXAkz4u0OiDhaYtkI91P8HfwvkGXpq9tF3y56I9kRv/yLgX5GpSj2t199+DHVG48ygHjYf/UY1MfcwfX4RSlofU8f38cqT6svr0cmlw/md9SHN+GgJG8cNdufrVy5JfIsNgolP8Cf9iii4dPvVUpBcc1dJZM577+3V9FYWmSBXCRbWq+dCSajgMixgrx8Fdmna4wa0/qV83YYi+ajeazdXq0+Jj6NiHI5a9cdvITwdZTL4GF5+DjSihPXxVnD714vNnFCZvtFu8BcBKlRUIT7Pw+2EdyaUOpPvUYshFwWb0AG14cgKMOgH1lqlYhQyz7f+BefMr/RwFTr6jenn3wCefdb+BIRxB6YL97qUQOHHqBiw+OP4I0rc6Jcf3ulj3bz+GOC9Xze4p62hPbgbMpmnkQo2GveEF6gNzP1iPsnjWfI8Kn/md5nqxaq9ueRKc3DGvjBPM7b0+FH8cBUrqaoNleoGRZyYN+W7kXB32Uq1hcrVagN5/cn7ufvuVTEGkSozofIuKKhAHHED6BtIPsal/YEzEPMg+6TrPoNPvJvQ6nvi8GiHbl/+y5JDBAwLL9i3dgXBq1fnj+scbcX6Cyg/CE2Fluk4dbj1bVui3HjUhn+9pTWgsuioSnL61IrW6p+jLD9Fgn+qrM2SYEQVeMZflJJWAgnM1hgUWBuGEk6g4u2M0QcGkJY0WpzUArrao1fX90Jjy2YVJj4mNQu5Z44bZbD5IPYe1DQe7C/R9PBXeoh6+siWQSudYd3vrggFko9v4cCGb1ejLUYB9L7LMymBWgHx2HEJGnRHVa4qIfmK9qs1Y76QGxxXRGR4m3IUOroFPn+wMuHNh8zWynySzAUA1z8GP7WBNDix5Fdv+4dbhc/Y30bOKoB6S4jdckq24asSKScH/xMu2hqFObtrwsqrBNj5yaEzVNBQdo4Ypyes/rSw5I7j+JsAMAo+qj9DM9Fx2fn5H+oXWbNJ9aMPOVqpFR+HkoQBgtiWmkJ7Xf8cFT7Dk4SZ9VBCqYolBwpFeMEoZm8BYue0s1nsQKi6eBGUu7bTgD0mQqozQsNE/suHReUrAx6uxldwqZs42lwQkwxHlmSapD1DgF52hJAjXFT2gEbRxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018viyMo8ww6i4CzXJVMnkNU",
      "input": {
        "note": "The cap is now nearly on the jaw column but still ahead of the fingertips in the wrist view; advancing ~2.5 cm radially and nudging 1.7 cm in y to center it before descending.",
        "targets": {
          "left_x": 0.355,
          "left_y": -0.088,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_018viyMo8ww6i4CzXJVMnkNU",
      "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]: [-0.4728, 1.2209, 0.7208, -0.2501, -0.4084, -0.2928, 0.9997, -0.0193, 0.7979, 0.6132, -0.3912, -0.0227, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.3392 left_y=-0.0907 left_z=0.137 left_yaw=0.0252 left_pitch=-0.1066 left_roll=0.047 left_gripper=0.9997 right_x=0.2947 right_y=0.0019 right_z=0.1808 right_yaw=0.0002 right_pitch=-0.0191 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [0.1299, -4.3282, 9.5795, 1.5214, 0.0464, 0.1832, -0.0171, 0.0068, -1.2103, 7.0222, 1.7411, -0.0464, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf7666f660b862d8818e56afd018e7fa032bac2d683b6dd9368f47424e1c12a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:175eca2b33aff4cb17d1942afae5a05e91a1d2f89155b61733b5a5133ca38e29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1f5caa079a710e675ad191c191ba8d9727f75e07be932f9b8b30e4420bb3824f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 3.95 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]: [-0.7273, 1.2839, 0.7101, -0.2127, -0.5705, -0.4374, 0.9998, -0.0193, 0.7979, 0.6132, -0.3897, -0.0227, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.3185 left_y=-0.1509 left_z=0.1279 left_yaw=-0.0242 left_pitch=-0.0687 left_roll=0.0459 left_gripper=0.9998 right_x=0.2949 right_y=0.0019 right_z=0.1811 right_yaw=0.0002 right_pitch=-0.0175 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -4.9573, 9.7709, 1.7851, -0.359, -0.0855, -0.0366, -0.0068, -1.8393, 6.7487, 1.8535, -0.022, -0.0171, -0.0122]",
      "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]: [-0.5468, 1.19, 0.7048, -0.2516, -0.4644, -0.3367, 0.9998, -0.0193, 0.7979, 0.6132, -0.3904, -0.0227, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.3296 left_y=-0.1038 left_z=0.1428 left_yaw=0.0186 left_pitch=-0.0747 left_roll=0.0382 left_gripper=0.9998 right_x=0.2948 right_y=0.0019 right_z=0.181 right_yaw=0.0002 right_pitch=-0.0183 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [0.253, -5.1624, 7.5966, 1.5995, -0.1783, 0.1441, -0.0171, -0.0205, -1.2923, 7.0906, 1.7802, -0.0659, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4728, 1.2209, 0.7208, -0.2501, -0.4084, -0.2928, 0.9997, -0.0193, 0.7979, 0.6132, -0.3912, -0.0227, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.3392 left_y=-0.0907 left_z=0.137 left_yaw=0.0252 left_pitch=-0.1066 left_roll=0.047 left_gripper=0.9997 right_x=0.2947 right_y=0.0019 right_z=0.1808 right_yaw=0.0002 right_pitch=-0.0191 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [0.1299, -4.3282, 9.5795, 1.5214, 0.0464, 0.1832, -0.0171, 0.0068, -1.2103, 7.0222, 1.7411, -0.0464, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf7666f660b862d8818e56afd018e7fa032bac2d683b6dd9368f47424e1c12a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:175eca2b33aff4cb17d1942afae5a05e91a1d2f89155b61733b5a5133ca38e29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f5caa079a710e675ad191c191ba8d9727f75e07be932f9b8b30e4420bb3824f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwAcKjgEIEhgCKkAw534ua7cRhY9tTSqmDJV0J83PKRbOe8wmWUlNUIm2k13dzxSvl7s77xs0/TupWFb3zR9kdWXAUW1Lf6bbfQSwMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeH5y9UGEgy1vArHqvcivfnzNLQaDHCvNNAzYbe4Uj+58yIwVyg5rbmEl0drUr2MzNLt4ykphTswHxz/7bsKXT7ZClxiUAYO0JbM63Mlaf3vMGURKt4F7VaICURy3Reqj3uvTztG+1+FtHDl6Kam4sJHkkdNY2KBVN76eIT3HDpQxchjS6ykCTqIfY4g+uJW08tub1CRo7i3H3PRTYtC8sVjkS1oIxbSMqdMXCnpMfJtnonLIMTSXHekelrRY8jfAFMrXLw2cmSO0ZKXQbmgqnTAV3gU26J0/CI41p9MeVkWeS/LA1Ez8783cYaKBrN+I2orryp2YvLG1RuqjQ3HYaKmpoND72hsQ7/diiTATOBkaIeUHf11jsqZCQ9WM8XDCAuzsWWuc+4csGoWW61Nlbb2fvf2caoi3AT/kc3gPeAcKyJ7/aD7sl/bXBVxP6U3Rrj5PjEAgq2HRy5VUoSshlgQpbhUmbqgGZ8g4LoB04C85p7a8jolxgZaFgC2PVVs9yo27u2hsgd5x70TuG8JOLuTioSWk7nGfTWM/iM3Crgz4rmaHpSJoKIXoVBojlAetW+XygQCodg8NsbMIkpXq60phfe4tgA1Ma81W5dXLwb1SmodU1aOKdWN9AexGitoJTLXcfeTDZR/fwC8lGqBVOztlsf8M9+eesGH4/mTkyUG1MCy4aZGcfJCeiI1/mjL87TcdV21j8cj2O8H53Sy+BaLdFzUXBV6G9I/8XLEFxoSOOFIOMV/Pyhivz4+KuYGt9xqZUJMgxfcCJ2oN2bwDHGK9ayX9PnrU/JmIfE5jY+ygpjQgTsgOmwMYkvWXovhCEcf0c/zBZallROoqldtgoCDQqDtqD1bHODYDjmqV7wVxc6fftHqQy25GX32kEWvWL9yTNpWJrHv1xYwsaWFx819EUmZkLmQXWMACC+sj55yFAo5t/kHZfwzFu4LX2xqfPSUCAXEUL60gvAlul3cqpGGbj5lNUXtAjUqvGWWt/T74eBQJuUYdWi0ajuAJhF5hT/5drwAOrZgaFE9SNkzAYeU5B9CJ9Ef8uAMjVrtMq2AlB9YLGZ2KVuOG0Lxd6cUfTK6+s4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SxgQvRKQAGWqeSeJK8SToi",
      "input": {
        "note": "Cap is centered on the jaw column in the wrist view; descending to 4.5 cm for a closer alignment check before the final drop.",
        "targets": {
          "left_z": 0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01SxgQvRKQAGWqeSeJK8SToi",
      "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]: [-0.4324, 1.2522, 0.7284, -0.2436, -0.3851, -0.2775, 0.9998, -0.0193, 0.7998, 0.6132, -0.3927, -0.0227, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.3451 left_y=-0.0822 left_z=0.13 left_yaw=0.0397 left_pitch=-0.1297 left_roll=0.0526 left_gripper=0.9998 right_x=0.2946 right_y=0.0019 right_z=0.18 right_yaw=0.0002 right_pitch=-0.0225 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -5.012, 9.3197, 1.7656, -0.1538, 0.2027, -0.0122, -0.2256, -1.4427, 7.0496, 1.7998, -0.0317, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70bed709e40e7fb8ee72e28d0f2420127297d05af3d3c21946e6b4457856373b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7f4a7b33522b5bb9f23308afd159f248b37b0e526ab9187affafa2091a13610",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a88ca3a36a62c150de39ef7e222a84006ad6f32b7912c18d2352acd74c859851",
        "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 · 16.26 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]: [-0.5468, 1.19, 0.7048, -0.2516, -0.4644, -0.3367, 0.9998, -0.0193, 0.7979, 0.6132, -0.3904, -0.0227, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.3296 left_y=-0.1038 left_z=0.1428 left_yaw=0.0186 left_pitch=-0.0747 left_roll=0.0382 left_gripper=0.9998 right_x=0.2948 right_y=0.0019 right_z=0.181 right_yaw=0.0002 right_pitch=-0.0183 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [0.253, -5.1624, 7.5966, 1.5995, -0.1783, 0.1441, -0.0171, -0.0205, -1.2923, 7.0906, 1.7802, -0.0659, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4728, 1.2209, 0.7208, -0.2501, -0.4084, -0.2928, 0.9997, -0.0193, 0.7979, 0.6132, -0.3912, -0.0227, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.3392 left_y=-0.0907 left_z=0.137 left_yaw=0.0252 left_pitch=-0.1066 left_roll=0.047 left_gripper=0.9997 right_x=0.2947 right_y=0.0019 right_z=0.1808 right_yaw=0.0002 right_pitch=-0.0191 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [0.1299, -4.3282, 9.5795, 1.5214, 0.0464, 0.1832, -0.0171, 0.0068, -1.2103, 7.0222, 1.7411, -0.0464, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4324, 1.2522, 0.7284, -0.2436, -0.3851, -0.2775, 0.9998, -0.0193, 0.7998, 0.6132, -0.3927, -0.0227, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.3451 left_y=-0.0822 left_z=0.13 left_yaw=0.0397 left_pitch=-0.1297 left_roll=0.0526 left_gripper=0.9998 right_x=0.2946 right_y=0.0019 right_z=0.18 right_yaw=0.0002 right_pitch=-0.0225 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -5.012, 9.3197, 1.7656, -0.1538, 0.2027, -0.0122, -0.2256, -1.4427, 7.0496, 1.7998, -0.0317, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70bed709e40e7fb8ee72e28d0f2420127297d05af3d3c21946e6b4457856373b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7f4a7b33522b5bb9f23308afd159f248b37b0e526ab9187affafa2091a13610",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a88ca3a36a62c150de39ef7e222a84006ad6f32b7912c18d2352acd74c859851",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvwQKjgEIEhgCKkCnnxTCf8UZrdaqrv4KaVt4BMR1YJsR2LCTJ+ZYt/u+eCjdxIgHQBsjg5WV7ue++6nZFCMP1sFYSpaU0G2ueTu6Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeX5y9UGEgwasj1bEZDw21CX+3EaDKfHeeW9S2dVUGhs4iIwN+ZEm8k+2GSeb/Lv4aQDGqciEGPqE5NrBDKVEDMoydaPtpcfTJpOLMUU+f5d1RGMKt0Cz+o61jnGIHXyBP9j+jx8YxBGWiRmlwVCeIahp7BprG0DXkrkLWd0N2jnmzjm43YvZIxoh2vt/d/QxOTpDoWcEQ19h+mkuMjJ/yLmWmEIIqdy5IGeOYoLcef3KrDk4ScJom9yIe841IHPdqhZ1yuDqV6qFOE5xZlG4q9ujUODcltLNRp05arSWMUXZcA85EvxGT7Uak+LPIjkPX7B40IM8Pb42bvc+hZc/qDB/Lgbgm1YuGI/aMJDkcKudrto+Jd0DJDM1cZ2KFf6gjDo+CuB6kbwgPxCzw6Cpu+X2a20upJpqKXQfG7ButF7jE8VB9ILeDk8lmns6ua1SSMP0KIM/xhRCDfNTVsw/u5ZoPAhAJ3pxha9xKD/WfXSQTHyL6L3CGKDMkgzIZZt8DYT1HXqnkucVtngXJyfm/R9TLw+Ni0lyhi+FEATPJXbCyWt77oxGMPlOpblQqU8vuCm8xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017VKALF6tZtRJVFcaT93QKN",
      "input": {
        "note": "The arm only sagged to z=0.13 instead of 0.045, so re-commanding a full descent to table level over the cap.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.082,
          "left_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_017VKALF6tZtRJVFcaT93QKN",
      "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]: [-0.4313, 1.6341, 0.4534, 0.3599, -0.3859, -0.2951, 0.9993, -0.0193, 0.8043, 0.6132, -0.3962, -0.025, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.3425 left_y=-0.0805 left_z=0.0008 left_yaw=0.0549 left_pitch=-0.1762 left_roll=0.0647 left_gripper=0.9993 right_x=0.2944 right_y=0.0023 right_z=0.178 right_yaw=0.0021 right_pitch=-0.0305 right_roll=0.0011 right_gripper=0.9994\nstate[joint_eff]: [0.5949, -4.6154, 3.2342, 0.696, -0.1441, 0.1685, -0.0562, -0.0752, -1.5385, 7.0222, 1.7656, 0.105, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11b70c77074b8ed7c772e2a400bb980a57e969e5af463bd4c40de59ef7a5ae51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aad274fc4d9c7042b7d793359701c21477f7cc88cbd63a1db0bd05532318a1d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fa2c993ca3bc2cb659188ba6efe984914ed7a9218fb9e8b90fdceeea1d2b030a",
        "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 · 5.554 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]: [-0.4728, 1.2209, 0.7208, -0.2501, -0.4084, -0.2928, 0.9997, -0.0193, 0.7979, 0.6132, -0.3912, -0.0227, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.3392 left_y=-0.0907 left_z=0.137 left_yaw=0.0252 left_pitch=-0.1066 left_roll=0.047 left_gripper=0.9997 right_x=0.2947 right_y=0.0019 right_z=0.1808 right_yaw=0.0002 right_pitch=-0.0191 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [0.1299, -4.3282, 9.5795, 1.5214, 0.0464, 0.1832, -0.0171, 0.0068, -1.2103, 7.0222, 1.7411, -0.0464, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4324, 1.2522, 0.7284, -0.2436, -0.3851, -0.2775, 0.9998, -0.0193, 0.7998, 0.6132, -0.3927, -0.0227, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.3451 left_y=-0.0822 left_z=0.13 left_yaw=0.0397 left_pitch=-0.1297 left_roll=0.0526 left_gripper=0.9998 right_x=0.2946 right_y=0.0019 right_z=0.18 right_yaw=0.0002 right_pitch=-0.0225 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -5.012, 9.3197, 1.7656, -0.1538, 0.2027, -0.0122, -0.2256, -1.4427, 7.0496, 1.7998, -0.0317, -0.0366, -0.0122]",
      "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]: [-0.4313, 1.6341, 0.4534, 0.3599, -0.3859, -0.2951, 0.9993, -0.0193, 0.8043, 0.6132, -0.3962, -0.025, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.3425 left_y=-0.0805 left_z=0.0008 left_yaw=0.0549 left_pitch=-0.1762 left_roll=0.0647 left_gripper=0.9993 right_x=0.2944 right_y=0.0023 right_z=0.178 right_yaw=0.0021 right_pitch=-0.0305 right_roll=0.0011 right_gripper=0.9994\nstate[joint_eff]: [0.5949, -4.6154, 3.2342, 0.696, -0.1441, 0.1685, -0.0562, -0.0752, -1.5385, 7.0222, 1.7656, 0.105, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11b70c77074b8ed7c772e2a400bb980a57e969e5af463bd4c40de59ef7a5ae51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aad274fc4d9c7042b7d793359701c21477f7cc88cbd63a1db0bd05532318a1d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa2c993ca3bc2cb659188ba6efe984914ed7a9218fb9e8b90fdceeea1d2b030a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EvPvxA6NqW6x9JVJRQvk9n",
      "input": {
        "note": "At table level the wrist view shows the small object still ahead of and slightly right of the jaws; lifting slightly and moving 3.5 cm forward / 3 cm right to straddle it.",
        "targets": {
          "left_x": 0.385,
          "left_y": -0.112,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01EvPvxA6NqW6x9JVJRQvk9n",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.466, 1.668, 0.675, 0.1955, -0.3958, -0.3206, 0.9993, -0.0193, 0.8051, 0.6132, -0.3992, -0.0261, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.3829 left_y=-0.1123 left_z=0.0357 left_yaw=0.0402 left_pitch=-0.1516 left_roll=0.0406 left_gripper=0.9993 right_x=0.294 right_y=0.0025 right_z=0.1772 right_yaw=0.0031 right_pitch=-0.0343 right_roll=0.0018 right_gripper=0.9994\nstate[joint_eff]: [-0.4991, -6.5846, 7.2, 1.2772, -0.3394, -0.0513, -0.0171, -0.0342, -1.388, 7.0222, 1.7314, -0.022, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:573bca4e0502dcd42109ef94cd42165880ea958e42985c967d28f12f5212a326",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffa8541b03ebbaa4a1386e460a72c6101e427862df99f4adec79dbeff81c02a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:19ba23fb4a10acb80d8c844607fc9a4dfffcb9d7cc40fad3e5f9fa685d1cffd6",
        "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 · 8.235 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]: [-0.4324, 1.2522, 0.7284, -0.2436, -0.3851, -0.2775, 0.9998, -0.0193, 0.7998, 0.6132, -0.3927, -0.0227, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.3451 left_y=-0.0822 left_z=0.13 left_yaw=0.0397 left_pitch=-0.1297 left_roll=0.0526 left_gripper=0.9998 right_x=0.2946 right_y=0.0019 right_z=0.18 right_yaw=0.0002 right_pitch=-0.0225 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -5.012, 9.3197, 1.7656, -0.1538, 0.2027, -0.0122, -0.2256, -1.4427, 7.0496, 1.7998, -0.0317, -0.0366, -0.0122]",
      "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]: [-0.4313, 1.6341, 0.4534, 0.3599, -0.3859, -0.2951, 0.9993, -0.0193, 0.8043, 0.6132, -0.3962, -0.025, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.3425 left_y=-0.0805 left_z=0.0008 left_yaw=0.0549 left_pitch=-0.1762 left_roll=0.0647 left_gripper=0.9993 right_x=0.2944 right_y=0.0023 right_z=0.178 right_yaw=0.0021 right_pitch=-0.0305 right_roll=0.0011 right_gripper=0.9994\nstate[joint_eff]: [0.5949, -4.6154, 3.2342, 0.696, -0.1441, 0.1685, -0.0562, -0.0752, -1.5385, 7.0222, 1.7656, 0.105, -0.0415, -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 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]: [-0.466, 1.668, 0.675, 0.1955, -0.3958, -0.3206, 0.9993, -0.0193, 0.8051, 0.6132, -0.3992, -0.0261, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.3829 left_y=-0.1123 left_z=0.0357 left_yaw=0.0402 left_pitch=-0.1516 left_roll=0.0406 left_gripper=0.9993 right_x=0.294 right_y=0.0025 right_z=0.1772 right_yaw=0.0031 right_pitch=-0.0343 right_roll=0.0018 right_gripper=0.9994\nstate[joint_eff]: [-0.4991, -6.5846, 7.2, 1.2772, -0.3394, -0.0513, -0.0171, -0.0342, -1.388, 7.0222, 1.7314, -0.022, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:573bca4e0502dcd42109ef94cd42165880ea958e42985c967d28f12f5212a326",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffa8541b03ebbaa4a1386e460a72c6101e427862df99f4adec79dbeff81c02a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19ba23fb4a10acb80d8c844607fc9a4dfffcb9d7cc40fad3e5f9fa685d1cffd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIShQcKjgEIEhgCKkAS+GYhYiUZF+LtlDyTumz9M0eSBzptinnBO/AQvRpmTPinC0gNefAK3Sswgj6icJDv9So8cjbqbC05pHaEJUcTMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf35y9UGEgyW42On0gYS7/6/x6waDO9Cq6H0l5x3BaNIhyIwYx6JRr+Fu71M8R6mgFMjhLlIGlAi6DnU7zzghX0912I3R1JUCFD9Xy2ZVTM+YZt/KqMFmPMiAHysPdj0p3iPb2dHVC0ty7Uorx5uPGVQ09rJzElysAeuRHF9uxA2ot35MALF924pmsvQRRhrWQqkSyVTEADGk/TM17CGvXf54bQhdZLmoOL0kKNjSyuM50dh1SztJ96u1Y/LaBAy9Gn0p4WYvude9Ksd2f9EQm5DGf8lD8zSONw8p9HPjhnRuf3fICfE+WihipIoHHhYeQHCgcIm9H87CwEpXxCMthIXpnBJfoCc5ESgUi8XBzxGjbIddQ9dtXXPz00qA/v1z9TaJeSteVloxXgjIfFchZkVX7nPPeDh2dh+uFYNPbJt+PZzt8cL7aEqL//7lJdP1tgyeRgmB2YIdUpyOebS917VT9flRzYqXkgaB0C3TxnBVUnlVIWAhYKjvNfJzBBLoFE/cO9F1Wogr5RxZwoBIP/aWcMc8fGGK2DOmLfGpNJ412S2HoldUEXszbTp3lPhWmcXfQmgey10E2Pv6K6vtc4BaZVredk4j+wLWur68MG0U30SHg8L6/YzDY22dSRx6csSipx3JU5iiPthFu2j4PWUJKItrRsts7gp/SXjHgFpuKBs26CatpwU1aXBjK4CF0OOM0A+dWxPZ0B+QO/AozwRNMUXd0B+UqbhhZ6gbjRSQXhCy8djShezlejNnrKa93mVs4f5ctiDxO+wHpujEujKRzIY2ESorIv5Q7Xbp2CaGAfd31oo9V/shCUrkGAAXCkJXl0GPRMctVhRKCYSpGQo8vPv42z6QZk74lF3iWoMLzmtTEXxKDQ1l3hMfNG9VeZ//+Mwm2rii4UU0oHYjPzBWRilDyIpkyCojd+NcpBs/ebQ5UtkGRn3X3aWrGXeMGFJcZ0MPPc4/T6ALEI7Y2sTotFsJ7/IEH+YhYMElKbQVzygfQNryuafGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LbstgGoUQmyfQHCJvwXnxH",
      "input": {
        "note": "The cap now sits right between the open jaws at the bottom of the wrist view; descending to table level to grasp it.",
        "targets": {
          "left_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01LbstgGoUQmyfQHCJvwXnxH",
      "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]: [-0.4671, 1.7889, 0.6338, 0.3389, -0.3946, -0.3424, 0.999, -0.0193, 0.807, 0.6132, -0.4122, -0.0261, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.3811 left_y=-0.1121 left_z=0.0001 left_yaw=0.0515 left_pitch=-0.1678 left_roll=0.0328 left_gripper=0.999 right_x=0.2924 right_y=0.0026 right_z=0.174 right_yaw=0.0031 right_pitch=-0.0491 right_roll=0.0021 right_gripper=0.9994\nstate[joint_eff]: [0.0615, -5.3675, 3.8496, 1.0085, -0.2125, 0.2515, -0.0513, -0.0068, -1.2786, 7.0222, 1.8828, -0.0415, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15ae850769123422977238eaf52bfb3b6ae3f0ed19c975139d3aaf130f85426a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:daa9538e62747281f0fe3625aadddc5b755ae80cde8f0bf6cdded66442afd0bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3b18e7fd703edbc72ced6faf0db4c5c832fc4d9def6a564147690348e1df9c44",
        "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 · 3.278 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]: [-0.4313, 1.6341, 0.4534, 0.3599, -0.3859, -0.2951, 0.9993, -0.0193, 0.8043, 0.6132, -0.3962, -0.025, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.3425 left_y=-0.0805 left_z=0.0008 left_yaw=0.0549 left_pitch=-0.1762 left_roll=0.0647 left_gripper=0.9993 right_x=0.2944 right_y=0.0023 right_z=0.178 right_yaw=0.0021 right_pitch=-0.0305 right_roll=0.0011 right_gripper=0.9994\nstate[joint_eff]: [0.5949, -4.6154, 3.2342, 0.696, -0.1441, 0.1685, -0.0562, -0.0752, -1.5385, 7.0222, 1.7656, 0.105, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.466, 1.668, 0.675, 0.1955, -0.3958, -0.3206, 0.9993, -0.0193, 0.8051, 0.6132, -0.3992, -0.0261, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.3829 left_y=-0.1123 left_z=0.0357 left_yaw=0.0402 left_pitch=-0.1516 left_roll=0.0406 left_gripper=0.9993 right_x=0.294 right_y=0.0025 right_z=0.1772 right_yaw=0.0031 right_pitch=-0.0343 right_roll=0.0018 right_gripper=0.9994\nstate[joint_eff]: [-0.4991, -6.5846, 7.2, 1.2772, -0.3394, -0.0513, -0.0171, -0.0342, -1.388, 7.0222, 1.7314, -0.022, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4671, 1.7889, 0.6338, 0.3389, -0.3946, -0.3424, 0.999, -0.0193, 0.807, 0.6132, -0.4122, -0.0261, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.3811 left_y=-0.1121 left_z=0.0001 left_yaw=0.0515 left_pitch=-0.1678 left_roll=0.0328 left_gripper=0.999 right_x=0.2924 right_y=0.0026 right_z=0.174 right_yaw=0.0031 right_pitch=-0.0491 right_roll=0.0021 right_gripper=0.9994\nstate[joint_eff]: [0.0615, -5.3675, 3.8496, 1.0085, -0.2125, 0.2515, -0.0513, -0.0068, -1.2786, 7.0222, 1.8828, -0.0415, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15ae850769123422977238eaf52bfb3b6ae3f0ed19c975139d3aaf130f85426a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:daa9538e62747281f0fe3625aadddc5b755ae80cde8f0bf6cdded66442afd0bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b18e7fd703edbc72ced6faf0db4c5c832fc4d9def6a564147690348e1df9c44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlgUKjgEIEhgCKkBso5C+kXLODyi7rVG/a8yem/WZ3n8KJj3FCDuDPB+nsi5kBNITVQOrtyIKupdtwUlH/wY1X+ktyZJv66UmspzcMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYX6y9UGEgzyNudhHwjpUhi5sIcaDLDF+acwTOSN662kAiIwSXXhVMBY80GEzEgP3OYaBWc5fsaa0eBUQUxXCb8Epk6S9Q9ONt3+KuHccQPAdxDxKrQDpZ1VC1C5sSdgQ7MEUJXTUUjyjxvr8j0fED1X5/XrTAx1kDmxltO568Jenz7sq0YljISfIsPx/Iitld6ZZ7q6nWDuIK3x6+afrWejYTAHOZBMKd7xCfB37MToLWX9J38c+ZV0KFTr8Nl6Hz5dn5gQnIvd6QVlt9oI6uSKcHz4ic2LU6zAAOXZdOCJCSc5+Z6U0ZJzSVg+VRWLoS09KjxZlwddHKhDC2tKLOQtoiMhBRIYXZNA9QXlkm66fccsPK3K4OxiRYT8C3NBGY/99foH6dgAbBBalcFKLfskt1z28aveijOb35NKrGox/j9HqO6gLwSI0cgQPvpX32wCDlKmXzdXt9mgmcazwasbDNEqGsGL+gaHeSjc+MEUfqzr+2R7PRKBDz57lA38/dzRcu1ubLWgFkS4PPHZIrg2dfDMa0dWt/YStiCv1i5KdXRfpIozkFKloqpkAMT9nb/IND/2l820wbefxnv61jT6Nk1DC7KtA+M5g5UW5bZoKCWQfNZYGVGri8axIzgD3dRm5GIVsInEevVS+jzuG+1hG8UrdgZQjtkE8TvPR9YzlJeHoO4n9ydDoxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012QFMd2BGtXqSJSDazTUyPa",
      "input": {
        "note": "The cap sits ~2 cm left of the jaw centre line in the wrist view; nudging +y to center it before closing.",
        "targets": {
          "left_y": -0.095
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_012QFMd2BGtXqSJSDazTUyPa",
      "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]: [-0.4519, 1.7996, 0.6231, 0.392, -0.3847, -0.337, 0.9986, -0.0193, 0.8074, 0.6132, -0.4122, -0.0261, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.3858 left_y=-0.1096 left_z=0.0009 left_yaw=0.0535 left_pitch=-0.1437 left_roll=0.0148 left_gripper=0.9986 right_x=0.2924 right_y=0.0026 right_z=0.1739 right_yaw=0.0031 right_pitch=-0.0495 right_roll=0.0022 right_gripper=0.9994\nstate[joint_eff]: [0.5402, -8.8821, 4.1504, 1.2918, -0.0952, 0.1636, -0.0513, -0.1436, -1.1009, 7.2137, 1.6923, -0.0366, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59a81e38b3367d71fdb51b1ed17275e03d6abf43210daec6354220d354c78a2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de7fc41b0ba8e4daa3521a822dfb7284f2591a804dc24f6e6ac095dbabdb2550",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d7d0da081949e371d226117cc5eac53e17996a54525d3217a3d99d31bdd2c1fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 3.884 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]: [-0.466, 1.668, 0.675, 0.1955, -0.3958, -0.3206, 0.9993, -0.0193, 0.8051, 0.6132, -0.3992, -0.0261, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.3829 left_y=-0.1123 left_z=0.0357 left_yaw=0.0402 left_pitch=-0.1516 left_roll=0.0406 left_gripper=0.9993 right_x=0.294 right_y=0.0025 right_z=0.1772 right_yaw=0.0031 right_pitch=-0.0343 right_roll=0.0018 right_gripper=0.9994\nstate[joint_eff]: [-0.4991, -6.5846, 7.2, 1.2772, -0.3394, -0.0513, -0.0171, -0.0342, -1.388, 7.0222, 1.7314, -0.022, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4671, 1.7889, 0.6338, 0.3389, -0.3946, -0.3424, 0.999, -0.0193, 0.807, 0.6132, -0.4122, -0.0261, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.3811 left_y=-0.1121 left_z=0.0001 left_yaw=0.0515 left_pitch=-0.1678 left_roll=0.0328 left_gripper=0.999 right_x=0.2924 right_y=0.0026 right_z=0.174 right_yaw=0.0031 right_pitch=-0.0491 right_roll=0.0021 right_gripper=0.9994\nstate[joint_eff]: [0.0615, -5.3675, 3.8496, 1.0085, -0.2125, 0.2515, -0.0513, -0.0068, -1.2786, 7.0222, 1.8828, -0.0415, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4519, 1.7996, 0.6231, 0.392, -0.3847, -0.337, 0.9986, -0.0193, 0.8074, 0.6132, -0.4122, -0.0261, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.3858 left_y=-0.1096 left_z=0.0009 left_yaw=0.0535 left_pitch=-0.1437 left_roll=0.0148 left_gripper=0.9986 right_x=0.2924 right_y=0.0026 right_z=0.1739 right_yaw=0.0031 right_pitch=-0.0495 right_roll=0.0022 right_gripper=0.9994\nstate[joint_eff]: [0.5402, -8.8821, 4.1504, 1.2918, -0.0952, 0.1636, -0.0513, -0.1436, -1.1009, 7.2137, 1.6923, -0.0366, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59a81e38b3367d71fdb51b1ed17275e03d6abf43210daec6354220d354c78a2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de7fc41b0ba8e4daa3521a822dfb7284f2591a804dc24f6e6ac095dbabdb2550",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7d0da081949e371d226117cc5eac53e17996a54525d3217a3d99d31bdd2c1fc",
        "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/AIKjgEIEhgCKkDmSzYnS0S2V+XB+QMasZJa438GfYf5M4W04AUlN2iT2yCUgZG2yQgM/Sn2zf1s5ai2xpcy4iMISzrio9W9nICYMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYn6y9UGEgxW78VXK+dICBANEYsaDInmjw+UmXznQIVnoyIwAkC8ruTUxRqxbZ9uxKINlQ2Mn5pB9APhiiOQiDI5QalB/0e4mW0pEpf3roF+woZdKpoBcWBGUM597KErxqtNoNqjGmggI9R7GoaKqdb3PnE8EFC8nBvF6dnGZcWju/OIaa9AB42EnJ+Q6Bn05nxVt7Vm5j+6nJee3oMilC569ca+IYpvrv/geR1+2gbylYsMr19mqj2NDXwtOr90geg9xvRmHCcU85UqXYX+p8BSExOMbdk2YVUuIcKV5TwRB1fPcj0Rp/coEq3Pql/WhRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01P6EoZEceAWARChBSQRBN1K",
      "input": {
        "note": "Cap is between the fingertips at table level; closing the left gripper on it.",
        "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_01P6EoZEceAWARChBSQRBN1K",
      "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]: [-0.4389, 1.7924, 0.6231, 0.382, -0.3878, -0.3305, 0.0481, -0.0193, 0.8074, 0.6132, -0.4126, -0.0261, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.3865 left_y=-0.1037 left_z=0.0021 left_yaw=0.0655 left_pitch=-0.1451 left_roll=0.023 left_gripper=0.0481 right_x=0.2923 right_y=0.0026 right_z=0.1739 right_yaw=0.0031 right_pitch=-0.0499 right_roll=0.0022 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -8.5675, 4.4376, 1.2039, -0.0415, 0.0464, 1.0232, -0.212, -1.2376, 7.0769, 1.7851, -0.0171, -0.0513, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bf251396ea38180e37c629795b90ed7502ebd4060996b732699eea94660ad24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c7c032747bde9e4ecbdeb2f765480b331282ec78dafb3349bfc3bdc60639561",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:686d148d852947e35a8b64791db4678d6ff65c2772bc6fd2d328b80f9929ca6f",
        "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 · 16.17 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]: [-0.4671, 1.7889, 0.6338, 0.3389, -0.3946, -0.3424, 0.999, -0.0193, 0.807, 0.6132, -0.4122, -0.0261, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.3811 left_y=-0.1121 left_z=0.0001 left_yaw=0.0515 left_pitch=-0.1678 left_roll=0.0328 left_gripper=0.999 right_x=0.2924 right_y=0.0026 right_z=0.174 right_yaw=0.0031 right_pitch=-0.0491 right_roll=0.0021 right_gripper=0.9994\nstate[joint_eff]: [0.0615, -5.3675, 3.8496, 1.0085, -0.2125, 0.2515, -0.0513, -0.0068, -1.2786, 7.0222, 1.8828, -0.0415, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4519, 1.7996, 0.6231, 0.392, -0.3847, -0.337, 0.9986, -0.0193, 0.8074, 0.6132, -0.4122, -0.0261, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.3858 left_y=-0.1096 left_z=0.0009 left_yaw=0.0535 left_pitch=-0.1437 left_roll=0.0148 left_gripper=0.9986 right_x=0.2924 right_y=0.0026 right_z=0.1739 right_yaw=0.0031 right_pitch=-0.0495 right_roll=0.0022 right_gripper=0.9994\nstate[joint_eff]: [0.5402, -8.8821, 4.1504, 1.2918, -0.0952, 0.1636, -0.0513, -0.1436, -1.1009, 7.2137, 1.6923, -0.0366, -0.0464, -0.0171]",
      "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]: [-0.4389, 1.7924, 0.6231, 0.382, -0.3878, -0.3305, 0.0481, -0.0193, 0.8074, 0.6132, -0.4126, -0.0261, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.3865 left_y=-0.1037 left_z=0.0021 left_yaw=0.0655 left_pitch=-0.1451 left_roll=0.023 left_gripper=0.0481 right_x=0.2923 right_y=0.0026 right_z=0.1739 right_yaw=0.0031 right_pitch=-0.0499 right_roll=0.0022 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -8.5675, 4.4376, 1.2039, -0.0415, 0.0464, 1.0232, -0.212, -1.2376, 7.0769, 1.7851, -0.0171, -0.0513, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bf251396ea38180e37c629795b90ed7502ebd4060996b732699eea94660ad24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c7c032747bde9e4ecbdeb2f765480b331282ec78dafb3349bfc3bdc60639561",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:686d148d852947e35a8b64791db4678d6ff65c2772bc6fd2d328b80f9929ca6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS4gQKjgEIEhgCKkA4NnXgri2K9YtQy3g1YApUBOEitDTbJN56gAX2NDEJEtEk+3Hv4RFFYuNK+RnVBRGJOo9BEF3J1GOW5NHiALDpMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAY36y9UGEgxtnPNrIr2sBG0E1KEaDMfST+W5L65aX3FiIyIwtV3zfj9gkpsuopDxA7n2MchXNiCaiA0QKCzwviNhiGaFbx6dV4E1UNBiodgWo8jXKoADSbpI34Zfb1yHmsTDwT7MoyOEn+kA87Kw3I2Jf7Oko4Wrj6XOXOsSW4dVWHuOW98JRF5fJBtMUV/h9gPRU6xgC9BkiPfCe6EvTrYKEASdrw0sHCMyjB2Lt5qNlXPa55J9jhn1Dhb+Mj9RkBvJPmzAwyl9uPjQZgZOhM+5/oWv2XVBYmm6Z7U/6FWPHxMTzL8n6d2GokLoCMTV+gy6qkqKl+nzxbQ5HNQa0S9c7GsDWNdl2/ypuR4ERxgi5mB/tvCsFwomkwosYPS0F06LU/a6eEM871sNiIQyTyoVq6VV+Oj416ueE2TqS7r9T6wzrNhNA1OfH3ZSvb2IrCufYcTLGLGuGwdNCCtSUqW35KNkGysxk+r7D/7s59jRyj0aGKeWNxFA4NpkxIU1AygvyN4TAfYqPUEe9E1lB/xW9rqTK5j16tFXL7PzwcZhBlKYX+M9To959qwL+gJjEf/ZKQmIsUZFSMeZ4+wPCF/OCvgAyBGuOXwl9bJASmwtHo62bsX4GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MTqiSZ6eGGuGj1z34yaMmu",
      "input": {
        "note": "Gripper closed to 0.048 (~0.5 cm), suggesting something thin is held; lifting 12 cm to verify in the overhead view.",
        "targets": {
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01MTqiSZ6eGGuGj1z34yaMmu",
      "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]: [-0.4389, 1.5005, 0.8169, -0.1135, -0.3878, -0.3389, 0.0506, -0.0193, 0.8093, 0.6132, -0.4126, -0.0261, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.3853 left_y=-0.1031 left_z=0.1002 left_yaw=0.0709 left_pitch=-0.1536 left_roll=0.0215 left_gripper=0.0506 right_x=0.2924 right_y=0.0026 right_z=0.1733 right_yaw=0.0031 right_pitch=-0.0518 right_roll=0.0022 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -7.9521, 9.1145, 1.4921, -0.2173, 0.0415, 1.0281, -0.0068, -1.2376, 7.0222, 1.7265, -0.0024, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0920fe1b6c22e2cb3c27ead2da0b0bf59d6e00684ac8b630b4c2c8dd424c3728",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4583ac09cdfb00bbf9b68ba50198ececaafedb4475e0f70357eb8f438bea4276",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:368531b5bfc87653ea581535cd75661a25c7bf0713de622698b0d8f4179a4f46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /messages · status 200 · 34.63 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]: [-0.4519, 1.7996, 0.6231, 0.392, -0.3847, -0.337, 0.9986, -0.0193, 0.8074, 0.6132, -0.4122, -0.0261, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.3858 left_y=-0.1096 left_z=0.0009 left_yaw=0.0535 left_pitch=-0.1437 left_roll=0.0148 left_gripper=0.9986 right_x=0.2924 right_y=0.0026 right_z=0.1739 right_yaw=0.0031 right_pitch=-0.0495 right_roll=0.0022 right_gripper=0.9994\nstate[joint_eff]: [0.5402, -8.8821, 4.1504, 1.2918, -0.0952, 0.1636, -0.0513, -0.1436, -1.1009, 7.2137, 1.6923, -0.0366, -0.0464, -0.0171]",
      "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]: [-0.4389, 1.7924, 0.6231, 0.382, -0.3878, -0.3305, 0.0481, -0.0193, 0.8074, 0.6132, -0.4126, -0.0261, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.3865 left_y=-0.1037 left_z=0.0021 left_yaw=0.0655 left_pitch=-0.1451 left_roll=0.023 left_gripper=0.0481 right_x=0.2923 right_y=0.0026 right_z=0.1739 right_yaw=0.0031 right_pitch=-0.0499 right_roll=0.0022 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -8.5675, 4.4376, 1.2039, -0.0415, 0.0464, 1.0232, -0.212, -1.2376, 7.0769, 1.7851, -0.0171, -0.0513, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4389, 1.5005, 0.8169, -0.1135, -0.3878, -0.3389, 0.0506, -0.0193, 0.8093, 0.6132, -0.4126, -0.0261, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.3853 left_y=-0.1031 left_z=0.1002 left_yaw=0.0709 left_pitch=-0.1536 left_roll=0.0215 left_gripper=0.0506 right_x=0.2924 right_y=0.0026 right_z=0.1733 right_yaw=0.0031 right_pitch=-0.0518 right_roll=0.0022 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -7.9521, 9.1145, 1.4921, -0.2173, 0.0415, 1.0281, -0.0068, -1.2376, 7.0222, 1.7265, -0.0024, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0920fe1b6c22e2cb3c27ead2da0b0bf59d6e00684ac8b630b4c2c8dd424c3728",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4583ac09cdfb00bbf9b68ba50198ececaafedb4475e0f70357eb8f438bea4276",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:368531b5bfc87653ea581535cd75661a25c7bf0713de622698b0d8f4179a4f46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011cvYsphyXdzc74QyuKDuA7",
      "input": {
        "note": "The lift shows the left gripper is empty — the blob I grasped was a table mark. Parking the left arm and bringing the right arm over the only visible object (the pen near table centre) to inspect it and look for the cap.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.29,
          "left_y": 0.0,
          "left_z": 0.18,
          "right_x": 0.36,
          "right_y": 0.26,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_011cvYsphyXdzc74QyuKDuA7",
      "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]: [-0.1081, 0.9134, 0.7326, -0.5655, -0.1661, -0.1268, 0.998, 0.8551, 1.6577, 1.0981, -0.2852, 0.6296, 0.5255, 0.9994]\nstate[eef_state]: left_x=0.2918 left_y=0.0013 left_z=0.1702 left_yaw=0.1001 left_pitch=-0.1635 left_roll=0.0172 left_gripper=0.998 right_x=0.3538 right_y=0.2539 right_z=0.1367 right_yaw=0.0373 right_pitch=-0.0925 right_roll=-0.0336 right_gripper=0.9994\nstate[joint_eff]: [0.4171, -2.359, 8.8957, 1.4872, 0.0122, 0.1978, -0.0757, 0.5402, -8.0889, 8.4171, 1.3797, 0.5788, 0.2222, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9af47f519e801d5ce18b7da79f6f92093984881a3af6832f373965bdea19764",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9722ae075c63b6df55ae2ee3f8a20b69f82e3c576626055e1faa89fdb994e174",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:139bfd16f65e715036fa8f7066fcdffea032c17e3fb7feab1b9cc7587426abb0",
        "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 · 17.03 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]: [-0.4389, 1.7924, 0.6231, 0.382, -0.3878, -0.3305, 0.0481, -0.0193, 0.8074, 0.6132, -0.4126, -0.0261, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.3865 left_y=-0.1037 left_z=0.0021 left_yaw=0.0655 left_pitch=-0.1451 left_roll=0.023 left_gripper=0.0481 right_x=0.2923 right_y=0.0026 right_z=0.1739 right_yaw=0.0031 right_pitch=-0.0499 right_roll=0.0022 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -8.5675, 4.4376, 1.2039, -0.0415, 0.0464, 1.0232, -0.212, -1.2376, 7.0769, 1.7851, -0.0171, -0.0513, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.4389, 1.5005, 0.8169, -0.1135, -0.3878, -0.3389, 0.0506, -0.0193, 0.8093, 0.6132, -0.4126, -0.0261, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.3853 left_y=-0.1031 left_z=0.1002 left_yaw=0.0709 left_pitch=-0.1536 left_roll=0.0215 left_gripper=0.0506 right_x=0.2924 right_y=0.0026 right_z=0.1733 right_yaw=0.0031 right_pitch=-0.0518 right_roll=0.0022 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -7.9521, 9.1145, 1.4921, -0.2173, 0.0415, 1.0281, -0.0068, -1.2376, 7.0222, 1.7265, -0.0024, -0.0708, -0.0122]",
      "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]: [-0.1081, 0.9134, 0.7326, -0.5655, -0.1661, -0.1268, 0.998, 0.8551, 1.6577, 1.0981, -0.2852, 0.6296, 0.5255, 0.9994]\nstate[eef_state]: left_x=0.2918 left_y=0.0013 left_z=0.1702 left_yaw=0.1001 left_pitch=-0.1635 left_roll=0.0172 left_gripper=0.998 right_x=0.3538 right_y=0.2539 right_z=0.1367 right_yaw=0.0373 right_pitch=-0.0925 right_roll=-0.0336 right_gripper=0.9994\nstate[joint_eff]: [0.4171, -2.359, 8.8957, 1.4872, 0.0122, 0.1978, -0.0757, 0.5402, -8.0889, 8.4171, 1.3797, 0.5788, 0.2222, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9af47f519e801d5ce18b7da79f6f92093984881a3af6832f373965bdea19764",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9722ae075c63b6df55ae2ee3f8a20b69f82e3c576626055e1faa89fdb994e174",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:139bfd16f65e715036fa8f7066fcdffea032c17e3fb7feab1b9cc7587426abb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PS7zi5QzEZVN4hR3reXxc9",
      "input": {
        "note": "Right wrist camera shows the pen running diagonally under the jaws; yawing the tool -57° so the jaws will close across the pen's axis, and dropping to 12 cm.",
        "targets": {
          "right_yaw": -1.0,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01PS7zi5QzEZVN4hR3reXxc9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1051, 0.9192, 0.7326, -0.5873, -0.157, -0.1291, 0.9985, 0.9192, 2.3566, 2.0212, -1.3159, 0.8532, 1.6531, 0.9993]\nstate[eef_state]: left_x=0.2885 left_y=0.0009 left_z=0.1647 left_yaw=0.0977 left_pitch=-0.1916 left_roll=0.0149 left_gripper=0.9985 right_x=0.3714 right_y=0.2734 right_z=0.0892 right_yaw=-0.7268 right_pitch=-0.1582 right_roll=-0.0052 right_gripper=0.9993\nstate[joint_eff]: [-0.4171, -2.359, 6.8581, 1.7265, -0.1929, -0.022, 0.0366, -2.5368, -11.9179, 5.9692, 0.2027, 0.5495, 0.1832, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:883b2c197c728f99482069d8714f6719154163e5d1e5fdba179f70c09d0638ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8a15da04e44b3438a36db6da70d62351a835a805c71537056944917d178618d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7429fa60aecce76ea1e5f7f3ba37c1899d342345ff151cb0d3cf3225e5f94301",
        "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 · 12.84 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]: [-0.4389, 1.5005, 0.8169, -0.1135, -0.3878, -0.3389, 0.0506, -0.0193, 0.8093, 0.6132, -0.4126, -0.0261, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.3853 left_y=-0.1031 left_z=0.1002 left_yaw=0.0709 left_pitch=-0.1536 left_roll=0.0215 left_gripper=0.0506 right_x=0.2924 right_y=0.0026 right_z=0.1733 right_yaw=0.0031 right_pitch=-0.0518 right_roll=0.0022 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -7.9521, 9.1145, 1.4921, -0.2173, 0.0415, 1.0281, -0.0068, -1.2376, 7.0222, 1.7265, -0.0024, -0.0708, -0.0122]",
      "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]: [-0.1081, 0.9134, 0.7326, -0.5655, -0.1661, -0.1268, 0.998, 0.8551, 1.6577, 1.0981, -0.2852, 0.6296, 0.5255, 0.9994]\nstate[eef_state]: left_x=0.2918 left_y=0.0013 left_z=0.1702 left_yaw=0.1001 left_pitch=-0.1635 left_roll=0.0172 left_gripper=0.998 right_x=0.3538 right_y=0.2539 right_z=0.1367 right_yaw=0.0373 right_pitch=-0.0925 right_roll=-0.0336 right_gripper=0.9994\nstate[joint_eff]: [0.4171, -2.359, 8.8957, 1.4872, 0.0122, 0.1978, -0.0757, 0.5402, -8.0889, 8.4171, 1.3797, 0.5788, 0.2222, -0.0171]",
      "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]: [-0.1051, 0.9192, 0.7326, -0.5873, -0.157, -0.1291, 0.9985, 0.9192, 2.3566, 2.0212, -1.3159, 0.8532, 1.6531, 0.9993]\nstate[eef_state]: left_x=0.2885 left_y=0.0009 left_z=0.1647 left_yaw=0.0977 left_pitch=-0.1916 left_roll=0.0149 left_gripper=0.9985 right_x=0.3714 right_y=0.2734 right_z=0.0892 right_yaw=-0.7268 right_pitch=-0.1582 right_roll=-0.0052 right_gripper=0.9993\nstate[joint_eff]: [-0.4171, -2.359, 6.8581, 1.7265, -0.1929, -0.022, 0.0366, -2.5368, -11.9179, 5.9692, 0.2027, 0.5495, 0.1832, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:883b2c197c728f99482069d8714f6719154163e5d1e5fdba179f70c09d0638ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8a15da04e44b3438a36db6da70d62351a835a805c71537056944917d178618d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7429fa60aecce76ea1e5f7f3ba37c1899d342345ff151cb0d3cf3225e5f94301",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0114HpxLwnYw7h2wuNdSrVHu",
      "input": {
        "note": "With yaw -0.73 the pen now lies horizontal in the wrist view, which is parallel to the jaw closing direction; rotating to yaw +0.85 to make the pen appear vertical so the jaws close across it.",
        "targets": {
          "right_yaw": 0.85
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_0114HpxLwnYw7h2wuNdSrVHu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1051, 0.9245, 0.7326, -0.5957, -0.1562, -0.1295, 0.9985, 0.5602, 1.7245, 0.963, -0.0288, -0.0597, -0.017, 0.9993]\nstate[eef_state]: left_x=0.2873 left_y=0.0009 left_z=0.1618 left_yaw=0.0978 left_pitch=-0.2052 left_roll=0.0169 left_gripper=0.9985 right_x=0.3759 right_y=0.2525 right_z=0.0723 right_yaw=0.6031 right_pitch=-0.2329 right_roll=0.0433 right_gripper=0.9993\nstate[joint_eff]: [-0.1299, -2.3863, 6.8308, 1.5751, -0.1148, -0.0562, -0.0073, -0.253, -8.7179, 7.5145, 1.7509, -0.1978, -0.1343, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46d4ca3063cf8978898fb99691cffbb5ad36566fbb26e732b68fcd362df90c5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d34570554bfd401eb1c19a74c6e844e11053baf86d7e6c1b437a64196b3096b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fa1d65e30ef1d3c2ae25695e29c8d2188a224753b4a57219f1f1746005175f8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /messages · status 200 · 7.9 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]: [-0.1081, 0.9134, 0.7326, -0.5655, -0.1661, -0.1268, 0.998, 0.8551, 1.6577, 1.0981, -0.2852, 0.6296, 0.5255, 0.9994]\nstate[eef_state]: left_x=0.2918 left_y=0.0013 left_z=0.1702 left_yaw=0.1001 left_pitch=-0.1635 left_roll=0.0172 left_gripper=0.998 right_x=0.3538 right_y=0.2539 right_z=0.1367 right_yaw=0.0373 right_pitch=-0.0925 right_roll=-0.0336 right_gripper=0.9994\nstate[joint_eff]: [0.4171, -2.359, 8.8957, 1.4872, 0.0122, 0.1978, -0.0757, 0.5402, -8.0889, 8.4171, 1.3797, 0.5788, 0.2222, -0.0171]",
      "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]: [-0.1051, 0.9192, 0.7326, -0.5873, -0.157, -0.1291, 0.9985, 0.9192, 2.3566, 2.0212, -1.3159, 0.8532, 1.6531, 0.9993]\nstate[eef_state]: left_x=0.2885 left_y=0.0009 left_z=0.1647 left_yaw=0.0977 left_pitch=-0.1916 left_roll=0.0149 left_gripper=0.9985 right_x=0.3714 right_y=0.2734 right_z=0.0892 right_yaw=-0.7268 right_pitch=-0.1582 right_roll=-0.0052 right_gripper=0.9993\nstate[joint_eff]: [-0.4171, -2.359, 6.8581, 1.7265, -0.1929, -0.022, 0.0366, -2.5368, -11.9179, 5.9692, 0.2027, 0.5495, 0.1832, -0.0171]",
      "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]: [-0.1051, 0.9245, 0.7326, -0.5957, -0.1562, -0.1295, 0.9985, 0.5602, 1.7245, 0.963, -0.0288, -0.0597, -0.017, 0.9993]\nstate[eef_state]: left_x=0.2873 left_y=0.0009 left_z=0.1618 left_yaw=0.0978 left_pitch=-0.2052 left_roll=0.0169 left_gripper=0.9985 right_x=0.3759 right_y=0.2525 right_z=0.0723 right_yaw=0.6031 right_pitch=-0.2329 right_roll=0.0433 right_gripper=0.9993\nstate[joint_eff]: [-0.1299, -2.3863, 6.8308, 1.5751, -0.1148, -0.0562, -0.0073, -0.253, -8.7179, 7.5145, 1.7509, -0.1978, -0.1343, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46d4ca3063cf8978898fb99691cffbb5ad36566fbb26e732b68fcd362df90c5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d34570554bfd401eb1c19a74c6e844e11053baf86d7e6c1b437a64196b3096b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa1d65e30ef1d3c2ae25695e29c8d2188a224753b4a57219f1f1746005175f8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013UKfLayja8Sgf3iHEnwWjK",
      "input": {
        "note": "Pen now appears vertical in the right wrist view but offset ~5 cm to the image-right of the jaws; translating along the yawed tool's right axis to bring it onto the jaw column.",
        "targets": {
          "right_x": 0.405,
          "right_y": 0.222,
          "right_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_013UKfLayja8Sgf3iHEnwWjK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1051, 0.9249, 0.7326, -0.5976, -0.1562, -0.1303, 0.9985, 0.4641, 1.755, 0.9745, -0.0334, -0.1696, -0.1387, 0.9993]\nstate[eef_state]: left_x=0.287 left_y=0.001 left_z=0.1613 left_yaw=0.0983 left_pitch=-0.2074 left_roll=0.0168 left_gripper=0.9985 right_x=0.3896 right_y=0.2324 right_z=0.0644 right_yaw=0.6693 right_pitch=-0.2431 right_roll=0.0392 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -1.6479, 6.9949, 1.5165, -0.0904, -0.0513, -0.0122, -0.3897, -7.6923, 8.9231, 1.5604, -0.0659, 0.1392, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:649929baab5aed4d9031fbb1b5fe6d328f1723791b472ef4b94b7aa6bb1726e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f2e4e520e14e50c5f1213e8e8c8b1a3b309daa149b877803fe668f6c25ed4a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cd0d6bd1d91f9c6ec3e9656b8c09f4a6c2cae003a5d025a5b87873a14006caeb",
        "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 · 4.008 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]: [-0.1051, 0.9192, 0.7326, -0.5873, -0.157, -0.1291, 0.9985, 0.9192, 2.3566, 2.0212, -1.3159, 0.8532, 1.6531, 0.9993]\nstate[eef_state]: left_x=0.2885 left_y=0.0009 left_z=0.1647 left_yaw=0.0977 left_pitch=-0.1916 left_roll=0.0149 left_gripper=0.9985 right_x=0.3714 right_y=0.2734 right_z=0.0892 right_yaw=-0.7268 right_pitch=-0.1582 right_roll=-0.0052 right_gripper=0.9993\nstate[joint_eff]: [-0.4171, -2.359, 6.8581, 1.7265, -0.1929, -0.022, 0.0366, -2.5368, -11.9179, 5.9692, 0.2027, 0.5495, 0.1832, -0.0171]",
      "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]: [-0.1051, 0.9245, 0.7326, -0.5957, -0.1562, -0.1295, 0.9985, 0.5602, 1.7245, 0.963, -0.0288, -0.0597, -0.017, 0.9993]\nstate[eef_state]: left_x=0.2873 left_y=0.0009 left_z=0.1618 left_yaw=0.0978 left_pitch=-0.2052 left_roll=0.0169 left_gripper=0.9985 right_x=0.3759 right_y=0.2525 right_z=0.0723 right_yaw=0.6031 right_pitch=-0.2329 right_roll=0.0433 right_gripper=0.9993\nstate[joint_eff]: [-0.1299, -2.3863, 6.8308, 1.5751, -0.1148, -0.0562, -0.0073, -0.253, -8.7179, 7.5145, 1.7509, -0.1978, -0.1343, -0.0073]\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]: [-0.1051, 0.9249, 0.7326, -0.5976, -0.1562, -0.1303, 0.9985, 0.4641, 1.755, 0.9745, -0.0334, -0.1696, -0.1387, 0.9993]\nstate[eef_state]: left_x=0.287 left_y=0.001 left_z=0.1613 left_yaw=0.0983 left_pitch=-0.2074 left_roll=0.0168 left_gripper=0.9985 right_x=0.3896 right_y=0.2324 right_z=0.0644 right_yaw=0.6693 right_pitch=-0.2431 right_roll=0.0392 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -1.6479, 6.9949, 1.5165, -0.0904, -0.0513, -0.0122, -0.3897, -7.6923, 8.9231, 1.5604, -0.0659, 0.1392, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:649929baab5aed4d9031fbb1b5fe6d328f1723791b472ef4b94b7aa6bb1726e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f2e4e520e14e50c5f1213e8e8c8b1a3b309daa149b877803fe668f6c25ed4a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd0d6bd1d91f9c6ec3e9656b8c09f4a6c2cae003a5d025a5b87873a14006caeb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStAgKjgEIEhgCKkCreuLtTx/m82aNreeQ4LiwWhd83g+qNNlZ/dc+rYU2vpDXWOsGgQOXqZCQ/Y75wRznzppwZ+pnPkjhOJn+7rAKMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAer6y9UGEgykf42K41+9CTz8EzYaDKFqXwXvr/mqXBIv0SIw3AXSAD4jTj8i6Mdl28zTegi8e6bXARk5DfqfcUaxM/66fUc0SNKPkUJv/T8agiT4KtIGFhujOXsvNFZJEldeFs4rhnCiMPD6hlnG2YMQsHWqpkFxwL0Q2eIicKZ0IDD8ooXoPKz2Yl4z/rF58ZH98RggcX9VoydICi4fwZCb3dKORZu23J6sxJEyynVYiWFj/sqNwIpkRawYFATooNKhhMJUVl3zYEs4A2EmHv8HD+GlX2mj5A2A9AeUaqjxvkJ34GIfK9gJWPMrGkYwS9FCrPVgA8Axkn9JAaOCgkWP2RDsi9RGBijdH9JsMeCLoyceB21EQpAr8yKEFjedtjrSKUxGS8b5tcGzNB7mKsoWfsAhElsm3jr3iOVXjJx2InC43gjdCd4z5LS2keJ0f7gRQKnXUykB6g4E7Nyl4QzoqFdnNV/4cHiidoRwEiORQd1SOWNu6lkvvQZyt0TwFOhXA0APjHrNR6c6fv3gqt24cnH3eWcl/11STKW0g7vd9Gsm6oao6OAKkbZUxewR+JpYWBjsGKfqCEAE046HFxmA2SPRvgDE7mAz+jC5wLYJZTjJT428ZuUM8ntmuhRwH19An9ZJXPmF1TFPagHWHP/qLbL/3J2n06Vsj50eyeqMZfFDZOygsQ5FEv3S6+e1c/uWHzKmNrQbcZGcrdbWYOL56sg7ogjVQtczQyjQn7GeRnSR3KuyEayBDyUyC4AhVp56EamLQYp1ytZE7o6XyCKtKo4IhLi4x4dmsBWLF84D3UuK1rOn3PoME+yxMh0v4fClCQNc6IuCJj/0MMxgMM7QXw4jxQPZzAh8cWn9YZ3I8uME/wugqRfqDWYcnKN8cnoPIZpXvKp0pPB0ia0tIT4wfKZycb7zGaTL5zzWHY+yaOhUbOK80bUys3cD386wi+8p/76zeiA/2zLVySSFWoc/GWZ7rE2mOU2caf+1LLOS0Ct0aS1NS6JtS167hEbb9B5txwEeBw7pm1DOW3McsgiOuhnP7yfivL95s1VB0BnpwYTDltS1Rwi7PvMmX9K8h3B2LnztdMT87moQSuNMJnV8dGnhLvF8xureO4y8E/PN2YH7BI1uxgnJ/CNqr1fzDAnhtOKVg2fGuMYULsORlAoYKBy3SKMK2XZdvxekxGsGVCr+f0A/85Hq2DepvJHCQ0wvc7v3rEQCz34L1vd4MH+04CWD73IfzhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017hjbm22n6wkktvBWAMmq54",
      "input": {
        "note": "Pen is now ~2.5 cm right of the jaw column; shifting a bit further along the tool's right axis while descending toward the table.",
        "targets": {
          "right_x": 0.405,
          "right_y": 0.21,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_017hjbm22n6wkktvBWAMmq54",
      "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]: [-0.1051, 0.9249, 0.7326, -0.6025, -0.1562, -0.1299, 0.9985, 0.4343, 1.763, 0.9798, -0.0444, -0.1513, -0.1158, 0.9993]\nstate[eef_state]: left_x=0.2861 left_y=0.0011 left_z=0.1605 left_yaw=0.0983 left_pitch=-0.2123 left_roll=0.0181 left_gripper=0.9985 right_x=0.3974 right_y=0.2176 right_z=0.0608 right_yaw=0.6118 right_pitch=-0.2598 right_roll=0.0446 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -1.7299, 7.0085, 1.5702, -0.0952, -0.0317, -0.0122, -0.0205, -8.3077, 8.1436, 1.5458, -0.0708, 0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28473812a6077a8baf35c6507c960d9a52479d7b2837d49bd42d6fb1792eabf7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ec20e9b76ee6eff25cd3db1d281f42e9d5772f48510a80986ac4db8ffc87925",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9112e17efac5e29406d7fefad7e5bfad83fb4d486941a2d0a5561a7cfeb78dda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 5.38 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]: [-0.1051, 0.9245, 0.7326, -0.5957, -0.1562, -0.1295, 0.9985, 0.5602, 1.7245, 0.963, -0.0288, -0.0597, -0.017, 0.9993]\nstate[eef_state]: left_x=0.2873 left_y=0.0009 left_z=0.1618 left_yaw=0.0978 left_pitch=-0.2052 left_roll=0.0169 left_gripper=0.9985 right_x=0.3759 right_y=0.2525 right_z=0.0723 right_yaw=0.6031 right_pitch=-0.2329 right_roll=0.0433 right_gripper=0.9993\nstate[joint_eff]: [-0.1299, -2.3863, 6.8308, 1.5751, -0.1148, -0.0562, -0.0073, -0.253, -8.7179, 7.5145, 1.7509, -0.1978, -0.1343, -0.0073]\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]: [-0.1051, 0.9249, 0.7326, -0.5976, -0.1562, -0.1303, 0.9985, 0.4641, 1.755, 0.9745, -0.0334, -0.1696, -0.1387, 0.9993]\nstate[eef_state]: left_x=0.287 left_y=0.001 left_z=0.1613 left_yaw=0.0983 left_pitch=-0.2074 left_roll=0.0168 left_gripper=0.9985 right_x=0.3896 right_y=0.2324 right_z=0.0644 right_yaw=0.6693 right_pitch=-0.2431 right_roll=0.0392 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -1.6479, 6.9949, 1.5165, -0.0904, -0.0513, -0.0122, -0.3897, -7.6923, 8.9231, 1.5604, -0.0659, 0.1392, -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 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]: [-0.1051, 0.9249, 0.7326, -0.6025, -0.1562, -0.1299, 0.9985, 0.4343, 1.763, 0.9798, -0.0444, -0.1513, -0.1158, 0.9993]\nstate[eef_state]: left_x=0.2861 left_y=0.0011 left_z=0.1605 left_yaw=0.0983 left_pitch=-0.2123 left_roll=0.0181 left_gripper=0.9985 right_x=0.3974 right_y=0.2176 right_z=0.0608 right_yaw=0.6118 right_pitch=-0.2598 right_roll=0.0446 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -1.7299, 7.0085, 1.5702, -0.0952, -0.0317, -0.0122, -0.0205, -8.3077, 8.1436, 1.5458, -0.0708, 0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28473812a6077a8baf35c6507c960d9a52479d7b2837d49bd42d6fb1792eabf7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ec20e9b76ee6eff25cd3db1d281f42e9d5772f48510a80986ac4db8ffc87925",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9112e17efac5e29406d7fefad7e5bfad83fb4d486941a2d0a5561a7cfeb78dda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISgAUKjgEIEhgCKkAyIpELxE99Kd1BqTntLl3sjFA6JNhuNiDEyusGMZJ5B7U+LmfE5iZvw6KJdB8njJC/061GRGu2TG9fkTVglB43Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe/6y9UGEgxzzC219XcOH/okAkkaDKDv09rsa6VeBV1qsyIwXhLKh/5z7Lyi1R6HyIw/kwsPZqzPNtQ6hZ8gy+Qu2XfYjEkqVBb+TGNSQ5R18HYRKp4DYWZnmImDqFSnJpfLazm662Q0ooUqucE16YaDZFFfKsJlrdBNHj0yMnlUJIK9T3M9PeZoTGe5mazClqkyCbbhsgYm91RmtCYHxxy6bIa2CWfqQG4p4U0BvF9nZX9znSeUM/PxvfSjoODV8ALDzY9JdaB/eoFoSqNRcISSN0yWCRSZ1KpyKDITLgpu0lUQEoH/Unt08SR8BNAKFtEB2JHuYdWmtIR123nYS93FDoTcHcaBh9csTsOxbFBlguQo9MUVbXgtaVgfVzN4ZYR8+ry36l+cm/Wgf8dENvtjx/lPAMxNKecM+6CxEvqo19C1GpIuuUDwKi69fxrCVKx/3uwbPTBEZZbaHVVuj7Mip5cSp9b7YBEjjcUVDkXIboNKjYAtlZWF9RFDseafDWeJxd+cyEM/j6DgG9hGqj/z6QzXvc8XYPiR18L4Nwar0j6hvkw7qKFgGy/tM8RJ3JBv0xJnzE9kDAe7hrKHh6PTm9zGmd9qnjBWwWAePUFHsLRWqAGkBftE9wRCXwWN0y4uxdPYOoJzMni+b0XNQYtsG6E9GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011HS4U9Dh9s8EFF5nkfAUZP",
      "input": {
        "note": "Pen is aligned vertically on the jaw column; descending to table level for the grasp.",
        "targets": {
          "right_y": 0.206,
          "right_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_011HS4U9Dh9s8EFF5nkfAUZP",
      "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]: [-0.1051, 0.9249, 0.7326, -0.6025, -0.1562, -0.1318, 0.9985, 0.4343, 1.763, 0.9798, -0.0441, -0.1509, -0.1158, 0.9993]\nstate[eef_state]: left_x=0.2861 left_y=0.0011 left_z=0.1605 left_yaw=0.0994 left_pitch=-0.2123 left_roll=0.0168 left_gripper=0.9985 right_x=0.3974 right_y=0.2176 right_z=0.0608 right_yaw=0.6115 right_pitch=-0.2595 right_roll=0.0443 right_gripper=0.9993\nstate[joint_eff]: [-0.1026, -1.4838, 6.8171, 1.5263, -0.1294, -0.0317, -0.0122, 0.0068, -8.0752, 8.1436, 1.5458, -0.0708, 0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6879e65ea5ecf42fc3f16b47b3ff6bcf6741326400589f5c1cdab7ec5b98179",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7cd69ed60bf29c2be7718d7ffe8b5a24cffe76c88eff5f1bb1c69e147f4c1e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:728f67f21c9f2df53dd2f5dc4a858f151d1262b557789218902fa37ca59ad4e7",
        "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 · 3.025 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]: [-0.1051, 0.9249, 0.7326, -0.5976, -0.1562, -0.1303, 0.9985, 0.4641, 1.755, 0.9745, -0.0334, -0.1696, -0.1387, 0.9993]\nstate[eef_state]: left_x=0.287 left_y=0.001 left_z=0.1613 left_yaw=0.0983 left_pitch=-0.2074 left_roll=0.0168 left_gripper=0.9985 right_x=0.3896 right_y=0.2324 right_z=0.0644 right_yaw=0.6693 right_pitch=-0.2431 right_roll=0.0392 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -1.6479, 6.9949, 1.5165, -0.0904, -0.0513, -0.0122, -0.3897, -7.6923, 8.9231, 1.5604, -0.0659, 0.1392, -0.0122]\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]: [-0.1051, 0.9249, 0.7326, -0.6025, -0.1562, -0.1299, 0.9985, 0.4343, 1.763, 0.9798, -0.0444, -0.1513, -0.1158, 0.9993]\nstate[eef_state]: left_x=0.2861 left_y=0.0011 left_z=0.1605 left_yaw=0.0983 left_pitch=-0.2123 left_roll=0.0181 left_gripper=0.9985 right_x=0.3974 right_y=0.2176 right_z=0.0608 right_yaw=0.6118 right_pitch=-0.2598 right_roll=0.0446 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -1.7299, 7.0085, 1.5702, -0.0952, -0.0317, -0.0122, -0.0205, -8.3077, 8.1436, 1.5458, -0.0708, 0.0611, -0.0122]",
      "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]: [-0.1051, 0.9249, 0.7326, -0.6025, -0.1562, -0.1318, 0.9985, 0.4343, 1.763, 0.9798, -0.0441, -0.1509, -0.1158, 0.9993]\nstate[eef_state]: left_x=0.2861 left_y=0.0011 left_z=0.1605 left_yaw=0.0994 left_pitch=-0.2123 left_roll=0.0168 left_gripper=0.9985 right_x=0.3974 right_y=0.2176 right_z=0.0608 right_yaw=0.6115 right_pitch=-0.2595 right_roll=0.0443 right_gripper=0.9993\nstate[joint_eff]: [-0.1026, -1.4838, 6.8171, 1.5263, -0.1294, -0.0317, -0.0122, 0.0068, -8.0752, 8.1436, 1.5458, -0.0708, 0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6879e65ea5ecf42fc3f16b47b3ff6bcf6741326400589f5c1cdab7ec5b98179",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7cd69ed60bf29c2be7718d7ffe8b5a24cffe76c88eff5f1bb1c69e147f4c1e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:728f67f21c9f2df53dd2f5dc4a858f151d1262b557789218902fa37ca59ad4e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISxwQKjgEIEhgCKkAToSX+G/HLMa2u3xumGUUt3D3/pC7Rd2t4CfLfYCH6KMMaNtpPI4kZPtdFyTbVR+bHJ11iEuKBxQjWqGdK18D4Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfT6y9UGEgz7C8lTYVVqUs8TYnQaDEQ01yxM0Wwa6f32ECIwuMwBFmCfjtAZ8XQUE2g7V9e5mJvNQeSZ+MLXmLfCK4ZWb1ndfDJJnpSarBF5+n6TKuUC+EO52LunBYoX/1eZTMOSIrogPUH2jk8QNph7sycYFqNLw+A3K1X3GDulRTKA/0TfFMDFggAd3gHuM3z8CnP/hZZElfJnwui8cqluUM9kpTPx3ot5j8dfqpmNxYQZ0FTp+YGbAhcszD3DKmb+8LSd4BoMowsW0O7bmZzXWnpR49z+38FnKcJS+p0UuFv5hJ5unHYh491TIJpqkC3WZDe22wSM7iZsIzVfaqJTVJPzVh9zG4mglLwHLmVIDwMM7+ans1CaWzVZWFLkSJ7Jy2nat5LYfMQLxJoNh0d0bJytIccTIp0zuV6JIQ7sZrol/IbIrrrwsS2mpqZvtD0t9CmlLqswBqQXt2r/Q5E5uvSAUddtEpsKNvuODJSn7016ITyPw7Pk4TINpSTq43s7udxlQzBykSTTdt75f41weI/eYwG6IYQGtoERRgdgtZ7zVtekFc4sDJe6UIgJVl2nI95JjC5iBsDNGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011sq2E5Bk5JWr47F3CZ4usA",
      "input": {
        "note": "The last command produced no motion (z stuck at 0.06); re-commanding a firmer descent to table level over the pen.",
        "targets": {
          "right_x": 0.4,
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_011sq2E5Bk5JWr47F3CZ4usA",
      "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]: [-0.1051, 0.9241, 0.7326, -0.6033, -0.1562, -0.1322, 0.9985, 0.4332, 1.8404, 0.9455, 0.0872, -0.1551, -0.1181, 0.9993]\nstate[eef_state]: left_x=0.2859 left_y=0.0011 left_z=0.1605 left_yaw=0.0996 left_pitch=-0.2123 left_roll=0.0165 left_gripper=0.9985 right_x=0.4041 right_y=0.2209 right_z=0.0362 right_yaw=0.6144 right_pitch=-0.2397 right_roll=0.0422 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -1.7983, 6.8171, 1.5165, -0.0855, -0.0708, -0.0122, -0.294, -4.506, 2.2222, 0.5397, -0.0806, -0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a69e9d5c15d6c74bd513f52cf80da4907e6eb9855889f0aeec05023550998a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9e3f530eda78d09733923209aadbb5c0f6efcb6db1912563a3a063518fbf0a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d2a3ba1cc5f63ee29855e0934eaa93a1374efe939b2cb915de55702df4290a75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 2.948 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]: [-0.1051, 0.9249, 0.7326, -0.6025, -0.1562, -0.1299, 0.9985, 0.4343, 1.763, 0.9798, -0.0444, -0.1513, -0.1158, 0.9993]\nstate[eef_state]: left_x=0.2861 left_y=0.0011 left_z=0.1605 left_yaw=0.0983 left_pitch=-0.2123 left_roll=0.0181 left_gripper=0.9985 right_x=0.3974 right_y=0.2176 right_z=0.0608 right_yaw=0.6118 right_pitch=-0.2598 right_roll=0.0446 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -1.7299, 7.0085, 1.5702, -0.0952, -0.0317, -0.0122, -0.0205, -8.3077, 8.1436, 1.5458, -0.0708, 0.0611, -0.0122]",
      "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]: [-0.1051, 0.9249, 0.7326, -0.6025, -0.1562, -0.1318, 0.9985, 0.4343, 1.763, 0.9798, -0.0441, -0.1509, -0.1158, 0.9993]\nstate[eef_state]: left_x=0.2861 left_y=0.0011 left_z=0.1605 left_yaw=0.0994 left_pitch=-0.2123 left_roll=0.0168 left_gripper=0.9985 right_x=0.3974 right_y=0.2176 right_z=0.0608 right_yaw=0.6115 right_pitch=-0.2595 right_roll=0.0443 right_gripper=0.9993\nstate[joint_eff]: [-0.1026, -1.4838, 6.8171, 1.5263, -0.1294, -0.0317, -0.0122, 0.0068, -8.0752, 8.1436, 1.5458, -0.0708, 0.0562, -0.0073]",
      "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]: [-0.1051, 0.9241, 0.7326, -0.6033, -0.1562, -0.1322, 0.9985, 0.4332, 1.8404, 0.9455, 0.0872, -0.1551, -0.1181, 0.9993]\nstate[eef_state]: left_x=0.2859 left_y=0.0011 left_z=0.1605 left_yaw=0.0996 left_pitch=-0.2123 left_roll=0.0165 left_gripper=0.9985 right_x=0.4041 right_y=0.2209 right_z=0.0362 right_yaw=0.6144 right_pitch=-0.2397 right_roll=0.0422 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -1.7983, 6.8171, 1.5165, -0.0855, -0.0708, -0.0122, -0.294, -4.506, 2.2222, 0.5397, -0.0806, -0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a69e9d5c15d6c74bd513f52cf80da4907e6eb9855889f0aeec05023550998a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9e3f530eda78d09733923209aadbb5c0f6efcb6db1912563a3a063518fbf0a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2a3ba1cc5f63ee29855e0934eaa93a1374efe939b2cb915de55702df4290a75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISzAIKjgEIEhgCKkAUfelvHhghelwaahVjH7ycLqB0MhARPLilnTZJnPFbsOagqwWQ2ysWoHDJVG7f/Ad43pByNc0Mah+aRyspXlsNMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfj6y9UGEgw1Vk9W+zzEyy5boykaDPkcNjT+WombKOqIYCIwsSXZq2Ifk0IH/cWNLbUGe3yBIsGU4wMzmmsOXG9rEXOqFrQEXMZmt7gIW8FdGDofKmvuT+ecU3yX0Mf+I7xyfZXH1w5rDZVCG+uZVbDrvK46Iu5QN2brU5zPrUywpiF9BhpoYS3HG3DEmrT2cb2rBuv620BjmYJbdvivt2mpZvx6HFHKN2WIQ88NAiDLtD3ps73ZSIYXNxs6FA/zzBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QrcpqJTo1cA2CcpM4ifqLt",
      "input": {
        "note": "Pen is centred between the jaws; continuing the descent to table level.",
        "targets": {
          "right_z": -0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01QrcpqJTo1cA2CcpM4ifqLt",
      "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]: [-0.1051, 0.9302, 0.7319, -0.6113, -0.1562, -0.1318, 0.9985, 0.4335, 1.9453, 0.897, 0.2707, -0.1532, -0.139, 0.9993]\nstate[eef_state]: left_x=0.2847 left_y=0.0012 left_z=0.1573 left_yaw=0.1001 left_pitch=-0.2268 left_roll=0.0199 left_gripper=0.9985 right_x=0.4094 right_y=0.2232 right_z=0.0038 right_yaw=0.6232 right_pitch=-0.2099 right_roll=0.0198 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -2.4957, 6.9949, 1.5702, -0.0904, -0.0317, -0.0122, -0.1026, -6.5299, 4.0821, 0.9988, -0.1245, 0.149, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c42e971b37ba08133a0d438de8f5b9f330a1b016351f6e26c5b9538a89e20452",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b08bb7c43f68002460835ad22c41840d7e670c1bdd7981ceca35e3aff2f25c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f69fd3c7b601b655a759b9392148005acc61591a102c71d22d1e9bd76a81289f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 19 attempt 0 · /messages · status 200 · 7.209 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]: [-0.1051, 0.9249, 0.7326, -0.6025, -0.1562, -0.1318, 0.9985, 0.4343, 1.763, 0.9798, -0.0441, -0.1509, -0.1158, 0.9993]\nstate[eef_state]: left_x=0.2861 left_y=0.0011 left_z=0.1605 left_yaw=0.0994 left_pitch=-0.2123 left_roll=0.0168 left_gripper=0.9985 right_x=0.3974 right_y=0.2176 right_z=0.0608 right_yaw=0.6115 right_pitch=-0.2595 right_roll=0.0443 right_gripper=0.9993\nstate[joint_eff]: [-0.1026, -1.4838, 6.8171, 1.5263, -0.1294, -0.0317, -0.0122, 0.0068, -8.0752, 8.1436, 1.5458, -0.0708, 0.0562, -0.0073]",
      "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]: [-0.1051, 0.9241, 0.7326, -0.6033, -0.1562, -0.1322, 0.9985, 0.4332, 1.8404, 0.9455, 0.0872, -0.1551, -0.1181, 0.9993]\nstate[eef_state]: left_x=0.2859 left_y=0.0011 left_z=0.1605 left_yaw=0.0996 left_pitch=-0.2123 left_roll=0.0165 left_gripper=0.9985 right_x=0.4041 right_y=0.2209 right_z=0.0362 right_yaw=0.6144 right_pitch=-0.2397 right_roll=0.0422 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -1.7983, 6.8171, 1.5165, -0.0855, -0.0708, -0.0122, -0.294, -4.506, 2.2222, 0.5397, -0.0806, -0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1051, 0.9302, 0.7319, -0.6113, -0.1562, -0.1318, 0.9985, 0.4335, 1.9453, 0.897, 0.2707, -0.1532, -0.139, 0.9993]\nstate[eef_state]: left_x=0.2847 left_y=0.0012 left_z=0.1573 left_yaw=0.1001 left_pitch=-0.2268 left_roll=0.0199 left_gripper=0.9985 right_x=0.4094 right_y=0.2232 right_z=0.0038 right_yaw=0.6232 right_pitch=-0.2099 right_roll=0.0198 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -2.4957, 6.9949, 1.5702, -0.0904, -0.0317, -0.0122, -0.1026, -6.5299, 4.0821, 0.9988, -0.1245, 0.149, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c42e971b37ba08133a0d438de8f5b9f330a1b016351f6e26c5b9538a89e20452",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b08bb7c43f68002460835ad22c41840d7e670c1bdd7981ceca35e3aff2f25c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f69fd3c7b601b655a759b9392148005acc61591a102c71d22d1e9bd76a81289f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UVuXah34L6opJ6YfrZSzXf",
      "input": {
        "note": "Gripper is at table level with the pen between the jaws; closing to grasp the pen.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01UVuXah34L6opJ6YfrZSzXf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1051, 0.9306, 0.7319, -0.6132, -0.1562, -0.1322, 0.9985, 0.4332, 1.9648, 0.8909, 0.3313, -0.1558, -0.1238, 0.0471]\nstate[eef_state]: left_x=0.2844 left_y=0.0012 left_z=0.1568 left_yaw=0.1004 left_pitch=-0.2291 left_roll=0.0201 left_gripper=0.9985 right_x=0.4146 right_y=0.2259 right_z=0.0038 right_yaw=0.6156 right_pitch=-0.1754 right_roll=0.0264 right_gripper=0.0471\nstate[joint_eff]: [-0.1709, -2.0308, 6.8718, 1.5458, -0.1343, -0.0513, -0.0122, -0.0752, -7.7197, 4.6838, 1.2576, -0.0757, -0.022, 1.0916]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9457d3563a943c005034edd3168a0712b302af6197eb27e1d1cf7f88d659a5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:febdd79d1c1ecabe0abb278fc75691f86be1a18fd1f5008a3c1999e4fea407bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:93ee24b3da3151de0e2d4cb2ce57efa040726359e51855aceee45675ae7f614b",
        "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 · 25.92 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]: [-0.1051, 0.9241, 0.7326, -0.6033, -0.1562, -0.1322, 0.9985, 0.4332, 1.8404, 0.9455, 0.0872, -0.1551, -0.1181, 0.9993]\nstate[eef_state]: left_x=0.2859 left_y=0.0011 left_z=0.1605 left_yaw=0.0996 left_pitch=-0.2123 left_roll=0.0165 left_gripper=0.9985 right_x=0.4041 right_y=0.2209 right_z=0.0362 right_yaw=0.6144 right_pitch=-0.2397 right_roll=0.0422 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -1.7983, 6.8171, 1.5165, -0.0855, -0.0708, -0.0122, -0.294, -4.506, 2.2222, 0.5397, -0.0806, -0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1051, 0.9302, 0.7319, -0.6113, -0.1562, -0.1318, 0.9985, 0.4335, 1.9453, 0.897, 0.2707, -0.1532, -0.139, 0.9993]\nstate[eef_state]: left_x=0.2847 left_y=0.0012 left_z=0.1573 left_yaw=0.1001 left_pitch=-0.2268 left_roll=0.0199 left_gripper=0.9985 right_x=0.4094 right_y=0.2232 right_z=0.0038 right_yaw=0.6232 right_pitch=-0.2099 right_roll=0.0198 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -2.4957, 6.9949, 1.5702, -0.0904, -0.0317, -0.0122, -0.1026, -6.5299, 4.0821, 0.9988, -0.1245, 0.149, -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 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1051, 0.9306, 0.7319, -0.6132, -0.1562, -0.1322, 0.9985, 0.4332, 1.9648, 0.8909, 0.3313, -0.1558, -0.1238, 0.0471]\nstate[eef_state]: left_x=0.2844 left_y=0.0012 left_z=0.1568 left_yaw=0.1004 left_pitch=-0.2291 left_roll=0.0201 left_gripper=0.9985 right_x=0.4146 right_y=0.2259 right_z=0.0038 right_yaw=0.6156 right_pitch=-0.1754 right_roll=0.0264 right_gripper=0.0471\nstate[joint_eff]: [-0.1709, -2.0308, 6.8718, 1.5458, -0.1343, -0.0513, -0.0122, -0.0752, -7.7197, 4.6838, 1.2576, -0.0757, -0.022, 1.0916]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9457d3563a943c005034edd3168a0712b302af6197eb27e1d1cf7f88d659a5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:febdd79d1c1ecabe0abb278fc75691f86be1a18fd1f5008a3c1999e4fea407bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93ee24b3da3151de0e2d4cb2ce57efa040726359e51855aceee45675ae7f614b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStAMKjgEIEhgCKkB3SMONXf4Ty4ja3k2pjzbThrj0q+kFw1H0+GxJVYgO+LAOjPsUPIWNcyhuKKAq55mbem61cK7KZ2lzdg+wQXFmMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYL7y9UGEgyJwlzIhBoqffefsqgaDEotiFsbxezW0GkiVyIw9+JtQdqYWtfqArTx5AwRW5Ed0BHVtMti9eCywtUZaM3KGVJGVe91KGKvsCZehACdKtIBFfzaFTMvNdgGGzjZTJOPm/N7NuBmbXiXEKokNqxI4kN5XjzpMsFxL6kzZB0o7dFQMobtYNKkqh3z85YkH5doyUqfqFUVXhowR6JozD6s9pTZamzdDdIQvnrSzOHsA7PFohQHsCBZple5qsVfUfy1+18emH7drg1MblzJTmCz7VloHgZo616jhzd2PtiVj1tnohekHCbsIR/P73ujZMbtLPMNK1DbklgBOxTFFR+r85ksaj+b5MTvHoqlbB0vF7f3Vt/9MrOsIqUzqA+SgYPNlPpCGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KudEstDBgiTmApHBVQXdBu",
      "input": {
        "note": "Closed on the pen (gripper settled at 0.047); lifting 12 cm to confirm the pen came up with the jaws.",
        "targets": {
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01KudEstDBgiTmApHBVQXdBu",
      "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]: [-0.1051, 0.9314, 0.7319, -0.6136, -0.1562, -0.1322, 0.9985, 0.4335, 1.7439, 1.0641, -0.0792, -0.1577, -0.1276, 0.0497]\nstate[eef_state]: left_x=0.2843 left_y=0.0012 left_z=0.1566 left_yaw=0.1004 left_pitch=-0.2302 left_roll=0.0203 left_gripper=0.9985 right_x=0.4145 right_y=0.2264 right_z=0.0966 right_yaw=0.6202 right_pitch=-0.1912 right_roll=0.0279 right_gripper=0.0497\nstate[joint_eff]: [-0.1026, -2.0581, 6.9949, 1.4628, -0.1099, -0.0562, -0.0122, -0.3077, -11.0701, 8.9915, 1.5409, -0.0806, 0.0171, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76aefd432b86fe1e1a68cd2261c54058de337948fe17c4c477995e6faddf5d27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5082a4a1734e41a642e2c81d8b7b591dedc1625346329e4fc84fbce4f8b2b3bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:abd987f0eeae1e76a3ca88f2e508c4ce2cd71fc97b39ece5431a4f5788932c0f",
        "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 · 27.1 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]: [-0.1051, 0.9302, 0.7319, -0.6113, -0.1562, -0.1318, 0.9985, 0.4335, 1.9453, 0.897, 0.2707, -0.1532, -0.139, 0.9993]\nstate[eef_state]: left_x=0.2847 left_y=0.0012 left_z=0.1573 left_yaw=0.1001 left_pitch=-0.2268 left_roll=0.0199 left_gripper=0.9985 right_x=0.4094 right_y=0.2232 right_z=0.0038 right_yaw=0.6232 right_pitch=-0.2099 right_roll=0.0198 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -2.4957, 6.9949, 1.5702, -0.0904, -0.0317, -0.0122, -0.1026, -6.5299, 4.0821, 0.9988, -0.1245, 0.149, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1051, 0.9306, 0.7319, -0.6132, -0.1562, -0.1322, 0.9985, 0.4332, 1.9648, 0.8909, 0.3313, -0.1558, -0.1238, 0.0471]\nstate[eef_state]: left_x=0.2844 left_y=0.0012 left_z=0.1568 left_yaw=0.1004 left_pitch=-0.2291 left_roll=0.0201 left_gripper=0.9985 right_x=0.4146 right_y=0.2259 right_z=0.0038 right_yaw=0.6156 right_pitch=-0.1754 right_roll=0.0264 right_gripper=0.0471\nstate[joint_eff]: [-0.1709, -2.0308, 6.8718, 1.5458, -0.1343, -0.0513, -0.0122, -0.0752, -7.7197, 4.6838, 1.2576, -0.0757, -0.022, 1.0916]",
      "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]: [-0.1051, 0.9314, 0.7319, -0.6136, -0.1562, -0.1322, 0.9985, 0.4335, 1.7439, 1.0641, -0.0792, -0.1577, -0.1276, 0.0497]\nstate[eef_state]: left_x=0.2843 left_y=0.0012 left_z=0.1566 left_yaw=0.1004 left_pitch=-0.2302 left_roll=0.0203 left_gripper=0.9985 right_x=0.4145 right_y=0.2264 right_z=0.0966 right_yaw=0.6202 right_pitch=-0.1912 right_roll=0.0279 right_gripper=0.0497\nstate[joint_eff]: [-0.1026, -2.0581, 6.9949, 1.4628, -0.1099, -0.0562, -0.0122, -0.3077, -11.0701, 8.9915, 1.5409, -0.0806, 0.0171, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76aefd432b86fe1e1a68cd2261c54058de337948fe17c4c477995e6faddf5d27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5082a4a1734e41a642e2c81d8b7b591dedc1625346329e4fc84fbce4f8b2b3bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abd987f0eeae1e76a3ca88f2e508c4ce2cd71fc97b39ece5431a4f5788932c0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MkivggnRyktfwBdMTgc3rQ",
      "input": {
        "note": "The pen is grasped and lifted by the right arm. The cap is the small dark object visible in the top view left of centre; moving the left gripper above my overhead estimate of it.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.175,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01MkivggnRyktfwBdMTgc3rQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8204, 1.4151, 0.8803, -0.5713, -0.5674, -0.7269, 0.9985, 0.4332, 1.7409, 1.0653, -0.0971, -0.1577, -0.1272, 0.0544]\nstate[eef_state]: left_x=0.2893 left_y=-0.1658 left_z=0.1039 left_yaw=0.0825 left_pitch=-0.2853 left_roll=0.0619 left_gripper=0.9985 right_x=0.4121 right_y=0.2251 right_z=0.0952 right_yaw=0.6202 right_pitch=-0.2047 right_roll=0.0308 right_gripper=0.0544\nstate[joint_eff]: [-0.335, -5.5043, 9.3197, 1.16, -0.4811, -0.022, -0.0122, -0.1026, -8.4991, 6.3521, 1.663, -0.1294, -0.0269, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a95e61e55ad0bfccc4624b902faee0705a3b6789126b62cc497aa1f60a743e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:882d0525090daa3ef954e3187df96f252a0e42ffe543e75a44a4f9c80dc4b78c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:722da3dadccdd387446488236b0b8dcd761f1336fa2d175459109c18e1faf807",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /messages · status 200 · 9.488 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1051, 0.9306, 0.7319, -0.6132, -0.1562, -0.1322, 0.9985, 0.4332, 1.9648, 0.8909, 0.3313, -0.1558, -0.1238, 0.0471]\nstate[eef_state]: left_x=0.2844 left_y=0.0012 left_z=0.1568 left_yaw=0.1004 left_pitch=-0.2291 left_roll=0.0201 left_gripper=0.9985 right_x=0.4146 right_y=0.2259 right_z=0.0038 right_yaw=0.6156 right_pitch=-0.1754 right_roll=0.0264 right_gripper=0.0471\nstate[joint_eff]: [-0.1709, -2.0308, 6.8718, 1.5458, -0.1343, -0.0513, -0.0122, -0.0752, -7.7197, 4.6838, 1.2576, -0.0757, -0.022, 1.0916]",
      "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]: [-0.1051, 0.9314, 0.7319, -0.6136, -0.1562, -0.1322, 0.9985, 0.4335, 1.7439, 1.0641, -0.0792, -0.1577, -0.1276, 0.0497]\nstate[eef_state]: left_x=0.2843 left_y=0.0012 left_z=0.1566 left_yaw=0.1004 left_pitch=-0.2302 left_roll=0.0203 left_gripper=0.9985 right_x=0.4145 right_y=0.2264 right_z=0.0966 right_yaw=0.6202 right_pitch=-0.1912 right_roll=0.0279 right_gripper=0.0497\nstate[joint_eff]: [-0.1026, -2.0581, 6.9949, 1.4628, -0.1099, -0.0562, -0.0122, -0.3077, -11.0701, 8.9915, 1.5409, -0.0806, 0.0171, 1.033]",
      "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]: [-0.8204, 1.4151, 0.8803, -0.5713, -0.5674, -0.7269, 0.9985, 0.4332, 1.7409, 1.0653, -0.0971, -0.1577, -0.1272, 0.0544]\nstate[eef_state]: left_x=0.2893 left_y=-0.1658 left_z=0.1039 left_yaw=0.0825 left_pitch=-0.2853 left_roll=0.0619 left_gripper=0.9985 right_x=0.4121 right_y=0.2251 right_z=0.0952 right_yaw=0.6202 right_pitch=-0.2047 right_roll=0.0308 right_gripper=0.0544\nstate[joint_eff]: [-0.335, -5.5043, 9.3197, 1.16, -0.4811, -0.022, -0.0122, -0.1026, -8.4991, 6.3521, 1.663, -0.1294, -0.0269, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a95e61e55ad0bfccc4624b902faee0705a3b6789126b62cc497aa1f60a743e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:882d0525090daa3ef954e3187df96f252a0e42ffe543e75a44a4f9c80dc4b78c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:722da3dadccdd387446488236b0b8dcd761f1336fa2d175459109c18e1faf807",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XGofpLX2ham2HjuhfTi6WJ",
      "input": {
        "note": "The cap-like object sits left of the jaw column in the left wrist view; moving back left and forward to the pose where it previously lined up between the jaws, now lower for a better look.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.106,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01XGofpLX2ham2HjuhfTi6WJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5144, 1.504, 0.7612, -0.2905, -0.4305, -0.485, 0.9985, 0.4332, 1.7409, 1.0645, -0.1005, -0.1577, -0.1276, 0.0544]\nstate[eef_state]: left_x=0.3353 left_y=-0.1007 left_z=0.056 left_yaw=0.1423 left_pitch=-0.3282 left_roll=0.0809 left_gripper=0.9985 right_x=0.4114 right_y=0.2248 right_z=0.0943 right_yaw=0.6205 right_pitch=-0.2088 right_roll=0.0313 right_gripper=0.0544\nstate[joint_eff]: [0.212, -5.6547, 5.7641, 1.4335, -0.1148, 0.2418, -0.0122, -0.212, -8.6906, 6.4752, 1.5702, -0.1245, -0.0562, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce72e3788c58b7d3286eaa3bcfe600826b30c8102fc8d86f75215e382d4efe22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20507e0f958cb2e2f04bf20016fe31d5bfa9b8fba68a1af8f777b915666a0926",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4d1853e2acde95fb72c4fc544761df9a0dd92e083af5e1090ded6e6248f08f7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 23 attempt 0 · /messages · status 200 · 3.192 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]: [-0.1051, 0.9314, 0.7319, -0.6136, -0.1562, -0.1322, 0.9985, 0.4335, 1.7439, 1.0641, -0.0792, -0.1577, -0.1276, 0.0497]\nstate[eef_state]: left_x=0.2843 left_y=0.0012 left_z=0.1566 left_yaw=0.1004 left_pitch=-0.2302 left_roll=0.0203 left_gripper=0.9985 right_x=0.4145 right_y=0.2264 right_z=0.0966 right_yaw=0.6202 right_pitch=-0.1912 right_roll=0.0279 right_gripper=0.0497\nstate[joint_eff]: [-0.1026, -2.0581, 6.9949, 1.4628, -0.1099, -0.0562, -0.0122, -0.3077, -11.0701, 8.9915, 1.5409, -0.0806, 0.0171, 1.033]",
      "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]: [-0.8204, 1.4151, 0.8803, -0.5713, -0.5674, -0.7269, 0.9985, 0.4332, 1.7409, 1.0653, -0.0971, -0.1577, -0.1272, 0.0544]\nstate[eef_state]: left_x=0.2893 left_y=-0.1658 left_z=0.1039 left_yaw=0.0825 left_pitch=-0.2853 left_roll=0.0619 left_gripper=0.9985 right_x=0.4121 right_y=0.2251 right_z=0.0952 right_yaw=0.6202 right_pitch=-0.2047 right_roll=0.0308 right_gripper=0.0544\nstate[joint_eff]: [-0.335, -5.5043, 9.3197, 1.16, -0.4811, -0.022, -0.0122, -0.1026, -8.4991, 6.3521, 1.663, -0.1294, -0.0269, 1.0281]",
      "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]: [-0.5144, 1.504, 0.7612, -0.2905, -0.4305, -0.485, 0.9985, 0.4332, 1.7409, 1.0645, -0.1005, -0.1577, -0.1276, 0.0544]\nstate[eef_state]: left_x=0.3353 left_y=-0.1007 left_z=0.056 left_yaw=0.1423 left_pitch=-0.3282 left_roll=0.0809 left_gripper=0.9985 right_x=0.4114 right_y=0.2248 right_z=0.0943 right_yaw=0.6205 right_pitch=-0.2088 right_roll=0.0313 right_gripper=0.0544\nstate[joint_eff]: [0.212, -5.6547, 5.7641, 1.4335, -0.1148, 0.2418, -0.0122, -0.212, -8.6906, 6.4752, 1.5702, -0.1245, -0.0562, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce72e3788c58b7d3286eaa3bcfe600826b30c8102fc8d86f75215e382d4efe22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20507e0f958cb2e2f04bf20016fe31d5bfa9b8fba68a1af8f777b915666a0926",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d1853e2acde95fb72c4fc544761df9a0dd92e083af5e1090ded6e6248f08f7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2AoKjgEIEhgCKkCFMAPfDZrL7WSRmbH0wN7tp1wphTlWUA8eYgVtbZWhpTB8Tq2Or+BbTA5LRED+MCFw7DgcY7hJ/wCipuiQzQRAMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcX7y9UGEgxYnu0QAx0WUU3/cXUaDJvYp+/dsjTPRoZpkSIwfIDh7q7OjkpUybdTg7vHPU9arakhdP7yMl16BaNKFIUJTaqyk6PPHLma4xJtVXgDKvYIYKmFdK5aRJRkw9r04cSyFZFxc/rWaRdQd8hvss+6n0nTwhK6SJb4M1ClPGC/BSsg3shwaf4FyUL9YMHSQ2HkTbszZ+6E6wwEMkKS/4kULibjp0W41EGVThS15On0NKntLnly2/N12ta2l4nfebVzghrG/NON86HWqGhG6w+m/eFkYDZjJr8uWUb5mjjwxSyUxEZj7wEUiroU9FVvj/55u2EA5vrC1ux805aQxHKD0q00jbJW2HYG9/5kV4r/rdM4kM2rWnvAk1qjJ9s0VPIqlvjOb3Uf1/gMXATj7kUcS+eeIcbRn6zyVTSTtjdg6y+gM+B4X+J8ZH04nhTm+oZPfHoeUyfn1xkJEdBmx6+ku7ZSmDOFIrXRA73rkiGNjVv3nb6OdXVGyDqQJqUnwtB7CCuddIeRkGatdak3yy5tjdmuJL1tFRBR2NDwfXVDBgMOud5nHRL+l+HX8aihUHegG52hi8N+QDm62OhSl1wbmtmwANNGnwSuZzdCl5VGYlTy0Qvl6nS3g+oKR02ve22o2n+nabCdFNIYJxYe2KD4tiyWC/DcmWzzI7+Tbjmo3ugkpgH8pdCpBEcDMlIVLlywyj5WZ3tmq1H2/2UP/HEmuuNqV9hMMD0lznK5v6QX4EFHJnO7TYVa56kh9kCq8GgN2hfnUr9jU3sVCma8dzNwcaPW9GKKD1YLysszhN4WtYVFOikY21zc/Sonqr35NwY0dGaRt1Zvl020kInJ0ZqUS2wGYrw4FBD28mg+2hyXdmdPa3ml3kIaVl8cCxshaP8qN7dEzfce+903PSdoQDzAAd52prx63b06k7j0Wh4InsbLBknvSCUjHcgg3p+Sn2kp/67rTu50OB7Sh879evCj9O64/XwYacVDRCw1HXi3oSLe2eFORDdse9WyWkzUfwi3NZ5HyDe+wWvYcXtQWtp4jPbjZ5b5VaVmDSCvliRuXKFt2d3U1MAhe+jFcD6CLhHyHp1ZQAHHkQIYPA9Qw4Qr8DMlu5BeT6RA2m8TDWsZDEO7j6FeEzREYJmoT1JNFj4fe1sSO5cMxugeuq9RtguYysHzanz9MFe/wykphGYGByOFk4jUrB7vt5wFTUiBUW/EJqbPzAkegUS0XtCDt50ROHMhui8PjU6ufdv5t1yBYDL3V3qqJLiFlxrZ/P0/QE6k1dQFqsLdUSLkHTn+GKDk+/v5awuHLXH+Bzs+USOXbhP3IzYA4SaCgHsq4jvaoHMVm+HcEih52hKi01XEOPZILAWUeCQcQrkJLdfT0ufVIxDKscq5JBeoXvadcTeNf7Jp6pQbuTcCfH+P1EXIZm9DyG5/edmjIEWq/xJI2XdYBbRENkmcy+14uTjxLnt0QuGEw1lNiBsjK4jetTxz6SJ+6hyI8ZF0SFGiy9LDzllSi0aFkWuhkBnGk5UqjPgZk0G+sFvfHUmltKoI/1VHgL/dllmWWB1GzpgtS1xaxQHgg6bJuKjhbrenKAPIzuYfcmRLmQ1P+a0Z+6TzQCYA81QidjxfD7z0eIAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011FKMgJZc7woRff64hNqcV5",
      "input": {
        "note": "The cap is now centred on the jaw column but a few cm ahead of the fingertips; advancing ~3 cm and dropping to table level to straddle it.",
        "targets": {
          "left_x": 0.368,
          "left_y": -0.1,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_011FKMgJZc7woRff64hNqcV5",
      "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]: [-0.4641, 1.7245, 0.7525, -0.0731, -0.4107, -0.45, 0.9985, 0.4335, 1.7412, 1.0634, -0.1001, -0.1574, -0.1272, 0.0544]\nstate[eef_state]: left_x=0.3591 left_y=-0.0969 left_z=0.0038 left_yaw=0.1603 left_pitch=-0.3497 left_roll=0.0967 left_gripper=0.9985 right_x=0.4111 right_y=0.2248 right_z=0.0938 right_yaw=0.6204 right_pitch=-0.21 right_roll=0.0316 right_gripper=0.0544\nstate[joint_eff]: [0.3077, -5.3675, 5.6274, 0.9353, -0.0757, 0.1538, -0.0073, -0.0205, -8.3487, 6.6667, 1.5116, -0.0659, -0.0171, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aabbad35564467482b0f7e87e9bf7bdb882acbd1531d23f9898e9a8fb01a20fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cef7bac1cec5165976b03343c911bfd8fa0c8457dba8b4b8db4713a3194ae297",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:896de13d0cd33882385ecb5b25928e5501c5b5128d957a218c14a0e2bd6fe7da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
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call 24 attempt 0 · /messages · status 200 · 12.24 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]: [-0.8204, 1.4151, 0.8803, -0.5713, -0.5674, -0.7269, 0.9985, 0.4332, 1.7409, 1.0653, -0.0971, -0.1577, -0.1272, 0.0544]\nstate[eef_state]: left_x=0.2893 left_y=-0.1658 left_z=0.1039 left_yaw=0.0825 left_pitch=-0.2853 left_roll=0.0619 left_gripper=0.9985 right_x=0.4121 right_y=0.2251 right_z=0.0952 right_yaw=0.6202 right_pitch=-0.2047 right_roll=0.0308 right_gripper=0.0544\nstate[joint_eff]: [-0.335, -5.5043, 9.3197, 1.16, -0.4811, -0.022, -0.0122, -0.1026, -8.4991, 6.3521, 1.663, -0.1294, -0.0269, 1.0281]",
      "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]: [-0.5144, 1.504, 0.7612, -0.2905, -0.4305, -0.485, 0.9985, 0.4332, 1.7409, 1.0645, -0.1005, -0.1577, -0.1276, 0.0544]\nstate[eef_state]: left_x=0.3353 left_y=-0.1007 left_z=0.056 left_yaw=0.1423 left_pitch=-0.3282 left_roll=0.0809 left_gripper=0.9985 right_x=0.4114 right_y=0.2248 right_z=0.0943 right_yaw=0.6205 right_pitch=-0.2088 right_roll=0.0313 right_gripper=0.0544\nstate[joint_eff]: [0.212, -5.6547, 5.7641, 1.4335, -0.1148, 0.2418, -0.0122, -0.212, -8.6906, 6.4752, 1.5702, -0.1245, -0.0562, 1.0379]",
      "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]: [-0.4641, 1.7245, 0.7525, -0.0731, -0.4107, -0.45, 0.9985, 0.4335, 1.7412, 1.0634, -0.1001, -0.1574, -0.1272, 0.0544]\nstate[eef_state]: left_x=0.3591 left_y=-0.0969 left_z=0.0038 left_yaw=0.1603 left_pitch=-0.3497 left_roll=0.0967 left_gripper=0.9985 right_x=0.4111 right_y=0.2248 right_z=0.0938 right_yaw=0.6204 right_pitch=-0.21 right_roll=0.0316 right_gripper=0.0544\nstate[joint_eff]: [0.3077, -5.3675, 5.6274, 0.9353, -0.0757, 0.1538, -0.0073, -0.0205, -8.3487, 6.6667, 1.5116, -0.0659, -0.0171, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aabbad35564467482b0f7e87e9bf7bdb882acbd1531d23f9898e9a8fb01a20fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cef7bac1cec5165976b03343c911bfd8fa0c8457dba8b4b8db4713a3194ae297",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:896de13d0cd33882385ecb5b25928e5501c5b5128d957a218c14a0e2bd6fe7da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS6AIKjgEIEhgCKkCdUsTCzOh+TEgrLyeHEisSr2boGUfnvi6k395iAdHALj49IEJMoXGpxxm/UqeTPnVHa6SdxUREsHFuae/L/nIAMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcn7y9UGEgy+4BvhWAIEHBvaP9oaDNbJbFhKk4JD2+vJmyIw/M1oXaCZrzkwspDfZ8zZEU9gg6jz5Y1nc/S0EUtda5EY6Z8RXpiTuOppsqVUFJ1jKoYBL+qgNewokG3aT44Q2SXlJMm3HZZUH5ROjQ/EBKTJDUISRKujZNl+PKfLFS7pmH/AsGTq63aYSC0BIR/9W2iloZs4ddMsT+x7cs53Mp9ZcosKrUIIS3eKZrDpPddinZMK+udE/71N74FYypYK52ENKClfh3NoHrvR0LZEIodQW1qObhNak44YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RLS3H4WBkocadCX6geHRDt",
      "input": {
        "note": "The cap is now between the fingertips at table level; closing the left gripper on it.",
        "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_01RLS3H4WBkocadCX6geHRDt",
      "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]: [-0.4583, 1.7496, 0.7525, -0.0105, -0.4107, -0.4427, 0.0092, 0.4332, 1.7412, 1.0634, -0.0982, -0.1577, -0.1272, 0.0588]\nstate[eef_state]: left_x=0.3683 left_y=-0.0991 left_z=0.0025 left_yaw=0.1543 left_pitch=-0.3196 left_roll=0.0785 left_gripper=0.0092 right_x=0.4115 right_y=0.2248 right_z=0.0941 right_yaw=0.6203 right_pitch=-0.208 right_roll=0.0315 right_gripper=0.0588\nstate[joint_eff]: [-0.0205, -7.0085, 5.2991, 1.2137, -0.1001, 0.1197, 0.7009, -0.2256, -8.6222, 6.4342, 1.5458, -0.1001, -0.022, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fcc3a4f2a15a77b8cebd1104db68385de242744a3fc9c721e7b39999ce01662",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f795fe74ae5a6215dc69cf84943159e8021ecfcd36d67b61e30b23ab11cb5298",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aa1521f7154c2c028a5fc9748320f22a8daebfc56812a8b14bd9bead16e2f202",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /messages · status 200 · 16.21 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]: [-0.5144, 1.504, 0.7612, -0.2905, -0.4305, -0.485, 0.9985, 0.4332, 1.7409, 1.0645, -0.1005, -0.1577, -0.1276, 0.0544]\nstate[eef_state]: left_x=0.3353 left_y=-0.1007 left_z=0.056 left_yaw=0.1423 left_pitch=-0.3282 left_roll=0.0809 left_gripper=0.9985 right_x=0.4114 right_y=0.2248 right_z=0.0943 right_yaw=0.6205 right_pitch=-0.2088 right_roll=0.0313 right_gripper=0.0544\nstate[joint_eff]: [0.212, -5.6547, 5.7641, 1.4335, -0.1148, 0.2418, -0.0122, -0.212, -8.6906, 6.4752, 1.5702, -0.1245, -0.0562, 1.0379]",
      "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]: [-0.4641, 1.7245, 0.7525, -0.0731, -0.4107, -0.45, 0.9985, 0.4335, 1.7412, 1.0634, -0.1001, -0.1574, -0.1272, 0.0544]\nstate[eef_state]: left_x=0.3591 left_y=-0.0969 left_z=0.0038 left_yaw=0.1603 left_pitch=-0.3497 left_roll=0.0967 left_gripper=0.9985 right_x=0.4111 right_y=0.2248 right_z=0.0938 right_yaw=0.6204 right_pitch=-0.21 right_roll=0.0316 right_gripper=0.0544\nstate[joint_eff]: [0.3077, -5.3675, 5.6274, 0.9353, -0.0757, 0.1538, -0.0073, -0.0205, -8.3487, 6.6667, 1.5116, -0.0659, -0.0171, 1.0379]",
      "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]: [-0.4583, 1.7496, 0.7525, -0.0105, -0.4107, -0.4427, 0.0092, 0.4332, 1.7412, 1.0634, -0.0982, -0.1577, -0.1272, 0.0588]\nstate[eef_state]: left_x=0.3683 left_y=-0.0991 left_z=0.0025 left_yaw=0.1543 left_pitch=-0.3196 left_roll=0.0785 left_gripper=0.0092 right_x=0.4115 right_y=0.2248 right_z=0.0941 right_yaw=0.6203 right_pitch=-0.208 right_roll=0.0315 right_gripper=0.0588\nstate[joint_eff]: [-0.0205, -7.0085, 5.2991, 1.2137, -0.1001, 0.1197, 0.7009, -0.2256, -8.6222, 6.4342, 1.5458, -0.1001, -0.022, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fcc3a4f2a15a77b8cebd1104db68385de242744a3fc9c721e7b39999ce01662",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f795fe74ae5a6215dc69cf84943159e8021ecfcd36d67b61e30b23ab11cb5298",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa1521f7154c2c028a5fc9748320f22a8daebfc56812a8b14bd9bead16e2f202",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01X1x7Y84yG5JHB3nZtRxDhc",
      "input": {
        "note": "The left close came up empty (0.009) and the cap is no longer in the wrist view, so I am pulling both arms back and up — right arm still holding the pen — to get an unobstructed overhead view and re-locate the cap.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.24,
          "left_y": 0.0,
          "left_z": 0.25,
          "right_x": 0.3,
          "right_y": 0.05,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01X1x7Y84yG5JHB3nZtRxDhc",
      "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]: [-0.2279, 0.9703, 1.1378, -1.0969, -0.2909, -0.2737, 0.9971, -0.1314, 1.256, 1.4399, -1.0943, -0.4953, -0.543, 0.0589]\nstate[eef_state]: left_x=0.2515 left_y=-0.0026 left_z=0.2382 left_yaw=0.1807 left_pitch=-0.3065 left_roll=0.0605 left_gripper=0.9971 right_x=0.3153 right_y=0.0466 right_z=0.2889 right_yaw=0.5691 right_pitch=-0.2118 right_roll=0.0169 right_gripper=0.0589\nstate[joint_eff]: [0.294, -2.1949, 8.5402, 1.1453, -0.1734, 0.2271, -0.022, -0.3897, -4.4513, 7.8291, 1.2918, -0.3541, -0.0757, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2ac7026de584db93de0d1bbcd415fa010043c75d14ecb1d72c443586f124211",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27a4eeedb795997c29cf8940e0c505ff409e0d94f919f7c906d72354c497eed5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:98575212f2a173883c4c6f304c34b6e55a9880e863691d0281c3cc72929ac8c5",
        "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 · 17.18 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]: [-0.4641, 1.7245, 0.7525, -0.0731, -0.4107, -0.45, 0.9985, 0.4335, 1.7412, 1.0634, -0.1001, -0.1574, -0.1272, 0.0544]\nstate[eef_state]: left_x=0.3591 left_y=-0.0969 left_z=0.0038 left_yaw=0.1603 left_pitch=-0.3497 left_roll=0.0967 left_gripper=0.9985 right_x=0.4111 right_y=0.2248 right_z=0.0938 right_yaw=0.6204 right_pitch=-0.21 right_roll=0.0316 right_gripper=0.0544\nstate[joint_eff]: [0.3077, -5.3675, 5.6274, 0.9353, -0.0757, 0.1538, -0.0073, -0.0205, -8.3487, 6.6667, 1.5116, -0.0659, -0.0171, 1.0379]",
      "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]: [-0.4583, 1.7496, 0.7525, -0.0105, -0.4107, -0.4427, 0.0092, 0.4332, 1.7412, 1.0634, -0.0982, -0.1577, -0.1272, 0.0588]\nstate[eef_state]: left_x=0.3683 left_y=-0.0991 left_z=0.0025 left_yaw=0.1543 left_pitch=-0.3196 left_roll=0.0785 left_gripper=0.0092 right_x=0.4115 right_y=0.2248 right_z=0.0941 right_yaw=0.6203 right_pitch=-0.208 right_roll=0.0315 right_gripper=0.0588\nstate[joint_eff]: [-0.0205, -7.0085, 5.2991, 1.2137, -0.1001, 0.1197, 0.7009, -0.2256, -8.6222, 6.4342, 1.5458, -0.1001, -0.022, 1.033]",
      "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]: [-0.2279, 0.9703, 1.1378, -1.0969, -0.2909, -0.2737, 0.9971, -0.1314, 1.256, 1.4399, -1.0943, -0.4953, -0.543, 0.0589]\nstate[eef_state]: left_x=0.2515 left_y=-0.0026 left_z=0.2382 left_yaw=0.1807 left_pitch=-0.3065 left_roll=0.0605 left_gripper=0.9971 right_x=0.3153 right_y=0.0466 right_z=0.2889 right_yaw=0.5691 right_pitch=-0.2118 right_roll=0.0169 right_gripper=0.0589\nstate[joint_eff]: [0.294, -2.1949, 8.5402, 1.1453, -0.1734, 0.2271, -0.022, -0.3897, -4.4513, 7.8291, 1.2918, -0.3541, -0.0757, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2ac7026de584db93de0d1bbcd415fa010043c75d14ecb1d72c443586f124211",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27a4eeedb795997c29cf8940e0c505ff409e0d94f919f7c906d72354c497eed5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98575212f2a173883c4c6f304c34b6e55a9880e863691d0281c3cc72929ac8c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018YGCTDUYyGiFjJAVPNzqyD",
      "input": {
        "note": "Clean overhead view shows the cap alone on the table left-of-centre; moving the left gripper above my recomputed estimate of its position.",
        "targets": {
          "left_x": 0.27,
          "left_y": -0.22,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_018YGCTDUYyGiFjJAVPNzqyD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9985, 1.6348, 0.9962, -0.7311, -0.6247, -1.0344, 0.9979, -0.131, 1.2602, 1.4376, -1.1156, -0.4976, -0.561, 0.0589]\nstate[eef_state]: left_x=0.2588 left_y=-0.2043 left_z=0.0687 left_yaw=0.184 left_pitch=-0.3557 left_roll=0.1275 left_gripper=0.9979 right_x=0.312 right_y=0.0476 right_z=0.2841 right_yaw=0.5849 right_pitch=-0.2315 right_roll=0.0238 right_gripper=0.0589\nstate[joint_eff]: [-0.4991, -7.3094, 8.7453, 0.6471, -0.6618, -0.0952, 0.0708, -0.3897, -4.2325, 6.2427, 1.4823, -0.2857, 0.149, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c65e9b8c7c700c8cdf3d18cef8a2cc94ba5f37625388344cfd6bb40511ebbccc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4089cb8a638dd392076d44b305f29337750bdd87f8b18235a3786ec0b5396287",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2763c2a43b863e99e77a8d8b2dd6a36879d7a4accee93cb920bf898242fda0aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /messages · status 200 · 21.02 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]: [-0.4583, 1.7496, 0.7525, -0.0105, -0.4107, -0.4427, 0.0092, 0.4332, 1.7412, 1.0634, -0.0982, -0.1577, -0.1272, 0.0588]\nstate[eef_state]: left_x=0.3683 left_y=-0.0991 left_z=0.0025 left_yaw=0.1543 left_pitch=-0.3196 left_roll=0.0785 left_gripper=0.0092 right_x=0.4115 right_y=0.2248 right_z=0.0941 right_yaw=0.6203 right_pitch=-0.208 right_roll=0.0315 right_gripper=0.0588\nstate[joint_eff]: [-0.0205, -7.0085, 5.2991, 1.2137, -0.1001, 0.1197, 0.7009, -0.2256, -8.6222, 6.4342, 1.5458, -0.1001, -0.022, 1.033]",
      "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]: [-0.2279, 0.9703, 1.1378, -1.0969, -0.2909, -0.2737, 0.9971, -0.1314, 1.256, 1.4399, -1.0943, -0.4953, -0.543, 0.0589]\nstate[eef_state]: left_x=0.2515 left_y=-0.0026 left_z=0.2382 left_yaw=0.1807 left_pitch=-0.3065 left_roll=0.0605 left_gripper=0.9971 right_x=0.3153 right_y=0.0466 right_z=0.2889 right_yaw=0.5691 right_pitch=-0.2118 right_roll=0.0169 right_gripper=0.0589\nstate[joint_eff]: [0.294, -2.1949, 8.5402, 1.1453, -0.1734, 0.2271, -0.022, -0.3897, -4.4513, 7.8291, 1.2918, -0.3541, -0.0757, 1.033]",
      "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]: [-0.9985, 1.6348, 0.9962, -0.7311, -0.6247, -1.0344, 0.9979, -0.131, 1.2602, 1.4376, -1.1156, -0.4976, -0.561, 0.0589]\nstate[eef_state]: left_x=0.2588 left_y=-0.2043 left_z=0.0687 left_yaw=0.184 left_pitch=-0.3557 left_roll=0.1275 left_gripper=0.9979 right_x=0.312 right_y=0.0476 right_z=0.2841 right_yaw=0.5849 right_pitch=-0.2315 right_roll=0.0238 right_gripper=0.0589\nstate[joint_eff]: [-0.4991, -7.3094, 8.7453, 0.6471, -0.6618, -0.0952, 0.0708, -0.3897, -4.2325, 6.2427, 1.4823, -0.2857, 0.149, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c65e9b8c7c700c8cdf3d18cef8a2cc94ba5f37625388344cfd6bb40511ebbccc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4089cb8a638dd392076d44b305f29337750bdd87f8b18235a3786ec0b5396287",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2763c2a43b863e99e77a8d8b2dd6a36879d7a4accee93cb920bf898242fda0aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WqBBvHY3DkVva2fjMewvSE",
      "input": {
        "note": "Using the overhead frame with the gripper itself as a reference, the cap lies ~6 cm ahead and 2 cm to the left of the current jaws; moving there at table level to straddle it.",
        "targets": {
          "left_x": 0.335,
          "left_y": -0.181,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01WqBBvHY3DkVva2fjMewvSE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7704, 1.8271, 0.9325, -0.371, -0.5728, -0.8234, 0.998, -0.131, 1.2606, 1.4376, -1.1194, -0.4976, -0.5587, 0.0589]\nstate[eef_state]: left_x=0.3222 left_y=-0.1743 left_z=0.0056 left_yaw=0.2345 left_pitch=-0.3682 left_roll=0.1387 left_gripper=0.998 right_x=0.3114 right_y=0.0476 right_z=0.2835 right_yaw=0.5843 right_pitch=-0.2347 right_roll=0.0283 right_gripper=0.0589\nstate[joint_eff]: [0.4581, -6.0239, 5.8462, 0.5055, -0.2173, 0.3248, -0.0073, -0.3214, -3.9726, 6.0923, 1.2821, -0.2759, -0.0855, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2f2e45b45741a351965291c5cf4cfba9b0d4805cf05a3b7f261cb94ed765d53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6640689fc170dcebd2e03ab75df9917de9253427e6543562497eeea75c10441",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1fa688d64e8075f04da45a4fd20db7e4cd44c558e43e98c9e858b94dcbfcd1e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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