adhoc

completed
2026-09-22T18:51:47.112388+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (71 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
235.8 s
total steps
201
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent notePen cap is on the table to the left of centre, pen to the right of centre. Moving the left arm over the cap, with the jaws turned to close across it.
move_to
left_x0.3400left_y-0.1900left_z0.1200left_yaw-0.5000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.7929, 0.6022, -0.3805, -0.0216, -0.025, 0.9998, -0.0151, 0.7918, 0.6106, -0.3752, -0.0231, -0.0227, 0.9991] state[eef_state]: left_x=0.2944 left_y=0.0014 left_z=0.1793 left_yaw=0.0002 left_pitch=-0.0004 left_roll=-0.0003 left_gripper=0.9998 right_x=0.296 right_y=0.0032 right_z=0.1846 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.3214, -1.5521, 10.4684, 1.7656, -0.0122, 0.0464, -0.0366, -0.8821, -1.347, 9.7573, 1.6825, -0.0317, 0.0513, -0.105] 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": 0.34, "left_y": -0.19, "left_z": 0.12, "left_yaw": -0.5}, "note": "Pen cap is on the table to the left of centre, pen to the right of centre. Moving the left arm over the cap, with the jaws turned to close across it."})
tool
executing move_to over 18 steps (1.8s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteWrist cam shows the cap ahead of the jaws and slightly left of them. Moving forward about 5 cm and down to line up.
move_to
left_x0.3700left_y-0.1650left_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]: [-0.5251, 1.3209, 0.5739, 0.0704, -0.0589, -0.0593, 0.9997, -0.0177, 0.7967, 0.6132, -0.3874, -0.0223, -0.0227, 0.9991] state[eef_state]: left_x=0.325 left_y=-0.1721 left_z=0.0912 left_yaw=-0.4541 left_pitch=-0.1044 left_roll=-0.0016 left_gripper=0.9997 right_x=0.2951 right_y=0.0023 right_z=0.1819 right_yaw=-0.0033 right_pitch=-0.0145 right_roll=-0.0002 right_gripper=0.9991 state[joint_eff]: [-0.3897, -5.0803, 9.7026, 2.1465, 0.1538, 0.2076, -0.0171, 0.0479, -1.6068, 6.8855, 1.8388, -0.0317, -0.0513, -0.0171] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.37, "left_y": -0.165, "left_z": 0.06}, "note": "Wrist cam shows the cap ahead of the jaws and slightly left of them. Moving forward about 5 cm and down to line up."})
tool
executing move_to over 4 steps (0.4s)
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 still appears ahead of and slightly left of the jaw centre in the wrist cam; the arm fell short of the last target, so I'm pushing further forward.
move_to
left_x0.3900left_y-0.1500left_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]: [-0.4236, 1.5604, 0.59, 0.1886, -0.0082, -0.0216, 0.9997, -0.0181, 0.7998, 0.6132, -0.3912, -0.0227, -0.0227, 0.9991] state[eef_state]: left_x=0.3488 left_y=-0.1518 left_z=0.034 left_yaw=-0.4159 left_pitch=-0.2111 left_roll=-0.003 left_gripper=0.9997 right_x=0.2948 right_y=0.0023 right_z=0.1803 right_yaw=-0.0034 right_pitch=-0.0214 right_roll=0.0001 right_gripper=0.9991 state[joint_eff]: [0.0889, -7.2957, 9.0188, 2.0391, 0.1978, 0.1832, -0.0122, -0.0615, -1.4974, 7.0222, 1.7363, -0.0122, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.39, "left_y": -0.15, "left_z": 0.04}, "note": "Cap still appears ahead of and slightly left of the jaw centre in the wrist cam; the arm fell short of the last target, so I'm pushing further forward."})
tool
executing move_to over 4 steps (0.4s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe arm barely advanced last move; the cap is still ahead of the jaws in the wrist view. Commanding further forward, slightly higher.
move_to
left_x0.4000left_y-0.1500left_z0.0500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4171, 1.578, 0.5976, 0.2253, 0.0086, -0.0166, 0.9997, -0.0181, 0.8005, 0.6132, -0.3904, -0.0223, -0.0231, 0.9991] state[eef_state]: left_x=0.3555 left_y=-0.1553 left_z=0.0369 left_yaw=-0.4266 left_pitch=-0.1843 left_roll=-0.0113 left_gripper=0.9997 right_x=0.2949 right_y=0.0022 right_z=0.1803 right_yaw=-0.0035 right_pitch=-0.0214 right_roll=-0.0004 right_gripper=0.9991 state[joint_eff]: [-0.0068, -7.1453, 8.1573, 1.9365, 0.1001, 0.2125, -0.0122, -0.0615, -1.0188, 7.3231, 1.7851, -0.022, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.15, "left_z": 0.05}, "note": "The arm barely advanced last move; the cap is still ahead of the jaws in the wrist view. Commanding further forward, slightly higher."})
tool
executing move_to over 4 steps (0.4s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteThe left arm is stuck at x≈0.355 at low height. Raising it and resetting pitch to get out of the awkward pose before moving forward over the cap.
move_to
left_x0.3800left_y-0.1550left_z0.1000left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4175, 1.578, 0.5976, 0.2253, 0.0086, -0.0166, 0.9997, -0.0181, 0.8005, 0.6132, -0.3908, -0.0227, -0.0227, 0.9991] state[eef_state]: left_x=0.3554 left_y=-0.1554 left_z=0.0369 left_yaw=-0.427 left_pitch=-0.1843 left_roll=-0.0113 left_gripper=0.9997 right_x=0.2949 right_y=0.0023 right_z=0.1802 right_yaw=-0.0034 right_pitch=-0.0217 right_roll=0.0001 right_gripper=0.9991 state[joint_eff]: [-0.0889, -7.1453, 8.253, 1.9121, 0.0952, 0.2222, -0.0122, -0.212, -1.2513, 7.0632, 1.7363, -0.0269, -0.0513, -0.0122] camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.155, "left_z": 0.1, "left_pitch": 0}, "note": "The left arm is stuck at x\u22480.355 at low height. Raising it and resetting pitch to get out of the awkward pose before moving forward over the cap."})
tool
executing move_to over 7 steps (0.7s)
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 noteThe cap is now nearly on the jaw column in the wrist view but still well ahead. Moving forward about 4–5 cm.
move_to
left_x0.4100left_y-0.1600left_z0.0700left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3805, 1.5021, 0.5976, 0.2249, 0.0181, -0.017, 0.9997, -0.0181, 0.8005, 0.6132, -0.392, -0.0223, -0.0231, 0.9991] state[eef_state]: left_x=0.3645 left_y=-0.1454 left_z=0.065 left_yaw=-0.3977 left_pitch=-0.1087 left_roll=-0.0169 left_gripper=0.9997 right_x=0.2947 right_y=0.0022 right_z=0.1799 right_yaw=-0.0035 right_pitch=-0.0229 right_roll=-0.0004 right_gripper=0.9991 state[joint_eff]: [0.4581, -8.2393, 8.9778, 2.0293, 0.2027, 0.1783, -0.0122, -0.294, -1.2239, 7.0222, 1.7509, -0.022, -0.0708, -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": 0.41, "left_y": -0.16, "left_z": 0.07, "left_pitch": 0}, "note": "The cap is now nearly on the jaw column in the wrist view but still well ahead. Moving forward about 4\u20135 cm."})
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 left arm is creeping only a few mm per move and one joint seems stuck. Lifting to 15 cm at the cap's x to see if the arm tracks better from up there.
move_to
left_x0.4100left_y-0.1600left_z0.1500left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3798, 1.5402, 0.5976, 0.2619, 0.0151, -0.0219, 0.9997, -0.0181, 0.8005, 0.6132, -0.3931, -0.0227, -0.0227, 0.9991] state[eef_state]: left_x=0.3684 left_y=-0.146 left_z=0.0578 left_yaw=-0.3917 left_pitch=-0.1099 left_roll=-0.0188 left_gripper=0.9997 right_x=0.2946 right_y=0.0023 right_z=0.1797 right_yaw=-0.0034 right_pitch=-0.024 right_roll=0.0002 right_gripper=0.9991 state[joint_eff]: [0.0479, -6.2564, 6.188, 1.9414, 0.0171, 0.0024, -0.0122, -0.0342, -1.306, 7.0222, 1.7753, -0.0415, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). 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_x": 0.41, "left_y": -0.16, "left_z": 0.15, "left_pitch": 0}, "note": "The left arm is creeping only a few mm per move and one joint seems stuck. Lifting to 15 cm at the cap's x to see if the arm tracks better from up there."})
tool
executing move_to over 6 steps (0.6s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteThe left arm didn't respond to the last lift. Trying a small pure lift of 3 cm to check whether it tracks at all.
move_to
left_z0.0900
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3798, 1.5402, 0.5976, 0.2737, 0.0147, -0.0246, 0.9997, -0.0181, 0.8005, 0.6132, -0.3943, -0.0227, -0.0227, 0.9991] state[eef_state]: left_x=0.3701 left_y=-0.1467 left_z=0.0601 left_yaw=-0.3899 left_pitch=-0.0981 left_roll=-0.0206 left_gripper=0.9997 right_x=0.2944 right_y=0.0023 right_z=0.1795 right_yaw=-0.0034 right_pitch=-0.0252 right_roll=0.0002 right_gripper=0.9991 state[joint_eff]: [0.1573, -6.1744, 6.3795, 1.9707, 0.0366, 0.0317, -0.0122, -0.0068, -1.2786, 7.0222, 1.7705, -0.0269, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.09}, "note": "The left arm didn't respond to the last lift. Trying a small pure lift of 3 cm to check whether it tracks at all."})
tool
executing move_to over 2 steps (0.2s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteThe left arm is frozen. Sending a target very close to its current pose (matching its actual yaw and pitch) to see if the controller will take small steps again.
move_to
left_x0.3700left_y-0.1470left_z0.0700left_yaw-0.3900left_pitch-0.1000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3798, 1.5402, 0.5976, 0.2737, 0.0147, -0.0246, 0.9997, -0.0181, 0.8005, 0.6132, -0.3943, -0.0227, -0.0227, 0.9991] state[eef_state]: left_x=0.3701 left_y=-0.1467 left_z=0.0601 left_yaw=-0.3899 left_pitch=-0.0981 left_roll=-0.0206 left_gripper=0.9997 right_x=0.2944 right_y=0.0023 right_z=0.1795 right_yaw=-0.0034 right_pitch=-0.0252 right_roll=0.0002 right_gripper=0.9991 state[joint_eff]: [0.0752, -6.3932, 6.2427, 1.9463, -0.0024, 0.0366, -0.0122, -0.335, -1.2513, 7.2, 1.7216, -0.0415, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.37, "left_y": -0.147, "left_z": 0.07, "left_yaw": -0.39, "left_pitch": -0.1, "left_roll": 0}, "note": "The left arm is frozen. Sending a target very close to its current pose (matching its actual yaw and pitch) to see if the controller will take small steps again."})
tool
executing move_to over 1 steps (0.1s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteThe left arm still won't move; its elbow joint looks pinned near 0.60 rad. Trying a move back toward the base and up to see if that direction is free.
move_to
left_x0.3300left_z0.1200left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3798, 1.5402, 0.5976, 0.2737, 0.0147, -0.0246, 0.9997, -0.0181, 0.8005, 0.6132, -0.3946, -0.0227, -0.0227, 0.9991] state[eef_state]: left_x=0.3701 left_y=-0.1467 left_z=0.0601 left_yaw=-0.3899 left_pitch=-0.0981 left_roll=-0.0206 left_gripper=0.9997 right_x=0.2944 right_y=0.0023 right_z=0.1794 right_yaw=-0.0034 right_pitch=-0.0256 right_roll=0.0002 right_gripper=0.9991 state[joint_eff]: [-0.1162, -6.3521, 6.2017, 1.9512, -0.0024, 0.0464, -0.0122, -0.1162, -1.2103, 7.0085, 1.746, -0.0366, -0.0611, -0.0122] camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.33, "left_z": 0.12, "left_pitch": 0}, "note": "The left arm still won't move; its elbow joint looks pinned near 0.60 rad. Trying a move back toward the base and up to see if that direction is free."})
tool
executing move_to over 4 steps (0.4s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteMoving back from the base worked. The cap is just ahead of the jaws in the wrist view, so I'm trying a combined forward-and-down move toward it.
move_to
left_x0.3800left_y-0.1550left_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]: [-0.4423, 1.235, 0.5369, 0.1394, -0.0269, -0.0521, 0.9997, -0.0181, 0.8051, 0.6132, -0.3969, -0.0231, -0.0231, 0.9991] state[eef_state]: left_x=0.3367 left_y=-0.1502 left_z=0.1192 left_yaw=-0.4026 left_pitch=0.0123 left_roll=-0.0207 left_gripper=0.9997 right_x=0.2944 right_y=0.0023 right_z=0.1777 right_yaw=-0.0028 right_pitch=-0.0324 right_roll=0.0002 right_gripper=0.9991 state[joint_eff]: [-0.4718, -3.535, 6.0786, 1.5214, -0.1099, -0.0904, -0.0122, -0.253, -1.1829, 7.0359, 1.8242, -0.0024, -0.0757, -0.0122] camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.155, "left_z": 0.08}, "note": "Moving back from the base worked. The cap is just ahead of the jaws in the wrist view, so I'm trying a combined forward-and-down move toward it."})
tool
executing move_to over 4 steps (0.4s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteThe arm keeps refusing to move forward at this yaw. Reducing the yaw a bit while moving forward, to test whether the wrist orientation is what's blocking the IK.
move_to
left_x0.3800left_y-0.1600left_z0.1000left_yaw-0.2000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4488, 1.1995, 0.535, 0.0925, -0.0448, -0.0624, 0.9997, -0.0181, 0.8047, 0.6132, -0.4114, -0.0223, -0.0227, 0.9991] state[eef_state]: left_x=0.3307 left_y=-0.1465 left_z=0.1209 left_yaw=-0.3884 left_pitch=-0.0007 left_roll=-0.0192 left_gripper=0.9997 right_x=0.2923 right_y=0.0022 right_z=0.1748 right_yaw=-0.0037 right_pitch=-0.0465 right_roll=0.0003 right_gripper=0.9991 state[joint_eff]: [-0.2256, -4.0957, 6.2291, 1.79, -0.022, -0.0513, -0.0122, -0.0068, -1.2923, 7.0085, 1.8388, -0.0415, -0.0171, -0.0122] camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.16, "left_z": 0.1, "left_yaw": -0.2}, "note": "The arm keeps refusing to move forward at this yaw. Reducing the yaw a bit while moving forward, to test whether the wrist orientation is what's blocking the IK."})
tool
executing move_to over 4 steps (0.4s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteForward moves keep getting blocked. Testing a pure sideways move toward the centre to work out which directions the controller will accept.
move_to
left_x0.3300left_y-0.1800left_z0.1200left_yaw-0.3900
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4488, 1.1995, 0.5343, 0.0925, -0.0448, -0.0624, 0.9997, -0.0181, 0.8051, 0.6132, -0.4122, -0.0223, -0.0231, 0.9991] state[eef_state]: left_x=0.3306 left_y=-0.1464 left_z=0.1205 left_yaw=-0.3884 left_pitch=-0.0014 left_roll=-0.0191 left_gripper=0.9997 right_x=0.2922 right_y=0.0022 right_z=0.1745 right_yaw=-0.0035 right_pitch=-0.0477 right_roll=-0.0 right_gripper=0.9991 state[joint_eff]: [-0.212, -4.0684, 6.4615, 1.8339, -0.0513, -0.0415, -0.0122, -0.1026, -1.3333, 7.2137, 1.79, -0.0415, -0.0659, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.33, "left_y": -0.18, "left_z": 0.12, "left_yaw": -0.39}, "note": "Forward moves keep getting blocked. Testing a pure sideways move toward the centre to work out which directions the controller will accept."})
tool
executing move_to over 3 steps (0.3s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent noteThe left arm is still unresponsive, so I'm switching to the right arm and moving it over the pen, which lies right of centre on the table.
move_to
right_x0.3400right_y0.2000right_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]: [-0.4488, 1.1995, 0.5335, 0.0929, -0.0448, -0.0624, 0.9997, -0.0181, 0.8051, 0.6132, -0.4122, -0.0227, -0.0227, 0.9991] state[eef_state]: left_x=0.3304 left_y=-0.1464 left_z=0.1203 left_yaw=-0.3884 left_pitch=-0.0018 left_roll=-0.0191 left_gripper=0.9997 right_x=0.2922 right_y=0.0023 right_z=0.1745 right_yaw=-0.0034 right_pitch=-0.0477 right_roll=0.0005 right_gripper=0.9991 state[joint_eff]: [-0.2256, -3.8906, 6.4068, 1.8437, -0.0562, -0.0757, -0.0122, -0.0205, -1.2786, 7.0085, 1.7167, -0.0269, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.34, "right_y": 0.2, "right_z": 0.12}, "note": "The left arm is still unresponsive, so I'm switching to the right arm and moving it over the pen, which lies right of centre on the table."})
tool
executing move_to over 17 steps (1.7s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteThe pen sits on the right wrist cam's jaw column, a few cm ahead of the fingertips, lying roughly across the jaws. Moving forward about 4 cm and down near the table.
move_to
right_x0.3700right_y0.1900right_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]: [-0.4515, 1.2015, 0.5331, 0.0856, -0.0483, -0.0692, 0.9997, 0.7696, 1.4723, 0.7769, -0.1234, 0.569, 0.4583, 0.9991] state[eef_state]: left_x=0.3293 left_y=-0.1462 left_z=0.118 left_yaw=-0.3845 left_pitch=-0.0113 left_roll=-0.0224 left_gripper=0.9997 right_x=0.3296 right_y=0.1918 right_z=0.1041 right_yaw=0.0347 right_pitch=-0.1066 right_roll=-0.0456 right_gripper=0.9991 state[joint_eff]: [0.1026, -4.1504, 6.6256, 1.7411, -0.0464, 0.0317, -0.0122, 0.4034, -5.8462, 8.7863, 1.5556, 0.4908, 0.2271, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.19, "right_z": 0.04}, "note": "The pen sits on the right wrist cam's jaw column, a few cm ahead of the fingertips, lying roughly across the jaws. Moving forward about 4 cm and down near the table."})
tool
executing move_to over 5 steps (0.5s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteThe pen runs diagonally through the jaw area of the right wrist view. Nudging slightly forward and down to table level to grasp it.
move_to
right_x0.3750right_y0.1850right_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]: [-0.4522, 1.2015, 0.532, 0.0856, -0.0483, -0.0696, 0.9997, 0.6765, 1.7237, 0.7372, 0.123, 0.5114, 0.3973, 0.9991] state[eef_state]: left_x=0.329 left_y=-0.1464 left_z=0.1175 left_yaw=-0.385 left_pitch=-0.0124 left_roll=-0.0226 left_gripper=0.9997 right_x=0.3568 right_y=0.1803 right_z=0.0314 right_yaw=0.0131 right_pitch=-0.17 right_roll=-0.0888 right_gripper=0.9991 state[joint_eff]: [-0.1709, -4.0, 6.7077, 1.7265, -0.0513, -0.0415, -0.0122, -0.3214, -7.3778, 5.5316, 1.746, 0.1832, -0.0415, -0.0171] camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.375, "right_y": 0.185, "right_z": -0.005}, "note": "The pen runs diagonally through the jaw area of the right wrist view. Nudging slightly forward and down to table level to grasp it."})
tool
executing move_to over 3 steps (0.3s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
Pen passes between the jaws. Closing.
agent noteThe pen lies between the right jaws at table level. Closing the gripper on it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4522, 1.2015, 0.5312, 0.086, -0.0483, -0.0696, 0.9997, 0.6609, 1.8652, 0.7509, 0.271, 0.4988, 0.384, 0.9991] state[eef_state]: left_x=0.3289 left_y=-0.1463 left_z=0.1172 left_yaw=-0.385 left_pitch=-0.0128 left_roll=-0.0226 left_gripper=0.9997 right_x=0.372 right_y=0.1867 right_z=0.0031 right_yaw=0.0162 right_pitch=-0.1602 right_roll=-0.0789 right_gripper=0.9991 state[joint_eff]: [-0.0889, -4.0137, 6.694, 1.7509, -0.0513, -0.0415, -0.0122, -0.6085, -6.3385, 4.9846, 1.1746, 0.1441, -0.0806, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
Pen passes between the jaws. Closing.
move_to({"targets": {"right_gripper": 0}, "note": "The pen lies between the right jaws at table level. Closing the gripper on it."})
tool
executing move_to over 10 steps (1.0s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteThe gripper closed to 0.045 and the pen now seems to stick straight out forward from the jaws. Lifting to check that it's really held.
move_to
right_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]: [-0.4522, 1.2015, 0.5312, 0.0853, -0.0486, -0.07, 0.9997, 0.6556, 1.8832, 0.7574, 0.3, 0.4953, 0.3691, 0.0452] state[eef_state]: left_x=0.3288 left_y=-0.1462 left_z=0.1171 left_yaw=-0.3845 left_pitch=-0.0135 left_roll=-0.0226 left_gripper=0.9997 right_x=0.377 right_y=0.1885 right_z=0.0023 right_yaw=0.023 right_pitch=-0.148 right_roll=-0.0776 right_gripper=0.0452 state[joint_eff]: [-0.2256, -3.9726, 6.612, 1.6972, -0.0757, -0.0562, -0.0122, -0.6769, -7.241, 5.1077, 1.3455, 0.2418, 0.2125, 1.5165] camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.08}, "note": "The gripper closed to 0.045 and the pen now seems to stick straight out forward from the jaws. Lifting to check that it's really held."})
tool
executing move_to over 6 steps (0.6s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteThe right arm is holding the pen, tip pointing forward. Now retrying the left arm toward the cap, which it sees ahead of its jaws, in a small 2 cm step.
move_to
left_x0.3500left_y-0.1500left_z0.0900
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4522, 1.2015, 0.5312, 0.0853, -0.0483, -0.07, 0.9997, 0.6559, 1.7, 0.8539, 0.0143, 0.4885, 0.3653, 0.0491] state[eef_state]: left_x=0.3288 left_y=-0.1463 left_z=0.1171 left_yaw=-0.3848 left_pitch=-0.0135 left_roll=-0.0228 left_gripper=0.9997 right_x=0.3762 right_y=0.1895 right_z=0.0632 right_yaw=0.0302 right_pitch=-0.1561 right_roll=-0.0801 right_gripper=0.0491 state[joint_eff]: [-0.1709, -3.9863, 6.7077, 1.7216, -0.0806, -0.0708, -0.0122, -0.3897, -9.6752, 7.747, 1.4725, 0.2418, -0.022, 1.033] camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.35, "left_y": -0.15, "left_z": 0.09}, "note": "The right arm is holding the pen, tip pointing forward. Now retrying the left arm toward the cap, which it sees ahead of its jaws, in a small 2 cm step."})
tool
executing move_to over 2 steps (0.2s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteSmall steps work for the left arm. The cap is still ahead of the jaws, so I'm continuing forward and down in about 3 cm increments.
move_to
left_x0.3700left_y-0.1550left_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]: [-0.4393, 1.2949, 0.5304, 0.1818, -0.0441, -0.0692, 0.9997, 0.6567, 1.6863, 0.8593, -0.0235, 0.4881, 0.3653, 0.0491] state[eef_state]: left_x=0.3419 left_y=-0.1481 left_z=0.1042 left_yaw=-0.3758 left_pitch=-0.0114 left_roll=-0.0247 left_gripper=0.9997 right_x=0.3728 right_y=0.1873 right_z=0.0648 right_yaw=0.0294 right_pitch=-0.1714 right_roll=-0.0909 right_gripper=0.0491 state[joint_eff]: [0.5812, -3.7675, 6.2838, 1.3065, 0.1636, 0.1001, -0.0122, -0.0205, -6.2838, 5.7641, 1.6239, 0.1636, -0.0171, 1.0281] camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.37, "left_y": -0.155, "left_z": 0.07}, "note": "Small steps work for the left arm. The cap is still ahead of the jaws, so I'm continuing forward and down in about 3 cm increments."})
tool
executing move_to over 3 steps (0.3s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent noteThe cap is still well ahead of the left jaws in its wrist view. Pushing forward while holding height.
move_to
left_x0.3900left_y-0.1550left_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]: [-0.4236, 1.5002, 0.5186, 0.3183, -0.0444, -0.0692, 0.9997, 0.6567, 1.692, 0.8543, -0.0193, 0.485, 0.3653, 0.0491] state[eef_state]: left_x=0.3528 left_y=-0.1465 left_z=0.0534 left_yaw=-0.3596 left_pitch=-0.0917 left_roll=-0.0193 left_gripper=0.9997 right_x=0.3718 right_y=0.1871 right_z=0.0612 right_yaw=0.0311 right_pitch=-0.178 right_roll=-0.0929 right_gripper=0.0491 state[joint_eff]: [0.7043, -6.3932, 8.212, 1.956, 0.2173, 0.0904, -0.0122, -0.3487, -8.1709, 6.2564, 1.3016, 0.1685, -0.0366, 1.0232] camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.39, "left_y": -0.155, "left_z": 0.06}, "note": "The cap is still well ahead of the left jaws in its wrist view. Pushing forward while holding height."})
tool
executing move_to over 3 steps (0.3s)
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 left arm stalls around x≈0.357, apparently at a shoulder limit. Tipping the tool forward (pitch 0.4) so the fingertips can reach the cap with less shoulder motion.
move_to
left_x0.3900left_y-0.1550left_z0.0500left_pitch0.4000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4191, 1.5398, 0.5186, 0.3599, -0.0444, -0.0692, 0.9997, 0.6567, 1.692, 0.8543, -0.0227, 0.4843, 0.3653, 0.0491] state[eef_state]: left_x=0.3569 left_y=-0.1465 left_z=0.047 left_yaw=-0.355 left_pitch=-0.0898 left_roll=-0.0194 left_gripper=0.9997 right_x=0.3713 right_y=0.1869 right_z=0.0606 right_yaw=0.0313 right_pitch=-0.1811 right_roll=-0.0945 right_gripper=0.0491 state[joint_eff]: [0.1026, -6.6803, 7.8701, 2.0586, 0.1294, 0.0464, -0.0122, -0.212, -7.6923, 5.8735, 1.4042, 0.1441, -0.0366, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.39, "left_y": -0.155, "left_z": 0.05, "left_pitch": 0.4}, "note": "The left arm stalls around x\u22480.357, apparently at a shoulder limit. Tipping the tool forward (pitch 0.4) so the fingertips can reach the cap with less shoulder motion."})
tool
executing move_to over 17 steps (1.7s)
step 131
top_cam
camera top_cam step 131
left_cam
camera left_cam step 131
right_cam
camera right_cam step 131
assistant
agent notePitching forward got the left arm right over the cap, which lies across the jaws near the bottom of the wrist view. Descending to table level to grasp it.
move_to
left_x0.3850left_y-0.1530left_z-0.0050left_pitch0.3000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4122, 2.0628, 0.3683, 1.4162, -0.0631, -0.0433, 0.9995, 0.6567, 1.6924, 0.8543, -0.0269, 0.4736, 0.3653, 0.0533] state[eef_state]: left_x=0.3826 left_y=-0.1512 left_z=0.0267 left_yaw=-0.3438 left_pitch=0.293 left_roll=-0.013 left_gripper=0.9995 right_x=0.3701 right_y=0.1881 right_z=0.0592 right_yaw=0.039 right_pitch=-0.1896 right_roll=-0.0905 right_gripper=0.0533 state[joint_eff]: [0.5812, -7.0906, 3.7812, 2.3175, 0.1343, 0.0171, -0.0317, -0.1573, -7.7333, 5.8598, 1.4286, 0.2418, -0.0611, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 131): [image omitted: streamed camera frame] camera 'left_cam' (step 131): [image omitted: streamed camera frame] camera 'right_cam' (step 131): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.385, "left_y": -0.153, "left_z": -0.005, "left_pitch": 0.3}, "note": "Pitching forward got the left arm right over the cap, which lies across the jaws near the bottom of the wrist view. Descending to table level to grasp it."})
tool
executing move_to over 3 steps (0.3s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
assistant
agent noteAt table height the cap is still a few cm ahead of the fingertips in the left wrist view. Sliding forward about 3 cm with a bit more forward pitch.
move_to
left_x0.4150left_y-0.1520left_z0.0000left_pitch0.4500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4129, 2.2349, 0.3992, 1.5726, -0.0742, -0.0315, 0.9994, 0.6567, 1.6924, 0.8543, -0.0292, 0.4706, 0.3656, 0.0533] state[eef_state]: left_x=0.3864 left_y=-0.1511 left_z=0.0039 left_yaw=-0.3412 left_pitch=0.3084 left_roll=0.0009 left_gripper=0.9994 right_x=0.3696 right_y=0.1883 right_z=0.0587 right_yaw=0.0408 right_pitch=-0.1928 right_roll=-0.0896 right_gripper=0.0533 state[joint_eff]: [-0.4991, -6.5026, 2.4684, 1.4628, 0.0952, -0.1538, -0.0269, -0.0479, -7.6786, 5.8872, 1.3748, 0.1832, -0.0415, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.415, "left_y": -0.152, "left_z": 0.0, "left_pitch": 0.45}, "note": "At table height the cap is still a few cm ahead of the fingertips in the left wrist view. Sliding forward about 3 cm with a bit more forward pitch."})
tool
executing move_to over 5 steps (0.5s)
step 139
assistant
agent noteThe cap is now at the bottom of the left wrist view, between the jaws. Descending to the table to grasp it.
move_to
left_x0.4250left_z-0.0100left_pitch0.4200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.379, 2.2799, 0.556, 1.573, -0.0704, -0.0338, 0.9993, 0.6567, 1.6924, 0.8543, -0.0307, 0.4671, 0.3656, 0.0533] state[eef_state]: left_x=0.4311 left_y=-0.1544 left_z=0.0243 left_yaw=-0.3062 left_pitch=0.4203 left_roll=-0.011 left_gripper=0.9993 right_x=0.3692 right_y=0.1887 right_z=0.0583 right_yaw=0.0433 right_pitch=-0.1955 right_roll=-0.0883 right_gripper=0.0533 state[joint_eff]: [0.6085, -8.1846, 3.494, 1.8926, 0.2711, 0.1343, -0.0171, -0.335, -7.706, 5.8598, 1.3651, 0.1783, -0.0122, 1.0281] camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.425, "left_z": -0.01, "left_pitch": 0.42}, "note": "The cap is now at the bottom of the left wrist view, between the jaws. Descending to the table to grasp it."})
tool
executing move_to over 3 steps (0.3s)
step 142
assistant
agent noteThe fingertips are still about 1.3 cm above the table with the cap between them; the wrist seems to be at its limit. Easing pitch back to 0.3 so they can reach table level.
move_to
left_x0.4350left_z-0.0150left_pitch0.3000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3828, 2.3329, 0.5999, 1.5764, -0.0807, -0.0326, 0.9993, 0.6567, 1.6924, 0.8543, -0.0319, 0.4664, 0.3656, 0.0533] state[eef_state]: left_x=0.4383 left_y=-0.1573 left_z=0.0134 left_yaw=-0.3014 left_pitch=0.4147 left_roll=-0.0076 left_gripper=0.9993 right_x=0.369 right_y=0.1887 right_z=0.058 right_yaw=0.0438 right_pitch=-0.1968 right_roll=-0.0885 right_gripper=0.0533 state[joint_eff]: [-0.6496, -7.9932, 3.5487, 1.5995, 0.0024, -0.1587, -0.0122, -0.2667, -7.6786, 5.8598, 1.3944, 0.2125, -0.0073, 1.0281] camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.435, "left_z": -0.015, "left_pitch": 0.3}, "note": "The fingertips are still about 1.3 cm above the table with the cap between them; the wrist seems to be at its limit. Easing pitch back to 0.3 so they can reach table level."})
tool
executing move_to over 4 steps (0.4s)
step 146
assistant
agent noteThe left arm won't go any lower than about 1.4 cm, and the cap should be between the jaws. Closing to try to grab 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]: [-0.3828, 2.3409, 0.6125, 1.5826, -0.0822, -0.036, 0.9993, 0.6567, 1.6924, 0.8543, -0.0372, 0.466, 0.3653, 0.0533] state[eef_state]: left_x=0.4412 left_y=-0.1582 left_z=0.0146 left_yaw=-0.2976 left_pitch=0.4253 left_roll=-0.012 left_gripper=0.9993 right_x=0.3683 right_y=0.1882 right_z=0.0572 right_yaw=0.0436 right_pitch=-0.2013 right_roll=-0.0917 right_gripper=0.0533 state[joint_eff]: [-0.5538, -8.0889, 3.0564, 1.746, 0.0024, -0.0464, -0.0122, -0.3487, -7.706, 5.8462, 1.4774, 0.1343, -0.0269, 1.0281] camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "The left arm won't go any lower than about 1.4 cm, and the cap should be between the jaws. Closing to try to grab it."})
tool
executing move_to over 10 steps (1.0s)
step 156
assistant
agent noteThe close came up empty (0.01). The cap is out of the wrist view, so it's probably just behind the fingertips. Opening and backing off 2.5 cm with less pitch so the jaws can get lower.
move_to
left_gripper1.0000left_x0.4150left_z0.0000left_pitch0.2000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3828, 2.3405, 0.6125, 1.5837, -0.083, -0.0433, 0.0102, 0.6567, 1.6924, 0.8543, -0.0422, 0.466, 0.3656, 0.0533] state[eef_state]: left_x=0.4413 left_y=-0.1581 left_z=0.015 left_yaw=-0.2925 left_pitch=0.4268 left_roll=-0.0199 left_gripper=0.0102 right_x=0.3676 right_y=0.1877 right_z=0.0565 right_yaw=0.0429 right_pitch=-0.2054 right_roll=-0.0943 right_gripper=0.0533 state[joint_eff]: [-0.0889, -9.8393, 2.4957, 1.79, 0.0513, 0.0708, 0.7937, -0.3624, -7.4872, 6.065, 1.4628, 0.1392, -0.0464, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1, "left_x": 0.415, "left_z": 0.0, "left_pitch": 0.2}, "note": "The close came up empty (0.01). The cap is out of the wrist view, so it's probably just behind the fingertips. Opening and backing off 2.5 cm with less pitch so the jaws can get lower."})
tool
executing move_to over 10 steps (1.0s)
step 166
assistant
agent noteThe cap is now visible between the left jaws at the bottom of the wrist view, slightly left of centre. Shifting about 0.8 cm left and pressing down to table level before closing.
move_to
left_y-0.1510left_x0.4170left_z-0.0100
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4095, 2.1616, 0.5434, 1.2839, -0.1009, -0.0708, 0.9952, 0.6567, 1.6924, 0.8543, -0.0452, 0.4656, 0.3656, 0.0533] state[eef_state]: left_x=0.4193 left_y=-0.1587 left_z=0.0032 left_yaw=-0.2942 left_pitch=0.2381 left_roll=-0.0231 left_gripper=0.9952 right_x=0.3671 right_y=0.1874 right_z=0.056 right_yaw=0.0428 right_pitch=-0.208 right_roll=-0.0959 right_gripper=0.0533 state[joint_eff]: [-0.7179, -10.1675, 2.4274, 1.6484, -0.1783, -0.0415, -0.1197, -0.1573, -7.6513, 5.9966, 1.4579, 0.1783, -0.0269, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.151, "left_x": 0.417, "left_z": -0.01}, "note": "The cap is now visible between the left jaws at the bottom of the wrist view, slightly left of centre. Shifting about 0.8 cm left and pressing down to table level before closing."})
tool
executing move_to over 1 steps (0.1s)
step 167
assistant
agent noteThe cap sits between the wide-open left jaws, close to the grasp point, at table height. Closing; the jaws should centre it as they close.
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]: [-0.4129, 2.149, 0.5419, 1.2587, -0.1017, -0.07, 0.9986, 0.6567, 1.6924, 0.8543, -0.0448, 0.4656, 0.3653, 0.0533] state[eef_state]: left_x=0.4177 left_y=-0.1595 left_z=0.0023 left_yaw=-0.2978 left_pitch=0.2241 left_roll=-0.0204 left_gripper=0.9986 right_x=0.3672 right_y=0.1874 right_z=0.0561 right_yaw=0.043 right_pitch=-0.2077 right_roll=-0.0959 right_gripper=0.0533 state[joint_eff]: [-0.3897, -10.0444, 2.7966, 1.4676, -0.1245, -0.0952, -0.1587, -0.335, -7.6786, 5.9009, 1.4335, 0.1245, -0.022, 1.0281] 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 sits between the wide-open left jaws, close to the grasp point, at table height. Closing; the jaws should centre it as they close."})
tool
executing move_to over 10 steps (1.0s)
step 177
assistant
agent noteBoth arms have a grip: the left holds the cap (0.053) and the right holds the pen (0.053), each sticking forward from the jaws. Lifting both and turning them to face each other across the centre line to line up the cap and pen tip.
move_to
left_z0.1500left_x0.3500left_y-0.2200left_yaw-1.4000left_pitch0.0000right_z0.1500right_x0.3500right_y0.4000right_yaw1.4000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4129, 2.1715, 0.5411, 1.2968, -0.1055, -0.0704, 0.0532, 0.6567, 1.6924, 0.8543, -0.0448, 0.4656, 0.3653, 0.0533] state[eef_state]: left_x=0.4183 left_y=-0.159 left_z=0.0014 left_yaw=-0.2939 left_pitch=0.239 left_roll=-0.0213 left_gripper=0.0532 right_x=0.3672 right_y=0.1874 right_z=0.0561 right_yaw=0.043 right_pitch=-0.2077 right_roll=-0.0959 right_gripper=0.0533 state[joint_eff]: [-0.1709, -10.4137, 2.7966, 1.4921, 0.0659, -0.0122, 1.4188, -0.1709, -7.4598, 5.8735, 1.3895, 0.1245, -0.022, 1.0281] 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_z": 0.15, "left_x": 0.35, "left_y": -0.22, "left_yaw": -1.4, "left_pitch": 0, "right_z": 0.15, "right_x": 0.35, "right_y": 0.4, "right_yaw": 1.4, "right_pitch": 0}, "note": "Both arms have a grip: the left holds the cap (0.053) and the right holds the pen (0.053), each sticking forward from the jaws. Lifting both and turning them to face each other across the centre line to line up the cap and pen tip."})
tool
executing move_to over 18 steps (1.8s)
step 195
assistant
agent noteThe two grippers now face each other near the centre, with the pen tip pointing at the left gripper, but the left one sits about 2.4 cm lower. Matching height and forward position so the cap and pen line up on one axis.
move_to
left_z0.1720left_x0.3720right_z0.1550right_x0.3720
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2043, 1.7, 1.1179, -0.4053, 0.8211, 0.754, 0.0686, 0.6403, 1.8843, 1.3388, -0.0834, -0.4702, -0.4622, 0.0541] state[eef_state]: left_x=0.3628 left_y=-0.2035 left_z=0.1304 left_yaw=-1.2674 left_pitch=-0.0351 left_roll=-0.0597 left_gripper=0.0686 right_x=0.372 right_y=0.3814 right_z=0.1536 right_yaw=1.2607 right_pitch=0.0015 right_roll=-0.1153 right_gripper=0.0541 state[joint_eff]: [-2.7282, -7.6923, 9.7983, 1.3846, 0.9402, 0.4274, 1.0281, 2.0718, -8.3897, 8.0342, 1.326, -0.4615, -0.2466, 1.033] camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.172, "left_x": 0.372, "right_z": 0.155, "right_x": 0.372}, "note": "The two grippers now face each other near the centre, with the pen tip pointing at the left gripper, but the left one sits about 2.4 cm lower. Matching height and forward position so the cap and pen line up on one axis."})
tool
executing move_to over 3 steps (0.3s)
step 198
assistant
agent noteThe pen tip is pointing at the left gripper, but the left arm won't climb and the cap can't be seen in either wrist view. Trying one gentle push of the cap toward the pen tip.
move_to
left_y-0.1800left_z0.1600
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1955, 1.7069, 1.2057, -0.5961, 0.7979, 0.7868, 0.0686, 0.6292, 1.898, 1.3533, -0.0837, -0.4915, -0.4709, 0.0541] state[eef_state]: left_x=0.3564 left_y=-0.1958 left_z=0.1364 left_yaw=-1.2706 left_pitch=-0.1041 left_roll=-0.1201 left_gripper=0.0686 right_x=0.3759 right_y=0.3812 right_z=0.1537 right_yaw=1.2715 right_pitch=0.0088 right_roll=-0.1128 right_gripper=0.0541 state[joint_eff]: [-0.1983, -9.2239, 11.2342, 1.6337, 0.8034, -0.0024, 1.0379, 0.6632, -11.5761, 6.4479, 1.37, -0.1197, -0.0757, 1.033] camera 'top_cam' (step 198): [image omitted: streamed camera frame] camera 'left_cam' (step 198): [image omitted: streamed camera frame] camera 'right_cam' (step 198): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.18, "left_z": 0.16}, "note": "The pen tip is pointing at the left gripper, but the left arm won't climb and the cap can't be seen in either wrist view. Trying one gentle push of the cap toward the pen tip."})
tool
executing move_to over 2 steps (0.2s)
step 200
assistant
agent noteI got both parts into the grippers, but I couldn't put the cap on the pen. The right arm holds the pen and the left arm holds the cap, and I turned both to face each other at the centre. The two gripper bodies are now pushing against each other: the left arm won't move up or across, and the cap can't be seen in either wrist camera, so I can't line it up with the pen tip. The cap was gripped with no control over which way its open end faces, and I'm nearly out of calls.
give_up
hindsight- The left arm stalls at a fixed x when working low with the tool vertical (pitch 0). It stopped at x≈0.355–0.37 for z < 0.07; retrying the same target did nothing, and even pure lifts were ignored. Tipping the tool forward (pitch +0.3 to +0.4) got it out to x≈0.42–0.44. But at pitch ≈0.42 wrist joint 3 hits ≈1.57 and the arm can't go below z≈0.014. Pitch ≈0.2 reached z≈0.002 at x≈0.42. - With tool yaw 0, a pen lying on the table rotated as the jaws closed and ended up pointing straight forward. A pen closes to a reading of ≈0.045–0.05, the cap to ≈0.053–0.069. - Mating two held parts: if each arm grips its part pointing forward and then turns ±90° to face the other, the gripper bodies and wrists run into each other before the part tips meet. The pen and cap are hidden or blend in (black on black). Plan the grasps so the parts stick out well past the fingers: grip the pen near its back end and the cap near its closed end, with the open end facing out. Also consider mating them at different heights or with one arm pitched. - At table level, the top camera's scale near the cap and pen was about 3 px/cm. The objects sat near x≈0.40–0.42 in the arm frame, which the top view makes look closer to the base than they are, so aim further forward (+x) than the image suggests.
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1955, 1.7069, 1.2335, -0.6155, 0.7895, 0.7605, 0.0686, 0.6228, 1.8973, 1.3518, -0.0715, -0.4686, -0.4576, 0.0541] state[eef_state]: left_x=0.3602 left_y=-0.1955 left_z=0.1431 left_yaw=-1.2514 left_pitch=-0.1082 left_roll=-0.1298 left_gripper=0.0686 right_x=0.3827 right_y=0.3775 right_z=0.1546 right_yaw=1.2395 right_pitch=0.0108 right_roll=-0.1189 right_gripper=0.0541 state[joint_eff]: [-0.5949, -9.2513, 10.2769, 1.3407, 0.6227, -0.0464, 1.0379, 0.1846, -10.4137, 7.0906, 1.5116, -0.4371, -0.2076, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I got both parts into the grippers, but I couldn't put the cap on the pen. The right arm holds the pen and the left arm holds the cap, and I turned both to face each other at the centre. The two gripper bodies are now pushing against each other: the left arm won't move up or across, and the cap can't be seen in either wrist camera, so I can't line it up with the pen tip. The cap was gripped with no control over which way its open end faces, and I'm nearly out of calls.", "hindsight": "- The left arm stalls at a fixed x when working low with the tool vertical (pitch 0). It stopped at x\u22480.355\u20130.37 for z < 0.07; retrying the same target did nothing, and even pure lifts were ignored. Tipping the tool forward (pitch +0.3 to +0.4) got it out to x\u22480.42\u20130.44. But at pitch \u22480.42 wrist joint 3 hits \u22481.57 and the arm can't go below z\u22480.014. Pitch \u22480.2 reached z\u22480.002 at x\u22480.42.\n- With tool yaw 0, a pen lying on the table rotated as the jaws closed and ended up pointing straight forward. A pen closes to a reading of \u22480.045\u20130.05, the cap to \u22480.053\u20130.069.\n- Mating two held parts: if each arm grips its part pointing forward and then turns \u00b190\u00b0 to face the other, the gripper bodies and wrists run into each other before the part tips meet. The pen and cap are hidden or blend in (black on black). Plan the grasps so the parts stick out well past the fingers: grip the pen near its back end and the cap near its closed end, with the open end facing out. Also consider mating them at different heights or with one arm pitched.\n- At table level, the top camera's scale near the cap and pen was about 3 px/cm. The objects sat near x\u22480.40\u20130.42 in the arm frame, which the top view makes look closer to the base than they are, so aim further forward (+x) than the image suggests."})
tool
give_up: I got both parts into the grippers, but I couldn't put the cap on the pen. The right arm holds the pen and the left arm holds the cap, and I turned both to face each other at the centre. The two gripper bodies are now pushing against each other: the left arm won't move up or across, and the cap can't be seen in either wrist camera, so I can't line it up with the pen tip. The cap was gripped with no control over which way its open end faces, and I'm nearly out of calls.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 15.03 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Pick up the pen and the pen cap, then put the cap on the pen.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6022, -0.3805, -0.0216, -0.025, 0.9998, -0.0151, 0.7918, 0.6106, -0.3752, -0.0231, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0014 left_z=0.1793 left_yaw=0.0002 left_pitch=-0.0004 left_roll=-0.0003 left_gripper=0.9998 right_x=0.296 right_y=0.0032 right_z=0.1846 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -1.5521, 10.4684, 1.7656, -0.0122, 0.0464, -0.0366, -0.8821, -1.347, 9.7573, 1.6825, -0.0317, 0.0513, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16528b804b108cf18a41a9e0421b77a639cf70f05e911d740e1c5c199f77297b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e42aed2eae7eda42688ccb5fcb01b3c5f5d296964a668ef52451d37207a97fde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:08943d33d3f8de75cbf8b82687a97e55518a8435154d792da0d541bcb15bc09a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 10.08 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6022, -0.3805, -0.0216, -0.025, 0.9998, -0.0151, 0.7918, 0.6106, -0.3752, -0.0231, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0014 left_z=0.1793 left_yaw=0.0002 left_pitch=-0.0004 left_roll=-0.0003 left_gripper=0.9998 right_x=0.296 right_y=0.0032 right_z=0.1846 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -1.5521, 10.4684, 1.7656, -0.0122, 0.0464, -0.0366, -0.8821, -1.347, 9.7573, 1.6825, -0.0317, 0.0513, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16528b804b108cf18a41a9e0421b77a639cf70f05e911d740e1c5c199f77297b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e42aed2eae7eda42688ccb5fcb01b3c5f5d296964a668ef52451d37207a97fde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08943d33d3f8de75cbf8b82687a97e55518a8435154d792da0d541bcb15bc09a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01H2s4VVyfWAuwswYcNg9k9p",
      "input": {
        "note": "Pen cap is on the table to the left of centre, pen to the right of centre. Moving the left arm over the cap, with the jaws turned to close across it.",
        "targets": {
          "left_x": 0.34,
          "left_y": -0.19,
          "left_yaw": -0.5,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01H2s4VVyfWAuwswYcNg9k9p",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5251, 1.3209, 0.5739, 0.0704, -0.0589, -0.0593, 0.9997, -0.0177, 0.7967, 0.6132, -0.3874, -0.0223, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.325 left_y=-0.1721 left_z=0.0912 left_yaw=-0.4541 left_pitch=-0.1044 left_roll=-0.0016 left_gripper=0.9997 right_x=0.2951 right_y=0.0023 right_z=0.1819 right_yaw=-0.0033 right_pitch=-0.0145 right_roll=-0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.3897, -5.0803, 9.7026, 2.1465, 0.1538, 0.2076, -0.0171, 0.0479, -1.6068, 6.8855, 1.8388, -0.0317, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da429de538bb35200b2a7fdaefdb75c2c5d6dcc74da19008e8a8f12bfa30dbe0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac5b9dae80d62cc29136beaa05b61794142125e2934101fb4d15fbe4dfd2e3ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fc5303f21ee9c146cc024c4252b7a6697b07e6b86a9b3f1891ca16d42369152e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 4.793 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6022, -0.3805, -0.0216, -0.025, 0.9998, -0.0151, 0.7918, 0.6106, -0.3752, -0.0231, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0014 left_z=0.1793 left_yaw=0.0002 left_pitch=-0.0004 left_roll=-0.0003 left_gripper=0.9998 right_x=0.296 right_y=0.0032 right_z=0.1846 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -1.5521, 10.4684, 1.7656, -0.0122, 0.0464, -0.0366, -0.8821, -1.347, 9.7573, 1.6825, -0.0317, 0.0513, -0.105]",
      "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]: [-0.5251, 1.3209, 0.5739, 0.0704, -0.0589, -0.0593, 0.9997, -0.0177, 0.7967, 0.6132, -0.3874, -0.0223, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.325 left_y=-0.1721 left_z=0.0912 left_yaw=-0.4541 left_pitch=-0.1044 left_roll=-0.0016 left_gripper=0.9997 right_x=0.2951 right_y=0.0023 right_z=0.1819 right_yaw=-0.0033 right_pitch=-0.0145 right_roll=-0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.3897, -5.0803, 9.7026, 2.1465, 0.1538, 0.2076, -0.0171, 0.0479, -1.6068, 6.8855, 1.8388, -0.0317, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da429de538bb35200b2a7fdaefdb75c2c5d6dcc74da19008e8a8f12bfa30dbe0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac5b9dae80d62cc29136beaa05b61794142125e2934101fb4d15fbe4dfd2e3ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc5303f21ee9c146cc024c4252b7a6697b07e6b86a9b3f1891ca16d42369152e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U4yR3BAoEzpUpcBR6XijH5",
      "input": {
        "note": "Wrist cam shows the cap ahead of the jaws and slightly left of them. Moving forward about 5 cm and down to line up.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.165,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01U4yR3BAoEzpUpcBR6XijH5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4236, 1.5604, 0.59, 0.1886, -0.0082, -0.0216, 0.9997, -0.0181, 0.7998, 0.6132, -0.3912, -0.0227, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3488 left_y=-0.1518 left_z=0.034 left_yaw=-0.4159 left_pitch=-0.2111 left_roll=-0.003 left_gripper=0.9997 right_x=0.2948 right_y=0.0023 right_z=0.1803 right_yaw=-0.0034 right_pitch=-0.0214 right_roll=0.0001 right_gripper=0.9991\nstate[joint_eff]: [0.0889, -7.2957, 9.0188, 2.0391, 0.1978, 0.1832, -0.0122, -0.0615, -1.4974, 7.0222, 1.7363, -0.0122, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f6472c70cc1005f1332ce4741cc0b06c30d41ee634564234a08e1fefca9cc7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5028af198bd531208dc330688da69d92bbb993240cf832edbaae8b4506e40713",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7305ee4405852aefa7a20dd9e9128cfe64cdc4a1447905abd1f87f46bce1477b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 3.992 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6022, -0.3805, -0.0216, -0.025, 0.9998, -0.0151, 0.7918, 0.6106, -0.3752, -0.0231, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0014 left_z=0.1793 left_yaw=0.0002 left_pitch=-0.0004 left_roll=-0.0003 left_gripper=0.9998 right_x=0.296 right_y=0.0032 right_z=0.1846 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -1.5521, 10.4684, 1.7656, -0.0122, 0.0464, -0.0366, -0.8821, -1.347, 9.7573, 1.6825, -0.0317, 0.0513, -0.105]",
      "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]: [-0.5251, 1.3209, 0.5739, 0.0704, -0.0589, -0.0593, 0.9997, -0.0177, 0.7967, 0.6132, -0.3874, -0.0223, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.325 left_y=-0.1721 left_z=0.0912 left_yaw=-0.4541 left_pitch=-0.1044 left_roll=-0.0016 left_gripper=0.9997 right_x=0.2951 right_y=0.0023 right_z=0.1819 right_yaw=-0.0033 right_pitch=-0.0145 right_roll=-0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.3897, -5.0803, 9.7026, 2.1465, 0.1538, 0.2076, -0.0171, 0.0479, -1.6068, 6.8855, 1.8388, -0.0317, -0.0513, -0.0171]",
      "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]: [-0.4236, 1.5604, 0.59, 0.1886, -0.0082, -0.0216, 0.9997, -0.0181, 0.7998, 0.6132, -0.3912, -0.0227, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3488 left_y=-0.1518 left_z=0.034 left_yaw=-0.4159 left_pitch=-0.2111 left_roll=-0.003 left_gripper=0.9997 right_x=0.2948 right_y=0.0023 right_z=0.1803 right_yaw=-0.0034 right_pitch=-0.0214 right_roll=0.0001 right_gripper=0.9991\nstate[joint_eff]: [0.0889, -7.2957, 9.0188, 2.0391, 0.1978, 0.1832, -0.0122, -0.0615, -1.4974, 7.0222, 1.7363, -0.0122, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f6472c70cc1005f1332ce4741cc0b06c30d41ee634564234a08e1fefca9cc7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5028af198bd531208dc330688da69d92bbb993240cf832edbaae8b4506e40713",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7305ee4405852aefa7a20dd9e9128cfe64cdc4a1447905abd1f87f46bce1477b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShggKEAgSGAI4AUIIdGhpbmtpbmcSDFs9/ybII6draMfJGRoM+iLsnp1C00QsQ+U5IjDzHolK07mCbgkpRCaAm304izL6i8sXUb9IuBlegl3cE0EpVDqy8leqM71JZ000zjIqowdAhHkRv85OZ2qi1bkl9e+IMoghKRzKOxZQ9Oo40W5lArAHzRZbpJlMiXqeySsENoNIzkJlw47IJ8XCSsGOsB/IhnFjVj01i1A6E7Wn3SjBg4+vN6ePBxRdKUUgLui2NwKB13bbzbmXxixFEfOVVRukldXWWj2xRx4BB17xipiLZ/xVWv0hnnCLFcOnmb26/FGMIpxif8csLilRTMypyBqHT1gL243NcY81Rs5sfV0emCfumiO45D9L8Ae8mIeReNuckMpLyfTEC8bMLEVTrFJRYVwAipeSY+n1FKhsxEw9eSlUGQgP+PpzmaWx4bBXusfhPYZxhGO9ywChxPTkC3D3b5XdbxlVcJ168k1shYGBHuLopryzbXd4AJPe79vEWtf4o7pjNUAkxLhtYlsZaN6bkn+AlO7aIB+HlHrXM+4UQbHUPXa5kwX8lgKPvy+ersxkZgkAeYMdOkQNQu4bhjJrPf5mhEN6zzUeGfw/s+LWNFaUQTrAo2ZKjHhKHss7GvftjE46p5KuIaYnM7Y7sGP30kcC4NFakyANwEIl89umX+wAG2fzze4T5EubmDAwU4RRi1biH2Rkl3G0tEjRAz0WYiRAtKQvgBZCilT1iXEEP9NMEkBazVsLMYsO70k7JGLsuhyI4QCm2eJYWhOoCPnidmMUMU0mO3UV6FxohFx9WGdwFygYzZqGQnY6llbMpi0lBJs2YZJ/lEEpqxNim7VKkxOs5DpiyUuO6LVtO3W8JT/XPHAY8EF07vnmPeqjjM/Diryhd2ssf0VUksdCWbkM6AeyiBG9fk6GDf4n1+Txa5vY4elsVX0QA5K3Vdwl6xPWtDGqzJW59fDVWUjhofGOr0m0Zwb99Uk9DwCZ6S/H2iK0P4CkwpQpfTDt/H3XUsqbHESYFgOzP0TaT1X0x10NkQlE/7T0WBdCI4FCyWx6LQrI3ZtFhAsQhisthC3pGhmhguwxv5kP5Op8cAhgU8hdpDPu627lJzxlqf7txIjtYiLw8mZGJqmX66zinbl7CPBdXdbP3DWDNBlwcamjM5N8nbhbJxKq0Hy3fTpzfjM2x5dFufvnJWfRrXjJAUl26Y0aUZ7YpYlGvhnYNzUYR93mdkR8GXIniOWdTmuzNjJw9iwc/MV/iERReCk86QBZWdxwUysPJmduB9qEXRb+phJEUmymF9/Y5K5CDwv8tdLj1Xmoc81wgDYQ06TqjrLAr3mqCKZ/BdiTZmkrasuXuV2Gjq8bGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RMndLYJEbVFyZ5URJriPBW",
      "input": {
        "note": "Cap still appears ahead of and slightly left of the jaw centre in the wrist cam; the arm fell short of the last target, so I'm pushing further forward.",
        "targets": {
          "left_x": 0.39,
          "left_y": -0.15,
          "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_01RMndLYJEbVFyZ5URJriPBW",
      "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]: [-0.4171, 1.578, 0.5976, 0.2253, 0.0086, -0.0166, 0.9997, -0.0181, 0.8005, 0.6132, -0.3904, -0.0223, -0.0231, 0.9991]\nstate[eef_state]: left_x=0.3555 left_y=-0.1553 left_z=0.0369 left_yaw=-0.4266 left_pitch=-0.1843 left_roll=-0.0113 left_gripper=0.9997 right_x=0.2949 right_y=0.0022 right_z=0.1803 right_yaw=-0.0035 right_pitch=-0.0214 right_roll=-0.0004 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -7.1453, 8.1573, 1.9365, 0.1001, 0.2125, -0.0122, -0.0615, -1.0188, 7.3231, 1.7851, -0.022, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01873c17defc3b537be33448b74083d347c8dcb2ca290b983bb83640bbd705cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91362becb16c1fa7574c7abfb1c6b4117e58c4d9ab92cd9e904b3682cad6eb8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3532a64a228b5552a1b972815a4f4fe1de85a94e8c7837bed03e74605979fb34",
        "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 · 4.834 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5251, 1.3209, 0.5739, 0.0704, -0.0589, -0.0593, 0.9997, -0.0177, 0.7967, 0.6132, -0.3874, -0.0223, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.325 left_y=-0.1721 left_z=0.0912 left_yaw=-0.4541 left_pitch=-0.1044 left_roll=-0.0016 left_gripper=0.9997 right_x=0.2951 right_y=0.0023 right_z=0.1819 right_yaw=-0.0033 right_pitch=-0.0145 right_roll=-0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.3897, -5.0803, 9.7026, 2.1465, 0.1538, 0.2076, -0.0171, 0.0479, -1.6068, 6.8855, 1.8388, -0.0317, -0.0513, -0.0171]",
      "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]: [-0.4236, 1.5604, 0.59, 0.1886, -0.0082, -0.0216, 0.9997, -0.0181, 0.7998, 0.6132, -0.3912, -0.0227, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3488 left_y=-0.1518 left_z=0.034 left_yaw=-0.4159 left_pitch=-0.2111 left_roll=-0.003 left_gripper=0.9997 right_x=0.2948 right_y=0.0023 right_z=0.1803 right_yaw=-0.0034 right_pitch=-0.0214 right_roll=0.0001 right_gripper=0.9991\nstate[joint_eff]: [0.0889, -7.2957, 9.0188, 2.0391, 0.1978, 0.1832, -0.0122, -0.0615, -1.4974, 7.0222, 1.7363, -0.0122, -0.0171, -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]: [-0.4171, 1.578, 0.5976, 0.2253, 0.0086, -0.0166, 0.9997, -0.0181, 0.8005, 0.6132, -0.3904, -0.0223, -0.0231, 0.9991]\nstate[eef_state]: left_x=0.3555 left_y=-0.1553 left_z=0.0369 left_yaw=-0.4266 left_pitch=-0.1843 left_roll=-0.0113 left_gripper=0.9997 right_x=0.2949 right_y=0.0022 right_z=0.1803 right_yaw=-0.0035 right_pitch=-0.0214 right_roll=-0.0004 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -7.1453, 8.1573, 1.9365, 0.1001, 0.2125, -0.0122, -0.0615, -1.0188, 7.3231, 1.7851, -0.022, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01873c17defc3b537be33448b74083d347c8dcb2ca290b983bb83640bbd705cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91362becb16c1fa7574c7abfb1c6b4117e58c4d9ab92cd9e904b3682cad6eb8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3532a64a228b5552a1b972815a4f4fe1de85a94e8c7837bed03e74605979fb34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS+gcKEAgSGAI4AUIIdGhpbmtpbmcSDMrkZb3ISS89ivA7iBoM3/tgxJ0cDxNsAyT0IjCzNt0LTgSNSOXO9quJWf3V+ZCL+QXIgZqsYll+CYfhpW3ijxEqQ/tgcoVjIoMwEdQqlwfwvC8DpU2HjGsYrfNdgjaXQnoYf35DXS52b7Vacxs/1Tlu/7FgGhoQG0Updhs3FriHExLDIulFeyjxZDapF0Mry91CqiAL/hsIuMq5v9UNQifuNSBhJq++sAHpJZs9/G9alw9TtNvDiIagR4roU14dDh2+xWvP7MFD5TYtQwSRVluuK5fYVXApKy5+yFdPqbayKxbrT8KWhjOHxB5coDfzq93/cRvh/y6QSNmCAJgjW3K5Ks+g54mTZuyM8rACmtK6/8lo37ZbeBPtsgkzHqxRKaMmrrgpGUrHnUR299yzdqkMrIjgiuH3PmZaElSqB7+walJSvpWepp4Cw8K3ZlSSxn/HbBQQAHid0EyrpaT5Rv1EZ9t9f/aUZQ2bi4vVIZxCT6OIz+DmakBzImWnCrS4jfZxfnReg9t5B9C25iP+715zowXnA6cTKTKMn4XTP/4vLJYybr7mKR30js8yKTulhPDNKAEVxghALi23nUlgAL3oVrR/+B7DH5BEPXHLAlUYfzB5r0TS5fca4CZU7YgXWSlBRKrvl0r9l1OeueiZqlIbLL20L4U+5NsisHHAbMc1X9vU/sfMjS3dVwNKhIPPtsQ16rSUGJYWFD62ojr7r+YQaaeqz58JMOWD/bM6HKsYFmSe9Oettpiy7V8CIH/p9wPqJuCz7f538B713kv0/cx8Sua+tpfFvBcYmph9rwsCSE5HUQZu4ICsMAxIYSerYAOYO1ddsmj1tyzHlWN+oRThaZYGBdwSXCD6ZY0ImIFN+eOXf/7hKny0Vqx8yb+3YhygZ+8LQHz/bcvJJYowBC5GTZdsUuNNl2PxPu2RSs6D7bMwmTkCm0OHIwRmluOeXcIL1sb58ZyPwDkWe3IRvrTqR357dCMN/AnC1/emcCqTzVxrzit8CDbJEfdjtAnP023nDmp6Y0SHE0nA3peOh38adLWyJaqx6sfS2iHtbC90XJPgE8VxAiZ1g+REqVyLbn/G2ZLaXDwx7CQLD79eUyBayICEeEa9es5BPPtOmLjFaiTMpbqNmYinVSKW3ZtNoY8oCkwUHZhWV3MPXbUgviFQmuG4gC1YNnm4vC6+FBmppsItD0eF681LoyGRQRKaDyJI6pC5tjHMarfWBmZ2tnxkVVbwzMtr1I2q/3lCJSGWw/gTNzemXiwvjFUxJJ12ExxL6nh6yAWEXHPkD1GqM3DhOem5ARj1W1VxJzlLJWMJ/GNCN+q7GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FT5ok2E5VWxHc2nywi7jVY",
      "input": {
        "note": "The arm barely advanced last move; the cap is still ahead of the jaws in the wrist view. Commanding further forward, slightly higher.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.15,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01FT5ok2E5VWxHc2nywi7jVY",
      "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]: [-0.4175, 1.578, 0.5976, 0.2253, 0.0086, -0.0166, 0.9997, -0.0181, 0.8005, 0.6132, -0.3908, -0.0227, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3554 left_y=-0.1554 left_z=0.0369 left_yaw=-0.427 left_pitch=-0.1843 left_roll=-0.0113 left_gripper=0.9997 right_x=0.2949 right_y=0.0023 right_z=0.1802 right_yaw=-0.0034 right_pitch=-0.0217 right_roll=0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -7.1453, 8.253, 1.9121, 0.0952, 0.2222, -0.0122, -0.212, -1.2513, 7.0632, 1.7363, -0.0269, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a1ffb8f3224f12dd8db70868bb2b97550a58b90dca39ed6b25c8f5b1ad4ec7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6aa1db4de77d21b75c5a26a4bd1fc4f6c2d347752d38b988e609185d94bd7e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:34414d412ebf88b6741637f57e0c3b494712a01fab82abf9425922334fa7dadf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 6.5 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4236, 1.5604, 0.59, 0.1886, -0.0082, -0.0216, 0.9997, -0.0181, 0.7998, 0.6132, -0.3912, -0.0227, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3488 left_y=-0.1518 left_z=0.034 left_yaw=-0.4159 left_pitch=-0.2111 left_roll=-0.003 left_gripper=0.9997 right_x=0.2948 right_y=0.0023 right_z=0.1803 right_yaw=-0.0034 right_pitch=-0.0214 right_roll=0.0001 right_gripper=0.9991\nstate[joint_eff]: [0.0889, -7.2957, 9.0188, 2.0391, 0.1978, 0.1832, -0.0122, -0.0615, -1.4974, 7.0222, 1.7363, -0.0122, -0.0171, -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]: [-0.4171, 1.578, 0.5976, 0.2253, 0.0086, -0.0166, 0.9997, -0.0181, 0.8005, 0.6132, -0.3904, -0.0223, -0.0231, 0.9991]\nstate[eef_state]: left_x=0.3555 left_y=-0.1553 left_z=0.0369 left_yaw=-0.4266 left_pitch=-0.1843 left_roll=-0.0113 left_gripper=0.9997 right_x=0.2949 right_y=0.0022 right_z=0.1803 right_yaw=-0.0035 right_pitch=-0.0214 right_roll=-0.0004 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -7.1453, 8.1573, 1.9365, 0.1001, 0.2125, -0.0122, -0.0615, -1.0188, 7.3231, 1.7851, -0.022, -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 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]: [-0.4175, 1.578, 0.5976, 0.2253, 0.0086, -0.0166, 0.9997, -0.0181, 0.8005, 0.6132, -0.3908, -0.0227, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3554 left_y=-0.1554 left_z=0.0369 left_yaw=-0.427 left_pitch=-0.1843 left_roll=-0.0113 left_gripper=0.9997 right_x=0.2949 right_y=0.0023 right_z=0.1802 right_yaw=-0.0034 right_pitch=-0.0217 right_roll=0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -7.1453, 8.253, 1.9121, 0.0952, 0.2222, -0.0122, -0.212, -1.2513, 7.0632, 1.7363, -0.0269, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a1ffb8f3224f12dd8db70868bb2b97550a58b90dca39ed6b25c8f5b1ad4ec7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6aa1db4de77d21b75c5a26a4bd1fc4f6c2d347752d38b988e609185d94bd7e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34414d412ebf88b6741637f57e0c3b494712a01fab82abf9425922334fa7dadf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuAgKEAgSGAI4AUIIdGhpbmtpbmcSDMcH9U8U7z5bugryeBoMLL+OJRLOz8g2+mPuIjDZq/nPFvmECzl0PgYM3G150L52mWyJ5q8v7VS6GM0eWftBP2DJh2lnlhhxPIT9048q1QfkmHlb1jH/ubfV/eqQjeCRFgaHl/gfoONRALe+uFU3lgQ+afRdez5GvX+4sHXKYC6+wxUNgcFD/laVbhg23Se0sUkBd1GI1y6jiYt/ZUseoDFqbCGPwMD/JFtWw/Ysf8OhMqrmq9Hon1kxlElHxSM50UXlQMJyZbS8loTaZIXsNMmeloruFxu3tfP5Ko1Y2PV0g9DMF/tdfb/kEYKrEegsxhMRKOSqzVLyXK4qqo3wJ8if3SF2Zp3ZcjJ0pwDk83gfakymmWQ0VbQMi7BWpn5WfpxNV7mvKlWQXqHxnQX3BS7Qm3dzelnXfUhRqHQTGRAJyg5kx0EzekM7tUN+tqsu+52gm+Ie4kGSjYiIFxXfIEO9mtbWpU3AY28YcHZucjV7KkzfTyv5ySUKdiriyoeViw+kuQAvevpNYplZC3BVdhcOJ0kDlO8ri2nyrb354BYqLOYZHvpREb7efWEzpYhyvNBuHPvffHIHj/f5NROEw/oSd0UXLzZOMWt7WZmCqLMehTjpv3GblxqrsDIdf96iMvTVcIT+s1X9bim2Dm0ZZP90nHq3ARtL2GF3nUAAHQ1/LKBllwUeD59qHga8PrdaWArlYLFYrBYyORdLkjZ6CxGngx4+5cWr62bMe+2qmZQMqSFx8NWYKZMszfneOMAju2U8PleqykjxI4PA89NZs5AXKC//8G+pwZyEn2X839D+rcZnvcG04/2jk2LGH7TL+btl1Qvo9M/8XjZV/+UHPB2XxTGMT6o9RjthG5BDE0qFGKYa5XMUXXgkDwQl75OC58J5tr4oOLrV/FHcYqwidsIAcTBXCMqAvir81tPJFj3pdAuk8Fo2Q9EjZFkbdl7HKa22AvCsgmvR2sVRDZyN3G6ln7nxeNiQOVdNQFt+mTyejKDtgvzuT2e2dGkPEUrRqw5DBTXZsGvk3PS32QGbvisEoxAZQ0RT7PRDJok54rppp3CA5TTFuw9ATeKb+Q/IV1MD1zz4QK+EwJI+X4kOEZ/sewXZHnPQ2lDV2Ys8Ng21wUDRvVBeMCG3Jxd0/odQWD35vnTe3QiAjVFFHRsLdkVW1oUik1g6Ia8hP+xBKW31Bf+uMlnV4f/IUyu/csPB0wGWigUrmyAMnSAW0/c23guQXE0a/iOXfsQn1uqwuO3EVMxrPIaxwR1dVkZ5IyhBU1pIYuXAqdpFXrDyhoagoW537o0I18LQ43KJ85ozxTTLwqAWGeOQO9PH0lkgqBuuY5XXSqLu6DUWfBPM6lnv18LKCPF6JVyLQpTlTWyDvQLPdjEh+sGKjpNIyt79JZjZ1c4l+SoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01X1JmNBNgZWbt23EEMXL6Sb",
      "input": {
        "note": "The left arm is stuck at x≈0.355 at low height. Raising it and resetting pitch to get out of the awkward pose before moving forward over the cap.",
        "targets": {
          "left_pitch": 0,
          "left_x": 0.38,
          "left_y": -0.155,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01X1JmNBNgZWbt23EEMXL6Sb",
      "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]: [-0.3805, 1.5021, 0.5976, 0.2249, 0.0181, -0.017, 0.9997, -0.0181, 0.8005, 0.6132, -0.392, -0.0223, -0.0231, 0.9991]\nstate[eef_state]: left_x=0.3645 left_y=-0.1454 left_z=0.065 left_yaw=-0.3977 left_pitch=-0.1087 left_roll=-0.0169 left_gripper=0.9997 right_x=0.2947 right_y=0.0022 right_z=0.1799 right_yaw=-0.0035 right_pitch=-0.0229 right_roll=-0.0004 right_gripper=0.9991\nstate[joint_eff]: [0.4581, -8.2393, 8.9778, 2.0293, 0.2027, 0.1783, -0.0122, -0.294, -1.2239, 7.0222, 1.7509, -0.022, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:666c701eaad913a80a327108f2068ac34a2010d0bb9976b7a422673956c62c47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed3d7fbba4a51abc3d00e0a702235eca1a08999d85d269b770ce934a975ad169",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c75e35d2d404277c64299cf30d8cf7b4a60020daf91af7d9b9e3e117425a30be",
        "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 · 7.067 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4171, 1.578, 0.5976, 0.2253, 0.0086, -0.0166, 0.9997, -0.0181, 0.8005, 0.6132, -0.3904, -0.0223, -0.0231, 0.9991]\nstate[eef_state]: left_x=0.3555 left_y=-0.1553 left_z=0.0369 left_yaw=-0.4266 left_pitch=-0.1843 left_roll=-0.0113 left_gripper=0.9997 right_x=0.2949 right_y=0.0022 right_z=0.1803 right_yaw=-0.0035 right_pitch=-0.0214 right_roll=-0.0004 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -7.1453, 8.1573, 1.9365, 0.1001, 0.2125, -0.0122, -0.0615, -1.0188, 7.3231, 1.7851, -0.022, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.4175, 1.578, 0.5976, 0.2253, 0.0086, -0.0166, 0.9997, -0.0181, 0.8005, 0.6132, -0.3908, -0.0227, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3554 left_y=-0.1554 left_z=0.0369 left_yaw=-0.427 left_pitch=-0.1843 left_roll=-0.0113 left_gripper=0.9997 right_x=0.2949 right_y=0.0023 right_z=0.1802 right_yaw=-0.0034 right_pitch=-0.0217 right_roll=0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -7.1453, 8.253, 1.9121, 0.0952, 0.2222, -0.0122, -0.212, -1.2513, 7.0632, 1.7363, -0.0269, -0.0513, -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]: [-0.3805, 1.5021, 0.5976, 0.2249, 0.0181, -0.017, 0.9997, -0.0181, 0.8005, 0.6132, -0.392, -0.0223, -0.0231, 0.9991]\nstate[eef_state]: left_x=0.3645 left_y=-0.1454 left_z=0.065 left_yaw=-0.3977 left_pitch=-0.1087 left_roll=-0.0169 left_gripper=0.9997 right_x=0.2947 right_y=0.0022 right_z=0.1799 right_yaw=-0.0035 right_pitch=-0.0229 right_roll=-0.0004 right_gripper=0.9991\nstate[joint_eff]: [0.4581, -8.2393, 8.9778, 2.0293, 0.2027, 0.1783, -0.0122, -0.294, -1.2239, 7.0222, 1.7509, -0.022, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:666c701eaad913a80a327108f2068ac34a2010d0bb9976b7a422673956c62c47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed3d7fbba4a51abc3d00e0a702235eca1a08999d85d269b770ce934a975ad169",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c75e35d2d404277c64299cf30d8cf7b4a60020daf91af7d9b9e3e117425a30be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS/AoKEAgSGAI4AUIIdGhpbmtpbmcSDE7EzQZkHWZJ2QySmxoMzUtYA75G7xuIGgfBIjCaq9RSKKn2V1Er8pFcmdZp59bE2YkA/AL1gUjX6RIKT7mSQIj/VWG3lBZsEuZVXScqmQo70AGr9yTBx1LLBpo5OyK0aSPKx5nKeHtgJmFDz2wEOJMvVpgwS3TroLs5sxds81W8/Ek//TZfQrHP+v5gODX9xYti2LQMaWZyI8lwU1M6IRt9Vo49pF+oJmX8RHsV9Y+C7i1g7jYDdsDumjOsN/RxG2WZWQTL3sVONXp7004UpRT0gp5o9Cir3x66hRXhoVQfs/UrEGDFu02RMEcN5/xnOeMWmeuQvE2iO76ZPmf0eWQBBDMxg/Um3NyCEcXlVOjMxU1q5PWtf7NXhq6GRwBE873b/aXVuysggZpl2aRwtRGTSG40exyj5L7yYBmTCmAYby676mZR9tDnfwhlRXHyn2tVckAppe1/5hEsUDwjZvn0t/vybZqjE9nTVgk8aCUcwYYNWGbU7v//9rHU8tsNdVlLs8EPe8t9b/3r/D2/WkMpjFFvulhQFN5i9T86dU7rhYE/i6Sxxdu2KH+69lGUrVCYEA8OMWsXZ5F7Ldxuezwk9xM/pLoPAgamI68WGP1LN3QrDQX2b8L5w0lPBcIj22oMHfTVh/Yu8CtuU4ReT6R1LhUaSpgqKlB3JZUGaddQPdlVUwPRBjSQsH+JpctiMOInOH3c6+dsvKKO8M2/VsRfegJUEOqbJsECLwa5waIGHjeGY7tL9nVKWhfJJpGqtN3WExn+vu16IcmaU/FeWrdwWSScWLmLLIcBpI8TXLFCpM8RCh0+1SwMJCLCGMoficsXFTwZqRPhWe+8Po3RSpg2Jmr/vi6YU0A4C2BwFIPP87P/auw1ll7De4CG1EFr/e5+uJQjkFhotKgcZL5F2iw9Scp/mhbqf/+Vhu4QmZa30R+ozbZlTo2/rLBk4pBx57V6fZoc/Bo7b/xgAD04ppCBO1n6P9SfmS5gA5ADPXP0noTOrfb+P8dAo61OX+4MKEyFpLbOOb8v/bRcofrCyHfSfA82KOeYNtpWS0mITSVIvDQ+DHCQKODIr+VpM6dzpOyd42YtHgCL0c8jS+Wbc16paodjyQWI+nUD49yf9H67b1B7pkzVKIodnB87nZtXmbCzhajMmI6W1AKAqIqYXghqgL54LZMKJMJufd6DTXuap747UGcQjPW8NgmLOgk7ukcKz3uBWrIhmDU3RvNECczHWIelJd5VfRHBhtXQy6I2cSbwbDCmyf4HqGOnonQ0SGvjuxNrghWJDVf8SGCAcVC8Yhe+QK0TIGw6JRNQMOG1Rivy12AHCWtYs7tc+2QUbYJG+MdbEJd30rVLnR2bKOLuh1YvUQHyoVQQYatwnlcpVYlgzr3TbEdRzZDqIS3XijDUayAfRQlzAG2s4E8qJW+UMUnQ7ZdFvyy30442ohryFivBESXW0DEmxboOxLLonZrJhdYnNz9GDnZ9Ads4YRUsM9vZg+eMi5HAIIf7R5ufIZIilETir7qu6DtRXmXJFdXxQ4gnH1UwYaln+gXNYtaPk8GhLOOMFraBI9XpzxAK/B3gQ1V8x1w2gnUXWhGuPobW4Aob8sF1NvEZez0ABB418g+x4Y++FhKJ9hIJ0IMyvYOnFtTQV2c/WD0t6JqAT7eyHbJDnEv7WASE/XQCcGn+ptDF8XsRbvsES9pQS5G0pWUWBwMtJdNRifp4NlP1Gx7KjccRhn7OiVlccedPSt/xYuPnEQSiPb5l1fCkqrVsUzFE8iSPnhw84C7LiIU1T3ac9grb6Z7laEXdKqeLFzhy0JfcvVpyhoqEJu2b/yEPp0is26dyHI8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KAJ4bqF9GwQBZmUQ7QfyHT",
      "input": {
        "note": "The cap is now nearly on the jaw column in the wrist view but still well ahead. Moving forward about 4–5 cm.",
        "targets": {
          "left_pitch": 0,
          "left_x": 0.41,
          "left_y": -0.16,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01KAJ4bqF9GwQBZmUQ7QfyHT",
      "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]: [-0.3798, 1.5402, 0.5976, 0.2619, 0.0151, -0.0219, 0.9997, -0.0181, 0.8005, 0.6132, -0.3931, -0.0227, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3684 left_y=-0.146 left_z=0.0578 left_yaw=-0.3917 left_pitch=-0.1099 left_roll=-0.0188 left_gripper=0.9997 right_x=0.2946 right_y=0.0023 right_z=0.1797 right_yaw=-0.0034 right_pitch=-0.024 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [0.0479, -6.2564, 6.188, 1.9414, 0.0171, 0.0024, -0.0122, -0.0342, -1.306, 7.0222, 1.7753, -0.0415, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3da2c3748be6e380cb99014aca849bdcb3ba1221e644e9299f1b82ba3334efd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d925e83b5e37fc2652c8699f9d7a0854688dfab58f4d68252a9c1a35b056a6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ee894d40d8ece0f741b7d6932646692ad01c082e6f958224de7d84372c5ea5bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 3.928 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4175, 1.578, 0.5976, 0.2253, 0.0086, -0.0166, 0.9997, -0.0181, 0.8005, 0.6132, -0.3908, -0.0227, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3554 left_y=-0.1554 left_z=0.0369 left_yaw=-0.427 left_pitch=-0.1843 left_roll=-0.0113 left_gripper=0.9997 right_x=0.2949 right_y=0.0023 right_z=0.1802 right_yaw=-0.0034 right_pitch=-0.0217 right_roll=0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -7.1453, 8.253, 1.9121, 0.0952, 0.2222, -0.0122, -0.212, -1.2513, 7.0632, 1.7363, -0.0269, -0.0513, -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]: [-0.3805, 1.5021, 0.5976, 0.2249, 0.0181, -0.017, 0.9997, -0.0181, 0.8005, 0.6132, -0.392, -0.0223, -0.0231, 0.9991]\nstate[eef_state]: left_x=0.3645 left_y=-0.1454 left_z=0.065 left_yaw=-0.3977 left_pitch=-0.1087 left_roll=-0.0169 left_gripper=0.9997 right_x=0.2947 right_y=0.0022 right_z=0.1799 right_yaw=-0.0035 right_pitch=-0.0229 right_roll=-0.0004 right_gripper=0.9991\nstate[joint_eff]: [0.4581, -8.2393, 8.9778, 2.0293, 0.2027, 0.1783, -0.0122, -0.294, -1.2239, 7.0222, 1.7509, -0.022, -0.0708, -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]: [-0.3798, 1.5402, 0.5976, 0.2619, 0.0151, -0.0219, 0.9997, -0.0181, 0.8005, 0.6132, -0.3931, -0.0227, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3684 left_y=-0.146 left_z=0.0578 left_yaw=-0.3917 left_pitch=-0.1099 left_roll=-0.0188 left_gripper=0.9997 right_x=0.2946 right_y=0.0023 right_z=0.1797 right_yaw=-0.0034 right_pitch=-0.024 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [0.0479, -6.2564, 6.188, 1.9414, 0.0171, 0.0024, -0.0122, -0.0342, -1.306, 7.0222, 1.7753, -0.0415, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3da2c3748be6e380cb99014aca849bdcb3ba1221e644e9299f1b82ba3334efd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d925e83b5e37fc2652c8699f9d7a0854688dfab58f4d68252a9c1a35b056a6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee894d40d8ece0f741b7d6932646692ad01c082e6f958224de7d84372c5ea5bf",
        "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_01QDZ5cZ9w4Mk8ZNbauXRY4u",
      "input": {
        "note": "The left arm is creeping only a few mm per move and one joint seems stuck. Lifting to 15 cm at the cap's x to see if the arm tracks better from up there.",
        "targets": {
          "left_pitch": 0,
          "left_x": 0.41,
          "left_y": -0.16,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01QDZ5cZ9w4Mk8ZNbauXRY4u",
      "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]: [-0.3798, 1.5402, 0.5976, 0.2737, 0.0147, -0.0246, 0.9997, -0.0181, 0.8005, 0.6132, -0.3943, -0.0227, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3701 left_y=-0.1467 left_z=0.0601 left_yaw=-0.3899 left_pitch=-0.0981 left_roll=-0.0206 left_gripper=0.9997 right_x=0.2944 right_y=0.0023 right_z=0.1795 right_yaw=-0.0034 right_pitch=-0.0252 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [0.1573, -6.1744, 6.3795, 1.9707, 0.0366, 0.0317, -0.0122, -0.0068, -1.2786, 7.0222, 1.7705, -0.0269, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d41cfffd06642ec3b64f13a22f0c2117bea379b2ba355572e3384b8cad659a09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b349096d93c853c32784913e55d0828dc0b965aa47999b767e23bb1132a28dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f8d03427807761146e64c674887e2bdcfeb81a99f1839276f18cf21887e5ecf0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 4.727 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3805, 1.5021, 0.5976, 0.2249, 0.0181, -0.017, 0.9997, -0.0181, 0.8005, 0.6132, -0.392, -0.0223, -0.0231, 0.9991]\nstate[eef_state]: left_x=0.3645 left_y=-0.1454 left_z=0.065 left_yaw=-0.3977 left_pitch=-0.1087 left_roll=-0.0169 left_gripper=0.9997 right_x=0.2947 right_y=0.0022 right_z=0.1799 right_yaw=-0.0035 right_pitch=-0.0229 right_roll=-0.0004 right_gripper=0.9991\nstate[joint_eff]: [0.4581, -8.2393, 8.9778, 2.0293, 0.2027, 0.1783, -0.0122, -0.294, -1.2239, 7.0222, 1.7509, -0.022, -0.0708, -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]: [-0.3798, 1.5402, 0.5976, 0.2619, 0.0151, -0.0219, 0.9997, -0.0181, 0.8005, 0.6132, -0.3931, -0.0227, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3684 left_y=-0.146 left_z=0.0578 left_yaw=-0.3917 left_pitch=-0.1099 left_roll=-0.0188 left_gripper=0.9997 right_x=0.2946 right_y=0.0023 right_z=0.1797 right_yaw=-0.0034 right_pitch=-0.024 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [0.0479, -6.2564, 6.188, 1.9414, 0.0171, 0.0024, -0.0122, -0.0342, -1.306, 7.0222, 1.7753, -0.0415, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.3798, 1.5402, 0.5976, 0.2737, 0.0147, -0.0246, 0.9997, -0.0181, 0.8005, 0.6132, -0.3943, -0.0227, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3701 left_y=-0.1467 left_z=0.0601 left_yaw=-0.3899 left_pitch=-0.0981 left_roll=-0.0206 left_gripper=0.9997 right_x=0.2944 right_y=0.0023 right_z=0.1795 right_yaw=-0.0034 right_pitch=-0.0252 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [0.1573, -6.1744, 6.3795, 1.9707, 0.0366, 0.0317, -0.0122, -0.0068, -1.2786, 7.0222, 1.7705, -0.0269, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d41cfffd06642ec3b64f13a22f0c2117bea379b2ba355572e3384b8cad659a09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b349096d93c853c32784913e55d0828dc0b965aa47999b767e23bb1132a28dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8d03427807761146e64c674887e2bdcfeb81a99f1839276f18cf21887e5ecf0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0AcKEAgSGAI4AUIIdGhpbmtpbmcSDKFW0ev8zSUb03KpMxoMcPZYXUTDG0Qg02hUIjCzaH4CTYvLuisjUIsB2VoFwiY8gQunxT6oNE4ew826cJB15MCTYMKd6Ru4dUcTnP8q7QbzhWmSY/CZZAX9Bn7NPRGdaUN0AQIZlyrWu7C4JZmlN6xb3f2hEYy+cwgTf8J2SYhTiHPTYvvjuEgtFVXiGJxHz5irh47lkO6e/ptztIICTKE6XDpNHOYYbHZVqdggW7Y3ipWMertxRCjZqf0Cvcm3jvM50VsLE9JCQEhgo6sJolbXtHJodTWwC/pFNNwmwJaaAPH3usMGuA7hkguzQ/bc78wA3DrJ/Ka5CQoy13avS2J9r57V9Q0Lbvm3OmTKJbijGZmx5FifhENWUJT8yqlxoT/7p/15sPyKvXbDVitVgukGbTfUTUjrEmxLE4CnZlB2rty4jnnf2qK/iVE5R86owh7TmqYqrHKEuPgy3LoQyDBAZID3lEVLCZBIKVE5Yz9B8lS6eM91BgzQ/2kp2yB/YiZWS5EeuhJoGtnYJketVONdIiNcis0x9mg7neK9Bw8yAGax16wXEBA3+NkaaudFh1TlBg0TkjbTSVMIsPat4g6UG6b0u20jh7sCSKeEyPHz6dT6uD8lp+qiCPFY8W0Y5cZyR40xe6jdes2lpgeygIvOtdLufRFGr17eiax6peVBBF8Tnjen+ldJGmP1hcdX253D6TjwPJaB+TiACLSuBKrgqYebPEE3BhCowRuvqh2cdhKrD/Pxg2RKT0TX2t1PpnRpqKePbtY6Rf+r1TEbLUk5vXD9EwaHK+tCGoYkVkcnzQhle7IDMeXDk93oXrfWPFgZ0UbuWV+8synMZccjTojZbkycUKujOg+fXWXV0xk+ZkaG38e+YYCMbCAxeSJbMZJ3MEqgxtJMDS50dU7VfnduqX2++cdGPsWFJ8lJhCLNbx13/KQIqT/38w61/eORFYaNISeGtu3/NxyQxlCxiyE3lBQesv9Con2atpHTMysATaHpjsUNhUE9sJEcIN5Aw7PSjXQ+QeWX1fveq0NLtyUqPAlLsq3gy69hQsh9RTSqW9GXZPTSDCvYNg/ORik3UHDTn5E70lAOXSHqHZKau2mZ7WgSM7k/o0q+p7bcBEENBHhIa2caeIAp0Jx0jdKGuBryz3RhMM5t5prsz63n3vHztYBT4EgWte8AmtD5hVnzqAMPdrlYnRQspZFRryPVdos747g/k5IBICYkK/ogdn4pux6OICJrQGeB4gUo1lGoz8vvQocMAf8WNfudGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019qMpGqWuYwNTw3JTbyhKZX",
      "input": {
        "note": "The left arm didn't respond to the last lift. Trying a small pure lift of 3 cm to check whether it tracks at all.",
        "targets": {
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_019qMpGqWuYwNTw3JTbyhKZX",
      "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]: [-0.3798, 1.5402, 0.5976, 0.2737, 0.0147, -0.0246, 0.9997, -0.0181, 0.8005, 0.6132, -0.3943, -0.0227, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3701 left_y=-0.1467 left_z=0.0601 left_yaw=-0.3899 left_pitch=-0.0981 left_roll=-0.0206 left_gripper=0.9997 right_x=0.2944 right_y=0.0023 right_z=0.1795 right_yaw=-0.0034 right_pitch=-0.0252 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [0.0752, -6.3932, 6.2427, 1.9463, -0.0024, 0.0366, -0.0122, -0.335, -1.2513, 7.2, 1.7216, -0.0415, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5aceddef108e77713772af5766431a79f50c1d95a3892a25fc848615968cd52c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6db270cc95c19cb0f773c5de13271870915baec2adbd576664d4f056edcd1fe7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a6d0f0c187caccec9368a1cff75516de3a1888d299e049a9c6335c57708730f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 6.184 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3798, 1.5402, 0.5976, 0.2619, 0.0151, -0.0219, 0.9997, -0.0181, 0.8005, 0.6132, -0.3931, -0.0227, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3684 left_y=-0.146 left_z=0.0578 left_yaw=-0.3917 left_pitch=-0.1099 left_roll=-0.0188 left_gripper=0.9997 right_x=0.2946 right_y=0.0023 right_z=0.1797 right_yaw=-0.0034 right_pitch=-0.024 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [0.0479, -6.2564, 6.188, 1.9414, 0.0171, 0.0024, -0.0122, -0.0342, -1.306, 7.0222, 1.7753, -0.0415, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3798, 1.5402, 0.5976, 0.2737, 0.0147, -0.0246, 0.9997, -0.0181, 0.8005, 0.6132, -0.3943, -0.0227, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3701 left_y=-0.1467 left_z=0.0601 left_yaw=-0.3899 left_pitch=-0.0981 left_roll=-0.0206 left_gripper=0.9997 right_x=0.2944 right_y=0.0023 right_z=0.1795 right_yaw=-0.0034 right_pitch=-0.0252 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [0.1573, -6.1744, 6.3795, 1.9707, 0.0366, 0.0317, -0.0122, -0.0068, -1.2786, 7.0222, 1.7705, -0.0269, -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 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]: [-0.3798, 1.5402, 0.5976, 0.2737, 0.0147, -0.0246, 0.9997, -0.0181, 0.8005, 0.6132, -0.3943, -0.0227, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3701 left_y=-0.1467 left_z=0.0601 left_yaw=-0.3899 left_pitch=-0.0981 left_roll=-0.0206 left_gripper=0.9997 right_x=0.2944 right_y=0.0023 right_z=0.1795 right_yaw=-0.0034 right_pitch=-0.0252 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [0.0752, -6.3932, 6.2427, 1.9463, -0.0024, 0.0366, -0.0122, -0.335, -1.2513, 7.2, 1.7216, -0.0415, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5aceddef108e77713772af5766431a79f50c1d95a3892a25fc848615968cd52c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6db270cc95c19cb0f773c5de13271870915baec2adbd576664d4f056edcd1fe7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6d0f0c187caccec9368a1cff75516de3a1888d299e049a9c6335c57708730f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5ggKEAgSGAI4AUIIdGhpbmtpbmcSDHByfDInkrKFJC20jBoMUL2E9RBFzAYs01a7IjBW+jism5VoKBfDsJGXdv06DXM4gWrOPaJ5v7cB03Hr0T0PwhpkkcegIN+bg6spLNoqgwiae0N92DK95o8u7/dVzhCclSdSzui3ovGCp1CRf0lfIvPOe3Vzg1Cezg5Xj5tH6+D/5UcnIdOUB4oAs43rvaRQFIjImcpMJprjnI7vcKAjUxdiOZCIIO/10RIJUC0BqsVe7WORtvAFdAYMXjDfW+9IFYLUaz1sbWHFVukF38CAEE1/+S17BkFUHUMEqAhhpzEiD1NAzmXUIo4GIxLkJ1ysDcUaCEyrD0kONRyXx7rkJ7aeMV++Vpd9IFMSzMel+VsJtxNr4OcUjH03hmt+mVibcMPYHm9k6RFhf4FfCIuSuaITZ4AGzZ5UZIuaha3pY8Y94GSPEdiuQRr6syMrADDfeiNkYttZDHRl0kdXoLAfzcUrAgSe0y++OqwIj2j9+3Pkrhik/EcPXAJ+wxcTfcXDh5tZO9h+P7VutCmV7H6sjNeoZ1zIMUiHenNpOs4aGlVXVqaeVXcIA6zTqMrSXNau97C0EMYyVJkWyGtDjz8yNkAyVdoXGHcJYo5NPiom6+GzFlyQqcvYFAkW1RWWGBjAk9rfm0gs1OADqM8PL44lGlyb0K0wrOiFXaJHBUOzCdFcY2Qhgo121uVSeHflynhz22n8ye5x9263B1vmtQmpnscCNYpxblHUjUggBqkJGEgm7QLV3PwqyLYeUvzImZU58CGLt5N6H7HCPLKS76D8BfAEYIJgjaxRHMqTEEWxbm0Y6ZUqLRXEE27C6w2ewWExY9BacbzUdprmqXnn8N9s4Osvha25ocSDWqmBuKqEondxZHHsUybbqyf89i77QM/Ke1KXxxMJHsbDhTftk0v/dcX+bywRUQsb9uiWj3Np57EuIZbrkIfkjizfOIACceW9OmYU2gusud+5GmymL5P/p4GIHINkY7pYv1N6HLGDp/pq6V/QeG0nPQ3fLgbnzqC+Z8QQUri4UHDl6V2vmv3cSRPIrirJ/OchwjDeKOcdf/DXHQOR1sdFwpD9JEdIueZUDO+uHtmoBq7vaimxEX5PG/OciRPeSqRG1mJSRITMgZXnMqfIQCC7N+LYP1PVv9ghLTY9N29UpPHdFqwN9V9KWAqV50aWB/XzGmfoftGPkrIGV1aEPz7V9rt38gqAEeeWgMzfWGqmDJTVYUscVoGJMkqj24XvWReTsYHC+OvgayOoA9hy8TEmZcAoDXPt/ykBZgOD3T1lxSkakOjoYfMRlEbgytbjzwvdp0vjkEcm22Ht3zhPtD4+41G8B1QKqia35ZUPvhmN874GGX2HdEyrreECn0Ls8pEQI0bZ4jQ6Ox1wzCNaxzrDGBQ4S8QXFffpc4phUJMfc4kJOIV4ZdMwuzK/irKMOb28kAkhtmrYySUzixoPzGYIwwf0/Z0uRuSvcMwTGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015XMh5etALdnLmAeE7EAaWH",
      "input": {
        "note": "The left arm is frozen. Sending a target very close to its current pose (matching its actual yaw and pitch) to see if the controller will take small steps again.",
        "targets": {
          "left_pitch": -0.1,
          "left_roll": 0,
          "left_x": 0.37,
          "left_y": -0.147,
          "left_yaw": -0.39,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 1 steps (0.1s)",
      "tool_use_id": "toolu_015XMh5etALdnLmAeE7EAaWH",
      "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]: [-0.3798, 1.5402, 0.5976, 0.2737, 0.0147, -0.0246, 0.9997, -0.0181, 0.8005, 0.6132, -0.3946, -0.0227, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3701 left_y=-0.1467 left_z=0.0601 left_yaw=-0.3899 left_pitch=-0.0981 left_roll=-0.0206 left_gripper=0.9997 right_x=0.2944 right_y=0.0023 right_z=0.1794 right_yaw=-0.0034 right_pitch=-0.0256 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -6.3521, 6.2017, 1.9512, -0.0024, 0.0464, -0.0122, -0.1162, -1.2103, 7.0085, 1.746, -0.0366, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95385490040d948f6e249a8d07ecc9e33ade0063cb010abb51baa5aaf6f73b75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3626ebca85b89a2ef8267e7ee03da1077e48dbfe3ea05cfcc0ffe088d8dc44a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:acd72bca34fb57a42381cfc9f91f749a263db72f52aa94245da74abcc9829b23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /messages · status 200 · 6.524 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3798, 1.5402, 0.5976, 0.2737, 0.0147, -0.0246, 0.9997, -0.0181, 0.8005, 0.6132, -0.3943, -0.0227, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3701 left_y=-0.1467 left_z=0.0601 left_yaw=-0.3899 left_pitch=-0.0981 left_roll=-0.0206 left_gripper=0.9997 right_x=0.2944 right_y=0.0023 right_z=0.1795 right_yaw=-0.0034 right_pitch=-0.0252 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [0.1573, -6.1744, 6.3795, 1.9707, 0.0366, 0.0317, -0.0122, -0.0068, -1.2786, 7.0222, 1.7705, -0.0269, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3798, 1.5402, 0.5976, 0.2737, 0.0147, -0.0246, 0.9997, -0.0181, 0.8005, 0.6132, -0.3943, -0.0227, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3701 left_y=-0.1467 left_z=0.0601 left_yaw=-0.3899 left_pitch=-0.0981 left_roll=-0.0206 left_gripper=0.9997 right_x=0.2944 right_y=0.0023 right_z=0.1795 right_yaw=-0.0034 right_pitch=-0.0252 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [0.0752, -6.3932, 6.2427, 1.9463, -0.0024, 0.0366, -0.0122, -0.335, -1.2513, 7.2, 1.7216, -0.0415, -0.0317, -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 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]: [-0.3798, 1.5402, 0.5976, 0.2737, 0.0147, -0.0246, 0.9997, -0.0181, 0.8005, 0.6132, -0.3946, -0.0227, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3701 left_y=-0.1467 left_z=0.0601 left_yaw=-0.3899 left_pitch=-0.0981 left_roll=-0.0206 left_gripper=0.9997 right_x=0.2944 right_y=0.0023 right_z=0.1794 right_yaw=-0.0034 right_pitch=-0.0256 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -6.3521, 6.2017, 1.9512, -0.0024, 0.0464, -0.0122, -0.1162, -1.2103, 7.0085, 1.746, -0.0366, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95385490040d948f6e249a8d07ecc9e33ade0063cb010abb51baa5aaf6f73b75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3626ebca85b89a2ef8267e7ee03da1077e48dbfe3ea05cfcc0ffe088d8dc44a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:acd72bca34fb57a42381cfc9f91f749a263db72f52aa94245da74abcc9829b23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqAsKEAgSGAI4AUIIdGhpbmtpbmcSDI3b2mV6lkMQFO36DBoMod2j8jcpPSfM8vK4IjD7mTfBB9Tw9W3ISjI5jb26BphLFOqWihvK2if7i0GJ7W0RLsDSQeDmNz4Q0WjxY2wqxQrMukbkQ1nZTJW0YzwmhLlTMLgy1wV639FyL/UIBHBVnGJxUgcBM02CJ3kJ+Yp3jxZ7K6Ob0YRyL5HzE7wC26eWXDkeLNzYizFJTMcCSQOqy1i4cvrhzkNVW7rb+bus6jJpIxw8W2PxjPoUFIwNllP+OcIYa/Zlyn1apWvqfKDuhT/UpePlSAs9CEFdVwaev2ioenXMnhk8srfe6oUgOFK2aWkv8fX9qD4heYGypgjgkr6Nq9Kpd0YcWvmJDO+lXudmjE9XyLgUM62+jnGFlkSodqztAfwhTUbEDdBFYmKzF83OOK1aOkFLaGuMKfKtrWnrtdGa3tDUzZd5ttYAN9NqsMTbWGxw9LTBWaxRjVH56dbxjdkKeG5W7/pCKn1TpeqMBf5goWl5TCuCIC6UgY1fNI7VsLokE7W8E4CzwWIvwqXoVurjQ85OMZB/XbygMPyNi3f4zlF/T5jYwdoA4bza/mBeWFxrQeWY+IsxcN+FqW3pbJ7oZSLXtr24yto8WP39CSJe66sYLMUUx80QpYbVUjmbPMWgUjC0ComWEV20SM1z1GKRljwL3t6YDWXPqThB+fJnTZAwrg9hFg+9Xy9GzO3TkYgrVfhXzoWKzuH/qbK2iBNFkRZ+QVQ139girVldTGSj3oaR2awgZ+fhDB9ouWaTqWbmAQGgHEBNORFDMzLAh4E5dtET7nc/GdVuLE6q2aspDuWPWGnp9T6prIwZotaiXHZj2Q2DY+7NwGCYqukUMIhFBKmYV045PgF7LDy5tk04h72pMzZGqmqxubAEuCNLS2ltgF0QTU/24KvgtiZULdwewKFiylywwNBSy6lVtMX9hUqpj8Hdyr4wEJjNHNtfuWZ+xRj/OGhYdEYhypcw67/uNo8f/1U2Iw1oQWAnMVaPUDUGw+kSqOd12/Qs1tbu/F14ILoMJcYA3jsTLfBaz1hZM8HWLbqOP40F03TcfZ1aLkSUi5IKh+nsZdLuaSvJ/BvndVW01PvnRsuC5WKzKs1jesDGbWrNYOHRZizwQi0IVGczFifCAaAJujVfQj3N5ECge3FAi0oZPHD5d0lsaXTuA3a17hSIHNZV//EAMg0lPJ9bR1TUQ0xiqEHQaTndtYEDKxu7ARNJugLed4JgnYlBt6NYU+pD0N/0968hkKG15MYhhhQtI4E0xjSpUWbkfO/2kgafx81nWiVbPCKjqF43S25ayijjG/CcC7PHeAwaLkqP0ejSbtj/fPCSc5kwQix/ayv5d5vnUBO6S5uJKSAwJY3A+sM9HQr1hK9db7WbAvDsWSNN2AeurfJ7w4OknnvW6f8hyQ+pzlr9ZIwl93S/gEbxH+J7tEOJN7gT+wEez4w9zFZm1bYBqu4U/YMDJu9TAzqhv0erUeGXG58ogXvY0asca5fkcqAU6DOAw4NCwfOxetZKIoTdr5bPSst2aLvojaWtripcoDw3r/2AXY/LAgLUGsjVC7mxhcNNFAtlgPIGAUnZowkNab8OknYLV9Jd0HKehFJY/CSUbpZSnkcZCcJL+k22dBmiFi/QMuHaf3NS6g2bmQE4HfrVyZrIBNHj9QXI/d8FHqaIMEgyoI+2d1IS9V8aUiGreLr7wJuPj9da3ut+KkuPd/28VG6pRB7JPAWHVaYVfIBuT1QcETtlifj0OWGnKwF0osZr3gWkCVtLK6JNJN2MP09RU9NYviAV64Wf9rbnmsD68h0S3Hxk98BPNKgriHnVEbrL5D4OXxrqCl4nDIDPvKgNKui8XirZBnYfmD3NiOdGlL6XPHElTP2fTiBdIsyTaP9dxcY4pRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J2kvHzjCRqGSmCZkXerTeC",
      "input": {
        "note": "The left arm still won't move; its elbow joint looks pinned near 0.60 rad. Trying a move back toward the base and up to see if that direction is free.",
        "targets": {
          "left_pitch": 0,
          "left_x": 0.33,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01J2kvHzjCRqGSmCZkXerTeC",
      "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]: [-0.4423, 1.235, 0.5369, 0.1394, -0.0269, -0.0521, 0.9997, -0.0181, 0.8051, 0.6132, -0.3969, -0.0231, -0.0231, 0.9991]\nstate[eef_state]: left_x=0.3367 left_y=-0.1502 left_z=0.1192 left_yaw=-0.4026 left_pitch=0.0123 left_roll=-0.0207 left_gripper=0.9997 right_x=0.2944 right_y=0.0023 right_z=0.1777 right_yaw=-0.0028 right_pitch=-0.0324 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.4718, -3.535, 6.0786, 1.5214, -0.1099, -0.0904, -0.0122, -0.253, -1.1829, 7.0359, 1.8242, -0.0024, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e25b131a7deddeca1f0f43516ef0cb4df011d9eb71e1f79867860303f2dccc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a3df18476d8351bc8e78857b0492c3bdc526f8a210dd4da55eee12d68369a54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5f23495dee4092e8c77aa86ed45ec06fab9ae71bea537baeb57aa8b8415794a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /messages · status 200 · 6.865 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3798, 1.5402, 0.5976, 0.2737, 0.0147, -0.0246, 0.9997, -0.0181, 0.8005, 0.6132, -0.3943, -0.0227, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3701 left_y=-0.1467 left_z=0.0601 left_yaw=-0.3899 left_pitch=-0.0981 left_roll=-0.0206 left_gripper=0.9997 right_x=0.2944 right_y=0.0023 right_z=0.1795 right_yaw=-0.0034 right_pitch=-0.0252 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [0.0752, -6.3932, 6.2427, 1.9463, -0.0024, 0.0366, -0.0122, -0.335, -1.2513, 7.2, 1.7216, -0.0415, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3798, 1.5402, 0.5976, 0.2737, 0.0147, -0.0246, 0.9997, -0.0181, 0.8005, 0.6132, -0.3946, -0.0227, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3701 left_y=-0.1467 left_z=0.0601 left_yaw=-0.3899 left_pitch=-0.0981 left_roll=-0.0206 left_gripper=0.9997 right_x=0.2944 right_y=0.0023 right_z=0.1794 right_yaw=-0.0034 right_pitch=-0.0256 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -6.3521, 6.2017, 1.9512, -0.0024, 0.0464, -0.0122, -0.1162, -1.2103, 7.0085, 1.746, -0.0366, -0.0611, -0.0122]",
      "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]: [-0.4423, 1.235, 0.5369, 0.1394, -0.0269, -0.0521, 0.9997, -0.0181, 0.8051, 0.6132, -0.3969, -0.0231, -0.0231, 0.9991]\nstate[eef_state]: left_x=0.3367 left_y=-0.1502 left_z=0.1192 left_yaw=-0.4026 left_pitch=0.0123 left_roll=-0.0207 left_gripper=0.9997 right_x=0.2944 right_y=0.0023 right_z=0.1777 right_yaw=-0.0028 right_pitch=-0.0324 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.4718, -3.535, 6.0786, 1.5214, -0.1099, -0.0904, -0.0122, -0.253, -1.1829, 7.0359, 1.8242, -0.0024, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e25b131a7deddeca1f0f43516ef0cb4df011d9eb71e1f79867860303f2dccc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a3df18476d8351bc8e78857b0492c3bdc526f8a210dd4da55eee12d68369a54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f23495dee4092e8c77aa86ed45ec06fab9ae71bea537baeb57aa8b8415794a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BTm13MjSAes5qMJ2LXijSS",
      "input": {
        "note": "Moving back from the base worked. The cap is just ahead of the jaws in the wrist view, so I'm trying a combined forward-and-down move toward it.",
        "targets": {
          "left_x": 0.38,
          "left_y": -0.155,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01BTm13MjSAes5qMJ2LXijSS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4488, 1.1995, 0.535, 0.0925, -0.0448, -0.0624, 0.9997, -0.0181, 0.8047, 0.6132, -0.4114, -0.0223, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3307 left_y=-0.1465 left_z=0.1209 left_yaw=-0.3884 left_pitch=-0.0007 left_roll=-0.0192 left_gripper=0.9997 right_x=0.2923 right_y=0.0022 right_z=0.1748 right_yaw=-0.0037 right_pitch=-0.0465 right_roll=0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -4.0957, 6.2291, 1.79, -0.022, -0.0513, -0.0122, -0.0068, -1.2923, 7.0085, 1.8388, -0.0415, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b16409044e41be41690e35a22b9efcd877b20308a8c0f1bef8e57cfb860cedf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7608f32f292593652e1b3c21276862cc2eb378cf2ec5201af7d9fc90d37db7bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:80abe64d62f080484c3ca07e3205c8e49b8439d7d92260d53f86c86ddbdf00d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /messages · status 200 · 5.721 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3798, 1.5402, 0.5976, 0.2737, 0.0147, -0.0246, 0.9997, -0.0181, 0.8005, 0.6132, -0.3946, -0.0227, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3701 left_y=-0.1467 left_z=0.0601 left_yaw=-0.3899 left_pitch=-0.0981 left_roll=-0.0206 left_gripper=0.9997 right_x=0.2944 right_y=0.0023 right_z=0.1794 right_yaw=-0.0034 right_pitch=-0.0256 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -6.3521, 6.2017, 1.9512, -0.0024, 0.0464, -0.0122, -0.1162, -1.2103, 7.0085, 1.746, -0.0366, -0.0611, -0.0122]",
      "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]: [-0.4423, 1.235, 0.5369, 0.1394, -0.0269, -0.0521, 0.9997, -0.0181, 0.8051, 0.6132, -0.3969, -0.0231, -0.0231, 0.9991]\nstate[eef_state]: left_x=0.3367 left_y=-0.1502 left_z=0.1192 left_yaw=-0.4026 left_pitch=0.0123 left_roll=-0.0207 left_gripper=0.9997 right_x=0.2944 right_y=0.0023 right_z=0.1777 right_yaw=-0.0028 right_pitch=-0.0324 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.4718, -3.535, 6.0786, 1.5214, -0.1099, -0.0904, -0.0122, -0.253, -1.1829, 7.0359, 1.8242, -0.0024, -0.0757, -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]: [-0.4488, 1.1995, 0.535, 0.0925, -0.0448, -0.0624, 0.9997, -0.0181, 0.8047, 0.6132, -0.4114, -0.0223, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3307 left_y=-0.1465 left_z=0.1209 left_yaw=-0.3884 left_pitch=-0.0007 left_roll=-0.0192 left_gripper=0.9997 right_x=0.2923 right_y=0.0022 right_z=0.1748 right_yaw=-0.0037 right_pitch=-0.0465 right_roll=0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -4.0957, 6.2291, 1.79, -0.022, -0.0513, -0.0122, -0.0068, -1.2923, 7.0085, 1.8388, -0.0415, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b16409044e41be41690e35a22b9efcd877b20308a8c0f1bef8e57cfb860cedf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7608f32f292593652e1b3c21276862cc2eb378cf2ec5201af7d9fc90d37db7bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80abe64d62f080484c3ca07e3205c8e49b8439d7d92260d53f86c86ddbdf00d0",
        "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_01Pus1KErW3zzhnvQDqepGLh",
      "input": {
        "note": "The arm keeps refusing to move forward at this yaw. Reducing the yaw a bit while moving forward, to test whether the wrist orientation is what's blocking the IK.",
        "targets": {
          "left_x": 0.38,
          "left_y": -0.16,
          "left_yaw": -0.2,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Pus1KErW3zzhnvQDqepGLh",
      "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]: [-0.4488, 1.1995, 0.5343, 0.0925, -0.0448, -0.0624, 0.9997, -0.0181, 0.8051, 0.6132, -0.4122, -0.0223, -0.0231, 0.9991]\nstate[eef_state]: left_x=0.3306 left_y=-0.1464 left_z=0.1205 left_yaw=-0.3884 left_pitch=-0.0014 left_roll=-0.0191 left_gripper=0.9997 right_x=0.2922 right_y=0.0022 right_z=0.1745 right_yaw=-0.0035 right_pitch=-0.0477 right_roll=-0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -4.0684, 6.4615, 1.8339, -0.0513, -0.0415, -0.0122, -0.1026, -1.3333, 7.2137, 1.79, -0.0415, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfde786609372176576b7b903127e46146babced4b48bfbaca55190006cd5be8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fbacf98fd9eb5b419820a902f295185731d58cefdadb2dd7feb0e9e8322566b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:148888639382755a59079cf31f40e11c884b204167e736cc74bb4d258648b903",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /messages · status 200 · 6.485 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4423, 1.235, 0.5369, 0.1394, -0.0269, -0.0521, 0.9997, -0.0181, 0.8051, 0.6132, -0.3969, -0.0231, -0.0231, 0.9991]\nstate[eef_state]: left_x=0.3367 left_y=-0.1502 left_z=0.1192 left_yaw=-0.4026 left_pitch=0.0123 left_roll=-0.0207 left_gripper=0.9997 right_x=0.2944 right_y=0.0023 right_z=0.1777 right_yaw=-0.0028 right_pitch=-0.0324 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.4718, -3.535, 6.0786, 1.5214, -0.1099, -0.0904, -0.0122, -0.253, -1.1829, 7.0359, 1.8242, -0.0024, -0.0757, -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]: [-0.4488, 1.1995, 0.535, 0.0925, -0.0448, -0.0624, 0.9997, -0.0181, 0.8047, 0.6132, -0.4114, -0.0223, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3307 left_y=-0.1465 left_z=0.1209 left_yaw=-0.3884 left_pitch=-0.0007 left_roll=-0.0192 left_gripper=0.9997 right_x=0.2923 right_y=0.0022 right_z=0.1748 right_yaw=-0.0037 right_pitch=-0.0465 right_roll=0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -4.0957, 6.2291, 1.79, -0.022, -0.0513, -0.0122, -0.0068, -1.2923, 7.0085, 1.8388, -0.0415, -0.0171, -0.0122]",
      "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]: [-0.4488, 1.1995, 0.5343, 0.0925, -0.0448, -0.0624, 0.9997, -0.0181, 0.8051, 0.6132, -0.4122, -0.0223, -0.0231, 0.9991]\nstate[eef_state]: left_x=0.3306 left_y=-0.1464 left_z=0.1205 left_yaw=-0.3884 left_pitch=-0.0014 left_roll=-0.0191 left_gripper=0.9997 right_x=0.2922 right_y=0.0022 right_z=0.1745 right_yaw=-0.0035 right_pitch=-0.0477 right_roll=-0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -4.0684, 6.4615, 1.8339, -0.0513, -0.0415, -0.0122, -0.1026, -1.3333, 7.2137, 1.79, -0.0415, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfde786609372176576b7b903127e46146babced4b48bfbaca55190006cd5be8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fbacf98fd9eb5b419820a902f295185731d58cefdadb2dd7feb0e9e8322566b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:148888639382755a59079cf31f40e11c884b204167e736cc74bb4d258648b903",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSswoKEAgSGAI4AUIIdGhpbmtpbmcSDHVaz3I9z/Yp0mPgQxoMIy8gGyLeURpGWSUGIjDRTlLRfmEU7nH0fU0xgnlU8UDNebYQwEk2tHgvTp9p1w8bFWtw6vog9n2zP/InndQq0Am+fMGISkZpCoqALY3qzYYPXfFRwjMAc/iSJH2gIW7VfbgWU8DNx9rY94T2dybgH2sDMskFA3SNORg2aBl8Z6FVj9XpnzyhO+afdNVzUmQguopeX0pPG1+5E1Xn0B3Y6/9zI/0eRweoeN3Fi0EGiOsjjoWJUK1bbH03txSQ5aqTj1k2ALemyWEV7ik3LviqC3we/j33mDlD0ndmW83Tj+eLYQuUDvK67/YA+H+gjMmzgo9OQHE/VBOOeMTmylXf2+44cjz0e3254i7meAe2ER5UvB1qTWV5hQN7avVF5I8VOw/Wp7LYTR1FI1eBOxkOY/3bnidTz4xhVBPq7cFnEQvDGUaPje1jbIM+0TJGzUi8/l8SfmXOfQeepXekWb9U/OWdpbr6Y+qPBUw9bJecq7AP4r+CjihoLuaXHL+SdO4oK2S8fLgLwohBDJIOjl/bZBp/4rD7DxP+57lK24/bWyvbkA5MkaHfldd4d4mxL8tBABUcXYYVS+WkQX0lxnnv4yuYClrcTLVjUKdD2qy4fpH2VQyxttI19T8oC0RNXwSh/Pqm6q+fEltkTiTWKxGvCi84eeGq4TWOtds9jKxFUSWqxJQB/bKTrrCw15obE6X267+K8WJO0ZKVo2MMFncNPWVEqn6WGW2dUP4UpRQUfuVnT0A2zYgcoJ8KGLtLotDce8vSAhS60OAj6oFaQerZI0FVgGIwXWOxy1ycbNOpi+YklhY/WjutnN7aX/L71p/PFFAPoxmsUwNHtTiq0B8jGCCMSLBDjduQ7jtwWJN2TvGG0oyLw7DcJbwXadu5ieyQ90EHPpR9EHnTohi4gUVQd+iznkmqAVcXhNnt2HRhDq9f9mi1RWGQ27nY6Nth0+WDqtO9xnobbCT9M2CroAWEGv7PGQZVmqMxB33oHk0/6OvnrcLnggoZyEa6vHUBm0tJbgFvVuKK5izO0oXSVEAg77x9tnKLu1zMMPgHLEVcJBW9Rwbvlmb8HKcE1ASD+0EDMb/3c5vhwv0LloS0JiVrB7QRDrbtRGiMC5DPzp6skVsdal8oO3uLnE5CHjT0Z5rG78nBjxChrk/1isSEbyeBY9JVHF1mTIE9B/DBCPSt2CnzC3sgG6I6QFANDvJxUwAmCNsPgMccYIHu0a1libLy1B3brDwMY/hmwRgAHpIETjV+nn594/K4fF3d2gs/zUTUdj7Yzv0NIm56zsmEPGpwxEODjWhrgoQMwVxsHuA8zulb0Kgsru2twWglIDDpYERrilOxHVlpIuIO2FNK+mDYxnn9eNVIRGBIlWUSCbWq0vbCggISn5JQFCBx+Z7dZUUWAMluEwVbE54hwBj2iztOkyNXMCOMHd4Ka3oJJypch0OflgFLO+ICFGp5jXsSClLKOeDOMA3moloXsVdknsBKqOKXhP4VSvlqVKUIsMZAjdhSws4+K74QH7M6ja27m4wooVkW6WsByY2+JRfY6Sf412IaEpuq6rcOmCM4DQyG3OahA+oIm9wZfvQYKeFAV/TEKcrqknqxvUQOfobhOYcGJzHMVrGxcSl6GKvuO0J1vGunQ1ZcP1PrKRoZlrTz4xauHCP7+uUwEsPfZ5eoCHRnH61i4alaGIPfw5TOSZ5Ca4uClOtTXlHL/CI3+2xP8jbdpxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014mqFzSosC7Zzfctv2nfSXh",
      "input": {
        "note": "Forward moves keep getting blocked. Testing a pure sideways move toward the centre to work out which directions the controller will accept.",
        "targets": {
          "left_x": 0.33,
          "left_y": -0.18,
          "left_yaw": -0.39,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_014mqFzSosC7Zzfctv2nfSXh",
      "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]: [-0.4488, 1.1995, 0.5335, 0.0929, -0.0448, -0.0624, 0.9997, -0.0181, 0.8051, 0.6132, -0.4122, -0.0227, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3304 left_y=-0.1464 left_z=0.1203 left_yaw=-0.3884 left_pitch=-0.0018 left_roll=-0.0191 left_gripper=0.9997 right_x=0.2922 right_y=0.0023 right_z=0.1745 right_yaw=-0.0034 right_pitch=-0.0477 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -3.8906, 6.4068, 1.8437, -0.0562, -0.0757, -0.0122, -0.0205, -1.2786, 7.0085, 1.7167, -0.0269, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e089828c6a20fbab7f4fbe3fc18d5016b7399f748932fa6634a21aa83b75b97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2295a11c058adb43ecd58d259de9b92820b870b34b21c03dd759c7a1efbbf1b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e889286bd9b25cc9cbae8a821f500406ca77ff53849ecf117fd4d7e854b5a78c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /messages · status 200 · 6.968 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4488, 1.1995, 0.535, 0.0925, -0.0448, -0.0624, 0.9997, -0.0181, 0.8047, 0.6132, -0.4114, -0.0223, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3307 left_y=-0.1465 left_z=0.1209 left_yaw=-0.3884 left_pitch=-0.0007 left_roll=-0.0192 left_gripper=0.9997 right_x=0.2923 right_y=0.0022 right_z=0.1748 right_yaw=-0.0037 right_pitch=-0.0465 right_roll=0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -4.0957, 6.2291, 1.79, -0.022, -0.0513, -0.0122, -0.0068, -1.2923, 7.0085, 1.8388, -0.0415, -0.0171, -0.0122]",
      "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]: [-0.4488, 1.1995, 0.5343, 0.0925, -0.0448, -0.0624, 0.9997, -0.0181, 0.8051, 0.6132, -0.4122, -0.0223, -0.0231, 0.9991]\nstate[eef_state]: left_x=0.3306 left_y=-0.1464 left_z=0.1205 left_yaw=-0.3884 left_pitch=-0.0014 left_roll=-0.0191 left_gripper=0.9997 right_x=0.2922 right_y=0.0022 right_z=0.1745 right_yaw=-0.0035 right_pitch=-0.0477 right_roll=-0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -4.0684, 6.4615, 1.8339, -0.0513, -0.0415, -0.0122, -0.1026, -1.3333, 7.2137, 1.79, -0.0415, -0.0659, -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 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]: [-0.4488, 1.1995, 0.5335, 0.0929, -0.0448, -0.0624, 0.9997, -0.0181, 0.8051, 0.6132, -0.4122, -0.0227, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3304 left_y=-0.1464 left_z=0.1203 left_yaw=-0.3884 left_pitch=-0.0018 left_roll=-0.0191 left_gripper=0.9997 right_x=0.2922 right_y=0.0023 right_z=0.1745 right_yaw=-0.0034 right_pitch=-0.0477 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -3.8906, 6.4068, 1.8437, -0.0562, -0.0757, -0.0122, -0.0205, -1.2786, 7.0085, 1.7167, -0.0269, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e089828c6a20fbab7f4fbe3fc18d5016b7399f748932fa6634a21aa83b75b97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2295a11c058adb43ecd58d259de9b92820b870b34b21c03dd759c7a1efbbf1b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e889286bd9b25cc9cbae8a821f500406ca77ff53849ecf117fd4d7e854b5a78c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSiwsKEAgSGAI4AUIIdGhpbmtpbmcSDEj56SUz9ShgdkCv4BoMG95dgiqLbnuYJPwzIjCTfG4+Fvteioh1m/fNZg7QXccdZMZDwDOdAdkwBvHTmnI6+atXnkmat16Zr2XZXkAqqAr/u/jhYNKVJLjeFgBwieisYG00JUAms/Itz6Yo1mOxkjLC2zk747GP9MrYZ0/XluqkytOpEhK1ucWooNA3BvWrLA2f7NGZRn/86zlStkTta6Hat4470edije/uJCx980QBaGF0lc8/9nOxr6IhpP0/zc+InpVf2GSgT7tE+XXT8Tcs8iKeWvoo0EmoOdy76gDjuPH4RH0iJ2SBG9tfbHXyIZLntRLGZKElrUrOZtDC/IN2nPa+uAefWXc8k1hTbiufPX3ctMzfc5HXLdcB7G0KMZ9OWWOiSVYImcJidsSquf42LzOoTn3kuhwgB2zE4JIb84X3NyicZaxPkb5wiLB5GKqIW0UmQEVCdpZW67QMQvKBl8GIRCGhjH7YSTyzdhOYRXLyZQ/uANFunwiaKbfu5RlNG+2MVu0t2WU6OFmU6/fDh5V0N9p0EsKRqtdpCW4uzxUh70Er12FEAbdH3kWoDNNSOMBjFupUjTjxXNxB3pyKmoAH+RCz6H2CRNkgI/J0+ns67w2pG82zFr4FAbtnOCCI6PGxYwJ6Z/9tcLR7ktl8oXpmVKg8gJjZ3vlIWGuZRWkO4TbltFPzFbyZgOhy92dYLQ2XmHvVJ9BWoa3FjJ59zY7M6+JpxHmf5tMmqSHE6jURMjGa+LMJFwUyiRqC2ABhO5jStWQ7jxgtc1gnoF3YrNoui+RZzMaYVDa03ETmN3reqkVrdleWDYp7fWVFe88pNDZTqZ+ij51DjFhkoVBSH4ty/pPCnBkTvJnuZtEV0IbbOzbIm5wcPniCakq6ZqiOtXQfEPQGLOvRCo5AgHXqSaBsz/9pZoU+PJwqYN0sljMmD0p71kS4PFfUlo36kxhvCcw+yUP+1PhjDsdEDMIFX0sN9MJm825CjwfaTNZw4A3D7IYdmtLqM9BEbRl7hJJ5nl6NfplHTfIUy2jPk5V9BP53TAAf5IgWOrFCBgvAA5EHnMocBSwCMpLVxC15NFOgSgWoSSZ8jCuofUc38uw4I+p/6oPSfiXsmSq4irZa5e8XZtFA/UUEmrsfI2xbL0lD8+3C+XZa0OROet+hJB9c1gSwTInI4+Uz10Fwif0MfhTeNQ/duyDfzMlKFrMltMAJmzLSV3af9WOC0JeHfT2QI5VRFGxeL0XLGcdW+r/uLCDMo5vGTjAAmX3wbFzWm5E9QeJpi+A/FqpFxZhmWbFFTCbYT2iQlyYN1GkSgZbjAuCBmtMi7OBcxekdrp1AtvexYLuGl0xQlUQHlqopTduslQWlZEsO6hXZoLP7Xct9Ih9eWmCPm+8VMlbsAPsD7vAYfB9nckICl2NKybFtEJ7o61u31jqAfvv0YcmeneayshjpThivKBSuU1ELBeTQUuyDO8h4eG2zH9vlWoZlPCx6D7QYipHv4QjXlU+8qkfVx3zWgTDNqLMlW72TRqn4PCb77nhre0FouyVobz2XEak5oeD5XAnHXvHINU+829CC0F3d/EuZyFwx4kdiDYCVwMQsV5aigi+cOJDHR3WjBiD8wL//6m2gCq0+WZWTrAv27g0z5ozCCP7Ek7KOsqzqlUw6OcIkRpPF3Aa0/xPNOu5m/TKPEsCQKF13Qj3WF+/JyFFiB/VTh5Zu7jJg89XxVERydNfGY994AxATOQ+tpYFJLt0tDvIXAOlpO0vrRgUqB/SA8SCb81ikE95ATn8Tzl0xmVv4wpwPoMLgkhkj9Pe4CbwMbJ9PT6jq3VS4LezAAbgN5KMjAy964nX8cEvdhtXJWQrwBf4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011j9bJr2siWBtYUuDbJsRwh",
      "input": {
        "note": "The left arm is still unresponsive, so I'm switching to the right arm and moving it over the pen, which lies right of centre on the table.",
        "targets": {
          "right_x": 0.34,
          "right_y": 0.2,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_011j9bJr2siWBtYUuDbJsRwh",
      "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]: [-0.4515, 1.2015, 0.5331, 0.0856, -0.0483, -0.0692, 0.9997, 0.7696, 1.4723, 0.7769, -0.1234, 0.569, 0.4583, 0.9991]\nstate[eef_state]: left_x=0.3293 left_y=-0.1462 left_z=0.118 left_yaw=-0.3845 left_pitch=-0.0113 left_roll=-0.0224 left_gripper=0.9997 right_x=0.3296 right_y=0.1918 right_z=0.1041 right_yaw=0.0347 right_pitch=-0.1066 right_roll=-0.0456 right_gripper=0.9991\nstate[joint_eff]: [0.1026, -4.1504, 6.6256, 1.7411, -0.0464, 0.0317, -0.0122, 0.4034, -5.8462, 8.7863, 1.5556, 0.4908, 0.2271, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8da5a9671f108159ed59d8d9633985317ce89c602f8b0b3771c8ef64ae6117e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4cddaa33d80db94f55303d6add30c30e12e73d53b8f4069d2c094dafb59ad789",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c579521dd229b21d600f66ecd22937d715ff8a5376012ebe0723026f80a10824",
        "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 · 5.06 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4488, 1.1995, 0.5343, 0.0925, -0.0448, -0.0624, 0.9997, -0.0181, 0.8051, 0.6132, -0.4122, -0.0223, -0.0231, 0.9991]\nstate[eef_state]: left_x=0.3306 left_y=-0.1464 left_z=0.1205 left_yaw=-0.3884 left_pitch=-0.0014 left_roll=-0.0191 left_gripper=0.9997 right_x=0.2922 right_y=0.0022 right_z=0.1745 right_yaw=-0.0035 right_pitch=-0.0477 right_roll=-0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -4.0684, 6.4615, 1.8339, -0.0513, -0.0415, -0.0122, -0.1026, -1.3333, 7.2137, 1.79, -0.0415, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4488, 1.1995, 0.5335, 0.0929, -0.0448, -0.0624, 0.9997, -0.0181, 0.8051, 0.6132, -0.4122, -0.0227, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3304 left_y=-0.1464 left_z=0.1203 left_yaw=-0.3884 left_pitch=-0.0018 left_roll=-0.0191 left_gripper=0.9997 right_x=0.2922 right_y=0.0023 right_z=0.1745 right_yaw=-0.0034 right_pitch=-0.0477 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -3.8906, 6.4068, 1.8437, -0.0562, -0.0757, -0.0122, -0.0205, -1.2786, 7.0085, 1.7167, -0.0269, -0.0366, -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 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]: [-0.4515, 1.2015, 0.5331, 0.0856, -0.0483, -0.0692, 0.9997, 0.7696, 1.4723, 0.7769, -0.1234, 0.569, 0.4583, 0.9991]\nstate[eef_state]: left_x=0.3293 left_y=-0.1462 left_z=0.118 left_yaw=-0.3845 left_pitch=-0.0113 left_roll=-0.0224 left_gripper=0.9997 right_x=0.3296 right_y=0.1918 right_z=0.1041 right_yaw=0.0347 right_pitch=-0.1066 right_roll=-0.0456 right_gripper=0.9991\nstate[joint_eff]: [0.1026, -4.1504, 6.6256, 1.7411, -0.0464, 0.0317, -0.0122, 0.4034, -5.8462, 8.7863, 1.5556, 0.4908, 0.2271, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8da5a9671f108159ed59d8d9633985317ce89c602f8b0b3771c8ef64ae6117e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4cddaa33d80db94f55303d6add30c30e12e73d53b8f4069d2c094dafb59ad789",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c579521dd229b21d600f66ecd22937d715ff8a5376012ebe0723026f80a10824",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0176tc16dmY2Z2cx4ATfkeFz",
      "input": {
        "note": "The pen sits on the right wrist cam's jaw column, a few cm ahead of the fingertips, lying roughly across the jaws. Moving forward about 4 cm and down near the table.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.19,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_0176tc16dmY2Z2cx4ATfkeFz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4522, 1.2015, 0.532, 0.0856, -0.0483, -0.0696, 0.9997, 0.6765, 1.7237, 0.7372, 0.123, 0.5114, 0.3973, 0.9991]\nstate[eef_state]: left_x=0.329 left_y=-0.1464 left_z=0.1175 left_yaw=-0.385 left_pitch=-0.0124 left_roll=-0.0226 left_gripper=0.9997 right_x=0.3568 right_y=0.1803 right_z=0.0314 right_yaw=0.0131 right_pitch=-0.17 right_roll=-0.0888 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -4.0, 6.7077, 1.7265, -0.0513, -0.0415, -0.0122, -0.3214, -7.3778, 5.5316, 1.746, 0.1832, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75265c55aa5697736ecdc6fa9a22e88a12a8ac11d7e6ee65f2bd54bda237783b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6b028a529017d5ff4022dac0aa0d6f02034b71a8674eb17e8fb4680b459120f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c61bb3a4265c21c54c0d38d9d1c93f491f1fb379e9747440d3eefd7d8a3393ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 16 attempt 0 · /messages · status 200 · 2.929 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4488, 1.1995, 0.5335, 0.0929, -0.0448, -0.0624, 0.9997, -0.0181, 0.8051, 0.6132, -0.4122, -0.0227, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3304 left_y=-0.1464 left_z=0.1203 left_yaw=-0.3884 left_pitch=-0.0018 left_roll=-0.0191 left_gripper=0.9997 right_x=0.2922 right_y=0.0023 right_z=0.1745 right_yaw=-0.0034 right_pitch=-0.0477 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -3.8906, 6.4068, 1.8437, -0.0562, -0.0757, -0.0122, -0.0205, -1.2786, 7.0085, 1.7167, -0.0269, -0.0366, -0.0122]\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]: [-0.4515, 1.2015, 0.5331, 0.0856, -0.0483, -0.0692, 0.9997, 0.7696, 1.4723, 0.7769, -0.1234, 0.569, 0.4583, 0.9991]\nstate[eef_state]: left_x=0.3293 left_y=-0.1462 left_z=0.118 left_yaw=-0.3845 left_pitch=-0.0113 left_roll=-0.0224 left_gripper=0.9997 right_x=0.3296 right_y=0.1918 right_z=0.1041 right_yaw=0.0347 right_pitch=-0.1066 right_roll=-0.0456 right_gripper=0.9991\nstate[joint_eff]: [0.1026, -4.1504, 6.6256, 1.7411, -0.0464, 0.0317, -0.0122, 0.4034, -5.8462, 8.7863, 1.5556, 0.4908, 0.2271, -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]: [-0.4522, 1.2015, 0.532, 0.0856, -0.0483, -0.0696, 0.9997, 0.6765, 1.7237, 0.7372, 0.123, 0.5114, 0.3973, 0.9991]\nstate[eef_state]: left_x=0.329 left_y=-0.1464 left_z=0.1175 left_yaw=-0.385 left_pitch=-0.0124 left_roll=-0.0226 left_gripper=0.9997 right_x=0.3568 right_y=0.1803 right_z=0.0314 right_yaw=0.0131 right_pitch=-0.17 right_roll=-0.0888 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -4.0, 6.7077, 1.7265, -0.0513, -0.0415, -0.0122, -0.3214, -7.3778, 5.5316, 1.746, 0.1832, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75265c55aa5697736ecdc6fa9a22e88a12a8ac11d7e6ee65f2bd54bda237783b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6b028a529017d5ff4022dac0aa0d6f02034b71a8674eb17e8fb4680b459120f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c61bb3a4265c21c54c0d38d9d1c93f491f1fb379e9747440d3eefd7d8a3393ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSiwkKEAgSGAI4AUIIdGhpbmtpbmcSDBz07dIXBWtfRbfjFBoMl1i4e/BaoJYp2NZPIjAFQaoWBEvmDTfUHuMyuXwPZXCPcCuTX5KwznkRuaIXxw4SGrI6/BBLhkgQQM7g3J8qqAgfBsgWDheCVQFY17MHkR3VjtZGrOXAoJ2a1KMedbfix7LnLdUFmmKIy680q7C6OV8cLPcfubIsgIt298JfEUhZLvst3yby4ScHXiByyzpj8S++mQDebCjt9Xi/wq04PvQSh4+mrpwkvQsQeFf0OkIlskCPxbRIG1i+h9llMTlby4dWMrM/M/TUYJ94pCCV8muYY1CBR9UvEr+pZztrPYAdG/stLjTJ/BV3DPrLNSoG2JHnwf60ocfo78F28tfOE6dyRfSknQchChp88z7y5QjrJh7tOQlerCsvyOSkcqGalTgzf/8x66cBe2b148q0yRjLW5RkY31tPGRuB/YE8/YW1lvYC2CuQ4QUqRTpH0iJakm9adFohR1b1MapEaTeASh/DxZoa2RqI6QoHnna/uPwfD4LqZVYnoCNL06w2QnPEPVqWKyYb3NqvM86Zum7lygyh3onX5tluUXrrwMgEpSQkMi3eYrmnEn3vpXCLqsgXp91V4SovJ/xoQ5tfjPiHrbdWcueaqQMxMWNaOw2pR4lm8NiZU96Gb+s8REoOnzwjt33lu8D5a5ONZnBsLP4c8p2wJB81lhMVqexv05nEexh++D5d5zgDoVcpxV71urb2bgg/R3IhamiP1v/MxHvBNbcHkITbuZXSQCRM661mj2BLjqaH3Ktd4GgYbjaaS+NxG8vVkv6Ef+F47Mzl44+r5d/buChQ+f1xNS+1zr8cCQHRyEvTpLlc1steLnXBCNAUbWqs/27b73TWVDdl0BxvBqtv6BkTV4aq6lOZIn3Ha/NyzmnIpS5vdMjxUTYXMZ3nO7Rhcv9ut04viTwKb+hRBuOdXARBOG+XUDWCdnvPUvxGgo75J9mh2MXYETeW5Eny3RBL3OOEc+h1CT091Pe1ylrKd2lHiTm/xfFpDatsKZJdaZKj/Qgmg2hA7ZqjTAlYH6QJu4Jqa15TgzrI/M+EKJejhRJ/x0ooEwRmE4tUKT7CBgmIUH9NryGIsSXbaR4P7wT8fqMpW7Ej1CI31lLHNKYB7my+3L9rlD+1YoRB58MjwZ30kOqGwNFry49+Uv273Bme6RpW+VXDix+uO71cwFIoZC4Et+XP4lxN0C5xa1vZL0VG4fO1N/J6ePf4rJScGBokiOskLBH08kkQiKc4LNG1NWxfMxqM+M/h/7j7x8YKq4EpgG8ONoKKP4O2ya1u+DAbqaZI72ksqmezWiJFypTcPXPeHOGUdGpbWAvgjyHI6tp+Jh/m5LEsgtF5O6RFitlH3K7vawThse/o5U9jCcJnhq4TOsKDOgKG5EpefTW8TIw8tunAI0FZEFk72uoXVJ1CBXdmEefAt6F05esc8OA7y/6HBp4ge0k3R1T/fXXmrB33032Bgr6H6i9BM6rgFW7DFPnTikYfVGegoIxgYV8he+22Ic/jhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01V7pAinkNNDyTfX8csyJ5fj",
      "input": {
        "note": "The pen runs diagonally through the jaw area of the right wrist view. Nudging slightly forward and down to table level to grasp it.",
        "targets": {
          "right_x": 0.375,
          "right_y": 0.185,
          "right_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_01V7pAinkNNDyTfX8csyJ5fj",
      "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]: [-0.4522, 1.2015, 0.5312, 0.086, -0.0483, -0.0696, 0.9997, 0.6609, 1.8652, 0.7509, 0.271, 0.4988, 0.384, 0.9991]\nstate[eef_state]: left_x=0.3289 left_y=-0.1463 left_z=0.1172 left_yaw=-0.385 left_pitch=-0.0128 left_roll=-0.0226 left_gripper=0.9997 right_x=0.372 right_y=0.1867 right_z=0.0031 right_yaw=0.0162 right_pitch=-0.1602 right_roll=-0.0789 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -4.0137, 6.694, 1.7509, -0.0513, -0.0415, -0.0122, -0.6085, -6.3385, 4.9846, 1.1746, 0.1441, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e2f818ee5a9d37fd16c92d4756138424523358794451aa2495731cd30d17647",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ccfbcb21d7792e27eea986a089a1520b5cefc5a5b955cf9ab3fe62990c17032b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2d58cff4760faf3a3e3638a8820edcabb8faf0a63950a91ce5c74f5b356f7d09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 4.267 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4515, 1.2015, 0.5331, 0.0856, -0.0483, -0.0692, 0.9997, 0.7696, 1.4723, 0.7769, -0.1234, 0.569, 0.4583, 0.9991]\nstate[eef_state]: left_x=0.3293 left_y=-0.1462 left_z=0.118 left_yaw=-0.3845 left_pitch=-0.0113 left_roll=-0.0224 left_gripper=0.9997 right_x=0.3296 right_y=0.1918 right_z=0.1041 right_yaw=0.0347 right_pitch=-0.1066 right_roll=-0.0456 right_gripper=0.9991\nstate[joint_eff]: [0.1026, -4.1504, 6.6256, 1.7411, -0.0464, 0.0317, -0.0122, 0.4034, -5.8462, 8.7863, 1.5556, 0.4908, 0.2271, -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]: [-0.4522, 1.2015, 0.532, 0.0856, -0.0483, -0.0696, 0.9997, 0.6765, 1.7237, 0.7372, 0.123, 0.5114, 0.3973, 0.9991]\nstate[eef_state]: left_x=0.329 left_y=-0.1464 left_z=0.1175 left_yaw=-0.385 left_pitch=-0.0124 left_roll=-0.0226 left_gripper=0.9997 right_x=0.3568 right_y=0.1803 right_z=0.0314 right_yaw=0.0131 right_pitch=-0.17 right_roll=-0.0888 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -4.0, 6.7077, 1.7265, -0.0513, -0.0415, -0.0122, -0.3214, -7.3778, 5.5316, 1.746, 0.1832, -0.0415, -0.0171]",
      "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]: [-0.4522, 1.2015, 0.5312, 0.086, -0.0483, -0.0696, 0.9997, 0.6609, 1.8652, 0.7509, 0.271, 0.4988, 0.384, 0.9991]\nstate[eef_state]: left_x=0.3289 left_y=-0.1463 left_z=0.1172 left_yaw=-0.385 left_pitch=-0.0128 left_roll=-0.0226 left_gripper=0.9997 right_x=0.372 right_y=0.1867 right_z=0.0031 right_yaw=0.0162 right_pitch=-0.1602 right_roll=-0.0789 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -4.0137, 6.694, 1.7509, -0.0513, -0.0415, -0.0122, -0.6085, -6.3385, 4.9846, 1.1746, 0.1441, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e2f818ee5a9d37fd16c92d4756138424523358794451aa2495731cd30d17647",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ccfbcb21d7792e27eea986a089a1520b5cefc5a5b955cf9ab3fe62990c17032b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d58cff4760faf3a3e3638a8820edcabb8faf0a63950a91ce5c74f5b356f7d09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Pen passes between the jaws. Closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019dA9SjZ6XnPvE4c1kvidzR",
      "input": {
        "note": "The pen lies between the right jaws at table level. Closing the gripper on it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_019dA9SjZ6XnPvE4c1kvidzR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4522, 1.2015, 0.5312, 0.0853, -0.0486, -0.07, 0.9997, 0.6556, 1.8832, 0.7574, 0.3, 0.4953, 0.3691, 0.0452]\nstate[eef_state]: left_x=0.3288 left_y=-0.1462 left_z=0.1171 left_yaw=-0.3845 left_pitch=-0.0135 left_roll=-0.0226 left_gripper=0.9997 right_x=0.377 right_y=0.1885 right_z=0.0023 right_yaw=0.023 right_pitch=-0.148 right_roll=-0.0776 right_gripper=0.0452\nstate[joint_eff]: [-0.2256, -3.9726, 6.612, 1.6972, -0.0757, -0.0562, -0.0122, -0.6769, -7.241, 5.1077, 1.3455, 0.2418, 0.2125, 1.5165]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:394ce83858413c2aa42d4578233b65ba08877bcf4ca628750e2aac2e29ab48c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:938c17d9fda36a558eae1722499afa0494e1c9311929be83dd9c5771db0c2075",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4dcf2c29235d2c376b1edd37bd86b32a8a45daf03cfcafd2c1d64f1878f3c0d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /messages · status 200 · 5.607 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4522, 1.2015, 0.532, 0.0856, -0.0483, -0.0696, 0.9997, 0.6765, 1.7237, 0.7372, 0.123, 0.5114, 0.3973, 0.9991]\nstate[eef_state]: left_x=0.329 left_y=-0.1464 left_z=0.1175 left_yaw=-0.385 left_pitch=-0.0124 left_roll=-0.0226 left_gripper=0.9997 right_x=0.3568 right_y=0.1803 right_z=0.0314 right_yaw=0.0131 right_pitch=-0.17 right_roll=-0.0888 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -4.0, 6.7077, 1.7265, -0.0513, -0.0415, -0.0122, -0.3214, -7.3778, 5.5316, 1.746, 0.1832, -0.0415, -0.0171]",
      "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]: [-0.4522, 1.2015, 0.5312, 0.086, -0.0483, -0.0696, 0.9997, 0.6609, 1.8652, 0.7509, 0.271, 0.4988, 0.384, 0.9991]\nstate[eef_state]: left_x=0.3289 left_y=-0.1463 left_z=0.1172 left_yaw=-0.385 left_pitch=-0.0128 left_roll=-0.0226 left_gripper=0.9997 right_x=0.372 right_y=0.1867 right_z=0.0031 right_yaw=0.0162 right_pitch=-0.1602 right_roll=-0.0789 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -4.0137, 6.694, 1.7509, -0.0513, -0.0415, -0.0122, -0.6085, -6.3385, 4.9846, 1.1746, 0.1441, -0.0806, -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 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]: [-0.4522, 1.2015, 0.5312, 0.0853, -0.0486, -0.07, 0.9997, 0.6556, 1.8832, 0.7574, 0.3, 0.4953, 0.3691, 0.0452]\nstate[eef_state]: left_x=0.3288 left_y=-0.1462 left_z=0.1171 left_yaw=-0.3845 left_pitch=-0.0135 left_roll=-0.0226 left_gripper=0.9997 right_x=0.377 right_y=0.1885 right_z=0.0023 right_yaw=0.023 right_pitch=-0.148 right_roll=-0.0776 right_gripper=0.0452\nstate[joint_eff]: [-0.2256, -3.9726, 6.612, 1.6972, -0.0757, -0.0562, -0.0122, -0.6769, -7.241, 5.1077, 1.3455, 0.2418, 0.2125, 1.5165]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:394ce83858413c2aa42d4578233b65ba08877bcf4ca628750e2aac2e29ab48c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:938c17d9fda36a558eae1722499afa0494e1c9311929be83dd9c5771db0c2075",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4dcf2c29235d2c376b1edd37bd86b32a8a45daf03cfcafd2c1d64f1878f3c0d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStwgKEAgSGAI4AUIIdGhpbmtpbmcSDAxOkFbZaWOJ/UUYmhoMFpzUswbk4/emt6U7IjCZXjMrVLjFgIUJv4/oGlVodCQAoPPlolg9qxKf/mWgVSLFlOVeuntepJr6VJJ0Wcsq1AfKsRbb9JvBwCCPsY5bTjfLjJmPePMBRDyfKJA+ftWAgY9JXPMuFK/b+gT1DDM1MgLox+5Akp2lT5smdPfXHeOYNlPh0o558LE3RlnZm7+4dHV7OKevn1L4Dzi/25iBmBJywhcEv5Q0DpYbPaVmpuadr4oOngox5s08LPj6JVAnIKrBbRuiL4ySo8I+Cjw6vbt1pIAOhdHuUuAN70sB8MmBeA8AkM3x3cMPxiGeNqjBMhyLRxJ5/TK7BP0PVdDvIMG0ctHTKKEu11eIZ1xd+U6w3UnYRncg3jNUQ9GzV4mi5aG8qE36xzkBhhc61o7LOHP11WZoMAao9SO82q+5qIoRiy3r7hOvPaG2W13ZGJyDT/R2Q+KlW+DBOpBWRY1G/pCQxDRmRSPB0Ftec1NGWbh4XulZryWCFgcZn9vMIvbgee5SIdGoOcFwyHNjOV7pJsbHdj/74X1AHJBrKpSSZbLFmrnvCrx+3YbJkHxxyuzhnzidgnHQg49+uFUXl0klomE/Hy3d5wB64MOhP50TITcA99GA68F1qkXDwnKAFboFsIlkRlDLiTH4OF45zAF9XGdy9r67xtr6wwny32J9LYmL4mLNMiI13H+2YoO7GxWOvAcB+BL/4xzyWBrcLfEy49DGhwe+5uIVE4G9Av1D04rwCsUCvdo9MbCeciaGydzDwjq4GnsYsAn625FYMkyFqZkHsP26I9Z1r66NjznXpW5MMLsA3JEKIEuCaPF0RkgBDZ2i29mK2WKu5+ZQQuAo+9E3MQYARLwH1ICo7eiDuJZHw5y0VfEeiVlV7Uh4/JuL8yVv7lKCYm4fYnZjqP+D+dBFsxhJPLRJBO/Eqi83jzyAXODAn1/zESgNrijegJMiohHzcSlcwnCIpzerb6LYLxvy4V4r2SSbtg2isujn8f4pxGLEHhI7Een1sYyYcTS7SBZdzgTMa86uZpEyR7R2YHYY6GDrdzeDEjWrthLo8I2jnsp0qzhm2HyvFW7nrf227F8lwljJrTUjtO57HSdWxTTMNmbwjNAytT4finPCxAZriBE92gfE2MqFKgqBYs2ktX4AMPnwV3rtIbHw/q69LrrKNPgzJRbjE8Q/jmXBdkEa9eM/t2Kke3kbR7rO5a3eU6fBW8X3t9Z1Q5p+QXvKzT5mylIhhWlghHrZKCZ1Tjtr3nv1PqMC4RN+BW6qq1jSIbWY7sGAeK94q4a9aq+vnP5iFqeWVmfDALz3yjjlxgvQoipQAlNartNLlop0X9h1uQWJMeMTHawkGtt6SpzgfyvkBmUEuasvNSE5DY+Z7zBgfeGT+RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017mqSHxptb77WYDnf7JHNap",
      "input": {
        "note": "The gripper closed to 0.045 and the pen now seems to stick straight out forward from the jaws. Lifting to check that it's really held.",
        "targets": {
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_017mqSHxptb77WYDnf7JHNap",
      "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]: [-0.4522, 1.2015, 0.5312, 0.0853, -0.0483, -0.07, 0.9997, 0.6559, 1.7, 0.8539, 0.0143, 0.4885, 0.3653, 0.0491]\nstate[eef_state]: left_x=0.3288 left_y=-0.1463 left_z=0.1171 left_yaw=-0.3848 left_pitch=-0.0135 left_roll=-0.0228 left_gripper=0.9997 right_x=0.3762 right_y=0.1895 right_z=0.0632 right_yaw=0.0302 right_pitch=-0.1561 right_roll=-0.0801 right_gripper=0.0491\nstate[joint_eff]: [-0.1709, -3.9863, 6.7077, 1.7216, -0.0806, -0.0708, -0.0122, -0.3897, -9.6752, 7.747, 1.4725, 0.2418, -0.022, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d359787bdfbfbfa5cf104aa855e13093459f08531487f1d713469a354063669",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:775d815784484f12c07da69cd999ba587e844f096e38773ebf941771f1c8c881",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5f93eb98ec8ab4c9af8707231ec6467b7fa45ad80675f045f44e4eb0184506e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /messages · status 200 · 4.164 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4522, 1.2015, 0.5312, 0.086, -0.0483, -0.0696, 0.9997, 0.6609, 1.8652, 0.7509, 0.271, 0.4988, 0.384, 0.9991]\nstate[eef_state]: left_x=0.3289 left_y=-0.1463 left_z=0.1172 left_yaw=-0.385 left_pitch=-0.0128 left_roll=-0.0226 left_gripper=0.9997 right_x=0.372 right_y=0.1867 right_z=0.0031 right_yaw=0.0162 right_pitch=-0.1602 right_roll=-0.0789 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -4.0137, 6.694, 1.7509, -0.0513, -0.0415, -0.0122, -0.6085, -6.3385, 4.9846, 1.1746, 0.1441, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4522, 1.2015, 0.5312, 0.0853, -0.0486, -0.07, 0.9997, 0.6556, 1.8832, 0.7574, 0.3, 0.4953, 0.3691, 0.0452]\nstate[eef_state]: left_x=0.3288 left_y=-0.1462 left_z=0.1171 left_yaw=-0.3845 left_pitch=-0.0135 left_roll=-0.0226 left_gripper=0.9997 right_x=0.377 right_y=0.1885 right_z=0.0023 right_yaw=0.023 right_pitch=-0.148 right_roll=-0.0776 right_gripper=0.0452\nstate[joint_eff]: [-0.2256, -3.9726, 6.612, 1.6972, -0.0757, -0.0562, -0.0122, -0.6769, -7.241, 5.1077, 1.3455, 0.2418, 0.2125, 1.5165]",
      "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]: [-0.4522, 1.2015, 0.5312, 0.0853, -0.0483, -0.07, 0.9997, 0.6559, 1.7, 0.8539, 0.0143, 0.4885, 0.3653, 0.0491]\nstate[eef_state]: left_x=0.3288 left_y=-0.1463 left_z=0.1171 left_yaw=-0.3848 left_pitch=-0.0135 left_roll=-0.0228 left_gripper=0.9997 right_x=0.3762 right_y=0.1895 right_z=0.0632 right_yaw=0.0302 right_pitch=-0.1561 right_roll=-0.0801 right_gripper=0.0491\nstate[joint_eff]: [-0.1709, -3.9863, 6.7077, 1.7216, -0.0806, -0.0708, -0.0122, -0.3897, -9.6752, 7.747, 1.4725, 0.2418, -0.022, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d359787bdfbfbfa5cf104aa855e13093459f08531487f1d713469a354063669",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:775d815784484f12c07da69cd999ba587e844f096e38773ebf941771f1c8c881",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f93eb98ec8ab4c9af8707231ec6467b7fa45ad80675f045f44e4eb0184506e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS+gkKEAgSGAI4AUIIdGhpbmtpbmcSDKhk4SxfAC3HhUWpqxoMp1C1sh5RmxRTq84cIjCOgFOVILiFu7ILU/w41WEwBVpMMa/x6xtitOVlyFcThHJUBllmYqJw4yDLdn0JVVMqlwlLIqfLlv1J2a79ZAdkVXjnqDkGceiwqGwmBYqnxvjjHABI4RyXvwC0rAu9Z8zLomY19rbUFBoEpo9Nt7NBfDjF0GOPT4gT9VSOZgB0UA/zLV2g+WN+0WKiLXhiAZd6XAVD5xfRkCniMiHms4MRx7U4+R1UK5vtoOs2nrl72IyeUMWd0hjt31ZjpmO8QWu+lVyB51h34Eflfon59I6+j+DiQJ+VsxN5ZHzOXBfmluVuOJ3h/7OWkpQu4DiQ5M1tiEbesWf3O/pprN0AjBZp/qZv7k4UmBw/8PAzmbCOrZX7uscsygR42uvCmI3YCclg7izvEjQ585s0QZ14MCwHSQVUtX56kPT8p7R+w7ku0lh0FTdjyw8+xwErtgzpbW9UCkpnGNc9baIRHEozNe/EC8ra9iZSOzrhxRSqRUJWyYYl+u4cWiNoywElFc3v+jbvRixetZLxoqkuZjkL57OyY7GQeLtjifloIMir0I0Xty9AJJqoVl/oSO1TbBj4z1sPD4xyMzxM494KMU4PjOUVb+GsPMgtiMfUDPufEgs+/CTk5Bdc7CeCnEJ+hbpSG6tJuQ+IN/lAqeM/fG13CV6ZW2Pcmf/q+R+hQ55XMWLkFtANTwJb0/g76xaXj0x17wggMDxrFvGBio9CfdtzWsaU5q5T2ZhNjrqqVoGuDfbP1/YcZ9I6/TUZtvOEQRBOyFIgNz7WR214YAX0yhEOY7Ouz4fM4RK4ujoQBDvgqvav1SXQCSJBEEbTWTjcUYum8YryHSof6ytBXXqfCLD9ErFZbb3MjTQtL3rJZ8vdd31uXpBIKkkpiitPhuQnqGfKgOLOyYvBOfG3uvyfseI1h1+Cgn19oZ+7dFk6ym9TiV5aqbFk6PdHg9MKHW3wWF6TYtNXVrdwL0MjsPVh++XxW8tcgsyaPV6IzKa6UrDIv3kx3Iv1CJ4rMDRLtgGyRXPD2Ks3oE5l7WBWhCGAYPywXebVsMRUgePnS88cXypQHiWZkOP93pBRZW0gxUYAiKxaUTdyxnz/Du5FW9+QM4CpgftvUWV2iLfMIlEa9OYljNDdIWecgiJRykFrpKQumd9ijNSn+d+sClHjZ5Mq+Zcd1lVyT+DmmIq0L43WNIgtFcrnJh58dEYHauCZsjrLs/W6dN3oevsJT3a9zorpYNfGpLsMs2D3k5b4y+vplWXzUxLAS5uFerKlMxrr/VWB2DNMqoeURI1ZibqgFJm9kPQzWHix1rbEO96HtioVyazJlnmdJr1UKw4rAvDSyJkRRY8sdfb+rIyJekLKe483Vl+rIstwn857MDJSdagiHXZthzLnXlOq0GI7IITVimZ70LQrwM4ySmyF16nqMEFAVDauanI0IJH/RElx12A4QpE8OP92ZCPg+LQmqKMaKJSmlgWvP6q8y5Vo1ZsvFjcPgjtYs2VUObiGXpqENOdAWCKoSd9lHVRf1f2rJUjVniLGT+WvSi0bROXihpVeyaOptHWksjsRBzvpy5EXp7+BHoKY5odjXmxBBdbpN1Km0S7Ib82l7wJBXJ/lQtT2otMfKj9M+T+w7+wbWTsyY1qMNBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Szq5ewpH8jmALCcFkLauqX",
      "input": {
        "note": "The right arm is holding the pen, tip pointing forward. Now retrying the left arm toward the cap, which it sees ahead of its jaws, in a small 2 cm step.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.15,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Szq5ewpH8jmALCcFkLauqX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4393, 1.2949, 0.5304, 0.1818, -0.0441, -0.0692, 0.9997, 0.6567, 1.6863, 0.8593, -0.0235, 0.4881, 0.3653, 0.0491]\nstate[eef_state]: left_x=0.3419 left_y=-0.1481 left_z=0.1042 left_yaw=-0.3758 left_pitch=-0.0114 left_roll=-0.0247 left_gripper=0.9997 right_x=0.3728 right_y=0.1873 right_z=0.0648 right_yaw=0.0294 right_pitch=-0.1714 right_roll=-0.0909 right_gripper=0.0491\nstate[joint_eff]: [0.5812, -3.7675, 6.2838, 1.3065, 0.1636, 0.1001, -0.0122, -0.0205, -6.2838, 5.7641, 1.6239, 0.1636, -0.0171, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12b14b0d4d3164534e3dc850f45202b98ccd954cae11dc9f216f0572a960489a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f727d15b651f06a1e4e4f70cd81cbd359a3209b1489592cbfbe8ef9ed62e0be4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ebd592f61f3fcf90dce4245521edee45ef72c819ec9dbd36c3599e5f1f822c63",
        "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 · 3.91 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4522, 1.2015, 0.5312, 0.0853, -0.0486, -0.07, 0.9997, 0.6556, 1.8832, 0.7574, 0.3, 0.4953, 0.3691, 0.0452]\nstate[eef_state]: left_x=0.3288 left_y=-0.1462 left_z=0.1171 left_yaw=-0.3845 left_pitch=-0.0135 left_roll=-0.0226 left_gripper=0.9997 right_x=0.377 right_y=0.1885 right_z=0.0023 right_yaw=0.023 right_pitch=-0.148 right_roll=-0.0776 right_gripper=0.0452\nstate[joint_eff]: [-0.2256, -3.9726, 6.612, 1.6972, -0.0757, -0.0562, -0.0122, -0.6769, -7.241, 5.1077, 1.3455, 0.2418, 0.2125, 1.5165]",
      "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]: [-0.4522, 1.2015, 0.5312, 0.0853, -0.0483, -0.07, 0.9997, 0.6559, 1.7, 0.8539, 0.0143, 0.4885, 0.3653, 0.0491]\nstate[eef_state]: left_x=0.3288 left_y=-0.1463 left_z=0.1171 left_yaw=-0.3848 left_pitch=-0.0135 left_roll=-0.0228 left_gripper=0.9997 right_x=0.3762 right_y=0.1895 right_z=0.0632 right_yaw=0.0302 right_pitch=-0.1561 right_roll=-0.0801 right_gripper=0.0491\nstate[joint_eff]: [-0.1709, -3.9863, 6.7077, 1.7216, -0.0806, -0.0708, -0.0122, -0.3897, -9.6752, 7.747, 1.4725, 0.2418, -0.022, 1.033]",
      "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]: [-0.4393, 1.2949, 0.5304, 0.1818, -0.0441, -0.0692, 0.9997, 0.6567, 1.6863, 0.8593, -0.0235, 0.4881, 0.3653, 0.0491]\nstate[eef_state]: left_x=0.3419 left_y=-0.1481 left_z=0.1042 left_yaw=-0.3758 left_pitch=-0.0114 left_roll=-0.0247 left_gripper=0.9997 right_x=0.3728 right_y=0.1873 right_z=0.0648 right_yaw=0.0294 right_pitch=-0.1714 right_roll=-0.0909 right_gripper=0.0491\nstate[joint_eff]: [0.5812, -3.7675, 6.2838, 1.3065, 0.1636, 0.1001, -0.0122, -0.0205, -6.2838, 5.7641, 1.6239, 0.1636, -0.0171, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12b14b0d4d3164534e3dc850f45202b98ccd954cae11dc9f216f0572a960489a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f727d15b651f06a1e4e4f70cd81cbd359a3209b1489592cbfbe8ef9ed62e0be4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ebd592f61f3fcf90dce4245521edee45ef72c819ec9dbd36c3599e5f1f822c63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0wcKEAgSGAI4AUIIdGhpbmtpbmcSDMMrNs01JfYBEGwSAhoMFDLELQPmq6e1/dntIjCNalHR1dVYuNxW5dEuctxSL7JeQYkuVowx0M9fjORwfl7kWSUklWG8Uz3pqhDxfHMq8AYAW0/wE3mbxl3eVN8nKh1Kg212B7l04LgtmbT25G8azyk3gGiKA+lPeJ2R1mestzNyFql4AAMAPIGaIfLGiuazv1hbHuP5yQoxJZgAstE8RoOeOXoVc6ajPDz3gX5DuzrVNrWBwDqjMLd9aE7JTMN6UynSVZYHDD3Wf3cZUlMe3L2sICYai+qdQgfgYxE7HKeRCRnqCvF7gp+Pj45fNYDiPRnfQhbzlEwldxNWsRM4D1ZErdT5jJBaM1867G+VrvPM4ag0hxhw4dzf4hhRI+4SF2VAclgzmVtVu4m3hZwkc4SW9fS2ezLICjBazmeQrpZKmsrj7YYIsMSoKQhq3VohzpyzPo4eB3OjttAOIjBQrF5s2LiNDjwP/hHhSO27b8aoyqGGV0PuNfmhgtoURUEtv+uVx0ycexal/MZK8WTK0v2WccLfLGhhgBY0s60BoX6lEbxSdNQZicqPmSDxB9pbwnT+xEllWP/b+gKz3CZRqM6Gh0aVFPiyH5O1Zp+83AW9vvwm8yXvRK1i3L12+6YzgGx45riAMkj3TgJbvNt532tR2C1sq/jwZVReObayhOffXHOdxhgF3jFJxLlEkg/J6F9rQRWcFQyyqu9Zt700nFj03SATtVyirKLI4mw2/E774aoymjR5IK7smbDgz5w7uUmYd7EWB3X7DxqNAbyUrPQjotH+hQ2NCsuuIWNfDxBBa6W3fvnH+9vRcbof0MmFuvf8jQx8mNkwTvG2pQHcMx/Unp3IO3xVbUjiUVcgtBj89HiGdhQx69Vmw2ggYxi8hzI0FHU35kukG95Sq9tpeTCmIZqWMtDc9wepg4DilAY+b7OgGR9ZDS0f6n3DfO0/lYKRQAECmS1bMCJS1XkqhL9ftXz3bYPoX2x09VfOr80Br3WdC8mVKVND9yZKv7GJlZ3veRTakvx1dVGeMWjSqPHGWfZe6dMUOqppDKuDxR68VAocHK2Ke0toSxLPgcJd2x2upFWsS9mVjV8ItfavStTdL15LwZHUbaphz0XmkGT3KYCJT3v0e6vPRKFuEkfXiXRx1AbEVzTEbj13pV3lCi6youq0YMuJkBhAAB9FJnyoXCJZj0p+xiebZtjz95CetVWIWHyp6ULkdvW3dF6JB21pxHbp9aQIDQXPFh2tZynKrAG9TDPlwvr5RtahXjeGGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017F2RMJ9PEHzbjn2KY8dtic",
      "input": {
        "note": "Small steps work for the left arm. The cap is still ahead of the jaws, so I'm continuing forward and down in about 3 cm increments.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.155,
          "left_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_017F2RMJ9PEHzbjn2KY8dtic",
      "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]: [-0.4236, 1.5002, 0.5186, 0.3183, -0.0444, -0.0692, 0.9997, 0.6567, 1.692, 0.8543, -0.0193, 0.485, 0.3653, 0.0491]\nstate[eef_state]: left_x=0.3528 left_y=-0.1465 left_z=0.0534 left_yaw=-0.3596 left_pitch=-0.0917 left_roll=-0.0193 left_gripper=0.9997 right_x=0.3718 right_y=0.1871 right_z=0.0612 right_yaw=0.0311 right_pitch=-0.178 right_roll=-0.0929 right_gripper=0.0491\nstate[joint_eff]: [0.7043, -6.3932, 8.212, 1.956, 0.2173, 0.0904, -0.0122, -0.3487, -8.1709, 6.2564, 1.3016, 0.1685, -0.0366, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a1cbb206fe68396a743359456159c011a1faec2e5e6b767006458811f40f844",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f572d82d9996a791705ffbc63e07bce1e78440d285d5464538b1b3d5e2e47a85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b6c18ae7352a6784a2107cd5f642ce29c1e385224633d46a1dce995739f37ee2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 7.875 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4522, 1.2015, 0.5312, 0.0853, -0.0483, -0.07, 0.9997, 0.6559, 1.7, 0.8539, 0.0143, 0.4885, 0.3653, 0.0491]\nstate[eef_state]: left_x=0.3288 left_y=-0.1463 left_z=0.1171 left_yaw=-0.3848 left_pitch=-0.0135 left_roll=-0.0228 left_gripper=0.9997 right_x=0.3762 right_y=0.1895 right_z=0.0632 right_yaw=0.0302 right_pitch=-0.1561 right_roll=-0.0801 right_gripper=0.0491\nstate[joint_eff]: [-0.1709, -3.9863, 6.7077, 1.7216, -0.0806, -0.0708, -0.0122, -0.3897, -9.6752, 7.747, 1.4725, 0.2418, -0.022, 1.033]",
      "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]: [-0.4393, 1.2949, 0.5304, 0.1818, -0.0441, -0.0692, 0.9997, 0.6567, 1.6863, 0.8593, -0.0235, 0.4881, 0.3653, 0.0491]\nstate[eef_state]: left_x=0.3419 left_y=-0.1481 left_z=0.1042 left_yaw=-0.3758 left_pitch=-0.0114 left_roll=-0.0247 left_gripper=0.9997 right_x=0.3728 right_y=0.1873 right_z=0.0648 right_yaw=0.0294 right_pitch=-0.1714 right_roll=-0.0909 right_gripper=0.0491\nstate[joint_eff]: [0.5812, -3.7675, 6.2838, 1.3065, 0.1636, 0.1001, -0.0122, -0.0205, -6.2838, 5.7641, 1.6239, 0.1636, -0.0171, 1.0281]",
      "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]: [-0.4236, 1.5002, 0.5186, 0.3183, -0.0444, -0.0692, 0.9997, 0.6567, 1.692, 0.8543, -0.0193, 0.485, 0.3653, 0.0491]\nstate[eef_state]: left_x=0.3528 left_y=-0.1465 left_z=0.0534 left_yaw=-0.3596 left_pitch=-0.0917 left_roll=-0.0193 left_gripper=0.9997 right_x=0.3718 right_y=0.1871 right_z=0.0612 right_yaw=0.0311 right_pitch=-0.178 right_roll=-0.0929 right_gripper=0.0491\nstate[joint_eff]: [0.7043, -6.3932, 8.212, 1.956, 0.2173, 0.0904, -0.0122, -0.3487, -8.1709, 6.2564, 1.3016, 0.1685, -0.0366, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a1cbb206fe68396a743359456159c011a1faec2e5e6b767006458811f40f844",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f572d82d9996a791705ffbc63e07bce1e78440d285d5464538b1b3d5e2e47a85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6c18ae7352a6784a2107cd5f642ce29c1e385224633d46a1dce995739f37ee2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS4AcKEAgSGAI4AUIIdGhpbmtpbmcSDF06zxuPt4ycXNIBvxoMCX/RpMLNzvDGC6qKIjA4m/G2JSSUdVqA1X/Va2/L0vEUKcx8abdiNRFBD6W/FFeHerfDec7EQmABbQlJyPoq/QZfIDCcY0IYOJD2WUsoYNMtBZaOycL6oW/mUEJa0acfJRJ5qikEYDY6YhUOgxNDyvMrZ/2Aog1a0wbIIcmmyjWaxDvfCJLoBHNp3RXrZgwGFkL0AOiwUoEKT5F8oWUtL0q0VA/vz5pPE+cAwEjiTQFrFtJ7y9rYnbfN+Q/okhKf46/0FaIa79pfG7ovOpYmF6BkyyHLeuenL+AV0Tm55v/JhNa3yIPrHDiycn8yjGs0F0I1TiXBmL6jsf/dOLSH/QBsdYaXEVYrkO0ZWbTd+CAvoDiIdxqulYc4xdlWXNPPleVgJ9+ysCMcMwWIbh5mKDIav7l6mUMwOxnA8Gf313PUH5rsySNmi1eQdHU9oz+N5DpoZG0w0176S4N1BIQBlYI9Gfu8SchTYRJ6oEP7jWEkpef9G/P9Qt5oWypOO1uievC41rE/FX2b6l3zXlpYxfPlCZrjik/+vEiuPz9a+WRIi/1dYE815S0eF5V8PHLlJ+PQRs8Ppr0QHgguEVguOYZfjbqOpVAQQXk4Ymlr1mjy1ib/JGnoKEFpFI+jDwGj3Q3fNYxUBztsApu7Ib9Ankf+Xe9/wTaRtfaMJxxS3TI3kJwBfHhyBlFwC1HxqGF7/0+cRmmLCfKb9a7mAyCpQkKVBKHICBvTZZIueBVzaKPdnYy6a9nT641iejt6IIn8vfSBoU/Es25Z5RZeIEmg0TewHZkBfXahXTezQNTVJaRn45o64ICbFTAAk4RJHykSeB0oL+S4XlFGGO96WQz3kx1on9qQ9uc9UJkFiv2z1UCfqTH27kiFXMUFzNnwIQ+Pgs3iUHK/PDCkaMIxNjzanz+wzof0+9uewwGdkrWPXQn/K6L2MfG4M/WvckhSFaZrekLCebqj7sykJeaXT6s3+lHKEznpySq7Puyloh+Olcooe0x+0dxmcMOWuwZbourMp2GjldfIZJ6d5sb1xJRz8QfrRo9jZg2Krnz3OyhvMfm95XElHjUm80cs8PAJJ2lj0fZkX+4JRAxpzQLHaxXbaxmsAdv0aAvhN1FHOmPLkSa4NUUaFU918KHP4uQhcPBpzDVx967l7ietNu/TZJkKYpIGXi7R4/lNpX5aDdhPtqZA4lTLJ5rDM0IqKjOMP7TZajUdEPlnzrTFuOBuv8tkOM1kNgLrM1/3oVj7QKF/uZ3Bw3AZSLZDEfqGECGH5BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0198Nb59vDkWf1fem3dDprP8",
      "input": {
        "note": "The cap is still well ahead of the left jaws in its wrist view. Pushing forward while holding height.",
        "targets": {
          "left_x": 0.39,
          "left_y": -0.155,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_0198Nb59vDkWf1fem3dDprP8",
      "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]: [-0.4191, 1.5398, 0.5186, 0.3599, -0.0444, -0.0692, 0.9997, 0.6567, 1.692, 0.8543, -0.0227, 0.4843, 0.3653, 0.0491]\nstate[eef_state]: left_x=0.3569 left_y=-0.1465 left_z=0.047 left_yaw=-0.355 left_pitch=-0.0898 left_roll=-0.0194 left_gripper=0.9997 right_x=0.3713 right_y=0.1869 right_z=0.0606 right_yaw=0.0313 right_pitch=-0.1811 right_roll=-0.0945 right_gripper=0.0491\nstate[joint_eff]: [0.1026, -6.6803, 7.8701, 2.0586, 0.1294, 0.0464, -0.0122, -0.212, -7.6923, 5.8735, 1.4042, 0.1441, -0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:765238828fb1f174e33e5fea8003c0a073c14eedebb7007202599aa443b99a5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:287a8e3aca8abdd7aa6f0056211f327d54e94f0225823ad45684f997e7060f5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:221f9bf050af35ecc91439126195d8692bedb805c49e5dd3b8f84fb703e50c11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 5.766 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4393, 1.2949, 0.5304, 0.1818, -0.0441, -0.0692, 0.9997, 0.6567, 1.6863, 0.8593, -0.0235, 0.4881, 0.3653, 0.0491]\nstate[eef_state]: left_x=0.3419 left_y=-0.1481 left_z=0.1042 left_yaw=-0.3758 left_pitch=-0.0114 left_roll=-0.0247 left_gripper=0.9997 right_x=0.3728 right_y=0.1873 right_z=0.0648 right_yaw=0.0294 right_pitch=-0.1714 right_roll=-0.0909 right_gripper=0.0491\nstate[joint_eff]: [0.5812, -3.7675, 6.2838, 1.3065, 0.1636, 0.1001, -0.0122, -0.0205, -6.2838, 5.7641, 1.6239, 0.1636, -0.0171, 1.0281]",
      "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]: [-0.4236, 1.5002, 0.5186, 0.3183, -0.0444, -0.0692, 0.9997, 0.6567, 1.692, 0.8543, -0.0193, 0.485, 0.3653, 0.0491]\nstate[eef_state]: left_x=0.3528 left_y=-0.1465 left_z=0.0534 left_yaw=-0.3596 left_pitch=-0.0917 left_roll=-0.0193 left_gripper=0.9997 right_x=0.3718 right_y=0.1871 right_z=0.0612 right_yaw=0.0311 right_pitch=-0.178 right_roll=-0.0929 right_gripper=0.0491\nstate[joint_eff]: [0.7043, -6.3932, 8.212, 1.956, 0.2173, 0.0904, -0.0122, -0.3487, -8.1709, 6.2564, 1.3016, 0.1685, -0.0366, 1.0232]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4191, 1.5398, 0.5186, 0.3599, -0.0444, -0.0692, 0.9997, 0.6567, 1.692, 0.8543, -0.0227, 0.4843, 0.3653, 0.0491]\nstate[eef_state]: left_x=0.3569 left_y=-0.1465 left_z=0.047 left_yaw=-0.355 left_pitch=-0.0898 left_roll=-0.0194 left_gripper=0.9997 right_x=0.3713 right_y=0.1869 right_z=0.0606 right_yaw=0.0313 right_pitch=-0.1811 right_roll=-0.0945 right_gripper=0.0491\nstate[joint_eff]: [0.1026, -6.6803, 7.8701, 2.0586, 0.1294, 0.0464, -0.0122, -0.212, -7.6923, 5.8735, 1.4042, 0.1441, -0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:765238828fb1f174e33e5fea8003c0a073c14eedebb7007202599aa443b99a5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:287a8e3aca8abdd7aa6f0056211f327d54e94f0225823ad45684f997e7060f5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:221f9bf050af35ecc91439126195d8692bedb805c49e5dd3b8f84fb703e50c11",
        "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_01Ms3ZYGAQcu9PNJuRss6njV",
      "input": {
        "note": "The left arm stalls around x≈0.357, apparently at a shoulder limit. Tipping the tool forward (pitch 0.4) so the fingertips can reach the cap with less shoulder motion.",
        "targets": {
          "left_pitch": 0.4,
          "left_x": 0.39,
          "left_y": -0.155,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01Ms3ZYGAQcu9PNJuRss6njV",
      "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]: [-0.4122, 2.0628, 0.3683, 1.4162, -0.0631, -0.0433, 0.9995, 0.6567, 1.6924, 0.8543, -0.0269, 0.4736, 0.3653, 0.0533]\nstate[eef_state]: left_x=0.3826 left_y=-0.1512 left_z=0.0267 left_yaw=-0.3438 left_pitch=0.293 left_roll=-0.013 left_gripper=0.9995 right_x=0.3701 right_y=0.1881 right_z=0.0592 right_yaw=0.039 right_pitch=-0.1896 right_roll=-0.0905 right_gripper=0.0533\nstate[joint_eff]: [0.5812, -7.0906, 3.7812, 2.3175, 0.1343, 0.0171, -0.0317, -0.1573, -7.7333, 5.8598, 1.4286, 0.2418, -0.0611, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1436ab6ccb0a5afd2c931dcf048002c553f3d4284bb45f0bf8cdbaf05266117",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfa8afce4b008930b6b8386f2df1d6d7306a32d60bf1d846fc34cc7f3874bba1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c1c280b2f2eb611dd61bfde70deabf2badf367e0ec0d0ed5e8e598925a374eab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 4.255 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4236, 1.5002, 0.5186, 0.3183, -0.0444, -0.0692, 0.9997, 0.6567, 1.692, 0.8543, -0.0193, 0.485, 0.3653, 0.0491]\nstate[eef_state]: left_x=0.3528 left_y=-0.1465 left_z=0.0534 left_yaw=-0.3596 left_pitch=-0.0917 left_roll=-0.0193 left_gripper=0.9997 right_x=0.3718 right_y=0.1871 right_z=0.0612 right_yaw=0.0311 right_pitch=-0.178 right_roll=-0.0929 right_gripper=0.0491\nstate[joint_eff]: [0.7043, -6.3932, 8.212, 1.956, 0.2173, 0.0904, -0.0122, -0.3487, -8.1709, 6.2564, 1.3016, 0.1685, -0.0366, 1.0232]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4191, 1.5398, 0.5186, 0.3599, -0.0444, -0.0692, 0.9997, 0.6567, 1.692, 0.8543, -0.0227, 0.4843, 0.3653, 0.0491]\nstate[eef_state]: left_x=0.3569 left_y=-0.1465 left_z=0.047 left_yaw=-0.355 left_pitch=-0.0898 left_roll=-0.0194 left_gripper=0.9997 right_x=0.3713 right_y=0.1869 right_z=0.0606 right_yaw=0.0313 right_pitch=-0.1811 right_roll=-0.0945 right_gripper=0.0491\nstate[joint_eff]: [0.1026, -6.6803, 7.8701, 2.0586, 0.1294, 0.0464, -0.0122, -0.212, -7.6923, 5.8735, 1.4042, 0.1441, -0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4122, 2.0628, 0.3683, 1.4162, -0.0631, -0.0433, 0.9995, 0.6567, 1.6924, 0.8543, -0.0269, 0.4736, 0.3653, 0.0533]\nstate[eef_state]: left_x=0.3826 left_y=-0.1512 left_z=0.0267 left_yaw=-0.3438 left_pitch=0.293 left_roll=-0.013 left_gripper=0.9995 right_x=0.3701 right_y=0.1881 right_z=0.0592 right_yaw=0.039 right_pitch=-0.1896 right_roll=-0.0905 right_gripper=0.0533\nstate[joint_eff]: [0.5812, -7.0906, 3.7812, 2.3175, 0.1343, 0.0171, -0.0317, -0.1573, -7.7333, 5.8598, 1.4286, 0.2418, -0.0611, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1436ab6ccb0a5afd2c931dcf048002c553f3d4284bb45f0bf8cdbaf05266117",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfa8afce4b008930b6b8386f2df1d6d7306a32d60bf1d846fc34cc7f3874bba1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1c280b2f2eb611dd61bfde70deabf2badf367e0ec0d0ed5e8e598925a374eab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlwoKEAgSGAI4AUIIdGhpbmtpbmcSDNo7YoqTBYynGa3vIRoMWtuLDp1jbXKNmOwMIjBo236/wJl/cfvwTCZUpGiQTrnPca6NR8H0QGToMf/qBACVdQnZAGW8W9ScnqSiNicqtAm4dhRmCHI0oRN4+w3LQ2gWyL0UsgY/ddaHn+xu0OGnQIY9pUyYTN9fOMzynjV3fx2UQRRIOirQ348PX+X7yJmxyq5cAfH5w35RvPqvQmo7VNOd2YOQzoyiLorLx46gTsGNT/xIpkrrE7rIVFsV5dTggEcWT/qfd0P4SdSvp+fgJEVW2fgmRNWO8r2bl2IkJDqR5XG3ji+7IEx/LPB6dFMqLpDDRrUmjzwV5HEnuwJ0WwSm/LTtyPp4Cc/r6kQ9emZjm91NSZK3PbiUeb9vGhOIO0hxu2vF2zg8yJhhNQNucesBE30MHBWrImvU9nbSQxqhYUfSO3Dtf3tb7MhJgniuOcZQZMKZqysx3O8wc6LxB70hz5DFMbYwhmEm2VV7Cnj+R+d5UFbpxuqHMeKthMb96YHz73Lfs1EP3ITFqXgm631TUsKznPzN01oRbgLUppBT82pVLiJF6uvqBWz2iOqN1IDIgFx75vRmuTHZ5Sczy4p7YjCWQ21KQypAQAHLjrW3EA2d/oL4eS0hh2F6uT+MSyeTf8R6envn0qbqrqSY4SAQsMeK3kU5DXfu4nuo3gzKfwctpBR0VaaLPntjDokMnPe3dFwurIwZqq2qgR3xSKirffEOoq7vDAvJInxqDTN5Tc2v28FnYlbA1FBc4XYKaG9G9PT+FiurcI4vlYHyvkFq4yxhxUuDQUXfCfbj2UZwpy4p9SWLD1UjovnNMQ8jKaPZhbrRfODjKik0j2JfbKpKKYBTBnWRv/bPwHsPWXVwGhskTNhS4ZLTqxjm7kwM55t400ZPp1M+0fbs0vPMRTJ9bBEVaEApD/r7yyh8QzqoYboSFimnTFeITINCHMVvwqaLgkYeOB1di0ki4xeaTj+Bmf/q+hu9jh5Ig5rCWL+y2XaqZ/ZNGRJFYyA7cw76jHCHuONqe95UP/Pz/+vipXjeQgpVbGQN3835tZ3s7gGFgbiXX5gCJ+6MRzd7DpUY2EZzZAwPBP1/tjFNAJpv82dYbo+2NhgcD50DQ7zES0Ny97/N7WiPmGZRYnlMzU376JSplRO0Kgys0JTDiy/jgqndhbhn5tFxFehdZKjK+8kPUC37q/GkOgpSYmTN4lnVTWSvlzyKKp1Q5KkZ3XLemZVNWOX6bZlZqPCSFdFrhtlJ0Uo0ejuy84HLEz7I5ihntjdvzOSLvGHIZhcjJaPmIGPC6K4Rp3XlQ0F6v0EsapkudeV17qqPx+rjw58KSyWnYDm1BS4smuQuIn2HwyP5oiYLNxlZLlJggzv/2ZYU5MXAuK9qBaPsKifeyN8Sxppxg+LC0K6GvrL80uyB7I0ua5+BTdf5sA0y6dvNvECsQ4TB3oCVmWI30E/GjnHEfKdi9mQNfGkBF+9784X7QeXTjvsyLF1pMGAUs9oqcaLG8MdQ28xH9Cu5jLDxZumTXilZnjcTG0BSF0FyJPlxf3iyKYiDdgVkE3Xvp08797Cc2wqXLQAeUMZCdmtgZkpUuIpBsW3Xl9EBSm/uES14/1JAxeueWt376W8O+1NjvOSIEf9feVns3+rbHEXWLb3uNu6JryO/VjIsC4jFbOwDfZE/vbzJMHLwtupc6575e8rUORrprYk2GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01138rx1UjqyvU2Uh7ujwHve",
      "input": {
        "note": "Pitching forward got the left arm right over the cap, which lies across the jaws near the bottom of the wrist view. Descending to table level to grasp it.",
        "targets": {
          "left_pitch": 0.3,
          "left_x": 0.385,
          "left_y": -0.153,
          "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_01138rx1UjqyvU2Uh7ujwHve",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4129, 2.2349, 0.3992, 1.5726, -0.0742, -0.0315, 0.9994, 0.6567, 1.6924, 0.8543, -0.0292, 0.4706, 0.3656, 0.0533]\nstate[eef_state]: left_x=0.3864 left_y=-0.1511 left_z=0.0039 left_yaw=-0.3412 left_pitch=0.3084 left_roll=0.0009 left_gripper=0.9994 right_x=0.3696 right_y=0.1883 right_z=0.0587 right_yaw=0.0408 right_pitch=-0.1928 right_roll=-0.0896 right_gripper=0.0533\nstate[joint_eff]: [-0.4991, -6.5026, 2.4684, 1.4628, 0.0952, -0.1538, -0.0269, -0.0479, -7.6786, 5.8872, 1.3748, 0.1832, -0.0415, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:739f1d6b322d3bc191d04c304f3dff645b3284a25cc7dda1f02522aaa0df992a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d17b7dff694d564e073d45579b5b165166b82278c2f6fe1d025ae0f17840b4aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fadfb8333e66263c77f87e86c0262e5e2e663a77d6c161805d468cbb14486c1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 4.047 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4191, 1.5398, 0.5186, 0.3599, -0.0444, -0.0692, 0.9997, 0.6567, 1.692, 0.8543, -0.0227, 0.4843, 0.3653, 0.0491]\nstate[eef_state]: left_x=0.3569 left_y=-0.1465 left_z=0.047 left_yaw=-0.355 left_pitch=-0.0898 left_roll=-0.0194 left_gripper=0.9997 right_x=0.3713 right_y=0.1869 right_z=0.0606 right_yaw=0.0313 right_pitch=-0.1811 right_roll=-0.0945 right_gripper=0.0491\nstate[joint_eff]: [0.1026, -6.6803, 7.8701, 2.0586, 0.1294, 0.0464, -0.0122, -0.212, -7.6923, 5.8735, 1.4042, 0.1441, -0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4122, 2.0628, 0.3683, 1.4162, -0.0631, -0.0433, 0.9995, 0.6567, 1.6924, 0.8543, -0.0269, 0.4736, 0.3653, 0.0533]\nstate[eef_state]: left_x=0.3826 left_y=-0.1512 left_z=0.0267 left_yaw=-0.3438 left_pitch=0.293 left_roll=-0.013 left_gripper=0.9995 right_x=0.3701 right_y=0.1881 right_z=0.0592 right_yaw=0.039 right_pitch=-0.1896 right_roll=-0.0905 right_gripper=0.0533\nstate[joint_eff]: [0.5812, -7.0906, 3.7812, 2.3175, 0.1343, 0.0171, -0.0317, -0.1573, -7.7333, 5.8598, 1.4286, 0.2418, -0.0611, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4129, 2.2349, 0.3992, 1.5726, -0.0742, -0.0315, 0.9994, 0.6567, 1.6924, 0.8543, -0.0292, 0.4706, 0.3656, 0.0533]\nstate[eef_state]: left_x=0.3864 left_y=-0.1511 left_z=0.0039 left_yaw=-0.3412 left_pitch=0.3084 left_roll=0.0009 left_gripper=0.9994 right_x=0.3696 right_y=0.1883 right_z=0.0587 right_yaw=0.0408 right_pitch=-0.1928 right_roll=-0.0896 right_gripper=0.0533\nstate[joint_eff]: [-0.4991, -6.5026, 2.4684, 1.4628, 0.0952, -0.1538, -0.0269, -0.0479, -7.6786, 5.8872, 1.3748, 0.1832, -0.0415, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:739f1d6b322d3bc191d04c304f3dff645b3284a25cc7dda1f02522aaa0df992a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d17b7dff694d564e073d45579b5b165166b82278c2f6fe1d025ae0f17840b4aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fadfb8333e66263c77f87e86c0262e5e2e663a77d6c161805d468cbb14486c1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1QcKEAgSGAI4AUIIdGhpbmtpbmcSDDz0wXspFNwCfl+dtBoMwkzhT2z/TkA1QX/PIjAqh9LHfyWw3QlSekKSLao0mwnSyanEJzEWoEofkP/+gHM67Z4YgkPS37x8NPDGqeIq8gaRLEk0XmeFHEEYB+duPk6uGUEbUGE/sAeaMGOgGJsSsnF3ISfL8mRz05sCS40oCd9lY4kIforCnY7dVulkWwuEXnGR9TmbGGMYqa2A17Wizzokoy1E7YgPl4VNTTBUQPF0PU0fe1uMoY3gcfv/wf8b1ZwJcVZ/ZHct4BTUjXdD5KMYNlWapAA5mzY34giN/B4o/b4o/YeT3aDdOd82HeuM0094+wW1/p0kFV8NfZiYWynDGRcruN7Jq3Zz/DvSB8cWxncFrxzRSQ0Tcf4vKwxI9TWyQQhH/nzp+31/R2CnSQ18QsiHiSSSKNSPSvZN4Pe5pQ52cKUFOMfOoE53JnHtzPKWok3Jtlbr6ohkTxUpjjo3ZgBxmYHPLFaDI/AqAzObubHsIa1Y92EZxy2/iYjcNlmBHMCv8BqYRhtCZbR3Ow7VLgSjOQkprOaYqdgASlcixxjJddUTpF5olhp1uI8F4CtwvIGrLPE9YjpOyn3aqt4NyUSVgRtyzAODicd63zTEpc8Pl/zjS8HOn3Sp6sMSwNqAAp56Tw8YqwJKxrdCBCspPSxwgh/2X1ndp1SrQWba9K+EhzXVWsws1MXV9a2WYnqJ4L127mRqkgOYRVL+bHLb5wbBBNH+/Hze7mNK7rLY6x+zEOKflJW4EGUpoAglPbINpfPg+qGZGWEFSoykxMT50s5Y6LIlFbwe0g46EcwLFQ5shiRifiaggfm6klXqlh3yS+aSloAbCXIV6v8SoVP8Z6XwJmeOZ15kxz2VF7wNlvrlqq3T53tipA7gw/jk3VQZK2Rh58piwYJMRKBsPcgzylNmXR89Vg47VuEZ9vrKj9OvQRXqqu9XcL+8M26yjdRfVMXPW8yPC7+O/TgNfObBlQGY5zWQgAVnnJ3h3gfmCf9YZKa3lMCYoSGaeu0YUl742VdPrKXoL6TEYYSiA7KXTDPcz08B59/D/8TbPrrIhKq+vH+36d2kptOceGpU7YPHVAhcq8rXYwYtEeGDHCPQ0cOownUOjIUj5MReBwzapnk+tvwLM2OZ5CrMMVZFqkvmMvACQmUzCYUh5X9CuM1h0WHnIBvnP9uvVOI7JeegWEdKXLH4fJCBG0Bls6TBQ05681C0UfDJch49I1tnyQ94Qv/2y9TiHJVlK2IArzZDb+qlc7arTRuUHvPuykytlnUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VMvuFDLTJ4mW4XDCzqEW7c",
      "input": {
        "note": "At table height the cap is still a few cm ahead of the fingertips in the left wrist view. Sliding forward about 3 cm with a bit more forward pitch.",
        "targets": {
          "left_pitch": 0.45,
          "left_x": 0.415,
          "left_y": -0.152,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01VMvuFDLTJ4mW4XDCzqEW7c",
      "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]: [-0.379, 2.2799, 0.556, 1.573, -0.0704, -0.0338, 0.9993, 0.6567, 1.6924, 0.8543, -0.0307, 0.4671, 0.3656, 0.0533]\nstate[eef_state]: left_x=0.4311 left_y=-0.1544 left_z=0.0243 left_yaw=-0.3062 left_pitch=0.4203 left_roll=-0.011 left_gripper=0.9993 right_x=0.3692 right_y=0.1887 right_z=0.0583 right_yaw=0.0433 right_pitch=-0.1955 right_roll=-0.0883 right_gripper=0.0533\nstate[joint_eff]: [0.6085, -8.1846, 3.494, 1.8926, 0.2711, 0.1343, -0.0171, -0.335, -7.706, 5.8598, 1.3651, 0.1783, -0.0122, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cd4f56349f0a5250d0ea7c5146639c7e00a6c38a3013fb1ab5cd7b9434cadaa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c7def06857508832dafac87c7ed51e571ba602dd3376b8cb53f6e8e1b7460d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f2b8750f09232051e83202417b2c7cd8a7833d06e094006f024db41a84a69898",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 5.482 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4122, 2.0628, 0.3683, 1.4162, -0.0631, -0.0433, 0.9995, 0.6567, 1.6924, 0.8543, -0.0269, 0.4736, 0.3653, 0.0533]\nstate[eef_state]: left_x=0.3826 left_y=-0.1512 left_z=0.0267 left_yaw=-0.3438 left_pitch=0.293 left_roll=-0.013 left_gripper=0.9995 right_x=0.3701 right_y=0.1881 right_z=0.0592 right_yaw=0.039 right_pitch=-0.1896 right_roll=-0.0905 right_gripper=0.0533\nstate[joint_eff]: [0.5812, -7.0906, 3.7812, 2.3175, 0.1343, 0.0171, -0.0317, -0.1573, -7.7333, 5.8598, 1.4286, 0.2418, -0.0611, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.4129, 2.2349, 0.3992, 1.5726, -0.0742, -0.0315, 0.9994, 0.6567, 1.6924, 0.8543, -0.0292, 0.4706, 0.3656, 0.0533]\nstate[eef_state]: left_x=0.3864 left_y=-0.1511 left_z=0.0039 left_yaw=-0.3412 left_pitch=0.3084 left_roll=0.0009 left_gripper=0.9994 right_x=0.3696 right_y=0.1883 right_z=0.0587 right_yaw=0.0408 right_pitch=-0.1928 right_roll=-0.0896 right_gripper=0.0533\nstate[joint_eff]: [-0.4991, -6.5026, 2.4684, 1.4628, 0.0952, -0.1538, -0.0269, -0.0479, -7.6786, 5.8872, 1.3748, 0.1832, -0.0415, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.379, 2.2799, 0.556, 1.573, -0.0704, -0.0338, 0.9993, 0.6567, 1.6924, 0.8543, -0.0307, 0.4671, 0.3656, 0.0533]\nstate[eef_state]: left_x=0.4311 left_y=-0.1544 left_z=0.0243 left_yaw=-0.3062 left_pitch=0.4203 left_roll=-0.011 left_gripper=0.9993 right_x=0.3692 right_y=0.1887 right_z=0.0583 right_yaw=0.0433 right_pitch=-0.1955 right_roll=-0.0883 right_gripper=0.0533\nstate[joint_eff]: [0.6085, -8.1846, 3.494, 1.8926, 0.2711, 0.1343, -0.0171, -0.335, -7.706, 5.8598, 1.3651, 0.1783, -0.0122, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cd4f56349f0a5250d0ea7c5146639c7e00a6c38a3013fb1ab5cd7b9434cadaa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c7def06857508832dafac87c7ed51e571ba602dd3376b8cb53f6e8e1b7460d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2b8750f09232051e83202417b2c7cd8a7833d06e094006f024db41a84a69898",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3gcKEAgSGAI4AUIIdGhpbmtpbmcSDCK0LjjsOm5DZdnorxoMuMwt6l6ScU2ZB0YwIjBQ5FDNvx3AVxYgLbiqhoMtyk0Iom1ifxRBoJmi2m+wxL5Le1fOgYJZFxHFHOHr3SAq+waPJT2+FSnrUhjmjHYn9z0FWKkJWVjnrrdi1zdAOwrKlutLdOELmTsNoeutdq30yh4osI2OCdstrTrFCbORrv7p+Y8BBQ8KRf9OfECvJcq6ipZc+JakpZVAICfQcdV5oAokVAn+h7EQQ5hwRaP3CWlt07XDPmpd6ESTGE2sgP1ox9x6qtn5APgG486T9ez0qIbBDOr/NJsB42zQVdhqqqgBg/I0k1+MW3DDICizFCScOwyOudi7wJ2zdGkP+Cx9c0QM1epkP1F8hDYMHDOflxHj0BrfCen5M3N/4Qy8J3VxuQXtvEG0GE7QvXDKEu4Y+Tte8Od8ZIh7HUutbFJwVNjD0gKTKdfFbme/Ip8ossK4gVwPsw7jaexLo3u7vOWzDX8fXED0LwQ3UcMnCQtH9qaALkIMEARGY5XvEobWNa2D0IGp+psQIg37SRuyaCfuLYF4pP605Cj0f+CmlQCwHod5pXxgPjP3SPpV6jdX/oAnqBBJ9378u39fgr6Rn/V0PEa3RHgUbKr2ermwavy9uYS4VMGrS2ns7YDwt0jlkRI04eC9ZPl1yuywMErn9UhBbkuX/AEBQ33PkYcDT10Qt4569MPvX3FCNuZDfKGdxykYBytJvg5Oq4AzqQQrtXnBUMLF1Uy5Ifaa3pOHFGQBss+kX6byhKxa78CIMBHdVG4p779EHPsGu6C/nPv57q/NQabQBsQvBIl5DBA7hqx/mzJ2X/UK8ttQV8HXbEfNId9cM5UPzDw2i5DNeC7oAw6NCw3qXPr8xxi+ou5mDvlxrIqCDa4ArzRvbWz5+JOQ8vu7H9oU+ZRwchumkbTB91FrZYTNYEU4ZInW+z+QTEpPpx6+xNjqi/F9v5/QDI5RiKtMc2mFyEu0IbQ4LOySH8ptlHdc/krsUXKNmDMcbSpeqWJSyH/SVnAXJSn3ZZRfaCV8G4199ejfp4MdqgBfkj2ohHxm+9b8lM7UbQdwox3hIPU0x8uYQDb+1KdcSYUPUI/cWqYiqnJbYfSBRYYy+ir1xhLEudCEW2BnM0I05K/P8t6YiSmGCJDG+6FbWFIM6pbdgxrJn9WnMzD/YsNrWiGUjpRNFAaNEh3YiCYRbScDZWcIzgxbqqgEbMk+ZtoQjx4Wtln8H0ZIrcT7kSndIHPOO57H95zzIPkPilMe8BxjVCNdhYN9pu9uDjiC5wcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QNYPDmUWPa8yxc8mcvpkob",
      "input": {
        "note": "The cap is now at the bottom of the left wrist view, between the jaws. Descending to the table to grasp it.",
        "targets": {
          "left_pitch": 0.42,
          "left_x": 0.425,
          "left_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01QNYPDmUWPa8yxc8mcvpkob",
      "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]: [-0.3828, 2.3329, 0.5999, 1.5764, -0.0807, -0.0326, 0.9993, 0.6567, 1.6924, 0.8543, -0.0319, 0.4664, 0.3656, 0.0533]\nstate[eef_state]: left_x=0.4383 left_y=-0.1573 left_z=0.0134 left_yaw=-0.3014 left_pitch=0.4147 left_roll=-0.0076 left_gripper=0.9993 right_x=0.369 right_y=0.1887 right_z=0.058 right_yaw=0.0438 right_pitch=-0.1968 right_roll=-0.0885 right_gripper=0.0533\nstate[joint_eff]: [-0.6496, -7.9932, 3.5487, 1.5995, 0.0024, -0.1587, -0.0122, -0.2667, -7.6786, 5.8598, 1.3944, 0.2125, -0.0073, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e088d26f22bd89b0dd7d431eb4159dbdd52cf19b8fcb0a76d83c71be763eab75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc03e1142ba4ee6edfa4db44eba7f86ff4e1161b25c7f6f29070c481ca1f19c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3082bfb3694cef594d4a0b4e83e00b3698ea5ed7ad54c494afaa34c1f3478653",
        "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 · 3.176 s
model
claude-opus-5-5
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]: [-0.4129, 2.2349, 0.3992, 1.5726, -0.0742, -0.0315, 0.9994, 0.6567, 1.6924, 0.8543, -0.0292, 0.4706, 0.3656, 0.0533]\nstate[eef_state]: left_x=0.3864 left_y=-0.1511 left_z=0.0039 left_yaw=-0.3412 left_pitch=0.3084 left_roll=0.0009 left_gripper=0.9994 right_x=0.3696 right_y=0.1883 right_z=0.0587 right_yaw=0.0408 right_pitch=-0.1928 right_roll=-0.0896 right_gripper=0.0533\nstate[joint_eff]: [-0.4991, -6.5026, 2.4684, 1.4628, 0.0952, -0.1538, -0.0269, -0.0479, -7.6786, 5.8872, 1.3748, 0.1832, -0.0415, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.379, 2.2799, 0.556, 1.573, -0.0704, -0.0338, 0.9993, 0.6567, 1.6924, 0.8543, -0.0307, 0.4671, 0.3656, 0.0533]\nstate[eef_state]: left_x=0.4311 left_y=-0.1544 left_z=0.0243 left_yaw=-0.3062 left_pitch=0.4203 left_roll=-0.011 left_gripper=0.9993 right_x=0.3692 right_y=0.1887 right_z=0.0583 right_yaw=0.0433 right_pitch=-0.1955 right_roll=-0.0883 right_gripper=0.0533\nstate[joint_eff]: [0.6085, -8.1846, 3.494, 1.8926, 0.2711, 0.1343, -0.0171, -0.335, -7.706, 5.8598, 1.3651, 0.1783, -0.0122, 1.0281]",
      "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]: [-0.3828, 2.3329, 0.5999, 1.5764, -0.0807, -0.0326, 0.9993, 0.6567, 1.6924, 0.8543, -0.0319, 0.4664, 0.3656, 0.0533]\nstate[eef_state]: left_x=0.4383 left_y=-0.1573 left_z=0.0134 left_yaw=-0.3014 left_pitch=0.4147 left_roll=-0.0076 left_gripper=0.9993 right_x=0.369 right_y=0.1887 right_z=0.058 right_yaw=0.0438 right_pitch=-0.1968 right_roll=-0.0885 right_gripper=0.0533\nstate[joint_eff]: [-0.6496, -7.9932, 3.5487, 1.5995, 0.0024, -0.1587, -0.0122, -0.2667, -7.6786, 5.8598, 1.3944, 0.2125, -0.0073, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e088d26f22bd89b0dd7d431eb4159dbdd52cf19b8fcb0a76d83c71be763eab75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc03e1142ba4ee6edfa4db44eba7f86ff4e1161b25c7f6f29070c481ca1f19c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3082bfb3694cef594d4a0b4e83e00b3698ea5ed7ad54c494afaa34c1f3478653",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShwkKEAgSGAI4AUIIdGhpbmtpbmcSDIvSlY20IcshIuvAGhoMSQxzMu49VyAXy72LIjBwPTh9KWSXHmXS4k6lAMahPhDQv6xwZHuhW8F9AuDN1VWzJhXQrzAwvX3IyDhyVsUqpAjJ66pVAN7r8xK/PkIPfdtBTqwN2LszvcCjSC59kvNV4glcaXXeL11566RWRWIBz1EWkxEbb2zQqI3xCtLFFuC+0HVFabmkyxtK0TPKv1DN9mTfdAn/0LQyvg2WlhASwsiJ8dWk4wqw70GJyH3a081wxyOnqZ2ziMsS7k8TP/flaEvo9reD15a2EZ3+ekjpD3NF4ghkMv51Kq2oZqPh/yFU6T/hL2xQkDuqdlwTk4qNLzF3CDUz6TxTm/wvSrPCdirIjNHj2sw/jlHBIIeIWm4DcEjD5o5u+XC20SCnKF+S7F/2ph/K4YEBv9ogQ94+5p9PC4Qm68tVp84aS7J6x2f3vYOsen9jEXDmuoHbtX8cS9rTMwMXNRjHqG1dKAXGp0vZwoeXfQLjCVW/wb/+fH09+cE/YM8hxq5nga9kDrOlUo5bcWJ0f97/fNBtD0Vpy/BcElT7jPDxFb0iykNWnEMokc5JWXnPEEkLzTgFdSBTe9h3PlV8+IxF3SF/pjGRl1P8uEk0qr8JPDLaA3Q17PqTgHxfCyG607aZHVxQ0A4vtewQmQr8+a3UcSVfgUsRLQBa/seY0figB3jw6W8vbiL1ux6uiE/hDwC+3MM85vHqu7fJc7VUxMRRZ9XwJ89bUHnxcwlF9vKBnGs2iMebWBgrj3gTHhUon8jteQhjuajylU/idn0L2x9crrNqr3I3uLQwOFMs84+pd+j5M9C/A/OY09EAmunN0LjaBNy2SVHiZsKZceZQYn3FlpRyYcmtOf9L1ySgD+k7CF0RK2weFr6XGF/cewqPpizlsmQWZTYHLuGeWJDq6xRyKL3CZsl4ZyMTVMvGjlCWeoJ63LhrJL030FB3/hAol8nJ+uoMnowzVAsgDeL0XxpSGbCoQ+spa6BGu/ZauuYUBsTl8q4EFksRT4IaulnwuMfut/3gUsW93xeQHdpblP3LJWJ+6oNt/kZYhoGxXJt0TNHSbuPatdE+Swlc2wb4qY90FIPWUx3+U9lx0Bs+GX/G6rVHgnEfLmAjsy3tBCj3LFZHD11ERX7zpjBepT7pw6f07w7c0tQlwpKYQLsqdMilswiJ4RZ5iMvdHxGDQgH+Gj+7Lxateptsgm7R5dolD/DsN4t/dWD638g9JpaOks1cW6wWB8F+vNGs8tcPrFZH/GWG9ROr6XOljfFeexMUEGvjcCDGo7ksZJh/ROSsdLY6YCJTITYeSFCvDsjiTNFxEcPaDGxri0ES0x4v4NyBUn882O8jGRQwM7p7paolIrZximxQx1eLt+B9npRziNuLWW9zd76/+V+5c953gkjzICyRX2wiPmcLDNsqdzEo4zo9aPH8MkMdWFi84RblSQe8tEO+Xq0pM0OBxpaFl0CQc1jxViqGTfO0oGdGbYke9E6vS4+QKK7dXNLRaxzmGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JoYu8Nh9JLTFqSoMJ1fmhw",
      "input": {
        "note": "The fingertips are still about 1.3 cm above the table with the cap between them; the wrist seems to be at its limit. Easing pitch back to 0.3 so they can reach table level.",
        "targets": {
          "left_pitch": 0.3,
          "left_x": 0.435,
          "left_z": -0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01JoYu8Nh9JLTFqSoMJ1fmhw",
      "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]: [-0.3828, 2.3409, 0.6125, 1.5826, -0.0822, -0.036, 0.9993, 0.6567, 1.6924, 0.8543, -0.0372, 0.466, 0.3653, 0.0533]\nstate[eef_state]: left_x=0.4412 left_y=-0.1582 left_z=0.0146 left_yaw=-0.2976 left_pitch=0.4253 left_roll=-0.012 left_gripper=0.9993 right_x=0.3683 right_y=0.1882 right_z=0.0572 right_yaw=0.0436 right_pitch=-0.2013 right_roll=-0.0917 right_gripper=0.0533\nstate[joint_eff]: [-0.5538, -8.0889, 3.0564, 1.746, 0.0024, -0.0464, -0.0122, -0.3487, -7.706, 5.8462, 1.4774, 0.1343, -0.0269, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5682dc3881cc65ddaefa910e4751a9223b64e44967c0fa00efa51f4ad1fabb61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af421f09036336b68f44921170b9bf757de9bf55bd8c3a5fc2b2e6455bbccab5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:825f821944c3685fe362f841878444a8baecf99a68cd28e2b110d678b34cb48a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 5.809 s
model
claude-opus-5-5
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]: [-0.379, 2.2799, 0.556, 1.573, -0.0704, -0.0338, 0.9993, 0.6567, 1.6924, 0.8543, -0.0307, 0.4671, 0.3656, 0.0533]\nstate[eef_state]: left_x=0.4311 left_y=-0.1544 left_z=0.0243 left_yaw=-0.3062 left_pitch=0.4203 left_roll=-0.011 left_gripper=0.9993 right_x=0.3692 right_y=0.1887 right_z=0.0583 right_yaw=0.0433 right_pitch=-0.1955 right_roll=-0.0883 right_gripper=0.0533\nstate[joint_eff]: [0.6085, -8.1846, 3.494, 1.8926, 0.2711, 0.1343, -0.0171, -0.335, -7.706, 5.8598, 1.3651, 0.1783, -0.0122, 1.0281]",
      "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]: [-0.3828, 2.3329, 0.5999, 1.5764, -0.0807, -0.0326, 0.9993, 0.6567, 1.6924, 0.8543, -0.0319, 0.4664, 0.3656, 0.0533]\nstate[eef_state]: left_x=0.4383 left_y=-0.1573 left_z=0.0134 left_yaw=-0.3014 left_pitch=0.4147 left_roll=-0.0076 left_gripper=0.9993 right_x=0.369 right_y=0.1887 right_z=0.058 right_yaw=0.0438 right_pitch=-0.1968 right_roll=-0.0885 right_gripper=0.0533\nstate[joint_eff]: [-0.6496, -7.9932, 3.5487, 1.5995, 0.0024, -0.1587, -0.0122, -0.2667, -7.6786, 5.8598, 1.3944, 0.2125, -0.0073, 1.0281]",
      "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]: [-0.3828, 2.3409, 0.6125, 1.5826, -0.0822, -0.036, 0.9993, 0.6567, 1.6924, 0.8543, -0.0372, 0.466, 0.3653, 0.0533]\nstate[eef_state]: left_x=0.4412 left_y=-0.1582 left_z=0.0146 left_yaw=-0.2976 left_pitch=0.4253 left_roll=-0.012 left_gripper=0.9993 right_x=0.3683 right_y=0.1882 right_z=0.0572 right_yaw=0.0436 right_pitch=-0.2013 right_roll=-0.0917 right_gripper=0.0533\nstate[joint_eff]: [-0.5538, -8.0889, 3.0564, 1.746, 0.0024, -0.0464, -0.0122, -0.3487, -7.706, 5.8462, 1.4774, 0.1343, -0.0269, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5682dc3881cc65ddaefa910e4751a9223b64e44967c0fa00efa51f4ad1fabb61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af421f09036336b68f44921170b9bf757de9bf55bd8c3a5fc2b2e6455bbccab5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:825f821944c3685fe362f841878444a8baecf99a68cd28e2b110d678b34cb48a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwwYKEAgSGAI4AUIIdGhpbmtpbmcSDDGadwP/GWpWQrwgtRoMfvCdpTPjiuBxudmNIjAljScmFou2jH+E6NxCtxF8MoPpyvOGr3F1OlKQ6IuoS3VDN4YfIxBLUwYyw4mQDTEq4AUj8C+AVuPH5lOZu2gi27rG6K8gWUUchVFLZdgI+X/rQKpojwgtvQ8PIulL+CM1LxYx0gfflfnwPaXWytjN/2NuGNOqCof9OSCTP/+4YA0P3iTS494p4mNyo0TPVNgMDqbbrchiRM2TV+MfRYl8m+zp3Y1F1fJgJgEZxyj7ONK+kX2Sg8mRssTKGGDvHI600uMGKdgF4J5lSZUBYDrFnBtR53EjhNsYjPJDohbwNQugkaeUgyh+nlyHE5TJD7S1C3JtOlxeLtU3tO3gWxQVr9aUWCdmaj2u5HXKRfew0P8lv59pCA6tTc8L+J5HGnpznqYwmVW56RxGusPWMTTyh+5OWaL17P0pIggkU0cqU6eorDa2ee1vyevGiAKBREOVwWVmWqBYs9a/cy6gQxLM6OQ/avfG9rPIYFzWg0ZUQO/N5F+7mqMLP94MWjzRBtQmQVCNtTSaJPqV+9pADLsvc6CKOaCc7Wigwnw/+tA62tMEVeZZ9GzNy4vxFgedZ9pBCTMouprzXJHtfYEbxMYaFut7GVcZxz4QlvP101plchx76L/B5BGDInPrSCN/wFASlKU3/81AQkpuw95oqovxgsDh6Zpd5z509r69pAxKlUnQ9sXsbMw5PdB6SOe432I5M5IJmTxnYmMgb/zd6Ouk/zFirezYfxjeLEePIATW5vGAkDmx+P/in+IhzaxUF7hKgRaijlFYVotnyq/TJH0qRUraRv3vPshUUympCK5p3k4r9Dr4HvrZhlAgIjTDgmRebKBWCM0L9b7YuWqPTqtQ9Iy9Z0t+OH3kG8vGS38erHWHz8A9ugvjcCmhKSNGEMaiKIb70FqdhivgqeHQRZi9mtXcxRV4N9Lif6bbPSUxhyRE75qwDvGSqkVduaggk+7rO7xl8mDkFhVSAJld3h38O9583U9Wtq0R2p1T6Fuy/f4PC5uegxulIGVcAOsMpLKB15LF06479mj9AWAh7IfK0mPPGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01N7advGkiwhJdPgLaYQkQDR",
      "input": {
        "note": "The left arm won't go any lower than about 1.4 cm, and the cap should be between the jaws. Closing to try to grab 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_01N7advGkiwhJdPgLaYQkQDR",
      "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]: [-0.3828, 2.3405, 0.6125, 1.5837, -0.083, -0.0433, 0.0102, 0.6567, 1.6924, 0.8543, -0.0422, 0.466, 0.3656, 0.0533]\nstate[eef_state]: left_x=0.4413 left_y=-0.1581 left_z=0.015 left_yaw=-0.2925 left_pitch=0.4268 left_roll=-0.0199 left_gripper=0.0102 right_x=0.3676 right_y=0.1877 right_z=0.0565 right_yaw=0.0429 right_pitch=-0.2054 right_roll=-0.0943 right_gripper=0.0533\nstate[joint_eff]: [-0.0889, -9.8393, 2.4957, 1.79, 0.0513, 0.0708, 0.7937, -0.3624, -7.4872, 6.065, 1.4628, 0.1392, -0.0464, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:648f701a5b4d5ca0fb96d857706732f81f2d0790cada720097cfda2ad99ba6b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40414acf9f406a58e0a019b138f1f1aaa1ea82655a852736cae96e151927b0ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8960d2cb7860671c6a372e8fa48c5ab94561790895fb3c12e6f61f45c8b8ba35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /messages · status 200 · 5.753 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3828, 2.3329, 0.5999, 1.5764, -0.0807, -0.0326, 0.9993, 0.6567, 1.6924, 0.8543, -0.0319, 0.4664, 0.3656, 0.0533]\nstate[eef_state]: left_x=0.4383 left_y=-0.1573 left_z=0.0134 left_yaw=-0.3014 left_pitch=0.4147 left_roll=-0.0076 left_gripper=0.9993 right_x=0.369 right_y=0.1887 right_z=0.058 right_yaw=0.0438 right_pitch=-0.1968 right_roll=-0.0885 right_gripper=0.0533\nstate[joint_eff]: [-0.6496, -7.9932, 3.5487, 1.5995, 0.0024, -0.1587, -0.0122, -0.2667, -7.6786, 5.8598, 1.3944, 0.2125, -0.0073, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3828, 2.3409, 0.6125, 1.5826, -0.0822, -0.036, 0.9993, 0.6567, 1.6924, 0.8543, -0.0372, 0.466, 0.3653, 0.0533]\nstate[eef_state]: left_x=0.4412 left_y=-0.1582 left_z=0.0146 left_yaw=-0.2976 left_pitch=0.4253 left_roll=-0.012 left_gripper=0.9993 right_x=0.3683 right_y=0.1882 right_z=0.0572 right_yaw=0.0436 right_pitch=-0.2013 right_roll=-0.0917 right_gripper=0.0533\nstate[joint_eff]: [-0.5538, -8.0889, 3.0564, 1.746, 0.0024, -0.0464, -0.0122, -0.3487, -7.706, 5.8462, 1.4774, 0.1343, -0.0269, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3828, 2.3405, 0.6125, 1.5837, -0.083, -0.0433, 0.0102, 0.6567, 1.6924, 0.8543, -0.0422, 0.466, 0.3656, 0.0533]\nstate[eef_state]: left_x=0.4413 left_y=-0.1581 left_z=0.015 left_yaw=-0.2925 left_pitch=0.4268 left_roll=-0.0199 left_gripper=0.0102 right_x=0.3676 right_y=0.1877 right_z=0.0565 right_yaw=0.0429 right_pitch=-0.2054 right_roll=-0.0943 right_gripper=0.0533\nstate[joint_eff]: [-0.0889, -9.8393, 2.4957, 1.79, 0.0513, 0.0708, 0.7937, -0.3624, -7.4872, 6.065, 1.4628, 0.1392, -0.0464, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:648f701a5b4d5ca0fb96d857706732f81f2d0790cada720097cfda2ad99ba6b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40414acf9f406a58e0a019b138f1f1aaa1ea82655a852736cae96e151927b0ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8960d2cb7860671c6a372e8fa48c5ab94561790895fb3c12e6f61f45c8b8ba35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqAoKEAgSGAI4AUIIdGhpbmtpbmcSDB/i4hqz0I4s4ukTCRoM0XWA5na9XWCB7BUtIjDBPykWuuxODtfdQvHSYVUW/7SqXjgrVcki5e7gWKSzz9QdTPBJXtEopTsPlHgoVi8qxQmFgmiQfysRYrmuILN4IgiMQuOASRXsJU5KU+2aB4I3emuZecI6K13jWMIYx6qy5n5QN5pdNDTNSlYN7ZhOVRiNWAoiHIQV/uX8BvWapreI8SAhOso6CvvsPP+fGEQvcioMM2Q8rwZuy7VSvufHB5VNXDHD1vNAGW9p3ux89u7GwWHuXpO3K/h7KfDw+Qch58PXcz1E9ixDCTpQeq3beLGOScYAMemOqx3/WMFBeExvTLJ1Z14vA14WK7lqaFhFeSrhzg6s19dzqhZSNSPLtgeH6+RjdyoB6Y3+SMs3gEkNe8ieoxRb1cS0oGb9YAnQ9pZ3SDZ9zDemgrVNXzwsOlyH7DZE3MXZe4NBVzoxDSVhrQd9vXV6iLf4RSB7oQGza8L/qq3TMCPu0Kcpk/qrqL4dtSH0zVmqiIqSi6xBlCd3Mw4INOS/6imLOiFW456mTFxPjFRpU7JE0sszeNOwS5L5rBhjIOKS2uoPV9quflXDdVj0nPCTBWaoJvKxfs7ffhMHhKPvyviiiNZp8ZHs476saUX0D5edBJEYxtgy69cswLxylGRdxOwzQ/buEgQm907uZLI/PMW5CAJFs9vPEXuGQlN8ci5xtO2N826o0oS1yBMA7bVbAYKbkYG9vNLLiQFIFYkBzyc+YawHuPOs9+Hoz0NjEUItJ8DKeRCMRDYXX+2KU9XF6nV9bUmmuUjqMbqG86JbwEfLC95NtnOVAotgkeXhHsqHUySVl7PRBw+RhRujZBPMh3Xba+tKSt8AoDbmrOxXCNesRkCBnTrMxVmyfcI2tnt0mjN8u/tSXEPTjVKN+B2Ht1n8Vaj2tJ1OfBS9vzSJx/jsJpba8llfhMNeelpvb0wSFp0jih4Sv4V7R6Gdxt78jMgBEQzmr5peKxVn8pRZZxJTdr+N0DUF7Y53iyaGQP8GDkspLvjKYPAnWgD5lMQjE1LlLGnhD9pJptmF57VQRazDSks0BLkX2Xe6rydwoMTt4qlloisr1NrZHL282NwcbwjwxdAuSx0tYcRVraEz8WoPqswmh2j9TLVfeUcjA5iRVNbQDeZ0cASdm8SjyAbmnBJ6yb0t0pZb1iWUjJSGAuMJqN7FJnbjqbk5RPEo1/DcOVNJ7pwOJxlPdE7J/ScZ6zNa6nDciQ9orbOE/Lvo2VtHmft68/hRsb6hvkU0Gk/0DR42mbOuUvxjXMYPE5qgMM3L5nGXIY/6rIYCWyUTqto62S1+4W8BiM+VhnQR4woLlsUsbxF+vmMZ5dmP7dklb2hLLBIE70mjcONumj4AEI8iugIWUkk7AXTYW2qoJImOto1dcjJz9rvpauf/6eI2TuJWxMP6kHSWzrK210+AWilxe/s79ADRz/qVhrQEuUwiyzYBkt/uOESVp6ZaD7ch/IV9nefN/CcwPpyJsZoJZZjJuvmOj71VSmtycJW5vDkSRjwwUpJbSMplS/vUjXCy28Y05v21RmVYK3fNzSFIJIQT0BgLJpE8cNS3ae3le+3gpD9DWTuLyZY3zSdyyBlFzBkzFPahqST7tipDq/IMYXgpibEw8y/iVSgSKzEe941p2X1V2Fi9rO3nnToWj2+IrJxSglZkv+KQybjw1Uv2ytZtRnnHpJSvnd5z4/B8Jh8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Jo5po2WDFfWoz9WLFgxndn",
      "input": {
        "note": "The close came up empty (0.01). The cap is out of the wrist view, so it's probably just behind the fingertips. Opening and backing off 2.5 cm with less pitch so the jaws can get lower.",
        "targets": {
          "left_gripper": 1,
          "left_pitch": 0.2,
          "left_x": 0.415,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Jo5po2WDFfWoz9WLFgxndn",
      "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]: [-0.4095, 2.1616, 0.5434, 1.2839, -0.1009, -0.0708, 0.9952, 0.6567, 1.6924, 0.8543, -0.0452, 0.4656, 0.3656, 0.0533]\nstate[eef_state]: left_x=0.4193 left_y=-0.1587 left_z=0.0032 left_yaw=-0.2942 left_pitch=0.2381 left_roll=-0.0231 left_gripper=0.9952 right_x=0.3671 right_y=0.1874 right_z=0.056 right_yaw=0.0428 right_pitch=-0.208 right_roll=-0.0959 right_gripper=0.0533\nstate[joint_eff]: [-0.7179, -10.1675, 2.4274, 1.6484, -0.1783, -0.0415, -0.1197, -0.1573, -7.6513, 5.9966, 1.4579, 0.1783, -0.0269, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:067c1e38c6d04b744647b35a5b4e152974f71ba83b58dc77253a42bbf0f97166",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e3ddeb94d30581dc8eb444c322b07b2a412dfec6f3f6f2d4ab9fe1e4d9e5f4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d81cc816af912cb4cb2ad81cd25787b7ba1ef3b327ca45c516ce1bc217359f88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /messages · status 200 · 4.282 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3828, 2.3409, 0.6125, 1.5826, -0.0822, -0.036, 0.9993, 0.6567, 1.6924, 0.8543, -0.0372, 0.466, 0.3653, 0.0533]\nstate[eef_state]: left_x=0.4412 left_y=-0.1582 left_z=0.0146 left_yaw=-0.2976 left_pitch=0.4253 left_roll=-0.012 left_gripper=0.9993 right_x=0.3683 right_y=0.1882 right_z=0.0572 right_yaw=0.0436 right_pitch=-0.2013 right_roll=-0.0917 right_gripper=0.0533\nstate[joint_eff]: [-0.5538, -8.0889, 3.0564, 1.746, 0.0024, -0.0464, -0.0122, -0.3487, -7.706, 5.8462, 1.4774, 0.1343, -0.0269, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3828, 2.3405, 0.6125, 1.5837, -0.083, -0.0433, 0.0102, 0.6567, 1.6924, 0.8543, -0.0422, 0.466, 0.3656, 0.0533]\nstate[eef_state]: left_x=0.4413 left_y=-0.1581 left_z=0.015 left_yaw=-0.2925 left_pitch=0.4268 left_roll=-0.0199 left_gripper=0.0102 right_x=0.3676 right_y=0.1877 right_z=0.0565 right_yaw=0.0429 right_pitch=-0.2054 right_roll=-0.0943 right_gripper=0.0533\nstate[joint_eff]: [-0.0889, -9.8393, 2.4957, 1.79, 0.0513, 0.0708, 0.7937, -0.3624, -7.4872, 6.065, 1.4628, 0.1392, -0.0464, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4095, 2.1616, 0.5434, 1.2839, -0.1009, -0.0708, 0.9952, 0.6567, 1.6924, 0.8543, -0.0452, 0.4656, 0.3656, 0.0533]\nstate[eef_state]: left_x=0.4193 left_y=-0.1587 left_z=0.0032 left_yaw=-0.2942 left_pitch=0.2381 left_roll=-0.0231 left_gripper=0.9952 right_x=0.3671 right_y=0.1874 right_z=0.056 right_yaw=0.0428 right_pitch=-0.208 right_roll=-0.0959 right_gripper=0.0533\nstate[joint_eff]: [-0.7179, -10.1675, 2.4274, 1.6484, -0.1783, -0.0415, -0.1197, -0.1573, -7.6513, 5.9966, 1.4579, 0.1783, -0.0269, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:067c1e38c6d04b744647b35a5b4e152974f71ba83b58dc77253a42bbf0f97166",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e3ddeb94d30581dc8eb444c322b07b2a412dfec6f3f6f2d4ab9fe1e4d9e5f4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d81cc816af912cb4cb2ad81cd25787b7ba1ef3b327ca45c516ce1bc217359f88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS6goKEAgSGAI4AUIIdGhpbmtpbmcSDJlaV4EN7yqDbuOHtxoM7LJCG0wqY0IEG52qIjCvIl2snXDbbiRq2GvzENJewE5cwsyMpkzi7/1rjiiecMAKeT22sQjStyJG6SnNx6sqhwoWKsjRcBi5dG2o0avsOzdcHMi8tnwkXgAj312SFq8BhuxZaXVM7MqrN69jxXcOEmDFBHZhkFn2xTqG/pjevkCTzpfUVWAc+vomoWCMNZ2uJ0KrcqO8h6c4leS4w/ZesNFc13QMJptczqGZU1KWiV2QeORJZ5cfLymXUApL8D0Y5swp9wxO1+2vPQuXF1RJHLjbQhHUNJxnwF9UwFemX6+2W3Yq06MP5aCcOOM/6kBABVocH0Ps+0eUN42G6008Y90iHkb7diheooDP6+S7+n/yAyJ2aKh5fhGOMYeIEdovLobBCYz3eNPvA0O1Qm3G7VE+bQ+sJ3TsAM+BBwRxtx+DID+LtBA5SL9kYLbF5BiPIdcehI4Rnit7TF61oQoTsI9LTFuOBXLbeNeyyr0MqLuMrLk2/rK0pDTRHtPiB0E6u60LOAd46tDWY9ktHNF1W8jXsmbw0Bg4Axk5iE2qU/Gc7MrDjvAqn4pNa/LiZ86WagSWDskRWzLybzlRzTbYtBZ6nxQZeJR4Uy6xn1rWu1jYqAiUqPu4ZnSefBXvtdYa51M7oSHYF35fdknGjY3PKkEK4p1I0bF8cYc0gFmaOb3KQtCe7p9JAPQ80ucXV29Ib2ZjPzh5bt0GfsI68i+2IXdN1B/HQ84tyA0p3kZZ3S13lg10u5EVXFYpdCBAlSVlPlZPgjNwR5Wz0+kUPE2QHXIVgpSt34FM9qUehuldeqhFBxzXCkHTzLBZ9esJeAJxGAaRgGAyGHq9E1cRAjibCdWKiRWGcAZQdLlNeBzxXSZbSZeI18B+LXk6U64BYfZP4g2Cm/oTe6RyP2wjt0F+Mil3Ene0z/4gMB+deQObyMfUF+lbVhNaSYMLRPFmKVuIN5OO4wnO7F0OSR1bAsIoep+C7YMoVYKi02mjfhEjfG8BD595CrPU+gjxjNjDVpJI5gFl32j0kcY+G4S/CQWAYfe18D9E5P1Rgdjl0EG7RUenOAJ5uNQnhWziw4n9A5rmf9aI3ERZSOhoOVnBo7VES5uJ5+VUc0mG68E8XvhHkwttKt7YlrL5XmPmnR0qhY1WnFKj+wDWrxv2gn5tp3Xz3H0cxEGmG6pqJzcQatkYuOFOKhWE+6qqMjRWKWK+q8Fipl9L6ptrypMHV8dL4HUW9SaarJwjzL2+aICWjQbKALqJspFe/7RFcy1ebKnwwd6fkJXElrxXESQPSav++RxmsYe8wN71Jk9fnzE1sOUai3PjXbJja125TEa0aRBTPNHAAd96Wj2GgTfQ4jQD+wb9gf7ixypVJrlGEVTaXxwFeQy6V5A1nsJvMIKCuhwZCb79NFQylJoDaa28t11Etyz4b1pZeo3NOaV+BRtdlhMrf3cQUAlljAQ/SIFls9GR5ybYs8AwHkKcwvkAslPKUM7tI8bVqhBFMh4YaPd6QVSP/uIjP8V+7qqq/RtHCbTGKaXNs0KfFGYsmD9juQTh3IkrYf5VOhaCbgGuj5Zsrn9W5EFq0Gd0S2pVRAklRmA+fnqm7cw1WHS22ELkjWrRv+wIIx+qX31dvVGYOIgUB8SCwvSEE7+KPe42GGZA/rR4YGPggCASn5pS1V+tNeMHDOZ8XgDPL4xdOFwD35tlHUskJ7/OVdbbrFczVghy6qPEzZ5UCngm71s8LXplDwBFDQXjvatUwRnYJhqwjgOj+p91VhQa+f4fE1HXrwOfDLmgMRQM13tAQnVQQ6oYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TdB4UAhPbvMspmC1Fxrcij",
      "input": {
        "note": "The cap is now visible between the left jaws at the bottom of the wrist view, slightly left of centre. Shifting about 0.8 cm left and pressing down to table level before closing.",
        "targets": {
          "left_x": 0.417,
          "left_y": -0.151,
          "left_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 1 steps (0.1s)",
      "tool_use_id": "toolu_01TdB4UAhPbvMspmC1Fxrcij",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4129, 2.149, 0.5419, 1.2587, -0.1017, -0.07, 0.9986, 0.6567, 1.6924, 0.8543, -0.0448, 0.4656, 0.3653, 0.0533]\nstate[eef_state]: left_x=0.4177 left_y=-0.1595 left_z=0.0023 left_yaw=-0.2978 left_pitch=0.2241 left_roll=-0.0204 left_gripper=0.9986 right_x=0.3672 right_y=0.1874 right_z=0.0561 right_yaw=0.043 right_pitch=-0.2077 right_roll=-0.0959 right_gripper=0.0533\nstate[joint_eff]: [-0.3897, -10.0444, 2.7966, 1.4676, -0.1245, -0.0952, -0.1587, -0.335, -7.6786, 5.9009, 1.4335, 0.1245, -0.022, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c231bbd759f5af92a30f95326988faa15600f476f8e1f5a948ca8ef4c106b4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4bda7e56fd138a70035c7336ead6d020b5b5d3e7ce2bf8eeecc1cb7749fc254",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b2af2af912e31ebe12e4e2e9972dfe0349ac286b13c4ae4762f65b3061848f32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /messages · status 200 · 14.13 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3828, 2.3405, 0.6125, 1.5837, -0.083, -0.0433, 0.0102, 0.6567, 1.6924, 0.8543, -0.0422, 0.466, 0.3656, 0.0533]\nstate[eef_state]: left_x=0.4413 left_y=-0.1581 left_z=0.015 left_yaw=-0.2925 left_pitch=0.4268 left_roll=-0.0199 left_gripper=0.0102 right_x=0.3676 right_y=0.1877 right_z=0.0565 right_yaw=0.0429 right_pitch=-0.2054 right_roll=-0.0943 right_gripper=0.0533\nstate[joint_eff]: [-0.0889, -9.8393, 2.4957, 1.79, 0.0513, 0.0708, 0.7937, -0.3624, -7.4872, 6.065, 1.4628, 0.1392, -0.0464, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4095, 2.1616, 0.5434, 1.2839, -0.1009, -0.0708, 0.9952, 0.6567, 1.6924, 0.8543, -0.0452, 0.4656, 0.3656, 0.0533]\nstate[eef_state]: left_x=0.4193 left_y=-0.1587 left_z=0.0032 left_yaw=-0.2942 left_pitch=0.2381 left_roll=-0.0231 left_gripper=0.9952 right_x=0.3671 right_y=0.1874 right_z=0.056 right_yaw=0.0428 right_pitch=-0.208 right_roll=-0.0959 right_gripper=0.0533\nstate[joint_eff]: [-0.7179, -10.1675, 2.4274, 1.6484, -0.1783, -0.0415, -0.1197, -0.1573, -7.6513, 5.9966, 1.4579, 0.1783, -0.0269, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4129, 2.149, 0.5419, 1.2587, -0.1017, -0.07, 0.9986, 0.6567, 1.6924, 0.8543, -0.0448, 0.4656, 0.3653, 0.0533]\nstate[eef_state]: left_x=0.4177 left_y=-0.1595 left_z=0.0023 left_yaw=-0.2978 left_pitch=0.2241 left_roll=-0.0204 left_gripper=0.9986 right_x=0.3672 right_y=0.1874 right_z=0.0561 right_yaw=0.043 right_pitch=-0.2077 right_roll=-0.0959 right_gripper=0.0533\nstate[joint_eff]: [-0.3897, -10.0444, 2.7966, 1.4676, -0.1245, -0.0952, -0.1587, -0.335, -7.6786, 5.9009, 1.4335, 0.1245, -0.022, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c231bbd759f5af92a30f95326988faa15600f476f8e1f5a948ca8ef4c106b4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4bda7e56fd138a70035c7336ead6d020b5b5d3e7ce2bf8eeecc1cb7749fc254",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2af2af912e31ebe12e4e2e9972dfe0349ac286b13c4ae4762f65b3061848f32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpgcKEAgSGAI4AUIIdGhpbmtpbmcSDLz/2TZGGrpzPpYO5hoMNvdfVzse9sBMd4NiIjCy0x8wz6FzJ6I0bIMywGkiIXXxUIeyKHceAU0leJi+wyUEJhxTlorBGP/Jqe8TaZsqwwYfUkUG/NNHLzK3RAevNbsGnuJKjuU150tJ2NwfrU1Im5q2H+tgSDtYjwrJZv/eh+aopxEti1/Mm28hC/wnSYe+HhGgfTjB+Klc/XkMBnbBCkDztFSrzUFaFEJ2Nyzi1NxRIZRTtfsQQ7uwN31CVWIjg4v1bNc3PSPu7MM+/9S5K35n9rvVl8BR/Q1OUC4XxOZUvT3EQOaiLGzi26kFTDEDrLkUVdeR8lnZncH/XXBkcXJMBCp3Okjaonm5AyI3nU65BtsyYDwacbgTb6KEgbY57HEeVu6TNgksV3UXaWCXu8K7t0xpbBxAI3sdxDTS5NXfblGUccSv/tiE747XMX2q0kdQv1rbScll1eJ5EKUECKYBG8/7QgQ/a/yBOR/A3RkybIkkv5fRmJpGLeGxsMewDdZ0u9lVNhAvUtVpdu2DjzKu4n/D/B7+MXhcY8Pni+IGtrppspFuuqOpd6TunFMEgKga0/85mb+lrIWnr4/mroL3bAYax4hmxb+4iDtvfy6dvkZBRfqUcat1Efq/1yJ7ypws0bQlb7PvZ3GAVCEdTClGJsyJWcc6/USlXGeg8MR0wYC0bLfm9HxHsm0/q84WBcHWjvdSbK2YWx9VVlv+CZaM4Rd2Hsq9STj63l+qHXQr26HocojhYoJGLvTSJoll4+9tlOOdF41H70mAwFB4BLfUrTgMpd/kZaNXwfs2UbjCMPJrSuRXbVu7yUURlOjzzdbXcfieCx3D5BBO7+WK0al2sIArB9Ev9/LIZduNkfl7VbIV9aLKwV6pm56WfY+rwJqxaUbqapjkgHNvQJZqu3ve4lVr7gmJ8ir5Bx7NFMVy/zJyDNRjw+Bzc4E5uxuN8qgqJBDJ6QqDtT5y3GvtIy1Q+apxQf43fuPL3IWbJEQgJh73fWL8PWLXI1w1xCy9i+E9j76gwMP9aRBGXLRUMhyrrf3UiSe9GplUH7Sow50+z8Y6rjthcDb8hYwRLoHTPJNIGiBs6vnJNyYG8WFmlp+bSDKaMqGlx8tALSdjMlOkRxIlPnWk8BN58dneIu1YUB/KYFifSKXJQl9ByPeMohX5vuB7jQXQhuBVv5JVRnK/rrgy1hhz2aORhFq4LXx3Ae6KGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014aLqhfFCPi411655uyWvmU",
      "input": {
        "note": "The cap sits between the wide-open left jaws, close to the grasp point, at table height. Closing; the jaws should centre it as they close.",
        "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_014aLqhfFCPi411655uyWvmU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4129, 2.1715, 0.5411, 1.2968, -0.1055, -0.0704, 0.0532, 0.6567, 1.6924, 0.8543, -0.0448, 0.4656, 0.3653, 0.0533]\nstate[eef_state]: left_x=0.4183 left_y=-0.159 left_z=0.0014 left_yaw=-0.2939 left_pitch=0.239 left_roll=-0.0213 left_gripper=0.0532 right_x=0.3672 right_y=0.1874 right_z=0.0561 right_yaw=0.043 right_pitch=-0.2077 right_roll=-0.0959 right_gripper=0.0533\nstate[joint_eff]: [-0.1709, -10.4137, 2.7966, 1.4921, 0.0659, -0.0122, 1.4188, -0.1709, -7.4598, 5.8735, 1.3895, 0.1245, -0.022, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7184c4a891940fce3d6479301f5bbf3fe73ee04cf775a25e1e8a888dd8b0cd95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb4143bb6410c64f1a873ae4e5194374b02328dfd843d748a0732c44af0a5850",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b4035cf038a21872dbef48c8565ba46d8d4729c7e16b1f6f6d03104026d95e01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /messages · status 200 · 7.696 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4095, 2.1616, 0.5434, 1.2839, -0.1009, -0.0708, 0.9952, 0.6567, 1.6924, 0.8543, -0.0452, 0.4656, 0.3656, 0.0533]\nstate[eef_state]: left_x=0.4193 left_y=-0.1587 left_z=0.0032 left_yaw=-0.2942 left_pitch=0.2381 left_roll=-0.0231 left_gripper=0.9952 right_x=0.3671 right_y=0.1874 right_z=0.056 right_yaw=0.0428 right_pitch=-0.208 right_roll=-0.0959 right_gripper=0.0533\nstate[joint_eff]: [-0.7179, -10.1675, 2.4274, 1.6484, -0.1783, -0.0415, -0.1197, -0.1573, -7.6513, 5.9966, 1.4579, 0.1783, -0.0269, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4129, 2.149, 0.5419, 1.2587, -0.1017, -0.07, 0.9986, 0.6567, 1.6924, 0.8543, -0.0448, 0.4656, 0.3653, 0.0533]\nstate[eef_state]: left_x=0.4177 left_y=-0.1595 left_z=0.0023 left_yaw=-0.2978 left_pitch=0.2241 left_roll=-0.0204 left_gripper=0.9986 right_x=0.3672 right_y=0.1874 right_z=0.0561 right_yaw=0.043 right_pitch=-0.2077 right_roll=-0.0959 right_gripper=0.0533\nstate[joint_eff]: [-0.3897, -10.0444, 2.7966, 1.4676, -0.1245, -0.0952, -0.1587, -0.335, -7.6786, 5.9009, 1.4335, 0.1245, -0.022, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4129, 2.1715, 0.5411, 1.2968, -0.1055, -0.0704, 0.0532, 0.6567, 1.6924, 0.8543, -0.0448, 0.4656, 0.3653, 0.0533]\nstate[eef_state]: left_x=0.4183 left_y=-0.159 left_z=0.0014 left_yaw=-0.2939 left_pitch=0.239 left_roll=-0.0213 left_gripper=0.0532 right_x=0.3672 right_y=0.1874 right_z=0.0561 right_yaw=0.043 right_pitch=-0.2077 right_roll=-0.0959 right_gripper=0.0533\nstate[joint_eff]: [-0.1709, -10.4137, 2.7966, 1.4921, 0.0659, -0.0122, 1.4188, -0.1709, -7.4598, 5.8735, 1.3895, 0.1245, -0.022, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7184c4a891940fce3d6479301f5bbf3fe73ee04cf775a25e1e8a888dd8b0cd95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb4143bb6410c64f1a873ae4e5194374b02328dfd843d748a0732c44af0a5850",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4035cf038a21872dbef48c8565ba46d8d4729c7e16b1f6f6d03104026d95e01",
        "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_01LaPnqtrttgbjM4ixsUM4Qj",
      "input": {
        "note": "Both arms have a grip: the left holds the cap (0.053) and the right holds the pen (0.053), each sticking forward from the jaws. Lifting both and turning them to face each other across the centre line to line up the cap and pen tip.",
        "targets": {
          "left_pitch": 0,
          "left_x": 0.35,
          "left_y": -0.22,
          "left_yaw": -1.4,
          "left_z": 0.15,
          "right_pitch": 0,
          "right_x": 0.35,
          "right_y": 0.4,
          "right_yaw": 1.4,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01LaPnqtrttgbjM4ixsUM4Qj",
      "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]: [-0.2043, 1.7, 1.1179, -0.4053, 0.8211, 0.754, 0.0686, 0.6403, 1.8843, 1.3388, -0.0834, -0.4702, -0.4622, 0.0541]\nstate[eef_state]: left_x=0.3628 left_y=-0.2035 left_z=0.1304 left_yaw=-1.2674 left_pitch=-0.0351 left_roll=-0.0597 left_gripper=0.0686 right_x=0.372 right_y=0.3814 right_z=0.1536 right_yaw=1.2607 right_pitch=0.0015 right_roll=-0.1153 right_gripper=0.0541\nstate[joint_eff]: [-2.7282, -7.6923, 9.7983, 1.3846, 0.9402, 0.4274, 1.0281, 2.0718, -8.3897, 8.0342, 1.326, -0.4615, -0.2466, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0233a205e181062cfb6b1289053e4d9a7205d0f7a1001cee4995363e53b66baf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3decb5302300db8b7b811c1ad554f388693aa1ab48eacd494b0d4fbc9be04d26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4b03fdfa34e8b47d650fb8b17cd61eaac081be26caa03e2660c8b59769f41204",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 5.907 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4129, 2.149, 0.5419, 1.2587, -0.1017, -0.07, 0.9986, 0.6567, 1.6924, 0.8543, -0.0448, 0.4656, 0.3653, 0.0533]\nstate[eef_state]: left_x=0.4177 left_y=-0.1595 left_z=0.0023 left_yaw=-0.2978 left_pitch=0.2241 left_roll=-0.0204 left_gripper=0.9986 right_x=0.3672 right_y=0.1874 right_z=0.0561 right_yaw=0.043 right_pitch=-0.2077 right_roll=-0.0959 right_gripper=0.0533\nstate[joint_eff]: [-0.3897, -10.0444, 2.7966, 1.4676, -0.1245, -0.0952, -0.1587, -0.335, -7.6786, 5.9009, 1.4335, 0.1245, -0.022, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4129, 2.1715, 0.5411, 1.2968, -0.1055, -0.0704, 0.0532, 0.6567, 1.6924, 0.8543, -0.0448, 0.4656, 0.3653, 0.0533]\nstate[eef_state]: left_x=0.4183 left_y=-0.159 left_z=0.0014 left_yaw=-0.2939 left_pitch=0.239 left_roll=-0.0213 left_gripper=0.0532 right_x=0.3672 right_y=0.1874 right_z=0.0561 right_yaw=0.043 right_pitch=-0.2077 right_roll=-0.0959 right_gripper=0.0533\nstate[joint_eff]: [-0.1709, -10.4137, 2.7966, 1.4921, 0.0659, -0.0122, 1.4188, -0.1709, -7.4598, 5.8735, 1.3895, 0.1245, -0.022, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2043, 1.7, 1.1179, -0.4053, 0.8211, 0.754, 0.0686, 0.6403, 1.8843, 1.3388, -0.0834, -0.4702, -0.4622, 0.0541]\nstate[eef_state]: left_x=0.3628 left_y=-0.2035 left_z=0.1304 left_yaw=-1.2674 left_pitch=-0.0351 left_roll=-0.0597 left_gripper=0.0686 right_x=0.372 right_y=0.3814 right_z=0.1536 right_yaw=1.2607 right_pitch=0.0015 right_roll=-0.1153 right_gripper=0.0541\nstate[joint_eff]: [-2.7282, -7.6923, 9.7983, 1.3846, 0.9402, 0.4274, 1.0281, 2.0718, -8.3897, 8.0342, 1.326, -0.4615, -0.2466, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0233a205e181062cfb6b1289053e4d9a7205d0f7a1001cee4995363e53b66baf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3decb5302300db8b7b811c1ad554f388693aa1ab48eacd494b0d4fbc9be04d26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b03fdfa34e8b47d650fb8b17cd61eaac081be26caa03e2660c8b59769f41204",
        "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_01V62ZQrqg5Xo9R6B9qZZPU9",
      "input": {
        "note": "The two grippers now face each other near the centre, with the pen tip pointing at the left gripper, but the left one sits about 2.4 cm lower. Matching height and forward position so the cap and pen line up on one axis.",
        "targets": {
          "left_x": 0.372,
          "left_z": 0.172,
          "right_x": 0.372,
          "right_z": 0.155
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01V62ZQrqg5Xo9R6B9qZZPU9",
      "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]: [-0.1955, 1.7069, 1.2057, -0.5961, 0.7979, 0.7868, 0.0686, 0.6292, 1.898, 1.3533, -0.0837, -0.4915, -0.4709, 0.0541]\nstate[eef_state]: left_x=0.3564 left_y=-0.1958 left_z=0.1364 left_yaw=-1.2706 left_pitch=-0.1041 left_roll=-0.1201 left_gripper=0.0686 right_x=0.3759 right_y=0.3812 right_z=0.1537 right_yaw=1.2715 right_pitch=0.0088 right_roll=-0.1128 right_gripper=0.0541\nstate[joint_eff]: [-0.1983, -9.2239, 11.2342, 1.6337, 0.8034, -0.0024, 1.0379, 0.6632, -11.5761, 6.4479, 1.37, -0.1197, -0.0757, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8790211c82ab70fc36776b113ea53c272a50050a1ceb41ca8a3abd91c8e0672a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:184b4dc5ddbcdb90a372a5ddf44f53bee49ef0d1d312ccd27f36fb917037c891",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e5fd466e44053abed4012dd79e7ce608ae69b5bfafa3d4717ae392e4ddf52eec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /messages · status 200 · 10.45 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4129, 2.1715, 0.5411, 1.2968, -0.1055, -0.0704, 0.0532, 0.6567, 1.6924, 0.8543, -0.0448, 0.4656, 0.3653, 0.0533]\nstate[eef_state]: left_x=0.4183 left_y=-0.159 left_z=0.0014 left_yaw=-0.2939 left_pitch=0.239 left_roll=-0.0213 left_gripper=0.0532 right_x=0.3672 right_y=0.1874 right_z=0.0561 right_yaw=0.043 right_pitch=-0.2077 right_roll=-0.0959 right_gripper=0.0533\nstate[joint_eff]: [-0.1709, -10.4137, 2.7966, 1.4921, 0.0659, -0.0122, 1.4188, -0.1709, -7.4598, 5.8735, 1.3895, 0.1245, -0.022, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2043, 1.7, 1.1179, -0.4053, 0.8211, 0.754, 0.0686, 0.6403, 1.8843, 1.3388, -0.0834, -0.4702, -0.4622, 0.0541]\nstate[eef_state]: left_x=0.3628 left_y=-0.2035 left_z=0.1304 left_yaw=-1.2674 left_pitch=-0.0351 left_roll=-0.0597 left_gripper=0.0686 right_x=0.372 right_y=0.3814 right_z=0.1536 right_yaw=1.2607 right_pitch=0.0015 right_roll=-0.1153 right_gripper=0.0541\nstate[joint_eff]: [-2.7282, -7.6923, 9.7983, 1.3846, 0.9402, 0.4274, 1.0281, 2.0718, -8.3897, 8.0342, 1.326, -0.4615, -0.2466, 1.033]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1955, 1.7069, 1.2057, -0.5961, 0.7979, 0.7868, 0.0686, 0.6292, 1.898, 1.3533, -0.0837, -0.4915, -0.4709, 0.0541]\nstate[eef_state]: left_x=0.3564 left_y=-0.1958 left_z=0.1364 left_yaw=-1.2706 left_pitch=-0.1041 left_roll=-0.1201 left_gripper=0.0686 right_x=0.3759 right_y=0.3812 right_z=0.1537 right_yaw=1.2715 right_pitch=0.0088 right_roll=-0.1128 right_gripper=0.0541\nstate[joint_eff]: [-0.1983, -9.2239, 11.2342, 1.6337, 0.8034, -0.0024, 1.0379, 0.6632, -11.5761, 6.4479, 1.37, -0.1197, -0.0757, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8790211c82ab70fc36776b113ea53c272a50050a1ceb41ca8a3abd91c8e0672a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:184b4dc5ddbcdb90a372a5ddf44f53bee49ef0d1d312ccd27f36fb917037c891",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5fd466e44053abed4012dd79e7ce608ae69b5bfafa3d4717ae392e4ddf52eec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS5AoKEAgSGAI4AUIIdGhpbmtpbmcSDHuO7ojCCNPNv1Pa1RoMjQLfSjPPjzY0OProIjBozsq5hu03UinP6xGyDgIKazCPmDc3qEW59550LyXmXAPgkD0OmyalqDr5sxFQnK8qgQrNMtZ5wwxUCoEJwmSQogbH554loSuF2PYZVtdihpF6CB7ndXaIRpyydAMCLZYRA9ayKbNdMD/GL/oRSRiJEiEBLmrKuAzLdfx65QgQOOnaXJ8NmFq5iWk/9sLNfU8t52+eatb7KwQUXt5/KTgkdVr3HYBvGmWr9k103n8UQCtC088FYUVhQmZyd/5kjpSs+xE5FKAoun1/0JDN1gOTXi/zK2EHzgY/Js4sGtbek89YHniUA6y7oEzpW+FCDJwHf0Ydpp3L7Wvdz2/OXIWf0ODmGkNek1uHja2G97TLxRZBiRT7hBm4K4m4w44qw6YH/PtKkKrgQHcxWOb36ksE8Z2WaxtURaY6ad80qPc+luDzKkFMHvgLDnxMHB4P+p78QbKHf7zK0FFMPcfjlm254ubCoP3Lm+sTwGgUZV9VHjl5sKp+WRIA4rs/K6UIjlbzqBjn5X/2SjrZqVeoZXqWwwLi204x6oln9ihFi81C0+6jMToNO63nIjoRsQnPxmAwh1kKEso+qXD0MeuSJM+Ccv0bd0FyOmBClSxme883a9AnOhObltGT5MeUbNtq9GmSg6QAeTGkj7eaXXQr4olxMDmb2zMlNPxTWqrQorHRuPsqD9rqtXXlw2wm8SVRxT7nkbUeFxGH7wf1nt3LG8O5iMuvdRpNDaKe644WQkRnPiFywgIItcaf5vZbmhORIg1ju7d1wzy/SHPOgK63/W7dyuEnfedEKseOLmEBXwU9bW7yxgPChiSyMJUKiF4IwOS4NspHZd/G0kqo4Kh7TVEhQmr5KX/4oKo9E1jotRK9GqOrfdXLuPmem8hHrk8bIxOIlj4B6LA3WZ2PiQ1zPwqnsudASQ+7E1SVr0jnYQ7RJh8sDR5yAunLOR8OrEGm5De8C/iTs3NJyuCkuckrbnTQqIfCmwvBcMN+NrV+Lutde85dhK3FjJLDN7vJh/r59xTpPMBho1Xce2yuklFHtuyNmSwX1jmy39mGvjhuPs4u17HoIrz//AnjSpLlldLtxIiPPOwqdqRiHRXnJ48UsLCa2/QHxQ7NFOLQ4C+ojmI21OTvGHFjW1QhgZBDO2j0TIRjtKlARMZQMMovYEOMeOxj9Oh1W00IFz4bbLlT942owgTYi4ipz1DEhPhWgr56eVHfqAEBVsbW22XGJxAYDKgXHF5fM2cMEoSmciaJ3EcB2E/4R81n/Jw5NWYsrmOzr5n9yxfyG59Ia2YAvuA4qhhxy0//6GNv6hkseBijtZxDemnfLN/t34YcMGUEBQ4FvUiD5bg1YfHZbMmpl1bHPXurZ454pifwTRByNukaAiKlMLtei/sHzq2IS/1Wt0VG8dTmllTxuGTu4OgyB4LFOq8dret122eS9QGdxua6oyel0I92Jc5hgg9n0fOPWOPzDXd1YwWDYZlxzp9UDlHjki557yrCPBdFe8QAMMVtqFBFg9aI6sAZwUblZYUjksuIRVaLIpxUqGKryMN6hDEI9576EK3BV5Sq26Cwkyrmb6XTwhOcZ52VKibQ5zefgrpYXlJclwB0STSnHN6Qi/jaBcx9YayjSEzSYtvJgNGgvBcV8X+Yo6Kn9/Knvzmh40INQuFhkjYwaPJxRRcWfFz5Xecb/WZ5EkbQIyzn83Q514AhDVVa9jvecgMFo4jFLZryi6IC7qpUM5Dwb2aHaTe+XMsY6gYiaOmawFRMHo8xN5frrFLF99kYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WhgNWj7DEBbKBgRzf11TZT",
      "input": {
        "note": "The pen tip is pointing at the left gripper, but the left arm won't climb and the cap can't be seen in either wrist view. Trying one gentle push of the cap toward the pen tip.",
        "targets": {
          "left_y": -0.18,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01WhgNWj7DEBbKBgRzf11TZT",
      "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]: [-0.1955, 1.7069, 1.2335, -0.6155, 0.7895, 0.7605, 0.0686, 0.6228, 1.8973, 1.3518, -0.0715, -0.4686, -0.4576, 0.0541]\nstate[eef_state]: left_x=0.3602 left_y=-0.1955 left_z=0.1431 left_yaw=-1.2514 left_pitch=-0.1082 left_roll=-0.1298 left_gripper=0.0686 right_x=0.3827 right_y=0.3775 right_z=0.1546 right_yaw=1.2395 right_pitch=0.0108 right_roll=-0.1189 right_gripper=0.0541\nstate[joint_eff]: [-0.5949, -9.2513, 10.2769, 1.3407, 0.6227, -0.0464, 1.0379, 0.1846, -10.4137, 7.0906, 1.5116, -0.4371, -0.2076, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0963cdedd485b12f76bfe97ab392d6798179f04eb749254e9100ed9e720851ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9d69a31d15958a247d6df9baa424c9e7fbbb10856ee15a66dff4e89419d4d6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9d8cfc025b25c321c441330ab26c30d253fd67b1bb9ff5f6919f53744d70bb21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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