adhoc

completed
2026-09-22T19:18:40.301364+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
298.8 s
total steps
234
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 noteThe pen lies diagonally just right of the table centre and the cap is to its left. I'm moving the right arm above the pen and the left arm above the cap, both yawed about 35° so the jaws close across them.
move_to
right_x0.3800right_y0.2500right_z0.1200right_yaw0.6000right_gripper1.0000left_x0.3800left_y-0.2000left_z0.1200left_yaw0.6000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.7925, 0.6018, -0.379, -0.0216, -0.0246, 0.9998, -0.0181, 0.7918, 0.6098, -0.3759, -0.0261, -0.033, 0.9991] state[eef_state]: left_x=0.2945 left_y=0.0014 left_z=0.1796 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9998 right_x=0.2958 right_y=0.0028 right_z=0.1841 right_yaw=-0.0004 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.4991, -1.5111, 10.6051, 1.7314, -0.022, 0.1001, -0.0366, -0.5812, -1.265, 9.7299, 1.7411, 0.022, 0.1636, -0.105] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.25, "right_z": 0.12, "right_yaw": 0.6, "right_gripper": 1, "left_x": 0.38, "left_y": -0.2, "left_z": 0.12, "left_yaw": 0.6, "left_gripper": 1}, "note": "The pen lies diagonally just right of the table centre and the cap is to its left. I'm moving the right arm above the pen and the left arm above the cap, both yawed about 35\u00b0 so the jaws close across them."})
tool
executing move_to over 21 steps (2.1s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteLeft wrist view shows the cap lying along the jaw axis just ahead of the fingertips, so I'm turning the left wrist 90° and nudging it forward. The pen lies across the right jaws but a bit to the right, so I'm shifting the right arm toward the tool's right.
move_to
left_x0.4050left_y-0.1850left_z0.1000left_yaw-1.0000right_x0.3850right_y0.2100right_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]: [-0.8368, 1.9652, 1.4178, -0.7788, -0.9535, -1.2831, 0.9998, 0.54, 1.5784, 0.7952, 0.1497, -0.0284, -0.0383, 0.9991] state[eef_state]: left_x=0.3799 left_y=-0.2007 left_z=0.1124 left_yaw=0.5578 left_pitch=-0.0271 left_roll=0.0011 left_gripper=0.9998 right_x=0.3703 right_y=0.232 right_z=0.0998 right_yaw=0.5625 right_pitch=-0.0754 right_roll=-0.0016 right_gripper=0.9991 state[joint_eff]: [-0.4444, -10.0581, 7.5419, 0.3883, -0.7155, 0.0952, -0.0366, 0.9778, -6.8034, 8.9778, 2.0879, -0.0415, -0.1001, -0.105] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.405, "left_y": -0.185, "left_z": 0.1, "left_yaw": -1.0, "right_x": 0.385, "right_y": 0.21, "right_z": 0.1}, "note": "Left wrist view shows the cap lying along the jaw axis just ahead of the fingertips, so I'm turning the left wrist 90\u00b0 and nudging it forward. The pen lies across the right jaws but a bit to the right, so I'm shifting the right arm toward the tool's right."})
tool
executing move_to over 10 steps (1.0s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe cap now sits on the left jaw column, crosswise to the jaws, so the left arm descends to table level. The pen is still to the right of the right jaws, so the right arm shifts further toward the tool's right.
move_to
left_z-0.0050right_x0.4000right_y0.1800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.223, 1.7092, 0.9051, 0.0406, 0.4011, 0.2848, 0.9997, 0.4614, 1.6001, 0.7963, 0.1307, -0.091, -0.0879, 0.9991] state[eef_state]: left_x=0.4125 left_y=-0.1606 left_z=0.0779 left_yaw=-0.7254 left_pitch=-0.1214 left_roll=-0.0488 left_gripper=0.9997 right_x=0.3794 right_y=0.2105 right_z=0.0879 right_yaw=0.5638 right_pitch=-0.1121 right_roll=-0.0006 right_gripper=0.9991 state[joint_eff]: [0.1162, -8.7043, 8.2393, 1.6093, 0.3053, 0.2711, -0.022, -1.0325, -8.3077, 6.8855, 1.746, -0.188, -0.0611, -0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": -0.005, "right_x": 0.4, "right_y": 0.18}, "note": "The cap now sits on the left jaw column, crosswise to the jaws, so the left arm descends to table level. The pen is still to the right of the right jaws, so the right arm shifts further toward the tool's right."})
tool
executing move_to over 6 steps (0.6s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteThe cap is centred between the left jaws at table level, so I'm closing the left gripper. The pen now runs through the right jaw column, so the right arm descends to the table.
move_to
left_gripper0.0000right_z0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.223, 1.9167, 0.799, 0.3397, 0.4156, 0.2989, 0.9997, 0.3519, 1.6161, 0.7994, 0.1112, -0.1654, -0.1509, 0.9991] state[eef_state]: left_x=0.41 left_y=-0.1624 left_z=0.0039 left_yaw=-0.7454 left_pitch=-0.1288 left_roll=-0.0539 left_gripper=0.9997 right_x=0.3919 right_y=0.1787 right_z=0.0799 right_yaw=0.5518 right_pitch=-0.1363 right_roll=0.0022 right_gripper=0.9991 state[joint_eff]: [-0.1846, -6.7897, 3.8496, 1.0623, 0.0073, -0.1636, -0.0171, -0.6906, -6.0103, 8.7316, 1.6972, -0.1587, -0.0513, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0, "right_z": 0.0}, "note": "The cap is centred between the left jaws at table level, so I'm closing the left gripper. The pen now runs through the right jaw column, so the right arm descends to the table."})
tool
executing move_to over 10 steps (1.0s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteLeft gripper closed at 0.046, borderline, so I'm lifting it to check whether the cap came with it. The pen is between the right jaws at table level, so the right gripper closes.
move_to
right_gripper0.0000left_z0.0800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.223, 1.927, 0.7898, 0.3775, 0.4038, 0.292, 0.0463, 0.3489, 1.8462, 0.6842, 0.4362, -0.1761, -0.1631, 0.9991] state[eef_state]: left_x=0.4127 left_y=-0.1611 left_z=0.0023 left_yaw=-0.7312 left_pitch=-0.117 left_roll=-0.043 left_gripper=0.0463 right_x=0.3893 right_y=0.1783 right_z=0.0033 right_yaw=0.565 right_pitch=-0.1545 right_roll=0.0039 right_gripper=0.9991 state[joint_eff]: [-0.0342, -9.5521, 5.7778, 1.1697, 0.2466, 0.1734, 1.4774, 0.0342, -6.0376, 4.1231, 1.7363, 0.0171, 0.0659, -0.0171] camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0, "left_z": 0.08}, "note": "Left gripper closed at 0.046, borderline, so I'm lifting it to check whether the cap came with it. The pen is between the right jaws at table level, so the right gripper closes."})
tool
executing move_to over 10 steps (1.0s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteBoth grippers closed at about 0.05, consistent with a thin pen and cap. I'm lifting both and turning them so the pen tip (right arm) and the cap (left arm) point toward each other across the table.
move_to
right_z0.1500right_x0.3500right_y0.2000right_yaw1.5700left_z0.1500left_x0.3500left_y-0.1800left_yaw-1.5700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.223, 1.7412, 0.8665, 0.0669, 0.3965, 0.2886, 0.0503, 0.3485, 1.858, 0.6804, 0.4614, -0.178, -0.1692, 0.046] state[eef_state]: left_x=0.4041 left_y=-0.1579 left_z=0.0544 left_yaw=-0.7268 left_pitch=-0.1616 left_roll=-0.0646 left_gripper=0.0503 right_x=0.3905 right_y=0.179 right_z=0.0019 right_yaw=0.5691 right_pitch=-0.1449 right_roll=-0.0016 right_gripper=0.046 state[joint_eff]: [-0.0479, -10.3316, 8.8547, 1.5702, 0.2076, 0.0073, 1.0379, 0.0342, -9.0462, 5.4769, 1.3748, -0.0562, 0.0562, 1.1697] camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.15, "right_x": 0.35, "right_y": 0.2, "right_yaw": 1.57, "left_z": 0.15, "left_x": 0.35, "left_y": -0.18, "left_yaw": -1.57}, "note": "Both grippers closed at about 0.05, consistent with a thin pen and cap. I'm lifting both and turning them so the pen tip (right arm) and the cap (left arm) point toward each other across the table."})
tool
executing move_to over 10 steps (1.0s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteThe pen is held horizontally in the right gripper with its tip pointing toward the left gripper, and the cap seems to be held in the left one. I'm matching heights and moving the left gripper 5 cm toward the pen tip.
move_to
left_y-0.2300left_z0.1650left_x0.3750
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1444, 1.8618, 1.4689, -0.9604, 0.7822, 1.1587, 0.0551, 0.1776, 1.8278, 1.4345, -0.7887, -0.7898, -1.1717, 0.0499] state[eef_state]: left_x=0.3657 left_y=-0.1754 left_z=0.1359 left_yaw=-1.4531 left_pitch=-0.1974 left_roll=-0.0726 left_gripper=0.0551 right_x=0.3808 right_y=0.1995 right_z=0.1491 right_yaw=1.4332 right_pitch=-0.153 right_roll=-0.0844 right_gripper=0.0499 state[joint_eff]: [-0.4171, -9.1282, 8.4171, 0.5446, 0.6618, 0.1978, 1.0281, -0.7043, -8.253, 6.2564, 0.359, -0.735, -0.149, 1.033] camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.23, "left_z": 0.165, "left_x": 0.375}, "note": "The pen is held horizontally in the right gripper with its tip pointing toward the left gripper, and the cap seems to be held in the left one. I'm matching heights and moving the left gripper 5 cm toward the pen tip."})
tool
executing move_to over 5 steps (0.5s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent notePen tip is about 11 cm from the left fingertips and slightly forward of them. I'm moving the right arm 6 cm toward the left, aligning its x and height with the left gripper holding the cap.
move_to
right_y0.2600right_x0.3620right_z0.1580
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2756, 1.8904, 1.5734, -0.9936, 0.7395, 1.0241, 0.0581, 0.178, 1.8397, 1.4357, -0.815, -0.7853, -1.1961, 0.0555] state[eef_state]: left_x=0.3592 left_y=-0.2216 left_z=0.1496 left_yaw=-1.4886 left_pitch=-0.2302 left_roll=-0.1158 left_gripper=0.0581 right_x=0.3769 right_y=0.1983 right_z=0.1425 right_yaw=1.4505 right_pitch=-0.169 right_roll=-0.0686 right_gripper=0.0555 state[joint_eff]: [-0.2256, -8.9641, 9.2376, 0.9597, 0.5836, -0.1294, 1.0281, -0.3761, -10.3453, 6.0923, 1.0379, -0.486, 0.1832, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.26, "right_x": 0.362, "right_z": 0.158}, "note": "Pen tip is about 11 cm from the left fingertips and slightly forward of them. I'm moving the right arm 6 cm toward the left, aligning its x and height with the left gripper holding the cap."})
tool
executing move_to over 6 steps (0.6s)
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 noteBoth wrist cameras show the pen tip lined up with the left jaws where the cap is held. I'm raising the right arm 1 cm to match heights and pushing the pen 2 cm further so its tip goes into the cap.
move_to
right_y0.2800right_z0.1680
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2859, 1.8957, 1.5871, -0.9791, 0.7322, 0.9688, 0.0581, 0.3435, 1.837, 1.4319, -0.7311, -0.7235, -1.0298, 0.0555] state[eef_state]: left_x=0.3631 left_y=-0.2261 left_z=0.1517 left_yaw=-1.461 left_pitch=-0.2317 left_roll=-0.1309 left_gripper=0.0581 right_x=0.3581 right_y=0.2561 right_z=0.1418 right_yaw=1.4852 right_pitch=-0.1899 right_roll=-0.0427 right_gripper=0.0555 state[joint_eff]: [0.1162, -9.5248, 8.8821, 0.989, 0.4371, -0.022, 1.033, 0.3214, -11.8222, 7.1316, 1.0427, -0.3785, 0.1538, 1.0232] 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_y": 0.28, "right_z": 0.168}, "note": "Both wrist cameras show the pen tip lined up with the left jaws where the cap is held. I'm raising the right arm 1 cm to match heights and pushing the pen 2 cm further so its tip goes into the cap."})
tool
executing move_to over 2 steps (0.2s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteThe right arm stopped 1 cm short, so the pen tip may be touching the cap. I'm pushing a little further to try to seat the cap on the pen.
move_to
right_y0.2900right_z0.1700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2859, 1.8957, 1.5871, -0.9791, 0.7326, 0.9691, 0.0581, 0.3767, 1.8477, 1.4826, -0.7597, -0.6937, -0.989, 0.0603] state[eef_state]: left_x=0.3631 left_y=-0.2261 left_z=0.1517 left_yaw=-1.4613 left_pitch=-0.2314 left_roll=-0.1308 left_gripper=0.0581 right_x=0.3581 right_y=0.267 right_z=0.1489 right_yaw=1.4792 right_pitch=-0.2088 right_roll=-0.0349 right_gripper=0.0603 state[joint_eff]: [-0.1299, -9.7026, 8.9368, 1.0574, 0.4811, 0.0073, 1.033, 1.306, -9.3744, 9.265, 0.8132, -0.5055, 0.1978, 1.033] camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.29, "right_z": 0.17}, "note": "The right arm stopped 1 cm short, so the pen tip may be touching the cap. I'm pushing a little further to try to seat the cap on the pen."})
tool
executing move_to over 2 steps (0.2s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteThe pen tip is pressed into the left jaws holding the cap and won't advance further, so the cap may be seated. I'm opening the left gripper to see whether the cap stays on the pen.
move_to
left_gripper0.5000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2859, 1.8957, 1.5887, -0.9798, 0.7326, 0.9688, 0.0581, 0.4011, 1.8492, 1.5276, -0.778, -0.6727, -0.9726, 0.064] state[eef_state]: left_x=0.3632 left_y=-0.2262 left_z=0.1521 left_yaw=-1.4609 left_pitch=-0.2311 left_roll=-0.1303 left_gripper=0.0581 right_x=0.3593 right_y=0.2758 right_z=0.1599 right_yaw=1.4788 right_pitch=-0.2136 right_roll=-0.0545 right_gripper=0.064 state[joint_eff]: [0.212, -9.7026, 8.9231, 1.0085, 0.4078, -0.022, 1.033, 0.2803, -9.1556, 6.8171, 0.9841, -0.4371, 0.1099, 0.9695] camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.5}, "note": "The pen tip is pressed into the left jaws holding the cap and won't advance further, so the cap may be seated. I'm opening the left gripper to see whether the cap stays on the pen."})
tool
executing move_to over 5 steps (0.5s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteThe cap dropped to the table when released (it wasn't on the pen). I'm backing the pen arm off and moving the left gripper above where the cap landed to look at how it's lying.
move_to
left_x0.3600left_y-0.1850left_z0.1000left_yaw-0.7000left_gripper1.0000right_y0.2000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2863, 1.8957, 1.5883, -0.9844, 0.7296, 0.9657, 0.4955, 0.4011, 1.8492, 1.5276, -0.7776, -0.6727, -0.9726, 0.0676] state[eef_state]: left_x=0.3624 left_y=-0.2257 left_z=0.1514 left_yaw=-1.4596 left_pitch=-0.2359 left_roll=-0.136 left_gripper=0.4955 right_x=0.3593 right_y=0.2759 right_z=0.1599 right_yaw=1.4787 right_pitch=-0.2135 right_roll=-0.0549 right_gripper=0.0676 state[joint_eff]: [-0.1709, -9.7573, 6.3111, 0.823, 0.3492, -0.0171, -0.2222, 0.294, -9.1556, 6.8444, 0.989, -0.4567, 0.1099, 0.8083] camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.185, "left_z": 0.1, "left_yaw": -0.7, "left_gripper": 1, "right_y": 0.2}, "note": "The cap dropped to the table when released (it wasn't on the pen). I'm backing the pen arm off and moving the left gripper above where the cap landed to look at how it's lying."})
tool
executing move_to over 7 steps (0.7s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteThe left wrist view shows the cap lying along the jaw axis, about 4 cm to the tool's left. I'm shifting over it and turning the wrist 90° so the jaws close across the cap.
move_to
left_x0.3700left_y-0.1630left_yaw0.7000left_z0.0800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3424, 1.5661, 0.9287, -0.3344, 0.3935, 0.2665, 0.9966, 0.2287, 1.8336, 1.4837, -0.8745, -0.7147, -1.1263, 0.0695] state[eef_state]: left_x=0.3391 left_y=-0.189 left_z=0.0859 left_yaw=-0.8506 left_pitch=-0.3076 left_roll=-0.16 left_gripper=0.9966 right_x=0.3706 right_y=0.2088 right_z=0.1481 right_yaw=1.4361 right_pitch=-0.2323 right_roll=-0.0337 right_gripper=0.0695 state[joint_eff]: [-0.3624, -8.1162, 6.8855, 1.6093, 0.1001, -0.0171, -0.0513, 2.0581, -12.1778, 6.4479, 0.6862, -0.7302, -0.0855, 0.8425] camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.37, "left_y": -0.163, "left_yaw": 0.7, "left_z": 0.08}, "note": "The left wrist view shows the cap lying along the jaw axis, about 4 cm to the tool's left. I'm shifting over it and turning the wrist 90\u00b0 so the jaws close across the cap."})
tool
executing move_to over 10 steps (1.0s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteThe previous move was rate-clamped partway through the wrist rotation; the cap is visible just ahead-left of the jaws. Re-sending the same target to finish the rotation and shift.
move_to
left_x0.3700left_y-0.1630left_yaw0.7000left_z0.0800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4782, 1.5284, 0.8474, -0.2195, 0.0296, -0.2127, 0.9977, 0.2287, 1.8305, 1.4807, -0.8833, -0.7097, -1.145, 0.0692] state[eef_state]: left_x=0.3457 left_y=-0.181 left_z=0.075 left_yaw=-0.3953 left_pitch=-0.34 left_roll=-0.1587 left_gripper=0.9977 right_x=0.3686 right_y=0.2077 right_z=0.1471 right_yaw=1.4462 right_pitch=-0.2399 right_roll=-0.0404 right_gripper=0.0692 state[joint_eff]: [-0.4171, -8.3761, 6.0786, 1.5116, -0.1001, -0.1245, 0.1001, -0.3624, -9.0872, 6.5846, 0.8913, -0.4762, 0.149, 0.6422] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.37, "left_y": -0.163, "left_yaw": 0.7, "left_z": 0.08}, "note": "The previous move was rate-clamped partway through the wrist rotation; the cap is visible just ahead-left of the jaws. Re-sending the same target to finish the rotation and shift."})
tool
executing move_to over 7 steps (0.7s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent noteThe left arm drifted (pitched down and moved sideways) while rotating; the cap is ahead-left of the jaws. Re-targeting above the cap with explicit zero pitch and roll and a 40° yaw.
move_to
left_x0.3800left_y-0.1800left_yaw0.7000left_z0.1000left_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]: [-0.7055, 1.8641, 1.2541, -0.5888, -0.3511, -0.6128, 0.998, 0.2291, 1.8317, 1.4788, -0.8845, -0.7067, -1.1412, 0.0723] state[eef_state]: left_x=0.3593 left_y=-0.2215 left_z=0.0539 left_yaw=0.004 left_pitch=-0.4982 left_roll=0.0636 left_gripper=0.998 right_x=0.3681 right_y=0.2073 right_z=0.1457 right_yaw=1.4442 right_pitch=-0.2441 right_roll=-0.0346 right_gripper=0.0723 state[joint_eff]: [1.306, -10.6872, 7.6103, 0.5836, -0.4176, -0.1099, 0.0122, -0.0342, -9.388, 6.3658, 0.823, -0.4615, -0.0708, 0.6276] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.18, "left_yaw": 0.7, "left_z": 0.1, "left_pitch": 0, "left_roll": 0}, "note": "The left arm drifted (pitched down and moved sideways) while rotating; the cap is ahead-left of the jaws. Re-targeting above the cap with explicit zero pitch and roll and a 40\u00b0 yaw."})
tool
executing move_to over 17 steps (1.7s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteThe cap now lies crosswise between the jaw lines, slightly left of centre. I'm nudging forward and left so the jaws grab it near its tapered (closed) end, leaving the open end sticking out behind, and descending to the table.
move_to
left_x0.3850left_y-0.1690left_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]: [-0.8085, 2.0274, 1.4319, -0.8413, -0.9344, -1.401, 0.998, 0.2291, 1.832, 1.4776, -0.8833, -0.7067, -1.1408, 0.0741] state[eef_state]: left_x=0.3789 left_y=-0.1859 left_z=0.0879 left_yaw=0.6508 left_pitch=-0.0607 left_roll=0.0115 left_gripper=0.998 right_x=0.3681 right_y=0.2073 right_z=0.1453 right_yaw=1.4441 right_pitch=-0.2442 right_roll=-0.034 right_gripper=0.0741 state[joint_eff]: [-0.6222, -9.7983, 7.9795, 0.315, -0.7009, -0.0855, -0.0122, -0.1299, -9.3197, 6.3658, 0.779, -0.4371, -0.0415, 0.525] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.385, "left_y": -0.169, "left_z": 0.0}, "note": "The cap now lies crosswise between the jaw lines, slightly left of centre. I'm nudging forward and left so the jaws grab it near its tapered (closed) end, leaving the open end sticking out behind, and descending to the table."})
tool
executing move_to over 6 steps (0.6s)
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 noteThe cap lies centred between the left jaws at table level, with its tapered end just ahead of them. Closing the left gripper.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7715, 2.1399, 1.2449, -0.5346, -0.9268, -1.3514, 0.998, 0.2291, 1.832, 1.4776, -0.8837, -0.7067, -1.1412, 0.0738] state[eef_state]: left_x=0.3784 left_y=-0.166 left_z=0.0066 left_yaw=0.6595 left_pitch=-0.0682 left_roll=0.0434 left_gripper=0.998 right_x=0.368 right_y=0.2073 right_z=0.1452 right_yaw=1.4444 right_pitch=-0.2443 right_roll=-0.0339 right_gripper=0.0738 state[joint_eff]: [0.5812, -10.2085, 4.8479, 0.5299, -0.4957, 0.0855, -0.0122, -0.294, -9.306, 6.2291, 0.8278, -0.4225, -0.0708, 0.779] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "The cap lies centred between the left jaws at table level, with its tapered end just ahead of them. Closing the left gripper."})
tool
executing move_to over 10 steps (1.0s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteThe cap is held near its tapered closed end (tip poking out ahead of the jaws), so the open end sticks out behind. I'm lifting it and turning the wrist so the open end faces the pen tip.
move_to
left_z0.1700left_yaw1.5700left_x0.3600left_y-0.2000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7712, 2.1479, 1.2362, -0.5232, -0.944, -1.3521, 0.0488, 0.2291, 1.832, 1.4776, -0.8837, -0.7067, -1.1408, 0.0743] state[eef_state]: left_x=0.3782 left_y=-0.1631 left_z=0.0044 left_yaw=0.6631 left_pitch=-0.0521 left_roll=0.0504 left_gripper=0.0488 right_x=0.368 right_y=0.2073 right_z=0.1452 right_yaw=1.4442 right_pitch=-0.2443 right_roll=-0.0336 right_gripper=0.0743 state[joint_eff]: [-0.3761, -11.2205, 5.5043, 0.4029, -0.3297, 0.0024, 1.1111, -0.2393, -9.3333, 6.2017, 0.8474, -0.398, -0.0366, 0.4078] camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.17, "left_yaw": 1.57, "left_x": 0.36, "left_y": -0.2}, "note": "The cap is held near its tapered closed end (tip poking out ahead of the jaws), so the open end sticks out behind. I'm lifting it and turning the wrist so the open end faces the pen tip."})
tool
executing move_to over 11 steps (1.1s)
step 155
top_cam
camera top_cam step 155
left_cam
camera left_cam step 155
right_cam
camera right_cam step 155
assistant
agent noteThe left arm ended well away from its target (low and to the left) but still holds the cap. Re-sending the target pose above the table with the wrist turned.
move_to
left_z0.1700left_yaw1.5700left_x0.3600left_y-0.2000left_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]: [-0.4366, 2.3074, 1.8244, -1.5433, -0.8253, -2.0869, 0.0539, 0.2234, 1.832, 1.4769, -0.8734, -0.6846, -1.1408, 0.0748] state[eef_state]: left_x=0.3811 left_y=-0.0307 left_z=0.0767 left_yaw=1.47 left_pitch=-0.0876 left_roll=0.0653 left_gripper=0.0539 right_x=0.3724 right_y=0.2028 right_z=0.1433 right_yaw=1.4269 right_pitch=-0.2605 right_roll=-0.0505 right_gripper=0.0748 state[joint_eff]: [0.2667, -15.2547, 4.9436, -0.6081, -0.3736, -0.149, 1.0281, 0.2393, -9.1145, 6.612, 0.7839, -0.6081, -0.0611, 0.6374] camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.17, "left_yaw": 1.57, "left_x": 0.36, "left_y": -0.2, "left_pitch": 0, "left_roll": 0}, "note": "The left arm ended well away from its target (low and to the left) but still holds the cap. Re-sending the target pose above the table with the wrist turned."})
tool
executing move_to over 16 steps (1.6s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent noteThe left arm gets stuck when yawed +90° with the cap. Switching plan: point the cap forward (yaw 0) so its open end faces back toward the base, and bring the pen in from behind. First lifting the left arm and unwinding the yaw.
move_to
left_z0.1700left_yaw0.0000left_x0.4000left_y-0.1500left_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]: [-0.3923, 2.2837, 1.8427, -1.5566, -0.8589, -2.0937, 0.0589, 0.223, 1.832, 1.4769, -0.881, -0.6804, -1.1408, 0.0771] state[eef_state]: left_x=0.3877 left_y=-0.0118 left_z=0.0929 left_yaw=1.5008 left_pitch=-0.068 left_roll=0.0228 left_gripper=0.0589 right_x=0.3713 right_y=0.2018 right_z=0.1424 right_yaw=1.4267 right_pitch=-0.2669 right_roll=-0.0446 right_gripper=0.0771 state[joint_eff]: [0.6222, -14.7761, 4.4786, -0.6081, -0.6764, -0.0415, 1.033, -0.3487, -9.2923, 6.4068, 0.8816, -0.3932, -0.0317, 0.2222] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.17, "left_yaw": 0.0, "left_x": 0.4, "left_y": -0.15, "left_pitch": 0, "left_roll": 0}, "note": "The left arm gets stuck when yawed +90\u00b0 with the cap. Switching plan: point the cap forward (yaw 0) so its open end faces back toward the base, and bring the pen in from behind. First lifting the left arm and unwinding the yaw."})
tool
executing move_to over 13 steps (1.3s)
step 184
top_cam
camera top_cam step 184
left_cam
camera left_cam step 184
right_cam
camera right_cam step 184
assistant
agent noteThe cap is now held pointing forward in the left gripper with its open end facing back toward the base. I'm turning the right arm so the pen tip points forward and bringing it behind where the cap will be.
move_to
right_yaw0.0000right_x0.2500right_y0.3300right_z0.1650
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5613, 1.4975, 0.9672, -0.2314, -0.5713, -0.4969, 0.0618, 0.223, 1.832, 1.4757, -0.8829, -0.6754, -1.1408, 0.0799] state[eef_state]: left_x=0.392 left_y=-0.1294 left_z=0.1524 left_yaw=0.1651 left_pitch=-0.0501 left_roll=-0.0084 left_gripper=0.0618 right_x=0.3711 right_y=0.2011 right_z=0.1413 right_yaw=1.4254 right_pitch=-0.2724 right_roll=-0.0433 right_gripper=0.0799 state[joint_eff]: [0.4581, -7.7607, 6.7214, 1.8046, -0.1685, 0.2418, 1.033, -0.1162, -9.1419, 6.5846, 0.8962, -0.4469, -0.0464, 0.2711] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_yaw": 0.0, "right_x": 0.25, "right_y": 0.33, "right_z": 0.165}, "note": "The cap is now held pointing forward in the left gripper with its open end facing back toward the base. I'm turning the right arm so the pen tip points forward and bringing it behind where the cap will be."})
tool
executing move_to over 11 steps (1.1s)
step 195
top_cam
camera top_cam step 195
left_cam
camera left_cam step 195
right_cam
camera right_cam step 195
assistant
agent noteThe pen now points forward from the right gripper at the table centre. I'm moving the cap in front of it on the same line (left arm to the centre line, a few cm beyond the pen tip) and levelling the right wrist.
move_to
left_x0.4500left_y-0.3100left_z0.1700left_yaw0.0000right_pitch0.0000right_yaw0.0000right_z0.1700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5533, 1.4933, 0.9543, -0.2356, -0.5514, -0.4965, 0.0632, 1.1545, 1.7687, 1.4673, -0.8524, 0.5541, 0.7361, 0.0814] state[eef_state]: left_x=0.3894 left_y=-0.1275 left_z=0.1468 left_yaw=0.1585 left_pitch=-0.069 left_roll=-0.01 left_gripper=0.0632 right_x=0.2487 right_y=0.3415 right_z=0.1541 right_yaw=0.2157 right_pitch=-0.3344 right_roll=-0.0832 right_gripper=0.0814 state[joint_eff]: [-1.2103, -6.2017, 7.7744, 1.5897, -0.3834, -0.0269, 1.0281, 0.8547, -8.294, 8.5128, 1.5751, 0.0952, -0.105, 0.149] camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.31, "left_z": 0.17, "left_yaw": 0.0, "right_pitch": 0.0, "right_yaw": 0.0, "right_z": 0.17}, "note": "The pen now points forward from the right gripper at the table centre. I'm moving the cap in front of it on the same line (left arm to the centre line, a few cm beyond the pen tip) and levelling the right wrist."})
tool
executing move_to over 17 steps (1.7s)
step 212
top_cam
camera top_cam step 212
left_cam
camera left_cam step 212
right_cam
camera right_cam step 212
assistant
agent noteCap is held pointing forward at the centre line, pen points forward behind it but ~3 cm off laterally. Aligning the pen with the cap's axis and advancing 3 cm toward the cap's open end.
move_to
right_y0.3560right_x0.2700right_z0.1760
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.775, 2.0163, 1.6608, -0.5198, -0.5976, -0.5793, 0.0659, 1.2823, 1.8282, 1.4002, -0.8639, 0.9131, 1.0546, 0.0828] state[eef_state]: left_x=0.4456 left_y=-0.2923 left_z=0.1554 left_yaw=0.0219 left_pitch=-0.1186 left_roll=0.0186 left_gripper=0.0659 right_x=0.2398 right_y=0.3293 right_z=0.1492 right_yaw=-0.0113 right_pitch=-0.0739 right_roll=-0.1244 right_gripper=0.0828 state[joint_eff]: [0.1299, -11.4803, 9.1419, 1.2869, -0.4322, 0.1001, 1.0183, -2.5368, -8.9778, 8.3897, 0.6422, 0.9304, -0.1245, 0.1392] camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.356, "right_x": 0.27, "right_z": 0.176}, "note": "Cap is held pointing forward at the centre line, pen points forward behind it but ~3 cm off laterally. Aligning the pen with the cap's axis and advancing 3 cm toward the cap's open end."})
tool
executing move_to over 3 steps (0.3s)
step 215
top_cam
camera top_cam step 215
left_cam
camera left_cam step 215
right_cam
camera right_cam step 215
assistant
agent noteIn the right wrist view the left gripper holding the cap appears up and to the right of the pen tip, and the pen is ~2 cm higher than the cap. Shifting the pen 2 cm to its right and lowering it to match.
move_to
right_y0.3380right_z0.1550
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7795, 2.0377, 1.6661, -0.5125, -0.5949, -0.5793, 0.0668, 1.2465, 1.9205, 1.5864, -0.9024, 0.8925, 0.9848, 0.0844] state[eef_state]: left_x=0.4463 left_y=-0.2969 left_z=0.1475 left_yaw=0.0163 left_pitch=-0.1262 left_roll=0.0235 left_gripper=0.0668 right_x=0.2611 right_y=0.3562 right_z=0.1656 right_yaw=0.0005 right_pitch=-0.08 right_roll=-0.1219 right_gripper=0.0844 state[joint_eff]: [0.3487, -13.2581, 6.2564, 1.243, -0.3541, -0.0562, 1.0281, -0.8274, -10.0581, 7.5282, 0.5495, 0.6081, 0.0415, 0.149] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.338, "right_z": 0.155}, "note": "In the right wrist view the left gripper holding the cap appears up and to the right of the pen tip, and the pen is ~2 cm higher than the cap. Shifting the pen 2 cm to its right and lowering it to match."})
tool
executing move_to over 2 steps (0.2s)
step 217
assistant
agent noteThe left gripper is still to the upper right of the pen tip in the right wrist view. Continuing to shift the pen right and down toward the cap's axis.
move_to
right_y0.3280right_z0.1450
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7776, 2.0377, 1.6638, -0.5339, -0.5949, -0.5793, 0.0698, 1.2327, 1.9099, 1.5543, -0.8948, 0.8822, 0.9714, 0.0856] state[eef_state]: left_x=0.444 left_y=-0.2932 left_z=0.1437 left_yaw=0.0205 left_pitch=-0.1428 left_roll=0.0405 left_gripper=0.0698 right_x=0.2632 right_y=0.3481 right_z=0.159 right_yaw=-0.0038 right_pitch=-0.0945 right_roll=-0.1425 right_gripper=0.0856 state[joint_eff]: [-0.4991, -11.4803, 6.8171, 1.5409, -0.3004, -0.0415, 0.8864, 0.3487, -11.3709, 6.3385, 1.0965, 0.4811, -0.0024, 0.1392] camera 'top_cam' (step 217): [image omitted: streamed camera frame] camera 'left_cam' (step 217): [image omitted: streamed camera frame] camera 'right_cam' (step 217): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.328, "right_z": 0.145}, "note": "The left gripper is still to the upper right of the pen tip in the right wrist view. Continuing to shift the pen right and down toward the cap's axis."})
tool
executing move_to over 2 steps (0.2s)
step 219
assistant
agent noteThe right arm is creeping slowly, so I'm moving the cap instead: shifting the left gripper ~1.5 cm toward the pen's line and slightly back toward the pen tip.
move_to
left_y-0.2770left_x0.4320left_z0.1580
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7792, 2.0377, 1.6638, -0.5354, -0.5945, -0.5789, 0.0717, 1.2327, 1.9087, 1.515, -0.8791, 0.8783, 0.971, 0.0863] state[eef_state]: left_x=0.4433 left_y=-0.2937 left_z=0.1435 left_yaw=0.0186 left_pitch=-0.1441 left_roll=0.0417 left_gripper=0.0717 right_x=0.261 right_y=0.3433 right_z=0.1479 right_yaw=-0.0044 right_pitch=-0.1053 right_roll=-0.163 right_gripper=0.0863 state[joint_eff]: [-0.1846, -11.5624, 6.6256, 1.2869, -0.3394, -0.0317, 0.8864, 0.1162, -11.5624, 6.5846, 0.9158, 0.486, -0.0464, 0.0513] camera 'top_cam' (step 219): [image omitted: streamed camera frame] camera 'left_cam' (step 219): [image omitted: streamed camera frame] camera 'right_cam' (step 219): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.277, "left_x": 0.432, "left_z": 0.158}, "note": "The right arm is creeping slowly, so I'm moving the cap instead: shifting the left gripper ~1.5 cm toward the pen's line and slightly back toward the pen tip."})
tool
executing move_to over 2 steps (0.2s)
step 221
assistant
agent noteLeft gripper still sits to the right of the pen line and slightly low. Shifting it another 2 cm toward the pen's axis and raising to pen height.
move_to
left_y-0.2620left_z0.1680left_x0.4300
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7761, 2.0144, 1.6218, -0.5365, -0.5911, -0.5762, 0.072, 1.2327, 1.9087, 1.515, -0.8791, 0.8787, 0.971, 0.0863] state[eef_state]: left_x=0.4371 left_y=-0.2861 left_z=0.1387 left_yaw=0.02 left_pitch=-0.1599 left_roll=0.0562 left_gripper=0.072 right_x=0.261 right_y=0.3432 right_z=0.1479 right_yaw=-0.0045 right_pitch=-0.105 right_roll=-0.1631 right_gripper=0.0863 state[joint_eff]: [0.7453, -14.8991, 6.9128, 1.5214, -0.2759, 0.0366, 0.7985, 0.4581, -11.6308, 6.4889, 0.9011, 0.5201, -0.0073, -0.0024] camera 'top_cam' (step 221): [image omitted: streamed camera frame] camera 'left_cam' (step 221): [image omitted: streamed camera frame] camera 'right_cam' (step 221): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.262, "left_z": 0.168, "left_x": 0.43}, "note": "Left gripper still sits to the right of the pen line and slightly low. Shifting it another 2 cm toward the pen's axis and raising to pen height."})
tool
executing move_to over 3 steps (0.3s)
step 224
assistant
agent noteThe left gripper's edge now reaches the pen's line in the right wrist view, but the cap (at the jaw centre) is still to the right. Shifting another ~2.5 cm toward the pen and compensating for sag.
move_to
left_y-0.2450left_z0.1800left_x0.4300
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.757, 1.9774, 1.5955, -0.5701, -0.5751, -0.5667, 0.0753, 1.2327, 1.9087, 1.515, -0.8757, 0.8776, 0.9649, 0.0863] state[eef_state]: left_x=0.4324 left_y=-0.2715 left_z=0.1412 left_yaw=0.0257 left_pitch=-0.1856 left_roll=0.0706 left_gripper=0.0753 right_x=0.2611 right_y=0.3439 right_z=0.1479 right_yaw=-0.0006 right_pitch=-0.1053 right_roll=-0.1643 right_gripper=0.0863 state[joint_eff]: [0.8274, -15.4051, 6.4889, 1.1209, -0.2271, 0.1636, 0.7839, 0.294, -11.6308, 6.4889, 0.7595, 0.5348, 0.1197, -0.0073] camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.245, "left_z": 0.18, "left_x": 0.43}, "note": "The left gripper's edge now reaches the pen's line in the right wrist view, but the cap (at the jaw centre) is still to the right. Shifting another ~2.5 cm toward the pen and compensating for sag."})
tool
executing move_to over 3 steps (0.3s)
step 227
assistant
agent noteThe left arm has stalled at y≈-0.27 and the cap is still to the right of the pen in the right wrist view. Trying to close the gap by moving the pen 3 cm to its right instead.
move_to
right_y0.3100right_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]: [-0.7521, 1.9495, 1.5951, -0.5884, -0.569, -0.5636, 0.0768, 1.2327, 1.9087, 1.515, -0.8745, 0.8776, 0.963, 0.0864] state[eef_state]: left_x=0.4303 left_y=-0.2673 left_z=0.1515 left_yaw=0.0235 left_pitch=-0.1827 left_roll=0.0627 left_gripper=0.0768 right_x=0.2612 right_y=0.3441 right_z=0.148 right_yaw=0.0005 right_pitch=-0.1051 right_roll=-0.1648 right_gripper=0.0864 state[joint_eff]: [0.3624, -13.6684, 6.5299, 1.1844, -0.3297, 0.1245, 0.652, 0.1983, -11.6444, 6.5162, 0.8669, 0.5299, 0.0659, -0.0122] camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.31, "right_z": 0.16}, "note": "The left arm has stalled at y\u2248-0.27 and the cap is still to the right of the pen in the right wrist view. Trying to close the gap by moving the pen 3 cm to its right instead."})
tool
executing move_to over 3 steps (0.3s)
step 230
assistant
agent noteThe left gripper has moved out of the top of the right wrist view, so the pen is roughly in line with the cap now but about 1.5 cm low. Raising the pen and pushing it 4 cm forward toward the cap's open end.
move_to
right_z0.1720right_x0.2900
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7521, 1.9495, 1.5948, -0.585, -0.569, -0.564, 0.0791, 1.2278, 1.8374, 1.3956, -0.8543, 0.8486, 0.9173, 0.0864] state[eef_state]: left_x=0.4307 left_y=-0.2677 left_z=0.1518 left_yaw=0.0234 left_pitch=-0.1805 left_roll=0.0602 left_gripper=0.0791 right_x=0.2517 right_y=0.3213 right_z=0.1365 right_yaw=0.0258 right_pitch=-0.1449 right_roll=-0.2172 right_gripper=0.0864 state[joint_eff]: [0.3214, -13.6684, 6.5983, 1.2186, -0.3053, 0.1148, 0.5592, -2.5915, -12.9573, 7.0632, 0.9011, 0.7448, 0.2369, -0.0122] camera 'top_cam' (step 230): [image omitted: streamed camera frame] camera 'left_cam' (step 230): [image omitted: streamed camera frame] camera 'right_cam' (step 230): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.172, "right_x": 0.29}, "note": "The left gripper has moved out of the top of the right wrist view, so the pen is roughly in line with the cap now but about 1.5 cm low. Raising the pen and pushing it 4 cm forward toward the cap's open end."})
tool
executing move_to over 3 steps (0.3s)
step 233
assistant
agent noteI ran out of call budget before I could get the cap onto the pen. Both arms are holding their parts: the right has the pen (tip forward), and the left has the cap by its closed end, so the open end faces back. But the two arms now block each other. The left forearm crosses over the right gripper, so neither arm reaches its target (the right is stuck at x≈0.26 and the left at y≈-0.27). The pen and cap are still ~1.5 cm apart in height and not lined up. On my first try the pen tip hit the closed end of the cap, and the cap fell when I let go.
give_up
hindsight- Grasping the pen and the cap worked well. Pen: right arm at yaw ≈0.57, around x 0.39 and right_y 0.18; settled reading ≈0.046. Cap: left arm around x 0.38–0.41 and left_y -0.16 to -0.19; settled reading ≈0.05. For thin objects like these, a settled reading of 0.045–0.06 does mean you are holding something. Before closing, turn the wrist until the object lies along image-y in the wrist camera. - Look at which way the cap faces before you grasp it. The tapered end is the closed end. Grasp it near that end so the open end sticks out behind the jaws. My first try failed because the closed end faced the pen. - Don't try to meet the two parts head-on across the table (left yaw +1.57). The left arm hits IK trouble there: it goes low and sideways and won't recover. Unwinding to yaw 0 first fixed it. - The coaxial layout I switched to (cap held forward by the left arm at the centre line, pen pointing forward from the right arm behind it) makes the left forearm pass over the right gripper. The arms then collide and both stall. Better plans: meet with the arms far apart in x at different heights; have one arm hold its part still while the other approaches from its own side; or lay the pen on the table (or prop it up) and push the cap onto it with one arm. - The wrist cameras show the other gripper well, which helps with lining up. But lateral alignment computed from base frames (y offset 0.65) was off by about 2–3 cm at height. - The rate clamp limits each move to a few cm and about 0.4 rad of yaw. Big rotations take several calls, so budget for that.
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7452, 1.9472, 1.5955, -0.5804, -0.569, -0.5644, 0.0789, 1.1873, 1.8584, 1.478, -0.8906, 0.7689, 0.8021, 0.0865] state[eef_state]: left_x=0.4331 left_y=-0.2653 left_z=0.1538 left_yaw=0.0295 left_pitch=-0.1751 left_roll=0.0545 left_gripper=0.0789 right_x=0.2613 right_y=0.3289 right_z=0.1418 right_yaw=0.0785 right_pitch=-0.2176 right_roll=-0.2493 right_gripper=0.0865 state[joint_eff]: [-0.1026, -13.4906, 6.8171, 0.6374, -0.3346, 0.1783, 0.6764, -4.3145, -10.4547, 9.853, 0.8278, 1.1111, 0.2759, -0.0024] camera 'top_cam' (step 233): [image omitted: streamed camera frame] camera 'left_cam' (step 233): [image omitted: streamed camera frame] camera 'right_cam' (step 233): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I ran out of call budget before I could get the cap onto the pen. Both arms are holding their parts: the right has the pen (tip forward), and the left has the cap by its closed end, so the open end faces back. But the two arms now block each other. The left forearm crosses over the right gripper, so neither arm reaches its target (the right is stuck at x\u22480.26 and the left at y\u2248-0.27). The pen and cap are still ~1.5 cm apart in height and not lined up. On my first try the pen tip hit the closed end of the cap, and the cap fell when I let go.", "hindsight": "- Grasping the pen and the cap worked well. Pen: right arm at yaw \u22480.57, around x 0.39 and right_y 0.18; settled reading \u22480.046. Cap: left arm around x 0.38\u20130.41 and left_y -0.16 to -0.19; settled reading \u22480.05. For thin objects like these, a settled reading of 0.045\u20130.06 does mean you are holding something. Before closing, turn the wrist until the object lies along image-y in the wrist camera.\n- Look at which way the cap faces before you grasp it. The tapered end is the closed end. Grasp it near that end so the open end sticks out behind the jaws. My first try failed because the closed end faced the pen.\n- Don't try to meet the two parts head-on across the table (left yaw +1.57). The left arm hits IK trouble there: it goes low and sideways and won't recover. Unwinding to yaw 0 first fixed it.\n- The coaxial layout I switched to (cap held forward by the left arm at the centre line, pen pointing forward from the right arm behind it) makes the left forearm pass over the right gripper. The arms then collide and both stall. Better plans: meet with the arms far apart in x at different heights; have one arm hold its part still while the other approaches from its own side; or lay the pen on the table (or prop it up) and push the cap onto it with one arm.\n- The wrist cameras show the other gripper well, which helps with lining up. But lateral alignment computed from base frames (y offset 0.65) was off by about 2\u20133 cm at height.\n- The rate clamp limits each move to a few cm and about 0.4 rad of yaw. Big rotations take several calls, so budget for that."})
tool
give_up: I ran out of call budget before I could get the cap onto the pen. Both arms are holding their parts: the right has the pen (tip forward), and the left has the cap by its closed end, so the open end faces back. But the two arms now block each other. The left forearm crosses over the right gripper, so neither arm reaches its target (the right is stuck at x≈0.26 and the left at y≈-0.27). The pen and cap are still ~1.5 cm apart in height and not lined up. On my first try the pen tip hit the closed end of the cap, and the cap fell when I let go.
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 · 26.86 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Pick up the pen and the pen cap, then put the cap on the pen.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7925, 0.6018, -0.379, -0.0216, -0.0246, 0.9998, -0.0181, 0.7918, 0.6098, -0.3759, -0.0261, -0.033, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0014 left_z=0.1796 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9998 right_x=0.2958 right_y=0.0028 right_z=0.1841 right_yaw=-0.0004 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4991, -1.5111, 10.6051, 1.7314, -0.022, 0.1001, -0.0366, -0.5812, -1.265, 9.7299, 1.7411, 0.022, 0.1636, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73d858d3db1f970d18dbd1c5c041a644badd5f24952f455abd667f4a8c557232",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e8589842ddd325d926062d1b4d9ff3088d136bfcb66d05d3a9d9499ee8b2061",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6f77d1e7a0883e637cd4db7b85f9612176f60f3c8bb7f4834b3e024f38f12f6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /messages · status 200 · 17.64 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7925, 0.6018, -0.379, -0.0216, -0.0246, 0.9998, -0.0181, 0.7918, 0.6098, -0.3759, -0.0261, -0.033, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0014 left_z=0.1796 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9998 right_x=0.2958 right_y=0.0028 right_z=0.1841 right_yaw=-0.0004 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4991, -1.5111, 10.6051, 1.7314, -0.022, 0.1001, -0.0366, -0.5812, -1.265, 9.7299, 1.7411, 0.022, 0.1636, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73d858d3db1f970d18dbd1c5c041a644badd5f24952f455abd667f4a8c557232",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e8589842ddd325d926062d1b4d9ff3088d136bfcb66d05d3a9d9499ee8b2061",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f77d1e7a0883e637cd4db7b85f9612176f60f3c8bb7f4834b3e024f38f12f6c",
        "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_01AKRbyfoXNPu1rgs3oZN1Rn",
      "input": {
        "note": "The pen lies diagonally just right of the table centre and the cap is to its left. I'm moving the right arm above the pen and the left arm above the cap, both yawed about 35° so the jaws close across them.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.38,
          "left_y": -0.2,
          "left_yaw": 0.6,
          "left_z": 0.12,
          "right_gripper": 1,
          "right_x": 0.38,
          "right_y": 0.25,
          "right_yaw": 0.6,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_01AKRbyfoXNPu1rgs3oZN1Rn",
      "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]: [-0.8368, 1.9652, 1.4178, -0.7788, -0.9535, -1.2831, 0.9998, 0.54, 1.5784, 0.7952, 0.1497, -0.0284, -0.0383, 0.9991]\nstate[eef_state]: left_x=0.3799 left_y=-0.2007 left_z=0.1124 left_yaw=0.5578 left_pitch=-0.0271 left_roll=0.0011 left_gripper=0.9998 right_x=0.3703 right_y=0.232 right_z=0.0998 right_yaw=0.5625 right_pitch=-0.0754 right_roll=-0.0016 right_gripper=0.9991\nstate[joint_eff]: [-0.4444, -10.0581, 7.5419, 0.3883, -0.7155, 0.0952, -0.0366, 0.9778, -6.8034, 8.9778, 2.0879, -0.0415, -0.1001, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cce178e2048132a6f7c9ab7ef8bbbfbe288fec0f287ac9c752072cc35b835c6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ed111398bdc3a013b99f765b082fc1038ea6b6ad1fdfaca5d187d26c04cffce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cff06a6e11bdb310adc659935add4106c2628cdd146c0f4b918907c3bbed12b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 7.676 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7925, 0.6018, -0.379, -0.0216, -0.0246, 0.9998, -0.0181, 0.7918, 0.6098, -0.3759, -0.0261, -0.033, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0014 left_z=0.1796 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9998 right_x=0.2958 right_y=0.0028 right_z=0.1841 right_yaw=-0.0004 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4991, -1.5111, 10.6051, 1.7314, -0.022, 0.1001, -0.0366, -0.5812, -1.265, 9.7299, 1.7411, 0.022, 0.1636, -0.105]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8368, 1.9652, 1.4178, -0.7788, -0.9535, -1.2831, 0.9998, 0.54, 1.5784, 0.7952, 0.1497, -0.0284, -0.0383, 0.9991]\nstate[eef_state]: left_x=0.3799 left_y=-0.2007 left_z=0.1124 left_yaw=0.5578 left_pitch=-0.0271 left_roll=0.0011 left_gripper=0.9998 right_x=0.3703 right_y=0.232 right_z=0.0998 right_yaw=0.5625 right_pitch=-0.0754 right_roll=-0.0016 right_gripper=0.9991\nstate[joint_eff]: [-0.4444, -10.0581, 7.5419, 0.3883, -0.7155, 0.0952, -0.0366, 0.9778, -6.8034, 8.9778, 2.0879, -0.0415, -0.1001, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cce178e2048132a6f7c9ab7ef8bbbfbe288fec0f287ac9c752072cc35b835c6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ed111398bdc3a013b99f765b082fc1038ea6b6ad1fdfaca5d187d26c04cffce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cff06a6e11bdb310adc659935add4106c2628cdd146c0f4b918907c3bbed12b4",
        "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_01Uokkg97KuVxx3YCAPVEmeq",
      "input": {
        "note": "Left wrist view shows the cap lying along the jaw axis just ahead of the fingertips, so I'm turning the left wrist 90° and nudging it forward. The pen lies across the right jaws but a bit to the right, so I'm shifting the right arm toward the tool's right.",
        "targets": {
          "left_x": 0.405,
          "left_y": -0.185,
          "left_yaw": -1.0,
          "left_z": 0.1,
          "right_x": 0.385,
          "right_y": 0.21,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Uokkg97KuVxx3YCAPVEmeq",
      "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]: [-0.223, 1.7092, 0.9051, 0.0406, 0.4011, 0.2848, 0.9997, 0.4614, 1.6001, 0.7963, 0.1307, -0.091, -0.0879, 0.9991]\nstate[eef_state]: left_x=0.4125 left_y=-0.1606 left_z=0.0779 left_yaw=-0.7254 left_pitch=-0.1214 left_roll=-0.0488 left_gripper=0.9997 right_x=0.3794 right_y=0.2105 right_z=0.0879 right_yaw=0.5638 right_pitch=-0.1121 right_roll=-0.0006 right_gripper=0.9991\nstate[joint_eff]: [0.1162, -8.7043, 8.2393, 1.6093, 0.3053, 0.2711, -0.022, -1.0325, -8.3077, 6.8855, 1.746, -0.188, -0.0611, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1e172d8313a42e11025c453b73cdee8ef1af37f9105957fdb1143727e907510",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94bee4a6c6bca7685a11860efc854d47de8314df0abfb24d6852fee02a4214f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cc5cae92d9634fc8a89b119ad5c8eb55afa1de10b293ee11b62f7c0b2de7756f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 3.956 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7925, 0.6018, -0.379, -0.0216, -0.0246, 0.9998, -0.0181, 0.7918, 0.6098, -0.3759, -0.0261, -0.033, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0014 left_z=0.1796 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9998 right_x=0.2958 right_y=0.0028 right_z=0.1841 right_yaw=-0.0004 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4991, -1.5111, 10.6051, 1.7314, -0.022, 0.1001, -0.0366, -0.5812, -1.265, 9.7299, 1.7411, 0.022, 0.1636, -0.105]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8368, 1.9652, 1.4178, -0.7788, -0.9535, -1.2831, 0.9998, 0.54, 1.5784, 0.7952, 0.1497, -0.0284, -0.0383, 0.9991]\nstate[eef_state]: left_x=0.3799 left_y=-0.2007 left_z=0.1124 left_yaw=0.5578 left_pitch=-0.0271 left_roll=0.0011 left_gripper=0.9998 right_x=0.3703 right_y=0.232 right_z=0.0998 right_yaw=0.5625 right_pitch=-0.0754 right_roll=-0.0016 right_gripper=0.9991\nstate[joint_eff]: [-0.4444, -10.0581, 7.5419, 0.3883, -0.7155, 0.0952, -0.0366, 0.9778, -6.8034, 8.9778, 2.0879, -0.0415, -0.1001, -0.105]",
      "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]: [-0.223, 1.7092, 0.9051, 0.0406, 0.4011, 0.2848, 0.9997, 0.4614, 1.6001, 0.7963, 0.1307, -0.091, -0.0879, 0.9991]\nstate[eef_state]: left_x=0.4125 left_y=-0.1606 left_z=0.0779 left_yaw=-0.7254 left_pitch=-0.1214 left_roll=-0.0488 left_gripper=0.9997 right_x=0.3794 right_y=0.2105 right_z=0.0879 right_yaw=0.5638 right_pitch=-0.1121 right_roll=-0.0006 right_gripper=0.9991\nstate[joint_eff]: [0.1162, -8.7043, 8.2393, 1.6093, 0.3053, 0.2711, -0.022, -1.0325, -8.3077, 6.8855, 1.746, -0.188, -0.0611, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1e172d8313a42e11025c453b73cdee8ef1af37f9105957fdb1143727e907510",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94bee4a6c6bca7685a11860efc854d47de8314df0abfb24d6852fee02a4214f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc5cae92d9634fc8a89b119ad5c8eb55afa1de10b293ee11b62f7c0b2de7756f",
        "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_01FajHdzPeJAW5789ckxdFEx",
      "input": {
        "note": "The cap now sits on the left jaw column, crosswise to the jaws, so the left arm descends to table level. The pen is still to the right of the right jaws, so the right arm shifts further toward the tool's right.",
        "targets": {
          "left_z": -0.005,
          "right_x": 0.4,
          "right_y": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01FajHdzPeJAW5789ckxdFEx",
      "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]: [-0.223, 1.9167, 0.799, 0.3397, 0.4156, 0.2989, 0.9997, 0.3519, 1.6161, 0.7994, 0.1112, -0.1654, -0.1509, 0.9991]\nstate[eef_state]: left_x=0.41 left_y=-0.1624 left_z=0.0039 left_yaw=-0.7454 left_pitch=-0.1288 left_roll=-0.0539 left_gripper=0.9997 right_x=0.3919 right_y=0.1787 right_z=0.0799 right_yaw=0.5518 right_pitch=-0.1363 right_roll=0.0022 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -6.7897, 3.8496, 1.0623, 0.0073, -0.1636, -0.0171, -0.6906, -6.0103, 8.7316, 1.6972, -0.1587, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:634d143ebe7855f27e4edd2fefa79cce6ae5ee4814bff90ce01a6aee92fe2bf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a7fe31ed3bc7e29006881b1fc577cf02a23ce59b10ff4e9305cb5b472c3ae05",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5840244388727de53f6383cd44e5afff87551a2b455b17d70d9e5ec27ea47fc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 4 attempt 0 · /messages · status 200 · 5.308 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8368, 1.9652, 1.4178, -0.7788, -0.9535, -1.2831, 0.9998, 0.54, 1.5784, 0.7952, 0.1497, -0.0284, -0.0383, 0.9991]\nstate[eef_state]: left_x=0.3799 left_y=-0.2007 left_z=0.1124 left_yaw=0.5578 left_pitch=-0.0271 left_roll=0.0011 left_gripper=0.9998 right_x=0.3703 right_y=0.232 right_z=0.0998 right_yaw=0.5625 right_pitch=-0.0754 right_roll=-0.0016 right_gripper=0.9991\nstate[joint_eff]: [-0.4444, -10.0581, 7.5419, 0.3883, -0.7155, 0.0952, -0.0366, 0.9778, -6.8034, 8.9778, 2.0879, -0.0415, -0.1001, -0.105]",
      "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]: [-0.223, 1.7092, 0.9051, 0.0406, 0.4011, 0.2848, 0.9997, 0.4614, 1.6001, 0.7963, 0.1307, -0.091, -0.0879, 0.9991]\nstate[eef_state]: left_x=0.4125 left_y=-0.1606 left_z=0.0779 left_yaw=-0.7254 left_pitch=-0.1214 left_roll=-0.0488 left_gripper=0.9997 right_x=0.3794 right_y=0.2105 right_z=0.0879 right_yaw=0.5638 right_pitch=-0.1121 right_roll=-0.0006 right_gripper=0.9991\nstate[joint_eff]: [0.1162, -8.7043, 8.2393, 1.6093, 0.3053, 0.2711, -0.022, -1.0325, -8.3077, 6.8855, 1.746, -0.188, -0.0611, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.223, 1.9167, 0.799, 0.3397, 0.4156, 0.2989, 0.9997, 0.3519, 1.6161, 0.7994, 0.1112, -0.1654, -0.1509, 0.9991]\nstate[eef_state]: left_x=0.41 left_y=-0.1624 left_z=0.0039 left_yaw=-0.7454 left_pitch=-0.1288 left_roll=-0.0539 left_gripper=0.9997 right_x=0.3919 right_y=0.1787 right_z=0.0799 right_yaw=0.5518 right_pitch=-0.1363 right_roll=0.0022 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -6.7897, 3.8496, 1.0623, 0.0073, -0.1636, -0.0171, -0.6906, -6.0103, 8.7316, 1.6972, -0.1587, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:634d143ebe7855f27e4edd2fefa79cce6ae5ee4814bff90ce01a6aee92fe2bf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a7fe31ed3bc7e29006881b1fc577cf02a23ce59b10ff4e9305cb5b472c3ae05",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5840244388727de53f6383cd44e5afff87551a2b455b17d70d9e5ec27ea47fc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwQcKEAgSGAI4AUIIdGhpbmtpbmcSDEdB5u1gzeR+GJ+4gBoMQn2cwIh9fL20LAwvIjDe/OTmPKCnUvhpSf6mtFCaOWWpavLXsZjAD7AaYotQYRoNRGGPjAO7wM9bqWjxEEYq3gbmx3oCKNclnPNg+5ETLbhfKKq1CN+oJyhsujXBuF8LBIKz2gY700HiWTpSzHAiYCgOl/9QAkg8M7W/b9N0qww5LHOyJxqvPW7W/MxGkNeujvm5B1DwV/FjD7DPmrySVrBZJdhh43ymeJWkORNYYGsIRwfp3ntynIJrbqmiz93Ap6XbvkMPhHvCG741+Tzvq2nOMJ9YZgAVlH+l/Oo92q2rFcL1HYJpjac1uW8b5kwQ9+r1b5SKdKjFj1t1oVh87bHH6IGO/85oOyyRaGGq8QLB1VOYYMFg7PtAoe3ppMRQbpSiWovukP1k9KSGPJWrM19+Jw+vXYQSaRMsd9mIhifxglEmNxMb3kha7mBguPf/XeeGzG1ZP6duqLn4Bmd0Z02mXMgkrquhG3tqxBr1bGLczpKUZwXI8uwWvVzlV0LzLOTGQ9QMGUBoSc4oQGpWIO8SnI8owQrMAelc0cqaXELEkzFztfBy0GAFnyPBuMjnUCFJtiCLzC95ktM8XfI+5PMWkKFEg9vyWWKBw+JuBAvFD32mpOM1V8pqegSlUroGGWjnPOuzuv/GQE8B8yWCMlb2+xxU3oebVrMtGBCCUlVSUS1soReMnvy4qy0x5JsAuNdbp5Hi8XvhIiWAQ14maDrMIPeA4g/DKJyGvjabu2xAHJMyjr5hdf3qVCPhjKYQyduJXh0Ix2bubW2agum/VYtmeOao1s3OebFmKFxWl1RTJjF58MRPJB/cODWEcaMUApp4v/10P2ELk2c1fvt11WZyV18ae1YXP1yGdrbJTHdlod67aExyRaVCQBazkUlfRnPuRcby97OHtQZOUOd1bohQB8wtXNuQX4g2Sa8qTYkLE6rjBC8wARQVosby8qnRQvoUqsUP71ymxdfrKcadKcQm4LRryLe3XActU+q4HMJwHco0EJ/ElhlmwjP7GAIn9wHlw94+xJvKUyIj6sryXMZQP9wc2FtH8xthCC0IBDFw9DIkhRyianoph3BwoanjZmru7DbBsyyWMTkTdYVt/WN7njmIEHnCCyPLE7WbdMBzZXVwzzDBX7rOFhBPhzrE3/tX8ZcWeGUxm84W6Dz4dRu3vuzBQJI2+MnjTgtp2XQa3rDRaj6nd5YJfrQpvBnUBFiUabJtZZbtgPJrmHFeGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011VBuTHrLCCcjxG2kiEFdPe",
      "input": {
        "note": "The cap is centred between the left jaws at table level, so I'm closing the left gripper. The pen now runs through the right jaw column, so the right arm descends to the table.",
        "targets": {
          "left_gripper": 0,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_011VBuTHrLCCcjxG2kiEFdPe",
      "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]: [-0.223, 1.927, 0.7898, 0.3775, 0.4038, 0.292, 0.0463, 0.3489, 1.8462, 0.6842, 0.4362, -0.1761, -0.1631, 0.9991]\nstate[eef_state]: left_x=0.4127 left_y=-0.1611 left_z=0.0023 left_yaw=-0.7312 left_pitch=-0.117 left_roll=-0.043 left_gripper=0.0463 right_x=0.3893 right_y=0.1783 right_z=0.0033 right_yaw=0.565 right_pitch=-0.1545 right_roll=0.0039 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, -9.5521, 5.7778, 1.1697, 0.2466, 0.1734, 1.4774, 0.0342, -6.0376, 4.1231, 1.7363, 0.0171, 0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a67d33b949ee0726ee86f67df34f9ae72dd55d752660db34e3b233f35b42be18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bda3e38bddb133a5b4f71bdd6fb2a90fb83bdf0c4f9002163e9457fa134c7530",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:71372bc2b3bae439d1b1036a4a52a96ff638485e7f000f65343fec6356840cdc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 15.4 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.223, 1.7092, 0.9051, 0.0406, 0.4011, 0.2848, 0.9997, 0.4614, 1.6001, 0.7963, 0.1307, -0.091, -0.0879, 0.9991]\nstate[eef_state]: left_x=0.4125 left_y=-0.1606 left_z=0.0779 left_yaw=-0.7254 left_pitch=-0.1214 left_roll=-0.0488 left_gripper=0.9997 right_x=0.3794 right_y=0.2105 right_z=0.0879 right_yaw=0.5638 right_pitch=-0.1121 right_roll=-0.0006 right_gripper=0.9991\nstate[joint_eff]: [0.1162, -8.7043, 8.2393, 1.6093, 0.3053, 0.2711, -0.022, -1.0325, -8.3077, 6.8855, 1.746, -0.188, -0.0611, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.223, 1.9167, 0.799, 0.3397, 0.4156, 0.2989, 0.9997, 0.3519, 1.6161, 0.7994, 0.1112, -0.1654, -0.1509, 0.9991]\nstate[eef_state]: left_x=0.41 left_y=-0.1624 left_z=0.0039 left_yaw=-0.7454 left_pitch=-0.1288 left_roll=-0.0539 left_gripper=0.9997 right_x=0.3919 right_y=0.1787 right_z=0.0799 right_yaw=0.5518 right_pitch=-0.1363 right_roll=0.0022 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -6.7897, 3.8496, 1.0623, 0.0073, -0.1636, -0.0171, -0.6906, -6.0103, 8.7316, 1.6972, -0.1587, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.223, 1.927, 0.7898, 0.3775, 0.4038, 0.292, 0.0463, 0.3489, 1.8462, 0.6842, 0.4362, -0.1761, -0.1631, 0.9991]\nstate[eef_state]: left_x=0.4127 left_y=-0.1611 left_z=0.0023 left_yaw=-0.7312 left_pitch=-0.117 left_roll=-0.043 left_gripper=0.0463 right_x=0.3893 right_y=0.1783 right_z=0.0033 right_yaw=0.565 right_pitch=-0.1545 right_roll=0.0039 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, -9.5521, 5.7778, 1.1697, 0.2466, 0.1734, 1.4774, 0.0342, -6.0376, 4.1231, 1.7363, 0.0171, 0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a67d33b949ee0726ee86f67df34f9ae72dd55d752660db34e3b233f35b42be18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bda3e38bddb133a5b4f71bdd6fb2a90fb83bdf0c4f9002163e9457fa134c7530",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71372bc2b3bae439d1b1036a4a52a96ff638485e7f000f65343fec6356840cdc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSrwgKEAgSGAI4AUIIdGhpbmtpbmcSDHDkW5mwSF/QiTNGgxoMWJfb132sz4zO2F1mIjAYKC3O+mV6qozhK6yCOAGppQAaStp7SZw8xD2KfTE8SaULltmT6QRBCrupoyooAoMqzAcWeqPml2rOQe/dSuaUNvzt+5RxUuEyYa3QPQYVIicV2j4gK/tvAbRIjUKcnv/5bA8fMtXYUQfQaFk5xKmll2ZS53izM0xZzU6XOnvlVimVjlK/BJG7IkrTng1zwGiHDidLuyDc5aNA5FY4e0DMaIFI2zf0ZSUn8RbEt3uvenSCeSFcPHAC5uzg+g5nARMtkw8MZ0IK+nt0bFkihPXC85PPdRJDSzrMTgPlBcdlOAQMk5CNqxEws8hWHjLIKhbd4kMre8bIe8nHR+yt1Ej7MMdIzNckjIb+OISxTYlZdcDDdcvWoH+4ztb2tYxaLBcZGBvt/vJG78KOmcISVeI4/Nn233LNeJLQ3M1DhhWZmRWvIGMPG8BWUSDRPcg3gUWzmunVTHePmZSV4KepEgU8SZf0i8UJG41ZERZQNBJxodrFFWE0m6WknV5/GRTLtdGKYlq5uOjXajR1Z9WnnHK8J5zRyuw3UVf4ZJkHYX0MoWvq5iVd2qi4EJZg4Hewri/nQRWZpeecn/bfMlD8gvMd4bYCL7fqzgipNjlMIKNo8eAiHYfqM7u50NP5eLGdMvXhoaxSYB7tNoNQtdzY1uzmEJ7hOPVU5Gv5cYKbxnNslaPVokbT+oAzBJZ3ZaONirXO/v0EeBU6dIcBLrCWCujNjtxE/U4WKB9HHASlaIUi6CdQXrXEMgLrt01ulaFpYhCfCvcAEvsCkZ3NfgkfUCFhDyEjRI1iu6Xo99jOSi54PpO5QV5DVRMSaWhsr4UYE/DbMYg8Ee6TWWCMf8cq97YX+drdqJpS2mD7gGxyYJtkdOEkTRAKjvlufBuR/sqnNJsrKlFY2dnt+bm+ZHr7xLMsqJdetNeSViZlGD6xXDYnq2cd3aXfbyNi207dD+/xK5/0zjb0SoV1KZXxQb70D//slKbI7iEK3wRRt9Dogo+uQ0W2EL8Oz+aig/aKnXvpsuP4Om1AzFyVb9PmveC4Ssk0KAW4XL0/KdPbMvgIb1cfus8WqEFMs4EM/5Yn1X9HQw430G+D0biOMyM6g0fpEFIRcYd3bdOYMIlfrCtDnagtmb35P0WgrvDtKnIxoXfBs8X4VwisgsJp1fnHjld+79Hsrfbd0S3SglP1f0rRgwoeBFy4UaaNcujv6MdqVqYlkwFXAGyEM6Em8S7EEFwyqdt2nEi09kYUzyahQwgfslwqqdYUwAKNdF2z5WQ6xv4V9nEBaMRjYkJZPS78Bcj335oNPnTVF50igLthYo7A+IzUtX9pZyeTr2uUQeDKqYqFQQFXz7KMtscQfYCpv3VGxq0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016mb6Lbtxm3z7kE62FzzCck",
      "input": {
        "note": "Left gripper closed at 0.046, borderline, so I'm lifting it to check whether the cap came with it. The pen is between the right jaws at table level, so the right gripper closes.",
        "targets": {
          "left_z": 0.08,
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_016mb6Lbtxm3z7kE62FzzCck",
      "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]: [-0.223, 1.7412, 0.8665, 0.0669, 0.3965, 0.2886, 0.0503, 0.3485, 1.858, 0.6804, 0.4614, -0.178, -0.1692, 0.046]\nstate[eef_state]: left_x=0.4041 left_y=-0.1579 left_z=0.0544 left_yaw=-0.7268 left_pitch=-0.1616 left_roll=-0.0646 left_gripper=0.0503 right_x=0.3905 right_y=0.179 right_z=0.0019 right_yaw=0.5691 right_pitch=-0.1449 right_roll=-0.0016 right_gripper=0.046\nstate[joint_eff]: [-0.0479, -10.3316, 8.8547, 1.5702, 0.2076, 0.0073, 1.0379, 0.0342, -9.0462, 5.4769, 1.3748, -0.0562, 0.0562, 1.1697]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39f603cccef067b130b42b1fd8b69fdcbf5ec6561a97cef84c8db50eafa100db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:899af0066ac9939bf340ef1c52cfb3054468a45f2234014a619c1f5c869c7af8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:faed6d8ca3a7c281bd39353621b38bcdde49f673c9342617f48795ae25da1016",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 8.901 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.223, 1.9167, 0.799, 0.3397, 0.4156, 0.2989, 0.9997, 0.3519, 1.6161, 0.7994, 0.1112, -0.1654, -0.1509, 0.9991]\nstate[eef_state]: left_x=0.41 left_y=-0.1624 left_z=0.0039 left_yaw=-0.7454 left_pitch=-0.1288 left_roll=-0.0539 left_gripper=0.9997 right_x=0.3919 right_y=0.1787 right_z=0.0799 right_yaw=0.5518 right_pitch=-0.1363 right_roll=0.0022 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -6.7897, 3.8496, 1.0623, 0.0073, -0.1636, -0.0171, -0.6906, -6.0103, 8.7316, 1.6972, -0.1587, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.223, 1.927, 0.7898, 0.3775, 0.4038, 0.292, 0.0463, 0.3489, 1.8462, 0.6842, 0.4362, -0.1761, -0.1631, 0.9991]\nstate[eef_state]: left_x=0.4127 left_y=-0.1611 left_z=0.0023 left_yaw=-0.7312 left_pitch=-0.117 left_roll=-0.043 left_gripper=0.0463 right_x=0.3893 right_y=0.1783 right_z=0.0033 right_yaw=0.565 right_pitch=-0.1545 right_roll=0.0039 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, -9.5521, 5.7778, 1.1697, 0.2466, 0.1734, 1.4774, 0.0342, -6.0376, 4.1231, 1.7363, 0.0171, 0.0659, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.223, 1.7412, 0.8665, 0.0669, 0.3965, 0.2886, 0.0503, 0.3485, 1.858, 0.6804, 0.4614, -0.178, -0.1692, 0.046]\nstate[eef_state]: left_x=0.4041 left_y=-0.1579 left_z=0.0544 left_yaw=-0.7268 left_pitch=-0.1616 left_roll=-0.0646 left_gripper=0.0503 right_x=0.3905 right_y=0.179 right_z=0.0019 right_yaw=0.5691 right_pitch=-0.1449 right_roll=-0.0016 right_gripper=0.046\nstate[joint_eff]: [-0.0479, -10.3316, 8.8547, 1.5702, 0.2076, 0.0073, 1.0379, 0.0342, -9.0462, 5.4769, 1.3748, -0.0562, 0.0562, 1.1697]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39f603cccef067b130b42b1fd8b69fdcbf5ec6561a97cef84c8db50eafa100db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:899af0066ac9939bf340ef1c52cfb3054468a45f2234014a619c1f5c869c7af8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:faed6d8ca3a7c281bd39353621b38bcdde49f673c9342617f48795ae25da1016",
        "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_017GU62iUUZ2g4QgdCExwdf8",
      "input": {
        "note": "Both grippers closed at about 0.05, consistent with a thin pen and cap. I'm lifting both and turning them so the pen tip (right arm) and the cap (left arm) point toward each other across the table.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.18,
          "left_yaw": -1.57,
          "left_z": 0.15,
          "right_x": 0.35,
          "right_y": 0.2,
          "right_yaw": 1.57,
          "right_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_017GU62iUUZ2g4QgdCExwdf8",
      "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]: [-0.1444, 1.8618, 1.4689, -0.9604, 0.7822, 1.1587, 0.0551, 0.1776, 1.8278, 1.4345, -0.7887, -0.7898, -1.1717, 0.0499]\nstate[eef_state]: left_x=0.3657 left_y=-0.1754 left_z=0.1359 left_yaw=-1.4531 left_pitch=-0.1974 left_roll=-0.0726 left_gripper=0.0551 right_x=0.3808 right_y=0.1995 right_z=0.1491 right_yaw=1.4332 right_pitch=-0.153 right_roll=-0.0844 right_gripper=0.0499\nstate[joint_eff]: [-0.4171, -9.1282, 8.4171, 0.5446, 0.6618, 0.1978, 1.0281, -0.7043, -8.253, 6.2564, 0.359, -0.735, -0.149, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5c746b7388409003ca6cd74890451eebb41d689ef29c7131389c02797eab32c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbb657293aa86c5a9f9d10d33fbdc01bf14390c978d851a6a571355aa0206888",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:289f42e20faf10c3feec4512b9efd604e781f47b14c132a269749030a311cb73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 12.89 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.223, 1.927, 0.7898, 0.3775, 0.4038, 0.292, 0.0463, 0.3489, 1.8462, 0.6842, 0.4362, -0.1761, -0.1631, 0.9991]\nstate[eef_state]: left_x=0.4127 left_y=-0.1611 left_z=0.0023 left_yaw=-0.7312 left_pitch=-0.117 left_roll=-0.043 left_gripper=0.0463 right_x=0.3893 right_y=0.1783 right_z=0.0033 right_yaw=0.565 right_pitch=-0.1545 right_roll=0.0039 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, -9.5521, 5.7778, 1.1697, 0.2466, 0.1734, 1.4774, 0.0342, -6.0376, 4.1231, 1.7363, 0.0171, 0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.223, 1.7412, 0.8665, 0.0669, 0.3965, 0.2886, 0.0503, 0.3485, 1.858, 0.6804, 0.4614, -0.178, -0.1692, 0.046]\nstate[eef_state]: left_x=0.4041 left_y=-0.1579 left_z=0.0544 left_yaw=-0.7268 left_pitch=-0.1616 left_roll=-0.0646 left_gripper=0.0503 right_x=0.3905 right_y=0.179 right_z=0.0019 right_yaw=0.5691 right_pitch=-0.1449 right_roll=-0.0016 right_gripper=0.046\nstate[joint_eff]: [-0.0479, -10.3316, 8.8547, 1.5702, 0.2076, 0.0073, 1.0379, 0.0342, -9.0462, 5.4769, 1.3748, -0.0562, 0.0562, 1.1697]",
      "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]: [-0.1444, 1.8618, 1.4689, -0.9604, 0.7822, 1.1587, 0.0551, 0.1776, 1.8278, 1.4345, -0.7887, -0.7898, -1.1717, 0.0499]\nstate[eef_state]: left_x=0.3657 left_y=-0.1754 left_z=0.1359 left_yaw=-1.4531 left_pitch=-0.1974 left_roll=-0.0726 left_gripper=0.0551 right_x=0.3808 right_y=0.1995 right_z=0.1491 right_yaw=1.4332 right_pitch=-0.153 right_roll=-0.0844 right_gripper=0.0499\nstate[joint_eff]: [-0.4171, -9.1282, 8.4171, 0.5446, 0.6618, 0.1978, 1.0281, -0.7043, -8.253, 6.2564, 0.359, -0.735, -0.149, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5c746b7388409003ca6cd74890451eebb41d689ef29c7131389c02797eab32c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbb657293aa86c5a9f9d10d33fbdc01bf14390c978d851a6a571355aa0206888",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:289f42e20faf10c3feec4512b9efd604e781f47b14c132a269749030a311cb73",
        "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_01NM4K1Fd4eChXL89wrFz9YF",
      "input": {
        "note": "The pen is held horizontally in the right gripper with its tip pointing toward the left gripper, and the cap seems to be held in the left one. I'm matching heights and moving the left gripper 5 cm toward the pen tip.",
        "targets": {
          "left_x": 0.375,
          "left_y": -0.23,
          "left_z": 0.165
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01NM4K1Fd4eChXL89wrFz9YF",
      "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]: [-0.2756, 1.8904, 1.5734, -0.9936, 0.7395, 1.0241, 0.0581, 0.178, 1.8397, 1.4357, -0.815, -0.7853, -1.1961, 0.0555]\nstate[eef_state]: left_x=0.3592 left_y=-0.2216 left_z=0.1496 left_yaw=-1.4886 left_pitch=-0.2302 left_roll=-0.1158 left_gripper=0.0581 right_x=0.3769 right_y=0.1983 right_z=0.1425 right_yaw=1.4505 right_pitch=-0.169 right_roll=-0.0686 right_gripper=0.0555\nstate[joint_eff]: [-0.2256, -8.9641, 9.2376, 0.9597, 0.5836, -0.1294, 1.0281, -0.3761, -10.3453, 6.0923, 1.0379, -0.486, 0.1832, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:030064ace31a4bb09e2ba1d4a030f24cc61c28d6936b187df2b08ec2b8b4a9da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a177cc272bd1c6653f926029cce8350bb61c93ecd692e6e5ed899499d00e5ea4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f5bffe796b60a1dc9338ead3607da361fd34e099b49d0b19e9d4a118d8fef00b",
        "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 · 6.212 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.223, 1.7412, 0.8665, 0.0669, 0.3965, 0.2886, 0.0503, 0.3485, 1.858, 0.6804, 0.4614, -0.178, -0.1692, 0.046]\nstate[eef_state]: left_x=0.4041 left_y=-0.1579 left_z=0.0544 left_yaw=-0.7268 left_pitch=-0.1616 left_roll=-0.0646 left_gripper=0.0503 right_x=0.3905 right_y=0.179 right_z=0.0019 right_yaw=0.5691 right_pitch=-0.1449 right_roll=-0.0016 right_gripper=0.046\nstate[joint_eff]: [-0.0479, -10.3316, 8.8547, 1.5702, 0.2076, 0.0073, 1.0379, 0.0342, -9.0462, 5.4769, 1.3748, -0.0562, 0.0562, 1.1697]",
      "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]: [-0.1444, 1.8618, 1.4689, -0.9604, 0.7822, 1.1587, 0.0551, 0.1776, 1.8278, 1.4345, -0.7887, -0.7898, -1.1717, 0.0499]\nstate[eef_state]: left_x=0.3657 left_y=-0.1754 left_z=0.1359 left_yaw=-1.4531 left_pitch=-0.1974 left_roll=-0.0726 left_gripper=0.0551 right_x=0.3808 right_y=0.1995 right_z=0.1491 right_yaw=1.4332 right_pitch=-0.153 right_roll=-0.0844 right_gripper=0.0499\nstate[joint_eff]: [-0.4171, -9.1282, 8.4171, 0.5446, 0.6618, 0.1978, 1.0281, -0.7043, -8.253, 6.2564, 0.359, -0.735, -0.149, 1.033]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2756, 1.8904, 1.5734, -0.9936, 0.7395, 1.0241, 0.0581, 0.178, 1.8397, 1.4357, -0.815, -0.7853, -1.1961, 0.0555]\nstate[eef_state]: left_x=0.3592 left_y=-0.2216 left_z=0.1496 left_yaw=-1.4886 left_pitch=-0.2302 left_roll=-0.1158 left_gripper=0.0581 right_x=0.3769 right_y=0.1983 right_z=0.1425 right_yaw=1.4505 right_pitch=-0.169 right_roll=-0.0686 right_gripper=0.0555\nstate[joint_eff]: [-0.2256, -8.9641, 9.2376, 0.9597, 0.5836, -0.1294, 1.0281, -0.3761, -10.3453, 6.0923, 1.0379, -0.486, 0.1832, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:030064ace31a4bb09e2ba1d4a030f24cc61c28d6936b187df2b08ec2b8b4a9da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a177cc272bd1c6653f926029cce8350bb61c93ecd692e6e5ed899499d00e5ea4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5bffe796b60a1dc9338ead3607da361fd34e099b49d0b19e9d4a118d8fef00b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0146Ms17SLBxNFVsuDNwB1zR",
      "input": {
        "note": "Pen tip is about 11 cm from the left fingertips and slightly forward of them. I'm moving the right arm 6 cm toward the left, aligning its x and height with the left gripper holding the cap.",
        "targets": {
          "right_x": 0.362,
          "right_y": 0.26,
          "right_z": 0.158
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_0146Ms17SLBxNFVsuDNwB1zR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2859, 1.8957, 1.5871, -0.9791, 0.7322, 0.9688, 0.0581, 0.3435, 1.837, 1.4319, -0.7311, -0.7235, -1.0298, 0.0555]\nstate[eef_state]: left_x=0.3631 left_y=-0.2261 left_z=0.1517 left_yaw=-1.461 left_pitch=-0.2317 left_roll=-0.1309 left_gripper=0.0581 right_x=0.3581 right_y=0.2561 right_z=0.1418 right_yaw=1.4852 right_pitch=-0.1899 right_roll=-0.0427 right_gripper=0.0555\nstate[joint_eff]: [0.1162, -9.5248, 8.8821, 0.989, 0.4371, -0.022, 1.033, 0.3214, -11.8222, 7.1316, 1.0427, -0.3785, 0.1538, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58c849c83ef6207ac5a69a2cb8dc5576fdb1592c737994ee54f8c7725dee8788",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74dbacb1c728c244d09a0ab04721032244db6a08c5bd35397bb00a0cabad960f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:25d96dbd793a9931fc49f752aed3d0af19d3d85bc31306545e268c43d98a8eee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 6.649 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1444, 1.8618, 1.4689, -0.9604, 0.7822, 1.1587, 0.0551, 0.1776, 1.8278, 1.4345, -0.7887, -0.7898, -1.1717, 0.0499]\nstate[eef_state]: left_x=0.3657 left_y=-0.1754 left_z=0.1359 left_yaw=-1.4531 left_pitch=-0.1974 left_roll=-0.0726 left_gripper=0.0551 right_x=0.3808 right_y=0.1995 right_z=0.1491 right_yaw=1.4332 right_pitch=-0.153 right_roll=-0.0844 right_gripper=0.0499\nstate[joint_eff]: [-0.4171, -9.1282, 8.4171, 0.5446, 0.6618, 0.1978, 1.0281, -0.7043, -8.253, 6.2564, 0.359, -0.735, -0.149, 1.033]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2756, 1.8904, 1.5734, -0.9936, 0.7395, 1.0241, 0.0581, 0.178, 1.8397, 1.4357, -0.815, -0.7853, -1.1961, 0.0555]\nstate[eef_state]: left_x=0.3592 left_y=-0.2216 left_z=0.1496 left_yaw=-1.4886 left_pitch=-0.2302 left_roll=-0.1158 left_gripper=0.0581 right_x=0.3769 right_y=0.1983 right_z=0.1425 right_yaw=1.4505 right_pitch=-0.169 right_roll=-0.0686 right_gripper=0.0555\nstate[joint_eff]: [-0.2256, -8.9641, 9.2376, 0.9597, 0.5836, -0.1294, 1.0281, -0.3761, -10.3453, 6.0923, 1.0379, -0.486, 0.1832, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.2859, 1.8957, 1.5871, -0.9791, 0.7322, 0.9688, 0.0581, 0.3435, 1.837, 1.4319, -0.7311, -0.7235, -1.0298, 0.0555]\nstate[eef_state]: left_x=0.3631 left_y=-0.2261 left_z=0.1517 left_yaw=-1.461 left_pitch=-0.2317 left_roll=-0.1309 left_gripper=0.0581 right_x=0.3581 right_y=0.2561 right_z=0.1418 right_yaw=1.4852 right_pitch=-0.1899 right_roll=-0.0427 right_gripper=0.0555\nstate[joint_eff]: [0.1162, -9.5248, 8.8821, 0.989, 0.4371, -0.022, 1.033, 0.3214, -11.8222, 7.1316, 1.0427, -0.3785, 0.1538, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58c849c83ef6207ac5a69a2cb8dc5576fdb1592c737994ee54f8c7725dee8788",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74dbacb1c728c244d09a0ab04721032244db6a08c5bd35397bb00a0cabad960f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25d96dbd793a9931fc49f752aed3d0af19d3d85bc31306545e268c43d98a8eee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DaQAqxWzAnC9wf7eLUCcZz",
      "input": {
        "note": "Both wrist cameras show the pen tip lined up with the left jaws where the cap is held. I'm raising the right arm 1 cm to match heights and pushing the pen 2 cm further so its tip goes into the cap.",
        "targets": {
          "right_y": 0.28,
          "right_z": 0.168
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01DaQAqxWzAnC9wf7eLUCcZz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2859, 1.8957, 1.5871, -0.9791, 0.7326, 0.9691, 0.0581, 0.3767, 1.8477, 1.4826, -0.7597, -0.6937, -0.989, 0.0603]\nstate[eef_state]: left_x=0.3631 left_y=-0.2261 left_z=0.1517 left_yaw=-1.4613 left_pitch=-0.2314 left_roll=-0.1308 left_gripper=0.0581 right_x=0.3581 right_y=0.267 right_z=0.1489 right_yaw=1.4792 right_pitch=-0.2088 right_roll=-0.0349 right_gripper=0.0603\nstate[joint_eff]: [-0.1299, -9.7026, 8.9368, 1.0574, 0.4811, 0.0073, 1.033, 1.306, -9.3744, 9.265, 0.8132, -0.5055, 0.1978, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a288a4f28d0217a9b7179371fdaee6517d1d2ad8ee5bc6408e399b35b157fd4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:890c42f7676cc1385416dc6a08220ba0f134e68a0b0f9966d3a3bbdf62ae7a0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5039017e36082041ecf5dc086264fe22547c0622adbac3cd080d3e519d33ecb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 10 attempt 0 · /messages · status 200 · 7.294 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2756, 1.8904, 1.5734, -0.9936, 0.7395, 1.0241, 0.0581, 0.178, 1.8397, 1.4357, -0.815, -0.7853, -1.1961, 0.0555]\nstate[eef_state]: left_x=0.3592 left_y=-0.2216 left_z=0.1496 left_yaw=-1.4886 left_pitch=-0.2302 left_roll=-0.1158 left_gripper=0.0581 right_x=0.3769 right_y=0.1983 right_z=0.1425 right_yaw=1.4505 right_pitch=-0.169 right_roll=-0.0686 right_gripper=0.0555\nstate[joint_eff]: [-0.2256, -8.9641, 9.2376, 0.9597, 0.5836, -0.1294, 1.0281, -0.3761, -10.3453, 6.0923, 1.0379, -0.486, 0.1832, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2859, 1.8957, 1.5871, -0.9791, 0.7322, 0.9688, 0.0581, 0.3435, 1.837, 1.4319, -0.7311, -0.7235, -1.0298, 0.0555]\nstate[eef_state]: left_x=0.3631 left_y=-0.2261 left_z=0.1517 left_yaw=-1.461 left_pitch=-0.2317 left_roll=-0.1309 left_gripper=0.0581 right_x=0.3581 right_y=0.2561 right_z=0.1418 right_yaw=1.4852 right_pitch=-0.1899 right_roll=-0.0427 right_gripper=0.0555\nstate[joint_eff]: [0.1162, -9.5248, 8.8821, 0.989, 0.4371, -0.022, 1.033, 0.3214, -11.8222, 7.1316, 1.0427, -0.3785, 0.1538, 1.0232]",
      "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]: [-0.2859, 1.8957, 1.5871, -0.9791, 0.7326, 0.9691, 0.0581, 0.3767, 1.8477, 1.4826, -0.7597, -0.6937, -0.989, 0.0603]\nstate[eef_state]: left_x=0.3631 left_y=-0.2261 left_z=0.1517 left_yaw=-1.4613 left_pitch=-0.2314 left_roll=-0.1308 left_gripper=0.0581 right_x=0.3581 right_y=0.267 right_z=0.1489 right_yaw=1.4792 right_pitch=-0.2088 right_roll=-0.0349 right_gripper=0.0603\nstate[joint_eff]: [-0.1299, -9.7026, 8.9368, 1.0574, 0.4811, 0.0073, 1.033, 1.306, -9.3744, 9.265, 0.8132, -0.5055, 0.1978, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a288a4f28d0217a9b7179371fdaee6517d1d2ad8ee5bc6408e399b35b157fd4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:890c42f7676cc1385416dc6a08220ba0f134e68a0b0f9966d3a3bbdf62ae7a0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5039017e36082041ecf5dc086264fe22547c0622adbac3cd080d3e519d33ecb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01E4NZ65FtAgeDx264yJ5pZ7",
      "input": {
        "note": "The right arm stopped 1 cm short, so the pen tip may be touching the cap. I'm pushing a little further to try to seat the cap on the pen.",
        "targets": {
          "right_y": 0.29,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01E4NZ65FtAgeDx264yJ5pZ7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2859, 1.8957, 1.5887, -0.9798, 0.7326, 0.9688, 0.0581, 0.4011, 1.8492, 1.5276, -0.778, -0.6727, -0.9726, 0.064]\nstate[eef_state]: left_x=0.3632 left_y=-0.2262 left_z=0.1521 left_yaw=-1.4609 left_pitch=-0.2311 left_roll=-0.1303 left_gripper=0.0581 right_x=0.3593 right_y=0.2758 right_z=0.1599 right_yaw=1.4788 right_pitch=-0.2136 right_roll=-0.0545 right_gripper=0.064\nstate[joint_eff]: [0.212, -9.7026, 8.9231, 1.0085, 0.4078, -0.022, 1.033, 0.2803, -9.1556, 6.8171, 0.9841, -0.4371, 0.1099, 0.9695]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec87194bcec533a65cb1e9e04bd82c5f86a3fad32857a9e643f814a52db6d86c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eeb055adcada4cf4707caeb29eacc1b52144a3a03043a1e2abfd1c550ccecb38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:07c50008a4cb92a2bc664b1a96eb41646cfd93af669e14131551d10e9e4f8136",
        "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 · 7.693 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2859, 1.8957, 1.5871, -0.9791, 0.7322, 0.9688, 0.0581, 0.3435, 1.837, 1.4319, -0.7311, -0.7235, -1.0298, 0.0555]\nstate[eef_state]: left_x=0.3631 left_y=-0.2261 left_z=0.1517 left_yaw=-1.461 left_pitch=-0.2317 left_roll=-0.1309 left_gripper=0.0581 right_x=0.3581 right_y=0.2561 right_z=0.1418 right_yaw=1.4852 right_pitch=-0.1899 right_roll=-0.0427 right_gripper=0.0555\nstate[joint_eff]: [0.1162, -9.5248, 8.8821, 0.989, 0.4371, -0.022, 1.033, 0.3214, -11.8222, 7.1316, 1.0427, -0.3785, 0.1538, 1.0232]",
      "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]: [-0.2859, 1.8957, 1.5871, -0.9791, 0.7326, 0.9691, 0.0581, 0.3767, 1.8477, 1.4826, -0.7597, -0.6937, -0.989, 0.0603]\nstate[eef_state]: left_x=0.3631 left_y=-0.2261 left_z=0.1517 left_yaw=-1.4613 left_pitch=-0.2314 left_roll=-0.1308 left_gripper=0.0581 right_x=0.3581 right_y=0.267 right_z=0.1489 right_yaw=1.4792 right_pitch=-0.2088 right_roll=-0.0349 right_gripper=0.0603\nstate[joint_eff]: [-0.1299, -9.7026, 8.9368, 1.0574, 0.4811, 0.0073, 1.033, 1.306, -9.3744, 9.265, 0.8132, -0.5055, 0.1978, 1.033]",
      "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]: [-0.2859, 1.8957, 1.5887, -0.9798, 0.7326, 0.9688, 0.0581, 0.4011, 1.8492, 1.5276, -0.778, -0.6727, -0.9726, 0.064]\nstate[eef_state]: left_x=0.3632 left_y=-0.2262 left_z=0.1521 left_yaw=-1.4609 left_pitch=-0.2311 left_roll=-0.1303 left_gripper=0.0581 right_x=0.3593 right_y=0.2758 right_z=0.1599 right_yaw=1.4788 right_pitch=-0.2136 right_roll=-0.0545 right_gripper=0.064\nstate[joint_eff]: [0.212, -9.7026, 8.9231, 1.0085, 0.4078, -0.022, 1.033, 0.2803, -9.1556, 6.8171, 0.9841, -0.4371, 0.1099, 0.9695]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec87194bcec533a65cb1e9e04bd82c5f86a3fad32857a9e643f814a52db6d86c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eeb055adcada4cf4707caeb29eacc1b52144a3a03043a1e2abfd1c550ccecb38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07c50008a4cb92a2bc664b1a96eb41646cfd93af669e14131551d10e9e4f8136",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014bXRUFmzU8jFvvu7Q1u3qn",
      "input": {
        "note": "The pen tip is pressed into the left jaws holding the cap and won't advance further, so the cap may be seated. I'm opening the left gripper to see whether the cap stays on the pen.",
        "targets": {
          "left_gripper": 0.5
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_014bXRUFmzU8jFvvu7Q1u3qn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2863, 1.8957, 1.5883, -0.9844, 0.7296, 0.9657, 0.4955, 0.4011, 1.8492, 1.5276, -0.7776, -0.6727, -0.9726, 0.0676]\nstate[eef_state]: left_x=0.3624 left_y=-0.2257 left_z=0.1514 left_yaw=-1.4596 left_pitch=-0.2359 left_roll=-0.136 left_gripper=0.4955 right_x=0.3593 right_y=0.2759 right_z=0.1599 right_yaw=1.4787 right_pitch=-0.2135 right_roll=-0.0549 right_gripper=0.0676\nstate[joint_eff]: [-0.1709, -9.7573, 6.3111, 0.823, 0.3492, -0.0171, -0.2222, 0.294, -9.1556, 6.8444, 0.989, -0.4567, 0.1099, 0.8083]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fccac2b56c498193e9c0ff10804e85747a0d4aa927f6d48220ea18e059482873",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ea6a0a33e17917de487d51ce052a073d19f7ff5799ffdf547aa888f12cede2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4c73c4b81e10b6305e05e37e55f9af72bd534b968c56742a9b09b1c145f04f20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 8.408 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2859, 1.8957, 1.5871, -0.9791, 0.7326, 0.9691, 0.0581, 0.3767, 1.8477, 1.4826, -0.7597, -0.6937, -0.989, 0.0603]\nstate[eef_state]: left_x=0.3631 left_y=-0.2261 left_z=0.1517 left_yaw=-1.4613 left_pitch=-0.2314 left_roll=-0.1308 left_gripper=0.0581 right_x=0.3581 right_y=0.267 right_z=0.1489 right_yaw=1.4792 right_pitch=-0.2088 right_roll=-0.0349 right_gripper=0.0603\nstate[joint_eff]: [-0.1299, -9.7026, 8.9368, 1.0574, 0.4811, 0.0073, 1.033, 1.306, -9.3744, 9.265, 0.8132, -0.5055, 0.1978, 1.033]",
      "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]: [-0.2859, 1.8957, 1.5887, -0.9798, 0.7326, 0.9688, 0.0581, 0.4011, 1.8492, 1.5276, -0.778, -0.6727, -0.9726, 0.064]\nstate[eef_state]: left_x=0.3632 left_y=-0.2262 left_z=0.1521 left_yaw=-1.4609 left_pitch=-0.2311 left_roll=-0.1303 left_gripper=0.0581 right_x=0.3593 right_y=0.2758 right_z=0.1599 right_yaw=1.4788 right_pitch=-0.2136 right_roll=-0.0545 right_gripper=0.064\nstate[joint_eff]: [0.212, -9.7026, 8.9231, 1.0085, 0.4078, -0.022, 1.033, 0.2803, -9.1556, 6.8171, 0.9841, -0.4371, 0.1099, 0.9695]",
      "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]: [-0.2863, 1.8957, 1.5883, -0.9844, 0.7296, 0.9657, 0.4955, 0.4011, 1.8492, 1.5276, -0.7776, -0.6727, -0.9726, 0.0676]\nstate[eef_state]: left_x=0.3624 left_y=-0.2257 left_z=0.1514 left_yaw=-1.4596 left_pitch=-0.2359 left_roll=-0.136 left_gripper=0.4955 right_x=0.3593 right_y=0.2759 right_z=0.1599 right_yaw=1.4787 right_pitch=-0.2135 right_roll=-0.0549 right_gripper=0.0676\nstate[joint_eff]: [-0.1709, -9.7573, 6.3111, 0.823, 0.3492, -0.0171, -0.2222, 0.294, -9.1556, 6.8444, 0.989, -0.4567, 0.1099, 0.8083]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fccac2b56c498193e9c0ff10804e85747a0d4aa927f6d48220ea18e059482873",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ea6a0a33e17917de487d51ce052a073d19f7ff5799ffdf547aa888f12cede2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c73c4b81e10b6305e05e37e55f9af72bd534b968c56742a9b09b1c145f04f20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6gwKEAgSGAI4AUIIdGhpbmtpbmcSDFZEGdTT2q70W7NX6hoMJLQn22Djf1ymkKxeIjALHMA3eYDVe5Pp2y0OqrIaT+INptZUL+vKff4Jww216ZzikrF4QwZSmjmOnn1sr/MqhwyNqnv9xqteD90os2ZLt2SCXe+tuWdl6Ee6ofoz8x2ATjC5NcG4jrKv9499/UwmDPw8pfc7eEwtdG16yAiFMyT7OKDMGGD+JrqMXzpQj5DvyVILnYNSH0evx4Ta6KRHiJqv6bkbsbLN+t1Bc+4uu/V1qrkbfpBwn6CBRhTzZqd/xO4bdi29pFAuP1/CQbTBq860MzeYvsWRc12R3tHK6LNxU+JT0rQcfAHdEfu2hv1Tc7rUlbcZKMd5Z0+FavgRnOOv4lwMKfpB0kpRR93uatFpOjlnfs0XlNhVE0wh60vsNn/KQEoXedm1SBLLXJLFn774fCnCE6iYlWYUMk61NusAAdegusX392rdNG+hpAiwTeX69ZRjUslS8tBJnebg2bHnEj3kelFioeDOAyGq3NtaRIY8fHN6x2TfDMTUuMtRmVBchE9wKv9QRIP8sZa4gtGW1hjnfMS8nVqZaALiyev5XcqZD4fDqIciVzEcpJ+7XDC4aZeRWUliDzP/fwjbf7iUKc5tMqs1hlUDNhU0uhUFAiwmuPKeiFvl4DAsNCygDLIPsKIg6Yam/wLhVBzgq7ETGV4cito4+StGTxUfiKA63JO6WXtNf24KkQmP+CvZAxrepfvCPZWHqDs4pvte9AYhUk9el6L6YjRF2+mdcSQyjZOZkBPn89NuVEi0e+A1mjzAagQqsC5Dg8Z5fUSD5eocL+XqgCMRmg5JZ3r9RS85biejsbFsDphUgv0vPNLaUDsfX4DM41FFAxC7+skyo1xRbyDj4hZq2Q6RUpHfyfUTJgkJWobF0iJ3anqp8ChgtdCQmIO97mTrRY5slzEsxdaMUUexk/WBvLGebQXLohNj2X+VgL68BD/IDhgx3t9tGbRMqJz0ITWFr11Gdsp5jK05ApeWwIKR8uoH9BjJGtrBVBymgS6zH+YZ8oeTSuxqKnUOUFDxYhjifKpno53+xXoo4dfgVFcH0p6Ce6KZmpJonhnOrg27Nn3ZpCs/KW1G91Kb/eQK3GrkCBhAeu57jkSN5nehljMLPmE1fA2T+9h2wYqYPZlxNVuI0Alqu9KgWimedsIpHw5Uga6j8c9ie92AxihJlqr+/MOxbaPBtaKQ78FbeK9hAD0PWlVkulnMrqxo4XYcodjpFh2hykAsvY5wAiuDkT47oXkBdsv7J23t4Vn0s+ryHoQCUHH49MkWDtQMpUe/A/00kaOBvsmetCbphIaQjuSZ07UrarutxT/QneWXaCGeY6hToNDjip+ZAVIAUqcZFkLENN8E1HNRv6fqW4bDltEk/eA3FW/yQL6Ir/yD8Haa/xShpL72+0u+qcwK3Yfu7T+e/+oobOQrzelk6Y9EkqWHVLUejQfPyzaGFoYeW9jeZ6r2NcyF80iB8YhK2hP88+xm0IYg8qBdPy+VgqblHJNdnCHoeB4IJp5WgqsOFJkRZJJiIckiUT8RlgxtiK8xwFYFy/KFRKkd4U1aPKyUP2z3/QzU+R8pIdEvehuXRTJyXrEJietl/Ef137ZgVXjlt5556Jp2K5XV5LiGs8vA/cHzHaacdNVgIsmgQ+vURjKEW+Yj5YgKvM8e/EWVF7ZCRfrkyI2sPp/RsgXrtRTy0EqoqSbE1KFgE5VXozGoPDPjtwT5F1LFO9DBs4fRfJux1ZABHg585J+/yfesvaIc9GdxgiBFdNK7rWeMr+I6SeGWaVFkydTo+QLNY5cBbyJmQAGcU9XvW09iWTGuxUga2Yc2fEzTmLert/RsJAH37VcVKw+JlbEcZv5BJuI3HbneBG4oaOgAaVPecZDLtyg0qxoo+A+PUCtF4b/ZKQc9nF6mMDYe+qCm2LWYGcFKX2XmYc7wDhlkG900znt+qH8PcOJvbFBD10xRbmDK4g14XBM5nHTgrQY9iE1+Q8OW3F8tH0IFdev8XMsw6Jt53sRBHhzr2HyfDjjlqosl1RfAHA4Ft1F8/8oS3vae7MVMYzQSvNYNWhpPlpRnGc+/63SKZcN0UhyHlvdOKQUTu0nYEb73rXNfUEnG25mcOLKLjiylvQIfDwXvl1ZTIr/vqsm4nfHoGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015Hs1B7njkT6MxrrAtgo2VX",
      "input": {
        "note": "The cap dropped to the table when released (it wasn't on the pen). I'm backing the pen arm off and moving the left gripper above where the cap landed to look at how it's lying.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.36,
          "left_y": -0.185,
          "left_yaw": -0.7,
          "left_z": 0.1,
          "right_y": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_015Hs1B7njkT6MxrrAtgo2VX",
      "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]: [-0.3424, 1.5661, 0.9287, -0.3344, 0.3935, 0.2665, 0.9966, 0.2287, 1.8336, 1.4837, -0.8745, -0.7147, -1.1263, 0.0695]\nstate[eef_state]: left_x=0.3391 left_y=-0.189 left_z=0.0859 left_yaw=-0.8506 left_pitch=-0.3076 left_roll=-0.16 left_gripper=0.9966 right_x=0.3706 right_y=0.2088 right_z=0.1481 right_yaw=1.4361 right_pitch=-0.2323 right_roll=-0.0337 right_gripper=0.0695\nstate[joint_eff]: [-0.3624, -8.1162, 6.8855, 1.6093, 0.1001, -0.0171, -0.0513, 2.0581, -12.1778, 6.4479, 0.6862, -0.7302, -0.0855, 0.8425]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac885cf12ebbc24d5685f08444b72f01f40f1b4050ebbdcfaec5dbbe4fe243a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13bd6637a31879f934438b25d89cd125fdd846ccdeb476d93d787a78a1229208",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a8e5613f29879f91dd625f8b8f390d893fd2e25be5f1b63b0c0969e7b21e94d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /messages · status 200 · 5.321 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2859, 1.8957, 1.5887, -0.9798, 0.7326, 0.9688, 0.0581, 0.4011, 1.8492, 1.5276, -0.778, -0.6727, -0.9726, 0.064]\nstate[eef_state]: left_x=0.3632 left_y=-0.2262 left_z=0.1521 left_yaw=-1.4609 left_pitch=-0.2311 left_roll=-0.1303 left_gripper=0.0581 right_x=0.3593 right_y=0.2758 right_z=0.1599 right_yaw=1.4788 right_pitch=-0.2136 right_roll=-0.0545 right_gripper=0.064\nstate[joint_eff]: [0.212, -9.7026, 8.9231, 1.0085, 0.4078, -0.022, 1.033, 0.2803, -9.1556, 6.8171, 0.9841, -0.4371, 0.1099, 0.9695]",
      "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]: [-0.2863, 1.8957, 1.5883, -0.9844, 0.7296, 0.9657, 0.4955, 0.4011, 1.8492, 1.5276, -0.7776, -0.6727, -0.9726, 0.0676]\nstate[eef_state]: left_x=0.3624 left_y=-0.2257 left_z=0.1514 left_yaw=-1.4596 left_pitch=-0.2359 left_roll=-0.136 left_gripper=0.4955 right_x=0.3593 right_y=0.2759 right_z=0.1599 right_yaw=1.4787 right_pitch=-0.2135 right_roll=-0.0549 right_gripper=0.0676\nstate[joint_eff]: [-0.1709, -9.7573, 6.3111, 0.823, 0.3492, -0.0171, -0.2222, 0.294, -9.1556, 6.8444, 0.989, -0.4567, 0.1099, 0.8083]",
      "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]: [-0.3424, 1.5661, 0.9287, -0.3344, 0.3935, 0.2665, 0.9966, 0.2287, 1.8336, 1.4837, -0.8745, -0.7147, -1.1263, 0.0695]\nstate[eef_state]: left_x=0.3391 left_y=-0.189 left_z=0.0859 left_yaw=-0.8506 left_pitch=-0.3076 left_roll=-0.16 left_gripper=0.9966 right_x=0.3706 right_y=0.2088 right_z=0.1481 right_yaw=1.4361 right_pitch=-0.2323 right_roll=-0.0337 right_gripper=0.0695\nstate[joint_eff]: [-0.3624, -8.1162, 6.8855, 1.6093, 0.1001, -0.0171, -0.0513, 2.0581, -12.1778, 6.4479, 0.6862, -0.7302, -0.0855, 0.8425]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac885cf12ebbc24d5685f08444b72f01f40f1b4050ebbdcfaec5dbbe4fe243a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13bd6637a31879f934438b25d89cd125fdd846ccdeb476d93d787a78a1229208",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8e5613f29879f91dd625f8b8f390d893fd2e25be5f1b63b0c0969e7b21e94d5",
        "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_01Qujhs2ozn8WzPqtcXWUYzn",
      "input": {
        "note": "The left wrist view shows the cap lying along the jaw axis, about 4 cm to the tool's left. I'm shifting over it and turning the wrist 90° so the jaws close across the cap.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.163,
          "left_yaw": 0.7,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Qujhs2ozn8WzPqtcXWUYzn",
      "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]: [-0.4782, 1.5284, 0.8474, -0.2195, 0.0296, -0.2127, 0.9977, 0.2287, 1.8305, 1.4807, -0.8833, -0.7097, -1.145, 0.0692]\nstate[eef_state]: left_x=0.3457 left_y=-0.181 left_z=0.075 left_yaw=-0.3953 left_pitch=-0.34 left_roll=-0.1587 left_gripper=0.9977 right_x=0.3686 right_y=0.2077 right_z=0.1471 right_yaw=1.4462 right_pitch=-0.2399 right_roll=-0.0404 right_gripper=0.0692\nstate[joint_eff]: [-0.4171, -8.3761, 6.0786, 1.5116, -0.1001, -0.1245, 0.1001, -0.3624, -9.0872, 6.5846, 0.8913, -0.4762, 0.149, 0.6422]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0eadc87a7a6c0ce75ff16f02083de448d6807b19c872ab18c60eec8afc547f81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:149e326ea6858d28a122577a0d7f2bd095de5bd797d24ae2b967debfed71cba0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c3a0633e01432ed044fc4e3e817b208f50d0efa08f2245a685fa47e0000ac151",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /messages · status 200 · 8.798 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2863, 1.8957, 1.5883, -0.9844, 0.7296, 0.9657, 0.4955, 0.4011, 1.8492, 1.5276, -0.7776, -0.6727, -0.9726, 0.0676]\nstate[eef_state]: left_x=0.3624 left_y=-0.2257 left_z=0.1514 left_yaw=-1.4596 left_pitch=-0.2359 left_roll=-0.136 left_gripper=0.4955 right_x=0.3593 right_y=0.2759 right_z=0.1599 right_yaw=1.4787 right_pitch=-0.2135 right_roll=-0.0549 right_gripper=0.0676\nstate[joint_eff]: [-0.1709, -9.7573, 6.3111, 0.823, 0.3492, -0.0171, -0.2222, 0.294, -9.1556, 6.8444, 0.989, -0.4567, 0.1099, 0.8083]",
      "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]: [-0.3424, 1.5661, 0.9287, -0.3344, 0.3935, 0.2665, 0.9966, 0.2287, 1.8336, 1.4837, -0.8745, -0.7147, -1.1263, 0.0695]\nstate[eef_state]: left_x=0.3391 left_y=-0.189 left_z=0.0859 left_yaw=-0.8506 left_pitch=-0.3076 left_roll=-0.16 left_gripper=0.9966 right_x=0.3706 right_y=0.2088 right_z=0.1481 right_yaw=1.4361 right_pitch=-0.2323 right_roll=-0.0337 right_gripper=0.0695\nstate[joint_eff]: [-0.3624, -8.1162, 6.8855, 1.6093, 0.1001, -0.0171, -0.0513, 2.0581, -12.1778, 6.4479, 0.6862, -0.7302, -0.0855, 0.8425]",
      "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]: [-0.4782, 1.5284, 0.8474, -0.2195, 0.0296, -0.2127, 0.9977, 0.2287, 1.8305, 1.4807, -0.8833, -0.7097, -1.145, 0.0692]\nstate[eef_state]: left_x=0.3457 left_y=-0.181 left_z=0.075 left_yaw=-0.3953 left_pitch=-0.34 left_roll=-0.1587 left_gripper=0.9977 right_x=0.3686 right_y=0.2077 right_z=0.1471 right_yaw=1.4462 right_pitch=-0.2399 right_roll=-0.0404 right_gripper=0.0692\nstate[joint_eff]: [-0.4171, -8.3761, 6.0786, 1.5116, -0.1001, -0.1245, 0.1001, -0.3624, -9.0872, 6.5846, 0.8913, -0.4762, 0.149, 0.6422]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0eadc87a7a6c0ce75ff16f02083de448d6807b19c872ab18c60eec8afc547f81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:149e326ea6858d28a122577a0d7f2bd095de5bd797d24ae2b967debfed71cba0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3a0633e01432ed044fc4e3e817b208f50d0efa08f2245a685fa47e0000ac151",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS/gkKEAgSGAI4AUIIdGhpbmtpbmcSDHCqVno4d4QJMY2x0BoMVWjwGZaqqkNcqLVMIjCjgsdy+YqtZS0dU9oAAG81gbZWnwlsMjAtd1azQpWR46y90JFlZb2kNdDWrH1BtDkqmwkAVVg3Y14KOp7qzYMG6VVunJKMvtFpN8Kf6vdSfI//3TOpY6AIpAHw7CAwmwn+/dSAxSuFO/WuXHrP2AQEUeTBjyJQ6Vz3u1UVvB/14ooBH1F+cXn8qubvHREc3U4h0HR2Ov5t7nk/8LvOu2elNaBPnOkeavUtzo15JMLKHTg+JSzCfYs1IC6+atdRgikU2dXJx7ObgtLTF5ruKPrwCe3Zvdup4AEItWN7ceSxGM+yEpMcvr0/9xsNtIcroI1rZAbaSf/O545acQkO3m4GkwI9Fnqxarz+Qkv0ptiH41WDoW4phxa2Zzn2szvllnPy35DAsjZ2MYkq7tvLDXIfkowHLa9aK+hjKcEN5GRT4P4Cya1Riz51NDGon71+UKPgqhdfCz+3ZFheJ0vb15zof6dEv1ijmKexwihM9FKAichH+91wpCqe0Xr1a+aVrFVwZ5/c8deD+nWzpGzeWH+nPp5I6hMTYQ5WUbX7sbBBKq3Ugcs6H2A5YKLtguXYd5N+Vazlovrgput5SPb9nEHe6guh9mfkOJwsZuWT3XrlIg6mSIl8BizTaX6ShLsGLzRMAOHEnWvlocmzRH7S/I+WRJTRZIppNF/dCqCtWPOOvW+IynF+pZABn89jNBImR7Yy3ooLrcD+9QJDZDpGcX3ejireUv33jcnlU10+T2u7uaFOicOV+MlxyN4I98fQt5nbs8PJtQTThnnNcxcGqOg0zQGf7igrc2Gw1+XxAHYB7mcGC50JRGlBk4SSzoYFpYdpJeBCjU6eeV2t7S8HcH+WHCYjC7eRBDptB7+7/R3+ocZIkJUNd5h7O2plz0t2cvS4f2bFBqQ5d2lKLLuYHcCC42EThFhGlnR/dAaJaUzFu4cHvNu0WlZ3AAvEhHjgnI6DH/0UxzhoZPub/mCoJavmuGiPAugkEZngtvcYIOYnEEAjdwYaL7djrzSdr4F0dmC199nCY/p0vEfBkywy192qH5mQEs8J8rFOnb73TsXGh4VVp2wOvKZsxNisutt7sXWoq84Bh2tiV+PEfcQFhk7LjP0ogctV8TbbSn1BtGO9zElrLam+Jd8kQ4NxYzWSMDiKNEdpFuDWAlOtSLEJabWPtR82EgNK9UKdIRxl1jznQG1NybX8z0Cnmjtt4y/5H23Gv6Epy2ylCWWKgvoQ2/bSn0c4NNI2bfLP6+jQ5Q9SDqWHkMOmSOgNGhPnGdcOx8dBJEpCrhfApDCChl/d4Ts+TiGecKG9+znUIcPNOw5bP+m4J75JvDwJvg9rn/7wuas7SkjnBmYT/9lp9I+Pn65mr4nASWBk+43ocp88A4Akn/t1dCundR0JbJ72hAVi1a/MmCuUBU4Fk6XKbmevLX/eoVIjJL9WOq39NOtESTdvorj52n0xfflEFsaDgm2/w2e2zRyoQF1/7hAH/MpLrhfAGyiHTvC0JDe1DdW8+BK/rFMcpTi0rUixwXPqOd0qT0IDDCar8XCmwqriS/otEsIFgYRgKJzxQFDjgj+TFDHSPCVkfJxBF0nkEzW3VTE8ji+Kaqq5cq6Gvl9UFyM31vM3MlIcgco7TrwsX/2okFAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Fn6tba3SNBnGrixJaiY96v",
      "input": {
        "note": "The previous move was rate-clamped partway through the wrist rotation; the cap is visible just ahead-left of the jaws. Re-sending the same target to finish the rotation and shift.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.163,
          "left_yaw": 0.7,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Fn6tba3SNBnGrixJaiY96v",
      "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]: [-0.7055, 1.8641, 1.2541, -0.5888, -0.3511, -0.6128, 0.998, 0.2291, 1.8317, 1.4788, -0.8845, -0.7067, -1.1412, 0.0723]\nstate[eef_state]: left_x=0.3593 left_y=-0.2215 left_z=0.0539 left_yaw=0.004 left_pitch=-0.4982 left_roll=0.0636 left_gripper=0.998 right_x=0.3681 right_y=0.2073 right_z=0.1457 right_yaw=1.4442 right_pitch=-0.2441 right_roll=-0.0346 right_gripper=0.0723\nstate[joint_eff]: [1.306, -10.6872, 7.6103, 0.5836, -0.4176, -0.1099, 0.0122, -0.0342, -9.388, 6.3658, 0.823, -0.4615, -0.0708, 0.6276]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c000cc16c045d8b9ad3cdef4d7f92ffc032e292f70d186f861d3d5c64398cf14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af2dda3088a8a8d8f611ffc9d3ae2a1e18564077553abfd50dd26ec6029d788c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:63d898712222c94911fe2052bda8907a4b583e1a66cfa7b3b9d84b4c45a48d2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /messages · status 200 · 11.48 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3424, 1.5661, 0.9287, -0.3344, 0.3935, 0.2665, 0.9966, 0.2287, 1.8336, 1.4837, -0.8745, -0.7147, -1.1263, 0.0695]\nstate[eef_state]: left_x=0.3391 left_y=-0.189 left_z=0.0859 left_yaw=-0.8506 left_pitch=-0.3076 left_roll=-0.16 left_gripper=0.9966 right_x=0.3706 right_y=0.2088 right_z=0.1481 right_yaw=1.4361 right_pitch=-0.2323 right_roll=-0.0337 right_gripper=0.0695\nstate[joint_eff]: [-0.3624, -8.1162, 6.8855, 1.6093, 0.1001, -0.0171, -0.0513, 2.0581, -12.1778, 6.4479, 0.6862, -0.7302, -0.0855, 0.8425]",
      "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]: [-0.4782, 1.5284, 0.8474, -0.2195, 0.0296, -0.2127, 0.9977, 0.2287, 1.8305, 1.4807, -0.8833, -0.7097, -1.145, 0.0692]\nstate[eef_state]: left_x=0.3457 left_y=-0.181 left_z=0.075 left_yaw=-0.3953 left_pitch=-0.34 left_roll=-0.1587 left_gripper=0.9977 right_x=0.3686 right_y=0.2077 right_z=0.1471 right_yaw=1.4462 right_pitch=-0.2399 right_roll=-0.0404 right_gripper=0.0692\nstate[joint_eff]: [-0.4171, -8.3761, 6.0786, 1.5116, -0.1001, -0.1245, 0.1001, -0.3624, -9.0872, 6.5846, 0.8913, -0.4762, 0.149, 0.6422]\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]: [-0.7055, 1.8641, 1.2541, -0.5888, -0.3511, -0.6128, 0.998, 0.2291, 1.8317, 1.4788, -0.8845, -0.7067, -1.1412, 0.0723]\nstate[eef_state]: left_x=0.3593 left_y=-0.2215 left_z=0.0539 left_yaw=0.004 left_pitch=-0.4982 left_roll=0.0636 left_gripper=0.998 right_x=0.3681 right_y=0.2073 right_z=0.1457 right_yaw=1.4442 right_pitch=-0.2441 right_roll=-0.0346 right_gripper=0.0723\nstate[joint_eff]: [1.306, -10.6872, 7.6103, 0.5836, -0.4176, -0.1099, 0.0122, -0.0342, -9.388, 6.3658, 0.823, -0.4615, -0.0708, 0.6276]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c000cc16c045d8b9ad3cdef4d7f92ffc032e292f70d186f861d3d5c64398cf14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af2dda3088a8a8d8f611ffc9d3ae2a1e18564077553abfd50dd26ec6029d788c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63d898712222c94911fe2052bda8907a4b583e1a66cfa7b3b9d84b4c45a48d2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSpw4KEAgSGAI4AUIIdGhpbmtpbmcSDFhu8YOSVo91qD9BpxoM1HLZmHXtA/QOeGqwIjBN81jgFGJIx4TX/oD8xG37ee6Xqm93pgBFrd9jAc8C8t+vHttZH9GtSi+pZaVgYtIqxA0b0SBYGVuvGEDWIW2zAzUV8gWdZUESbDoG0HOj6lvVJoX/wgRnWOqOt0e45FnlbsKwVNMbflFRgPEBBhnbsePOt7UdC0YSNPEtgpDNKRiHGvi4UAKfeE77s74zOP0LmkkSPNllN6c6aWmFK5ulE07reYPL+yDrsRK8gEU0y1hU5CwFjR6e3kkq2dVitcNu3Wi4LirVO4uqmqdfHh5cfkSye2ZNMxCO9HvFmNQcLQLiuLZBotrHZbMNHDe40ySb5xs6khs5EU5IvC1itvfpbt6ZA42c7kTnw8OQ1qyxP4G1Gx+6ZcpIZd3sUyADldvnUCVrJqH488oTWSg0gPa8I5FLDZAfDNyBqo3npF2ni+7MzzLtOJnumeGS+rOO9R15zftmutM9FFB9Y+htG48lguqz3z2aXtYta3YDybXi83BSKzsdqY6svSaIqi4nlJWTrFk+rDMLZa5SgdbX1TUADVDDRo8xqJY7Cgb9M56ZKuoTPoAV/LoHboDTpXcfmm4odSFTxn18jEcqG6e+pBPPM2e+3FF6zlqfCpVztUGXmB/Jdnbu+hFAk2RcIqXBbUxVxZmpwzWD8FwWp8PbDj7TfFNW/4uLtllK8hMyukgauxFhqYbQ4LCrDnvznZxN4wKNaEUbCKoZfdsk0EpEV/DYoLAEYXuTH+0Z15zsXY6IzL9OsserZfGZqcW5610ZbODB778+W3huBEyNruK/hE9YQZgz9GCO8OiXSINjY4bnvIyImJDMRZMyWrTfbJ9QWQ24WlMH9T9ZaBfa931EkxzRHfewA0BOKkpoGONzBmzS23PbHjusWRCeSy/iTqeI6IoONQ0JyUvDvO0JH0Xq8kgxqZJzZCF+zmLgtQfaGbXfjVK7OY1RJ7a5+AX4PQSAILiU4KIqMpWJnAqUa0U1Jri5HaMLlJw93Q9uQ87Zv3fgAhM+xgkLcEkKlw8pKYbatU+szuxsK9goNDPcm6MbboyMS0RHX51nIjTDKUPcCkLtzrYarlshVqzmSrAIzYunqMtpAxvrEObsJYfBkbwQ3C1s6PU71Q+BJNAB0M+rOWvvGbSidEZCmFVK/0dz4LfnfmqSpEnYgrxy6bDwNuf3sIBP/+ioXYqAzonSUaNdlWrMr790MMTx4mSGtETX4cs1TTBaP3xpDEDjnmWUTwMj595Yj89AkMsjoGmEzmxoQY4mMP3giOdU2OIPno9sM8cO99zXP6pN3QGXrMkw9GkBqBZZevRNC6uSmm1WZ+Rdqvf6KStHIaT3FCTnOEAhoA5RD0iwj8ODKxX7da+rMCnL2iJq+gkvpwj/hzEAt5yyX+80XJgM9pXMN/mCJQMCtdKgiMZ1uA+D5zwVi/DZsPjTdLGbRbvkfyn8k3YhUiGPA7rqBAivPyHVbk+GMyuQ2tsglzT4uVmGK2vkTDHnIDDeFqEsv07Ip2S9XprqSu3+3AaxvEC3jbQDzwe72cxfm3pO/m7BTmS2Zy3letlRrZMFC6gon79iK2TgQcT9QCz23YqmSFo/aLv5EfA7ZvTGvCHZnQs6JMtPC+q//5rXV8x8HyGhtD0/bWO2OlvVIM1yR/ZUYa4Ulxzv67BIUfH4DWe8gUYJTv2Yo/QF8wUn04MHmf/wyn5/tOOow7ExmvTnu8qvJDVbrjxI41kBktB+rNz8h8vpqhScAViA+smtbGXN+WKcxVEADg8JZ6gsXQXu0d3dGmxPH6iLaN+/Pa6Qi23e5rs4euw9pELvV+B1XcR5THenFtULBWHF2XPUO2D/HUeRX3rSJYHk21215jTOHKjjNv2Tbl3HwVG7keMWVL0+gOxbGvIFoT3Hi7TI0q0iWBucxcGL7H++vYjVO3omaC4DnwCNgx2V9YCC6h3yJ3g4yFawDqEQr0sBG1fXHgYTZG79uuOeIsvBhRT5O+UzNNwPaQu/7srti9vvc8BjkTlYBk49kM+p+j1rfxPCOv5dy2Eb9w+vkI9hn6q1bTbqJPgnVGIc7olmAZk0TfwQ9QOg1QNW1R9adQirXtS3Fe3t0BdOvXs/iAKB+8LEO6xYLPDX52GKW6G8njpWytgvPy+UwerGzUt12CX1KItyxgOijgrdN1LrXDlJoChcevZSt93blB6sjx/lSOcUzhNFA4qClgnPijBwPoXE904quUFW++G/DLdCemeJU2WoO8gfQ51ZZ411S39/7X+/KC+6GNsrhK4YqJLe8jVA7n2OB38X/Vgm7boaTgLxXHXFAbDmYkBF+8JvF/CqyNT4kqLs+hhLsl+GmOGIALTUSVlex6DcKgwJtA1vdFMSUKNZfc7Y58EqyWY/zuzpI+OzGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019W5kVdgAK85a32zH3f4uVg",
      "input": {
        "note": "The left arm drifted (pitched down and moved sideways) while rotating; the cap is ahead-left of the jaws. Re-targeting above the cap with explicit zero pitch and roll and a 40° yaw.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.38,
          "left_y": -0.18,
          "left_yaw": 0.7,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_019W5kVdgAK85a32zH3f4uVg",
      "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]: [-0.8085, 2.0274, 1.4319, -0.8413, -0.9344, -1.401, 0.998, 0.2291, 1.832, 1.4776, -0.8833, -0.7067, -1.1408, 0.0741]\nstate[eef_state]: left_x=0.3789 left_y=-0.1859 left_z=0.0879 left_yaw=0.6508 left_pitch=-0.0607 left_roll=0.0115 left_gripper=0.998 right_x=0.3681 right_y=0.2073 right_z=0.1453 right_yaw=1.4441 right_pitch=-0.2442 right_roll=-0.034 right_gripper=0.0741\nstate[joint_eff]: [-0.6222, -9.7983, 7.9795, 0.315, -0.7009, -0.0855, -0.0122, -0.1299, -9.3197, 6.3658, 0.779, -0.4371, -0.0415, 0.525]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d3b1876fc70fcf154cd998d01d7219f6dd0ede607ee52c6163139b7d961be90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb1a1b2933ecdd24e00ad52538aac51bd2fd1d964eed324667d826805e10bcb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:79144099b4ca01867cc2faa435fee3052a063ec45c105e1f9bb7c4e65c7122a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 3.753 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4782, 1.5284, 0.8474, -0.2195, 0.0296, -0.2127, 0.9977, 0.2287, 1.8305, 1.4807, -0.8833, -0.7097, -1.145, 0.0692]\nstate[eef_state]: left_x=0.3457 left_y=-0.181 left_z=0.075 left_yaw=-0.3953 left_pitch=-0.34 left_roll=-0.1587 left_gripper=0.9977 right_x=0.3686 right_y=0.2077 right_z=0.1471 right_yaw=1.4462 right_pitch=-0.2399 right_roll=-0.0404 right_gripper=0.0692\nstate[joint_eff]: [-0.4171, -8.3761, 6.0786, 1.5116, -0.1001, -0.1245, 0.1001, -0.3624, -9.0872, 6.5846, 0.8913, -0.4762, 0.149, 0.6422]\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]: [-0.7055, 1.8641, 1.2541, -0.5888, -0.3511, -0.6128, 0.998, 0.2291, 1.8317, 1.4788, -0.8845, -0.7067, -1.1412, 0.0723]\nstate[eef_state]: left_x=0.3593 left_y=-0.2215 left_z=0.0539 left_yaw=0.004 left_pitch=-0.4982 left_roll=0.0636 left_gripper=0.998 right_x=0.3681 right_y=0.2073 right_z=0.1457 right_yaw=1.4442 right_pitch=-0.2441 right_roll=-0.0346 right_gripper=0.0723\nstate[joint_eff]: [1.306, -10.6872, 7.6103, 0.5836, -0.4176, -0.1099, 0.0122, -0.0342, -9.388, 6.3658, 0.823, -0.4615, -0.0708, 0.6276]\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 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]: [-0.8085, 2.0274, 1.4319, -0.8413, -0.9344, -1.401, 0.998, 0.2291, 1.832, 1.4776, -0.8833, -0.7067, -1.1408, 0.0741]\nstate[eef_state]: left_x=0.3789 left_y=-0.1859 left_z=0.0879 left_yaw=0.6508 left_pitch=-0.0607 left_roll=0.0115 left_gripper=0.998 right_x=0.3681 right_y=0.2073 right_z=0.1453 right_yaw=1.4441 right_pitch=-0.2442 right_roll=-0.034 right_gripper=0.0741\nstate[joint_eff]: [-0.6222, -9.7983, 7.9795, 0.315, -0.7009, -0.0855, -0.0122, -0.1299, -9.3197, 6.3658, 0.779, -0.4371, -0.0415, 0.525]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d3b1876fc70fcf154cd998d01d7219f6dd0ede607ee52c6163139b7d961be90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb1a1b2933ecdd24e00ad52538aac51bd2fd1d964eed324667d826805e10bcb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79144099b4ca01867cc2faa435fee3052a063ec45c105e1f9bb7c4e65c7122a1",
        "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_01FxnkXVXmV4r2Z7gtxCLarb",
      "input": {
        "note": "The cap now lies crosswise between the jaw lines, slightly left of centre. I'm nudging forward and left so the jaws grab it near its tapered (closed) end, leaving the open end sticking out behind, and descending to the table.",
        "targets": {
          "left_x": 0.385,
          "left_y": -0.169,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01FxnkXVXmV4r2Z7gtxCLarb",
      "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, 2.1399, 1.2449, -0.5346, -0.9268, -1.3514, 0.998, 0.2291, 1.832, 1.4776, -0.8837, -0.7067, -1.1412, 0.0738]\nstate[eef_state]: left_x=0.3784 left_y=-0.166 left_z=0.0066 left_yaw=0.6595 left_pitch=-0.0682 left_roll=0.0434 left_gripper=0.998 right_x=0.368 right_y=0.2073 right_z=0.1452 right_yaw=1.4444 right_pitch=-0.2443 right_roll=-0.0339 right_gripper=0.0738\nstate[joint_eff]: [0.5812, -10.2085, 4.8479, 0.5299, -0.4957, 0.0855, -0.0122, -0.294, -9.306, 6.2291, 0.8278, -0.4225, -0.0708, 0.779]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99b41383732502a0a88a0b1e90091e383fe1b5c8b3ed4f752aa127f253ec79b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6910defb782f7ef5294e7163053b0e3aaddd129dd2df108970d094baa33a6292",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a23eb9e57faee9519e8b590ac482fb0d72402d86a0d7faa00da6ca7d799ff9fe",
        "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 · 7.915 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7055, 1.8641, 1.2541, -0.5888, -0.3511, -0.6128, 0.998, 0.2291, 1.8317, 1.4788, -0.8845, -0.7067, -1.1412, 0.0723]\nstate[eef_state]: left_x=0.3593 left_y=-0.2215 left_z=0.0539 left_yaw=0.004 left_pitch=-0.4982 left_roll=0.0636 left_gripper=0.998 right_x=0.3681 right_y=0.2073 right_z=0.1457 right_yaw=1.4442 right_pitch=-0.2441 right_roll=-0.0346 right_gripper=0.0723\nstate[joint_eff]: [1.306, -10.6872, 7.6103, 0.5836, -0.4176, -0.1099, 0.0122, -0.0342, -9.388, 6.3658, 0.823, -0.4615, -0.0708, 0.6276]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.8085, 2.0274, 1.4319, -0.8413, -0.9344, -1.401, 0.998, 0.2291, 1.832, 1.4776, -0.8833, -0.7067, -1.1408, 0.0741]\nstate[eef_state]: left_x=0.3789 left_y=-0.1859 left_z=0.0879 left_yaw=0.6508 left_pitch=-0.0607 left_roll=0.0115 left_gripper=0.998 right_x=0.3681 right_y=0.2073 right_z=0.1453 right_yaw=1.4441 right_pitch=-0.2442 right_roll=-0.034 right_gripper=0.0741\nstate[joint_eff]: [-0.6222, -9.7983, 7.9795, 0.315, -0.7009, -0.0855, -0.0122, -0.1299, -9.3197, 6.3658, 0.779, -0.4371, -0.0415, 0.525]\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, 2.1399, 1.2449, -0.5346, -0.9268, -1.3514, 0.998, 0.2291, 1.832, 1.4776, -0.8837, -0.7067, -1.1412, 0.0738]\nstate[eef_state]: left_x=0.3784 left_y=-0.166 left_z=0.0066 left_yaw=0.6595 left_pitch=-0.0682 left_roll=0.0434 left_gripper=0.998 right_x=0.368 right_y=0.2073 right_z=0.1452 right_yaw=1.4444 right_pitch=-0.2443 right_roll=-0.0339 right_gripper=0.0738\nstate[joint_eff]: [0.5812, -10.2085, 4.8479, 0.5299, -0.4957, 0.0855, -0.0122, -0.294, -9.306, 6.2291, 0.8278, -0.4225, -0.0708, 0.779]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99b41383732502a0a88a0b1e90091e383fe1b5c8b3ed4f752aa127f253ec79b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6910defb782f7ef5294e7163053b0e3aaddd129dd2df108970d094baa33a6292",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a23eb9e57faee9519e8b590ac482fb0d72402d86a0d7faa00da6ca7d799ff9fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3wYKEAgSGAI4AUIIdGhpbmtpbmcSDBlgteB+UOQtDi679hoMJ3qyT2hGiBO01C2aIjDeLKcl5pDSF0RKHL/gYXQY7IcDmNO90V7AkBkakf1y5t76+wzZA8f7E8BntVfGX1Mq/AUmip0JfHktCW15Utuq5Rgjp7cuhGEs0fwvf9GHqr5opGXH+LZOQeLiMyoMzHZ7pgHBqesS7TKajsOLhbO9zTxWkpqfaM52aVo//DVYL2hy7PAj+IcdBKNu7Jp1t1aHU6L9XQhbDw+AxJrjpfnWyk+HRXoGmqdk8jdd9/uU/c1ygTBRxXKSBN3iWJssxbmM3GpXef/CNVP/C/ihWsc8zoheHqKNVTRAV1zk+m0TCa6BflFv3gVDe7cRWl/Uq90Gl28IcB5H1YDNjheGe4592re9Y1PXfwRBgcFS+3LREYoGg26BgA2rB4YBgx4W5uORhY2j7gySId53CpeJl5ycqjXNP6hudSEAaM9NvKwKEpTCzUbue6eTBoqEa2ipekux7hDLk69N2E9hkOwffjgqT6qfEAoX8bGTLn5/XQObgZdjKuRG7pbPnGjv+xw+Eg89heBzC8Oq8MsWjAiktTDSOxiHKLFqmc3Ij0ST0DrJ3n+nYKCnmLbb13dfmvWnQe7ek0gWd8lAj55yGC+zM8b0KxGTYlVFWuesdWe17s/xBwFdAWdeL2g9w15oZLbMAiEteYNeG1wBLlf5cfoZaQmxIvprsfskyx4rRu3pKHf3OZNlTDUUyzPDR/AjYE5F5B9jZwgm5X60Tx8XzKoKLk++filwa4o7NUsGRzhPoSK+IUNaHDnjTCS3l5kFb/Ea+04RstdP7lZJ+xq1fQNdOfFtXCNrVRjbqlm2ibsOcXbrs6tXd4oY6/KQ+N9MeAwotFr0DR5dy3XSsPwqiScWxTgq+rigLYj8odU+fVz8lRrSP4kaymDzedVCPjQ/VTCAy6BpLAIU1A3fbUqMQ90F4xPmsAI2450mmkepFvX7dckF/pY7cjoKxmm61xfHOAaIpaF08e4Q38JdaQJkuPkxiyWIqav1nw3/QUXhJjGahXj3HmSYj7ZiW3jcmV1cPaYizfqqv0Yp4RL19bGT3iGLbhCGLpOI1ZS2VQyEhaAVORg08aiU+2zhN8Qz5PxvWWBVmxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BWjyoG1S7JnoR8fc8jF7pn",
      "input": {
        "note": "The cap lies centred between the left jaws at table level, with its tapered end just ahead of them. Closing the left gripper.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01BWjyoG1S7JnoR8fc8jF7pn",
      "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]: [-0.7712, 2.1479, 1.2362, -0.5232, -0.944, -1.3521, 0.0488, 0.2291, 1.832, 1.4776, -0.8837, -0.7067, -1.1408, 0.0743]\nstate[eef_state]: left_x=0.3782 left_y=-0.1631 left_z=0.0044 left_yaw=0.6631 left_pitch=-0.0521 left_roll=0.0504 left_gripper=0.0488 right_x=0.368 right_y=0.2073 right_z=0.1452 right_yaw=1.4442 right_pitch=-0.2443 right_roll=-0.0336 right_gripper=0.0743\nstate[joint_eff]: [-0.3761, -11.2205, 5.5043, 0.4029, -0.3297, 0.0024, 1.1111, -0.2393, -9.3333, 6.2017, 0.8474, -0.398, -0.0366, 0.4078]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1842871790810e7ec2a63d19b53e36b44d4338528196b4e59bf539ab1b582b69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5e1117c559b2337071f3d234c39123b89161de2dfaf23ab0280d50c4275fbd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:affdb45014e76653f7a8ccd8d6e479cb3fd7e3637f5beced478482a71ac1620d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /messages · status 200 · 6.733 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8085, 2.0274, 1.4319, -0.8413, -0.9344, -1.401, 0.998, 0.2291, 1.832, 1.4776, -0.8833, -0.7067, -1.1408, 0.0741]\nstate[eef_state]: left_x=0.3789 left_y=-0.1859 left_z=0.0879 left_yaw=0.6508 left_pitch=-0.0607 left_roll=0.0115 left_gripper=0.998 right_x=0.3681 right_y=0.2073 right_z=0.1453 right_yaw=1.4441 right_pitch=-0.2442 right_roll=-0.034 right_gripper=0.0741\nstate[joint_eff]: [-0.6222, -9.7983, 7.9795, 0.315, -0.7009, -0.0855, -0.0122, -0.1299, -9.3197, 6.3658, 0.779, -0.4371, -0.0415, 0.525]\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, 2.1399, 1.2449, -0.5346, -0.9268, -1.3514, 0.998, 0.2291, 1.832, 1.4776, -0.8837, -0.7067, -1.1412, 0.0738]\nstate[eef_state]: left_x=0.3784 left_y=-0.166 left_z=0.0066 left_yaw=0.6595 left_pitch=-0.0682 left_roll=0.0434 left_gripper=0.998 right_x=0.368 right_y=0.2073 right_z=0.1452 right_yaw=1.4444 right_pitch=-0.2443 right_roll=-0.0339 right_gripper=0.0738\nstate[joint_eff]: [0.5812, -10.2085, 4.8479, 0.5299, -0.4957, 0.0855, -0.0122, -0.294, -9.306, 6.2291, 0.8278, -0.4225, -0.0708, 0.779]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7712, 2.1479, 1.2362, -0.5232, -0.944, -1.3521, 0.0488, 0.2291, 1.832, 1.4776, -0.8837, -0.7067, -1.1408, 0.0743]\nstate[eef_state]: left_x=0.3782 left_y=-0.1631 left_z=0.0044 left_yaw=0.6631 left_pitch=-0.0521 left_roll=0.0504 left_gripper=0.0488 right_x=0.368 right_y=0.2073 right_z=0.1452 right_yaw=1.4442 right_pitch=-0.2443 right_roll=-0.0336 right_gripper=0.0743\nstate[joint_eff]: [-0.3761, -11.2205, 5.5043, 0.4029, -0.3297, 0.0024, 1.1111, -0.2393, -9.3333, 6.2017, 0.8474, -0.398, -0.0366, 0.4078]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1842871790810e7ec2a63d19b53e36b44d4338528196b4e59bf539ab1b582b69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5e1117c559b2337071f3d234c39123b89161de2dfaf23ab0280d50c4275fbd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:affdb45014e76653f7a8ccd8d6e479cb3fd7e3637f5beced478482a71ac1620d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017QGqfQaNway7EpC2vz5LFW",
      "input": {
        "note": "The cap is held near its tapered closed end (tip poking out ahead of the jaws), so the open end sticks out behind. I'm lifting it and turning the wrist so the open end faces the pen tip.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.2,
          "left_yaw": 1.57,
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_017QGqfQaNway7EpC2vz5LFW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4366, 2.3074, 1.8244, -1.5433, -0.8253, -2.0869, 0.0539, 0.2234, 1.832, 1.4769, -0.8734, -0.6846, -1.1408, 0.0748]\nstate[eef_state]: left_x=0.3811 left_y=-0.0307 left_z=0.0767 left_yaw=1.47 left_pitch=-0.0876 left_roll=0.0653 left_gripper=0.0539 right_x=0.3724 right_y=0.2028 right_z=0.1433 right_yaw=1.4269 right_pitch=-0.2605 right_roll=-0.0505 right_gripper=0.0748\nstate[joint_eff]: [0.2667, -15.2547, 4.9436, -0.6081, -0.3736, -0.149, 1.0281, 0.2393, -9.1145, 6.612, 0.7839, -0.6081, -0.0611, 0.6374]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54036d104002624619b6cb93af43226865143bcb2c79b6b8847bd5493f46aa01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00caebbbf609d2d63a073a39344fbf61542ccaca4a403e5e2da5b27dd411872d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bc7cd1dc5b966c43a52fbee71043dc756088534f29f931b5df18bda7c2b71854",
        "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 · 9.734 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7715, 2.1399, 1.2449, -0.5346, -0.9268, -1.3514, 0.998, 0.2291, 1.832, 1.4776, -0.8837, -0.7067, -1.1412, 0.0738]\nstate[eef_state]: left_x=0.3784 left_y=-0.166 left_z=0.0066 left_yaw=0.6595 left_pitch=-0.0682 left_roll=0.0434 left_gripper=0.998 right_x=0.368 right_y=0.2073 right_z=0.1452 right_yaw=1.4444 right_pitch=-0.2443 right_roll=-0.0339 right_gripper=0.0738\nstate[joint_eff]: [0.5812, -10.2085, 4.8479, 0.5299, -0.4957, 0.0855, -0.0122, -0.294, -9.306, 6.2291, 0.8278, -0.4225, -0.0708, 0.779]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7712, 2.1479, 1.2362, -0.5232, -0.944, -1.3521, 0.0488, 0.2291, 1.832, 1.4776, -0.8837, -0.7067, -1.1408, 0.0743]\nstate[eef_state]: left_x=0.3782 left_y=-0.1631 left_z=0.0044 left_yaw=0.6631 left_pitch=-0.0521 left_roll=0.0504 left_gripper=0.0488 right_x=0.368 right_y=0.2073 right_z=0.1452 right_yaw=1.4442 right_pitch=-0.2443 right_roll=-0.0336 right_gripper=0.0743\nstate[joint_eff]: [-0.3761, -11.2205, 5.5043, 0.4029, -0.3297, 0.0024, 1.1111, -0.2393, -9.3333, 6.2017, 0.8474, -0.398, -0.0366, 0.4078]",
      "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]: [-0.4366, 2.3074, 1.8244, -1.5433, -0.8253, -2.0869, 0.0539, 0.2234, 1.832, 1.4769, -0.8734, -0.6846, -1.1408, 0.0748]\nstate[eef_state]: left_x=0.3811 left_y=-0.0307 left_z=0.0767 left_yaw=1.47 left_pitch=-0.0876 left_roll=0.0653 left_gripper=0.0539 right_x=0.3724 right_y=0.2028 right_z=0.1433 right_yaw=1.4269 right_pitch=-0.2605 right_roll=-0.0505 right_gripper=0.0748\nstate[joint_eff]: [0.2667, -15.2547, 4.9436, -0.6081, -0.3736, -0.149, 1.0281, 0.2393, -9.1145, 6.612, 0.7839, -0.6081, -0.0611, 0.6374]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54036d104002624619b6cb93af43226865143bcb2c79b6b8847bd5493f46aa01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00caebbbf609d2d63a073a39344fbf61542ccaca4a403e5e2da5b27dd411872d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc7cd1dc5b966c43a52fbee71043dc756088534f29f931b5df18bda7c2b71854",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSogkKEAgSGAI4AUIIdGhpbmtpbmcSDIW7mQvPQbRJZ0aW3hoMgb6onr5MilwiFsw4IjDUUqjGlYg7dun6IENqvqAPm77IYAb2T8N0OLeHEbOZWnzDNCpWsdQDfBNygBPhA0QqvwjIFc8MOrJyPWpDfKLN/KIuo82/gBTk6LZbWF7xTuQ20e5chRoJYao4dTNCyxUkk5tKyCj3nMWjT51U86jWSkmEU9OrMkXc4tTTxG1kb4ZvR6a9MHziB/mbjEAIPT/EsvAGvCYmIKTk2NvvQYlN13qDH+4v/jX58Dgy0zSxxhhc9NX3+krZIO/EWYDIGmqeYbnVADXNHHcCyRRY+1XgMvMBL2IP3tPPQs2m/2onWJS0On+BVEE1a8UVdyaEcH8J968WiKXNnZ3vLZXp5CFrIWBMWo2EyHRp9aRdifPOSM6MWg36bvECh16xKA8x/CM86Sg9jpDUmzKBlN4lJbesTF05COqVwcaHKtPlAjk3hjnSpAFa83Waoa2I91E7EPv3A7cutrqhAEcJSUcsU0K1VbH/030Ca7PTWEs2WK4vkREXyS2IcTlpWbOvfZAkn6dxnlfPMv2BLuM9fbU/gKefnZQTY4Jr3R8S8kdi3Sk4wAuLVL9piq14xRCqvwaDRP7ZSoNKMWJWiZA8AQbyi487GWYwSy2HSEB+vbzM7480Ap9xBMUHpus5UU0yklz5WeTK2JGd0nIMvIeeoPVsXPysniIyBM7mfNrbFC44nSqa2ETLB3Yj4OqMZszheUm5+Nk2qDt/vJr7JDQSLlCl/i/5YUi5mEze2jiqkemi7scUx6Ky+Qa+FRcDFXPlND8mV7gTKIV8ULKE15eOP0+QfYOWTh5gnCm6o85dU/CPU03I5MvbXaJagiD8EJrBRRgr9GWJCFelfgzAAuCMmc55NaO5s2kRoZj5qvAVufUZIghLOZbTiEqLpTgTt0+kZdAtjZiOv5QxQdjZBs0gop36uH14vCQITu2FUOJSNBXdX9fl+wn4W3FxIag0BtMzbuJ74NSx9MdcZGBrVVOjgc5w5yQbq4VNp2GKpuat25GTJxU1tyhtcZyV1eu4a5zdAzBeX5+qXApVgF0q8qfJ4BPH8ZiZDVvmWAA61wzyFukZqMqZuGyk1vG1wRckSSYYHOojis/fQfBSPiYL/RcSUyfMsHUM/hXHE4EIsBIGMcvvceWChp3XSt03nhZDVjp0JuHuNw5jpweMlqPnaYfPTQKYc7x/LtrESsD99uql8vrEPkuZJR7LEFFIRJbIDrLkZpdZzaP0HDSYQh1Y6S5T7lW2IPEOo4BONShYGb5ulLFxj9LbvH+Ai+ZHiMjpQoMgw9/PFUDwRgqQmHsGSBp5fIGN/VWtINsOVY+ch5wuw+IMJas/gI34e2pz70stZIkk2wLmTMzxXBpaVvdbbOfEaxpsBtU7wRHEQO2BvU8fLiCnFmrW5SZY3ei0PgmVBn/Gc3QlaubUc9TuBU2GYgWknhfImqgpbyxROQy+HqzjiJ2Wm2UA9F00HLunsmBQGH9zyAUdBvE4OqoJB1a0zcrL/NdcSkFKMNYDNSCanekG2xQxvWF98BnZGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014dANvNvsdoosWXN7NQXA8c",
      "input": {
        "note": "The left arm ended well away from its target (low and to the left) but still holds the cap. Re-sending the target pose above the table with the wrist turned.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.36,
          "left_y": -0.2,
          "left_yaw": 1.57,
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_014dANvNvsdoosWXN7NQXA8c",
      "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]: [-0.3923, 2.2837, 1.8427, -1.5566, -0.8589, -2.0937, 0.0589, 0.223, 1.832, 1.4769, -0.881, -0.6804, -1.1408, 0.0771]\nstate[eef_state]: left_x=0.3877 left_y=-0.0118 left_z=0.0929 left_yaw=1.5008 left_pitch=-0.068 left_roll=0.0228 left_gripper=0.0589 right_x=0.3713 right_y=0.2018 right_z=0.1424 right_yaw=1.4267 right_pitch=-0.2669 right_roll=-0.0446 right_gripper=0.0771\nstate[joint_eff]: [0.6222, -14.7761, 4.4786, -0.6081, -0.6764, -0.0415, 1.033, -0.3487, -9.2923, 6.4068, 0.8816, -0.3932, -0.0317, 0.2222]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1691190642124926f1bbecdbe4b2c7f85383fa9b344f007519cdd907fa577b11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8c82d0eb880b0f435d11f11f7da4bbc38e0d12f1bbb0c06f2e0764eab976c97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:02d2b74713a4517703a284cb4e960094ff935f799385c7d4d920f929da79969d",
        "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 · 7.587 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7712, 2.1479, 1.2362, -0.5232, -0.944, -1.3521, 0.0488, 0.2291, 1.832, 1.4776, -0.8837, -0.7067, -1.1408, 0.0743]\nstate[eef_state]: left_x=0.3782 left_y=-0.1631 left_z=0.0044 left_yaw=0.6631 left_pitch=-0.0521 left_roll=0.0504 left_gripper=0.0488 right_x=0.368 right_y=0.2073 right_z=0.1452 right_yaw=1.4442 right_pitch=-0.2443 right_roll=-0.0336 right_gripper=0.0743\nstate[joint_eff]: [-0.3761, -11.2205, 5.5043, 0.4029, -0.3297, 0.0024, 1.1111, -0.2393, -9.3333, 6.2017, 0.8474, -0.398, -0.0366, 0.4078]",
      "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]: [-0.4366, 2.3074, 1.8244, -1.5433, -0.8253, -2.0869, 0.0539, 0.2234, 1.832, 1.4769, -0.8734, -0.6846, -1.1408, 0.0748]\nstate[eef_state]: left_x=0.3811 left_y=-0.0307 left_z=0.0767 left_yaw=1.47 left_pitch=-0.0876 left_roll=0.0653 left_gripper=0.0539 right_x=0.3724 right_y=0.2028 right_z=0.1433 right_yaw=1.4269 right_pitch=-0.2605 right_roll=-0.0505 right_gripper=0.0748\nstate[joint_eff]: [0.2667, -15.2547, 4.9436, -0.6081, -0.3736, -0.149, 1.0281, 0.2393, -9.1145, 6.612, 0.7839, -0.6081, -0.0611, 0.6374]",
      "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]: [-0.3923, 2.2837, 1.8427, -1.5566, -0.8589, -2.0937, 0.0589, 0.223, 1.832, 1.4769, -0.881, -0.6804, -1.1408, 0.0771]\nstate[eef_state]: left_x=0.3877 left_y=-0.0118 left_z=0.0929 left_yaw=1.5008 left_pitch=-0.068 left_roll=0.0228 left_gripper=0.0589 right_x=0.3713 right_y=0.2018 right_z=0.1424 right_yaw=1.4267 right_pitch=-0.2669 right_roll=-0.0446 right_gripper=0.0771\nstate[joint_eff]: [0.6222, -14.7761, 4.4786, -0.6081, -0.6764, -0.0415, 1.033, -0.3487, -9.2923, 6.4068, 0.8816, -0.3932, -0.0317, 0.2222]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1691190642124926f1bbecdbe4b2c7f85383fa9b344f007519cdd907fa577b11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8c82d0eb880b0f435d11f11f7da4bbc38e0d12f1bbb0c06f2e0764eab976c97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02d2b74713a4517703a284cb4e960094ff935f799385c7d4d920f929da79969d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0xAKEAgSGAI4AUIIdGhpbmtpbmcSDLVhc1qaX1s3D6R36hoMFfEgjcEQNUyMPt6kIjDlU2aZuNnMJcC9qkKy+ISHqD9EyOCmmhSFCnfSEz1UtXSfZwow/oze33QQA4qHWEAq8A9Dz0G2RI3Z+GdC+oO36MeL2W1HHAcA6hrxjWpRnMwXsSatU2hg82NNax/FzoWnRgway3aaTgRTkVBNTWfGhHxqMnFWMSZb+ES5V813m8AMf+r1Zy1fL3nhjfY7do2aQHwOiSVJGYqMltWddEVuWQRxAGDfmQ9Wk1pBWLH5P96giCeU8xMVOesPu3f063FmeLFIQ2gh68SFB7jExS60jRYBblDxxLgGli0gJ6SaeLB8YpAOdOt4g5yEKLx3bCx7YhLSntKaYHqHzLE7gPQIHdk0pAhWs7OY30DR07CNRdxnPa4nfiowzdcqW+19kUsUUmN2AyIIf7gywayP5gJ0sB7GRX6DJE/aqcWbfrZzSlbnoZNAaBCTCwamAoaL1yHD3P6FF9e3SoIZ5moXobqEvGjU8j3Iq15WiA6eX+kn7X9hekeDkAnMGRKfqGoM+i5p80Nx3cf0owr5GtlLoaBcWOJkihmWOMGDqRd2t+ByEo2nOo6l0vuS7OeXY28BvXy3+8QpK+weI3QNV+bev/4QLvJVRbUBHsX8WceLZ5B1TapVCO2MCFhZ30vQBaQvdnFPX22yIX679p4oiwWpI7kHwWdnVnce2I5LYbSeTc8zMITyXcq5Tt+Hcn62qzDcTpVqZ7pzKIrfcsmRY0R700APb8X2lq5b4QdiGijmqkRZHcixoNzyCcJoFTYJ2bzaEkSpGdSxUXjKeCyGTH4q8MsPDuya/rEDD8j8UgPjkMqW0Snnm63zLMzyWUr1sdDp7DnyQn1RLeiJ7Ec/6P6A8kUeK9r3R9ofg3z/C1D4YbJFBn/PyOJGv3oUMKGfmfyyPQH5C3uS790SvlS4TW1CuqI+SWKPuiWg9X9HvG2gzK/2Yp5C8L8+eMKh9K0FOsuTy+uRpCDT97p0HIwI23mlxCpgNoL3nWNsWQ8RWuug8oqET+z0BS9qZnUqGkpJ1kOhbjzfCflzODaHAF6oOeTjmhJQ5kXmTYSf2zmto2Z1Iu1BytR5HWmQybcvdVJ5d/OW+0dz5n7oz1/U7pIzkz0uFVb3+SdfGStgqlAm/HRmjvnXwf2fyrJozhf2kpBoMHzJZJ+GyqUIUGSdMMj9LP+n8qRg/KJFMiORQc9sp7eCaDsC0c73cANhmO1KaNx7w5eCXHk0kDK1EQ/z4QRMkRh0UqyoWTc4aHW9azZP3WvnT0NZ0cLnZyzM2lCWhktV0D+UpEHXWtssa0DpNaZkZpR9ZRjhMNj+IvV0pV8dF5ivyQts3QMuAIaFBAHpO0wI8pm5hqpEvoKFgtLzzHk+vF4wcsUQxSBvx6KFEbV1yZeRogVA/bVFfHLfELd5tABcIH4InMx66dBdqmOGrKpR2znqfulv9x9lym/bQuPU2s5u4Ar2Ya3lWeVrmGFy80EsHR+ZhoqhNAUevlQ5ZqEftmUYj7Lt1mSFxJlhBtmQYmNfQVbbwpnlAcmOpaNc3/73O9OO4wxNzdq3VG2gGZYVck1BtsnfDNiOLcdGN4E58BhuMIdc85PBUcVddP5s8jcZzS5TvoWLqgQRlIb4bGpagMIN9RlzuOUJmskDhDLLsJb0HnfwzL1SBzAKZxOF7bmlNqk1wZx+1g3zlWW71MAymXeu3i7JfOUgRBau0divSET8R3prWdiurjMdH4G2t6r3ktZQyHN7MyNp06EZI7h45mKqlpCMJciUO8nUjjCLcWR6p0yAt4VlziuvK1GBm3IytOGpEMuZlHj/EUG5ArtIOU4Ad6A46OG7yDsv8aRa7b69wboWAvGLvdrxvAJzRlEAFfMsa5MCKEHVlX8sz5RKirFxn+Sp70/Wddb4FxcyGJ3ySIDhUn45CYUvSuQIz0xJR2hiKNwYYlg9Nay3hahuTmFuFULsO6mR33NGqktphZspnVpIwHVWDW7sKLyYcZ03FwIOGBjqH2DhWKJLqaSKvd0d+6LdxQ0cwgP8pvtWgu6LUQm7CWwZ3bHFChzzfu/I5zBdM/tdGPhSqKmCUGz4lMfuocfAWXivoEMZseFeB5IVSMSAyjXIgkhnR2kgXZcKt8dMqPLMKiX7+ZMxQI2hwnG/wIeJQLAcvSFvgno+it8QblffxEo7z8E+62O1/YUMdPkaooFdc2xUQGFELIYfyppZ5fRKp7I4fCD34MLNUoQr1ca3U/nWpGbiv04W/JWN0pc0etylRrNLPUP9EQtVjiwStfX2C/478SU0uZEnEU+N1z0blezoUVsZ3ixHJubtaUKXmteCj5hCD+N4jVjBtCn5FDNXu+w0QVnjvXxZODcPH65hC/jAtlFrHgObHn1ZqHv6wbNwVKYyCGb4pgVcG18ALZyJAIu+Q1X9GgGx/1xU7eVirrCPOgzcV4SHQZCTeOPfSkiMvR8Pzo0IHoxlaO2F46YSzvFyP7wTPj2plYyPy3a23inNANmV522diDKEnphps8TnYf81f1nOw0FVR48ZBF2l4p3Awxn/+BYcuylvkivOgLS1E1/dtdFF4vBDPzRFAhFpyupUb6xsX1tDd7I9NBXnbaNc8KbLthlQuWTbnSvtK8rLMX+EDbOHBaOTklZecGtHhJTCRXfK96nHZuLkCPVZxcPTq0dvc1vuHG7PnNtEHq5QD1pvpS/2R2JKsPlVIo61PL2AMW2eskT0R0RIvFdWVuIdBSdD+441EA2RZqnNcvuixGJNm1LBcGjQn0EoJ+HsCojpML1yd6FN8E920Sdy+BJrGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QVVjy5pyxwgL7krMD6dzPF",
      "input": {
        "note": "The left arm gets stuck when yawed +90° with the cap. Switching plan: point the cap forward (yaw 0) so its open end faces back toward the base, and bring the pen in from behind. First lifting the left arm and unwinding the yaw.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.4,
          "left_y": -0.15,
          "left_yaw": 0.0,
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01QVVjy5pyxwgL7krMD6dzPF",
      "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]: [-0.5613, 1.4975, 0.9672, -0.2314, -0.5713, -0.4969, 0.0618, 0.223, 1.832, 1.4757, -0.8829, -0.6754, -1.1408, 0.0799]\nstate[eef_state]: left_x=0.392 left_y=-0.1294 left_z=0.1524 left_yaw=0.1651 left_pitch=-0.0501 left_roll=-0.0084 left_gripper=0.0618 right_x=0.3711 right_y=0.2011 right_z=0.1413 right_yaw=1.4254 right_pitch=-0.2724 right_roll=-0.0433 right_gripper=0.0799\nstate[joint_eff]: [0.4581, -7.7607, 6.7214, 1.8046, -0.1685, 0.2418, 1.033, -0.1162, -9.1419, 6.5846, 0.8962, -0.4469, -0.0464, 0.2711]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b5dd548d599a4c04987f4968f29d9d993e55aa0a98a5fc1537d73f0ebbbb591",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fd1b526f4c6be7dabda0b9cbd05efe38f31d75bb38eaad4839552c82fd13e64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0af554361775f66a355a498c4aeed4680bab4fe398cb9ea8f1de63a6d89e0d88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 9.176 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4366, 2.3074, 1.8244, -1.5433, -0.8253, -2.0869, 0.0539, 0.2234, 1.832, 1.4769, -0.8734, -0.6846, -1.1408, 0.0748]\nstate[eef_state]: left_x=0.3811 left_y=-0.0307 left_z=0.0767 left_yaw=1.47 left_pitch=-0.0876 left_roll=0.0653 left_gripper=0.0539 right_x=0.3724 right_y=0.2028 right_z=0.1433 right_yaw=1.4269 right_pitch=-0.2605 right_roll=-0.0505 right_gripper=0.0748\nstate[joint_eff]: [0.2667, -15.2547, 4.9436, -0.6081, -0.3736, -0.149, 1.0281, 0.2393, -9.1145, 6.612, 0.7839, -0.6081, -0.0611, 0.6374]",
      "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]: [-0.3923, 2.2837, 1.8427, -1.5566, -0.8589, -2.0937, 0.0589, 0.223, 1.832, 1.4769, -0.881, -0.6804, -1.1408, 0.0771]\nstate[eef_state]: left_x=0.3877 left_y=-0.0118 left_z=0.0929 left_yaw=1.5008 left_pitch=-0.068 left_roll=0.0228 left_gripper=0.0589 right_x=0.3713 right_y=0.2018 right_z=0.1424 right_yaw=1.4267 right_pitch=-0.2669 right_roll=-0.0446 right_gripper=0.0771\nstate[joint_eff]: [0.6222, -14.7761, 4.4786, -0.6081, -0.6764, -0.0415, 1.033, -0.3487, -9.2923, 6.4068, 0.8816, -0.3932, -0.0317, 0.2222]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.5613, 1.4975, 0.9672, -0.2314, -0.5713, -0.4969, 0.0618, 0.223, 1.832, 1.4757, -0.8829, -0.6754, -1.1408, 0.0799]\nstate[eef_state]: left_x=0.392 left_y=-0.1294 left_z=0.1524 left_yaw=0.1651 left_pitch=-0.0501 left_roll=-0.0084 left_gripper=0.0618 right_x=0.3711 right_y=0.2011 right_z=0.1413 right_yaw=1.4254 right_pitch=-0.2724 right_roll=-0.0433 right_gripper=0.0799\nstate[joint_eff]: [0.4581, -7.7607, 6.7214, 1.8046, -0.1685, 0.2418, 1.033, -0.1162, -9.1419, 6.5846, 0.8962, -0.4469, -0.0464, 0.2711]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b5dd548d599a4c04987f4968f29d9d993e55aa0a98a5fc1537d73f0ebbbb591",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fd1b526f4c6be7dabda0b9cbd05efe38f31d75bb38eaad4839552c82fd13e64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0af554361775f66a355a498c4aeed4680bab4fe398cb9ea8f1de63a6d89e0d88",
        "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_01B33aDjPPkjtnEFNtkm2Xct",
      "input": {
        "note": "The cap is now held pointing forward in the left gripper with its open end facing back toward the base. I'm turning the right arm so the pen tip points forward and bringing it behind where the cap will be.",
        "targets": {
          "right_x": 0.25,
          "right_y": 0.33,
          "right_yaw": 0.0,
          "right_z": 0.165
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01B33aDjPPkjtnEFNtkm2Xct",
      "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]: [-0.5533, 1.4933, 0.9543, -0.2356, -0.5514, -0.4965, 0.0632, 1.1545, 1.7687, 1.4673, -0.8524, 0.5541, 0.7361, 0.0814]\nstate[eef_state]: left_x=0.3894 left_y=-0.1275 left_z=0.1468 left_yaw=0.1585 left_pitch=-0.069 left_roll=-0.01 left_gripper=0.0632 right_x=0.2487 right_y=0.3415 right_z=0.1541 right_yaw=0.2157 right_pitch=-0.3344 right_roll=-0.0832 right_gripper=0.0814\nstate[joint_eff]: [-1.2103, -6.2017, 7.7744, 1.5897, -0.3834, -0.0269, 1.0281, 0.8547, -8.294, 8.5128, 1.5751, 0.0952, -0.105, 0.149]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ea8501c653bd9283565267a0f9e2cfa02c5183716bc11b27fc64bee115c452e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57df95690084bae7d803a23ffe778c41970c87195c429140cd4915573ae2a9bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9fca478f29ef5cfd225cf18c367d4a033a36984eb098f3eabfaca7c9e1bb856d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /messages · status 200 · 6.711 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3923, 2.2837, 1.8427, -1.5566, -0.8589, -2.0937, 0.0589, 0.223, 1.832, 1.4769, -0.881, -0.6804, -1.1408, 0.0771]\nstate[eef_state]: left_x=0.3877 left_y=-0.0118 left_z=0.0929 left_yaw=1.5008 left_pitch=-0.068 left_roll=0.0228 left_gripper=0.0589 right_x=0.3713 right_y=0.2018 right_z=0.1424 right_yaw=1.4267 right_pitch=-0.2669 right_roll=-0.0446 right_gripper=0.0771\nstate[joint_eff]: [0.6222, -14.7761, 4.4786, -0.6081, -0.6764, -0.0415, 1.033, -0.3487, -9.2923, 6.4068, 0.8816, -0.3932, -0.0317, 0.2222]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.5613, 1.4975, 0.9672, -0.2314, -0.5713, -0.4969, 0.0618, 0.223, 1.832, 1.4757, -0.8829, -0.6754, -1.1408, 0.0799]\nstate[eef_state]: left_x=0.392 left_y=-0.1294 left_z=0.1524 left_yaw=0.1651 left_pitch=-0.0501 left_roll=-0.0084 left_gripper=0.0618 right_x=0.3711 right_y=0.2011 right_z=0.1413 right_yaw=1.4254 right_pitch=-0.2724 right_roll=-0.0433 right_gripper=0.0799\nstate[joint_eff]: [0.4581, -7.7607, 6.7214, 1.8046, -0.1685, 0.2418, 1.033, -0.1162, -9.1419, 6.5846, 0.8962, -0.4469, -0.0464, 0.2711]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.5533, 1.4933, 0.9543, -0.2356, -0.5514, -0.4965, 0.0632, 1.1545, 1.7687, 1.4673, -0.8524, 0.5541, 0.7361, 0.0814]\nstate[eef_state]: left_x=0.3894 left_y=-0.1275 left_z=0.1468 left_yaw=0.1585 left_pitch=-0.069 left_roll=-0.01 left_gripper=0.0632 right_x=0.2487 right_y=0.3415 right_z=0.1541 right_yaw=0.2157 right_pitch=-0.3344 right_roll=-0.0832 right_gripper=0.0814\nstate[joint_eff]: [-1.2103, -6.2017, 7.7744, 1.5897, -0.3834, -0.0269, 1.0281, 0.8547, -8.294, 8.5128, 1.5751, 0.0952, -0.105, 0.149]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ea8501c653bd9283565267a0f9e2cfa02c5183716bc11b27fc64bee115c452e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57df95690084bae7d803a23ffe778c41970c87195c429140cd4915573ae2a9bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fca478f29ef5cfd225cf18c367d4a033a36984eb098f3eabfaca7c9e1bb856d",
        "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_0146M3Y7MKEuUURGcyCFv2ic",
      "input": {
        "note": "The pen now points forward from the right gripper at the table centre. I'm moving the cap in front of it on the same line (left arm to the centre line, a few cm beyond the pen tip) and levelling the right wrist.",
        "targets": {
          "left_x": 0.45,
          "left_y": -0.31,
          "left_yaw": 0.0,
          "left_z": 0.17,
          "right_pitch": 0.0,
          "right_yaw": 0.0,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_0146M3Y7MKEuUURGcyCFv2ic",
      "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]: [-0.775, 2.0163, 1.6608, -0.5198, -0.5976, -0.5793, 0.0659, 1.2823, 1.8282, 1.4002, -0.8639, 0.9131, 1.0546, 0.0828]\nstate[eef_state]: left_x=0.4456 left_y=-0.2923 left_z=0.1554 left_yaw=0.0219 left_pitch=-0.1186 left_roll=0.0186 left_gripper=0.0659 right_x=0.2398 right_y=0.3293 right_z=0.1492 right_yaw=-0.0113 right_pitch=-0.0739 right_roll=-0.1244 right_gripper=0.0828\nstate[joint_eff]: [0.1299, -11.4803, 9.1419, 1.2869, -0.4322, 0.1001, 1.0183, -2.5368, -8.9778, 8.3897, 0.6422, 0.9304, -0.1245, 0.1392]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fd1366219b10f695c7e84ef47e8239e19ba7930a9bf3ca84b22ee1d46b673bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8abec41600fbac637b3958965c31e6b9a297055857af83c40851d0c92ce6273",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:43d5f99ca2d9b3cdeeb31f9f4be15704ff2d484af2fb67f6845453c255fb603d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /messages · status 200 · 10.46 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5613, 1.4975, 0.9672, -0.2314, -0.5713, -0.4969, 0.0618, 0.223, 1.832, 1.4757, -0.8829, -0.6754, -1.1408, 0.0799]\nstate[eef_state]: left_x=0.392 left_y=-0.1294 left_z=0.1524 left_yaw=0.1651 left_pitch=-0.0501 left_roll=-0.0084 left_gripper=0.0618 right_x=0.3711 right_y=0.2011 right_z=0.1413 right_yaw=1.4254 right_pitch=-0.2724 right_roll=-0.0433 right_gripper=0.0799\nstate[joint_eff]: [0.4581, -7.7607, 6.7214, 1.8046, -0.1685, 0.2418, 1.033, -0.1162, -9.1419, 6.5846, 0.8962, -0.4469, -0.0464, 0.2711]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.5533, 1.4933, 0.9543, -0.2356, -0.5514, -0.4965, 0.0632, 1.1545, 1.7687, 1.4673, -0.8524, 0.5541, 0.7361, 0.0814]\nstate[eef_state]: left_x=0.3894 left_y=-0.1275 left_z=0.1468 left_yaw=0.1585 left_pitch=-0.069 left_roll=-0.01 left_gripper=0.0632 right_x=0.2487 right_y=0.3415 right_z=0.1541 right_yaw=0.2157 right_pitch=-0.3344 right_roll=-0.0832 right_gripper=0.0814\nstate[joint_eff]: [-1.2103, -6.2017, 7.7744, 1.5897, -0.3834, -0.0269, 1.0281, 0.8547, -8.294, 8.5128, 1.5751, 0.0952, -0.105, 0.149]",
      "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]: [-0.775, 2.0163, 1.6608, -0.5198, -0.5976, -0.5793, 0.0659, 1.2823, 1.8282, 1.4002, -0.8639, 0.9131, 1.0546, 0.0828]\nstate[eef_state]: left_x=0.4456 left_y=-0.2923 left_z=0.1554 left_yaw=0.0219 left_pitch=-0.1186 left_roll=0.0186 left_gripper=0.0659 right_x=0.2398 right_y=0.3293 right_z=0.1492 right_yaw=-0.0113 right_pitch=-0.0739 right_roll=-0.1244 right_gripper=0.0828\nstate[joint_eff]: [0.1299, -11.4803, 9.1419, 1.2869, -0.4322, 0.1001, 1.0183, -2.5368, -8.9778, 8.3897, 0.6422, 0.9304, -0.1245, 0.1392]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fd1366219b10f695c7e84ef47e8239e19ba7930a9bf3ca84b22ee1d46b673bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8abec41600fbac637b3958965c31e6b9a297055857af83c40851d0c92ce6273",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43d5f99ca2d9b3cdeeb31f9f4be15704ff2d484af2fb67f6845453c255fb603d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSrwsKEAgSGAI4AUIIdGhpbmtpbmcSDF/ysa7W8RPlX8pisRoMt/Bm0qJb5xPR+Uy5IjAqwXabGLRQvkA7zHyGj/PUmpOoMZCRsRfwlynry97YzQUUr18BNi54vxboK+gxtzQqzAoG3IlX29OblPPU/vkNw8nRvX8or4JFIzgb0MfI9ppXkZe8uPGBL1AwOUapspndKtMZZSYw2K3IUtfBLmw5jUk4oeqEtWkVt+NdCB5RtoSQzk7cHDEq+8veJGKi5e6Tyc13kChj/k2bbsmn6UNkOB+fZM5IipL9KRFrcoKNqCHF5RI7FxsExLidTGhqRQyfRGZeWkf7njOXxAXBlNO+Bozc2LSZi06Ze/VF57uZmDruPFQ+ObiJJZz+9PgYITzyw0DJbzNH+NYPunxIQmJdCkSSaH3ayj8ADDjhb2jYqHmEiDc8zYyq7m9mE+/ziutkDuYWog26bv1grM+FZi0QoEM6mYgqRq1bGLXpX6U+2di+Z9bu/LP1uBO6/g55Y4lT6/VNjR+k+880jKFhO5pC08hAtDpVWRx5oa6ZIuIUiLt/PNgUwettB8HGrqs/zArq4EVYkEWVt3Vm9RT9TbvaxGDevL09PYhKZSIGIOorneMEDvoslXpoJtrlqn7oDZkQRkoSz/iZyhRYg5mZ/H63r2L6LtRXw6niQQF82kWO/kb2UeifbyH1BXWDpzK2Vi1pDKDCp1PbxUjsp0ZmSVBnez/nnd2vUzD/COO+kQA7VGYwCs0ableW0hU8mlpa2dFHKDMmVK2JIoE7pHXpgKOYtWD8z7rJvTRIB7mNZkEPJeEPZ8F+yFmWS5XmPMYSS5xxB6ml6qpYOhL42zjqWDyF3Dv8kf0Xn356rfqSwTyoZGofeqPukTObgptF1tWRsVw+ToLNljMEUcbyyy7uhuz4DFKGk0VlREwsFZhmQAQWhKR7sosp8SvNB8G5djfEnTcL77hLJuUKdYt8YPenj5q3C6nqFyK5OUh4bat9zFd6w3qe8di3dKVvKmE8dPnzUkmZUTn3inRyXi6WKcBxZsglf12x4KQo5Et4yk9h4dgLVPbRM7jqo5Gq24z7MQLPeTKTPr9ojv/dTMzYbSsMENUNuJIhMlI+sJlCofkl+v9QffN4KfJUjXvkyL/jUYb3+Cic7f7pEynGtXo/b+QJFPcEXhP0mTAbd6O8M/iJzvXN8Cpzyfn596qVn297/qoQupF2958tMqQTfIPkPItHLfPDJic4KsFgOZABSB09PNwwptqaSI97jVk2wOLbK02Nol1CDLxcb9Y8QIVG2PT6RHU4SJ7/xVUbbEco7keLALUHduW8DG/GKgJ1KHG11xXhXATFioPFCtygjdw2MiT5CGpfyDEr0jYLsih2f7bEWjGrmszoNqrZ3m2ofmMzxJGJhcio+MAxQKEyapjBMMRwcKhLeAUL9CmmtAEZ+DJSPOfrvOiD7OBIXwtEuqy1ahAJEx9VFdXeYZF7x7xw51P/XgS4ii5OPD2FInrgSsqbAPVt1sO5NWzugcBa1bjBXsxSeBjycHHa8iBDi7PKYr42kblTH6mt8I1WyIogF1REbVVAZ/iKVvIlq58+V6SNeOpv2JWq62QNqy4jMspfegISEl1d+HeUdl9yjnJP4/8PLiYsmTrXL+SoXqoy7PPeDBqRK8xp+Vr6zWrhiYuF5VNI6qWV96aZ5aiohaSclAPbhJHREHL6FzXd1yylYYyUTJb0JDAztQD0dqeAMDx+k8jLBK+tY6ruIBWBOXufE++9LTZR0E6md7E/BKewfN5JOv4mjG8ocOuKAxyTNzMzaVay0+OYrxpcWw5VKHuTMrZclhX6jGm7YOPbI78xQlX9cS/kQjvMkuUO5WDxmtMlvH9RlTsvGkrt95FYv8604KJ1D0aXuYoA0kIOGrXzCp3WARo6uDfYxtq3k6fiStidtHCVvngYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DakBjepJRQgLvSGoCywvoS",
      "input": {
        "note": "Cap is held pointing forward at the centre line, pen points forward behind it but ~3 cm off laterally. Aligning the pen with the cap's axis and advancing 3 cm toward the cap's open end.",
        "targets": {
          "right_x": 0.27,
          "right_y": 0.356,
          "right_z": 0.176
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01DakBjepJRQgLvSGoCywvoS",
      "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]: [-0.7795, 2.0377, 1.6661, -0.5125, -0.5949, -0.5793, 0.0668, 1.2465, 1.9205, 1.5864, -0.9024, 0.8925, 0.9848, 0.0844]\nstate[eef_state]: left_x=0.4463 left_y=-0.2969 left_z=0.1475 left_yaw=0.0163 left_pitch=-0.1262 left_roll=0.0235 left_gripper=0.0668 right_x=0.2611 right_y=0.3562 right_z=0.1656 right_yaw=0.0005 right_pitch=-0.08 right_roll=-0.1219 right_gripper=0.0844\nstate[joint_eff]: [0.3487, -13.2581, 6.2564, 1.243, -0.3541, -0.0562, 1.0281, -0.8274, -10.0581, 7.5282, 0.5495, 0.6081, 0.0415, 0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68bf729df0221d62b5da36bb005bf2864b32286dabda68ff8c5ca451cc223b83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c013978827f3499ca65838835362149a70c15b8b385331e9a1fc0ea681c8565c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0fd6750ce7fee9ebbfe41621b7df2b427ce0f815969effd0e43b3ec9e389c1e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /messages · status 200 · 5.761 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5533, 1.4933, 0.9543, -0.2356, -0.5514, -0.4965, 0.0632, 1.1545, 1.7687, 1.4673, -0.8524, 0.5541, 0.7361, 0.0814]\nstate[eef_state]: left_x=0.3894 left_y=-0.1275 left_z=0.1468 left_yaw=0.1585 left_pitch=-0.069 left_roll=-0.01 left_gripper=0.0632 right_x=0.2487 right_y=0.3415 right_z=0.1541 right_yaw=0.2157 right_pitch=-0.3344 right_roll=-0.0832 right_gripper=0.0814\nstate[joint_eff]: [-1.2103, -6.2017, 7.7744, 1.5897, -0.3834, -0.0269, 1.0281, 0.8547, -8.294, 8.5128, 1.5751, 0.0952, -0.105, 0.149]",
      "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]: [-0.775, 2.0163, 1.6608, -0.5198, -0.5976, -0.5793, 0.0659, 1.2823, 1.8282, 1.4002, -0.8639, 0.9131, 1.0546, 0.0828]\nstate[eef_state]: left_x=0.4456 left_y=-0.2923 left_z=0.1554 left_yaw=0.0219 left_pitch=-0.1186 left_roll=0.0186 left_gripper=0.0659 right_x=0.2398 right_y=0.3293 right_z=0.1492 right_yaw=-0.0113 right_pitch=-0.0739 right_roll=-0.1244 right_gripper=0.0828\nstate[joint_eff]: [0.1299, -11.4803, 9.1419, 1.2869, -0.4322, 0.1001, 1.0183, -2.5368, -8.9778, 8.3897, 0.6422, 0.9304, -0.1245, 0.1392]",
      "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]: [-0.7795, 2.0377, 1.6661, -0.5125, -0.5949, -0.5793, 0.0668, 1.2465, 1.9205, 1.5864, -0.9024, 0.8925, 0.9848, 0.0844]\nstate[eef_state]: left_x=0.4463 left_y=-0.2969 left_z=0.1475 left_yaw=0.0163 left_pitch=-0.1262 left_roll=0.0235 left_gripper=0.0668 right_x=0.2611 right_y=0.3562 right_z=0.1656 right_yaw=0.0005 right_pitch=-0.08 right_roll=-0.1219 right_gripper=0.0844\nstate[joint_eff]: [0.3487, -13.2581, 6.2564, 1.243, -0.3541, -0.0562, 1.0281, -0.8274, -10.0581, 7.5282, 0.5495, 0.6081, 0.0415, 0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68bf729df0221d62b5da36bb005bf2864b32286dabda68ff8c5ca451cc223b83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c013978827f3499ca65838835362149a70c15b8b385331e9a1fc0ea681c8565c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fd6750ce7fee9ebbfe41621b7df2b427ce0f815969effd0e43b3ec9e389c1e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Qccit2GHQRktez2RpbNT9h",
      "input": {
        "note": "In the right wrist view the left gripper holding the cap appears up and to the right of the pen tip, and the pen is ~2 cm higher than the cap. Shifting the pen 2 cm to its right and lowering it to match.",
        "targets": {
          "right_y": 0.338,
          "right_z": 0.155
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Qccit2GHQRktez2RpbNT9h",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7776, 2.0377, 1.6638, -0.5339, -0.5949, -0.5793, 0.0698, 1.2327, 1.9099, 1.5543, -0.8948, 0.8822, 0.9714, 0.0856]\nstate[eef_state]: left_x=0.444 left_y=-0.2932 left_z=0.1437 left_yaw=0.0205 left_pitch=-0.1428 left_roll=0.0405 left_gripper=0.0698 right_x=0.2632 right_y=0.3481 right_z=0.159 right_yaw=-0.0038 right_pitch=-0.0945 right_roll=-0.1425 right_gripper=0.0856\nstate[joint_eff]: [-0.4991, -11.4803, 6.8171, 1.5409, -0.3004, -0.0415, 0.8864, 0.3487, -11.3709, 6.3385, 1.0965, 0.4811, -0.0024, 0.1392]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f28315ab1125db2163162c1d2bd43ad5afaf8dfbab444ab3542339e82e4d1fa0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd9697946238ad0ec1154b7f815039e263410ff4be5374390e7927d262c4fb00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e7ef6cf5e096591ab8b6ab25866f24ad124d51390fb7c90656a8df4491ab8339",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 7.252 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.775, 2.0163, 1.6608, -0.5198, -0.5976, -0.5793, 0.0659, 1.2823, 1.8282, 1.4002, -0.8639, 0.9131, 1.0546, 0.0828]\nstate[eef_state]: left_x=0.4456 left_y=-0.2923 left_z=0.1554 left_yaw=0.0219 left_pitch=-0.1186 left_roll=0.0186 left_gripper=0.0659 right_x=0.2398 right_y=0.3293 right_z=0.1492 right_yaw=-0.0113 right_pitch=-0.0739 right_roll=-0.1244 right_gripper=0.0828\nstate[joint_eff]: [0.1299, -11.4803, 9.1419, 1.2869, -0.4322, 0.1001, 1.0183, -2.5368, -8.9778, 8.3897, 0.6422, 0.9304, -0.1245, 0.1392]",
      "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]: [-0.7795, 2.0377, 1.6661, -0.5125, -0.5949, -0.5793, 0.0668, 1.2465, 1.9205, 1.5864, -0.9024, 0.8925, 0.9848, 0.0844]\nstate[eef_state]: left_x=0.4463 left_y=-0.2969 left_z=0.1475 left_yaw=0.0163 left_pitch=-0.1262 left_roll=0.0235 left_gripper=0.0668 right_x=0.2611 right_y=0.3562 right_z=0.1656 right_yaw=0.0005 right_pitch=-0.08 right_roll=-0.1219 right_gripper=0.0844\nstate[joint_eff]: [0.3487, -13.2581, 6.2564, 1.243, -0.3541, -0.0562, 1.0281, -0.8274, -10.0581, 7.5282, 0.5495, 0.6081, 0.0415, 0.149]\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]: [-0.7776, 2.0377, 1.6638, -0.5339, -0.5949, -0.5793, 0.0698, 1.2327, 1.9099, 1.5543, -0.8948, 0.8822, 0.9714, 0.0856]\nstate[eef_state]: left_x=0.444 left_y=-0.2932 left_z=0.1437 left_yaw=0.0205 left_pitch=-0.1428 left_roll=0.0405 left_gripper=0.0698 right_x=0.2632 right_y=0.3481 right_z=0.159 right_yaw=-0.0038 right_pitch=-0.0945 right_roll=-0.1425 right_gripper=0.0856\nstate[joint_eff]: [-0.4991, -11.4803, 6.8171, 1.5409, -0.3004, -0.0415, 0.8864, 0.3487, -11.3709, 6.3385, 1.0965, 0.4811, -0.0024, 0.1392]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f28315ab1125db2163162c1d2bd43ad5afaf8dfbab444ab3542339e82e4d1fa0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd9697946238ad0ec1154b7f815039e263410ff4be5374390e7927d262c4fb00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7ef6cf5e096591ab8b6ab25866f24ad124d51390fb7c90656a8df4491ab8339",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0QoKEAgSGAI4AUIIdGhpbmtpbmcSDKoTLFKX3vMYqzg/hxoMXVrmqq2dpS8rknK0IjCG6lCe0g/f6LabLmo5OIUdM+c3b+Xs8Li7pjKbCfWn8jLyOdAEDe4y6xTQreWna18q7gl/sCr2A94Si8dvuCtRDAQKaC8FrjnqfcMHM1Wnn14fd2Bu8OBenk9E1xfhnDoZsZD8o5Ty2J1CA065j+gpgrs7AmeKXKg4Nl0IlC1viRMsi9SlW+/zLBGPSXXabSOGjvVIeq84t5KU+GJHDgKcHTSiUkIv9EmzmKrWOG4HBb6YG3d5SHdbnDvOfiKHCpx2IzXB+8f7JOCs0SWiSUnDohyaXbslCYxjTFjEQr+m3od6/LeVus5bq6ri3HO7WaC1iHYa1y2aTEN2RD5fCDjmkMyt0CgaewuYTX64zxqKEgLV5Z7aluvcMMwlzAjbCfeEy6zQa9YiubvC9TX+mhMN3y7wsIrTiF0AI4PncWqiDo3v+73K34WCpHbY6EPiChU91iT54yUDL6ifJTYf8tch0Uy+klFWqpYLaoWvPOjAg8g2xNGV224TKUmYqi+pu6frPMx7huNE89DYCZA2R8Mr0HpReGdZuwwy/dA2LT+baeerMqs3pZzahTZx2fHy4ZMqUvyLBQ6dj1+86FnSuAnzpcRCIFRoQsE3jmbXyhn9FgWkWP6NVA/90rs2sIghg8TS3w2EL4wrQlAv0SyGGBBLMI7pD0HtxjdVfiSvh22si45ZjHs5HQ+RSzU4Xzv+K4HcR2nGUUh7RYm59Lo8uvguhjtqMT8cr1vCRc7zPRlTRTia1nh65rQ/HZN+tfqoFZL5CL+Lk7gFZvz/IUqTsyC2TDt7Xk74cRpHB2B+1jr2gK18jbkaLVgvLOrTHlGxA/8UOOUO5gehlpZ2k5r8SiSz5RNUGPvet0WceXx/dW1TC4egUU3zqPuqkuTpxhOQtUMnFKFUkjqJDpdnD2GgHPiiw1hI7egNOHN9dZg8oTJUCyQphrnqktqFdJ/Pt2A3GjRgdtPUd3d1XyHGf81KN3Dll2PAXqTA3DgFFfDZEd6pCJO7QrGnZYBAxSvSwzki/PrFor6+OgvU81hrF3O1I8XdzuLGlglaL2BTq5PJZInvYz122XysQbm3xYKsWZoH/rtqgXSAeepSGutYdipEztd14aMFHNSC3oTCJTkcf3ERPQKu7Uo6+Eg4K9z4vD0dLpHmNpnnA5yOesUShRGT6Ukd98cNcsPttdkitItmPQnSdKOhqAIktt2RCi8X8zgyAYjaimMTdeW3vgfJgr8u8LA2jSEjuQazm6qYNlx9Dzv9R1t4m4y+DthhuZRypY5kbGlUk1TRrxwt3qMUdVPvc76MSWTpAUJY97LZJyKk105LM721ZVWybYXomAU8LvU8TMVSdjnG+TzM0FrOd5Kho/tJo0AdKwkOmwxXf0BjeDysFaewXHQNOsBttTNmdZ+a1XQC0HhIzCn52uYM9Ht1TmXEONffIUBTVEL9xW5lGTKx3R0C3KFd4l0HRuyKHsCbGRA1FgP1G7XaWixi+Yt5m453l3fij/GcjFUHs2gmgeZKSm5sCn6GtBbGOqTHhLpRNp9NvBES60OADRa23KyEqhLTNudoiPj9u0CHlvvoztpm+NhsmJRy2mb+zHPYcklDI+P0sbnZiyQplUudL9h3mqazeeadzDdf7HI1TAWrcnk2fVWY8UFCe1q+rbQe36Fu/jzbj9PECXxZokUplZ02L6RUBEaK7oLMVhrZvA825Zg2X6i4CoM2tI8tQLxtiR7Y07vMS36tjIgAOipAks+phJDIUhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YPUgh8h5iG53xsdxBYVkC2",
      "input": {
        "note": "The left gripper is still to the upper right of the pen tip in the right wrist view. Continuing to shift the pen right and down toward the cap's axis.",
        "targets": {
          "right_y": 0.328,
          "right_z": 0.145
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01YPUgh8h5iG53xsdxBYVkC2",
      "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]: [-0.7792, 2.0377, 1.6638, -0.5354, -0.5945, -0.5789, 0.0717, 1.2327, 1.9087, 1.515, -0.8791, 0.8783, 0.971, 0.0863]\nstate[eef_state]: left_x=0.4433 left_y=-0.2937 left_z=0.1435 left_yaw=0.0186 left_pitch=-0.1441 left_roll=0.0417 left_gripper=0.0717 right_x=0.261 right_y=0.3433 right_z=0.1479 right_yaw=-0.0044 right_pitch=-0.1053 right_roll=-0.163 right_gripper=0.0863\nstate[joint_eff]: [-0.1846, -11.5624, 6.6256, 1.2869, -0.3394, -0.0317, 0.8864, 0.1162, -11.5624, 6.5846, 0.9158, 0.486, -0.0464, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:110e742e7a7a82395491ddd6b7203f04213de3441d8142816931eab9d374464e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f9c2f673f81c0fe48401bb93d5d759d2e8767ef16934b69af6357b61b801d80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f939e1f0177b1b8104a62c89041a67e04e61e3c7734f771c49959fb20b621a9a",
        "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 · 5.404 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7795, 2.0377, 1.6661, -0.5125, -0.5949, -0.5793, 0.0668, 1.2465, 1.9205, 1.5864, -0.9024, 0.8925, 0.9848, 0.0844]\nstate[eef_state]: left_x=0.4463 left_y=-0.2969 left_z=0.1475 left_yaw=0.0163 left_pitch=-0.1262 left_roll=0.0235 left_gripper=0.0668 right_x=0.2611 right_y=0.3562 right_z=0.1656 right_yaw=0.0005 right_pitch=-0.08 right_roll=-0.1219 right_gripper=0.0844\nstate[joint_eff]: [0.3487, -13.2581, 6.2564, 1.243, -0.3541, -0.0562, 1.0281, -0.8274, -10.0581, 7.5282, 0.5495, 0.6081, 0.0415, 0.149]\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]: [-0.7776, 2.0377, 1.6638, -0.5339, -0.5949, -0.5793, 0.0698, 1.2327, 1.9099, 1.5543, -0.8948, 0.8822, 0.9714, 0.0856]\nstate[eef_state]: left_x=0.444 left_y=-0.2932 left_z=0.1437 left_yaw=0.0205 left_pitch=-0.1428 left_roll=0.0405 left_gripper=0.0698 right_x=0.2632 right_y=0.3481 right_z=0.159 right_yaw=-0.0038 right_pitch=-0.0945 right_roll=-0.1425 right_gripper=0.0856\nstate[joint_eff]: [-0.4991, -11.4803, 6.8171, 1.5409, -0.3004, -0.0415, 0.8864, 0.3487, -11.3709, 6.3385, 1.0965, 0.4811, -0.0024, 0.1392]",
      "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]: [-0.7792, 2.0377, 1.6638, -0.5354, -0.5945, -0.5789, 0.0717, 1.2327, 1.9087, 1.515, -0.8791, 0.8783, 0.971, 0.0863]\nstate[eef_state]: left_x=0.4433 left_y=-0.2937 left_z=0.1435 left_yaw=0.0186 left_pitch=-0.1441 left_roll=0.0417 left_gripper=0.0717 right_x=0.261 right_y=0.3433 right_z=0.1479 right_yaw=-0.0044 right_pitch=-0.1053 right_roll=-0.163 right_gripper=0.0863\nstate[joint_eff]: [-0.1846, -11.5624, 6.6256, 1.2869, -0.3394, -0.0317, 0.8864, 0.1162, -11.5624, 6.5846, 0.9158, 0.486, -0.0464, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:110e742e7a7a82395491ddd6b7203f04213de3441d8142816931eab9d374464e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f9c2f673f81c0fe48401bb93d5d759d2e8767ef16934b69af6357b61b801d80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f939e1f0177b1b8104a62c89041a67e04e61e3c7734f771c49959fb20b621a9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnw0KEAgSGAI4AUIIdGhpbmtpbmcSDNxtStWwyZEqy1o+BhoMFsdyAjQCHLfFtKOZIjC7gy46oNnwriojnIXYOnAxr5ud6vV+tlV77d5w1HDupZuX+hbt9opYmS0VCbr2VXEqvAz8HRtATa7hwLvOVisLoFPNrOU8k/VNTFbGFGZYM9LD1uBE2PgL/VZ2xVS2dFjuYGe4sQqfL7nIjeX8hzkIK8lFYQHXVWFb97BkVQ+IemlHRBhvLnfqRUN877FZv38sbHXbIPaFc/M/jDHDBHkjbkyR1DBsbLimG8id2WHWL8oNk/CB0Q6vFPYCoAc31zr8uR/jZWpbi8YDjmx1xNtIcEfoXRSflxKqrnl8zTNDWUcq/bW2NNbmCCdQUWkhB0wiXe9S/HBoe11M7KjAG59GWQWHP+BrKbsnaT/CprcdJcnlQxTp1KU8nbt1XBGnrqfotgNM1Ft0OuDqaO9U8V6HMoXeB8HQC0qzpRosBBD4emSxQNwIqn+zvl/rJ2LVvAP/p3hA3mkakE1vlMfFe9DWHELoLjM/kcugsNeTdpd9sfa8qNJEbX/Fk/K+2pBP9Q7rOlYABlzxD8IVJ9A96sQnTcZ9YhSn9dzebZPkpH2wR80ZnfcXHuEn0W9lVN1pqIXlMz/LTD+5a5gnoqKPe43FUxeLAJdwHSwJPvukEal8R2vH704e+RxrQAA7CR/kKqUUdXDP6rd9DYgJzumOJfLHX0qlEa0leYk+w8kPZJyiKMnLOpqR4flC9nUwu90tTlnxtr88/uS6x4QTRtVIDZnk13p/hfZLB+WG+vpsyphOy8u/kLW9z2sGE5Fy1gF9wc/8/34bmUKlX+dxDnk9FWkj8l53luPOZfeYELl6Wiz7/3FukxVjAzRJt085Mp3Fk9eWpkty9llYoYOW6waW7sAxMWuc2lhYZuXhzFoc/wn6v3qlij5ECzaRM4y15haDEic0+OqHSbIGDa/e8JMVwtfb1ZVYGYck9lpkCI192wBDazMKl62QKkcJndbA3xQx5z6WxqsWpfmAc6hGnMiYb5XuvaEYwjZkRtM61u0nJmTmtenFLre1p0Cf5mRMCjD/Jv5TUF/qTz/sxupXnRmTrlVoMn+15vx3JLfwrCJm7Go+JPUIqkSSLGsfDPAFGGsRzY6kCDmf8QYfmaGkzxsR56uEUdrElw27p7Y95GrVmOqdFRtyqVOQQ/adALJtwA82aJJZlLGCyG94K0Vl2vgKTJ8d88FZKE4+guEi2p49d5ijKl05RfHLYdpYtOyRCpjNeWAMn0kJHveQq3UTMJGsXbvdBYowtX3iZBbndk7CnsjIftS4K65RH4mSHzHVfUOumYc2yhysrKDj+54qiVVDy8IaRIc9FLVskI9NgcKN/SBQkLzMoW9WydbrBcpOGYasD+s2B3udsZGT5AitMXFFCx150/KopSNHKtBjx+4gssrqcnEnIPAyMF/ccnZg6e1kjoWC7AfSKkNhhlnFYgWScfQyZsJ11g8G16Wsocwr9lpCc+jtTosYDudLInunuQQNjI/euv5tz1y7i9xspkzjznLJqQz9tBTvUdl/91mLUFQ1yixVMhJFZpRf8raiHzKmwfmLq0FTw/3CCD746CKToc5gr7REzf0DOoV7AqYt9oWT9gTL9iZiB8PLRTZ9G3sizSCbMaAFJ/3XiEZOa7BUNFxT4jz1qyGEucfuTZCuWI1YoFJetXk9a5V37/U2f74XJ6KKTlfsbPT+dhybv5y44HruQFDPc4/0h53iRa89WAWIks8SMUl90V8BM3u5gIUhOnrCmOoJtKThqwGhZLLj19ioT7H6+0uj5pT+YmRMIm6kSumkNTz5Y+vZdgILLZ6DGuF6FNiVkMaPUUUlcnyAiTA2jDaP8V+z2MxhPYM6j4uQY5SZasyRHgdLIYBKPyhqqWvL1S2voIBVECKgr5/yBktRGhYnl1AVrTv7ZtHhSs5Wezg1o5DGfvAO0lk5QH9qFwLL5yuHlTLTAYDt59MD4daJh49F7vnv3iE6+qcIqkB8croI+X9VYgMlXTygE8Y9GootBNAiqv+ajc/mxqKeNMaMuMEgf5khJFMbP3iT5HGJSpQQaiZm/7HACJUSlxStv2TQqNTn0S/9R6pQ+Cpzw8wNSWMFTk/LknzT47toVhzAYgacA2SiVxW3ADllNFQ6lAm9msCXgVitKHgl8VTwl/SBM1mP3a7C2JRycw2fvXAzraL2OgB8ScXfedCi54VlivxtiBOM7TyMDNVV980heEcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019fptHoNuUHCNpJfeLamUR6",
      "input": {
        "note": "The right arm is creeping slowly, so I'm moving the cap instead: shifting the left gripper ~1.5 cm toward the pen's line and slightly back toward the pen tip.",
        "targets": {
          "left_x": 0.432,
          "left_y": -0.277,
          "left_z": 0.158
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_019fptHoNuUHCNpJfeLamUR6",
      "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]: [-0.7761, 2.0144, 1.6218, -0.5365, -0.5911, -0.5762, 0.072, 1.2327, 1.9087, 1.515, -0.8791, 0.8787, 0.971, 0.0863]\nstate[eef_state]: left_x=0.4371 left_y=-0.2861 left_z=0.1387 left_yaw=0.02 left_pitch=-0.1599 left_roll=0.0562 left_gripper=0.072 right_x=0.261 right_y=0.3432 right_z=0.1479 right_yaw=-0.0045 right_pitch=-0.105 right_roll=-0.1631 right_gripper=0.0863\nstate[joint_eff]: [0.7453, -14.8991, 6.9128, 1.5214, -0.2759, 0.0366, 0.7985, 0.4581, -11.6308, 6.4889, 0.9011, 0.5201, -0.0073, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60d7c4c02ababd7cfb47f6c95f435fa2e7d9e07dd5cda459ae4949a669c77516",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:deba1c4570ce61d2f25896a283c2d70dfcc5701c53cecd7dedd15cee4d35db00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7c071256453363fbce056f74c6071cdb2dd570a548a03b2647b719baf448e1b9",
        "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 · 5.86 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7776, 2.0377, 1.6638, -0.5339, -0.5949, -0.5793, 0.0698, 1.2327, 1.9099, 1.5543, -0.8948, 0.8822, 0.9714, 0.0856]\nstate[eef_state]: left_x=0.444 left_y=-0.2932 left_z=0.1437 left_yaw=0.0205 left_pitch=-0.1428 left_roll=0.0405 left_gripper=0.0698 right_x=0.2632 right_y=0.3481 right_z=0.159 right_yaw=-0.0038 right_pitch=-0.0945 right_roll=-0.1425 right_gripper=0.0856\nstate[joint_eff]: [-0.4991, -11.4803, 6.8171, 1.5409, -0.3004, -0.0415, 0.8864, 0.3487, -11.3709, 6.3385, 1.0965, 0.4811, -0.0024, 0.1392]",
      "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]: [-0.7792, 2.0377, 1.6638, -0.5354, -0.5945, -0.5789, 0.0717, 1.2327, 1.9087, 1.515, -0.8791, 0.8783, 0.971, 0.0863]\nstate[eef_state]: left_x=0.4433 left_y=-0.2937 left_z=0.1435 left_yaw=0.0186 left_pitch=-0.1441 left_roll=0.0417 left_gripper=0.0717 right_x=0.261 right_y=0.3433 right_z=0.1479 right_yaw=-0.0044 right_pitch=-0.1053 right_roll=-0.163 right_gripper=0.0863\nstate[joint_eff]: [-0.1846, -11.5624, 6.6256, 1.2869, -0.3394, -0.0317, 0.8864, 0.1162, -11.5624, 6.5846, 0.9158, 0.486, -0.0464, 0.0513]",
      "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]: [-0.7761, 2.0144, 1.6218, -0.5365, -0.5911, -0.5762, 0.072, 1.2327, 1.9087, 1.515, -0.8791, 0.8787, 0.971, 0.0863]\nstate[eef_state]: left_x=0.4371 left_y=-0.2861 left_z=0.1387 left_yaw=0.02 left_pitch=-0.1599 left_roll=0.0562 left_gripper=0.072 right_x=0.261 right_y=0.3432 right_z=0.1479 right_yaw=-0.0045 right_pitch=-0.105 right_roll=-0.1631 right_gripper=0.0863\nstate[joint_eff]: [0.7453, -14.8991, 6.9128, 1.5214, -0.2759, 0.0366, 0.7985, 0.4581, -11.6308, 6.4889, 0.9011, 0.5201, -0.0073, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60d7c4c02ababd7cfb47f6c95f435fa2e7d9e07dd5cda459ae4949a669c77516",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:deba1c4570ce61d2f25896a283c2d70dfcc5701c53cecd7dedd15cee4d35db00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c071256453363fbce056f74c6071cdb2dd570a548a03b2647b719baf448e1b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7wgKEAgSGAI4AUIIdGhpbmtpbmcSDJqCPW8bQD8isX6uaRoMKM5qRSDIEkzBPiyeIjAHy1MRcgp8TUPs1V1xqDfbplULGbMOsuceSggQAUu00EaVH9YoOYXK71BIdHzw9vYqjAjbWIGC1NSU0Vb7o/Hnu5qOwZ0/8xVU4qwULfi4GTO3MNmfWg2tqKahyFfQlO3Uvmp4G1GdZf5o0y22M04wH6SItwoLtYNUX65lI6B5DUC8elbE+3kbaNqW69NZqrqXFF5n97C/NJLJJ30F8ZvDBY1ty2XmPumgikvs3p3T5VwJrnk19Rtr4R+dHbpjIlNvRZ1jjiTtqKJnrqgBKw/ym1S62GqnNBm55IkbsvZ7pmEJZW0zJkoaXrBoSUCQOvi4N3HkNZ6aQIGVZhgLHble5upJRE1DEyybq3z26xd9tZg+CE7kQB8Pvc7GJxX7iQ+/KTflJds8qWLngAWSySMO4xMQsWFPvy27j9HeJ2qI9v82fOTMyHVU8udsCDacSR64RrWP3hiagWd9b1KjSudvspMFML47VjsOwfsSZU7Us6xVUfpq7XFhk09e+EqF6SrgbPdd9whWNvFTrNS4phcZhwLySjxUBI7M0mj3coGBw1A/qD91RN9tPPYEQ09xegCEhcu3sf9ssJmhCuq8lO571Px8BnLPz4NnC/nlgxyArORGx5KymOSgTArTlqxNiCam8iEqISMdQPJR41EUFh/hmuB1TCtH3YDxvNcYgy4U44AiRpX0WesYSPSXR3KQhCT83mT+8NgQMMKzCGjmVVhAWcQR0re/3JHZaZpMAYY4+/njpvWhcfVtirjTnJ0aKrKdWWmCPHltYD1mqUbWGa9SAB0f69H1YMCPx7aBLYUg0A7jD4+68QGzda2MQnfxNY220Ugq70RKyGRfVHXGQOedH88c+ARqf44G+wMZVEKwjr/Ji5yDY9GPGllC2HxWrORHNM98dAArbBR0tRCjJMzpdjz5+W+2dA0HXMxBGOZcJlr4B3ujTmiNpRT7PGYhj44c9zm3nfiSOmE3hmgA/kxF6KNHQ7iZbnZG5i5CMIKwekLIfFlAnuV73TCCWIfsaLYuPufLB04fLN+xLHmWQQizbiusTq6p/7sg7XhBAH+aEPfCqECo5PUKTixqhgtj3zVRevI3VGgUvzN6a2b/mDrP1XclmT1YmV7xfmDkDOb+SOC+2KYw7hwBI6p2N/y7Z+VuskJNq2eiUuPy06mACKndqd4kz3ZIDbfN7YsObvf0ZDDtu4Mg7ZhH1AYzbXmrrK6vbjFY5+0PsXbdihqbaLa3WzkJGaiAiaBqaoC1haHPWsys/USBKzJbxiXz954paYKjBLpcCgENOQWwnpBfEHvmb+INRi0ZklVZG7aWWzMJ7RYWkVosavVTNPFgMDWg5oqrVgKbA8+vWfZ+Ug8y4orKUluqYKXv2TfXLzpp5eQNUJDUXL7ZZ6L4AuZlzG9+pKqnwKpvvCC64Fv+pFXldktv+vse6AJDuqlFfRHjwA4xGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KwktgcUxh5ji6Rh2hUCFPG",
      "input": {
        "note": "Left gripper still sits to the right of the pen line and slightly low. Shifting it another 2 cm toward the pen's axis and raising to pen height.",
        "targets": {
          "left_x": 0.43,
          "left_y": -0.262,
          "left_z": 0.168
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01KwktgcUxh5ji6Rh2hUCFPG",
      "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]: [-0.757, 1.9774, 1.5955, -0.5701, -0.5751, -0.5667, 0.0753, 1.2327, 1.9087, 1.515, -0.8757, 0.8776, 0.9649, 0.0863]\nstate[eef_state]: left_x=0.4324 left_y=-0.2715 left_z=0.1412 left_yaw=0.0257 left_pitch=-0.1856 left_roll=0.0706 left_gripper=0.0753 right_x=0.2611 right_y=0.3439 right_z=0.1479 right_yaw=-0.0006 right_pitch=-0.1053 right_roll=-0.1643 right_gripper=0.0863\nstate[joint_eff]: [0.8274, -15.4051, 6.4889, 1.1209, -0.2271, 0.1636, 0.7839, 0.294, -11.6308, 6.4889, 0.7595, 0.5348, 0.1197, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:311a915de6f417862ed29fe98b8ab9a0a23a59d5e654edfaa22961fb7e1dabf5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a04b36aed0e4153b5dde63556069187f3776e21d5f01763dd1db99460e4ae006",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bf01a3603f5f57ed949d01509a74c4bd90c81c072eeb1949ad0c90b742deea3b",
        "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 · 5.26 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7792, 2.0377, 1.6638, -0.5354, -0.5945, -0.5789, 0.0717, 1.2327, 1.9087, 1.515, -0.8791, 0.8783, 0.971, 0.0863]\nstate[eef_state]: left_x=0.4433 left_y=-0.2937 left_z=0.1435 left_yaw=0.0186 left_pitch=-0.1441 left_roll=0.0417 left_gripper=0.0717 right_x=0.261 right_y=0.3433 right_z=0.1479 right_yaw=-0.0044 right_pitch=-0.1053 right_roll=-0.163 right_gripper=0.0863\nstate[joint_eff]: [-0.1846, -11.5624, 6.6256, 1.2869, -0.3394, -0.0317, 0.8864, 0.1162, -11.5624, 6.5846, 0.9158, 0.486, -0.0464, 0.0513]",
      "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]: [-0.7761, 2.0144, 1.6218, -0.5365, -0.5911, -0.5762, 0.072, 1.2327, 1.9087, 1.515, -0.8791, 0.8787, 0.971, 0.0863]\nstate[eef_state]: left_x=0.4371 left_y=-0.2861 left_z=0.1387 left_yaw=0.02 left_pitch=-0.1599 left_roll=0.0562 left_gripper=0.072 right_x=0.261 right_y=0.3432 right_z=0.1479 right_yaw=-0.0045 right_pitch=-0.105 right_roll=-0.1631 right_gripper=0.0863\nstate[joint_eff]: [0.7453, -14.8991, 6.9128, 1.5214, -0.2759, 0.0366, 0.7985, 0.4581, -11.6308, 6.4889, 0.9011, 0.5201, -0.0073, -0.0024]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.757, 1.9774, 1.5955, -0.5701, -0.5751, -0.5667, 0.0753, 1.2327, 1.9087, 1.515, -0.8757, 0.8776, 0.9649, 0.0863]\nstate[eef_state]: left_x=0.4324 left_y=-0.2715 left_z=0.1412 left_yaw=0.0257 left_pitch=-0.1856 left_roll=0.0706 left_gripper=0.0753 right_x=0.2611 right_y=0.3439 right_z=0.1479 right_yaw=-0.0006 right_pitch=-0.1053 right_roll=-0.1643 right_gripper=0.0863\nstate[joint_eff]: [0.8274, -15.4051, 6.4889, 1.1209, -0.2271, 0.1636, 0.7839, 0.294, -11.6308, 6.4889, 0.7595, 0.5348, 0.1197, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:311a915de6f417862ed29fe98b8ab9a0a23a59d5e654edfaa22961fb7e1dabf5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a04b36aed0e4153b5dde63556069187f3776e21d5f01763dd1db99460e4ae006",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf01a3603f5f57ed949d01509a74c4bd90c81c072eeb1949ad0c90b742deea3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStQoKEAgSGAI4AUIIdGhpbmtpbmcSDADARib4dOpmXiL8ZxoM/cbSf4pC0vq8NTzJIjCJZcqsLVS879vShoAIT71th/aKiJGS4Ki/xNrMgwXDj/aAGoLdnjQVYvTAo/cJKtEq0gmtX2WUc5+hNlVo2NjhyGm8eV4T7t4XcPwqT1RfW8LtcdPiA2ccXcrTMrdZfC7tW0+PTdexv8WSbasYKsk5/5RUIcmYsGRc4P2B6Ma/CjcfmFS3pRdI/yueIJwSMmFf2JZHLkG8c48olS0Tu/eTjHvPr+37M7LmPP5HJHoYMIwMvSDgoahWyaX4otVZX/zOLqOCeKga3L6WpfhamBIB1z0d0ETFb5xs9CxcozS6ohsIg+nDm3F+fsU1HKpsfioSzB/9y8lyPpFx9HAFrZKl3mRPL0Oi9GPfa8TwzFxZvJs1S+qWYaM/YtxKj97/zvJ8Kh7X4s5YbPAbPHIdO2drBK31cbmwQlEQBiFia2T3QTYLL4Ai84ASr5rYf2S8m1nYO3bEPgzf8wQ3fQBh2eec1E0ihIh8Rao6WFK2yYybNAaC63djMVS4sHuSbk4eHQ01ycqM5egDmXd/+qDjy9jyMkmi3F/Pwn/QaBvDYD82fkBK++y5OkKMkSd2U0HL5Y1SS/BDHBYwqXXUc+8GSrUwhFx6zUpq4Xr+BA9Eksct6SQhr8oyJ8Az4laHJXzk7J5RZ7JsQTeq5+ZLTXiF+t2omeDI1DbTGokYE17h8dZ6n3s4V5hZ5+tyt7R7fP4IHsXXxZyZ3hmWRNgmxHlykXH4nEqRs5d8P4lphFEyVYyYBKUOdT7044nogm3Z/lYbkh1Ehdk8KwRob5p06S3GlXdV0JuBDP+ldPEWUDVc19qodHm1MDPSVWEsxWbfy62B5uoz/5LknDqLKWFFrbKhxoN7eVxBH3uA4edjwk+xuaUGzofGrssmoM2w6wUbKU+bTNvPPzQylJl9TCuBh8W3E6MsJP1YPT/IsS73rCr2avAWda3JAzlg13lotpySjsXVh76nAVOTkDgZjilDEAutZ+0t1lhnC1VQiTXChkplY/q7XCYPcT5oFAYJN0RgKOp727f81djjrQI4vHsr3ALn++2V5CEMQg6fA8N7QxiQAoBA9JCsBHXOBYgLkWpZ5gOzeDbwvUoM5EqdKRXrp4JoQIddDFyBD2VZanFvMK/QFh3kupbqtuxtupV3DI1+h1qDIdfhn4hncKOx4Vr1te24W0UZsNnmJreM8JCrMwoojVSoguSGv5+FVy1h7zaB73CcifyEs3rCkbcPEANkz0KFaJnZXBoo3l9lMUZXFIV6GsN76hL1pF/Pk30Xm3fu6dNs7EIoaFc7Qc2sG3zFHV1jYSpD1YMRbNkLBu4TXSDGRRNcKPLfzLPdTNjGpLHdViAVF6bObk2HiSeLEP0DVGc50oF51w7ghoUt+c1c2w5Ij7/DKkQHjF2jK18TmXdztG9SxozxEDQ1ZMd8rjTIuNnTfsCHrkyHqEOJsTdoTzW2DhKSO1KLZ6FoVnh4LcB9xzVMJuPgCCdYNn5TgzXHhop+iU7/KdyV/XW/Ok00CZ+78uykmQPRjZryo+MmsyEtR7pOzK3EbgsR+VTkky1ga3WoxgkBAPUGMC1yZCIFqxUYIdh8T8eei1pCkRLL45YMWr5LVP4FTc/Z/4pLVUN1TBq7frUS9KtjqfKedIfYFreXLAl+PXp8x0Yq5hIrxxpthG3Xf5R+nQTWw8xh5FNDCT9p2UjCVtYqnIo5fpScvv6sZWrORGi5TLe8GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QUkzGn7JB21o5oaJEXdj3Q",
      "input": {
        "note": "The left gripper's edge now reaches the pen's line in the right wrist view, but the cap (at the jaw centre) is still to the right. Shifting another ~2.5 cm toward the pen and compensating for sag.",
        "targets": {
          "left_x": 0.43,
          "left_y": -0.245,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01QUkzGn7JB21o5oaJEXdj3Q",
      "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]: [-0.7521, 1.9495, 1.5951, -0.5884, -0.569, -0.5636, 0.0768, 1.2327, 1.9087, 1.515, -0.8745, 0.8776, 0.963, 0.0864]\nstate[eef_state]: left_x=0.4303 left_y=-0.2673 left_z=0.1515 left_yaw=0.0235 left_pitch=-0.1827 left_roll=0.0627 left_gripper=0.0768 right_x=0.2612 right_y=0.3441 right_z=0.148 right_yaw=0.0005 right_pitch=-0.1051 right_roll=-0.1648 right_gripper=0.0864\nstate[joint_eff]: [0.3624, -13.6684, 6.5299, 1.1844, -0.3297, 0.1245, 0.652, 0.1983, -11.6444, 6.5162, 0.8669, 0.5299, 0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a16a97238ddde35ecbd2386bce78c6eeb6ddb65665f0cfeaaaa47c04e23e6a9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4734ac60128cd50d59ad703bb7ab1740b3093e42d10751e666918aa7345780c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b586ceeccdc8568452335459c1c67d08d5e114c3256fbb68d36e87dc186be963",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 5.712 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7761, 2.0144, 1.6218, -0.5365, -0.5911, -0.5762, 0.072, 1.2327, 1.9087, 1.515, -0.8791, 0.8787, 0.971, 0.0863]\nstate[eef_state]: left_x=0.4371 left_y=-0.2861 left_z=0.1387 left_yaw=0.02 left_pitch=-0.1599 left_roll=0.0562 left_gripper=0.072 right_x=0.261 right_y=0.3432 right_z=0.1479 right_yaw=-0.0045 right_pitch=-0.105 right_roll=-0.1631 right_gripper=0.0863\nstate[joint_eff]: [0.7453, -14.8991, 6.9128, 1.5214, -0.2759, 0.0366, 0.7985, 0.4581, -11.6308, 6.4889, 0.9011, 0.5201, -0.0073, -0.0024]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.757, 1.9774, 1.5955, -0.5701, -0.5751, -0.5667, 0.0753, 1.2327, 1.9087, 1.515, -0.8757, 0.8776, 0.9649, 0.0863]\nstate[eef_state]: left_x=0.4324 left_y=-0.2715 left_z=0.1412 left_yaw=0.0257 left_pitch=-0.1856 left_roll=0.0706 left_gripper=0.0753 right_x=0.2611 right_y=0.3439 right_z=0.1479 right_yaw=-0.0006 right_pitch=-0.1053 right_roll=-0.1643 right_gripper=0.0863\nstate[joint_eff]: [0.8274, -15.4051, 6.4889, 1.1209, -0.2271, 0.1636, 0.7839, 0.294, -11.6308, 6.4889, 0.7595, 0.5348, 0.1197, -0.0073]",
      "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]: [-0.7521, 1.9495, 1.5951, -0.5884, -0.569, -0.5636, 0.0768, 1.2327, 1.9087, 1.515, -0.8745, 0.8776, 0.963, 0.0864]\nstate[eef_state]: left_x=0.4303 left_y=-0.2673 left_z=0.1515 left_yaw=0.0235 left_pitch=-0.1827 left_roll=0.0627 left_gripper=0.0768 right_x=0.2612 right_y=0.3441 right_z=0.148 right_yaw=0.0005 right_pitch=-0.1051 right_roll=-0.1648 right_gripper=0.0864\nstate[joint_eff]: [0.3624, -13.6684, 6.5299, 1.1844, -0.3297, 0.1245, 0.652, 0.1983, -11.6444, 6.5162, 0.8669, 0.5299, 0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a16a97238ddde35ecbd2386bce78c6eeb6ddb65665f0cfeaaaa47c04e23e6a9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4734ac60128cd50d59ad703bb7ab1740b3093e42d10751e666918aa7345780c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b586ceeccdc8568452335459c1c67d08d5e114c3256fbb68d36e87dc186be963",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8QkKEAgSGAI4AUIIdGhpbmtpbmcSDO3yp4rxu50QlrqL8BoM18su3NMRJEuKendRIjC8VVXObvkT3ph49N7BckhKZbEOFVyjvRA8cMcEPSGNe4RSJSPApDOUA93qcVaTcl4qjgnfZPd4UD513beW5Y1qsVpx/+VRJwhds7SINw++vY3ABkJu9TBkK+uQ1QpOkkIjBh7E3T/N8jkXZ2byCWk6kzSProeLP2JKrOipPuYZBswm8X6rtNfiXY7yi/CdJX8jMP6EC0zlGvRtSrDW36cuDE/16f1XG3jxknWuYGnIng6kw9Ctmj7JQ2r+oaHA/jYKyGp8zTCTghQyasu7l2vnODptFkTcbGFbY6OXm410/NeLWQX7AkT37BI6cW1x/sVomSCTSLnOJJ4nd5zINv/JqhJRg/o+q/v/kl/UYrkAxE9N8y8OxnImYmxHaZDZqVNY/KW0dpp8t/99MF1tfbd+rBMjc+KXOjsOnTm3qcejd5qnN5cJ+rzxtA94DBtLnGK8LmOatYRANYtIpJwzcmkgWRYmKgB9zwQoSz3f98YCrO68uJSVseEeuhtB0Yu0LmNBJdcDwsuG0OYzqt4wp/G4owtu431qUpgesTZyUH34igKU1cJP3luyGbBEBWiFCpFywEgTC3AJPX7Nhj2CjIK+CEKrBriVY/Z1IR1oVWfB2KrYOkSTjIcp0/fk+Mz48eJS6H6PrgEPLPIQIUZpImzpFdoIrWYdaNdyZYoY8Dl6Z8BtIIeJxleVojnh9q9mOdMnbWE0pMyEoQIWU5vzQmi4dxprw2Y+8EUO3qlLCSXSrlQnyxwySxtRnwoMsc0P5KI7lMc1/b5paQ71lb0H/mKl25fU1kGgR/W3tpg65M25zz1U/UPPlYJY59fJYToEeVTqxFcIc1U6w34AGswwCnTzlMrRb1OC/eGIEhsCaN7MIkU6uVOv1W8/KVm9l0D1GQ2sOrZmRCL4Qzd/6NLmQA2Gp0FrD2MleBwSqh9D6zxXWPRpBs/k0TrL5aVXdioK2iXQYatwt9rX/lOhS1DIYCvoQt3yz6l0Tiadl+o4gaNN3pgtQ6rNIOQ1DjYtwfCoRFjHrsY4OFdjvjrDDB+kZMa37SUoXS9smk6n8ZIZ+Le3G9opPIrSURdXPO1YtKP/oO/R+1zGg7dlbv489Xx6tPpHVPb4zDujeRVw6R7y8uxjy/VVagp+cg56TT6NoyLFDyuNBd/33JovAZ7sYtQJQYY5wzRm1PW1e2I/Vrp0GxkVfKivuGROEvyoP0N76gWspF2MKuynepf3zz0LczdtIr6bSCV5Iae7PzWx3wBsEmwlD0GUOfqwB9cyHzmI1XG0mDfOzA0MNqkdmAMAPuAdJoewlQ7jAdXw6c/VsowhO7O9lHvjIPi5tQhKsA3IrgZhcGaY86n07gEqFC2g1pem3oy7soo9eOizzX+9OIMTW7ujya8hlBTVg1QDaB3V6eOo9VNjhowf6omiL2hKkgrA9ZAh3+askCgJ/JwAVHb+WTo5XUPjbWw9EIqwiaqo7b+zEli+PPUzwMrlbLz+4ujd+JMOjgkXtiP8ieY1jz0uGINOyyZPdBftZ56U+P685mm9b8IVOodnNtshVtDmOfdcLIqv8FWezEcMnjKtroNkNtaPfyyPPXZ15U5WhPIOwvkoCYV2Kkv7C+pRCMQduJCAL5+jUhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015Vh6xcoZP3qMN2jDzXosAh",
      "input": {
        "note": "The left arm has stalled at y≈-0.27 and the cap is still to the right of the pen in the right wrist view. Trying to close the gap by moving the pen 3 cm to its right instead.",
        "targets": {
          "right_y": 0.31,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_015Vh6xcoZP3qMN2jDzXosAh",
      "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]: [-0.7521, 1.9495, 1.5948, -0.585, -0.569, -0.564, 0.0791, 1.2278, 1.8374, 1.3956, -0.8543, 0.8486, 0.9173, 0.0864]\nstate[eef_state]: left_x=0.4307 left_y=-0.2677 left_z=0.1518 left_yaw=0.0234 left_pitch=-0.1805 left_roll=0.0602 left_gripper=0.0791 right_x=0.2517 right_y=0.3213 right_z=0.1365 right_yaw=0.0258 right_pitch=-0.1449 right_roll=-0.2172 right_gripper=0.0864\nstate[joint_eff]: [0.3214, -13.6684, 6.5983, 1.2186, -0.3053, 0.1148, 0.5592, -2.5915, -12.9573, 7.0632, 0.9011, 0.7448, 0.2369, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb0d2ebc29dd48e4e4f5f61093a5fb096c2ee86f97b5d49c7dd04163c2ced963",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e12e951f27a0a868b82de4c32b00b3612fadc45040019b897cabf76154c3e1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:300e5fc9477c1ec779bc72b64b1819cf2bf16636d9b50764b01e65b916148100",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /messages · status 200 · 11.81 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.757, 1.9774, 1.5955, -0.5701, -0.5751, -0.5667, 0.0753, 1.2327, 1.9087, 1.515, -0.8757, 0.8776, 0.9649, 0.0863]\nstate[eef_state]: left_x=0.4324 left_y=-0.2715 left_z=0.1412 left_yaw=0.0257 left_pitch=-0.1856 left_roll=0.0706 left_gripper=0.0753 right_x=0.2611 right_y=0.3439 right_z=0.1479 right_yaw=-0.0006 right_pitch=-0.1053 right_roll=-0.1643 right_gripper=0.0863\nstate[joint_eff]: [0.8274, -15.4051, 6.4889, 1.1209, -0.2271, 0.1636, 0.7839, 0.294, -11.6308, 6.4889, 0.7595, 0.5348, 0.1197, -0.0073]",
      "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]: [-0.7521, 1.9495, 1.5951, -0.5884, -0.569, -0.5636, 0.0768, 1.2327, 1.9087, 1.515, -0.8745, 0.8776, 0.963, 0.0864]\nstate[eef_state]: left_x=0.4303 left_y=-0.2673 left_z=0.1515 left_yaw=0.0235 left_pitch=-0.1827 left_roll=0.0627 left_gripper=0.0768 right_x=0.2612 right_y=0.3441 right_z=0.148 right_yaw=0.0005 right_pitch=-0.1051 right_roll=-0.1648 right_gripper=0.0864\nstate[joint_eff]: [0.3624, -13.6684, 6.5299, 1.1844, -0.3297, 0.1245, 0.652, 0.1983, -11.6444, 6.5162, 0.8669, 0.5299, 0.0659, -0.0122]",
      "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]: [-0.7521, 1.9495, 1.5948, -0.585, -0.569, -0.564, 0.0791, 1.2278, 1.8374, 1.3956, -0.8543, 0.8486, 0.9173, 0.0864]\nstate[eef_state]: left_x=0.4307 left_y=-0.2677 left_z=0.1518 left_yaw=0.0234 left_pitch=-0.1805 left_roll=0.0602 left_gripper=0.0791 right_x=0.2517 right_y=0.3213 right_z=0.1365 right_yaw=0.0258 right_pitch=-0.1449 right_roll=-0.2172 right_gripper=0.0864\nstate[joint_eff]: [0.3214, -13.6684, 6.5983, 1.2186, -0.3053, 0.1148, 0.5592, -2.5915, -12.9573, 7.0632, 0.9011, 0.7448, 0.2369, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb0d2ebc29dd48e4e4f5f61093a5fb096c2ee86f97b5d49c7dd04163c2ced963",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e12e951f27a0a868b82de4c32b00b3612fadc45040019b897cabf76154c3e1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:300e5fc9477c1ec779bc72b64b1819cf2bf16636d9b50764b01e65b916148100",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSnQkKEAgSGAI4AUIIdGhpbmtpbmcSDPDiCicQbLrVieGYuxoMyCvdSjZAmefsMbeoIjAUhZTjdNyjUyi/L4sIGeA2fCtrL9DKUgEl6Mz35kC6hq4PXVdclQpU8i+FZqoIovIqugi92M3ELg/xeqzeI6Tzv+VyNBL2/3EG+y2PltYRvEJnssIENDxZfKBV5K/vPqgi2zuC2EUydEP9dukeAYUZzWPrU7IV/gaXu/Hxs/IGFWRx1bi8YgINzHC338rORdEHisl4W8vR3nDGWYwwvf/ai4cLnbOW5V9fXPTXmtO/jdQy/iwk3QmUwpfkr/TPYlN3LmfT9N1jzicKRnvxIdZRyYRgJdzBiNWKCpZcg1AlBpJQ65YDWx1R/5/sTo0YEOk0c1clsqReFMc9qMgh/wAWA6ahocZ8Py1sYwhqDrr94GNP47k3crQ/OJvstsbcPkDB1JgRSWmoaGzjSEJWHoBE+BEClIyZPNJ7Bn34C5n+guoI/avJzpiPak3wThbU5mf1LJ8ZletUsHHIEZSHVHcEnfpiqn96ONtYm29PKsdLeVxfQM6f+HhLNIzLP9vCAVnuz31Oci+A4APjKc98rRIqqFaWEJKC/Vg7RRnl0xXph+ij9n0Axg2rn36nICnNzrn89HOgmf/o1A0j3OPEG/4WHI1ClgSQQ6eyrcxtCI8HZ/eVlUI7t2s71lvClRrD4yeDF6qlpuZhTeEvWVB5s8kUBoV8iFaJg7iXQO6xu/j35QpCT2KusKuv/6AEROTZwQdJ3TEvpYFf7b5NMoQG0ALq84vuV/Chdli4pFpX5o1Xgtq7zxxluFc37hErm1CtBO54CyJYvi3+9tP7Tb6ZIvwAmtOlvR8UtdeTE84zLkXwYrIPOrRlixKAQkmRaxVZzI0q4+aH1Li5z+Od0Nkp0SplXaRLqygZd2s/kflRhCnFxUTMzDgeqaTjn0a+OOXEI14s+vlVxitH8I5rcvMEsi8axj+4n//s6hlB5YwnNNO8X+k5hWvnCnryX97k+f1IKJBd14kAydSgWfkUwfuus0k/FBFTLttqrwwJDagM4UgJfhtqa/igvBtd7CkXOaZ8MSx550txqInLV9fs6h3iLuz37LdyMnOqx2YIb4SnFbxwuw+SJzjEPM0T7Ad2it92phNkXgPNIPMZVhLWW/XTfvB1lHr/cEAUdkk9RzogmYzvjnE3z/m0rMoPtqffHprWIQt32ALF0kR1oL1QMrmoFwB42s0bC+WcGjS/zLevvrlyoIvvGANMSIwYVDyE6q11tjB7yr3YAMOQDczlcByWYjqfJOqK3Bh6UZPYG4e94OgVviDDxnoVH5e+k88MrIKHl8hN2SIzlxpUPuBOrAAOxekA14BJ7kk6V/G14Cm4yYqjSIp8z75jzmIEIJFL4utSAdYbPMbEc+CX1oi09EMchV8CbvQaj9/D/VT1KnG9lrDth7Ap25462XvBIk1Pff7IGClBRphZneWsJYTvLT5vE3+ROGEb8fwlL0SAbvyly/gyfgBRLMYT51Om6/jk4IT/mvVLgSIrwfdBrcQ0ODK6qrKPxRxNcQD/DR+QgPmdqRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012rvvuGiDnw3o2VCii1aM3K",
      "input": {
        "note": "The left gripper has moved out of the top of the right wrist view, so the pen is roughly in line with the cap now but about 1.5 cm low. Raising the pen and pushing it 4 cm forward toward the cap's open end.",
        "targets": {
          "right_x": 0.29,
          "right_z": 0.172
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_012rvvuGiDnw3o2VCii1aM3K",
      "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]: [-0.7452, 1.9472, 1.5955, -0.5804, -0.569, -0.5644, 0.0789, 1.1873, 1.8584, 1.478, -0.8906, 0.7689, 0.8021, 0.0865]\nstate[eef_state]: left_x=0.4331 left_y=-0.2653 left_z=0.1538 left_yaw=0.0295 left_pitch=-0.1751 left_roll=0.0545 left_gripper=0.0789 right_x=0.2613 right_y=0.3289 right_z=0.1418 right_yaw=0.0785 right_pitch=-0.2176 right_roll=-0.2493 right_gripper=0.0865\nstate[joint_eff]: [-0.1026, -13.4906, 6.8171, 0.6374, -0.3346, 0.1783, 0.6764, -4.3145, -10.4547, 9.853, 0.8278, 1.1111, 0.2759, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7bf24584d719b8015ec33d9f40c343a6e279d301c88e031ec2275100441e2f81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dde191fd8fc6e9b6373edcdd3d4c846e70c3fed255ec37dbc9f94059090e5c62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:03d16a2c8321184707a5e45cce0b44340d97e8b0fa145e00d6132b1ac41016cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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