adhoc

completed
2026-09-22T23:25:02.770159+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
551.4 s
total steps
291
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteTop view shows two dark objects on the table: a short one (the cap) left of centre and a longer one (the pen) right of centre. Moving the left arm to hover ~15 cm above the cap to get a wrist-camera look.
move_to
left_x0.3000left_y-0.2100left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.7929, 0.6022, -0.3794, -0.02, -0.0113, 0.9998, -0.0185, 0.791, 0.6094, -0.3756, -0.0223, -0.0223, 0.9994] state[eef_state]: left_x=0.2946 left_y=0.0012 left_z=0.1796 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2958 right_y=0.0021 right_z=0.1842 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.1983, -1.4838, 10.5504, 1.7656, -0.0562, -0.0317, -0.0366, -0.759, -1.2239, 9.7846, 1.7363, -0.0415, 0.0464, -0.0806] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.21, "left_z": 0.15, "left_gripper": 1}, "note": "Top view shows two dark objects on the table: a short one (the cap) left of centre and a longer one (the pen) right of centre. Moving the left arm to hover ~15 cm above the cap to get a wrist-camera look."})
tool
executing move_to over 19 steps (1.9s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteLeft wrist view shows the cap ahead of and slightly left of the jaw column, so I advance 4 cm forward, 1.5 cm left and descend to 10 cm to line up the grasp.
move_to
left_x0.3400left_y-0.1950left_z0.1000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9504, 1.3731, 0.8032, -0.3214, -0.728, -0.6342, 0.9998, -0.0193, 0.7979, 0.6132, -0.3878, -0.0227, -0.0227, 0.9994] state[eef_state]: left_x=0.2926 left_y=-0.2011 left_z=0.1322 left_yaw=-0.0262 left_pitch=-0.0504 left_roll=0.0432 left_gripper=0.9998 right_x=0.2951 right_y=0.0019 right_z=0.1815 right_yaw=-0.0002 right_pitch=-0.0152 right_roll=0.0002 right_gripper=0.9994 state[joint_eff]: [-0.335, -5.4359, 9.2786, 1.4383, -0.6178, -0.1294, -0.0366, -0.2667, -1.7299, 6.7897, 1.8535, -0.0562, -0.0513, -0.0122] camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.34, "left_y": -0.195, "left_z": 0.1}, "note": "Left wrist view shows the cap ahead of and slightly left of the jaw column, so I advance 4 cm forward, 1.5 cm left and descend to 10 cm to line up the grasp."})
tool
executing move_to over 4 steps (0.4s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteThe cap is now on the jaw column but still high in the wrist frame, meaning it's still ahead of the fingertips; advancing another 5 cm and dropping to 4 cm height.
move_to
left_x0.3800left_y-0.1850left_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]: [-0.8082, 1.5177, 0.775, -0.1429, -0.659, -0.5449, 0.9998, -0.0193, 0.7998, 0.6132, -0.3908, -0.0227, -0.0223, 0.9994] state[eef_state]: left_x=0.3294 left_y=-0.1829 left_z=0.0919 left_yaw=0.0216 left_pitch=-0.0911 left_roll=0.0762 left_gripper=0.9998 right_x=0.2948 right_y=0.0019 right_z=0.1804 right_yaw=-0.0004 right_pitch=-0.0202 right_roll=0.0006 right_gripper=0.9994 state[joint_eff]: [0.1436, -6.9675, 6.5026, 1.5507, -0.2613, 0.2222, -0.0171, -0.0068, -1.4291, 7.2137, 1.746, -0.0269, -0.0171, -0.0122] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.185, "left_z": 0.04}, "note": "The cap is now on the jaw column but still high in the wrist frame, meaning it's still ahead of the fingertips; advancing another 5 cm and dropping to 4 cm height."})
tool
executing move_to over 4 steps (0.4s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThe arm undershot the last target (x 0.34 vs 0.38), so I re-command further forward and lower, with pitch/roll explicitly zeroed, to get the jaws over the cap.
move_to
left_x0.4200left_y-0.1850left_z0.0200left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7773, 1.5841, 0.7712, -0.0696, -0.6281, -0.5148, 0.9997, -0.0193, 0.7998, 0.6132, -0.3908, -0.0223, -0.0227, 0.9994] state[eef_state]: left_x=0.3397 left_y=-0.1835 left_z=0.0749 left_yaw=0.0148 left_pitch=-0.1077 left_roll=0.0812 left_gripper=0.9997 right_x=0.2948 right_y=0.0019 right_z=0.1804 right_yaw=-0.0006 right_pitch=-0.0202 right_roll=0.0001 right_gripper=0.9994 state[joint_eff]: [-0.212, -6.9402, 6.065, 1.4628, -0.4176, -0.0659, -0.0171, -0.3624, -1.1556, 7.1316, 1.7949, -0.0464, -0.0708, -0.0122] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.185, "left_z": 0.02, "left_pitch": 0, "left_roll": 0}, "note": "The arm undershot the last target (x 0.34 vs 0.38), so I re-command further forward and lower, with pitch/roll explicitly zeroed, to get the jaws over the cap."})
tool
executing move_to over 7 steps (0.7s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteThe arm ignored the last command entirely (joints unchanged), so I back it up and raise it to unstick the IK before re-approaching the cap.
move_to
left_x0.3000left_z0.2200left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7773, 1.5841, 0.7712, -0.0696, -0.6281, -0.5148, 0.9997, -0.0193, 0.7998, 0.6132, -0.3912, -0.0223, -0.0227, 0.9994] state[eef_state]: left_x=0.3397 left_y=-0.1835 left_z=0.0749 left_yaw=0.0148 left_pitch=-0.1077 left_roll=0.0812 left_gripper=0.9997 right_x=0.2948 right_y=0.0019 right_z=0.1803 right_yaw=-0.0006 right_pitch=-0.0206 right_roll=0.0001 right_gripper=0.9994 state[joint_eff]: [-0.0342, -6.8855, 6.4342, 1.4774, -0.4127, -0.0415, -0.0073, -0.3624, -1.2786, 7.0769, 1.7753, -0.0415, -0.0806, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_z": 0.22, "left_pitch": 0, "left_roll": 0}, "note": "The arm ignored the last command entirely (joints unchanged), so I back it up and raise it to unstick the IK before re-approaching the cap."})
tool
executing move_to over 10 steps (1.0s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteTop view shows the pen lying diagonally just right of centre; moving the right arm to hover over it for a wrist-camera check while the left arm waits above the cap.
move_to
right_x0.3300right_y0.2800right_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]: [-0.8974, 1.2873, 0.9802, -0.5362, -0.7055, -0.6136, 0.9997, -0.0193, 0.8043, 0.6132, -0.3939, -0.0227, -0.0227, 0.9994] state[eef_state]: left_x=0.3006 left_y=-0.1874 left_z=0.196 left_yaw=-0.0009 left_pitch=-0.0348 left_roll=0.0116 left_gripper=0.9997 right_x=0.2947 right_y=0.0019 right_z=0.1785 right_yaw=-0.0002 right_pitch=-0.0278 right_roll=0.0004 right_gripper=0.9994 state[joint_eff]: [-0.3487, -5.9282, 9.6615, 1.409, -0.4664, -0.0611, -0.0073, -0.0068, -1.6752, 7.0222, 1.7851, -0.0171, -0.0317, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.28, "right_z": 0.16}, "note": "Top view shows the pen lying diagonally just right of centre; moving the right arm to hover over it for a wrist-camera check while the left arm waits above the cap."})
tool
executing move_to over 24 steps (2.4s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteThe right wrist camera shows the pen up and to the right of the jaw column; stepping 3 cm forward, 3 cm to the arm's right and down a bit — this also calibrates the wrist pixel scale.
move_to
right_x0.3600right_y0.2400right_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]: [-0.8963, 1.2892, 0.9794, -0.5388, -0.7033, -0.625, 0.9997, 0.963, 1.6497, 1.1194, -0.3695, 0.7258, 0.6353, 0.9994] state[eef_state]: left_x=0.3004 left_y=-0.187 left_z=0.1945 left_yaw=0.005 left_pitch=-0.0394 left_roll=0.0053 left_gripper=0.9997 right_x=0.3264 right_y=0.2703 right_z=0.1448 right_yaw=0.0235 right_pitch=-0.0691 right_roll=-0.0432 right_gripper=0.9994 state[joint_eff]: [0.1162, -4.9983, 6.8034, 1.409, -0.2418, 0.0513, -0.0122, 1.2786, -8.2256, 9.2376, 1.3065, 0.4615, 0.1538, -0.0171] camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.24, "right_z": 0.12}, "note": "The right wrist camera shows the pen up and to the right of the jaw column; stepping 3 cm forward, 3 cm to the arm's right and down a bit \u2014 this also calibrates the wrist pixel scale."})
tool
executing move_to over 3 steps (0.3s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteThe pen still sits slightly right of the jaw centre in the right wrist view; descending near the table and shifting 2 cm to the arm's right so I can compare gripper and pen directly in the top view without parallax.
move_to
right_x0.3700right_y0.2150right_z0.0200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8955, 1.2907, 0.9794, -0.5426, -0.6994, -0.6281, 0.9994, 0.8501, 1.66, 1.0218, -0.2581, 0.6621, 0.5568, 0.9994] state[eef_state]: left_x=0.3001 left_y=-0.187 left_z=0.1932 left_yaw=0.005 left_pitch=-0.0449 left_roll=0.0052 left_gripper=0.9994 right_x=0.3474 right_y=0.2364 right_z=0.1138 right_yaw=-0.005 right_pitch=-0.1078 right_roll=-0.0723 right_gripper=0.9994 state[joint_eff]: [-0.1026, -4.7932, 7.0359, 1.3455, -0.2906, -0.0171, -0.0415, -0.1162, -7.5282, 7.2684, 1.7167, 0.398, -0.0855, -0.0171] camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.215, "right_z": 0.02}, "note": "The pen still sits slightly right of the jaw centre in the right wrist view; descending near the table and shifting 2 cm to the arm's right so I can compare gripper and pen directly in the top view without parallax."})
tool
executing move_to over 7 steps (0.7s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteThe arm is tracking slowly and is still at z=0.10; re-issuing a lower target, nudged 2.5 cm to the arm's right, to bring the jaws down around the pen shaft.
move_to
right_x0.3750right_y0.2100right_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]: [-0.8955, 1.2911, 0.9794, -0.5423, -0.6994, -0.6285, 0.9994, 0.8318, 1.6768, 0.989, -0.1944, 0.6327, 0.5282, 0.9994] state[eef_state]: left_x=0.3001 left_y=-0.1871 left_z=0.1931 left_yaw=0.0052 left_pitch=-0.0449 left_roll=0.0049 left_gripper=0.9994 right_x=0.351 right_y=0.2354 right_z=0.1014 right_yaw=0.0133 right_pitch=-0.1162 right_roll=-0.069 right_gripper=0.9994 state[joint_eff]: [-0.1709, -4.8889, 6.7077, 1.37, -0.315, -0.0366, -0.0122, 0.2667, -7.4735, 5.8872, 1.3748, 0.4615, 0.105, -0.0171] camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.375, "right_y": 0.21, "right_z": -0.01}, "note": "The arm is tracking slowly and is still at z=0.10; re-issuing a lower target, nudged 2.5 cm to the arm's right, to bring the jaws down around the pen shaft."})
tool
executing move_to over 8 steps (0.8s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteRight wrist view now shows the pen clearly running diagonally (down-right) just right of the jaw centre; rotating the wrist 40° so the jaws close perpendicular to the pen and shifting ~1.6 cm to the arm's right onto the shaft.
move_to
right_yaw0.7000right_y0.1900right_x0.3650right_z0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8955, 1.2934, 0.9794, -0.543, -0.6998, -0.6285, 0.9994, 0.7334, 1.9213, 0.8089, 0.252, 0.5938, 0.474, 0.9993] state[eef_state]: left_x=0.3002 left_y=-0.1871 left_z=0.1923 left_yaw=0.0056 left_pitch=-0.0466 left_roll=0.0074 left_gripper=0.9994 right_x=0.3714 right_y=0.2064 right_z=0.0028 right_yaw=-0.0269 right_pitch=-0.1237 right_roll=-0.0748 right_gripper=0.9993 state[joint_eff]: [-0.3214, -4.9162, 6.7077, 1.2967, -0.3248, -0.0415, -0.0122, -0.7453, -6.1197, 3.6444, 0.4078, -0.022, -0.3492, -0.0269] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_yaw": 0.7, "right_y": 0.19, "right_x": 0.365, "right_z": 0.0}, "note": "Right wrist view now shows the pen clearly running diagonally (down-right) just right of the jaw centre; rotating the wrist 40\u00b0 so the jaws close perpendicular to the pen and shifting ~1.6 cm to the arm's right onto the shaft."})
tool
executing move_to over 5 steps (0.5s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteAfter the partial yaw the pen still looks tilted ~35° in the wrist view; rotating further to 1.0 rad and nudging right so the pen lies vertical on the jaw column before closing.
move_to
right_yaw1.0000right_y0.1580right_x0.3750right_z0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8955, 1.2934, 0.9794, -0.5423, -0.6994, -0.6285, 0.9994, 0.4049, 1.8313, 0.598, 0.5606, -0.0185, -0.0978, 0.9993] state[eef_state]: left_x=0.3002 left_y=-0.1872 left_z=0.1924 left_yaw=0.0053 left_pitch=-0.0463 left_roll=0.0067 left_gripper=0.9994 right_x=0.3822 right_y=0.1713 right_z=0.0022 right_yaw=0.4605 right_pitch=-0.1163 right_roll=-0.0597 right_gripper=0.9993 state[joint_eff]: [-0.3487, -4.6701, 6.6803, 1.3797, -0.3248, -0.0464, -0.0171, -0.1573, -7.9932, 4.1094, 1.4628, -0.0855, -0.1099, -0.0122] camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_yaw": 1.0, "right_y": 0.158, "right_x": 0.375, "right_z": 0.0}, "note": "After the partial yaw the pen still looks tilted ~35\u00b0 in the wrist view; rotating further to 1.0 rad and nudging right so the pen lies vertical on the jaw column before closing."})
tool
executing move_to over 4 steps (0.4s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteThe pen is now nearly vertical in the right wrist view and centred on the jaw column at table level; finishing the yaw alignment and closing the gripper on the pen shaft.
move_to
right_yaw1.1000right_gripper0.0200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8955, 1.2934, 0.9794, -0.5426, -0.6991, -0.6285, 0.9994, 0.3321, 1.8313, 0.5961, 0.5545, -0.1955, -0.2428, 0.9993] state[eef_state]: left_x=0.3002 left_y=-0.1872 left_z=0.1923 left_yaw=0.005 left_pitch=-0.0468 left_roll=0.0068 left_gripper=0.9994 right_x=0.3796 right_y=0.171 right_z=0.0025 right_yaw=0.6154 right_pitch=-0.1092 right_roll=-0.0628 right_gripper=0.9993 state[joint_eff]: [-0.1026, -4.8615, 6.7214, 1.3162, -0.2759, -0.0317, -0.0122, -0.4991, -7.7333, 4.8342, 1.5165, -0.0073, 0.0806, -0.0122] camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_yaw": 1.1, "right_gripper": 0.02}, "note": "The pen is now nearly vertical in the right wrist view and centred on the jaw column at table level; finishing the yaw alignment and closing the gripper on the pen shaft."})
tool
executing move_to over 10 steps (1.0s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteGripper closed to 0.027 (suspiciously thin) but the wrist view shows something between the jaws; lifting 12 cm to check in the top view whether the pen came with it.
move_to
right_z0.1200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.897, 1.2972, 0.9794, -0.5426, -0.6994, -0.6285, 0.9994, 0.1509, 1.9053, 0.8062, 0.3695, -0.4091, -0.458, 0.0272] state[eef_state]: left_x=0.3001 left_y=-0.1879 left_z=0.1912 left_yaw=0.0039 left_pitch=-0.049 left_roll=0.01 left_gripper=0.9994 right_x=0.4285 right_y=0.1398 right_z=0.0158 right_yaw=0.7271 right_pitch=-0.1028 right_roll=-0.0865 right_gripper=0.0272 state[joint_eff]: [-0.0205, -4.8889, 6.7487, 1.3016, -0.2955, -0.0122, -0.0171, 2.9744, -6.9402, 3.5487, 1.0379, -0.6569, -0.1245, 0.5153] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.12}, "note": "Gripper closed to 0.027 (suspiciously thin) but the wrist view shows something between the jaws; lifting 12 cm to check in the top view whether the pen came with it."})
tool
executing move_to over 7 steps (0.7s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteThe arm only rose to z=0.03; commanding a clear lift to 18 cm to see whether the pen is really held.
move_to
right_z0.1800right_x0.3800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8974, 1.2976, 0.9794, -0.5426, -0.6991, -0.6285, 0.9994, 0.1509, 1.8301, 0.8303, 0.2237, -0.4191, -0.4782, 0.0291] state[eef_state]: left_x=0.3 left_y=-0.1881 left_z=0.191 left_yaw=0.0033 left_pitch=-0.0494 left_roll=0.0101 left_gripper=0.9994 right_x=0.4195 right_y=0.1401 right_z=0.0315 right_yaw=0.7489 right_pitch=-0.1385 right_roll=-0.0707 right_gripper=0.0291 state[joint_eff]: [-0.0615, -4.9573, 6.735, 1.3504, -0.3053, -0.0269, -0.0171, -0.3487, -9.853, 6.6393, 1.6874, -0.1441, 0.1245, 0.188] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.18, "right_x": 0.38}, "note": "The arm only rose to z=0.03; commanding a clear lift to 18 cm to see whether the pen is really held."})
tool
executing move_to over 10 steps (1.0s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteAmbiguous whether the pen is actually held; moving the right arm 5 cm sideways so the top view shows whether the dark pen-shaped line travels with the gripper.
move_to
right_y0.2000right_z0.2000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8974, 1.298, 0.9791, -0.5423, -0.6991, -0.6285, 0.9994, 0.1707, 1.4021, 1.0607, -0.231, -0.4118, -0.4782, 0.0298] state[eef_state]: left_x=0.3 left_y=-0.1881 left_z=0.1908 left_yaw=0.0033 left_pitch=-0.0497 left_roll=0.0104 left_gripper=0.9994 right_x=0.403 right_y=0.1449 right_z=0.2213 right_yaw=0.7565 right_pitch=0.0282 right_roll=-0.1882 right_gripper=0.0298 state[joint_eff]: [-0.1573, -4.9436, 6.7077, 1.4188, -0.2857, -0.0024, -0.0171, 0.1026, -3.8222, 6.2017, 1.0232, -0.0855, 0.1245, 0.0611] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.2, "right_z": 0.2}, "note": "Ambiguous whether the pen is actually held; moving the right arm 5 cm sideways so the top view shows whether the dark pen-shaped line travels with the gripper."})
tool
executing move_to over 5 steps (0.5s)
step 127
top_cam
camera top_cam step 127
left_cam
camera left_cam step 127
right_cam
camera right_cam step 127
assistant
agent noteThe vertical dark line was just a seam in the table, but the pen is gone from its original spot and a thin object hangs from the right jaws, so the pen is held. Now moving the left arm forward over the cap (the small dark blob ahead of it) to set up that grasp.
move_to
left_x0.3800left_y-0.2200left_z0.1000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8974, 1.298, 0.9791, -0.5426, -0.6991, -0.6285, 0.9994, 0.3408, 1.4574, 1.0306, -0.1684, -0.2989, -0.4149, 0.0304] state[eef_state]: left_x=0.3 left_y=-0.188 left_z=0.1907 left_yaw=0.0033 left_pitch=-0.0499 left_roll=0.0107 left_gripper=0.9994 right_x=0.3923 right_y=0.1981 right_z=0.1937 right_yaw=0.7997 right_pitch=-0.017 right_roll=-0.1768 right_gripper=0.0304 state[joint_eff]: [-0.3214, -4.8752, 6.8991, 1.3455, -0.3248, -0.0611, -0.0122, 0.2667, -5.7368, 6.694, 2.0488, 0.0806, 0.1587, 0.0562] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.22, "left_z": 0.1}, "note": "The vertical dark line was just a seam in the table, but the pen is gone from its original spot and a thin object hangs from the right jaws, so the pen is held. Now moving the left arm forward over the cap (the small dark blob ahead of it) to set up that grasp."})
tool
executing move_to over 7 steps (0.7s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteLeft wrist view puts the cap about 3 cm to the arm's left and still well ahead of the fingertips; moving forward 5 cm, left 3 cm and down to table level to straddle it.
move_to
left_x0.4200left_y-0.1730left_z0.0200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7715, 1.6817, 0.9287, -0.136, -0.6205, -0.5404, 0.9994, 0.355, 1.4677, 1.0222, -0.1196, -0.2653, -0.3958, 0.0312] state[eef_state]: left_x=0.3636 left_y=-0.2053 left_z=0.0847 left_yaw=0.0295 left_pitch=-0.1154 left_roll=0.0617 left_gripper=0.9994 right_x=0.3981 right_y=0.2008 right_z=0.1945 right_yaw=0.7756 right_pitch=0.0042 right_roll=-0.1901 right_gripper=0.0312 state[joint_eff]: [0.3761, -8.7179, 8.6085, 1.6288, -0.2808, 0.1636, -0.0122, -0.5538, -6.5573, 7.241, 1.8681, -0.0659, 0.1245, 0.0659] 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": 0.42, "left_y": -0.173, "left_z": 0.02}, "note": "Left wrist view puts the cap about 3 cm to the arm's left and still well ahead of the fingertips; moving forward 5 cm, left 3 cm and down to table level to straddle it."})
tool
executing move_to over 5 steps (0.5s)
step 139
top_cam
camera top_cam step 139
left_cam
camera left_cam step 139
right_cam
camera right_cam step 139
assistant
agent noteThe cap is now centred on the jaw column at table level but still short of the fingertips; advancing 4 cm radially at constant height so the open jaws straddle it.
move_to
left_x0.4500left_z0.0100
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5961, 1.9034, 0.8936, 0.1287, -0.5278, -0.4236, 0.9994, 0.355, 1.4677, 1.0214, -0.1234, -0.2653, -0.3969, 0.0313] state[eef_state]: left_x=0.4071 left_y=-0.1643 left_z=0.0144 left_yaw=0.0747 left_pitch=-0.1628 left_roll=0.0921 left_gripper=0.9994 right_x=0.3975 right_y=0.2006 right_z=0.1934 right_yaw=0.7762 right_pitch=-0.0001 right_roll=-0.1892 right_gripper=0.0313 state[joint_eff]: [0.2803, -8.9231, 5.4222, 1.6874, -0.1636, 0.149, -0.0122, -0.3487, -6.7077, 7.0085, 1.7314, -0.1343, -0.0415, 0.0024] approver: 1 step(s) modified (delta_clamped). 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": 0.45, "left_z": 0.01}, "note": "The cap is now centred on the jaw column at table level but still short of the fingertips; advancing 4 cm radially at constant height so the open jaws straddle it."})
tool
executing move_to over 4 steps (0.4s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent noteThe cap now sits between the open jaws at the bottom of the left wrist view; closing the left gripper on it.
move_to
left_gripper0.0200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.54, 2.0064, 1.008, 0.1417, -0.5095, -0.3973, 0.9994, 0.355, 1.4677, 1.0206, -0.1238, -0.2657, -0.4, 0.0314] state[eef_state]: left_x=0.442 left_y=-0.1603 left_z=0.0086 left_yaw=0.1005 left_pitch=-0.1534 left_roll=0.0857 left_gripper=0.9994 right_x=0.3973 right_y=0.2006 right_z=0.193 right_yaw=0.7781 right_pitch=-0.0014 right_roll=-0.1911 right_gripper=0.0314 state[joint_eff]: [0.4444, -9.1419, 7.4188, 1.1893, -0.105, 0.3053, -0.0171, -0.0479, -6.735, 7.0085, 1.6825, -0.1587, -0.022, -0.0073] camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.02}, "note": "The cap now sits between the open jaws at the bottom of the left wrist view; closing the left gripper on it."})
tool
executing move_to over 10 steps (1.0s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteLeft gripper closed to 0.026; lifting it 15 cm and pulling back to see in the top view whether the cap came up with the jaws.
move_to
left_z0.1500left_x0.4000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5266, 2.0155, 1.0222, 0.1184, -0.4892, -0.379, 0.0255, 0.355, 1.4677, 1.0206, -0.1234, -0.2653, -0.4, 0.0319] state[eef_state]: left_x=0.4434 left_y=-0.1576 left_z=0.0045 left_yaw=0.0905 left_pitch=-0.1782 left_roll=0.0978 left_gripper=0.0255 right_x=0.3974 right_y=0.2005 right_z=0.193 right_yaw=0.7777 right_pitch=-0.0011 right_roll=-0.1915 right_gripper=0.0319 state[joint_eff]: [-0.4034, -9.4291, 7.3641, 1.4188, -0.149, 0.1245, 0.315, -0.0889, -6.735, 7.1316, 1.707, -0.1441, -0.0366, 0.0415] camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.15, "left_x": 0.4}, "note": "Left gripper closed to 0.026; lifting it 15 cm and pulling back to see in the top view whether the cap came up with the jaws."})
tool
executing move_to over 10 steps (1.0s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteNeither object is visible anywhere; pulling both arms back and out to their own sides so the top camera can show the bare table and tell me whether the pen and cap are held or still lying there.
move_to
left_x0.2500left_y-0.0500left_z0.2000right_x0.2500right_y0.0500right_z0.2000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.588, 1.6661, 1.1343, -0.3977, -0.5175, -0.4408, 0.0252, 0.355, 1.4677, 1.0203, -0.1234, -0.2657, -0.4, 0.032] state[eef_state]: left_x=0.4003 left_y=-0.1576 left_z=0.1233 left_yaw=0.0902 left_pitch=-0.2048 left_roll=0.1037 left_gripper=0.0252 right_x=0.3973 right_y=0.2005 right_z=0.1929 right_yaw=0.7781 right_pitch=-0.0014 right_roll=-0.1911 right_gripper=0.032 state[joint_eff]: [-0.4444, -9.9077, 9.7983, 1.3651, -0.4274, 0.0269, -0.0415, -0.1299, -6.5162, 7.0085, 1.6972, -0.1343, -0.0562, 0.0024] camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.25, "left_y": -0.05, "left_z": 0.2, "right_x": 0.25, "right_y": 0.05, "right_z": 0.2}, "note": "Neither object is visible anywhere; pulling both arms back and out to their own sides so the top camera can show the bare table and tell me whether the pen and cap are held or still lying there."})
tool
executing move_to over 13 steps (1.3s)
step 176
top_cam
camera top_cam step 176
left_cam
camera left_cam step 176
right_cam
camera right_cam step 176
assistant
agent noteThe table is now clear except the pen, lying diagonally in the far middle — so the left gripper does hold the cap and the earlier pen grasp was empty. Bringing the right arm back over the pen with the wrist pre-rotated so its jaws close across the shaft.
move_to
right_x0.4000right_y0.2150right_z0.1000right_yaw0.9000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5503, 0.9276, 0.8963, -0.8436, -0.4919, -0.4194, 0.0252, -0.3092, 0.8494, 0.7311, -0.6567, -0.7197, -0.8265, 0.0328] state[eef_state]: left_x=0.2613 left_y=-0.0582 left_z=0.2024 left_yaw=0.0909 left_pitch=-0.175 left_roll=0.0693 left_gripper=0.0252 right_x=0.2662 right_y=0.041 right_z=0.1991 right_yaw=0.6986 right_pitch=-0.0089 right_roll=-0.2077 right_gripper=0.0328 state[joint_eff]: [0.212, -1.6752, 6.694, 1.4969, -0.2125, 0.1392, -0.0122, 0.0342, -1.7573, 7.6923, 1.5214, -0.5641, -0.2125, 0.0757] camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.215, "right_z": 0.1, "right_yaw": 0.9, "right_gripper": 1}, "note": "The table is now clear except the pen, lying diagonally in the far middle \u2014 so the left gripper does hold the cap and the earlier pen grasp was empty. Bringing the right arm back over the pen with the wrist pre-rotated so its jaws close across the shaft."})
tool
executing move_to over 15 steps (1.5s)
step 191
top_cam
camera top_cam step 191
left_cam
camera left_cam step 191
right_cam
camera right_cam step 191
assistant
agent noteThe pen's bright tip shows at the right edge of the right wrist view with the shaft running down-right behind the finger; shifting ~4.5 cm to the arm's right and slightly back, down to table level, to straddle the shaft.
move_to
right_x0.3700right_y0.1600right_z0.0050
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5499, 0.9314, 0.8963, -0.8715, -0.4892, -0.4202, 0.0252, 0.3378, 1.6474, 0.7944, 0.1761, -0.3794, -0.5106, 0.9965] state[eef_state]: left_x=0.2574 left_y=-0.0562 left_z=0.1974 left_yaw=0.0933 left_pitch=-0.2016 left_roll=0.0864 left_gripper=0.0252 right_x=0.3821 right_y=0.2073 right_z=0.0836 right_yaw=0.9151 right_pitch=-0.0724 right_roll=-0.1738 right_gripper=0.9965 state[joint_eff]: [-0.1846, -1.7983, 6.8308, 1.6142, -0.2759, 0.0171, -0.0122, 0.3761, -7.2274, 8.0615, 1.9463, -0.0708, 0.2076, -0.0122] camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.16, "right_z": 0.005}, "note": "The pen's bright tip shows at the right edge of the right wrist view with the shaft running down-right behind the finger; shifting ~4.5 cm to the arm's right and slightly back, down to table level, to straddle the shaft."})
tool
executing move_to over 6 steps (0.6s)
step 197
top_cam
camera top_cam step 197
left_cam
camera left_cam step 197
right_cam
camera right_cam step 197
assistant
agent noteThe pen is now fully visible in the right wrist view but still ~3 cm to the arm's right of the jaw centre; sliding right that much at table level to put the shaft between the jaws.
move_to
right_y0.1250right_z0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5499, 0.9329, 0.8963, -0.8764, -0.4892, -0.4206, 0.0252, 0.2016, 1.8099, 0.601, 0.4484, -0.4728, -0.5827, 0.9977] state[eef_state]: left_x=0.2567 left_y=-0.0558 left_z=0.1964 left_yaw=0.0943 left_pitch=-0.2068 left_roll=0.09 left_gripper=0.0252 right_x=0.3655 right_y=0.1605 right_z=0.004 right_yaw=0.8963 right_pitch=-0.1084 right_roll=-0.132 right_gripper=0.9977 state[joint_eff]: [0.0342, -1.812, 6.5026, 1.3651, -0.2808, -0.0562, -0.0122, -0.3077, -6.147, 4.1504, 1.2283, 0.3346, -0.2759, 0.1099] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.125, "right_z": 0.0}, "note": "The pen is now fully visible in the right wrist view but still ~3 cm to the arm's right of the jaw centre; sliding right that much at table level to put the shaft between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 200
top_cam
camera top_cam step 200
assistant
agent noteThe wrist yaw is confusing my image-to-world mapping, so I return the right wrist to yaw 0 (image-right = arm's right) and lift slightly, to re-locate the pen with unrotated axes.
move_to
right_yaw0.0000right_z0.0300
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5499, 0.9333, 0.8963, -0.8772, -0.4892, -0.4206, 0.0252, 0.0948, 1.8191, 0.5941, 0.4564, -0.5507, -0.6456, 0.9979] state[eef_state]: left_x=0.2566 left_y=-0.0557 left_z=0.1962 left_yaw=0.0945 left_pitch=-0.2077 left_roll=0.0908 left_gripper=0.0252 right_x=0.3723 right_y=0.1318 right_z=0.0046 right_yaw=0.8832 right_pitch=-0.0819 right_roll=-0.137 right_gripper=0.9979 state[joint_eff]: [-0.2256, -1.4427, 6.4889, 1.326, -0.2564, -0.0366, -0.0122, -0.1299, -8.1983, 3.9726, 1.2576, 0.0366, -0.3101, 0.0073] 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
move_to({"targets": {"right_yaw": 0.0, "right_z": 0.03}, "note": "The wrist yaw is confusing my image-to-world mapping, so I return the right wrist to yaw 0 (image-right = arm's right) and lift slightly, to re-locate the pen with unrotated axes."})
tool
executing move_to over 6 steps (0.6s)
step 206
assistant
agent noteWith the wrist nearly unrotated the pen lies clearly to the right of the jaw column in the right wrist view; moving the arm 4.5 cm to its right to bring the shaft onto the jaw column.
move_to
right_y0.1100
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5499, 0.9379, 0.8955, -0.8803, -0.4892, -0.4206, 0.0252, 0.5163, 1.718, 0.5579, 0.4374, 0.2661, 0.038, 0.9979] state[eef_state]: left_x=0.2564 left_y=-0.0556 left_z=0.1944 left_yaw=0.0956 left_pitch=-0.2144 left_roll=0.0959 left_gripper=0.0252 right_x=0.3621 right_y=0.1563 right_z=0.0136 right_yaw=0.2565 right_pitch=-0.1407 right_roll=-0.1419 right_gripper=0.9979 state[joint_eff]: [-0.0615, -2.1128, 6.5573, 1.3846, -0.2613, -0.0269, -0.0122, 0.253, -7.6513, 6.6667, 1.6337, 0.4469, 0.1929, -0.0122] camera 'top_cam' (step 206): [image omitted: streamed camera frame] camera 'left_cam' (step 206): [image omitted: streamed camera frame] camera 'right_cam' (step 206): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.11}, "note": "With the wrist nearly unrotated the pen lies clearly to the right of the jaw column in the right wrist view; moving the arm 4.5 cm to its right to bring the shaft onto the jaw column."})
tool
executing move_to over 4 steps (0.4s)
step 210
assistant
agent noteThe pen is now vertical and on the jaw column in the right wrist view, but entirely beyond the fingertips; advancing 10 cm at table level (with a small yaw tweak to square the jaws) to straddle the shaft.
move_to
right_x0.4600right_z0.0050right_yaw0.3500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5503, 0.9382, 0.8955, -0.8803, -0.4889, -0.4206, 0.0252, 0.3641, 1.676, 0.482, 0.4561, 0.2058, -0.0101, 0.998] state[eef_state]: left_x=0.2564 left_y=-0.0558 left_z=0.1943 left_yaw=0.0949 left_pitch=-0.2149 left_roll=0.0959 left_gripper=0.0252 right_x=0.3606 right_y=0.1026 right_z=0.0055 right_yaw=0.1803 right_pitch=-0.1678 right_roll=-0.1425 right_gripper=0.998 state[joint_eff]: [-0.3214, -1.265, 6.5026, 1.326, -0.2955, -0.0317, -0.0122, -0.3077, -7.4735, 4.6974, 1.7314, 0.0904, -0.0952, -0.0122] camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_z": 0.005, "right_yaw": 0.35}, "note": "The pen is now vertical and on the jaw column in the right wrist view, but entirely beyond the fingertips; advancing 10 cm at table level (with a small yaw tweak to square the jaws) to straddle the shaft."})
tool
executing move_to over 8 steps (0.8s)
step 218
assistant
agent noteThe arm only crept 1 cm forward last time, so I re-issue the forward target to keep it advancing toward the pen shaft.
move_to
right_x0.4600right_z0.0050
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5499, 0.9421, 0.8955, -0.8803, -0.4892, -0.4206, 0.0252, 0.3405, 1.7012, 0.5098, 0.4614, 0.1532, -0.057, 0.998] state[eef_state]: left_x=0.2567 left_y=-0.0558 left_z=0.1935 left_yaw=0.0961 left_pitch=-0.2177 left_roll=0.0985 left_gripper=0.0252 right_x=0.369 right_y=0.1059 right_z=0.0054 right_yaw=0.2268 right_pitch=-0.1683 right_roll=-0.1416 right_gripper=0.998 state[joint_eff]: [-0.1846, -2.0581, 6.4889, 1.3016, -0.2759, -0.0317, -0.0122, -0.7179, -5.7231, 5.8735, 1.5116, 0.1783, 0.0952, -0.0122] camera 'top_cam' (step 218): [image omitted: streamed camera frame] camera 'left_cam' (step 218): [image omitted: streamed camera frame] camera 'right_cam' (step 218): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_z": 0.005}, "note": "The arm only crept 1 cm forward last time, so I re-issue the forward target to keep it advancing toward the pen shaft."})
tool
executing move_to over 7 steps (0.7s)
step 225
assistant
agent noteThe pen shaft now runs right through the bottom of the right wrist view but ~2.5 cm to the arm's left of the jaw column; sliding left that much to line the shaft up between the jaws.
move_to
right_y0.1320
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5503, 0.9436, 0.8955, -0.8837, -0.4892, -0.4202, 0.0252, 0.255, 1.9369, 0.8463, 0.4019, 0.0956, -0.1047, 0.998] state[eef_state]: left_x=0.2562 left_y=-0.0556 left_z=0.1926 left_yaw=0.0962 left_pitch=-0.2217 left_roll=0.1018 left_gripper=0.0252 right_x=0.459 right_y=0.1059 right_z=0.0128 right_yaw=0.2166 right_pitch=-0.1332 right_roll=-0.1373 right_gripper=0.998 state[joint_eff]: [-0.1846, -1.7436, 6.5026, 1.3358, -0.2466, -0.0171, -0.0122, -0.1162, -7.7197, 6.188, 1.5849, -0.0317, -0.0366, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.132}, "note": "The pen shaft now runs right through the bottom of the right wrist view but ~2.5 cm to the arm's left of the jaw column; sliding left that much to line the shaft up between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 228
assistant
agent noteThe pen shaft now passes exactly through the jaw column at the bottom of the wrist view; closing the right gripper on it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5499, 0.9443, 0.8955, -0.8841, -0.4892, -0.4206, 0.0252, 0.3115, 1.9499, 0.8642, 0.3786, 0.1234, -0.0826, 0.998] state[eef_state]: left_x=0.2562 left_y=-0.0555 left_z=0.1924 left_yaw=0.0969 left_pitch=-0.2226 left_roll=0.1023 left_gripper=0.0252 right_x=0.4546 right_y=0.1273 right_z=0.0092 right_yaw=0.2373 right_pitch=-0.149 right_roll=-0.1392 right_gripper=0.998 state[joint_eff]: [-0.0205, -1.853, 6.5162, 1.3358, -0.2808, -0.0464, -0.0122, 0.2803, -8.4444, 7.0632, 1.6532, 0.2271, 0.1245, -0.0171] camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The pen shaft now passes exactly through the jaw column at the bottom of the wrist view; closing the right gripper on it."})
tool
executing move_to over 10 steps (1.0s)
step 238
assistant
agent noteRight gripper closed to 0.014; lifting and retracting to see in the top view whether the pen came with the jaws.
move_to
right_z0.1500right_x0.4200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5503, 0.9443, 0.8955, -0.8845, -0.4892, -0.4206, 0.0252, 0.3336, 1.9499, 0.8715, 0.3801, 0.1375, -0.0643, 0.0137] state[eef_state]: left_x=0.2562 left_y=-0.0556 left_z=0.1924 left_yaw=0.0966 left_pitch=-0.2229 left_roll=0.1025 left_gripper=0.0252 right_x=0.4548 right_y=0.1358 right_z=0.0123 right_yaw=0.2377 right_pitch=-0.1383 right_roll=-0.1335 right_gripper=0.0137 state[joint_eff]: [-0.1709, -1.6205, 6.5299, 1.3114, -0.2759, -0.0415, -0.0122, -0.5812, -8.5538, 6.4479, 1.6484, 0.2418, 0.0611, 1.2625] camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.15, "right_x": 0.42}, "note": "Right gripper closed to 0.014; lifting and retracting to see in the top view whether the pen came with the jaws."})
tool
executing move_to over 9 steps (0.9s)
step 247
assistant
agent noteThe right wrist view shows the pen held and projecting forward from the jaws, and the table is now empty, so each arm holds one object. Rotating the pen 90° (on the way to 180°) and moving it toward the centre line so its tip will eventually face back toward the left arm's cap.
move_to
right_x0.4200right_y0.2700right_z0.1600right_yaw-1.5000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5499, 0.9489, 0.8944, -0.8906, -0.4892, -0.4206, 0.0252, 0.3672, 1.5787, 0.9833, -0.1261, 0.1421, -0.0597, 0.0141] state[eef_state]: left_x=0.2554 left_y=-0.055 left_z=0.1901 left_yaw=0.0986 left_pitch=-0.2323 left_roll=0.1098 left_gripper=0.0252 right_x=0.4208 right_y=0.1389 right_z=0.1266 right_yaw=0.2646 right_pitch=-0.1609 right_roll=-0.1353 right_gripper=0.0141 state[joint_eff]: [-0.0615, -2.1949, 6.5709, 1.3797, -0.2564, -0.0366, -0.0122, 0.2803, -9.1419, 9.1282, 1.6093, 0.2857, 0.1929, 1.0281] camera 'top_cam' (step 247): [image omitted: streamed camera frame] camera 'left_cam' (step 247): [image omitted: streamed camera frame] camera 'right_cam' (step 247): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.27, "right_z": 0.16, "right_yaw": -1.5}, "note": "The right wrist view shows the pen held and projecting forward from the jaws, and the table is now empty, so each arm holds one object. Rotating the pen 90\u00b0 (on the way to 180\u00b0) and moving it toward the centre line so its tip will eventually face back toward the left arm's cap."})
tool
executing move_to over 12 steps (1.2s)
step 259
assistant
agent noteThe pen no longer appears in the right wrist view, so I retract the right arm to its own side and up, clearing the top camera's view of the table to find where the pen is.
move_to
right_x0.2500right_y0.0500right_z0.2500right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5503, 0.9546, 0.8944, -0.9016, -0.4892, -0.4206, 0.0252, 0.6067, 2.4268, 1.9511, -1.5261, 0.7162, 1.9312, 0.0151] state[eef_state]: left_x=0.254 left_y=-0.0542 left_z=0.1873 left_yaw=0.1007 left_pitch=-0.2457 left_roll=0.1203 left_gripper=0.0252 right_x=0.3758 right_y=0.124 right_z=0.0418 right_yaw=-1.2894 right_pitch=-0.2081 right_roll=-0.1811 right_gripper=0.0151 state[joint_eff]: [-0.1709, -1.9077, 6.6393, 1.3993, -0.2564, -0.0464, -0.0122, -1.2376, -12.8615, 5.8598, -0.569, 0.525, 0.2125, 0.9499] camera 'top_cam' (step 259): [image omitted: streamed camera frame] camera 'left_cam' (step 259): [image omitted: streamed camera frame] camera 'right_cam' (step 259): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.25, "right_y": 0.05, "right_z": 0.25, "right_yaw": 0.0}, "note": "The pen no longer appears in the right wrist view, so I retract the right arm to its own side and up, clearing the top camera's view of the table to find where the pen is."})
tool
executing move_to over 14 steps (1.4s)
step 273
assistant
agent noteThe right arm is only creeping back; re-issuing the retract-and-raise command so the top camera can see the centre of the table and locate the pen.
move_to
right_x0.2200right_y0.0000right_z0.3000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5503, 0.9573, 0.8944, -0.9024, -0.4892, -0.4206, 0.0252, 0.5247, 2.1506, 1.6531, -1.3201, 0.5098, 1.6897, 0.0185] state[eef_state]: left_x=0.2541 left_y=-0.0543 left_z=0.1866 left_yaw=0.1013 left_pitch=-0.2484 left_roll=0.1224 left_gripper=0.0252 right_x=0.3474 right_y=0.1056 right_z=0.0515 right_yaw=-1.2621 right_pitch=-0.4695 right_roll=-0.2097 right_gripper=0.0185 state[joint_eff]: [-0.2256, -1.7299, 6.6256, 1.3651, -0.2466, -0.0708, -0.0122, 0.294, -14.8581, 8.2667, 0.5592, 0.315, -0.1099, 0.6374] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 273): [image omitted: streamed camera frame] camera 'left_cam' (step 273): [image omitted: streamed camera frame] camera 'right_cam' (step 273): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.22, "right_y": 0.0, "right_z": 0.3, "right_yaw": 0.0}, "note": "The right arm is only creeping back; re-issuing the retract-and-raise command so the top camera can see the centre of the table and locate the pen."})
tool
executing move_to over 17 steps (1.7s)
step 290
assistant
agent noteI grasped the cap with the left arm and (briefly) the pen with the right, but the pen was dropped during the wrist rotation needed to face the two objects at each other, and it landed at left_y ≈ -0.49, outside the left arm's y bound. Re-grasping the pen and performing the axial mating needs more calls than I have left, so I am stopping rather than flailing.
give_up
hindsightKey things I wish I'd known on this rig: - The arms track Cartesian targets very sluggishly: a commanded 5–10 cm step often yields 1–4 cm, and the approver clamps several steps. Expect to re-issue the same target 2–3 times, or overshoot the target deliberately. Yaw changes are especially slow and, worse, a large yaw rotation while holding a thin object shook the pen loose. - Gripper readings lie for thin objects: a successful grasp of a ~7 mm pen and of the cap both settled at 0.014–0.03, i.e. in the documented "empty" band. Do not trust the <0.04 = empty rule for pens; verify by retracting BOTH arms and looking at the bare table in top_cam (the object disappearing from the table is the only reliable evidence). - A held pen protrudes forward along the tool axis and IS visible in its own wrist camera as a thin spike; it looks almost identical to the closed fingertips. Distinguish by the top view, not the wrist view. - Wrist-camera geometry: with yaw ≈ 0, image-right = arm's right (−y) and ~12 px/cm laterally at table level; objects need to be advanced ~6–10 cm in x beyond where they look centred before they are actually between the fingertips. Never reason about lateral offsets while the wrist is yawed — the image rotates and the sign of the y-correction appeared to flip. - Top-camera scale measured from the two grippers: image_x ≈ 30 + (−0.055 − left_y)·275, i.e. ≈ 2.75 px/cm laterally; image-y is heavily compressed and nearly useless for depth. - The left arm's y bound (−0.4) really does exclude the far right third of the table; objects that drift past left_y ≈ −0.45 are right-arm-only, which kills any two-arm mating plan there. Do the mating near the centre line (left_y ≈ −0.35 / right_y ≈ +0.30) before rotating anything. - For this task specifically: grasp the pen so the tip points away from the base, then rotate the CAP arm 180°, not the pen arm, and do the rotation in small yaw increments while the object is low, to avoid dropping it.
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5518, 0.9623, 0.8936, -0.9031, -0.4892, -0.4206, 0.0252, 0.1429, 1.1126, 1.5188, -1.4498, 0.2398, 0.0658, 0.021] state[eef_state]: left_x=0.2541 left_y=-0.0547 left_z=0.1851 left_yaw=0.1007 left_pitch=-0.2536 left_roll=0.1265 left_gripper=0.0252 right_x=0.2293 right_y=-0.0058 right_z=0.292 right_yaw=-0.1357 right_pitch=-0.4533 right_roll=-0.1911 right_gripper=0.021 state[joint_eff]: [-0.0479, -1.9487, 6.7214, 1.2772, -0.2759, -0.0659, -0.0122, -0.253, -2.441, 6.5709, 1.0476, 0.0855, -0.022, 0.5543] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 290): [image omitted: streamed camera frame] camera 'left_cam' (step 290): [image omitted: streamed camera frame] camera 'right_cam' (step 290): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I grasped the cap with the left arm and (briefly) the pen with the right, but the pen was dropped during the wrist rotation needed to face the two objects at each other, and it landed at left_y \u2248 -0.49, outside the left arm's y bound. Re-grasping the pen and performing the axial mating needs more calls than I have left, so I am stopping rather than flailing.", "hindsight": "Key things I wish I'd known on this rig:\n- The arms track Cartesian targets very sluggishly: a commanded 5\u201310 cm step often yields 1\u20134 cm, and the approver clamps several steps. Expect to re-issue the same target 2\u20133 times, or overshoot the target deliberately. Yaw changes are especially slow and, worse, a large yaw rotation while holding a thin object shook the pen loose.\n- Gripper readings lie for thin objects: a successful grasp of a ~7 mm pen and of the cap both settled at 0.014\u20130.03, i.e. in the documented \"empty\" band. Do not trust the <0.04 = empty rule for pens; verify by retracting BOTH arms and looking at the bare table in top_cam (the object disappearing from the table is the only reliable evidence).\n- A held pen protrudes forward along the tool axis and IS visible in its own wrist camera as a thin spike; it looks almost identical to the closed fingertips. Distinguish by the top view, not the wrist view.\n- Wrist-camera geometry: with yaw \u2248 0, image-right = arm's right (\u2212y) and ~12 px/cm laterally at table level; objects need to be advanced ~6\u201310 cm in x beyond where they look centred before they are actually between the fingertips. Never reason about lateral offsets while the wrist is yawed \u2014 the image rotates and the sign of the y-correction appeared to flip.\n- Top-camera scale measured from the two grippers: image_x \u2248 30 + (\u22120.055 \u2212 left_y)\u00b7275, i.e. \u2248 2.75 px/cm laterally; image-y is heavily compressed and nearly useless for depth.\n- The left arm's y bound (\u22120.4) really does exclude the far right third of the table; objects that drift past left_y \u2248 \u22120.45 are right-arm-only, which kills any two-arm mating plan there. Do the mating near the centre line (left_y \u2248 \u22120.35 / right_y \u2248 +0.30) before rotating anything.\n- For this task specifically: grasp the pen so the tip points away from the base, then rotate the CAP arm 180\u00b0, not the pen arm, and do the rotation in small yaw increments while the object is low, to avoid dropping it."})
tool
give_up: I grasped the cap with the left arm and (briefly) the pen with the right, but the pen was dropped during the wrist rotation needed to face the two objects at each other, and it landed at left_y ≈ -0.49, outside the left arm's y bound. Re-grasping the pen and performing the axial mating needs more calls than I have left, so I am stopping rather than flailing.
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 · 22.33 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Pick up the pen and the pen cap, then put the cap on the pen.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7929, 0.6022, -0.3794, -0.02, -0.0113, 0.9998, -0.0185, 0.791, 0.6094, -0.3756, -0.0223, -0.0223, 0.9994]\nstate[eef_state]: left_x=0.2946 left_y=0.0012 left_z=0.1796 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2958 right_y=0.0021 right_z=0.1842 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.4838, 10.5504, 1.7656, -0.0562, -0.0317, -0.0366, -0.759, -1.2239, 9.7846, 1.7363, -0.0415, 0.0464, -0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:695c14a86ec23f3ca3462b2c99f85a5d18c1b864f2f01727f32723cafb7ff90a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c51943c787ceb208cb8014a1c3d1bdf953c0375934048e53861e358eb5531a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:20d56c0d04a659cb3bfb2af444459a7f4898d1d66f69e2035f463b6e0ba1e7dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 11.7 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7929, 0.6022, -0.3794, -0.02, -0.0113, 0.9998, -0.0185, 0.791, 0.6094, -0.3756, -0.0223, -0.0223, 0.9994]\nstate[eef_state]: left_x=0.2946 left_y=0.0012 left_z=0.1796 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2958 right_y=0.0021 right_z=0.1842 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.4838, 10.5504, 1.7656, -0.0562, -0.0317, -0.0366, -0.759, -1.2239, 9.7846, 1.7363, -0.0415, 0.0464, -0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:695c14a86ec23f3ca3462b2c99f85a5d18c1b864f2f01727f32723cafb7ff90a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c51943c787ceb208cb8014a1c3d1bdf953c0375934048e53861e358eb5531a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20d56c0d04a659cb3bfb2af444459a7f4898d1d66f69e2035f463b6e0ba1e7dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PMqniQCr9jDfsi6dwb97Vc",
      "input": {
        "note": "Top view shows two dark objects on the table: a short one (the cap) left of centre and a longer one (the pen) right of centre. Moving the left arm to hover ~15 cm above the cap to get a wrist-camera look.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.3,
          "left_y": -0.21,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01PMqniQCr9jDfsi6dwb97Vc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9504, 1.3731, 0.8032, -0.3214, -0.728, -0.6342, 0.9998, -0.0193, 0.7979, 0.6132, -0.3878, -0.0227, -0.0227, 0.9994]\nstate[eef_state]: left_x=0.2926 left_y=-0.2011 left_z=0.1322 left_yaw=-0.0262 left_pitch=-0.0504 left_roll=0.0432 left_gripper=0.9998 right_x=0.2951 right_y=0.0019 right_z=0.1815 right_yaw=-0.0002 right_pitch=-0.0152 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -5.4359, 9.2786, 1.4383, -0.6178, -0.1294, -0.0366, -0.2667, -1.7299, 6.7897, 1.8535, -0.0562, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82f4d36c1c3d586c8c31a5ec08dd858388cb1ab40f22edee225aedfef54eb1ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:304a83e6eea0aa314889407e485ef543aaea872795cd5068304b3dff527c7f01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:88d46601b8b57dcffb7f5729741a9b998f57d0c9ede2e3e61f799464d494a042",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 10.21 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7929, 0.6022, -0.3794, -0.02, -0.0113, 0.9998, -0.0185, 0.791, 0.6094, -0.3756, -0.0223, -0.0223, 0.9994]\nstate[eef_state]: left_x=0.2946 left_y=0.0012 left_z=0.1796 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2958 right_y=0.0021 right_z=0.1842 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.4838, 10.5504, 1.7656, -0.0562, -0.0317, -0.0366, -0.759, -1.2239, 9.7846, 1.7363, -0.0415, 0.0464, -0.0806]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9504, 1.3731, 0.8032, -0.3214, -0.728, -0.6342, 0.9998, -0.0193, 0.7979, 0.6132, -0.3878, -0.0227, -0.0227, 0.9994]\nstate[eef_state]: left_x=0.2926 left_y=-0.2011 left_z=0.1322 left_yaw=-0.0262 left_pitch=-0.0504 left_roll=0.0432 left_gripper=0.9998 right_x=0.2951 right_y=0.0019 right_z=0.1815 right_yaw=-0.0002 right_pitch=-0.0152 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -5.4359, 9.2786, 1.4383, -0.6178, -0.1294, -0.0366, -0.2667, -1.7299, 6.7897, 1.8535, -0.0562, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82f4d36c1c3d586c8c31a5ec08dd858388cb1ab40f22edee225aedfef54eb1ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:304a83e6eea0aa314889407e485ef543aaea872795cd5068304b3dff527c7f01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88d46601b8b57dcffb7f5729741a9b998f57d0c9ede2e3e61f799464d494a042",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KxuPBVgV3hYwLj6GCz1vJC",
      "input": {
        "note": "Left wrist view shows the cap ahead of and slightly left of the jaw column, so I advance 4 cm forward, 1.5 cm left and descend to 10 cm to line up the grasp.",
        "targets": {
          "left_x": 0.34,
          "left_y": -0.195,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01KxuPBVgV3hYwLj6GCz1vJC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8082, 1.5177, 0.775, -0.1429, -0.659, -0.5449, 0.9998, -0.0193, 0.7998, 0.6132, -0.3908, -0.0227, -0.0223, 0.9994]\nstate[eef_state]: left_x=0.3294 left_y=-0.1829 left_z=0.0919 left_yaw=0.0216 left_pitch=-0.0911 left_roll=0.0762 left_gripper=0.9998 right_x=0.2948 right_y=0.0019 right_z=0.1804 right_yaw=-0.0004 right_pitch=-0.0202 right_roll=0.0006 right_gripper=0.9994\nstate[joint_eff]: [0.1436, -6.9675, 6.5026, 1.5507, -0.2613, 0.2222, -0.0171, -0.0068, -1.4291, 7.2137, 1.746, -0.0269, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a2db5f195c830bbf86784b6c56d99f389e14a030b92aa30b97c5d74c3d50296",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a62ed9f98ad059acc2e185be7fe7930db3c171d39ab30630bf903fdc54aef9e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1eb126d119814aef28ef0a90af4d9178143b1ddd5f26afb0f6ea9c989abc55ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 3 attempt 0 · /messages · status 200 · 8.584 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7929, 0.6022, -0.3794, -0.02, -0.0113, 0.9998, -0.0185, 0.791, 0.6094, -0.3756, -0.0223, -0.0223, 0.9994]\nstate[eef_state]: left_x=0.2946 left_y=0.0012 left_z=0.1796 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2958 right_y=0.0021 right_z=0.1842 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.4838, 10.5504, 1.7656, -0.0562, -0.0317, -0.0366, -0.759, -1.2239, 9.7846, 1.7363, -0.0415, 0.0464, -0.0806]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9504, 1.3731, 0.8032, -0.3214, -0.728, -0.6342, 0.9998, -0.0193, 0.7979, 0.6132, -0.3878, -0.0227, -0.0227, 0.9994]\nstate[eef_state]: left_x=0.2926 left_y=-0.2011 left_z=0.1322 left_yaw=-0.0262 left_pitch=-0.0504 left_roll=0.0432 left_gripper=0.9998 right_x=0.2951 right_y=0.0019 right_z=0.1815 right_yaw=-0.0002 right_pitch=-0.0152 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -5.4359, 9.2786, 1.4383, -0.6178, -0.1294, -0.0366, -0.2667, -1.7299, 6.7897, 1.8535, -0.0562, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8082, 1.5177, 0.775, -0.1429, -0.659, -0.5449, 0.9998, -0.0193, 0.7998, 0.6132, -0.3908, -0.0227, -0.0223, 0.9994]\nstate[eef_state]: left_x=0.3294 left_y=-0.1829 left_z=0.0919 left_yaw=0.0216 left_pitch=-0.0911 left_roll=0.0762 left_gripper=0.9998 right_x=0.2948 right_y=0.0019 right_z=0.1804 right_yaw=-0.0004 right_pitch=-0.0202 right_roll=0.0006 right_gripper=0.9994\nstate[joint_eff]: [0.1436, -6.9675, 6.5026, 1.5507, -0.2613, 0.2222, -0.0171, -0.0068, -1.4291, 7.2137, 1.746, -0.0269, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a2db5f195c830bbf86784b6c56d99f389e14a030b92aa30b97c5d74c3d50296",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a62ed9f98ad059acc2e185be7fe7930db3c171d39ab30630bf903fdc54aef9e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1eb126d119814aef28ef0a90af4d9178143b1ddd5f26afb0f6ea9c989abc55ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStgsKjgEIEhgCKkCqN1uKs6xaNMUww+JxhRlw/xysGHk/NoNdv9WfSB1eIhzVcUj/dwPGdfVkpA/LSp01FgVDCSBqChKavKknUabwMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYidzNUGEgw2I4gBXvmlutgyHboaDBxDyisysbBS/5bn0yIwVsORdBd7NPHxk+SMrXlKO5PMm3VpzAKYIHNAydJm0vHk2kTjpHmeuOPuQMfb7itDKtQJOazzHm3/scnilRYEkmRMRlZKh2Tx/VDtljM3J6k7ZDVmEKu8gjRJ9ftWGEZ2rBndiU5ByVn17PaJeFpKcS/J51PuJcxhf2fGWL4thU5JZxWGPRHR9pAdeRyjB/cXRco/XHB0t2wE+CGkTDqcUeL1ofKPAZYA9vZpq5CGPC7ulHbFkftCNzTWGfKLJrbPoPzCmzSnoH/O2JHFA8kMkAmPGzNO/o7rHWdd0P6vSxaq6/LhuDp8V0ZwePifAPx/JbkC1MGnWxCTkr6BR/dXIwL3PDCGoHG7PBWs+Emw+U4GRDO2asXSpwnPHK02HvBDXgo9SoZizCPPnjlEbmHbhMBos9OBP2La0CXAyMI9PScYb3/iRdXe2CQxCvTH5tMxLCLH1gtLyF89d8KKl8fHWbOIZFaSonpXoh1KyRyu3V9YGmdxmCB0G7jz1xqUGQOpDtAHgo6Ek8bBdT4ANodoSBXTyGLY0RQf7Yt/fy7C8fzRS8wPx1+rUKsb1mTtn1Hm6XsQLmnaty4pXXtNvRf2NL1q6ovlGwykW02CbaGYdkezBXo3Fgm4t85o3Sfj+GoXw5zJZvYfzQlrVxUQFrgkbEmZ16KQWrOocSw7Bav/3iFiysSkPIjKYi5ioSDdPQDsL1DylzH222VU8QFeLGB/kYWklHyFyLERLXjQABsctNvXmmO/2ZCjCyLYxyMXQNVVL6e7w7xAe6GI3ZIkbeunFbuOrsCJK6RCvmjbp1qKsw8txJrZAnhLlFA507QJjHcU3U1uWd43I8x6NSJaYXeCErckxrL03GLPmadxS2sCWI2VC7S/eFYk+dDPiAie94/RsNabLYDnWgl0Ti0/bdwPpbRU+vX0o0tf5dRJu//Z51hlhzBfJMW8iXE8xrYiBKHbdxS8TcFc7NBgQANIVZ4rhFMJpyqBig7q2pQeARvoV66u6QuoOI/82tmtP1XN0q8JeUUdhxC7O93Do50xW0nJoe4BaJhXO5rAMwFvCax9RHZ5mF50jbUsbGtuqcs238+NVAcsMCdSYVbGv4d3YNirsQw9DKRj4UyK7NcqVD8A6i4tYMNB8cCaNbqhCk+KdN4kV21WjSerTXv8Ts6Ijh+Q9mvG3Nr1EUzvnHi+WtNHXUF0Si1CdoQSo4jegFPdo+X7wCdsC/jwQ8xBnTaK9CIJGJrQjEzR7iR8EV9saH6VAjpaX+YozqIRNZpT559f8sbIg9MpeVZzd4lr+7h6BXRhReh1SZsxpFBS2EgEYFKFWYqE7szkEb1YM8epKrtvcm6m4cQ4z53m8DPM51A05uSwb0pybX5SVZIk73SGnUgAITbexYJ3c3b6dnb7QfiVlnPO5XFAZXb6Bi3Ryvk5cz+vRJChdZiI2qEXnqcy2dc2f/m824bxa/FlqSck3iDhp4yHhYlep9Qr9H4ofVA+uAMLGdEQyQuu11I6Qy36AxpM86EbsmYoFnTWkR/OawpyWZ6ZaoYuZgJZ03JjEcdKnSkcNVcfrchcMp0n9aXUlcbtkcAMX2iKdU9xk7sYZ6VrQGw6MUGCBTbDEAbb0q37sP5qXucOeF2VqiKL7CBok8ILKiRVk7OmeyB4kdv0LfRJMKxcX0Qq05STEy1gNmSeK7Y5jHKOXtDZ4Ezg5wpWIQHfmrZPbbhz3n5CGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013LRCxFqidaUrfBJ7rMwxNZ",
      "input": {
        "note": "The cap is now on the jaw column but still high in the wrist frame, meaning it's still ahead of the fingertips; advancing another 5 cm and dropping to 4 cm height.",
        "targets": {
          "left_x": 0.38,
          "left_y": -0.185,
          "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_013LRCxFqidaUrfBJ7rMwxNZ",
      "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]: [-0.7773, 1.5841, 0.7712, -0.0696, -0.6281, -0.5148, 0.9997, -0.0193, 0.7998, 0.6132, -0.3908, -0.0223, -0.0227, 0.9994]\nstate[eef_state]: left_x=0.3397 left_y=-0.1835 left_z=0.0749 left_yaw=0.0148 left_pitch=-0.1077 left_roll=0.0812 left_gripper=0.9997 right_x=0.2948 right_y=0.0019 right_z=0.1804 right_yaw=-0.0006 right_pitch=-0.0202 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -6.9402, 6.065, 1.4628, -0.4176, -0.0659, -0.0171, -0.3624, -1.1556, 7.1316, 1.7949, -0.0464, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65be9aa087256542b6d3aa29dd7c1e1392619e39ae4966b5fe38990d64cc590b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c93d709f9637f542d324828db143f976f1d5b6a3966bb47c1d1bba71afe4024",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b8b55aa8f66677db09228a1be78bf7a56f88bda1a7256139a3dfe2d3b2c32cc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 9.404 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9504, 1.3731, 0.8032, -0.3214, -0.728, -0.6342, 0.9998, -0.0193, 0.7979, 0.6132, -0.3878, -0.0227, -0.0227, 0.9994]\nstate[eef_state]: left_x=0.2926 left_y=-0.2011 left_z=0.1322 left_yaw=-0.0262 left_pitch=-0.0504 left_roll=0.0432 left_gripper=0.9998 right_x=0.2951 right_y=0.0019 right_z=0.1815 right_yaw=-0.0002 right_pitch=-0.0152 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -5.4359, 9.2786, 1.4383, -0.6178, -0.1294, -0.0366, -0.2667, -1.7299, 6.7897, 1.8535, -0.0562, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8082, 1.5177, 0.775, -0.1429, -0.659, -0.5449, 0.9998, -0.0193, 0.7998, 0.6132, -0.3908, -0.0227, -0.0223, 0.9994]\nstate[eef_state]: left_x=0.3294 left_y=-0.1829 left_z=0.0919 left_yaw=0.0216 left_pitch=-0.0911 left_roll=0.0762 left_gripper=0.9998 right_x=0.2948 right_y=0.0019 right_z=0.1804 right_yaw=-0.0004 right_pitch=-0.0202 right_roll=0.0006 right_gripper=0.9994\nstate[joint_eff]: [0.1436, -6.9675, 6.5026, 1.5507, -0.2613, 0.2222, -0.0171, -0.0068, -1.4291, 7.2137, 1.746, -0.0269, -0.0171, -0.0122]",
      "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]: [-0.7773, 1.5841, 0.7712, -0.0696, -0.6281, -0.5148, 0.9997, -0.0193, 0.7998, 0.6132, -0.3908, -0.0223, -0.0227, 0.9994]\nstate[eef_state]: left_x=0.3397 left_y=-0.1835 left_z=0.0749 left_yaw=0.0148 left_pitch=-0.1077 left_roll=0.0812 left_gripper=0.9997 right_x=0.2948 right_y=0.0019 right_z=0.1804 right_yaw=-0.0006 right_pitch=-0.0202 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -6.9402, 6.065, 1.4628, -0.4176, -0.0659, -0.0171, -0.3624, -1.1556, 7.1316, 1.7949, -0.0464, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65be9aa087256542b6d3aa29dd7c1e1392619e39ae4966b5fe38990d64cc590b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c93d709f9637f542d324828db143f976f1d5b6a3966bb47c1d1bba71afe4024",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8b55aa8f66677db09228a1be78bf7a56f88bda1a7256139a3dfe2d3b2c32cc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISmAkKjgEIEhgCKkAUnrHeyf+MdiEQzEAjOFfaU9kswmaLWpIK31ZllW7Xmk69YeMgjrn4cw83QUVpWCBRlyBQSs7TZs19OviiAN59Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZGdzNUGEgz2tcALCLwtnXcgCZAaDPnV/aMsyOq4K45DiSIwlrKGj8RVSNmUtVvp+edHZlu3OvGyGFCaExqaWuvt7oxtlbMGcjkzoxoDlspzkSucKrYH2nQkz9CO5i5h8B2FA0i0nSB+U4z95VUZTdXelO+BWUPW5KoImbO6FvjXJZbwxicZNu7DHpS7YkYarHH1tNNKJUZ6FH/ofeDFYarWCiLcDBdVQUS7ec/HfcwcnpJazTBOun9RQMji5eNULxDdCp2/i/PbzSfBIXupVuveJAWdw0xMdJHp/IAAWJyUZFAOfdpSUtxehpH5+ZDjOctirUpenMBB6M3drODqN3hBoipTDGWULJrapogSfw5OZ80SnpCcxpKQYBcmyxZPahyXlDvxGeaeufg+eblLo0GD/Nyt+0C95oJliEaozL7pDamcQRIUxmsjnhqcWE4DJS1CjjpeUZvvFMYdTEpkF9luPCgqS6s2TPJyDn014pWk3B/Cu5dB19yiye9T2Wh7Yha3NhLZlbs3VGU/rLpVKqr04hp/NV6kBoapGJJnib+gAWZUnHon4xB1ji/LH1DzStfqsEgtz5wRt29ZTOHes3wvZhxlHMwLdRGPs5dRdM6lKd/9a4Rs3LHnz5NPzHJAgfy7yV7i9q9VyRxAtf24Lz3D5kj0SxSN2kdr20b6EJN4a9f7CnehZ8LJpi/ijT6kO+UF+9Tiu9s+e3nfSyVH7BhiWteyIsQt02lzc3LdCYDvdqecPMZfroCwXnDjv5qTit2y6vulCWQvHyKyt3HXh+AQWQmvR46Kfdj3igPSIzB8HsK8eCSEmZB4fEG2oDuV0WzAZELFeIe2bJ0a5Z7q/RifEA5JQ1+4uhmsV93MVcYHUTx/U0alZni9GCCeMHGzpgOFiNhMjgb+Lh2+FfWgHesCB36zoQrYXzrpV4e4GpTirz2GznArrOEcATs1rfaX1nEIM8zND9Syh/JFL4EKXljVaO640e4SQzhdYw8sZrq+141BTsvYTjjBiYJk7le5vO2LQsuw934s0xYt8mvBT/5fp99GTzAVD9QPRvZj4t09Nhu3P8eE4MJLK1fPHXdhE5RupRyjInW7JJVbhqwbw4AWCu9ti/Q0R3Xd+5wMecqti4jDwGvMURsFtrpbp3sxV+Rodb4yYFcacgVZ1SU/XbmynzlwmPHKSIrfOkavLqK4+jpyqz32A0w65MTVGYlBEd2KJOYanKeMks+lE3tanSwdXf3Z1/VAx9NTDUg2m/6U+8JPDWnATGLxpdbMq3vNE24Wl4jxxDTQHxY51OvPbzqrtr1JbUTd0qzEiDsyEI6iREc+/qnidS9GAl6xsrc/Ki84mJTrLFQqC8a9WDM9xCXTbIamuur/KYzK7qAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HnUo2hYK8JSccVyMzFZV7C",
      "input": {
        "note": "The arm undershot the last target (x 0.34 vs 0.38), so I re-command further forward and lower, with pitch/roll explicitly zeroed, to get the jaws over the cap.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.42,
          "left_y": -0.185,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01HnUo2hYK8JSccVyMzFZV7C",
      "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]: [-0.7773, 1.5841, 0.7712, -0.0696, -0.6281, -0.5148, 0.9997, -0.0193, 0.7998, 0.6132, -0.3912, -0.0223, -0.0227, 0.9994]\nstate[eef_state]: left_x=0.3397 left_y=-0.1835 left_z=0.0749 left_yaw=0.0148 left_pitch=-0.1077 left_roll=0.0812 left_gripper=0.9997 right_x=0.2948 right_y=0.0019 right_z=0.1803 right_yaw=-0.0006 right_pitch=-0.0206 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.0342, -6.8855, 6.4342, 1.4774, -0.4127, -0.0415, -0.0073, -0.3624, -1.2786, 7.0769, 1.7753, -0.0415, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:786a02733bbf54087c80bad3f635899b73226c28100937056571afad92765979",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a238257240ffd472c2b5cd8be4e0d999059980a6d0b6712015c5f1eb548e91e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bbde19fbb31f18571bb464072b29ed84723ad4e9df742d69d99426497f155e0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 10.03 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8082, 1.5177, 0.775, -0.1429, -0.659, -0.5449, 0.9998, -0.0193, 0.7998, 0.6132, -0.3908, -0.0227, -0.0223, 0.9994]\nstate[eef_state]: left_x=0.3294 left_y=-0.1829 left_z=0.0919 left_yaw=0.0216 left_pitch=-0.0911 left_roll=0.0762 left_gripper=0.9998 right_x=0.2948 right_y=0.0019 right_z=0.1804 right_yaw=-0.0004 right_pitch=-0.0202 right_roll=0.0006 right_gripper=0.9994\nstate[joint_eff]: [0.1436, -6.9675, 6.5026, 1.5507, -0.2613, 0.2222, -0.0171, -0.0068, -1.4291, 7.2137, 1.746, -0.0269, -0.0171, -0.0122]",
      "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]: [-0.7773, 1.5841, 0.7712, -0.0696, -0.6281, -0.5148, 0.9997, -0.0193, 0.7998, 0.6132, -0.3908, -0.0223, -0.0227, 0.9994]\nstate[eef_state]: left_x=0.3397 left_y=-0.1835 left_z=0.0749 left_yaw=0.0148 left_pitch=-0.1077 left_roll=0.0812 left_gripper=0.9997 right_x=0.2948 right_y=0.0019 right_z=0.1804 right_yaw=-0.0006 right_pitch=-0.0202 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -6.9402, 6.065, 1.4628, -0.4176, -0.0659, -0.0171, -0.3624, -1.1556, 7.1316, 1.7949, -0.0464, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7773, 1.5841, 0.7712, -0.0696, -0.6281, -0.5148, 0.9997, -0.0193, 0.7998, 0.6132, -0.3912, -0.0223, -0.0227, 0.9994]\nstate[eef_state]: left_x=0.3397 left_y=-0.1835 left_z=0.0749 left_yaw=0.0148 left_pitch=-0.1077 left_roll=0.0812 left_gripper=0.9997 right_x=0.2948 right_y=0.0019 right_z=0.1803 right_yaw=-0.0006 right_pitch=-0.0206 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.0342, -6.8855, 6.4342, 1.4774, -0.4127, -0.0415, -0.0073, -0.3624, -1.2786, 7.0769, 1.7753, -0.0415, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:786a02733bbf54087c80bad3f635899b73226c28100937056571afad92765979",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a238257240ffd472c2b5cd8be4e0d999059980a6d0b6712015c5f1eb548e91e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbde19fbb31f18571bb464072b29ed84723ad4e9df742d69d99426497f155e0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStQoKjgEIEhgCKkBHWAS9jB9fdyXOXKp14mm7i5G1Btili0Oi5yc84YkicAzvUpIUXwTYd27UAXPIVfMtwMdwIHPe4C7lOmZuZar9Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZudzNUGEgya13/0nyn5V20KaScaDH0s+r4ZmKpxjIOY4iIwVpQ+Of0AXdGAmiOQdbr6CsRLMPbz2hSHJEE+yuGWvKYaR/cESG5omnByeH43ICqmKtMIHhCPIBFURxLTtWqkf6DmD0a4RbP0xFNTPm4xvHyf8mORm6DKNzj5xSwJZQ7lrFo8u4a20864sJqd8sYWoPEsr1V2wtPWJLQV0Eh0Y6OH60BMrli6eH0mvxJJTgl34Tjzv+GGBD/SFyl32kIcsi9bdBwiycflYp1Q9fQv5ORxiujGgnMMMwIBTkWKfrYW23Yfh8p7CfLzNIXpR7xl8NU1FyeJbyivcUc5+lvlgb29cH4Hr0Qxd9Zy8fRmVaLRY0AOcLljihacXfGneKGFO+ZGAHjjG1N6432nL9OgGCfdGfvIkoNh7NJhKitqR2fQ5apZtdYIlEkjKVn3nS7sx2BoF5kATt5YAku9MPRNjhYnyTPAffFlnEEYetaA2IhE6ze+Bc/kzgNEVwxTb01qSIn0U0ulpiqflniW253axnnh0wbd8iwIxO12OiIczZ8NvqN+bs6foFjNkxw4yqZEye7hNFtiH9/k1v/35N40QrhJ+rgNBf41R36+FdvfDWXTM+eeBa5tDvQzeH+SCbyZUX0hqKSrQnGo8b0DmdHw4Noo30x93sR8j2EP5WByvhfE8L9SYpTYjqhp13xCO/qLefbem4w2ajFnKqxNpLhSUXVdqZs6Sz0tHm77d7QmYaEEpahnn7W9ZbKChjY9zJgeCwPwqKAG8dTorI+tACfZqGNotfavyVbNia9K/OKxuka1PAI9c2ndd7eMOprzTvWu2rgbUR0l3sAOXgi5XvOoq6kYyoaS3a8GmTlbeJbjCoVuizipNfeS3gy+M0EWkmQ6xsnDjOcWFu3lwhgf9LfLCWrSrQ9G9HFEx++QjyMnJN8IM5Enk1oxgqieLU6vJ8ZMH+3dIRNH33rCBJiBJcRgVnkeVpNvAnaPfByU3Mg7q5cpUSm0MrPJhUgNp7MMSkcbvzC6FtUypjfbY+y9LGvVF1fbnqDFpr6zx9C+3Xt+PNw7SHi3sPho+cyb3JH7ktHugPsrCe5ayA57NMxTUhZzQOBv8ejcqbT1Fw/niN4oq9dD8qMr1cp0IkSxw6SeFgKFnrv7Mxt4MoX1B18h3TVgPdaXRGPXtn5BC7lMLkWR8M+eJjurjGK0E6Bm2lVxQcKk8Mn2aNWf/78Wjt/wB1ASEht9Jv0cqwpLwvA/BFd61MeYt/Fm2WlQAVR9Nl2ktAWVr4Zly1NxiCjIodXbYybGASnApcnnUirKOyDTC1t83t4gJaiNSsp5f33uGADljcdgJHUOySNyn8/rk2CiabzNoYHTJrXWSnIZ5RR0bzhHFTvG0JUeA1Saocpro+ju7yADTjKGGLOvRgqaGrda3MhfroRNoS72/e+0xdquRlIxb9H3rOCuqgcL1gnnL9g14CKe/MwfRU+XhNM8UZ9xVaI8TXYC78ydfuqqD+CPbGL4CVBYRU5PvpPmC5zaCPCkSUYA1zluPZzXGF5SxIqMNI9ZH3Tm31wtgQ8QpXuBkzWtyTOPdQ79uZQkGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0155Qwj3ti99xZw9ZP7NToC2",
      "input": {
        "note": "The arm ignored the last command entirely (joints unchanged), so I back it up and raise it to unstick the IK before re-approaching the cap.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.3,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0155Qwj3ti99xZw9ZP7NToC2",
      "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]: [-0.8974, 1.2873, 0.9802, -0.5362, -0.7055, -0.6136, 0.9997, -0.0193, 0.8043, 0.6132, -0.3939, -0.0227, -0.0227, 0.9994]\nstate[eef_state]: left_x=0.3006 left_y=-0.1874 left_z=0.196 left_yaw=-0.0009 left_pitch=-0.0348 left_roll=0.0116 left_gripper=0.9997 right_x=0.2947 right_y=0.0019 right_z=0.1785 right_yaw=-0.0002 right_pitch=-0.0278 right_roll=0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -5.9282, 9.6615, 1.409, -0.4664, -0.0611, -0.0073, -0.0068, -1.6752, 7.0222, 1.7851, -0.0171, -0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:368d81b39d1cc1016465d0fa7505308a7e915a71dcc3dcbd08fef2aabfe26bad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11f63f7906e72089046f5ab9bccafc4b6fe93d79cfd4ee666bf0b43660466a2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c8e024e73fb59883055bbf33ab250056b6af87f310d3a4014063fa1d21ead5e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 11.8 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7773, 1.5841, 0.7712, -0.0696, -0.6281, -0.5148, 0.9997, -0.0193, 0.7998, 0.6132, -0.3908, -0.0223, -0.0227, 0.9994]\nstate[eef_state]: left_x=0.3397 left_y=-0.1835 left_z=0.0749 left_yaw=0.0148 left_pitch=-0.1077 left_roll=0.0812 left_gripper=0.9997 right_x=0.2948 right_y=0.0019 right_z=0.1804 right_yaw=-0.0006 right_pitch=-0.0202 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -6.9402, 6.065, 1.4628, -0.4176, -0.0659, -0.0171, -0.3624, -1.1556, 7.1316, 1.7949, -0.0464, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7773, 1.5841, 0.7712, -0.0696, -0.6281, -0.5148, 0.9997, -0.0193, 0.7998, 0.6132, -0.3912, -0.0223, -0.0227, 0.9994]\nstate[eef_state]: left_x=0.3397 left_y=-0.1835 left_z=0.0749 left_yaw=0.0148 left_pitch=-0.1077 left_roll=0.0812 left_gripper=0.9997 right_x=0.2948 right_y=0.0019 right_z=0.1803 right_yaw=-0.0006 right_pitch=-0.0206 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.0342, -6.8855, 6.4342, 1.4774, -0.4127, -0.0415, -0.0073, -0.3624, -1.2786, 7.0769, 1.7753, -0.0415, -0.0806, -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 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]: [-0.8974, 1.2873, 0.9802, -0.5362, -0.7055, -0.6136, 0.9997, -0.0193, 0.8043, 0.6132, -0.3939, -0.0227, -0.0227, 0.9994]\nstate[eef_state]: left_x=0.3006 left_y=-0.1874 left_z=0.196 left_yaw=-0.0009 left_pitch=-0.0348 left_roll=0.0116 left_gripper=0.9997 right_x=0.2947 right_y=0.0019 right_z=0.1785 right_yaw=-0.0002 right_pitch=-0.0278 right_roll=0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -5.9282, 9.6615, 1.409, -0.4664, -0.0611, -0.0073, -0.0068, -1.6752, 7.0222, 1.7851, -0.0171, -0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:368d81b39d1cc1016465d0fa7505308a7e915a71dcc3dcbd08fef2aabfe26bad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11f63f7906e72089046f5ab9bccafc4b6fe93d79cfd4ee666bf0b43660466a2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8e024e73fb59883055bbf33ab250056b6af87f310d3a4014063fa1d21ead5e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Qt21JJ8hKReyektWyFPLgr",
      "input": {
        "note": "Top view shows the pen lying diagonally just right of centre; moving the right arm to hover over it for a wrist-camera check while the left arm waits above the cap.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.28,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 24 steps (2.4s)",
      "tool_use_id": "toolu_01Qt21JJ8hKReyektWyFPLgr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8963, 1.2892, 0.9794, -0.5388, -0.7033, -0.625, 0.9997, 0.963, 1.6497, 1.1194, -0.3695, 0.7258, 0.6353, 0.9994]\nstate[eef_state]: left_x=0.3004 left_y=-0.187 left_z=0.1945 left_yaw=0.005 left_pitch=-0.0394 left_roll=0.0053 left_gripper=0.9997 right_x=0.3264 right_y=0.2703 right_z=0.1448 right_yaw=0.0235 right_pitch=-0.0691 right_roll=-0.0432 right_gripper=0.9994\nstate[joint_eff]: [0.1162, -4.9983, 6.8034, 1.409, -0.2418, 0.0513, -0.0122, 1.2786, -8.2256, 9.2376, 1.3065, 0.4615, 0.1538, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2f2c687c35ec35e29040e0338cd06ffe48af12d7f73a419ba1a572cfc845665",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a8bdd746a6ae53edb9371d6545dea1e560bed26ad11b6ec261c389d49f3c28e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b091f0005362c91e4ad7dabe3e78db9812aca8f93ba42b487d361364525fc7c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 21.43 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7773, 1.5841, 0.7712, -0.0696, -0.6281, -0.5148, 0.9997, -0.0193, 0.7998, 0.6132, -0.3912, -0.0223, -0.0227, 0.9994]\nstate[eef_state]: left_x=0.3397 left_y=-0.1835 left_z=0.0749 left_yaw=0.0148 left_pitch=-0.1077 left_roll=0.0812 left_gripper=0.9997 right_x=0.2948 right_y=0.0019 right_z=0.1803 right_yaw=-0.0006 right_pitch=-0.0206 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.0342, -6.8855, 6.4342, 1.4774, -0.4127, -0.0415, -0.0073, -0.3624, -1.2786, 7.0769, 1.7753, -0.0415, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.8974, 1.2873, 0.9802, -0.5362, -0.7055, -0.6136, 0.9997, -0.0193, 0.8043, 0.6132, -0.3939, -0.0227, -0.0227, 0.9994]\nstate[eef_state]: left_x=0.3006 left_y=-0.1874 left_z=0.196 left_yaw=-0.0009 left_pitch=-0.0348 left_roll=0.0116 left_gripper=0.9997 right_x=0.2947 right_y=0.0019 right_z=0.1785 right_yaw=-0.0002 right_pitch=-0.0278 right_roll=0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -5.9282, 9.6615, 1.409, -0.4664, -0.0611, -0.0073, -0.0068, -1.6752, 7.0222, 1.7851, -0.0171, -0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.8963, 1.2892, 0.9794, -0.5388, -0.7033, -0.625, 0.9997, 0.963, 1.6497, 1.1194, -0.3695, 0.7258, 0.6353, 0.9994]\nstate[eef_state]: left_x=0.3004 left_y=-0.187 left_z=0.1945 left_yaw=0.005 left_pitch=-0.0394 left_roll=0.0053 left_gripper=0.9997 right_x=0.3264 right_y=0.2703 right_z=0.1448 right_yaw=0.0235 right_pitch=-0.0691 right_roll=-0.0432 right_gripper=0.9994\nstate[joint_eff]: [0.1162, -4.9983, 6.8034, 1.409, -0.2418, 0.0513, -0.0122, 1.2786, -8.2256, 9.2376, 1.3065, 0.4615, 0.1538, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2f2c687c35ec35e29040e0338cd06ffe48af12d7f73a419ba1a572cfc845665",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a8bdd746a6ae53edb9371d6545dea1e560bed26ad11b6ec261c389d49f3c28e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b091f0005362c91e4ad7dabe3e78db9812aca8f93ba42b487d361364525fc7c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011rW2uWTXet3DREY4TESk9B",
      "input": {
        "note": "The right wrist camera shows the pen up and to the right of the jaw column; stepping 3 cm forward, 3 cm to the arm's right and down a bit — this also calibrates the wrist pixel scale.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.24,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_011rW2uWTXet3DREY4TESk9B",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8955, 1.2907, 0.9794, -0.5426, -0.6994, -0.6281, 0.9994, 0.8501, 1.66, 1.0218, -0.2581, 0.6621, 0.5568, 0.9994]\nstate[eef_state]: left_x=0.3001 left_y=-0.187 left_z=0.1932 left_yaw=0.005 left_pitch=-0.0449 left_roll=0.0052 left_gripper=0.9994 right_x=0.3474 right_y=0.2364 right_z=0.1138 right_yaw=-0.005 right_pitch=-0.1078 right_roll=-0.0723 right_gripper=0.9994\nstate[joint_eff]: [-0.1026, -4.7932, 7.0359, 1.3455, -0.2906, -0.0171, -0.0415, -0.1162, -7.5282, 7.2684, 1.7167, 0.398, -0.0855, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8655f7dd3de356464a50ec57504ac832d764858a9a543b8f54c2e050d5e20ed4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12f68c3a4ee994df2ef0e0120953fc7f38fd701f974b3b4cd7af059ed1410a52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8291ca80b6daa5f8697e59a819fc9a9e8851b4fded866fc8a40bdda8baebf23a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 15.74 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8974, 1.2873, 0.9802, -0.5362, -0.7055, -0.6136, 0.9997, -0.0193, 0.8043, 0.6132, -0.3939, -0.0227, -0.0227, 0.9994]\nstate[eef_state]: left_x=0.3006 left_y=-0.1874 left_z=0.196 left_yaw=-0.0009 left_pitch=-0.0348 left_roll=0.0116 left_gripper=0.9997 right_x=0.2947 right_y=0.0019 right_z=0.1785 right_yaw=-0.0002 right_pitch=-0.0278 right_roll=0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -5.9282, 9.6615, 1.409, -0.4664, -0.0611, -0.0073, -0.0068, -1.6752, 7.0222, 1.7851, -0.0171, -0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.8963, 1.2892, 0.9794, -0.5388, -0.7033, -0.625, 0.9997, 0.963, 1.6497, 1.1194, -0.3695, 0.7258, 0.6353, 0.9994]\nstate[eef_state]: left_x=0.3004 left_y=-0.187 left_z=0.1945 left_yaw=0.005 left_pitch=-0.0394 left_roll=0.0053 left_gripper=0.9997 right_x=0.3264 right_y=0.2703 right_z=0.1448 right_yaw=0.0235 right_pitch=-0.0691 right_roll=-0.0432 right_gripper=0.9994\nstate[joint_eff]: [0.1162, -4.9983, 6.8034, 1.409, -0.2418, 0.0513, -0.0122, 1.2786, -8.2256, 9.2376, 1.3065, 0.4615, 0.1538, -0.0171]",
      "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]: [-0.8955, 1.2907, 0.9794, -0.5426, -0.6994, -0.6281, 0.9994, 0.8501, 1.66, 1.0218, -0.2581, 0.6621, 0.5568, 0.9994]\nstate[eef_state]: left_x=0.3001 left_y=-0.187 left_z=0.1932 left_yaw=0.005 left_pitch=-0.0449 left_roll=0.0052 left_gripper=0.9994 right_x=0.3474 right_y=0.2364 right_z=0.1138 right_yaw=-0.005 right_pitch=-0.1078 right_roll=-0.0723 right_gripper=0.9994\nstate[joint_eff]: [-0.1026, -4.7932, 7.0359, 1.3455, -0.2906, -0.0171, -0.0415, -0.1162, -7.5282, 7.2684, 1.7167, 0.398, -0.0855, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8655f7dd3de356464a50ec57504ac832d764858a9a543b8f54c2e050d5e20ed4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12f68c3a4ee994df2ef0e0120953fc7f38fd701f974b3b4cd7af059ed1410a52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8291ca80b6daa5f8697e59a819fc9a9e8851b4fded866fc8a40bdda8baebf23a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XEnNkj9HNEVQMoccgpUPQZ",
      "input": {
        "note": "The pen still sits slightly right of the jaw centre in the right wrist view; descending near the table and shifting 2 cm to the arm's right so I can compare gripper and pen directly in the top view without parallax.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.215,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01XEnNkj9HNEVQMoccgpUPQZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8955, 1.2911, 0.9794, -0.5423, -0.6994, -0.6285, 0.9994, 0.8318, 1.6768, 0.989, -0.1944, 0.6327, 0.5282, 0.9994]\nstate[eef_state]: left_x=0.3001 left_y=-0.1871 left_z=0.1931 left_yaw=0.0052 left_pitch=-0.0449 left_roll=0.0049 left_gripper=0.9994 right_x=0.351 right_y=0.2354 right_z=0.1014 right_yaw=0.0133 right_pitch=-0.1162 right_roll=-0.069 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -4.8889, 6.7077, 1.37, -0.315, -0.0366, -0.0122, 0.2667, -7.4735, 5.8872, 1.3748, 0.4615, 0.105, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0232210c9ec4366048da41be67d1f768b545e3fd0df27fe56ce242073b58998",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05104c26bdf8d6e8279d716d83f66e693377d9056d2320a6ef9bab9fcd443360",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9defe428ccbc378c4d6888554afd60185d074c0bb6d63016ac3641a28a14c222",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 17.39 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8963, 1.2892, 0.9794, -0.5388, -0.7033, -0.625, 0.9997, 0.963, 1.6497, 1.1194, -0.3695, 0.7258, 0.6353, 0.9994]\nstate[eef_state]: left_x=0.3004 left_y=-0.187 left_z=0.1945 left_yaw=0.005 left_pitch=-0.0394 left_roll=0.0053 left_gripper=0.9997 right_x=0.3264 right_y=0.2703 right_z=0.1448 right_yaw=0.0235 right_pitch=-0.0691 right_roll=-0.0432 right_gripper=0.9994\nstate[joint_eff]: [0.1162, -4.9983, 6.8034, 1.409, -0.2418, 0.0513, -0.0122, 1.2786, -8.2256, 9.2376, 1.3065, 0.4615, 0.1538, -0.0171]",
      "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]: [-0.8955, 1.2907, 0.9794, -0.5426, -0.6994, -0.6281, 0.9994, 0.8501, 1.66, 1.0218, -0.2581, 0.6621, 0.5568, 0.9994]\nstate[eef_state]: left_x=0.3001 left_y=-0.187 left_z=0.1932 left_yaw=0.005 left_pitch=-0.0449 left_roll=0.0052 left_gripper=0.9994 right_x=0.3474 right_y=0.2364 right_z=0.1138 right_yaw=-0.005 right_pitch=-0.1078 right_roll=-0.0723 right_gripper=0.9994\nstate[joint_eff]: [-0.1026, -4.7932, 7.0359, 1.3455, -0.2906, -0.0171, -0.0415, -0.1162, -7.5282, 7.2684, 1.7167, 0.398, -0.0855, -0.0171]",
      "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]: [-0.8955, 1.2911, 0.9794, -0.5423, -0.6994, -0.6285, 0.9994, 0.8318, 1.6768, 0.989, -0.1944, 0.6327, 0.5282, 0.9994]\nstate[eef_state]: left_x=0.3001 left_y=-0.1871 left_z=0.1931 left_yaw=0.0052 left_pitch=-0.0449 left_roll=0.0049 left_gripper=0.9994 right_x=0.351 right_y=0.2354 right_z=0.1014 right_yaw=0.0133 right_pitch=-0.1162 right_roll=-0.069 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -4.8889, 6.7077, 1.37, -0.315, -0.0366, -0.0122, 0.2667, -7.4735, 5.8872, 1.3748, 0.4615, 0.105, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0232210c9ec4366048da41be67d1f768b545e3fd0df27fe56ce242073b58998",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05104c26bdf8d6e8279d716d83f66e693377d9056d2320a6ef9bab9fcd443360",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9defe428ccbc378c4d6888554afd60185d074c0bb6d63016ac3641a28a14c222",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Rg62Ny44YmgVe4fHTE6Mmg",
      "input": {
        "note": "The arm is tracking slowly and is still at z=0.10; re-issuing a lower target, nudged 2.5 cm to the arm's right, to bring the jaws down around the pen shaft.",
        "targets": {
          "right_x": 0.375,
          "right_y": 0.21,
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01Rg62Ny44YmgVe4fHTE6Mmg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8955, 1.2934, 0.9794, -0.543, -0.6998, -0.6285, 0.9994, 0.7334, 1.9213, 0.8089, 0.252, 0.5938, 0.474, 0.9993]\nstate[eef_state]: left_x=0.3002 left_y=-0.1871 left_z=0.1923 left_yaw=0.0056 left_pitch=-0.0466 left_roll=0.0074 left_gripper=0.9994 right_x=0.3714 right_y=0.2064 right_z=0.0028 right_yaw=-0.0269 right_pitch=-0.1237 right_roll=-0.0748 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -4.9162, 6.7077, 1.2967, -0.3248, -0.0415, -0.0122, -0.7453, -6.1197, 3.6444, 0.4078, -0.022, -0.3492, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c95edfdf6cd31d522b2165bffffee1014878f4e132ba9994bedaa5c40a03c74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4fec53705d7414b0fbaaa092a0210b2e54bedd01fb00aff86bac7e33ddf722d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fd83083cb85aa9c5a6d4d4e025d2d978902b411612dc26f63f870cb755de8ab6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /messages · status 200 · 10.95 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8955, 1.2907, 0.9794, -0.5426, -0.6994, -0.6281, 0.9994, 0.8501, 1.66, 1.0218, -0.2581, 0.6621, 0.5568, 0.9994]\nstate[eef_state]: left_x=0.3001 left_y=-0.187 left_z=0.1932 left_yaw=0.005 left_pitch=-0.0449 left_roll=0.0052 left_gripper=0.9994 right_x=0.3474 right_y=0.2364 right_z=0.1138 right_yaw=-0.005 right_pitch=-0.1078 right_roll=-0.0723 right_gripper=0.9994\nstate[joint_eff]: [-0.1026, -4.7932, 7.0359, 1.3455, -0.2906, -0.0171, -0.0415, -0.1162, -7.5282, 7.2684, 1.7167, 0.398, -0.0855, -0.0171]",
      "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]: [-0.8955, 1.2911, 0.9794, -0.5423, -0.6994, -0.6285, 0.9994, 0.8318, 1.6768, 0.989, -0.1944, 0.6327, 0.5282, 0.9994]\nstate[eef_state]: left_x=0.3001 left_y=-0.1871 left_z=0.1931 left_yaw=0.0052 left_pitch=-0.0449 left_roll=0.0049 left_gripper=0.9994 right_x=0.351 right_y=0.2354 right_z=0.1014 right_yaw=0.0133 right_pitch=-0.1162 right_roll=-0.069 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -4.8889, 6.7077, 1.37, -0.315, -0.0366, -0.0122, 0.2667, -7.4735, 5.8872, 1.3748, 0.4615, 0.105, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8955, 1.2934, 0.9794, -0.543, -0.6998, -0.6285, 0.9994, 0.7334, 1.9213, 0.8089, 0.252, 0.5938, 0.474, 0.9993]\nstate[eef_state]: left_x=0.3002 left_y=-0.1871 left_z=0.1923 left_yaw=0.0056 left_pitch=-0.0466 left_roll=0.0074 left_gripper=0.9994 right_x=0.3714 right_y=0.2064 right_z=0.0028 right_yaw=-0.0269 right_pitch=-0.1237 right_roll=-0.0748 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -4.9162, 6.7077, 1.2967, -0.3248, -0.0415, -0.0122, -0.7453, -6.1197, 3.6444, 0.4078, -0.022, -0.3492, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c95edfdf6cd31d522b2165bffffee1014878f4e132ba9994bedaa5c40a03c74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4fec53705d7414b0fbaaa092a0210b2e54bedd01fb00aff86bac7e33ddf722d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd83083cb85aa9c5a6d4d4e025d2d978902b411612dc26f63f870cb755de8ab6",
        "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_01NfvEWkWBJeUCbWtoDRsLEP",
      "input": {
        "note": "Right wrist view now shows the pen clearly running diagonally (down-right) just right of the jaw centre; rotating the wrist 40° so the jaws close perpendicular to the pen and shifting ~1.6 cm to the arm's right onto the shaft.",
        "targets": {
          "right_x": 0.365,
          "right_y": 0.19,
          "right_yaw": 0.7,
          "right_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_01NfvEWkWBJeUCbWtoDRsLEP",
      "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]: [-0.8955, 1.2934, 0.9794, -0.5423, -0.6994, -0.6285, 0.9994, 0.4049, 1.8313, 0.598, 0.5606, -0.0185, -0.0978, 0.9993]\nstate[eef_state]: left_x=0.3002 left_y=-0.1872 left_z=0.1924 left_yaw=0.0053 left_pitch=-0.0463 left_roll=0.0067 left_gripper=0.9994 right_x=0.3822 right_y=0.1713 right_z=0.0022 right_yaw=0.4605 right_pitch=-0.1163 right_roll=-0.0597 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -4.6701, 6.6803, 1.3797, -0.3248, -0.0464, -0.0171, -0.1573, -7.9932, 4.1094, 1.4628, -0.0855, -0.1099, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6201c10827ca386e1f8325f5dc330d5f6023dda429c34244b69b93966497c777",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd8ac3cd5bbab03441ad36f6e86810516ec67f5a86295b97f26f7249512e69b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e735be0ea8494685e79455bebd09f300659fbb08f6458053d6198fd1b3b1a5c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 9.644 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8955, 1.2911, 0.9794, -0.5423, -0.6994, -0.6285, 0.9994, 0.8318, 1.6768, 0.989, -0.1944, 0.6327, 0.5282, 0.9994]\nstate[eef_state]: left_x=0.3001 left_y=-0.1871 left_z=0.1931 left_yaw=0.0052 left_pitch=-0.0449 left_roll=0.0049 left_gripper=0.9994 right_x=0.351 right_y=0.2354 right_z=0.1014 right_yaw=0.0133 right_pitch=-0.1162 right_roll=-0.069 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -4.8889, 6.7077, 1.37, -0.315, -0.0366, -0.0122, 0.2667, -7.4735, 5.8872, 1.3748, 0.4615, 0.105, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8955, 1.2934, 0.9794, -0.543, -0.6998, -0.6285, 0.9994, 0.7334, 1.9213, 0.8089, 0.252, 0.5938, 0.474, 0.9993]\nstate[eef_state]: left_x=0.3002 left_y=-0.1871 left_z=0.1923 left_yaw=0.0056 left_pitch=-0.0466 left_roll=0.0074 left_gripper=0.9994 right_x=0.3714 right_y=0.2064 right_z=0.0028 right_yaw=-0.0269 right_pitch=-0.1237 right_roll=-0.0748 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -4.9162, 6.7077, 1.2967, -0.3248, -0.0415, -0.0122, -0.7453, -6.1197, 3.6444, 0.4078, -0.022, -0.3492, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8955, 1.2934, 0.9794, -0.5423, -0.6994, -0.6285, 0.9994, 0.4049, 1.8313, 0.598, 0.5606, -0.0185, -0.0978, 0.9993]\nstate[eef_state]: left_x=0.3002 left_y=-0.1872 left_z=0.1924 left_yaw=0.0053 left_pitch=-0.0463 left_roll=0.0067 left_gripper=0.9994 right_x=0.3822 right_y=0.1713 right_z=0.0022 right_yaw=0.4605 right_pitch=-0.1163 right_roll=-0.0597 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -4.6701, 6.6803, 1.3797, -0.3248, -0.0464, -0.0171, -0.1573, -7.9932, 4.1094, 1.4628, -0.0855, -0.1099, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6201c10827ca386e1f8325f5dc330d5f6023dda429c34244b69b93966497c777",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd8ac3cd5bbab03441ad36f6e86810516ec67f5a86295b97f26f7249512e69b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e735be0ea8494685e79455bebd09f300659fbb08f6458053d6198fd1b3b1a5c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqQsKjgEIEhgCKkC8Zf+WFUQb0cGaI60bkBbxz94+Heob0oJ7tugH7NBTRocDrLURPSvZjbNWYr3r5VTwJrmka/y4Gc4yhPw0Lqi/Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfidzNUGEgylWbyDZLe5A/six3oaDA0/KUpfK9EoElTvfCIweOtdHCmnm45aqO+HmFv9OnVH8yyakEkpOv8eBK6sfRz5IEFyAtiBn5pvZ9W4nLUNKscJazsPZKEOqnmujLQ99PvSnAcgCQl/mlYNEKQdb0CVI3hMrM8tYrg38P+FunM53gmM3odgewJ/48vpD0r01VSGApL6y+xsS6wBwmlBFcR8dGKrZfDCYWLMnwVPMk1z/y8HyOQirmU1MapzD2MwGVXWIMFw7F73OMT1K3r3RR4YurqaWtQ+RvGE+1hYqLQKE3TNwRe6D1Fx9qYBb/9zrqQzYlfOsjN27ZRzypDNDrZhYYukd9Fa423prR7J8gQTH+gVvblroL3RX6ogHRIbXZoq84XdP1fV+IW8WXnOBF8EMTvMDAOH03l1uqNM3Dh77r/g66i37onTWlLrL3qBRGac2UWG1XG9SAMnSITuaZSpfTZY0UeClkBes57nA38YGWwERMIRaf47PvYfqAIXHECMBVhhGSsxJ7eA5bakv9etEU1HqLd/qdZnJAzc3bCjAQ7zRe14IOyDAHSug4E43E8QsziHBtwRvOEvZHg0/Soeue2hL1MxuCe5f5tZECQs0r0e8WYNQOzcP8+z8j7TggAV+SVj6Juy9cWPdA4zBRzHQk3JlC56qYVHiDM+e0k5KG6H5NyZYJtpdkU+wwgNLiwJXskdx7VH/JEPZahy54HbjK3F6Lq2Ks8XsEvXiQk7vlgp3PG0fzXlG7hlkTQpVO72c09O7j5wSnVaEQ7CV37OKK/E5opK4IVUHfphAmLrhYYeLKGG6hj2RMmECZ2ZlnVMkpbjd9lviyH3KAXS9rep9FAKhSL4IJkEdVyGKTs4bzx1l8UfBCtpiWbcbccBVRCtCsTXWp+pa288pJ0v+0cBCDuocG+a2Bn8epVTkxaVXVD6wdj2CSXaFm5KitnRLJxPgwOyFQt4ws3FXuXGQHPNjmRkdieZkmYJLx8bQ7m/YyefUWoW1nVoeWeXcIW3/xsZuMmOQ0lG9rZ/wInJdHbmaKH5acOMnA72QhrlgVvQAszrG396JsMK0+9C0dhtrq/Y+axlqup5Li7ZHqW1TGdpeoEKnrJ3v7Z48SedVIIsZUs4nWMYSM1dq/3IxDSsBpteYQ+0ZLeEMuBmF3f0pLetcfNLq2frh6zBQ6dvdJwZytUdjXFT+h3jGcYvnNgA1H5NcZY5PFZN9SGg6tpO9p3YXx+00RWRxrxZWc5SDP6TuUMt6TIjXn4GHfEpgfmHVI+MduCQKdyC2jO7dXQ9fUX7OOEdvaFOzrUFf/Kv4vyNvkAvxMKlYPw34JP6LcBlps/bpy0rYhpGMmx98lUJSoe4FkyHPSDreqXYoDZ/BCJl49IRIZzV/O/k/C55Izw8riucy0R40WfJNu3CQsbF/qeRbxm/mHNd2+hhiZYBBS1w983+RPAgyOzcbutYbTsThoEIVRdpOt8vwIfTK+gJ1ep37IXavhKhTQlquAbHQVdNRuxLmCuv5Vd9lLBGlHcZARNbqhZzfectMuY9aNClyRtSIE/flUarP95FvUXznSl9zPbrEJmgCBLcRk5Au7dKZ3gA+RjPq0910ItqKROKTHq5x4WggLMk009sy8tS9HnsQTjZrtL3ywKODbwuTphjM6QnuA8jPnYOsiQ7stH8cUKFQmXPseDrwlw2LWZbRoK9cAa9FotqBQUUkqphwNnUllowzt/Km0fXfuUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NS8VCb6iqKizPnmNH3Rcon",
      "input": {
        "note": "After the partial yaw the pen still looks tilted ~35° in the wrist view; rotating further to 1.0 rad and nudging right so the pen lies vertical on the jaw column before closing.",
        "targets": {
          "right_x": 0.375,
          "right_y": 0.158,
          "right_yaw": 1.0,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01NS8VCb6iqKizPnmNH3Rcon",
      "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]: [-0.8955, 1.2934, 0.9794, -0.5426, -0.6991, -0.6285, 0.9994, 0.3321, 1.8313, 0.5961, 0.5545, -0.1955, -0.2428, 0.9993]\nstate[eef_state]: left_x=0.3002 left_y=-0.1872 left_z=0.1923 left_yaw=0.005 left_pitch=-0.0468 left_roll=0.0068 left_gripper=0.9994 right_x=0.3796 right_y=0.171 right_z=0.0025 right_yaw=0.6154 right_pitch=-0.1092 right_roll=-0.0628 right_gripper=0.9993\nstate[joint_eff]: [-0.1026, -4.8615, 6.7214, 1.3162, -0.2759, -0.0317, -0.0122, -0.4991, -7.7333, 4.8342, 1.5165, -0.0073, 0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8d81f00faa98218651a75815477e6c62ee13206731159bb6b845d8209ebb566",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06fd14160ada85b19b9cf0de6a92a7f31c20d4ba0e6b56ace14d0e181d7cb023",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fdae0e25246412c81f06b1a2cfa234b480508fd0701902ff635f45edfa4276d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 6.789 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8955, 1.2934, 0.9794, -0.543, -0.6998, -0.6285, 0.9994, 0.7334, 1.9213, 0.8089, 0.252, 0.5938, 0.474, 0.9993]\nstate[eef_state]: left_x=0.3002 left_y=-0.1871 left_z=0.1923 left_yaw=0.0056 left_pitch=-0.0466 left_roll=0.0074 left_gripper=0.9994 right_x=0.3714 right_y=0.2064 right_z=0.0028 right_yaw=-0.0269 right_pitch=-0.1237 right_roll=-0.0748 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -4.9162, 6.7077, 1.2967, -0.3248, -0.0415, -0.0122, -0.7453, -6.1197, 3.6444, 0.4078, -0.022, -0.3492, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8955, 1.2934, 0.9794, -0.5423, -0.6994, -0.6285, 0.9994, 0.4049, 1.8313, 0.598, 0.5606, -0.0185, -0.0978, 0.9993]\nstate[eef_state]: left_x=0.3002 left_y=-0.1872 left_z=0.1924 left_yaw=0.0053 left_pitch=-0.0463 left_roll=0.0067 left_gripper=0.9994 right_x=0.3822 right_y=0.1713 right_z=0.0022 right_yaw=0.4605 right_pitch=-0.1163 right_roll=-0.0597 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -4.6701, 6.6803, 1.3797, -0.3248, -0.0464, -0.0171, -0.1573, -7.9932, 4.1094, 1.4628, -0.0855, -0.1099, -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]: [-0.8955, 1.2934, 0.9794, -0.5426, -0.6991, -0.6285, 0.9994, 0.3321, 1.8313, 0.5961, 0.5545, -0.1955, -0.2428, 0.9993]\nstate[eef_state]: left_x=0.3002 left_y=-0.1872 left_z=0.1923 left_yaw=0.005 left_pitch=-0.0468 left_roll=0.0068 left_gripper=0.9994 right_x=0.3796 right_y=0.171 right_z=0.0025 right_yaw=0.6154 right_pitch=-0.1092 right_roll=-0.0628 right_gripper=0.9993\nstate[joint_eff]: [-0.1026, -4.8615, 6.7214, 1.3162, -0.2759, -0.0317, -0.0122, -0.4991, -7.7333, 4.8342, 1.5165, -0.0073, 0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8d81f00faa98218651a75815477e6c62ee13206731159bb6b845d8209ebb566",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06fd14160ada85b19b9cf0de6a92a7f31c20d4ba0e6b56ace14d0e181d7cb023",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdae0e25246412c81f06b1a2cfa234b480508fd0701902ff635f45edfa4276d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISnwoKjgEIEhgCKkCwG6sI9HvQzDDNMyKOYaVmg6lxde6wZLN3wvUEdMkpva03CZg2dPGd0za+9AMiqvgSDS/nIIkdWyudsra/H7tAMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYKezNUGEgy5v+U0MuoE64VO+X4aDMZJhmb6nQ1Tej1rpyIw34p8/3ROehMfPXQEPuJvAiGOFl+e5AoG1Pw9JGbi1FvbyHYvi9i4rDqhLltTAAGHKr0IM9t9TteunlcUKQsqN/TmQhq396FdbwiTeUUA3cHEyu6ipVF6BIxgl3xaZRYsnVchWfz7w0JjP0XEEMKXgpZpOKJZ44wsxJzZPoueLQZu6K28dyRGOhqqM3nazL8jmAW+1FFfwyRQaUk/d53RPigmYME8VNm4/0P3rTHhQFAmPwnOVO4Om2ftVvwCynh204kwPxK9bc/oZoyGlrIxdQ4AEdRfy9y2Yoe2EIni99RreQmSDwYa+xDd8VB5grIdkI620Ylqbp0cm9VrwJLOQ38eBtQOWozJeBHsGM7FI1oCR4HpFcnI+eauQzia4kdJsL0c4KqZtxzVFL8nlUPUS1vP9RtDozPzbBGBUqzHu2d+ejV9hCOhfn3cn34pNIm6mRL/cIkRhxI4i4TeGAgAWslovPz5zv9k5hW/X9ei+E0ZNQGYTSql/b1Ur2dxeShSPst3cZ7+Pw4oQtLbVrk5yZ0oIPO+pfR7FF+6WD0T15qXVpNxYqSjFkE1CXgb0eFtf+Bd1UXYau2pW/07zxMHDEFAwz5PYmevkmVikyy5dIIe54ieYlly7CqakWuBxMpwhfyLpT4bKs1DDYkIM371TO0Kz2JzjjhT/a8ubc0PzdGEdLUDF6weDJJ+UVshnYyRFaQTHM5iXKjDGXzozPlNniIKN1JRu+RLs0ALxReRY77pXVzwiBU0Ar1TBCCmzJzVwxcfvM2XutE48x8BvI/ZaOjk3HGQlm4myLHxYsu4NkpWrhDYmvx/fnUPdlQuMwjy6tAgh5yGUcMhN6BtPSR1kVC2AuHnxhlK+82hb0+mt2CGzNUHNYM1n37Mk/ZqnPPCzw469y2eAXx4EPku0hQnsvKgxRmbRBxYJ83UWgqLci3UsMqv1jMLLpq1qr8UV8cNWa5F1eEsvawvYgoAgkop89FxcwqVsqIhAqQSA+IDO6x7QbOJZSAwiq3gLGJmcDaXF70sGvZTNbxKEgre/MqToBxvIJu56TdwLxtEM/Nf30NnxXN9y9kT/9EXaA91geAqeeprh4yVcrBXBpmW/tRlgdFLLbKMZYmSlKncZqpVFQl9qARcuj/GI6lJl6JVNPu5yrqPuAKngcg8/0SXxbH7sS5xO1KMf3h8OySB4j3HKnrweBcSgyWqC3MMGfdtFaSJWzxkQ39PKOtupt4wrEh4mrYefrmVZwu4hc1w11Vsc28vIVSKCytYmw0+Hqo6S8zRgDOk29Jkk1060IXeJTXPvHUD6zpKiNkDPPS5Am0uV3g+PMwmGeAjGAcNgA4wkP8BN565eyze9dCwMrTZNspNp8Fjr/Of5WlBvyzSrbxglhNJjksoorRRkM0PRdXBYBjNKkQ5Bmk9hztmD/XLkouKy2SwNaA31kENvI4yi1hGDWBz6/P00RRDjeE6d3EVS1DxGcbAys8gfVIKdJIpE2z7sPN0yNsqZHwOqFDx4tXTr3IYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YVJJASuE9pPKsVdJnn3Md6",
      "input": {
        "note": "The pen is now nearly vertical in the right wrist view and centred on the jaw column at table level; finishing the yaw alignment and closing the gripper on the pen shaft.",
        "targets": {
          "right_gripper": 0.02,
          "right_yaw": 1.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01YVJJASuE9pPKsVdJnn3Md6",
      "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]: [-0.897, 1.2972, 0.9794, -0.5426, -0.6994, -0.6285, 0.9994, 0.1509, 1.9053, 0.8062, 0.3695, -0.4091, -0.458, 0.0272]\nstate[eef_state]: left_x=0.3001 left_y=-0.1879 left_z=0.1912 left_yaw=0.0039 left_pitch=-0.049 left_roll=0.01 left_gripper=0.9994 right_x=0.4285 right_y=0.1398 right_z=0.0158 right_yaw=0.7271 right_pitch=-0.1028 right_roll=-0.0865 right_gripper=0.0272\nstate[joint_eff]: [-0.0205, -4.8889, 6.7487, 1.3016, -0.2955, -0.0122, -0.0171, 2.9744, -6.9402, 3.5487, 1.0379, -0.6569, -0.1245, 0.5153]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76b82f01d25cff1e16116e5eb04ca79051f46d9013ba0d8a99027ed9c9fb2e70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a4e9b80304710b340e452c18a90cac190ddd019a445db1a89874b2a430443fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cd1d8f42f1e1f869c4f52a6030fd016818da3ec341c89b148ab14aec1d3f1658",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /messages · status 200 · 10.33 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8955, 1.2934, 0.9794, -0.5423, -0.6994, -0.6285, 0.9994, 0.4049, 1.8313, 0.598, 0.5606, -0.0185, -0.0978, 0.9993]\nstate[eef_state]: left_x=0.3002 left_y=-0.1872 left_z=0.1924 left_yaw=0.0053 left_pitch=-0.0463 left_roll=0.0067 left_gripper=0.9994 right_x=0.3822 right_y=0.1713 right_z=0.0022 right_yaw=0.4605 right_pitch=-0.1163 right_roll=-0.0597 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -4.6701, 6.6803, 1.3797, -0.3248, -0.0464, -0.0171, -0.1573, -7.9932, 4.1094, 1.4628, -0.0855, -0.1099, -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]: [-0.8955, 1.2934, 0.9794, -0.5426, -0.6991, -0.6285, 0.9994, 0.3321, 1.8313, 0.5961, 0.5545, -0.1955, -0.2428, 0.9993]\nstate[eef_state]: left_x=0.3002 left_y=-0.1872 left_z=0.1923 left_yaw=0.005 left_pitch=-0.0468 left_roll=0.0068 left_gripper=0.9994 right_x=0.3796 right_y=0.171 right_z=0.0025 right_yaw=0.6154 right_pitch=-0.1092 right_roll=-0.0628 right_gripper=0.9993\nstate[joint_eff]: [-0.1026, -4.8615, 6.7214, 1.3162, -0.2759, -0.0317, -0.0122, -0.4991, -7.7333, 4.8342, 1.5165, -0.0073, 0.0806, -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]: [-0.897, 1.2972, 0.9794, -0.5426, -0.6994, -0.6285, 0.9994, 0.1509, 1.9053, 0.8062, 0.3695, -0.4091, -0.458, 0.0272]\nstate[eef_state]: left_x=0.3001 left_y=-0.1879 left_z=0.1912 left_yaw=0.0039 left_pitch=-0.049 left_roll=0.01 left_gripper=0.9994 right_x=0.4285 right_y=0.1398 right_z=0.0158 right_yaw=0.7271 right_pitch=-0.1028 right_roll=-0.0865 right_gripper=0.0272\nstate[joint_eff]: [-0.0205, -4.8889, 6.7487, 1.3016, -0.2955, -0.0122, -0.0171, 2.9744, -6.9402, 3.5487, 1.0379, -0.6569, -0.1245, 0.5153]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76b82f01d25cff1e16116e5eb04ca79051f46d9013ba0d8a99027ed9c9fb2e70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a4e9b80304710b340e452c18a90cac190ddd019a445db1a89874b2a430443fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd1d8f42f1e1f869c4f52a6030fd016818da3ec341c89b148ab14aec1d3f1658",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5gYKjgEIEhgCKkDD9G4vQjTbao+ShFCzGmPWoYDsnwLpkxvvPFiJCw0DO5uv8t3EId3oaCh+jSTDyClQeUkcAkZGUInwUstPfWpBMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYqezNUGEgzaV0/A8B0Fqx071yIaDE1I4eqlbWUeysWtSyIwtiQjoJzY/rcninVk3ldnBIMwk9fOuSxQ/LN1fiepW+GcvzsxgRoyTioiw0z/CwQZKoQFylkInOKM1PW4g9cr3ADShjal222DoAS9Flmv4tzt82hZuk0nDF2TQHCPpoJoZWEoT9SRXaUMEn53OcX4vKpSdHBC10IMZtrUAKaoq8lLbBIWwV6R9P90EaBj4IPnTTqzbICHY7akVC6a5myf+/U1IZ6kbhZi+doD87iuE+A/C0vpdz10Y/h3ETwDKf6SEXZhgAgOFvf1YZKxhEfUQm6MnLTkJyS0W7dHR2I/VE4fTJU2qJyh/PJEtbwkPiDkIz1bmd6qfxUq5/byD43AdArnTKC4FrWqGwLys/zSOlrYSwVlhHHWC9+cjno9PJl3XrMK2G2CxYRilbCGtmYDc8nuAMHYAMwdcUpMJKkX6qvQodEa0JLGP6BYfhSmucgPL3ex0Lasplckt/rGqzb/WcKywfxxnPI2m9qR9wzalincwon+IFud1D41mObKAtfjWHcQpxTyiXiY6LCWJwKAfwYAN0Sg/8uzM4Lvgt7M2McGTBU0JwbrXStfUFVstWN2xlDd/12Jm176hDEJl0O2iG3JIdZ+cPVbvlzKWGheZ6sFMS9At7D17tKqYXsjgwe5B5/AxEEYAyaK5+6Dy9rOOdYZh+50EVIDQ/ixZH4/3ukT9u+ubF/CZL3RR2W/y1kuJ/gU4A0t4hibosnUoE/6iiMr2AYg16fPuL0dI3Z257qHS+Ny2aUXLB7Xv/6T7GocRxXIGQmUiPXSvxOCZd0oAKBAsLnP8ZvCHYNJodmbCl8DTpN5ibeJ43uyhcrWYJFhk4/USVnke75Gpc6NwpdeQM83ZTvbZk8RP7UsY333Y36FG0E0PiCcrA7hM9TGtOKrgS5ovxsj0b+jt6phU0Q+hqPKSFWGKCgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019GTgE6F7TAYzk7YaueExsh",
      "input": {
        "note": "Gripper closed to 0.027 (suspiciously thin) but the wrist view shows something between the jaws; lifting 12 cm to check in the top view whether the pen came with it.",
        "targets": {
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_019GTgE6F7TAYzk7YaueExsh",
      "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]: [-0.8974, 1.2976, 0.9794, -0.5426, -0.6991, -0.6285, 0.9994, 0.1509, 1.8301, 0.8303, 0.2237, -0.4191, -0.4782, 0.0291]\nstate[eef_state]: left_x=0.3 left_y=-0.1881 left_z=0.191 left_yaw=0.0033 left_pitch=-0.0494 left_roll=0.0101 left_gripper=0.9994 right_x=0.4195 right_y=0.1401 right_z=0.0315 right_yaw=0.7489 right_pitch=-0.1385 right_roll=-0.0707 right_gripper=0.0291\nstate[joint_eff]: [-0.0615, -4.9573, 6.735, 1.3504, -0.3053, -0.0269, -0.0171, -0.3487, -9.853, 6.6393, 1.6874, -0.1441, 0.1245, 0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4e8b3c00e3f2cbaf3bf58deae55a5e27f55a4c56e7c322584b176bce53daa5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:137a47683177431945827d72bd845d7db0a6402e4d113e0041f69b6b875b946d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7a93ca6248a1053ccbcd25d1f2cafe3a6b92a9b5e68002bd990bec6f89e814ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /messages · status 200 · 19.11 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8955, 1.2934, 0.9794, -0.5426, -0.6991, -0.6285, 0.9994, 0.3321, 1.8313, 0.5961, 0.5545, -0.1955, -0.2428, 0.9993]\nstate[eef_state]: left_x=0.3002 left_y=-0.1872 left_z=0.1923 left_yaw=0.005 left_pitch=-0.0468 left_roll=0.0068 left_gripper=0.9994 right_x=0.3796 right_y=0.171 right_z=0.0025 right_yaw=0.6154 right_pitch=-0.1092 right_roll=-0.0628 right_gripper=0.9993\nstate[joint_eff]: [-0.1026, -4.8615, 6.7214, 1.3162, -0.2759, -0.0317, -0.0122, -0.4991, -7.7333, 4.8342, 1.5165, -0.0073, 0.0806, -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]: [-0.897, 1.2972, 0.9794, -0.5426, -0.6994, -0.6285, 0.9994, 0.1509, 1.9053, 0.8062, 0.3695, -0.4091, -0.458, 0.0272]\nstate[eef_state]: left_x=0.3001 left_y=-0.1879 left_z=0.1912 left_yaw=0.0039 left_pitch=-0.049 left_roll=0.01 left_gripper=0.9994 right_x=0.4285 right_y=0.1398 right_z=0.0158 right_yaw=0.7271 right_pitch=-0.1028 right_roll=-0.0865 right_gripper=0.0272\nstate[joint_eff]: [-0.0205, -4.8889, 6.7487, 1.3016, -0.2955, -0.0122, -0.0171, 2.9744, -6.9402, 3.5487, 1.0379, -0.6569, -0.1245, 0.5153]\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]: [-0.8974, 1.2976, 0.9794, -0.5426, -0.6991, -0.6285, 0.9994, 0.1509, 1.8301, 0.8303, 0.2237, -0.4191, -0.4782, 0.0291]\nstate[eef_state]: left_x=0.3 left_y=-0.1881 left_z=0.191 left_yaw=0.0033 left_pitch=-0.0494 left_roll=0.0101 left_gripper=0.9994 right_x=0.4195 right_y=0.1401 right_z=0.0315 right_yaw=0.7489 right_pitch=-0.1385 right_roll=-0.0707 right_gripper=0.0291\nstate[joint_eff]: [-0.0615, -4.9573, 6.735, 1.3504, -0.3053, -0.0269, -0.0171, -0.3487, -9.853, 6.6393, 1.6874, -0.1441, 0.1245, 0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4e8b3c00e3f2cbaf3bf58deae55a5e27f55a4c56e7c322584b176bce53daa5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:137a47683177431945827d72bd845d7db0a6402e4d113e0041f69b6b875b946d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a93ca6248a1053ccbcd25d1f2cafe3a6b92a9b5e68002bd990bec6f89e814ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01W5aWxwUprKu8YeGPpjbYiF",
      "input": {
        "note": "The arm only rose to z=0.03; commanding a clear lift to 18 cm to see whether the pen is really held.",
        "targets": {
          "right_x": 0.38,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01W5aWxwUprKu8YeGPpjbYiF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8974, 1.298, 0.9791, -0.5423, -0.6991, -0.6285, 0.9994, 0.1707, 1.4021, 1.0607, -0.231, -0.4118, -0.4782, 0.0298]\nstate[eef_state]: left_x=0.3 left_y=-0.1881 left_z=0.1908 left_yaw=0.0033 left_pitch=-0.0497 left_roll=0.0104 left_gripper=0.9994 right_x=0.403 right_y=0.1449 right_z=0.2213 right_yaw=0.7565 right_pitch=0.0282 right_roll=-0.1882 right_gripper=0.0298\nstate[joint_eff]: [-0.1573, -4.9436, 6.7077, 1.4188, -0.2857, -0.0024, -0.0171, 0.1026, -3.8222, 6.2017, 1.0232, -0.0855, 0.1245, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be87fd3bf02db1ed5b4ad9d155bba368b05d555837f2f2713ba4b3fceae41740",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b03d0710f1dcedadfd4285e77a708656e61101d8246d649c16640ea4a8e0a91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:88a9537d7b728fe956963012edf8e1246d688a1463506ed8c5a71ce77e36bff9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /messages · status 200 · 43.35 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.897, 1.2972, 0.9794, -0.5426, -0.6994, -0.6285, 0.9994, 0.1509, 1.9053, 0.8062, 0.3695, -0.4091, -0.458, 0.0272]\nstate[eef_state]: left_x=0.3001 left_y=-0.1879 left_z=0.1912 left_yaw=0.0039 left_pitch=-0.049 left_roll=0.01 left_gripper=0.9994 right_x=0.4285 right_y=0.1398 right_z=0.0158 right_yaw=0.7271 right_pitch=-0.1028 right_roll=-0.0865 right_gripper=0.0272\nstate[joint_eff]: [-0.0205, -4.8889, 6.7487, 1.3016, -0.2955, -0.0122, -0.0171, 2.9744, -6.9402, 3.5487, 1.0379, -0.6569, -0.1245, 0.5153]\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]: [-0.8974, 1.2976, 0.9794, -0.5426, -0.6991, -0.6285, 0.9994, 0.1509, 1.8301, 0.8303, 0.2237, -0.4191, -0.4782, 0.0291]\nstate[eef_state]: left_x=0.3 left_y=-0.1881 left_z=0.191 left_yaw=0.0033 left_pitch=-0.0494 left_roll=0.0101 left_gripper=0.9994 right_x=0.4195 right_y=0.1401 right_z=0.0315 right_yaw=0.7489 right_pitch=-0.1385 right_roll=-0.0707 right_gripper=0.0291\nstate[joint_eff]: [-0.0615, -4.9573, 6.735, 1.3504, -0.3053, -0.0269, -0.0171, -0.3487, -9.853, 6.6393, 1.6874, -0.1441, 0.1245, 0.188]\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]: [-0.8974, 1.298, 0.9791, -0.5423, -0.6991, -0.6285, 0.9994, 0.1707, 1.4021, 1.0607, -0.231, -0.4118, -0.4782, 0.0298]\nstate[eef_state]: left_x=0.3 left_y=-0.1881 left_z=0.1908 left_yaw=0.0033 left_pitch=-0.0497 left_roll=0.0104 left_gripper=0.9994 right_x=0.403 right_y=0.1449 right_z=0.2213 right_yaw=0.7565 right_pitch=0.0282 right_roll=-0.1882 right_gripper=0.0298\nstate[joint_eff]: [-0.1573, -4.9436, 6.7077, 1.4188, -0.2857, -0.0024, -0.0171, 0.1026, -3.8222, 6.2017, 1.0232, -0.0855, 0.1245, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be87fd3bf02db1ed5b4ad9d155bba368b05d555837f2f2713ba4b3fceae41740",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b03d0710f1dcedadfd4285e77a708656e61101d8246d649c16640ea4a8e0a91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88a9537d7b728fe956963012edf8e1246d688a1463506ed8c5a71ce77e36bff9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS6xYKjgEIEhgCKkA2ZCqTmyCWG1L1AcywRB+b7luDmrg7/Lb4u1LrHqRWSNromYWZXFv4XArZnNk1NK53Ji9mZUQqaLtTw6E4UExxMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAamezNUGEgylkOHw24ywyd0+0+UaDJyGDtNC2sw8i6tmbCIwk3CbsPRBLeZxHfTZF3l/7CS2LKVt84X7ZbCeuJ8XEZ/xN1jdMMl7HP1Sabr0xwPoKokVJyyWjvacUZ+Fq7rPTqUrhr+sf8KfDZ2Ed50PVTDOBgUTz0aLqltYcOodFujkv2IdkOIXVfePVr+yunJAI1SrMWfju3NZZ0wiLUWbbrXp/0YD4uLUMh3K1MlNoR7qu7YK/dVsQY6OqM18tAf+DBbA5Crf3IALb7arTWGsZz9vg82ELMf7qxekuc4LyIRMWZ9BpsfHC2VrK6ubPBBZ4I0A94kIxcBg790XyoK+f9j2ZhFfC8vmvFURVJoye/50PYpAvfB3gcVkZ4INOF9QK9KcukqZ3XiW7iaHAloSAjEdhJPpXAYpdAW9/Wxc0DodpfmMDbxuox27BN9dG7s7qsX1wcWSY4U//FXS/7ONEWn8sx6eZF/iRvovnyYjU8lSJsVlnKZZ/FheBLuA27LCMF2xfaYegib68TOxnuWAdGcqEUixzJQB/jgn6rDvPca2DUwCryyqV3q746jI5lC4xDzz60YgTt3QTVhX/QBjCc3gRtPs5h5D/nWPP8frZs3tlb3RX/ckMlEwGyj79g950GfgjeEwhLKovAYFt0Iz74GuUtzCm1LtZ9CPVtbrhrtPfsa87cZFIiY6b0lv4NCsk0IbN2OnWsqpPrLpHpzDFvX80n2RdaLiJ+48x2QuTLpwfr9Ke3od59Wizq10VQkDZooj3qIs3UotQrOpSDYgInRNnxW0uGlEa3WRpIGbIhjaYXLewiUZpHXeA9wRfA/RntkLV66nIqswGPWFSpoywHZB8s2lK4GtSD5H1r+r4nSRC9TRXMvjVlZHNM6GHPgSZByfmoHwr4JVaD2CM/wP8OgLFH1DV7d3nu8C/EhKnFmtSC2/Y9kTKJB+MpaHFTMuz6aK03wIxdvIUV0G/RbsLT+0Ti5H2vGmWEsKNN78FRTV0DzhN+f6yKTnUNdJOV6Ws6bmbkrqOLnv9lyk/g3C3FpezRQH/HbFDZNr0+yLzU6yXWDVG++UPi5RU+C5TgcuiF7hmGevi4Xj7QeDJIRd5dN3XvgYWv61qhh4hJp2BzH4TA1Z/prvLPCJma33iBlp6IFhtVzU7GlGH3DPbyo8w9rlOE+olF9LsssVjr4BA+uN2+nsECk/xCCc7HHR0obyWhVyOX4y1+kWk1lP5bntGixDEWUC3z2XWk57b0GvwV03xKwNH1ub8OWaY0UiNTL7LgCVtQNFQUbpuLSN0eRAqy7RgxBNl8zexHySvvinx91MqmYOgu3M02KuevQ/YIhA7d+VGsQHaXF9hle6ZAryJHO6tQD4Fgpz5gyaKQoM/lq0l3DEvvj8DX5AscmDF9ji5Rz5hPhYnN2EZIscKg+IlT810wJykWALQqXi58825/OC/NPHHIirVthnmTH2dvl9TbbV6DXvnsWayMiC9RH6Q5H7ahd4Zlfdf5NDl4TsCA6jzvK4L72vNIt3q2dOkni720fmE61cpxCsl6PMu5R7jKSsg+3eoHoz4uPEfokMjj56wS3B3/5N3bIiQzKKJKo6BXmfa33vYXAXpV4LYFccEgXnX9Mf6/LrsmQAwGi0UMW/6ewYUOAPrwSVSGslWkDLefNaZI91wr+vxf3oYbrneC3WqpIKLUX9n2MZzH1yz0K0GTpA9/bPhSuzw/F4n/SpPMsj7m59fgYWjhvoOUW6JKmwOiF6rJtAmk/40bubfuyXBJGf6yZT9YVKAg//eVB0SNtCWuSaoJuNSLsId+NnCVjOiecCG0T/8lvoTxEYIQIOrdQsBTC43bKTlAJ3qpYE7BCBJfO8X+BvJ6ffFdzqKRy0D5Zglv5aquJrHs2t2lsh2kONVq4Iz60T9udIY7xuNjHcN9SIUeySzZ/i0QTdWHM11m2X1I0xkVY2ezvZoNaOMe/PMF+bWU3g+w/4nsVlgVZ9iPV53wjvpbpz42HpSYXIzv95w781v6JHxQXKLd7uf4Kd7zUmUYLklZ1AT8XQ6Lv5X+01qA7TBidPIZwZqfgdg68SFtIjEyDWL3o5Ik4HM49rzEIj6s5ylA+c0QAUz/1MoREFpeEIMmhbwt41tS+mQeisqpKMVvyeR7rvbal7XBhiQ7Jw3y5hdCIXhfqysYRqhzHN/vMS1J7IkY/KlBLVn/ACc3BmI4wt+TcCehZ10RCWvf+l8T+/ihTubVWJcsmoACbdCtgHutC+v3n6kwlk2Nuy/DYDR3LjGZF9XS0JCGbRWcXchF+D670O4NLDj35rXvS8xRhiR/znz0F0hh811n6cHktIAIk6h0NAe17DcR8MZ7VWPE5Q0PPXkNXEBABKGwSulYPUcJ5F3SNKJSca0l2CCzsATje0easywyviJEDYx7OjbB+ESjq8mw5xWPVim7VssYgAXAL7+WrcjCqjn4x2Y8W0VYWIJOOEusoZd6ESYfPpqRWq9f419zakyWszedq5a2kfBKvXYbgtAxGBMr4AeFL983poh2NZoVkymBRHU5SWZYjX5kGqrYsJ4Uh28YH4SYSB5RfPC3s80TbxJP/uzuhunUdf3Is8+3VTWOIEguQkJX8DWuikYR8QbgaQRunz9/zRJGVxU5Tlalt6vuFaCwJ4EkBGL8T2XNvQG6udvNrk+gq7qszmNOJxPn0sbvx46hMnjIHKXSM++dwgrNRioiM8bjJzcSvvwKHxH7hL4Tfmjoca9yXNbzzoWQDExNrHhs71EcLXxc2ts/sRrsxB/1jATwtLRSaqvM1bxmHYsW8DJGeBHiL5QBTumB35Go3WHapYJIc/rUbk8lLe+9vBReG97qOeA0sRyMXJ3NV5QWi54EJ+MG504tbba13O/tAaMLlVTJnRCb647MOEhO93/OIajanJ/7wN1Lqm/4d9xEU1IuGPEDrRy02XzgICHjhQE4XKKa8inp4nzZJYqVNlguvQMRl8JrB2rACnTkzPKi3WrRekRLNiGhiBuWVS1Ut0luzgmQghAlhB5eMV3tGddXB2Xul8d3SuCNF7URKLj7i9JgGnQq9nosN01DfYCmnw4pDhY8fGXDNOsODaB7ytpz4v/KP0HProvM1YUirgETpIH+SbxM8WcKI/cI/GTrSeZqB+uuYBxr4vO7wg7micQkGXCe7j9ojwH4c5vAJ9LekU5DhgR09A8v1yDYicodsmBrEBoVKh0RcuFdW0GcRELD15QhXMpvRB9mD2ErLEMvNoRAAIYwqN3HPv6YGaNmjbCiMZ/skumrFBl3Oktg71UkSEm3xhqpcR0ieMFHCaURdcXuLK2kucqR+HiC/kTqh83TZgFxWz1jp17k2R3PEx+uduCQrAoTKMsvdnOIk+5WTg0imdGOkftWj/PZxtZWVXW7vTq2LOTKsiKcTjy/CS6EdFOLtnN6rDsvlrhqRFLoKpY8TK3cxyk42xoJVP0YBP3tbUH/vuIpzODEuPVqEMNhr61jr3g8P9rnI1F/mTEF48hx/szpSqdbnGWqxG3Lv7rIZxgRlaBlHYdq3S/1TGIR/fLdIZ4vkJ6bRVYng5uQ2HWQET+gVyKdzBYRGQbJdfwhrlMz5GGp77uQWquc0SVkCdGs4y/EEcYSzqPkuC1982i9bZRYVUns2xHSnYnKGA2ypcCoqlq1ChynNtKmYWrtPUBUxucpPNuTvG4Zk8/NNlKjRjedqRGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UUbBeeo1LPTqbfohnkL6vc",
      "input": {
        "note": "Ambiguous whether the pen is actually held; moving the right arm 5 cm sideways so the top view shows whether the dark pen-shaped line travels with the gripper.",
        "targets": {
          "right_y": 0.2,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01UUbBeeo1LPTqbfohnkL6vc",
      "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]: [-0.8974, 1.298, 0.9791, -0.5426, -0.6991, -0.6285, 0.9994, 0.3408, 1.4574, 1.0306, -0.1684, -0.2989, -0.4149, 0.0304]\nstate[eef_state]: left_x=0.3 left_y=-0.188 left_z=0.1907 left_yaw=0.0033 left_pitch=-0.0499 left_roll=0.0107 left_gripper=0.9994 right_x=0.3923 right_y=0.1981 right_z=0.1937 right_yaw=0.7997 right_pitch=-0.017 right_roll=-0.1768 right_gripper=0.0304\nstate[joint_eff]: [-0.3214, -4.8752, 6.8991, 1.3455, -0.3248, -0.0611, -0.0122, 0.2667, -5.7368, 6.694, 2.0488, 0.0806, 0.1587, 0.0562]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:195d8b6efd3f7f8beb56d960d8d40bd84b58dd43c491fc590bc082c091de4e08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eda63e1c591be50bbf443ef61f35956bbb99246640adcb16ad88461e5867ce65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:80f9972d7ab58bbb0aeb3e83c3624e34add2fc180c49edba0d676c3e7138b016",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /messages · status 200 · 12.43 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8974, 1.2976, 0.9794, -0.5426, -0.6991, -0.6285, 0.9994, 0.1509, 1.8301, 0.8303, 0.2237, -0.4191, -0.4782, 0.0291]\nstate[eef_state]: left_x=0.3 left_y=-0.1881 left_z=0.191 left_yaw=0.0033 left_pitch=-0.0494 left_roll=0.0101 left_gripper=0.9994 right_x=0.4195 right_y=0.1401 right_z=0.0315 right_yaw=0.7489 right_pitch=-0.1385 right_roll=-0.0707 right_gripper=0.0291\nstate[joint_eff]: [-0.0615, -4.9573, 6.735, 1.3504, -0.3053, -0.0269, -0.0171, -0.3487, -9.853, 6.6393, 1.6874, -0.1441, 0.1245, 0.188]\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]: [-0.8974, 1.298, 0.9791, -0.5423, -0.6991, -0.6285, 0.9994, 0.1707, 1.4021, 1.0607, -0.231, -0.4118, -0.4782, 0.0298]\nstate[eef_state]: left_x=0.3 left_y=-0.1881 left_z=0.1908 left_yaw=0.0033 left_pitch=-0.0497 left_roll=0.0104 left_gripper=0.9994 right_x=0.403 right_y=0.1449 right_z=0.2213 right_yaw=0.7565 right_pitch=0.0282 right_roll=-0.1882 right_gripper=0.0298\nstate[joint_eff]: [-0.1573, -4.9436, 6.7077, 1.4188, -0.2857, -0.0024, -0.0171, 0.1026, -3.8222, 6.2017, 1.0232, -0.0855, 0.1245, 0.0611]\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]: [-0.8974, 1.298, 0.9791, -0.5426, -0.6991, -0.6285, 0.9994, 0.3408, 1.4574, 1.0306, -0.1684, -0.2989, -0.4149, 0.0304]\nstate[eef_state]: left_x=0.3 left_y=-0.188 left_z=0.1907 left_yaw=0.0033 left_pitch=-0.0499 left_roll=0.0107 left_gripper=0.9994 right_x=0.3923 right_y=0.1981 right_z=0.1937 right_yaw=0.7997 right_pitch=-0.017 right_roll=-0.1768 right_gripper=0.0304\nstate[joint_eff]: [-0.3214, -4.8752, 6.8991, 1.3455, -0.3248, -0.0611, -0.0122, 0.2667, -5.7368, 6.694, 2.0488, 0.0806, 0.1587, 0.0562]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:195d8b6efd3f7f8beb56d960d8d40bd84b58dd43c491fc590bc082c091de4e08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eda63e1c591be50bbf443ef61f35956bbb99246640adcb16ad88461e5867ce65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80f9972d7ab58bbb0aeb3e83c3624e34add2fc180c49edba0d676c3e7138b016",
        "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_019sm5ghAae2EGDAH8P7FTRw",
      "input": {
        "note": "The vertical dark line was just a seam in the table, but the pen is gone from its original spot and a thin object hangs from the right jaws, so the pen is held. Now moving the left arm forward over the cap (the small dark blob ahead of it) to set up that grasp.",
        "targets": {
          "left_x": 0.38,
          "left_y": -0.22,
          "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_019sm5ghAae2EGDAH8P7FTRw",
      "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]: [-0.7715, 1.6817, 0.9287, -0.136, -0.6205, -0.5404, 0.9994, 0.355, 1.4677, 1.0222, -0.1196, -0.2653, -0.3958, 0.0312]\nstate[eef_state]: left_x=0.3636 left_y=-0.2053 left_z=0.0847 left_yaw=0.0295 left_pitch=-0.1154 left_roll=0.0617 left_gripper=0.9994 right_x=0.3981 right_y=0.2008 right_z=0.1945 right_yaw=0.7756 right_pitch=0.0042 right_roll=-0.1901 right_gripper=0.0312\nstate[joint_eff]: [0.3761, -8.7179, 8.6085, 1.6288, -0.2808, 0.1636, -0.0122, -0.5538, -6.5573, 7.241, 1.8681, -0.0659, 0.1245, 0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16afe26fe7be529b031ea9264fe72acefd4bad7634e0c07263de2d4cf3af0fb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28393ae7679e29326a88f2e334c71250b02e1c79fd93cb3fc1a0ed6873862443",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:40e644fd501eadeddda11c1518a5bb694ee97161ee3383d46c6c3e0379e59323",
        "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 · 12.61 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8974, 1.298, 0.9791, -0.5423, -0.6991, -0.6285, 0.9994, 0.1707, 1.4021, 1.0607, -0.231, -0.4118, -0.4782, 0.0298]\nstate[eef_state]: left_x=0.3 left_y=-0.1881 left_z=0.1908 left_yaw=0.0033 left_pitch=-0.0497 left_roll=0.0104 left_gripper=0.9994 right_x=0.403 right_y=0.1449 right_z=0.2213 right_yaw=0.7565 right_pitch=0.0282 right_roll=-0.1882 right_gripper=0.0298\nstate[joint_eff]: [-0.1573, -4.9436, 6.7077, 1.4188, -0.2857, -0.0024, -0.0171, 0.1026, -3.8222, 6.2017, 1.0232, -0.0855, 0.1245, 0.0611]\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]: [-0.8974, 1.298, 0.9791, -0.5426, -0.6991, -0.6285, 0.9994, 0.3408, 1.4574, 1.0306, -0.1684, -0.2989, -0.4149, 0.0304]\nstate[eef_state]: left_x=0.3 left_y=-0.188 left_z=0.1907 left_yaw=0.0033 left_pitch=-0.0499 left_roll=0.0107 left_gripper=0.9994 right_x=0.3923 right_y=0.1981 right_z=0.1937 right_yaw=0.7997 right_pitch=-0.017 right_roll=-0.1768 right_gripper=0.0304\nstate[joint_eff]: [-0.3214, -4.8752, 6.8991, 1.3455, -0.3248, -0.0611, -0.0122, 0.2667, -5.7368, 6.694, 2.0488, 0.0806, 0.1587, 0.0562]\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 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]: [-0.7715, 1.6817, 0.9287, -0.136, -0.6205, -0.5404, 0.9994, 0.355, 1.4677, 1.0222, -0.1196, -0.2653, -0.3958, 0.0312]\nstate[eef_state]: left_x=0.3636 left_y=-0.2053 left_z=0.0847 left_yaw=0.0295 left_pitch=-0.1154 left_roll=0.0617 left_gripper=0.9994 right_x=0.3981 right_y=0.2008 right_z=0.1945 right_yaw=0.7756 right_pitch=0.0042 right_roll=-0.1901 right_gripper=0.0312\nstate[joint_eff]: [0.3761, -8.7179, 8.6085, 1.6288, -0.2808, 0.1636, -0.0122, -0.5538, -6.5573, 7.241, 1.8681, -0.0659, 0.1245, 0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16afe26fe7be529b031ea9264fe72acefd4bad7634e0c07263de2d4cf3af0fb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28393ae7679e29326a88f2e334c71250b02e1c79fd93cb3fc1a0ed6873862443",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40e644fd501eadeddda11c1518a5bb694ee97161ee3383d46c6c3e0379e59323",
        "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_016idMzPq6dqKM2uEriJJJW9",
      "input": {
        "note": "Left wrist view puts the cap about 3 cm to the arm's left and still well ahead of the fingertips; moving forward 5 cm, left 3 cm and down to table level to straddle it.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.173,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_016idMzPq6dqKM2uEriJJJW9",
      "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]: [-0.5961, 1.9034, 0.8936, 0.1287, -0.5278, -0.4236, 0.9994, 0.355, 1.4677, 1.0214, -0.1234, -0.2653, -0.3969, 0.0313]\nstate[eef_state]: left_x=0.4071 left_y=-0.1643 left_z=0.0144 left_yaw=0.0747 left_pitch=-0.1628 left_roll=0.0921 left_gripper=0.9994 right_x=0.3975 right_y=0.2006 right_z=0.1934 right_yaw=0.7762 right_pitch=-0.0001 right_roll=-0.1892 right_gripper=0.0313\nstate[joint_eff]: [0.2803, -8.9231, 5.4222, 1.6874, -0.1636, 0.149, -0.0122, -0.3487, -6.7077, 7.0085, 1.7314, -0.1343, -0.0415, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4dafd195abfacbd0254c64d615be3556d146ca2f232d32aee1a0eb6d95b840cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb38f7578c1273502416931bccc58d53970aa3b96ed9157675f9f7e724ab5b3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:890700048210d85e1c5d765fe3c75a368180eddac26bcf66b19fcd07ec076fa7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 3.426 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8974, 1.298, 0.9791, -0.5426, -0.6991, -0.6285, 0.9994, 0.3408, 1.4574, 1.0306, -0.1684, -0.2989, -0.4149, 0.0304]\nstate[eef_state]: left_x=0.3 left_y=-0.188 left_z=0.1907 left_yaw=0.0033 left_pitch=-0.0499 left_roll=0.0107 left_gripper=0.9994 right_x=0.3923 right_y=0.1981 right_z=0.1937 right_yaw=0.7997 right_pitch=-0.017 right_roll=-0.1768 right_gripper=0.0304\nstate[joint_eff]: [-0.3214, -4.8752, 6.8991, 1.3455, -0.3248, -0.0611, -0.0122, 0.2667, -5.7368, 6.694, 2.0488, 0.0806, 0.1587, 0.0562]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.7715, 1.6817, 0.9287, -0.136, -0.6205, -0.5404, 0.9994, 0.355, 1.4677, 1.0222, -0.1196, -0.2653, -0.3958, 0.0312]\nstate[eef_state]: left_x=0.3636 left_y=-0.2053 left_z=0.0847 left_yaw=0.0295 left_pitch=-0.1154 left_roll=0.0617 left_gripper=0.9994 right_x=0.3981 right_y=0.2008 right_z=0.1945 right_yaw=0.7756 right_pitch=0.0042 right_roll=-0.1901 right_gripper=0.0312\nstate[joint_eff]: [0.3761, -8.7179, 8.6085, 1.6288, -0.2808, 0.1636, -0.0122, -0.5538, -6.5573, 7.241, 1.8681, -0.0659, 0.1245, 0.0659]",
      "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]: [-0.5961, 1.9034, 0.8936, 0.1287, -0.5278, -0.4236, 0.9994, 0.355, 1.4677, 1.0214, -0.1234, -0.2653, -0.3969, 0.0313]\nstate[eef_state]: left_x=0.4071 left_y=-0.1643 left_z=0.0144 left_yaw=0.0747 left_pitch=-0.1628 left_roll=0.0921 left_gripper=0.9994 right_x=0.3975 right_y=0.2006 right_z=0.1934 right_yaw=0.7762 right_pitch=-0.0001 right_roll=-0.1892 right_gripper=0.0313\nstate[joint_eff]: [0.2803, -8.9231, 5.4222, 1.6874, -0.1636, 0.149, -0.0122, -0.3487, -6.7077, 7.0085, 1.7314, -0.1343, -0.0415, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4dafd195abfacbd0254c64d615be3556d146ca2f232d32aee1a0eb6d95b840cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb38f7578c1273502416931bccc58d53970aa3b96ed9157675f9f7e724ab5b3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:890700048210d85e1c5d765fe3c75a368180eddac26bcf66b19fcd07ec076fa7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0143yMH6X6XYKm927VG17dbi",
      "input": {
        "note": "The cap is now centred on the jaw column at table level but still short of the fingertips; advancing 4 cm radially at constant height so the open jaws straddle it.",
        "targets": {
          "left_x": 0.45,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_0143yMH6X6XYKm927VG17dbi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.54, 2.0064, 1.008, 0.1417, -0.5095, -0.3973, 0.9994, 0.355, 1.4677, 1.0206, -0.1238, -0.2657, -0.4, 0.0314]\nstate[eef_state]: left_x=0.442 left_y=-0.1603 left_z=0.0086 left_yaw=0.1005 left_pitch=-0.1534 left_roll=0.0857 left_gripper=0.9994 right_x=0.3973 right_y=0.2006 right_z=0.193 right_yaw=0.7781 right_pitch=-0.0014 right_roll=-0.1911 right_gripper=0.0314\nstate[joint_eff]: [0.4444, -9.1419, 7.4188, 1.1893, -0.105, 0.3053, -0.0171, -0.0479, -6.735, 7.0085, 1.6825, -0.1587, -0.022, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8acae4ed97fc7a36634cf3d8a05b7c924d181b4af8c9c7059664f4a9f95163c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4958f3efe687f9bed61989dc7b84380384f8d16af75dbcd388a08abe4658cb22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:45804643f92cddf511b7da78a55487073f165bc22b592ef8f6c2e8017713ed82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 9.441 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7715, 1.6817, 0.9287, -0.136, -0.6205, -0.5404, 0.9994, 0.355, 1.4677, 1.0222, -0.1196, -0.2653, -0.3958, 0.0312]\nstate[eef_state]: left_x=0.3636 left_y=-0.2053 left_z=0.0847 left_yaw=0.0295 left_pitch=-0.1154 left_roll=0.0617 left_gripper=0.9994 right_x=0.3981 right_y=0.2008 right_z=0.1945 right_yaw=0.7756 right_pitch=0.0042 right_roll=-0.1901 right_gripper=0.0312\nstate[joint_eff]: [0.3761, -8.7179, 8.6085, 1.6288, -0.2808, 0.1636, -0.0122, -0.5538, -6.5573, 7.241, 1.8681, -0.0659, 0.1245, 0.0659]",
      "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]: [-0.5961, 1.9034, 0.8936, 0.1287, -0.5278, -0.4236, 0.9994, 0.355, 1.4677, 1.0214, -0.1234, -0.2653, -0.3969, 0.0313]\nstate[eef_state]: left_x=0.4071 left_y=-0.1643 left_z=0.0144 left_yaw=0.0747 left_pitch=-0.1628 left_roll=0.0921 left_gripper=0.9994 right_x=0.3975 right_y=0.2006 right_z=0.1934 right_yaw=0.7762 right_pitch=-0.0001 right_roll=-0.1892 right_gripper=0.0313\nstate[joint_eff]: [0.2803, -8.9231, 5.4222, 1.6874, -0.1636, 0.149, -0.0122, -0.3487, -6.7077, 7.0085, 1.7314, -0.1343, -0.0415, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.54, 2.0064, 1.008, 0.1417, -0.5095, -0.3973, 0.9994, 0.355, 1.4677, 1.0206, -0.1238, -0.2657, -0.4, 0.0314]\nstate[eef_state]: left_x=0.442 left_y=-0.1603 left_z=0.0086 left_yaw=0.1005 left_pitch=-0.1534 left_roll=0.0857 left_gripper=0.9994 right_x=0.3973 right_y=0.2006 right_z=0.193 right_yaw=0.7781 right_pitch=-0.0014 right_roll=-0.1911 right_gripper=0.0314\nstate[joint_eff]: [0.4444, -9.1419, 7.4188, 1.1893, -0.105, 0.3053, -0.0171, -0.0479, -6.735, 7.0085, 1.6825, -0.1587, -0.022, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8acae4ed97fc7a36634cf3d8a05b7c924d181b4af8c9c7059664f4a9f95163c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4958f3efe687f9bed61989dc7b84380384f8d16af75dbcd388a08abe4658cb22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45804643f92cddf511b7da78a55487073f165bc22b592ef8f6c2e8017713ed82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISkQMKjgEIEhgCKkD2SZLAjT6mo4gqUPOpdfOz4+/AxMOytAffgn0VK1rZkSWs717rlf7C9ah9W72+nuRDcdsXRJRoObMxctGQ/lBnMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfOezNUGEgzUXNK1/AT0NJoXr+waDM9sKKqVtWWmojN8KyIwW+bDACU7aYvguILD6C1cnuvMckLx8krWXGjUoc3XmkBs5l/J/6YS9W9rUoSi6r9HKq8BN/1A/JeZgL3HgYeFDAq0Jl8DtXAdAoEsnx+X95VNo8obPGZZ3fWH1lqjjcP1wHJNm66M44n7nOH9dNhdxaw+xupAxdGvY00FlitsCGJE2rX7z3OzKjwk0nLC2bp2qNHpEGR8+t350T6fJN0Nuh/e2qqIulDdvCfjG4RpMHJY+SW7mwKFAnml3tkmr3hOOxCFPVDw7vvKxBbYTNx3GwRGutQA53SDcGKeozGu+9BfEhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ExfoxN3wqdBQoPru5ogrNz",
      "input": {
        "note": "The cap now sits between the open jaws at the bottom of the left wrist view; closing the left gripper on it.",
        "targets": {
          "left_gripper": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01ExfoxN3wqdBQoPru5ogrNz",
      "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]: [-0.5266, 2.0155, 1.0222, 0.1184, -0.4892, -0.379, 0.0255, 0.355, 1.4677, 1.0206, -0.1234, -0.2653, -0.4, 0.0319]\nstate[eef_state]: left_x=0.4434 left_y=-0.1576 left_z=0.0045 left_yaw=0.0905 left_pitch=-0.1782 left_roll=0.0978 left_gripper=0.0255 right_x=0.3974 right_y=0.2005 right_z=0.193 right_yaw=0.7777 right_pitch=-0.0011 right_roll=-0.1915 right_gripper=0.0319\nstate[joint_eff]: [-0.4034, -9.4291, 7.3641, 1.4188, -0.149, 0.1245, 0.315, -0.0889, -6.735, 7.1316, 1.707, -0.1441, -0.0366, 0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4f26708e69549751235e0addcf8ca5f5b786d270b1e7ddb68174b7d3b38e9c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1b416a2ef1794bb2470571e6bfd179da9410675bf1e72e06d4b055615fe65dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f03b9a280a2eb593867817059f67b23aae4730bc3fac6fc3dc81017dc7539da3",
        "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 · 9.794 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5961, 1.9034, 0.8936, 0.1287, -0.5278, -0.4236, 0.9994, 0.355, 1.4677, 1.0214, -0.1234, -0.2653, -0.3969, 0.0313]\nstate[eef_state]: left_x=0.4071 left_y=-0.1643 left_z=0.0144 left_yaw=0.0747 left_pitch=-0.1628 left_roll=0.0921 left_gripper=0.9994 right_x=0.3975 right_y=0.2006 right_z=0.1934 right_yaw=0.7762 right_pitch=-0.0001 right_roll=-0.1892 right_gripper=0.0313\nstate[joint_eff]: [0.2803, -8.9231, 5.4222, 1.6874, -0.1636, 0.149, -0.0122, -0.3487, -6.7077, 7.0085, 1.7314, -0.1343, -0.0415, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.54, 2.0064, 1.008, 0.1417, -0.5095, -0.3973, 0.9994, 0.355, 1.4677, 1.0206, -0.1238, -0.2657, -0.4, 0.0314]\nstate[eef_state]: left_x=0.442 left_y=-0.1603 left_z=0.0086 left_yaw=0.1005 left_pitch=-0.1534 left_roll=0.0857 left_gripper=0.9994 right_x=0.3973 right_y=0.2006 right_z=0.193 right_yaw=0.7781 right_pitch=-0.0014 right_roll=-0.1911 right_gripper=0.0314\nstate[joint_eff]: [0.4444, -9.1419, 7.4188, 1.1893, -0.105, 0.3053, -0.0171, -0.0479, -6.735, 7.0085, 1.6825, -0.1587, -0.022, -0.0073]",
      "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]: [-0.5266, 2.0155, 1.0222, 0.1184, -0.4892, -0.379, 0.0255, 0.355, 1.4677, 1.0206, -0.1234, -0.2653, -0.4, 0.0319]\nstate[eef_state]: left_x=0.4434 left_y=-0.1576 left_z=0.0045 left_yaw=0.0905 left_pitch=-0.1782 left_roll=0.0978 left_gripper=0.0255 right_x=0.3974 right_y=0.2005 right_z=0.193 right_yaw=0.7777 right_pitch=-0.0011 right_roll=-0.1915 right_gripper=0.0319\nstate[joint_eff]: [-0.4034, -9.4291, 7.3641, 1.4188, -0.149, 0.1245, 0.315, -0.0889, -6.735, 7.1316, 1.707, -0.1441, -0.0366, 0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4f26708e69549751235e0addcf8ca5f5b786d270b1e7ddb68174b7d3b38e9c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1b416a2ef1794bb2470571e6bfd179da9410675bf1e72e06d4b055615fe65dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f03b9a280a2eb593867817059f67b23aae4730bc3fac6fc3dc81017dc7539da3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISyAoKjgEIEhgCKkAf8jGaFOuUsfuXO789mIojRCwEuUUzK3w4GFDzzVyXifSUrZm1GWynmGhRvRkR4Ctx/mPSSxm2g5mH7jm+YVq4Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf2ezNUGEgzOhxrNCjihakrW/UIaDEMlN3NEbAohWrJN9iIw/X7sMpEOtxYx9cdSrMzXWFevMoss7AoZDzBPrrQHLvor3KRAWcuA07xQseZ51RKhKuYIonLh9+XpsvA4BekhxSnnuIxbBxHtdbtom4LSFy+zIkcvu/Q6Ehkk89IJGemBz7cqA3ywBiR9XNCBI31CVAu58A3b18zEHwvR7oB8xsTFJ6rLN71WT8+p9A+0cDQ4jdrAhk5GWBE50LoHV9GpBDy2MHN5SGx8SiD8NC7dkoxSCc0NdziaCVP8rtdfT9IMDnar3Ko5H14hD/3NPaJyRDmlQM03BCcDhWQ1VqDOB+zOsCNFRZ3I/NiJBw/viMRujCsOK/rpYQw0dxheseDQ2mFUzf8v0LxDJhhn63cakTAw2OsM5OpKLrtb0kEJ7Z9qmR9vE07ww+KJ7X+yBD/DrS1Zx5DqsTVQLcQOnynnjwJ8tzahcoOPGEM0ShQyvSmqyyuNjca/yAnHCYf81+O2dVdk2fHdZSjR00U0ZUCnNocuCT8XQLO9DUwZdtNsbJNJm0k3Q0hiwmODamjKUM04JzQVSTMIGsXsH2xnvMabRdPjHhPz95b9YGKO594xE/ZFLGtOkQCwiBFj0IxQc+3H0NdooevLA9VFo+o+t4nLrj5sSUVublZoAJgTSGlNa8ke+/Trz5V7WxfyknKTxKkByXgDHozXo/hOFThvh0AlnDI5x3Wcic/oOaTKB0BPksb2QmVHmF8BOe7QnxqbcIaIOUZqU16ykPRWh6tEkj1h2JHgnE3DmUflT+UgJFvrEBhrpDHb6qT79pDPyTX8xSiyY+iTVObwPfls5DTtjtCGGpXs05mxJCnh91Uosbs2BYFsIgVCvoUOW+7MITMJOmgA/FVNxayyocXBizE7pHEicJ1f3vAVjyYgJa7+m6DUni2sGf80wxNMLv0FY4hCi67RHtnBN2cPzr9dCQkNZLpndzszhRbDgTT1JBAv4D9G5uYyIRvX5tw1r4zycWh05IYSGVOG0E9U96EuA1XjIcZuX9HUzRve/KVvG7l4mY2yI0Xc862LSufgqa7RNSGAp1IOVCN4hEmhR0RmS5ueNNpiSnGfmkdgmayRxV7EEjFncJuioI2It1mDfu2WUxzqVtHWl0Hmry0dAoYLdT8WZZmGD7RDSRzSIdMznyqhcdUWd/szYQakNNX6pseHhx1MOBKBLOnz6JoMJ2jAMoaZ54eNoJmos6QS64QEShtVhAh9cKSO0nvQTojdZzE/NMO1ENHkCuTTxRHBn+PM+26AlQr482jaPLO74DZJJ7wKN3cGU1ptRFXWHPB7afpBI7BDavHXfXm6A0cGOI9xA8L81RMLkxwnMr79/vDH5nC0oWsc+lcDkLHyaj03MX4whCtjgoxTFxwjIiI1YrGMikhAkubNHmlIUy6+BUodYk3/daKVHN29+rxZ7Ix/ipO5efmRC0eTt0RDp1cXKF7wptwL/rHERnE1yd5ZQNgVLlt1NDTCbrSWl7KlZVcmwMBSkzuugay/zQj50hE+T3OssVDbp6lXs4GnzLPH1eJ63d8ivbZtd4Nqr69NfhS5MGIQcZSo9dAGyKf8hLBmcFzz5hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019vahXyGgQkAp3k8st4MJRU",
      "input": {
        "note": "Left gripper closed to 0.026; lifting it 15 cm and pulling back to see in the top view whether the cap came up with the jaws.",
        "targets": {
          "left_x": 0.4,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_019vahXyGgQkAp3k8st4MJRU",
      "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]: [-0.588, 1.6661, 1.1343, -0.3977, -0.5175, -0.4408, 0.0252, 0.355, 1.4677, 1.0203, -0.1234, -0.2657, -0.4, 0.032]\nstate[eef_state]: left_x=0.4003 left_y=-0.1576 left_z=0.1233 left_yaw=0.0902 left_pitch=-0.2048 left_roll=0.1037 left_gripper=0.0252 right_x=0.3973 right_y=0.2005 right_z=0.1929 right_yaw=0.7781 right_pitch=-0.0014 right_roll=-0.1911 right_gripper=0.032\nstate[joint_eff]: [-0.4444, -9.9077, 9.7983, 1.3651, -0.4274, 0.0269, -0.0415, -0.1299, -6.5162, 7.0085, 1.6972, -0.1343, -0.0562, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5bfd52ff88b89626fa5d3bc6099dbcc9a0eef13e6e1cc02fcdeaa495221294d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b6b091c2be35e44775729d17981f786a301cb5f35de3b339c73ec6218306007",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e324b127162f17108cd299a1307a56a4845def9adff9ce89e1fdfabc23bd506a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /messages · status 200 · 20.04 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.54, 2.0064, 1.008, 0.1417, -0.5095, -0.3973, 0.9994, 0.355, 1.4677, 1.0206, -0.1238, -0.2657, -0.4, 0.0314]\nstate[eef_state]: left_x=0.442 left_y=-0.1603 left_z=0.0086 left_yaw=0.1005 left_pitch=-0.1534 left_roll=0.0857 left_gripper=0.9994 right_x=0.3973 right_y=0.2006 right_z=0.193 right_yaw=0.7781 right_pitch=-0.0014 right_roll=-0.1911 right_gripper=0.0314\nstate[joint_eff]: [0.4444, -9.1419, 7.4188, 1.1893, -0.105, 0.3053, -0.0171, -0.0479, -6.735, 7.0085, 1.6825, -0.1587, -0.022, -0.0073]",
      "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]: [-0.5266, 2.0155, 1.0222, 0.1184, -0.4892, -0.379, 0.0255, 0.355, 1.4677, 1.0206, -0.1234, -0.2653, -0.4, 0.0319]\nstate[eef_state]: left_x=0.4434 left_y=-0.1576 left_z=0.0045 left_yaw=0.0905 left_pitch=-0.1782 left_roll=0.0978 left_gripper=0.0255 right_x=0.3974 right_y=0.2005 right_z=0.193 right_yaw=0.7777 right_pitch=-0.0011 right_roll=-0.1915 right_gripper=0.0319\nstate[joint_eff]: [-0.4034, -9.4291, 7.3641, 1.4188, -0.149, 0.1245, 0.315, -0.0889, -6.735, 7.1316, 1.707, -0.1441, -0.0366, 0.0415]",
      "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]: [-0.588, 1.6661, 1.1343, -0.3977, -0.5175, -0.4408, 0.0252, 0.355, 1.4677, 1.0203, -0.1234, -0.2657, -0.4, 0.032]\nstate[eef_state]: left_x=0.4003 left_y=-0.1576 left_z=0.1233 left_yaw=0.0902 left_pitch=-0.2048 left_roll=0.1037 left_gripper=0.0252 right_x=0.3973 right_y=0.2005 right_z=0.1929 right_yaw=0.7781 right_pitch=-0.0014 right_roll=-0.1911 right_gripper=0.032\nstate[joint_eff]: [-0.4444, -9.9077, 9.7983, 1.3651, -0.4274, 0.0269, -0.0415, -0.1299, -6.5162, 7.0085, 1.6972, -0.1343, -0.0562, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5bfd52ff88b89626fa5d3bc6099dbcc9a0eef13e6e1cc02fcdeaa495221294d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b6b091c2be35e44775729d17981f786a301cb5f35de3b339c73ec6218306007",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e324b127162f17108cd299a1307a56a4845def9adff9ce89e1fdfabc23bd506a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2QkKjgEIEhgCKkDA9SBG0KPZU05sWqQ4ZaGT2D67A+WwQuvrEEG7Uma4YhARKDq5f4KOh/dJqknCKXM8BRLIXLozoLDNYeDGPFeUMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYefzNUGEgx79rYbam2Nob7HQnsaDHKqT1dkCOIZJdYWASIw2fXBxTM/caBTpCrGhBAJXBqrJ019g64hIcIhUE2lekSXQd4izMmdCLB94CEvgpOFKvcHr/nxp2bWhOKyHPo6hRXoeMMmKZSzX5VAsrYbvSLzItv4lYFUH8LmQ5aypZxYt5h/2CZgUFqt9Nuk4sr6EOu9aw6Kpv6n6B7ur2k7EZRqVGbwVLdUJXO1o7s7f0FISEAJjEp3jpJeXP24Uw1Lxk0Dn3ccTWQtsVxMHJ30SgsiiRR2milh6FbVdCmShcHcSeOX8Ego0k07GzeHaECuNZmaxzO6QTTXCRdTPmyAJ6/ia4N2nnwhg/PRcSt+Fe1E20XBuwP6dxchdllwSoYa+3EnWvjjTxTTG8CzYGAHzxu3DBPSgke60cZjHFJ0SoiKNR0WzEq1KGc3A63denBehqT4OXIBbmJqVSexBKPeQejiyFJLLwqSaBEBB+XSDyyKkYddLLlhBYIZxbslCJxzl66HoqwrPv1Xyjn6ddXP8lW7Z7GlAFrTG4FDsUSub4Qez4Otfs7QMBkdQZfUiElvR6LFbKP+6tMp5mbdE6TcxWKWrT06nQoCVB9HANi0FEHT+2WUC+hM0vN+aQlcr/5JKJIa/5Nfel9d1Gv9m98ZpkG6v+wWa+LJP0EWYUGUem7yaag4QasfNc1tAknLl00Hu5SdW5m8K/bvyl1paYpe+6b6PhxfZ7/2bulX65Ge3H9aREGC8OIVmhwmfyqjSnD2czbXvuEEKZ87HlsdsKqM7K7N/QHZ8cVE29RZrjQJ3kDv5ET9/43OQQ0tL1xtedxMYcGla4GwBZEVxocOqu2u6O/MkTleSOZGfiWGJm4UrWtl2MDdFSaOQ6S7dKuUk1I7VQ205ku4JOKVQlHs2CVVDrdA4SoOQ9qW1wU4iXlm3+tKtkjHdAHVDr7JqXCjR7kf3aFATx307QtpFqxl4cbTc2b+195GxRecdD0vUpTt8s6KFhn5kc4TBRTMJRAwFS2OGvE/GPu8R/AP+dJpgQjjvWe8Ez0WLgh/McxZsp2c2toT/4iCdE6g6kcwl9UxCS/LSojsnNCtOl436lil/lGPe/w6ULPD0e+N5wY0SEfveSGbfdD34KSs6ex8SPa5u0LyhGdXSirb4CHAtUkUw/51O+nZTmbd8yI7DdXt/BR3N+8bxTbDCTu326rpgPgImO2L8C50JfRTpwbnuz3wpru8TaeYj0DxuD7uHIXAACNHG19rxjWNMvvMawl3Keh6MpqtLSRhre4ZF/xja541wkpFfvVlsaeDX2aB52EcU+d5TDooVGwxRiWUyLTa73fZjaqM+ELFb/gim18e/jpJCt1AM8DpmvyH650geLc62tdP9r4OADuO7ttcGCKT41vyNjnLQ1JegunxkFv8XqtXc939VB+Yiu6HR8MIWCrZjaPG4fTQbFSh18r2N21W6BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JFeGPK9n5E6qcVJJoXdQSv",
      "input": {
        "note": "Neither object is visible anywhere; pulling both arms back and out to their own sides so the top camera can show the bare table and tell me whether the pen and cap are held or still lying there.",
        "targets": {
          "left_x": 0.25,
          "left_y": -0.05,
          "left_z": 0.2,
          "right_x": 0.25,
          "right_y": 0.05,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01JFeGPK9n5E6qcVJJoXdQSv",
      "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]: [-0.5503, 0.9276, 0.8963, -0.8436, -0.4919, -0.4194, 0.0252, -0.3092, 0.8494, 0.7311, -0.6567, -0.7197, -0.8265, 0.0328]\nstate[eef_state]: left_x=0.2613 left_y=-0.0582 left_z=0.2024 left_yaw=0.0909 left_pitch=-0.175 left_roll=0.0693 left_gripper=0.0252 right_x=0.2662 right_y=0.041 right_z=0.1991 right_yaw=0.6986 right_pitch=-0.0089 right_roll=-0.2077 right_gripper=0.0328\nstate[joint_eff]: [0.212, -1.6752, 6.694, 1.4969, -0.2125, 0.1392, -0.0122, 0.0342, -1.7573, 7.6923, 1.5214, -0.5641, -0.2125, 0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc2e9a23c39e970be271469ec90af19db842bab378fc0f70412e76fc6867bea3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8964fd45419250874c58ca2f7a76ca2ffe2daa32e65df5aadf83907e30d3e838",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:630bfc478582e4de9eae803b1da0b9d1eaff664445cde8695cc9a32e750e8399",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 11.88 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5266, 2.0155, 1.0222, 0.1184, -0.4892, -0.379, 0.0255, 0.355, 1.4677, 1.0206, -0.1234, -0.2653, -0.4, 0.0319]\nstate[eef_state]: left_x=0.4434 left_y=-0.1576 left_z=0.0045 left_yaw=0.0905 left_pitch=-0.1782 left_roll=0.0978 left_gripper=0.0255 right_x=0.3974 right_y=0.2005 right_z=0.193 right_yaw=0.7777 right_pitch=-0.0011 right_roll=-0.1915 right_gripper=0.0319\nstate[joint_eff]: [-0.4034, -9.4291, 7.3641, 1.4188, -0.149, 0.1245, 0.315, -0.0889, -6.735, 7.1316, 1.707, -0.1441, -0.0366, 0.0415]",
      "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]: [-0.588, 1.6661, 1.1343, -0.3977, -0.5175, -0.4408, 0.0252, 0.355, 1.4677, 1.0203, -0.1234, -0.2657, -0.4, 0.032]\nstate[eef_state]: left_x=0.4003 left_y=-0.1576 left_z=0.1233 left_yaw=0.0902 left_pitch=-0.2048 left_roll=0.1037 left_gripper=0.0252 right_x=0.3973 right_y=0.2005 right_z=0.1929 right_yaw=0.7781 right_pitch=-0.0014 right_roll=-0.1911 right_gripper=0.032\nstate[joint_eff]: [-0.4444, -9.9077, 9.7983, 1.3651, -0.4274, 0.0269, -0.0415, -0.1299, -6.5162, 7.0085, 1.6972, -0.1343, -0.0562, 0.0024]",
      "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]: [-0.5503, 0.9276, 0.8963, -0.8436, -0.4919, -0.4194, 0.0252, -0.3092, 0.8494, 0.7311, -0.6567, -0.7197, -0.8265, 0.0328]\nstate[eef_state]: left_x=0.2613 left_y=-0.0582 left_z=0.2024 left_yaw=0.0909 left_pitch=-0.175 left_roll=0.0693 left_gripper=0.0252 right_x=0.2662 right_y=0.041 right_z=0.1991 right_yaw=0.6986 right_pitch=-0.0089 right_roll=-0.2077 right_gripper=0.0328\nstate[joint_eff]: [0.212, -1.6752, 6.694, 1.4969, -0.2125, 0.1392, -0.0122, 0.0342, -1.7573, 7.6923, 1.5214, -0.5641, -0.2125, 0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc2e9a23c39e970be271469ec90af19db842bab378fc0f70412e76fc6867bea3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8964fd45419250874c58ca2f7a76ca2ffe2daa32e65df5aadf83907e30d3e838",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:630bfc478582e4de9eae803b1da0b9d1eaff664445cde8695cc9a32e750e8399",
        "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_01NFqqwYXr4h4sMXQqHPTjuQ",
      "input": {
        "note": "The table is now clear except the pen, lying diagonally in the far middle — so the left gripper does hold the cap and the earlier pen grasp was empty. Bringing the right arm back over the pen with the wrist pre-rotated so its jaws close across the shaft.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.4,
          "right_y": 0.215,
          "right_yaw": 0.9,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01NFqqwYXr4h4sMXQqHPTjuQ",
      "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]: [-0.5499, 0.9314, 0.8963, -0.8715, -0.4892, -0.4202, 0.0252, 0.3378, 1.6474, 0.7944, 0.1761, -0.3794, -0.5106, 0.9965]\nstate[eef_state]: left_x=0.2574 left_y=-0.0562 left_z=0.1974 left_yaw=0.0933 left_pitch=-0.2016 left_roll=0.0864 left_gripper=0.0252 right_x=0.3821 right_y=0.2073 right_z=0.0836 right_yaw=0.9151 right_pitch=-0.0724 right_roll=-0.1738 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -1.7983, 6.8308, 1.6142, -0.2759, 0.0171, -0.0122, 0.3761, -7.2274, 8.0615, 1.9463, -0.0708, 0.2076, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:888e5305a4e1cbf4ec6d3d56b388501eb8bf66f1651f27d6f8195f465200f214",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f417e09ce351885520257768a2f9a583080c5741e1ead4fefb748e28d22c69a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:38932d41a0579e6f712b31ab917dc46b132e7ebf058ff5dfa832dd94a5af5eff",
        "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 · 7.148 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.588, 1.6661, 1.1343, -0.3977, -0.5175, -0.4408, 0.0252, 0.355, 1.4677, 1.0203, -0.1234, -0.2657, -0.4, 0.032]\nstate[eef_state]: left_x=0.4003 left_y=-0.1576 left_z=0.1233 left_yaw=0.0902 left_pitch=-0.2048 left_roll=0.1037 left_gripper=0.0252 right_x=0.3973 right_y=0.2005 right_z=0.1929 right_yaw=0.7781 right_pitch=-0.0014 right_roll=-0.1911 right_gripper=0.032\nstate[joint_eff]: [-0.4444, -9.9077, 9.7983, 1.3651, -0.4274, 0.0269, -0.0415, -0.1299, -6.5162, 7.0085, 1.6972, -0.1343, -0.0562, 0.0024]",
      "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]: [-0.5503, 0.9276, 0.8963, -0.8436, -0.4919, -0.4194, 0.0252, -0.3092, 0.8494, 0.7311, -0.6567, -0.7197, -0.8265, 0.0328]\nstate[eef_state]: left_x=0.2613 left_y=-0.0582 left_z=0.2024 left_yaw=0.0909 left_pitch=-0.175 left_roll=0.0693 left_gripper=0.0252 right_x=0.2662 right_y=0.041 right_z=0.1991 right_yaw=0.6986 right_pitch=-0.0089 right_roll=-0.2077 right_gripper=0.0328\nstate[joint_eff]: [0.212, -1.6752, 6.694, 1.4969, -0.2125, 0.1392, -0.0122, 0.0342, -1.7573, 7.6923, 1.5214, -0.5641, -0.2125, 0.0757]",
      "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]: [-0.5499, 0.9314, 0.8963, -0.8715, -0.4892, -0.4202, 0.0252, 0.3378, 1.6474, 0.7944, 0.1761, -0.3794, -0.5106, 0.9965]\nstate[eef_state]: left_x=0.2574 left_y=-0.0562 left_z=0.1974 left_yaw=0.0933 left_pitch=-0.2016 left_roll=0.0864 left_gripper=0.0252 right_x=0.3821 right_y=0.2073 right_z=0.0836 right_yaw=0.9151 right_pitch=-0.0724 right_roll=-0.1738 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -1.7983, 6.8308, 1.6142, -0.2759, 0.0171, -0.0122, 0.3761, -7.2274, 8.0615, 1.9463, -0.0708, 0.2076, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:888e5305a4e1cbf4ec6d3d56b388501eb8bf66f1651f27d6f8195f465200f214",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f417e09ce351885520257768a2f9a583080c5741e1ead4fefb748e28d22c69a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38932d41a0579e6f712b31ab917dc46b132e7ebf058ff5dfa832dd94a5af5eff",
        "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_01Vdcn7iQhPmcUGStH7UPdzm",
      "input": {
        "note": "The pen's bright tip shows at the right edge of the right wrist view with the shaft running down-right behind the finger; shifting ~4.5 cm to the arm's right and slightly back, down to table level, to straddle the shaft.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.16,
          "right_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Vdcn7iQhPmcUGStH7UPdzm",
      "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]: [-0.5499, 0.9329, 0.8963, -0.8764, -0.4892, -0.4206, 0.0252, 0.2016, 1.8099, 0.601, 0.4484, -0.4728, -0.5827, 0.9977]\nstate[eef_state]: left_x=0.2567 left_y=-0.0558 left_z=0.1964 left_yaw=0.0943 left_pitch=-0.2068 left_roll=0.09 left_gripper=0.0252 right_x=0.3655 right_y=0.1605 right_z=0.004 right_yaw=0.8963 right_pitch=-0.1084 right_roll=-0.132 right_gripper=0.9977\nstate[joint_eff]: [0.0342, -1.812, 6.5026, 1.3651, -0.2808, -0.0562, -0.0122, -0.3077, -6.147, 4.1504, 1.2283, 0.3346, -0.2759, 0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19399df1a3f70903acac1a75279c8da1340d310910966ba5eb66b0244722b436",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32cdda97ef0993c0daff7918bcd31e951af0380c5acf7c3ea67f0a90dda8926e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:97ef4042384542745e4bef7ab5737c9bdcb2ae532d67dc25284021b217be4bfc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /messages · status 200 · 34.07 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5503, 0.9276, 0.8963, -0.8436, -0.4919, -0.4194, 0.0252, -0.3092, 0.8494, 0.7311, -0.6567, -0.7197, -0.8265, 0.0328]\nstate[eef_state]: left_x=0.2613 left_y=-0.0582 left_z=0.2024 left_yaw=0.0909 left_pitch=-0.175 left_roll=0.0693 left_gripper=0.0252 right_x=0.2662 right_y=0.041 right_z=0.1991 right_yaw=0.6986 right_pitch=-0.0089 right_roll=-0.2077 right_gripper=0.0328\nstate[joint_eff]: [0.212, -1.6752, 6.694, 1.4969, -0.2125, 0.1392, -0.0122, 0.0342, -1.7573, 7.6923, 1.5214, -0.5641, -0.2125, 0.0757]",
      "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]: [-0.5499, 0.9314, 0.8963, -0.8715, -0.4892, -0.4202, 0.0252, 0.3378, 1.6474, 0.7944, 0.1761, -0.3794, -0.5106, 0.9965]\nstate[eef_state]: left_x=0.2574 left_y=-0.0562 left_z=0.1974 left_yaw=0.0933 left_pitch=-0.2016 left_roll=0.0864 left_gripper=0.0252 right_x=0.3821 right_y=0.2073 right_z=0.0836 right_yaw=0.9151 right_pitch=-0.0724 right_roll=-0.1738 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -1.7983, 6.8308, 1.6142, -0.2759, 0.0171, -0.0122, 0.3761, -7.2274, 8.0615, 1.9463, -0.0708, 0.2076, -0.0122]",
      "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]: [-0.5499, 0.9329, 0.8963, -0.8764, -0.4892, -0.4206, 0.0252, 0.2016, 1.8099, 0.601, 0.4484, -0.4728, -0.5827, 0.9977]\nstate[eef_state]: left_x=0.2567 left_y=-0.0558 left_z=0.1964 left_yaw=0.0943 left_pitch=-0.2068 left_roll=0.09 left_gripper=0.0252 right_x=0.3655 right_y=0.1605 right_z=0.004 right_yaw=0.8963 right_pitch=-0.1084 right_roll=-0.132 right_gripper=0.9977\nstate[joint_eff]: [0.0342, -1.812, 6.5026, 1.3651, -0.2808, -0.0562, -0.0122, -0.3077, -6.147, 4.1504, 1.2283, 0.3346, -0.2759, 0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19399df1a3f70903acac1a75279c8da1340d310910966ba5eb66b0244722b436",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32cdda97ef0993c0daff7918bcd31e951af0380c5acf7c3ea67f0a90dda8926e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97ef4042384542745e4bef7ab5737c9bdcb2ae532d67dc25284021b217be4bfc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS/wYKjgEIEhgCKkDIGkYZZ4W6YlWSbx9zyGpBSkXPb2jtx1lPNZmIClXFFlz6ua2rgM/okoRDC3Um4Risy6LTqcCWHWKVkzZ4uZdYMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbGfzNUGEgyn+NXmKoLgmxLdYcQaDDv9rxuMfDYWuaU6myIw/4CVQ657CJGihzAWgxb2OLNeIffAcJQdAcPMqdxB1XYsHRaSPe97ci/dRubwrGuyKp0Ff4MBji8QQx7KSiac1wMZVWreGUnZPXkOSlcSNBbaVVvUn1UoWyLfc1v+UkR3ePjpN1N6JF+bFGkIQmI8z0vKBHB5EKLxfCa6sZBWB4bD8xgSujlUw18ael9FWYWLmNtW9/hjMVMbzgFkd5qYvaURQxtpHjXE1HBwbvTR5blLoisYM1admuhFBQFOhfBELx0mF6SCAZphqSLPd35HPPrmvQ/OpVJ2I8RqxPKwIeSDZjlmNCod5WMZUcayipB1BZv85gmurEQ1QIpcY59peyBM4jkcUsfna55pEPNFPI3aBOPVRD/xSF8AFxL/7K7uRiEQZznWjpWeGXKxcuQr6017Mh4yibREiL1tI9nraCrvk82c24LY1vkG/OpqyElDlXQXajuUlSH+1wvQpw9wWrLciswOZX6fuN4egF9jqLwm/3mHrB2T0GpJZNZRm19KUfTul5PzXU+dslVyI0iJ0ibqB8WICoSlfbNefYtAWkwJ5u84Kt86iJCJM+VU/bURm0WNz1UjyT4Q64cqAPyYBuL5XNaJf3N7eM9h8mYiPKq9bT/HjSoWLkc9s1H+pEZt5p2hT14dcJa3zkp11bH3tv19LuVKRxu2CHg3NBnk1Ud+Zpy95G9b/r2TJFOjF15bbFfCRNUe18ye24Xc921gR3bG6JF6YRwK5SQI5SRNIgADt0obVbM1nrl2Fs+gRXSRnQm2zJBAdJGX4W5VrOicOIYUu2qp9wTyvLU469qkWZREPEJEHFhjjfARLvcsYiFGi1E8PIWLI5ghUnTNcMTQgmALcypr6HhuyLRVw2d2736Rchs1xdBZnGVadICPFNLk1wsPJSI+Z35HZndIMgPdaVo7qen4WB60U9fjrhoJwzrPc55Hhk9mBRDav3jObU4eGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XYfVbYmgFFrcREw7Fi4XM4",
      "input": {
        "note": "The pen is now fully visible in the right wrist view but still ~3 cm to the arm's right of the jaw centre; sliding right that much at table level to put the shaft between the jaws.",
        "targets": {
          "right_y": 0.125,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01XYfVbYmgFFrcREw7Fi4XM4",
      "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]: [-0.5499, 0.9333, 0.8963, -0.8772, -0.4892, -0.4206, 0.0252, 0.0948, 1.8191, 0.5941, 0.4564, -0.5507, -0.6456, 0.9979]\nstate[eef_state]: left_x=0.2566 left_y=-0.0557 left_z=0.1962 left_yaw=0.0945 left_pitch=-0.2077 left_roll=0.0908 left_gripper=0.0252 right_x=0.3723 right_y=0.1318 right_z=0.0046 right_yaw=0.8832 right_pitch=-0.0819 right_roll=-0.137 right_gripper=0.9979\nstate[joint_eff]: [-0.2256, -1.4427, 6.4889, 1.326, -0.2564, -0.0366, -0.0122, -0.1299, -8.1983, 3.9726, 1.2576, 0.0366, -0.3101, 0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b0e75e742c46d4f35d909691222cecdc9b79356973284ef861ba0a68fc41071",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb6b6849d212971c52e9c757a349536eb703cb8c882ca40bfd39e22e4f5f273f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f6d0f1d505a7a40d793804512636c4b762859eb445f38cfb5cb101642a899736",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /messages · status 200 · 15.06 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5499, 0.9314, 0.8963, -0.8715, -0.4892, -0.4202, 0.0252, 0.3378, 1.6474, 0.7944, 0.1761, -0.3794, -0.5106, 0.9965]\nstate[eef_state]: left_x=0.2574 left_y=-0.0562 left_z=0.1974 left_yaw=0.0933 left_pitch=-0.2016 left_roll=0.0864 left_gripper=0.0252 right_x=0.3821 right_y=0.2073 right_z=0.0836 right_yaw=0.9151 right_pitch=-0.0724 right_roll=-0.1738 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -1.7983, 6.8308, 1.6142, -0.2759, 0.0171, -0.0122, 0.3761, -7.2274, 8.0615, 1.9463, -0.0708, 0.2076, -0.0122]",
      "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]: [-0.5499, 0.9329, 0.8963, -0.8764, -0.4892, -0.4206, 0.0252, 0.2016, 1.8099, 0.601, 0.4484, -0.4728, -0.5827, 0.9977]\nstate[eef_state]: left_x=0.2567 left_y=-0.0558 left_z=0.1964 left_yaw=0.0943 left_pitch=-0.2068 left_roll=0.09 left_gripper=0.0252 right_x=0.3655 right_y=0.1605 right_z=0.004 right_yaw=0.8963 right_pitch=-0.1084 right_roll=-0.132 right_gripper=0.9977\nstate[joint_eff]: [0.0342, -1.812, 6.5026, 1.3651, -0.2808, -0.0562, -0.0122, -0.3077, -6.147, 4.1504, 1.2283, 0.3346, -0.2759, 0.1099]\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]: [-0.5499, 0.9333, 0.8963, -0.8772, -0.4892, -0.4206, 0.0252, 0.0948, 1.8191, 0.5941, 0.4564, -0.5507, -0.6456, 0.9979]\nstate[eef_state]: left_x=0.2566 left_y=-0.0557 left_z=0.1962 left_yaw=0.0945 left_pitch=-0.2077 left_roll=0.0908 left_gripper=0.0252 right_x=0.3723 right_y=0.1318 right_z=0.0046 right_yaw=0.8832 right_pitch=-0.0819 right_roll=-0.137 right_gripper=0.9979\nstate[joint_eff]: [-0.2256, -1.4427, 6.4889, 1.326, -0.2564, -0.0366, -0.0122, -0.1299, -8.1983, 3.9726, 1.2576, 0.0366, -0.3101, 0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b0e75e742c46d4f35d909691222cecdc9b79356973284ef861ba0a68fc41071",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb6b6849d212971c52e9c757a349536eb703cb8c882ca40bfd39e22e4f5f273f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6d0f1d505a7a40d793804512636c4b762859eb445f38cfb5cb101642a899736",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016EQ29F8goqdPcvi79AT7u7",
      "input": {
        "note": "The wrist yaw is confusing my image-to-world mapping, so I return the right wrist to yaw 0 (image-right = arm's right) and lift slightly, to re-locate the pen with unrotated axes.",
        "targets": {
          "right_yaw": 0.0,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_016EQ29F8goqdPcvi79AT7u7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5499, 0.9379, 0.8955, -0.8803, -0.4892, -0.4206, 0.0252, 0.5163, 1.718, 0.5579, 0.4374, 0.2661, 0.038, 0.9979]\nstate[eef_state]: left_x=0.2564 left_y=-0.0556 left_z=0.1944 left_yaw=0.0956 left_pitch=-0.2144 left_roll=0.0959 left_gripper=0.0252 right_x=0.3621 right_y=0.1563 right_z=0.0136 right_yaw=0.2565 right_pitch=-0.1407 right_roll=-0.1419 right_gripper=0.9979\nstate[joint_eff]: [-0.0615, -2.1128, 6.5573, 1.3846, -0.2613, -0.0269, -0.0122, 0.253, -7.6513, 6.6667, 1.6337, 0.4469, 0.1929, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53a1297c6f48c79a1d9aecebc67dc3f34df1ffac7ebdb47ec203e46b275b5c5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5dc868aafa8d13be15c0b6733c8da7081d7d2c8b0017585add3000cb8d0cf885",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:62d67caf08a5807367f9391ed6b05ada0307922a71d9e500033fca82d9677990",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 17.47 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5499, 0.9329, 0.8963, -0.8764, -0.4892, -0.4206, 0.0252, 0.2016, 1.8099, 0.601, 0.4484, -0.4728, -0.5827, 0.9977]\nstate[eef_state]: left_x=0.2567 left_y=-0.0558 left_z=0.1964 left_yaw=0.0943 left_pitch=-0.2068 left_roll=0.09 left_gripper=0.0252 right_x=0.3655 right_y=0.1605 right_z=0.004 right_yaw=0.8963 right_pitch=-0.1084 right_roll=-0.132 right_gripper=0.9977\nstate[joint_eff]: [0.0342, -1.812, 6.5026, 1.3651, -0.2808, -0.0562, -0.0122, -0.3077, -6.147, 4.1504, 1.2283, 0.3346, -0.2759, 0.1099]\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]: [-0.5499, 0.9333, 0.8963, -0.8772, -0.4892, -0.4206, 0.0252, 0.0948, 1.8191, 0.5941, 0.4564, -0.5507, -0.6456, 0.9979]\nstate[eef_state]: left_x=0.2566 left_y=-0.0557 left_z=0.1962 left_yaw=0.0945 left_pitch=-0.2077 left_roll=0.0908 left_gripper=0.0252 right_x=0.3723 right_y=0.1318 right_z=0.0046 right_yaw=0.8832 right_pitch=-0.0819 right_roll=-0.137 right_gripper=0.9979\nstate[joint_eff]: [-0.2256, -1.4427, 6.4889, 1.326, -0.2564, -0.0366, -0.0122, -0.1299, -8.1983, 3.9726, 1.2576, 0.0366, -0.3101, 0.0073]",
      "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]: [-0.5499, 0.9379, 0.8955, -0.8803, -0.4892, -0.4206, 0.0252, 0.5163, 1.718, 0.5579, 0.4374, 0.2661, 0.038, 0.9979]\nstate[eef_state]: left_x=0.2564 left_y=-0.0556 left_z=0.1944 left_yaw=0.0956 left_pitch=-0.2144 left_roll=0.0959 left_gripper=0.0252 right_x=0.3621 right_y=0.1563 right_z=0.0136 right_yaw=0.2565 right_pitch=-0.1407 right_roll=-0.1419 right_gripper=0.9979\nstate[joint_eff]: [-0.0615, -2.1128, 6.5573, 1.3846, -0.2613, -0.0269, -0.0122, 0.253, -7.6513, 6.6667, 1.6337, 0.4469, 0.1929, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53a1297c6f48c79a1d9aecebc67dc3f34df1ffac7ebdb47ec203e46b275b5c5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5dc868aafa8d13be15c0b6733c8da7081d7d2c8b0017585add3000cb8d0cf885",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62d67caf08a5807367f9391ed6b05ada0307922a71d9e500033fca82d9677990",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3BAKjgEIEhgCKkC/Yu9uGXiirVj/inemh8JGFfInLLn7NaYMDb7liRJAHulIqIaAzE5aikT5EyoprFL97/HtzLTWtppwtwvVyUnBMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeOfzNUGEgwrTk8u5Nlqb0qmlTYaDFmUFbHsemOrjmeWGyIwVuyk5GRQr9OqcLwSv8CRgITv9LVfcab0Rg7q2kP6v/y6B57EQDhZcEgUrweDYB9BKvoOMJY4mY/UWgO5KK0vb4daQHAD/neOkXsjwrYWLXAC8+4r4lGWp3rhfvPs6eE8ziA+qgqEvmIsmC7YfbB/cL3weIRhtPRpILyn70upTDNbSS0F3/sPXkE9CmlJ1rLgPYN3JUAwKl6Uo9jMG9nBaLoC9EqOby5DJHIyfcyW8f+wx7tC+Rd9ARGq/0TRAwtOBD6Pkcgb7Y9TqLZ1U9xc69MOe2fV3vN9QgUAzNnKjMfVE0hqwDN+HHGhbo9Bf6ejIGHJIsbdFM4bqfoEf9HoIE0YlDkvGVZ4PtIcMjVQYqs0yYeLJBaea/s6+Mv/ckl7Nd8KPflt7J7jotqZVOUeueI04Y+1mXgqBwfd1KDnvyYVy820+QdsJkiY0GpWV/rVQUgdxGl/IDok1C8nVSToPNProiXpLCRBF6z7KMzCj6Qxwv+hI3Sf8ADDwQOBJ2cgCzQ84exMRJZy4vgwV46mfejPddapX+fIPdX46W/B64P6W1jBb0t9qQq2ZKyF5veAk2HoiQ+jY+I+0aUINsQ0vyHw2wWdfZiA0bhUowuVEwxBty/CMKiSNJO/H2y0xejS8EF8HQ/FEuo3w2cjTEOnbiQK0umkwwk5Y0Ts4g/CkrxQXdJYU+P6p1DNj8Ohz2y2KOWkDYcBNAx6W5VIiEKjL+1EWsbxIlgRrBloovZRsftrAzcVVqQVAVHW2vAp+whLyVO+9KbXHDXXYpPabI+b8sKhiXIOIEGY09vvchsDgqwx4xAKzM8YgAJo7rAwTkNvNVhnoW5z/0jEv/rmzm62p9X3wVUJAeHP4nBrlzlfyfUvqpCBJm2kVN+JmmyIBMVULtkktpGEnoyHY61ajk52DSqvlC5nIJo4V0bOfa30zlLAVhG3o2+i5Iq+vUcXliCAxdRrYXIo3nON0rrToJbn6AEOYRg3OxJSlD/BSLUFXdKNIV6yfBbxZUPViYBGd+Aa8vVrdZAOkctiJBdQmaNFlr+JqenWmi9uOJzHOLgNdv6P7mCYdMK4oNctbmZEKHPjT43XEpoUQwnaDBXEbYX+w838pBNOkAWrEurvDboBsKd3m6vhR3MsxbjujeGEpe+OSb1KEDocR91Nse+ovtVLWTSM7Q/tc78UC68ReACoi0J+xfjvMRYHKbgupKQihqLuEUzxY5YrYM5JTNvP5fvi1U+Ft8Jxt48GDsmxBv229YxujWT8l3bU6fD0euCYnJmqzcCKzhDbywWDDrH1yFbJEZxgCF1CT4/llSaa53YV0J0sCDYwpH1UVsVLHENIvfxZvBeIgiiRbtXvUoqvktMJZp60Np3PaA2EyeUcu91zkGPz43SinEJlda6T7Tu9ibA1wcpMP1EtXR5JLOCnqCtVgkvADHIjJhm+HKsWAsLwEDSZ4Q2BnTcLqvCGotvWZyZRuki+ma0NDZCWWGhPtxzzw+gXp+NNzwpXqp7hGGBLEHg1YQCJxJEVG1Di++mGBV/+6tS0dTfaPIj5oy7e4JPyw/K0ByqEQ0tboXxdjW0AsV+jABdI9iHrk7Dsj2jCYoF0koGAT2Zt5vH/RIgwCSnkqYone09u7nAMwnJduC8bOegrmN5q7FuGtnvHKK34VJhNzQsdXtnZuLmg8c2z7R+T9D51TgE0PeeHD7s9DWN0zcDKAGFfOguZoyE5gnsFkEZbf6I2Wpca2ALlNZ6hfPsS8Fey23+0vERT/e0ThfI4anll6wwlOO+IvSODmuuw2/keyP/T3X8x3WgjLUXYOEr8k/OwSay9e+zWDBACic0COE9UkUEFhzQueJIDSXQ60chCPpS0wJchIwwU7Pe11+bEXShsDcgCLe6nq9rt0fS9REk8Djsn7xT0898iRHUwVi6K1Q4WTDAFDFjgxxkdH/P6AxE+8/2AqPxIInZnOX6CfKOt0XmTReokx5MjL8j9MDGwxCqvLXWC7xScSb1WjC5NCYGRculMyFU6KsZVtlci+U39nZYMiiKGc+q8poV0a37vKc+tukC51jpfNXe4WYpjQpU3m22y93kuwH0zdtbZallS+eZSkQKwWAXa4x4zNBksAUWQAVEEfve80InmNZE/eyla+droNeKIMmBcLOuSf19NjNJITIkU3jiH3P8o89cgk7Ke+kHa8sw29fc+UNK9rCDZOtjakegTXEDH4kiJGT6/O6ySCqsuhOcVd/q0VBsT0H+B+IIQh8WHVl3UHNr9771qNvk45X+LDCwvhPfWdt8I974tzbmeOejkeDUG/OkoA1xmkQFeCAQm7yI3+uLX2QO48ie7kFjg8Kn3mW9Gu9FlNXIeI1dJWYkkIhBRtSf1aLxZO6PIfLN1tOobhs2huTuz874QYApMw6MuzvUYS9dzMa4aX2ZZsgeH7d8k79AEHIxhRJDRvqloGKz06wTBGo5wFs6d7iHuDYPwoqJfwHI/a2JYNa7OGC8WJb71WwZbRwJ3FU2yZE1aMzxyWSbCvr+CQA5kPpb0MRIUPsD8EF74sbmGDQrIBI7yqOu00BQFxASfjd3y1fh+shmVIis3+VUEvVuPgXcFa20uGb4J0cNHXRTuoeUwr6soHC7gGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LY57bnJrNuogFe98XgnVfE",
      "input": {
        "note": "With the wrist nearly unrotated the pen lies clearly to the right of the jaw column in the right wrist view; moving the arm 4.5 cm to its right to bring the shaft onto the jaw column.",
        "targets": {
          "right_y": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01LY57bnJrNuogFe98XgnVfE",
      "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]: [-0.5503, 0.9382, 0.8955, -0.8803, -0.4889, -0.4206, 0.0252, 0.3641, 1.676, 0.482, 0.4561, 0.2058, -0.0101, 0.998]\nstate[eef_state]: left_x=0.2564 left_y=-0.0558 left_z=0.1943 left_yaw=0.0949 left_pitch=-0.2149 left_roll=0.0959 left_gripper=0.0252 right_x=0.3606 right_y=0.1026 right_z=0.0055 right_yaw=0.1803 right_pitch=-0.1678 right_roll=-0.1425 right_gripper=0.998\nstate[joint_eff]: [-0.3214, -1.265, 6.5026, 1.326, -0.2955, -0.0317, -0.0122, -0.3077, -7.4735, 4.6974, 1.7314, 0.0904, -0.0952, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66fdde56f43624500cf1ca8d51190fd8c53662537740123400f9107aaa5c8b40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ada8539c64442610d0a2a297001ba29e53631a166927647a1ce7d57f76c2f90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:40ced3d68e51ccd1c7ea2b988961afa5a61c89579a724f5d8c71784f7f1117dd",
        "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 · 5.565 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5499, 0.9333, 0.8963, -0.8772, -0.4892, -0.4206, 0.0252, 0.0948, 1.8191, 0.5941, 0.4564, -0.5507, -0.6456, 0.9979]\nstate[eef_state]: left_x=0.2566 left_y=-0.0557 left_z=0.1962 left_yaw=0.0945 left_pitch=-0.2077 left_roll=0.0908 left_gripper=0.0252 right_x=0.3723 right_y=0.1318 right_z=0.0046 right_yaw=0.8832 right_pitch=-0.0819 right_roll=-0.137 right_gripper=0.9979\nstate[joint_eff]: [-0.2256, -1.4427, 6.4889, 1.326, -0.2564, -0.0366, -0.0122, -0.1299, -8.1983, 3.9726, 1.2576, 0.0366, -0.3101, 0.0073]",
      "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]: [-0.5499, 0.9379, 0.8955, -0.8803, -0.4892, -0.4206, 0.0252, 0.5163, 1.718, 0.5579, 0.4374, 0.2661, 0.038, 0.9979]\nstate[eef_state]: left_x=0.2564 left_y=-0.0556 left_z=0.1944 left_yaw=0.0956 left_pitch=-0.2144 left_roll=0.0959 left_gripper=0.0252 right_x=0.3621 right_y=0.1563 right_z=0.0136 right_yaw=0.2565 right_pitch=-0.1407 right_roll=-0.1419 right_gripper=0.9979\nstate[joint_eff]: [-0.0615, -2.1128, 6.5573, 1.3846, -0.2613, -0.0269, -0.0122, 0.253, -7.6513, 6.6667, 1.6337, 0.4469, 0.1929, -0.0122]",
      "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]: [-0.5503, 0.9382, 0.8955, -0.8803, -0.4889, -0.4206, 0.0252, 0.3641, 1.676, 0.482, 0.4561, 0.2058, -0.0101, 0.998]\nstate[eef_state]: left_x=0.2564 left_y=-0.0558 left_z=0.1943 left_yaw=0.0949 left_pitch=-0.2149 left_roll=0.0959 left_gripper=0.0252 right_x=0.3606 right_y=0.1026 right_z=0.0055 right_yaw=0.1803 right_pitch=-0.1678 right_roll=-0.1425 right_gripper=0.998\nstate[joint_eff]: [-0.3214, -1.265, 6.5026, 1.326, -0.2955, -0.0317, -0.0122, -0.3077, -7.4735, 4.6974, 1.7314, 0.0904, -0.0952, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66fdde56f43624500cf1ca8d51190fd8c53662537740123400f9107aaa5c8b40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ada8539c64442610d0a2a297001ba29e53631a166927647a1ce7d57f76c2f90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40ced3d68e51ccd1c7ea2b988961afa5a61c89579a724f5d8c71784f7f1117dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018Lqqq3qCyQSWv7SCkA3Gwo",
      "input": {
        "note": "The pen is now vertical and on the jaw column in the right wrist view, but entirely beyond the fingertips; advancing 10 cm at table level (with a small yaw tweak to square the jaws) to straddle the shaft.",
        "targets": {
          "right_x": 0.46,
          "right_yaw": 0.35,
          "right_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_018Lqqq3qCyQSWv7SCkA3Gwo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5499, 0.9421, 0.8955, -0.8803, -0.4892, -0.4206, 0.0252, 0.3405, 1.7012, 0.5098, 0.4614, 0.1532, -0.057, 0.998]\nstate[eef_state]: left_x=0.2567 left_y=-0.0558 left_z=0.1935 left_yaw=0.0961 left_pitch=-0.2177 left_roll=0.0985 left_gripper=0.0252 right_x=0.369 right_y=0.1059 right_z=0.0054 right_yaw=0.2268 right_pitch=-0.1683 right_roll=-0.1416 right_gripper=0.998\nstate[joint_eff]: [-0.1846, -2.0581, 6.4889, 1.3016, -0.2759, -0.0317, -0.0122, -0.7179, -5.7231, 5.8735, 1.5116, 0.1783, 0.0952, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9aae1a51f6555f859c62cf1c7fb3e051cd19de36be1cd7ebb91251e41ccfba91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:edee7922a1c819c3d1a4d4c03ed56269c1be379026c214b85648ddf939eebcb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:00c59eaae78cade9f90930aa31e31ea56c587a7e08246db6a2d0e505ff3e8703",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 11.88 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5499, 0.9379, 0.8955, -0.8803, -0.4892, -0.4206, 0.0252, 0.5163, 1.718, 0.5579, 0.4374, 0.2661, 0.038, 0.9979]\nstate[eef_state]: left_x=0.2564 left_y=-0.0556 left_z=0.1944 left_yaw=0.0956 left_pitch=-0.2144 left_roll=0.0959 left_gripper=0.0252 right_x=0.3621 right_y=0.1563 right_z=0.0136 right_yaw=0.2565 right_pitch=-0.1407 right_roll=-0.1419 right_gripper=0.9979\nstate[joint_eff]: [-0.0615, -2.1128, 6.5573, 1.3846, -0.2613, -0.0269, -0.0122, 0.253, -7.6513, 6.6667, 1.6337, 0.4469, 0.1929, -0.0122]",
      "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]: [-0.5503, 0.9382, 0.8955, -0.8803, -0.4889, -0.4206, 0.0252, 0.3641, 1.676, 0.482, 0.4561, 0.2058, -0.0101, 0.998]\nstate[eef_state]: left_x=0.2564 left_y=-0.0558 left_z=0.1943 left_yaw=0.0949 left_pitch=-0.2149 left_roll=0.0959 left_gripper=0.0252 right_x=0.3606 right_y=0.1026 right_z=0.0055 right_yaw=0.1803 right_pitch=-0.1678 right_roll=-0.1425 right_gripper=0.998\nstate[joint_eff]: [-0.3214, -1.265, 6.5026, 1.326, -0.2955, -0.0317, -0.0122, -0.3077, -7.4735, 4.6974, 1.7314, 0.0904, -0.0952, -0.0122]",
      "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]: [-0.5499, 0.9421, 0.8955, -0.8803, -0.4892, -0.4206, 0.0252, 0.3405, 1.7012, 0.5098, 0.4614, 0.1532, -0.057, 0.998]\nstate[eef_state]: left_x=0.2567 left_y=-0.0558 left_z=0.1935 left_yaw=0.0961 left_pitch=-0.2177 left_roll=0.0985 left_gripper=0.0252 right_x=0.369 right_y=0.1059 right_z=0.0054 right_yaw=0.2268 right_pitch=-0.1683 right_roll=-0.1416 right_gripper=0.998\nstate[joint_eff]: [-0.1846, -2.0581, 6.4889, 1.3016, -0.2759, -0.0317, -0.0122, -0.7179, -5.7231, 5.8735, 1.5116, 0.1783, 0.0952, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9aae1a51f6555f859c62cf1c7fb3e051cd19de36be1cd7ebb91251e41ccfba91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:edee7922a1c819c3d1a4d4c03ed56269c1be379026c214b85648ddf939eebcb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00c59eaae78cade9f90930aa31e31ea56c587a7e08246db6a2d0e505ff3e8703",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISsQUKjgEIEhgCKkDXQoidORKktwlvmThLDkqOBSRd01CLJs649kZUiPBIyCcxgtq0jAxr7i9oAhZchEaXhDwIwaHMXxu4P1RNebeTMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfyfzNUGEgzO8fE4F265WtK8nD4aDHIebMcchkAJXTefHyIwilqeQY8/98VC9cyTPcTlZkEeSX8i6F36MYzll5CW0pCKQKaJkibwi7ZRVHgNwLjnKs8DNbC8bkcuA6TPpUuHw3f2OVjoWNxi3NQWqLQ4Fv2DT95HvFIwkWOyNYSWOyC6PtAvygAR/t4N7UsEwK0WT9w+bgZxreC1hx4Z3K4a3qrFgJX8swHXwSP85hhyR36ZE605nhkZZQDI87b+3bDqFGbi0P+RVcNtTu1C/YR/yPaiVN+xwlaMqIWkna8b6BxpSJPfmectSlRWohKQUkFtdvdeUFoFGeX4ZNAbECvkLULgeuZP8QW6kDUnZu6H0MZZ2WF+cimm5yuKDUTqtg1C4tRwZmg8+rE3jQsHQUHmRJ5bqDNwzRReB9zoX2xUa9nRhstjDhJpnRB8XGiO7IECKsKsGKA3BIWom+lGyTVtTbk1wZ1UEeshwRVFVAN6vYcK30dTL9YZfZafVX24tNkowus44nvq1sdyu5AD+bbgcnHcIhYCGTpPBQ+MdqfCZg0/4yeX5CEaGzPxIKAkwGX7eMWnwtCK4Q/RyMRJ2beoizFQinmAiChkkA+RSPuZ3l8wDssLs66H2OtviIc0Wbi4MT6WL7TniJpxIYYXaXhlctEqva9XHISvawNHVVKVNIXb/qox+vMs4rG1amcmkHHkj+ORyF0xdw86/UofYQNDLDAaVxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AWBpLcjqawXHqDFT8xo1mR",
      "input": {
        "note": "The arm only crept 1 cm forward last time, so I re-issue the forward target to keep it advancing toward the pen shaft.",
        "targets": {
          "right_x": 0.46,
          "right_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01AWBpLcjqawXHqDFT8xo1mR",
      "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]: [-0.5503, 0.9436, 0.8955, -0.8837, -0.4892, -0.4202, 0.0252, 0.255, 1.9369, 0.8463, 0.4019, 0.0956, -0.1047, 0.998]\nstate[eef_state]: left_x=0.2562 left_y=-0.0556 left_z=0.1926 left_yaw=0.0962 left_pitch=-0.2217 left_roll=0.1018 left_gripper=0.0252 right_x=0.459 right_y=0.1059 right_z=0.0128 right_yaw=0.2166 right_pitch=-0.1332 right_roll=-0.1373 right_gripper=0.998\nstate[joint_eff]: [-0.1846, -1.7436, 6.5026, 1.3358, -0.2466, -0.0171, -0.0122, -0.1162, -7.7197, 6.188, 1.5849, -0.0317, -0.0366, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f13c11a50b11e011a16625481632c302c9c156f20aca6f069ea634e40d6c4f77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0b9813dbcfb2c97d1692dbfe2e5ead657cd0c8b2baa8a030d8125cde7a1e944",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1aa532a37760296b729a4374a919a38dbd45ed710c09ae1f40347bdcb0761d29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 4.277 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5503, 0.9382, 0.8955, -0.8803, -0.4889, -0.4206, 0.0252, 0.3641, 1.676, 0.482, 0.4561, 0.2058, -0.0101, 0.998]\nstate[eef_state]: left_x=0.2564 left_y=-0.0558 left_z=0.1943 left_yaw=0.0949 left_pitch=-0.2149 left_roll=0.0959 left_gripper=0.0252 right_x=0.3606 right_y=0.1026 right_z=0.0055 right_yaw=0.1803 right_pitch=-0.1678 right_roll=-0.1425 right_gripper=0.998\nstate[joint_eff]: [-0.3214, -1.265, 6.5026, 1.326, -0.2955, -0.0317, -0.0122, -0.3077, -7.4735, 4.6974, 1.7314, 0.0904, -0.0952, -0.0122]",
      "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]: [-0.5499, 0.9421, 0.8955, -0.8803, -0.4892, -0.4206, 0.0252, 0.3405, 1.7012, 0.5098, 0.4614, 0.1532, -0.057, 0.998]\nstate[eef_state]: left_x=0.2567 left_y=-0.0558 left_z=0.1935 left_yaw=0.0961 left_pitch=-0.2177 left_roll=0.0985 left_gripper=0.0252 right_x=0.369 right_y=0.1059 right_z=0.0054 right_yaw=0.2268 right_pitch=-0.1683 right_roll=-0.1416 right_gripper=0.998\nstate[joint_eff]: [-0.1846, -2.0581, 6.4889, 1.3016, -0.2759, -0.0317, -0.0122, -0.7179, -5.7231, 5.8735, 1.5116, 0.1783, 0.0952, -0.0122]",
      "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]: [-0.5503, 0.9436, 0.8955, -0.8837, -0.4892, -0.4202, 0.0252, 0.255, 1.9369, 0.8463, 0.4019, 0.0956, -0.1047, 0.998]\nstate[eef_state]: left_x=0.2562 left_y=-0.0556 left_z=0.1926 left_yaw=0.0962 left_pitch=-0.2217 left_roll=0.1018 left_gripper=0.0252 right_x=0.459 right_y=0.1059 right_z=0.0128 right_yaw=0.2166 right_pitch=-0.1332 right_roll=-0.1373 right_gripper=0.998\nstate[joint_eff]: [-0.1846, -1.7436, 6.5026, 1.3358, -0.2466, -0.0171, -0.0122, -0.1162, -7.7197, 6.188, 1.5849, -0.0317, -0.0366, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f13c11a50b11e011a16625481632c302c9c156f20aca6f069ea634e40d6c4f77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0b9813dbcfb2c97d1692dbfe2e5ead657cd0c8b2baa8a030d8125cde7a1e944",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1aa532a37760296b729a4374a919a38dbd45ed710c09ae1f40347bdcb0761d29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GGqqKkPLvWFHF5M92FTL6T",
      "input": {
        "note": "The pen shaft now runs right through the bottom of the right wrist view but ~2.5 cm to the arm's left of the jaw column; sliding left that much to line the shaft up between the jaws.",
        "targets": {
          "right_y": 0.132
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01GGqqKkPLvWFHF5M92FTL6T",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5499, 0.9443, 0.8955, -0.8841, -0.4892, -0.4206, 0.0252, 0.3115, 1.9499, 0.8642, 0.3786, 0.1234, -0.0826, 0.998]\nstate[eef_state]: left_x=0.2562 left_y=-0.0555 left_z=0.1924 left_yaw=0.0969 left_pitch=-0.2226 left_roll=0.1023 left_gripper=0.0252 right_x=0.4546 right_y=0.1273 right_z=0.0092 right_yaw=0.2373 right_pitch=-0.149 right_roll=-0.1392 right_gripper=0.998\nstate[joint_eff]: [-0.0205, -1.853, 6.5162, 1.3358, -0.2808, -0.0464, -0.0122, 0.2803, -8.4444, 7.0632, 1.6532, 0.2271, 0.1245, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a692345b3cc4e46182524e5055582746dffff09040dc6220522a4afbd82a4e5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4578bc619ac60acb051696e4ed14a9591686ec09a0325f0b2272f45bcc48814a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:15ca4d351ce6b151dace60eb8cf972568993b79d091774d145386d130a7b78a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 6.495 s
model
claude-opus-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]: [-0.5499, 0.9421, 0.8955, -0.8803, -0.4892, -0.4206, 0.0252, 0.3405, 1.7012, 0.5098, 0.4614, 0.1532, -0.057, 0.998]\nstate[eef_state]: left_x=0.2567 left_y=-0.0558 left_z=0.1935 left_yaw=0.0961 left_pitch=-0.2177 left_roll=0.0985 left_gripper=0.0252 right_x=0.369 right_y=0.1059 right_z=0.0054 right_yaw=0.2268 right_pitch=-0.1683 right_roll=-0.1416 right_gripper=0.998\nstate[joint_eff]: [-0.1846, -2.0581, 6.4889, 1.3016, -0.2759, -0.0317, -0.0122, -0.7179, -5.7231, 5.8735, 1.5116, 0.1783, 0.0952, -0.0122]",
      "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]: [-0.5503, 0.9436, 0.8955, -0.8837, -0.4892, -0.4202, 0.0252, 0.255, 1.9369, 0.8463, 0.4019, 0.0956, -0.1047, 0.998]\nstate[eef_state]: left_x=0.2562 left_y=-0.0556 left_z=0.1926 left_yaw=0.0962 left_pitch=-0.2217 left_roll=0.1018 left_gripper=0.0252 right_x=0.459 right_y=0.1059 right_z=0.0128 right_yaw=0.2166 right_pitch=-0.1332 right_roll=-0.1373 right_gripper=0.998\nstate[joint_eff]: [-0.1846, -1.7436, 6.5026, 1.3358, -0.2466, -0.0171, -0.0122, -0.1162, -7.7197, 6.188, 1.5849, -0.0317, -0.0366, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.5499, 0.9443, 0.8955, -0.8841, -0.4892, -0.4206, 0.0252, 0.3115, 1.9499, 0.8642, 0.3786, 0.1234, -0.0826, 0.998]\nstate[eef_state]: left_x=0.2562 left_y=-0.0555 left_z=0.1924 left_yaw=0.0969 left_pitch=-0.2226 left_roll=0.1023 left_gripper=0.0252 right_x=0.4546 right_y=0.1273 right_z=0.0092 right_yaw=0.2373 right_pitch=-0.149 right_roll=-0.1392 right_gripper=0.998\nstate[joint_eff]: [-0.0205, -1.853, 6.5162, 1.3358, -0.2808, -0.0464, -0.0122, 0.2803, -8.4444, 7.0632, 1.6532, 0.2271, 0.1245, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a692345b3cc4e46182524e5055582746dffff09040dc6220522a4afbd82a4e5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4578bc619ac60acb051696e4ed14a9591686ec09a0325f0b2272f45bcc48814a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15ca4d351ce6b151dace60eb8cf972568993b79d091774d145386d130a7b78a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISrQMKjgEIEhgCKkCfrKrN/+OwveZfFpv28QM7GF+0PdO3W2ePJJrgqaKDa0Qim7ifKgolxh20hYCTRveOxVe3byGYtZixE9G+HSVUMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAY2gzNUGEgxBYx0Kpn4aVM/WWNUaDO1D8ZBUk2yWCOq92yIw4VOWWS7urBe4L2o6nXOr1FOk8zuZtOhiIeZQgSoeuHyFRJzSqCtBHC0fsnj+HQNEKssBEYrOkXpVF9NvA9JcX/2QysPuiVoWgVGb/v0tUMhaEDafGYs4stGXdm/worgI6hXA3CI6g1TMrMOjyrKsuxEYFMr63zODIOzIk24Mnz17jkFSXYtzm6YSGwWPMWeEqepfihXwuRDlrCHy51fkPYlz8gsrYUnOojkLPnA30c4WrNzIBXxGWBJPIdizJvnL5I2PakdZFGiG5jxaZg7dQ4ONOlUxyj/zMBte9W9dM7UurOnC7enNVHl6WHToHkVUwWsCoUVhHBjWEg6BImgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YHRSk3r1tpr2eBy7VcJHPx",
      "input": {
        "note": "The pen shaft now passes exactly through the jaw column at the bottom of the wrist view; closing the right gripper on it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01YHRSk3r1tpr2eBy7VcJHPx",
      "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]: [-0.5503, 0.9443, 0.8955, -0.8845, -0.4892, -0.4206, 0.0252, 0.3336, 1.9499, 0.8715, 0.3801, 0.1375, -0.0643, 0.0137]\nstate[eef_state]: left_x=0.2562 left_y=-0.0556 left_z=0.1924 left_yaw=0.0966 left_pitch=-0.2229 left_roll=0.1025 left_gripper=0.0252 right_x=0.4548 right_y=0.1358 right_z=0.0123 right_yaw=0.2377 right_pitch=-0.1383 right_roll=-0.1335 right_gripper=0.0137\nstate[joint_eff]: [-0.1709, -1.6205, 6.5299, 1.3114, -0.2759, -0.0415, -0.0122, -0.5812, -8.5538, 6.4479, 1.6484, 0.2418, 0.0611, 1.2625]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:adcfa21095441ce93a4bd799e86f34425e1ec18b06f4695926ace2ad9e9390e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1fa96ba92866ef0b4652c7ddeae80ff077c6194d52c54cc68b986638c450f160",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0a93a9f589f6dea13ef22a169936bef66c21a2692d0a9e948c429e3e8c4ab9ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 51.15 s
model
claude-opus-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]: [-0.5503, 0.9436, 0.8955, -0.8837, -0.4892, -0.4202, 0.0252, 0.255, 1.9369, 0.8463, 0.4019, 0.0956, -0.1047, 0.998]\nstate[eef_state]: left_x=0.2562 left_y=-0.0556 left_z=0.1926 left_yaw=0.0962 left_pitch=-0.2217 left_roll=0.1018 left_gripper=0.0252 right_x=0.459 right_y=0.1059 right_z=0.0128 right_yaw=0.2166 right_pitch=-0.1332 right_roll=-0.1373 right_gripper=0.998\nstate[joint_eff]: [-0.1846, -1.7436, 6.5026, 1.3358, -0.2466, -0.0171, -0.0122, -0.1162, -7.7197, 6.188, 1.5849, -0.0317, -0.0366, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.5499, 0.9443, 0.8955, -0.8841, -0.4892, -0.4206, 0.0252, 0.3115, 1.9499, 0.8642, 0.3786, 0.1234, -0.0826, 0.998]\nstate[eef_state]: left_x=0.2562 left_y=-0.0555 left_z=0.1924 left_yaw=0.0969 left_pitch=-0.2226 left_roll=0.1023 left_gripper=0.0252 right_x=0.4546 right_y=0.1273 right_z=0.0092 right_yaw=0.2373 right_pitch=-0.149 right_roll=-0.1392 right_gripper=0.998\nstate[joint_eff]: [-0.0205, -1.853, 6.5162, 1.3358, -0.2808, -0.0464, -0.0122, 0.2803, -8.4444, 7.0632, 1.6532, 0.2271, 0.1245, -0.0171]",
      "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]: [-0.5503, 0.9443, 0.8955, -0.8845, -0.4892, -0.4206, 0.0252, 0.3336, 1.9499, 0.8715, 0.3801, 0.1375, -0.0643, 0.0137]\nstate[eef_state]: left_x=0.2562 left_y=-0.0556 left_z=0.1924 left_yaw=0.0966 left_pitch=-0.2229 left_roll=0.1025 left_gripper=0.0252 right_x=0.4548 right_y=0.1358 right_z=0.0123 right_yaw=0.2377 right_pitch=-0.1383 right_roll=-0.1335 right_gripper=0.0137\nstate[joint_eff]: [-0.1709, -1.6205, 6.5299, 1.3114, -0.2759, -0.0415, -0.0122, -0.5812, -8.5538, 6.4479, 1.6484, 0.2418, 0.0611, 1.2625]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:adcfa21095441ce93a4bd799e86f34425e1ec18b06f4695926ace2ad9e9390e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1fa96ba92866ef0b4652c7ddeae80ff077c6194d52c54cc68b986638c450f160",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a93a9f589f6dea13ef22a169936bef66c21a2692d0a9e948c429e3e8c4ab9ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvQcKjgEIEhgCKkApTmVKWFBxAuxLmdAgg6jmP1cSSt9SVEsRqcLssNgBBS/m+VlmEb2sWIHMaMlH3OwrMmA3ebDMK0I9M3+UOVTXMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZSgzNUGEgyRhu5GDvcDivsELZwaDIj8E9IX5UvSLhVXjCIwJ16+hMHtgqAX/4kRhO4CQTiohMMJ69ssTEyA9XwpYpHykHRjsr/Izlv2+IWVIHoFKtsFW0zbA7Gt34RrrU1yhJbQr3MIBGqs7fhvDB9zwjJc0EtIdMdBWkec6k2OmYe3Kr1UVV6NYxNpPQVVhj+aCGWfZLVEuPvoz83iUL35pVSXGWjPiZRFFicTevooqW1PmcKjBatejZ5qzl0i+5/3U8wcw5rTVzhidazg+IkauKzcFx4M1+6M8ik2OnXSqVQEZLOwWcgtHqUQk5EUR819xkpFkZvkOk1hH3fk39icB6UIkjXBCkI/NaNDQKCMiYI5lNKzU1gUOmbPa8uL0zrFnyB2EshyxW2ZDqYKlN+l+QMd9N7udPf6wdVqaKMkjL+kWAS7u4benq5y5XyKWW8WCYQeYyCAraDTdu6Gd/V8z3Xt/SysM4MlnVIRpFTVLCmXziVRhjOApHv30pTY2dC9xz8FwX47OKkuhmrIQ45pw3Jc00NPBUOSoshgaBSPHmP2z8aCdFHcdFzXbwQPf5UWMDkuOkD5ddQ8NQWGl52Fp4LnxPru4fM3NYdiFydOl2/b7cR16O/aCSR6XkMp9Ge5EVLd5YWnd9ILogM+V32YOjMWech1AE1ynrTt3tanVhNb0OG+6mqapbU3PuJhpCeGvVFpc9bg5GC0S/tiJlNl/rwKE9a49iLHMZZECiYSwvU+h2jXCusGF/Vsh1C0b5wZf9QlCihU4tV6BfjwCgzq5Jj3rqRZUBa07d2gafUYCTo/8TUl+02v8QDYSANJfKrCiL90TGXUj8RT7yUMB4mZmD9M/PZeex91aNAWPECsfrkDmg/YVd/d0XsZP1rinzXwBqMkJFb7F4G94cKXI6pyn0XA9ke7Deu004eAwQYZg+EJQPK/Vpk5DfDnCWdQv/D0MpcRIDcb/tSQGwHjixMVFmMVY7vJDucJ+SUwO7x8ZylqoAXJ9EvYY/QTKtFn1uxoP7+JN4ohsLaqW8O+0OLS07OW+MT1rZ7S+0m/0q2HhHJWjuBT3NujNB5svhNwMUIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Voug3ZSDocw6nsqXiUqTWo",
      "input": {
        "note": "Right gripper closed to 0.014; lifting and retracting to see in the top view whether the pen came with the jaws.",
        "targets": {
          "right_x": 0.42,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01Voug3ZSDocw6nsqXiUqTWo",
      "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]: [-0.5499, 0.9489, 0.8944, -0.8906, -0.4892, -0.4206, 0.0252, 0.3672, 1.5787, 0.9833, -0.1261, 0.1421, -0.0597, 0.0141]\nstate[eef_state]: left_x=0.2554 left_y=-0.055 left_z=0.1901 left_yaw=0.0986 left_pitch=-0.2323 left_roll=0.1098 left_gripper=0.0252 right_x=0.4208 right_y=0.1389 right_z=0.1266 right_yaw=0.2646 right_pitch=-0.1609 right_roll=-0.1353 right_gripper=0.0141\nstate[joint_eff]: [-0.0615, -2.1949, 6.5709, 1.3797, -0.2564, -0.0366, -0.0122, 0.2803, -9.1419, 9.1282, 1.6093, 0.2857, 0.1929, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da877dc34c9037faad0f9377dd2a2890465b63cd2e286e6d7afaad45ff3f8667",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43ec27a0683080c4504f85ef078b17b0572559618690ed053d325f54ed2fdd83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fdba45fd67f03046de74b25c247dbc7e1609dc691d40bb0ca5017a4428cbdd2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /messages · status 200 · 8.077 s
model
claude-opus-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]: [-0.5499, 0.9443, 0.8955, -0.8841, -0.4892, -0.4206, 0.0252, 0.3115, 1.9499, 0.8642, 0.3786, 0.1234, -0.0826, 0.998]\nstate[eef_state]: left_x=0.2562 left_y=-0.0555 left_z=0.1924 left_yaw=0.0969 left_pitch=-0.2226 left_roll=0.1023 left_gripper=0.0252 right_x=0.4546 right_y=0.1273 right_z=0.0092 right_yaw=0.2373 right_pitch=-0.149 right_roll=-0.1392 right_gripper=0.998\nstate[joint_eff]: [-0.0205, -1.853, 6.5162, 1.3358, -0.2808, -0.0464, -0.0122, 0.2803, -8.4444, 7.0632, 1.6532, 0.2271, 0.1245, -0.0171]",
      "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]: [-0.5503, 0.9443, 0.8955, -0.8845, -0.4892, -0.4206, 0.0252, 0.3336, 1.9499, 0.8715, 0.3801, 0.1375, -0.0643, 0.0137]\nstate[eef_state]: left_x=0.2562 left_y=-0.0556 left_z=0.1924 left_yaw=0.0966 left_pitch=-0.2229 left_roll=0.1025 left_gripper=0.0252 right_x=0.4548 right_y=0.1358 right_z=0.0123 right_yaw=0.2377 right_pitch=-0.1383 right_roll=-0.1335 right_gripper=0.0137\nstate[joint_eff]: [-0.1709, -1.6205, 6.5299, 1.3114, -0.2759, -0.0415, -0.0122, -0.5812, -8.5538, 6.4479, 1.6484, 0.2418, 0.0611, 1.2625]",
      "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]: [-0.5499, 0.9489, 0.8944, -0.8906, -0.4892, -0.4206, 0.0252, 0.3672, 1.5787, 0.9833, -0.1261, 0.1421, -0.0597, 0.0141]\nstate[eef_state]: left_x=0.2554 left_y=-0.055 left_z=0.1901 left_yaw=0.0986 left_pitch=-0.2323 left_roll=0.1098 left_gripper=0.0252 right_x=0.4208 right_y=0.1389 right_z=0.1266 right_yaw=0.2646 right_pitch=-0.1609 right_roll=-0.1353 right_gripper=0.0141\nstate[joint_eff]: [-0.0615, -2.1949, 6.5709, 1.3797, -0.2564, -0.0366, -0.0122, 0.2803, -9.1419, 9.1282, 1.6093, 0.2857, 0.1929, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da877dc34c9037faad0f9377dd2a2890465b63cd2e286e6d7afaad45ff3f8667",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43ec27a0683080c4504f85ef078b17b0572559618690ed053d325f54ed2fdd83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdba45fd67f03046de74b25c247dbc7e1609dc691d40bb0ca5017a4428cbdd2d",
        "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_011mCHzu8QiHXLTAbe6FpFzF",
      "input": {
        "note": "The right wrist view shows the pen held and projecting forward from the jaws, and the table is now empty, so each arm holds one object. Rotating the pen 90° (on the way to 180°) and moving it toward the centre line so its tip will eventually face back toward the left arm's cap.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.27,
          "right_yaw": -1.5,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_011mCHzu8QiHXLTAbe6FpFzF",
      "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]: [-0.5503, 0.9546, 0.8944, -0.9016, -0.4892, -0.4206, 0.0252, 0.6067, 2.4268, 1.9511, -1.5261, 0.7162, 1.9312, 0.0151]\nstate[eef_state]: left_x=0.254 left_y=-0.0542 left_z=0.1873 left_yaw=0.1007 left_pitch=-0.2457 left_roll=0.1203 left_gripper=0.0252 right_x=0.3758 right_y=0.124 right_z=0.0418 right_yaw=-1.2894 right_pitch=-0.2081 right_roll=-0.1811 right_gripper=0.0151\nstate[joint_eff]: [-0.1709, -1.9077, 6.6393, 1.3993, -0.2564, -0.0464, -0.0122, -1.2376, -12.8615, 5.8598, -0.569, 0.525, 0.2125, 0.9499]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e06d5195d868d9e7a0c41c4a954294efefc96f3f6594e974d93239b29a8232d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efe9c2f93179f0a30a2b7284f0d57826cacc33a1332959f4bfce232f0526d093",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6c32898b555d9fbea8e80368ee01d939080e74312238692206c2ad636bb308c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 6.369 s
model
claude-opus-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]: [-0.5503, 0.9443, 0.8955, -0.8845, -0.4892, -0.4206, 0.0252, 0.3336, 1.9499, 0.8715, 0.3801, 0.1375, -0.0643, 0.0137]\nstate[eef_state]: left_x=0.2562 left_y=-0.0556 left_z=0.1924 left_yaw=0.0966 left_pitch=-0.2229 left_roll=0.1025 left_gripper=0.0252 right_x=0.4548 right_y=0.1358 right_z=0.0123 right_yaw=0.2377 right_pitch=-0.1383 right_roll=-0.1335 right_gripper=0.0137\nstate[joint_eff]: [-0.1709, -1.6205, 6.5299, 1.3114, -0.2759, -0.0415, -0.0122, -0.5812, -8.5538, 6.4479, 1.6484, 0.2418, 0.0611, 1.2625]",
      "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]: [-0.5499, 0.9489, 0.8944, -0.8906, -0.4892, -0.4206, 0.0252, 0.3672, 1.5787, 0.9833, -0.1261, 0.1421, -0.0597, 0.0141]\nstate[eef_state]: left_x=0.2554 left_y=-0.055 left_z=0.1901 left_yaw=0.0986 left_pitch=-0.2323 left_roll=0.1098 left_gripper=0.0252 right_x=0.4208 right_y=0.1389 right_z=0.1266 right_yaw=0.2646 right_pitch=-0.1609 right_roll=-0.1353 right_gripper=0.0141\nstate[joint_eff]: [-0.0615, -2.1949, 6.5709, 1.3797, -0.2564, -0.0366, -0.0122, 0.2803, -9.1419, 9.1282, 1.6093, 0.2857, 0.1929, 1.0281]",
      "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]: [-0.5503, 0.9546, 0.8944, -0.9016, -0.4892, -0.4206, 0.0252, 0.6067, 2.4268, 1.9511, -1.5261, 0.7162, 1.9312, 0.0151]\nstate[eef_state]: left_x=0.254 left_y=-0.0542 left_z=0.1873 left_yaw=0.1007 left_pitch=-0.2457 left_roll=0.1203 left_gripper=0.0252 right_x=0.3758 right_y=0.124 right_z=0.0418 right_yaw=-1.2894 right_pitch=-0.2081 right_roll=-0.1811 right_gripper=0.0151\nstate[joint_eff]: [-0.1709, -1.9077, 6.6393, 1.3993, -0.2564, -0.0464, -0.0122, -1.2376, -12.8615, 5.8598, -0.569, 0.525, 0.2125, 0.9499]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e06d5195d868d9e7a0c41c4a954294efefc96f3f6594e974d93239b29a8232d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efe9c2f93179f0a30a2b7284f0d57826cacc33a1332959f4bfce232f0526d093",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c32898b555d9fbea8e80368ee01d939080e74312238692206c2ad636bb308c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS8QcKjgEIEhgCKkCQnxWUTcu6bStI9OWdwOTwXsW1RoOzD5UnBWiKp2IQHPn0U+NDMZE87R35GA+wKuBvLAXBdHrd0yaBevmKhwNcMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdGgzNUGEgwCBK7VVZrBbKUtkJ0aDOkL6wuv7KA7MLNqnyIwLR6mk5kCxVQzoI1nsr0GQLdcd7Tq41yq//HIK1Nq/b+pCi7iCwR56Ojlw1ucCEO0Ko8GagVHJ1XSNS1zGKoOgvOWwQaK7bmoXmBMxWgKfTip9mqLi1cWXqsD62+IqyimWu9HJqZRuGNluFfhgtyPK1LnvupbldLfF6qP0bFsplDr9a3nfhwSqfRUo6hz7Jl/1RYjxYRaAeC4f9gJYb4OYkIKQhkQBTFVL0dtnuuiPGpLNyCAwURMB2k14kGe+Cj+QDy7We/GpBzJT5vVEp/NrIvXfcbgNIMui0ixqjc8W+aducC6umt9eXD2fa21EEV127DD6WLxs+kAP78WsmmM8VsjD+JcNPuKg9rcWHThpqqpAdmafwbPtXBXVCZrhic2DLhgzeEfJ0Gp2T5ctSZW7utYR3vSpgwOSbcutZYplfZYVLGy0maIvxUfEBKzUWul5cyaA0ySpZiqpicbmdDBRp5yL+mxgBk087bYJ1gJC2gbfaid6KUhpiwu7VehhPRnb2qRDVDCmDzIYkmdugbra/FKLGeZoc6WCXT72gLwMHrF6T55/VQaw95dPAabjGvs6I4C5wy59d5QpiwNMISnRe6J61Usm8IhkK68fY/Jubj8A92458CBSilnTrc4v/Hwz+EYDR/NPozKi81/mCctjjsERAuJgi8637IVNf1boYuq4uTGbxKCz06VaYd0pNmkFTytTNKS3DC9aK3nuvbrIaKOeLEz9K3SyjGe19v3XGrpyg+v7+wm+aiexRb8sN5Bf7Gl6xky0cLzwDL5mb/z40WMdLJluwWHZkpGKuillByOKk8WkL6Ijt0360OmgE6WjZRAH9k2lPnTSaQ9Of7f3DUsiW0RkI5dhJSMs9PF88X+cb3/aVbOGJgS7/O9bsrM5Ckmt/2VXq4zAQOdPNBL+gV8U7Bv0MT0SMDcoAG03LDsrdHt6b0wSKppGRg97Yzf1LD3l+ieJVAYM/zK5lJjuWrWh+Rf8tava/ywaiCcqhyYYSWKSK3SSJCMPRawZ5UnnXjJbcuKoAZnlC/vYtQb7vPpLGgvy9WCgz/4IvUhZceR1g3cMRsFC0AMpDTvLdKBeOmYuvLKpLAJOuCYm+rRybiDGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JSLLarbpavonr4G8uhKytM",
      "input": {
        "note": "The pen no longer appears in the right wrist view, so I retract the right arm to its own side and up, clearing the top camera's view of the table to find where the pen is.",
        "targets": {
          "right_x": 0.25,
          "right_y": 0.05,
          "right_yaw": 0.0,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01JSLLarbpavonr4G8uhKytM",
      "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]: [-0.5503, 0.9573, 0.8944, -0.9024, -0.4892, -0.4206, 0.0252, 0.5247, 2.1506, 1.6531, -1.3201, 0.5098, 1.6897, 0.0185]\nstate[eef_state]: left_x=0.2541 left_y=-0.0543 left_z=0.1866 left_yaw=0.1013 left_pitch=-0.2484 left_roll=0.1224 left_gripper=0.0252 right_x=0.3474 right_y=0.1056 right_z=0.0515 right_yaw=-1.2621 right_pitch=-0.4695 right_roll=-0.2097 right_gripper=0.0185\nstate[joint_eff]: [-0.2256, -1.7299, 6.6256, 1.3651, -0.2466, -0.0708, -0.0122, 0.294, -14.8581, 8.2667, 0.5592, 0.315, -0.1099, 0.6374]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:599ecde192b4d60e483b7d7eab0bed19aa09c9bb40b6ff0f0dd08084e718bc0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3b0696fa48286acb466b1a14b984e97a59923b2347708125443374845fa447a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:328fac9fa1c8898064594bfcbe6bc4c9a4f273c8c83719d17e03e43a54db1502",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /messages · status 200 · 30.87 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

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]: [-0.5499, 0.9489, 0.8944, -0.8906, -0.4892, -0.4206, 0.0252, 0.3672, 1.5787, 0.9833, -0.1261, 0.1421, -0.0597, 0.0141]\nstate[eef_state]: left_x=0.2554 left_y=-0.055 left_z=0.1901 left_yaw=0.0986 left_pitch=-0.2323 left_roll=0.1098 left_gripper=0.0252 right_x=0.4208 right_y=0.1389 right_z=0.1266 right_yaw=0.2646 right_pitch=-0.1609 right_roll=-0.1353 right_gripper=0.0141\nstate[joint_eff]: [-0.0615, -2.1949, 6.5709, 1.3797, -0.2564, -0.0366, -0.0122, 0.2803, -9.1419, 9.1282, 1.6093, 0.2857, 0.1929, 1.0281]",
      "type": "text"
    },
    {
      "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]: [-0.5503, 0.9546, 0.8944, -0.9016, -0.4892, -0.4206, 0.0252, 0.6067, 2.4268, 1.9511, -1.5261, 0.7162, 1.9312, 0.0151]\nstate[eef_state]: left_x=0.254 left_y=-0.0542 left_z=0.1873 left_yaw=0.1007 left_pitch=-0.2457 left_roll=0.1203 left_gripper=0.0252 right_x=0.3758 right_y=0.124 right_z=0.0418 right_yaw=-1.2894 right_pitch=-0.2081 right_roll=-0.1811 right_gripper=0.0151\nstate[joint_eff]: [-0.1709, -1.9077, 6.6393, 1.3993, -0.2564, -0.0464, -0.0122, -1.2376, -12.8615, 5.8598, -0.569, 0.525, 0.2125, 0.9499]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5503, 0.9573, 0.8944, -0.9024, -0.4892, -0.4206, 0.0252, 0.5247, 2.1506, 1.6531, -1.3201, 0.5098, 1.6897, 0.0185]\nstate[eef_state]: left_x=0.2541 left_y=-0.0543 left_z=0.1866 left_yaw=0.1013 left_pitch=-0.2484 left_roll=0.1224 left_gripper=0.0252 right_x=0.3474 right_y=0.1056 right_z=0.0515 right_yaw=-1.2621 right_pitch=-0.4695 right_roll=-0.2097 right_gripper=0.0185\nstate[joint_eff]: [-0.2256, -1.7299, 6.6256, 1.3651, -0.2466, -0.0708, -0.0122, 0.294, -14.8581, 8.2667, 0.5592, 0.315, -0.1099, 0.6374]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:599ecde192b4d60e483b7d7eab0bed19aa09c9bb40b6ff0f0dd08084e718bc0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3b0696fa48286acb466b1a14b984e97a59923b2347708125443374845fa447a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:328fac9fa1c8898064594bfcbe6bc4c9a4f273c8c83719d17e03e43a54db1502",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISigYKjgEIEhgCKkArtBPh2XgoAgkdUd4qC3TFlUX4WAJQ4bz7NvVibWZjUWSdLnXWwqvUkeihutQIXyQlfZINiWYzquxdaPNY3+NgMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdmgzNUGEgxbxUKAM6kEYmzvfTQaDGeReIIKDBJ+P1zfASIwWExtyGQzus+uBfg/tGHXuoZC0nz/vAHeealYjjjIemDx0LKUze0Q5ppoQKRAQ5uHKqgEM5sTHkBv9dHQNQKuiDLAOcsDmFYGNaz4xmCOhzOXfIjB3Dj2mwxcbSgnARDU8k9JWlIBAL13V3Y9d1nMVKRUSeWTEGQwIRiOdCj6zjLM9AWyC+xnBovNA9w/Vd6bCVfCljoR/ZsrsS+imgEm1C21Ixlpx/kuj7UDD5WFN2M2wpBg4sJqeFdaZvidmpLS9zNFHEDbrnniE/gC5yw0HUlP85fySJajTiWBhB5iSXOT/7+Bn5plLMht8aqI7tLAhbQ6uyMeNT/vEkE4C6qnDTl3JDQfCOvVUD4/RcL+x8k9HaBk6zTnnO9t3F7n59J0UIl4tiGISwcgHLwN3MZumRjUaXKjuQSEa8GXxoeMM6YO37hsHMgkulvDrEnjnzEbOi4CSbaRGa2Y5Hu3qKOEKlRSiqb2aNztIJS8qIXVTdpyM1/+bdHJpLjQ3dc/KKHBcAyEv+IgP1qJfMEw7Y1dErq1iudYDlN64E4A9xEhXTkX6YIOqKg6gvnC6gyDu7LaXI2cUn+OjbML2U+AWJuuiDS6CeQ6N5ZCKGDogDjnsEZAseVzst/My9XlqJ7RwQCcrnRGmhGvbm4ke65aFocYmJlSePlxkEwdoLfzC1C0PqW1Au5Swjy+5OzSJ9un5rpWJnFoKep2r51KN5yel2H1ipu5365LqovIP57l1aeDCZAYEy692nVWQ84BZpaQxrNSH9hvToIXWbBAkTzkbFK+C+IbDTz+a6ZHNsebGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015YaV8GqPiKpa2YFnB4jqVx",
      "input": {
        "note": "The right arm is only creeping back; re-issuing the retract-and-raise command so the top camera can see the centre of the table and locate the pen.",
        "targets": {
          "right_x": 0.22,
          "right_y": 0.0,
          "right_yaw": 0.0,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_015YaV8GqPiKpa2YFnB4jqVx",
      "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]: [-0.5518, 0.9623, 0.8936, -0.9031, -0.4892, -0.4206, 0.0252, 0.1429, 1.1126, 1.5188, -1.4498, 0.2398, 0.0658, 0.021]\nstate[eef_state]: left_x=0.2541 left_y=-0.0547 left_z=0.1851 left_yaw=0.1007 left_pitch=-0.2536 left_roll=0.1265 left_gripper=0.0252 right_x=0.2293 right_y=-0.0058 right_z=0.292 right_yaw=-0.1357 right_pitch=-0.4533 right_roll=-0.1911 right_gripper=0.021\nstate[joint_eff]: [-0.0479, -1.9487, 6.7214, 1.2772, -0.2759, -0.0659, -0.0122, -0.253, -2.441, 6.5709, 1.0476, 0.0855, -0.022, 0.5543]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1fa699cf1a7605f134327c4fad3e20abe61844b7a8b99c5d0fa5a4b4c6dc25ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e3678ea2f784f512ac4e84f73f41d4275621ae4b82da638d7e99de7e0eb1af6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ec6510ab229e1967ff278e62aa8ed68d38f95829ab37d9b0f54a33105fc0b291",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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