adhoc

completed
2026-09-22T19:03:23.612180+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5-5
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
312.6 s
total steps
239
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 noteOverhead view shows the pen cap left of centre and the pen right of centre, lying diagonally. Moving the left arm above my estimate of the cap's position.
move_to
left_x0.4000left_y-0.2000left_z0.1500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.7929, 0.6022, -0.3801, -0.0216, -0.0246, 0.9994, -0.0174, 0.791, 0.6094, -0.3759, -0.0231, -0.0227, 0.9994] state[eef_state]: left_x=0.2945 left_y=0.0014 left_z=0.1794 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2957 right_y=0.0025 right_z=0.1841 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.6359, -1.5111, 10.4821, 1.7705, -0.0415, 0.0708, -0.0708, -0.6632, -1.2239, 9.7846, 1.7509, -0.0611, 0.0659, -0.0708] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.2, "left_z": 0.15}, "note": "Overhead view shows the pen cap left of centre and the pen right of centre, lying diagonally. Moving the left arm above my estimate of the cap's position."})
tool
executing move_to over 18 steps (1.8s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteLeft wrist camera shows the cap just left of the jaw column near the bottom of the image. Shifting slightly left/forward and descending partway to re-check alignment.
move_to
left_x0.3980left_y-0.1780left_z0.0600
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6773, 1.5978, 0.9752, -0.1364, -0.5438, -0.4259, 0.9994, -0.0193, 0.7959, 0.6132, -0.3897, -0.0223, -0.0227, 0.9994] state[eef_state]: left_x=0.3882 left_y=-0.1903 left_z=0.1297 left_yaw=-0.01 left_pitch=-0.0595 left_roll=0.0329 left_gripper=0.9994 right_x=0.2947 right_y=0.0019 right_z=0.1817 right_yaw=-0.0026 right_pitch=-0.0149 right_roll=-0.0002 right_gripper=0.9994 state[joint_eff]: [-0.4855, -7.6786, 9.4017, 1.746, -0.2711, 0.0269, -0.0171, -0.0205, -1.5932, 6.7624, 1.8437, -0.0269, -0.0366, -0.0122] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.398, "left_y": -0.178, "left_z": 0.06}, "note": "Left wrist camera shows the cap just left of the jaw column near the bottom of the image. Shifting slightly left/forward and descending partway to re-check alignment."})
tool
executing move_to over 5 steps (0.5s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteCap is nearly on the jaw column, a bit ahead of the fingertips. Advancing ~2 cm and descending to table level for the grasp.
move_to
left_x0.4100left_y-0.1660left_z-0.0050
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.63, 1.7386, 0.8249, 0.0921, -0.5167, -0.4072, 0.9994, -0.0193, 0.7959, 0.6132, -0.3912, -0.0227, -0.0227, 0.9994] state[eef_state]: left_x=0.3878 left_y=-0.1703 left_z=0.0513 left_yaw=0.0102 left_pitch=-0.1215 left_roll=0.0706 left_gripper=0.9994 right_x=0.2945 right_y=0.0019 right_z=0.1814 right_yaw=-0.0022 right_pitch=-0.0164 right_roll=0.0001 right_gripper=0.9994 state[joint_eff]: [0.212, -7.9248, 5.8872, 1.7265, -0.105, 0.1294, -0.0171, -0.0615, -1.1966, 7.241, 1.7314, -0.0269, -0.0464, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": -0.166, "left_z": -0.005}, "note": "Cap is nearly on the jaw column, a bit ahead of the fingertips. Advancing ~2 cm and descending to table level for the grasp."})
tool
executing move_to over 4 steps (0.4s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteCap lies between the open jaws at table level. 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]: [-0.5861, 1.9274, 0.8135, 0.3065, -0.4976, -0.3988, 0.999, -0.0193, 0.7979, 0.6132, -0.3939, -0.0223, -0.0227, 0.9994] state[eef_state]: left_x=0.4068 left_y=-0.1646 left_z=0.0034 left_yaw=0.034 left_pitch=-0.1186 left_roll=0.0574 left_gripper=0.999 right_x=0.2943 right_y=0.0019 right_z=0.1803 right_yaw=-0.0026 right_pitch=-0.021 right_roll=-0.0001 right_gripper=0.9994 state[joint_eff]: [0.5265, -6.7077, 5.5043, 1.0281, -0.0562, 0.3492, -0.0562, -0.0615, -1.388, 7.2, 1.79, -0.0464, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Cap lies between the open jaws at table level. Closing the left gripper."})
tool
executing move_to over 10 steps (1.0s)
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 noteGripper settled at 0.05, ambiguous. Lifting to check whether the cap came with the jaws.
move_to
left_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]: [-0.5808, 1.9461, 0.8131, 0.3553, -0.4904, -0.3786, 0.05, -0.0193, 0.7982, 0.6132, -0.3939, -0.0227, -0.0227, 0.9994] state[eef_state]: left_x=0.4122 left_y=-0.1667 left_z=0.0028 left_yaw=0.021 left_pitch=-0.0978 left_roll=0.0518 left_gripper=0.05 right_x=0.2943 right_y=0.0019 right_z=0.1802 right_yaw=-0.0022 right_pitch=-0.0214 right_roll=0.0002 right_gripper=0.9994 state[joint_eff]: [-0.1983, -7.5556, 5.0803, 1.3797, -0.0904, 0.2418, 1.4286, -0.2803, -1.0735, 7.2137, 1.7851, -0.0366, -0.0513, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). 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_z": 0.08}, "note": "Gripper settled at 0.05, ambiguous. Lifting to check whether the cap came with the jaws."})
tool
executing move_to over 5 steps (0.5s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteThe cap seems to be in the left gripper (reading 0.06, nothing left on the table below it). Now moving the right arm above the pen, rotated so the jaws close across the pen's diagonal.
move_to
right_x0.4000right_y0.3200right_z0.1500right_yaw0.5500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5808, 1.7657, 0.886, 0.0921, -0.49, -0.3843, 0.0593, -0.0193, 0.799, 0.6132, -0.3973, -0.0223, -0.0231, 0.9994] state[eef_state]: left_x=0.4096 left_y=-0.1651 left_z=0.0605 left_yaw=0.0244 left_pitch=-0.106 left_roll=0.0528 left_gripper=0.0593 right_x=0.2939 right_y=0.0019 right_z=0.1793 right_yaw=-0.0023 right_pitch=-0.0256 right_roll=-0.0003 right_gripper=0.9994 state[joint_eff]: [-0.0479, -9.7299, 8.3487, 1.5604, -0.2125, 0.0024, 1.033, -0.3214, -1.1145, 7.0632, 1.7705, -0.0171, -0.0659, -0.0171] camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.32, "right_z": 0.15, "right_yaw": 0.55}, "note": "The cap seems to be in the left gripper (reading 0.06, nothing left on the table below it). Now moving the right arm above the pen, rotated so the jaws close across the pen's diagonal."})
tool
executing move_to over 27 steps (2.7s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteRight wrist view shows the pen running along the jaw column, slightly right of centre. Shifting ~1.5 cm to the tool's right and descending to table level.
move_to
right_x0.4000right_y0.2930right_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]: [-0.5808, 1.7645, 0.8833, 0.0727, -0.49, -0.384, 0.0662, 0.7025, 1.7435, 1.1355, -0.038, 0.131, 0.0769, 0.9994] state[eef_state]: left_x=0.4063 left_y=-0.1629 left_z=0.0569 left_yaw=0.0255 left_pitch=-0.1232 left_roll=0.0651 left_gripper=0.0662 right_x=0.3917 right_y=0.306 right_z=0.1339 right_yaw=0.5359 right_pitch=-0.0821 right_roll=-0.0113 right_gripper=0.9994 state[joint_eff]: [0.0068, -8.1983, 5.9829, 1.5995, -0.2564, -0.0611, 1.033, 0.6906, -8.3761, 8.9231, 1.9463, 0.1294, -0.022, -0.0171] camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.293, "right_z": 0.0}, "note": "Right wrist view shows the pen running along the jaw column, slightly right of centre. Shifting ~1.5 cm to the tool's right and descending to table level."})
tool
executing move_to over 9 steps (0.9s)
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 noteMy sideways correction went the wrong way: the pen now sits right of the right jaw in the wrist view. Moving ~3 cm the opposite direction, slightly above the table.
move_to
right_x0.3880right_y0.3200right_z0.0200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5785, 1.7645, 0.8833, 0.0696, -0.49, -0.384, 0.0663, 0.6666, 2.0274, 0.9192, 0.4332, 0.1036, 0.0547, 0.9993] state[eef_state]: left_x=0.4063 left_y=-0.1617 left_z=0.0565 left_yaw=0.0281 left_pitch=-0.1257 left_roll=0.0669 left_gripper=0.0663 right_x=0.3953 right_y=0.2923 right_z=0.0031 right_yaw=0.5348 right_pitch=-0.1133 right_roll=-0.0165 right_gripper=0.9993 state[joint_eff]: [-0.4991, -8.3077, 5.9556, 1.4286, -0.2564, -0.0269, 1.0281, -0.8821, -8.294, 4.5197, 1.2283, -0.1978, 0.1099, -0.0171] camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.388, "right_y": 0.32, "right_z": 0.02}, "note": "My sideways correction went the wrong way: the pen now sits right of the right jaw in the wrist view. Moving ~3 cm the opposite direction, slightly above the table."})
tool
executing move_to over 3 steps (0.3s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteThe pen keeps appearing further right in the wrist view and may have been nudged. Raising the right arm and shifting to the tool's right to get a clear view of the pen again.
move_to
right_x0.4000right_y0.2800right_z0.1400
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5781, 1.7645, 0.8833, 0.0692, -0.49, -0.384, 0.0713, 0.7208, 2.0392, 0.9657, 0.3897, 0.1322, 0.0727, 0.9993] state[eef_state]: left_x=0.4063 left_y=-0.1615 left_z=0.0564 left_yaw=0.0285 left_pitch=-0.1261 left_roll=0.0671 left_gripper=0.0713 right_x=0.3879 right_y=0.3145 right_z=0.0061 right_yaw=0.5549 right_pitch=-0.1193 right_roll=-0.0216 right_gripper=0.9993 state[joint_eff]: [-0.1436, -8.1983, 5.9692, 1.4628, -0.2613, -0.0708, 1.033, 0.3624, -12.1641, 6.8718, 1.4676, 0.2369, 0.1587, -0.0122] camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.28, "right_z": 0.14}, "note": "The pen keeps appearing further right in the wrist view and may have been nudged. Raising the right arm and shifting to the tool's right to get a clear view of the pen again."})
tool
executing move_to over 9 steps (0.9s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteThe right arm did not respond to the last move (readback unchanged). Trying a pure lift first to free it.
move_to
right_z0.1200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5781, 1.7645, 0.8833, 0.0662, -0.49, -0.384, 0.0713, 0.7128, 2.0281, 0.9737, 0.3424, 0.1265, 0.0708, 0.9993] state[eef_state]: left_x=0.4058 left_y=-0.1613 left_z=0.0559 left_yaw=0.0287 left_pitch=-0.1286 left_roll=0.0688 left_gripper=0.0713 right_x=0.3871 right_y=0.3099 right_z=0.0053 right_yaw=0.5521 right_pitch=-0.1477 right_roll=-0.0241 right_gripper=0.9993 state[joint_eff]: [-0.3624, -8.3077, 5.8598, 1.4725, -0.2418, -0.0611, 1.0281, -0.4171, -13.053, 5.3402, 1.536, -0.0269, -0.0855, -0.0073] camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.12}, "note": "The right arm did not respond to the last move (readback unchanged). Trying a pure lift first to free it."})
tool
executing move_to over 8 steps (0.8s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteThe two grippers are crowding each other over the pen. Moving the left arm (holding the cap) back to its side so the right arm has room and the overhead view clears.
move_to
left_x0.3000left_y-0.0500left_z0.1500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5781, 1.7645, 0.8833, 0.0631, -0.49, -0.384, 0.0713, 0.7128, 1.8122, 1.1378, -0.0322, 0.1226, 0.0704, 0.9993] state[eef_state]: left_x=0.4054 left_y=-0.161 left_z=0.0555 left_yaw=0.0289 left_pitch=-0.1311 left_roll=0.0706 left_gripper=0.0713 right_x=0.3891 right_y=0.3125 right_z=0.103 right_yaw=0.5557 right_pitch=-0.1429 right_roll=-0.021 right_gripper=0.9993 state[joint_eff]: [-0.1436, -8.294, 5.7641, 1.453, -0.2466, -0.0464, 1.033, -0.3487, -11.7812, 8.9778, 1.5751, 0.0464, -0.0366, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.05, "left_z": 0.15}, "note": "The two grippers are crowding each other over the pen. Moving the left arm (holding the cap) back to its side so the right arm has room and the overhead view clears."})
tool
executing move_to over 10 steps (1.0s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteCap appears held in the left gripper (no cap left on the table). Right wrist view shows the pen to the lower right, tilted; shifting ~3 cm to the tool's right and yawing a bit more to line the jaws up across it.
move_to
right_x0.4020right_y0.2840right_z0.0800right_yaw0.8000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3897, 1.0176, 0.6659, -0.355, -0.3752, -0.2661, 0.0713, 0.7132, 1.8114, 1.1355, -0.0513, 0.1188, 0.07, 0.9993] state[eef_state]: left_x=0.313 left_y=-0.0547 left_z=0.1565 left_yaw=0.057 left_pitch=-0.0787 left_roll=0.0379 left_gripper=0.0713 right_x=0.3858 right_y=0.3107 right_z=0.0989 right_yaw=0.5591 right_pitch=-0.1636 right_roll=-0.022 right_gripper=0.9993 state[joint_eff]: [0.3077, -2.4957, 6.7077, 1.5653, -0.0464, 0.1832, 1.0281, -0.212, -9.3607, 6.6803, 1.8926, 0.0952, -0.0708, -0.0073] camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.402, "right_y": 0.284, "right_z": 0.08, "right_yaw": 0.8}, "note": "Cap appears held in the left gripper (no cap left on the table). Right wrist view shows the pen to the lower right, tilted; shifting ~3 cm to the tool's right and yawing a bit more to line the jaws up across it."})
tool
executing move_to over 3 steps (0.3s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent notePen tip is still right of the jaw column in the right wrist view. Shifting another ~3 cm to the tool's right.
move_to
right_x0.4200right_y0.2580right_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]: [-0.3874, 1.0233, 0.6643, -0.3981, -0.3656, -0.2611, 0.0713, 0.5739, 1.8271, 1.0977, -0.0154, -0.0784, -0.1013, 0.9993] state[eef_state]: left_x=0.3067 left_y=-0.053 left_z=0.1462 left_yaw=0.0511 left_pitch=-0.127 left_roll=0.0577 left_gripper=0.0713 right_x=0.4026 right_y=0.281 right_z=0.0821 right_yaw=0.6816 right_pitch=-0.1846 right_roll=-0.0175 right_gripper=0.9993 state[joint_eff]: [-0.4171, -2.6598, 7.1043, 1.9658, -0.2759, -0.0904, 1.0281, -0.1026, -8.4855, 6.2427, 1.8535, -0.1636, -0.0513, -0.0122] 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": {"right_x": 0.42, "right_y": 0.258, "right_z": 0.08}, "note": "Pen tip is still right of the jaw column in the right wrist view. Shifting another ~3 cm to the tool's right."})
tool
executing move_to over 2 steps (0.2s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteThe pen-like object in the right wrist view hasn't moved in the image across several moves, so it may be caught on the right jaw. Lifting and pulling the right arm back to check the overhead view for the pen.
move_to
right_x0.3200right_y0.2000right_z0.2000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3874, 1.0225, 0.6643, -0.382, -0.3656, -0.2699, 0.0713, 0.5259, 1.8393, 1.0863, -0.0181, -0.1726, -0.1867, 0.9993] state[eef_state]: left_x=0.309 left_y=-0.054 left_z=0.1492 left_yaw=0.055 left_pitch=-0.1116 left_roll=0.0436 left_gripper=0.0713 right_x=0.4024 right_y=0.2728 right_z=0.0728 right_yaw=0.7614 right_pitch=-0.1994 right_roll=-0.0116 right_gripper=0.9993 state[joint_eff]: [-0.0615, -2.6188, 7.0496, 1.37, -0.2173, 0.0757, 1.0281, -1.7573, -9.2103, 8.0479, 1.663, 0.1148, 0.2369, -0.0122] camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.32, "right_y": 0.2, "right_z": 0.2}, "note": "The pen-like object in the right wrist view hasn't moved in the image across several moves, so it may be caught on the right jaw. Lifting and pulling the right arm back to check the overhead view for the pen."})
tool
executing move_to over 9 steps (0.9s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteThe right arm is only tracking small moves, but the pen now lies between the open jaws in the right wrist view. Descending to table level to grasp it.
move_to
right_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]: [-0.3874, 1.0229, 0.6643, -0.382, -0.3653, -0.2707, 0.0713, 0.4927, 1.8393, 1.0863, -0.0257, -0.1467, -0.1684, 0.9993] state[eef_state]: left_x=0.309 left_y=-0.0541 left_z=0.1491 left_yaw=0.0551 left_pitch=-0.112 left_roll=0.043 left_gripper=0.0713 right_x=0.4127 right_y=0.2549 right_z=0.0709 right_yaw=0.6964 right_pitch=-0.2108 right_roll=-0.0145 right_gripper=0.9993 state[joint_eff]: [-0.1299, -2.7692, 6.8991, 1.5263, -0.1783, -0.0122, 1.033, -0.1299, -8.9231, 8.0479, 1.5946, -0.022, 0.1001, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.0}, "note": "The right arm is only tracking small moves, but the pen now lies between the open jaws in the right wrist view. Descending to table level to grasp it."})
tool
executing move_to over 5 steps (0.5s)
step 127
top_cam
camera top_cam step 127
left_cam
camera left_cam step 127
right_cam
camera right_cam step 127
assistant
agent noteRight arm is stalling; the yaw target may be hard for the IK. Reducing yaw slightly and descending toward the pen, which lies between the jaws.
move_to
right_z0.0300right_yaw0.6000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3874, 1.0248, 0.6643, -0.3817, -0.3656, -0.2707, 0.0713, 0.4984, 1.8442, 1.0702, 0.0013, -0.1436, -0.1692, 0.9993] state[eef_state]: left_x=0.3092 left_y=-0.054 left_z=0.1486 left_yaw=0.0555 left_pitch=-0.1133 left_roll=0.0439 left_gripper=0.0713 right_x=0.4112 right_y=0.2567 right_z=0.067 right_yaw=0.6997 right_pitch=-0.2053 right_roll=-0.0185 right_gripper=0.9993 state[joint_eff]: [0.0068, -2.865, 6.8444, 1.5458, -0.2027, -0.0366, 1.0281, -0.759, -7.2821, 5.0256, 1.5556, -0.1099, -0.0073, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.03, "right_yaw": 0.6}, "note": "Right arm is stalling; the yaw target may be hard for the IK. Reducing yaw slightly and descending toward the pen, which lies between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent notePen is visible running into the right jaw, i.e. right of the jaw column. Shifting ~2.5 cm to the tool's right so the pen sits centred between the jaws.
move_to
right_x0.4180right_y0.2360right_z0.0200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3874, 1.0294, 0.6548, -0.3805, -0.3653, -0.271, 0.0713, 0.5064, 1.903, 1.0283, 0.0589, -0.131, -0.1608, 0.9993] state[eef_state]: left_x=0.3078 left_y=-0.0535 left_z=0.1435 left_yaw=0.0561 left_pitch=-0.1251 left_roll=0.0489 left_gripper=0.0713 right_x=0.4045 right_y=0.2548 right_z=0.0336 right_yaw=0.6942 right_pitch=-0.2493 right_roll=-0.0129 right_gripper=0.9993 state[joint_eff]: [0.0068, -3.1658, 7.7333, 1.4921, -0.1685, -0.0562, 1.0281, 0.1026, -12.4239, 7.0496, 1.4579, 0.0757, 0.1587, -0.0122] camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.418, "right_y": 0.236, "right_z": 0.02}, "note": "Pen is visible running into the right jaw, i.e. right of the jaw column. Shifting ~2.5 cm to the tool's right so the pen sits centred between the jaws."})
tool
executing move_to over 2 steps (0.2s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteLateral moves of the right arm are being held, but descents work. Lowering to table level; the pen lies near the right jaw, and a parallel close should sweep it to the centre.
move_to
right_z-0.0050
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3874, 1.0298, 0.6548, -0.3805, -0.3656, -0.271, 0.0713, 0.5064, 1.8992, 1.0283, 0.0566, -0.1276, -0.1566, 0.9993] state[eef_state]: left_x=0.3078 left_y=-0.0535 left_z=0.1434 left_yaw=0.0564 left_pitch=-0.1253 left_roll=0.0493 left_gripper=0.0713 right_x=0.4047 right_y=0.2543 right_z=0.0349 right_yaw=0.6888 right_pitch=-0.2483 right_roll=-0.0127 right_gripper=0.9993 state[joint_eff]: [-0.2393, -2.4957, 6.8581, 1.5507, -0.2173, -0.0513, 1.033, -0.0342, -12.0957, 7.0496, 1.4579, 0.0708, 0.1734, -0.0122] camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": -0.005}, "note": "Lateral moves of the right arm are being held, but descents work. Lowering to table level; the pen lies near the right jaw, and a parallel close should sweep it to the centre."})
tool
executing move_to over 3 steps (0.3s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteThe right jaw seems to be resting on the pen (descent stops at z≈0.034). Lifting clear before shifting sideways.
move_to
right_z0.0700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3874, 1.0298, 0.6533, -0.3798, -0.3653, -0.2707, 0.0713, 0.5064, 1.8988, 1.0283, 0.0528, -0.1242, -0.1535, 0.9993] state[eef_state]: left_x=0.3076 left_y=-0.0535 left_z=0.1428 left_yaw=0.056 left_pitch=-0.1261 left_roll=0.0497 left_gripper=0.0713 right_x=0.4045 right_y=0.2535 right_z=0.0344 right_yaw=0.6843 right_pitch=-0.2521 right_roll=-0.0124 right_gripper=0.9993 state[joint_eff]: [-0.0752, -2.7829, 7.1453, 1.5116, -0.1587, -0.0464, 1.0281, 0.0615, -11.9179, 7.0359, 1.5067, 0.0269, 0.105, -0.0073] camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.07}, "note": "The right jaw seems to be resting on the pen (descent stops at z\u22480.034). Lifting clear before shifting sideways."})
tool
executing move_to over 3 steps (0.3s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteThe right arm has stopped responding entirely. Trying a retract-and-raise target that folds the shoulder less, to see if it unsticks.
move_to
right_x0.3700right_z0.1000right_yaw0.4000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3874, 1.0298, 0.6533, -0.3794, -0.3653, -0.2707, 0.0713, 0.5064, 1.8988, 1.0283, 0.0528, -0.1242, -0.1535, 0.9993] state[eef_state]: left_x=0.3077 left_y=-0.0535 left_z=0.1429 left_yaw=0.0559 left_pitch=-0.1258 left_roll=0.0496 left_gripper=0.0713 right_x=0.4045 right_y=0.2535 right_z=0.0344 right_yaw=0.6843 right_pitch=-0.2521 right_roll=-0.0124 right_gripper=0.9993 state[joint_eff]: [-0.1709, -2.7966, 7.0632, 1.536, -0.2076, -0.0513, 1.0281, -0.0342, -11.9043, 7.2137, 1.4921, 0.0171, 0.1001, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_z": 0.1, "right_yaw": 0.4}, "note": "The right arm has stopped responding entirely. Trying a retract-and-raise target that folds the shoulder less, to see if it unsticks."})
tool
executing move_to over 5 steps (0.5s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent noteThe pen keeps moving with the right jaw in the wrist view, so it may be wedged against that finger. Closing the right gripper to see whether it clamps the pen.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3874, 1.0302, 0.6533, -0.379, -0.3653, -0.2707, 0.0713, 0.6548, 1.7161, 1.0237, -0.1337, 0.0952, 0.0788, 0.9993] state[eef_state]: left_x=0.3077 left_y=-0.0535 left_z=0.1429 left_yaw=0.0559 left_pitch=-0.1258 left_roll=0.0496 left_gripper=0.0713 right_x=0.3664 right_y=0.2647 right_z=0.0823 right_yaw=0.5133 right_pitch=-0.2638 right_roll=-0.0137 right_gripper=0.9993 state[joint_eff]: [-0.0889, -2.2496, 6.8718, 1.6288, -0.1832, -0.0366, 1.033, -0.212, -10.0855, 8.7453, 1.4676, 0.2857, 0.1929, -0.0073] camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The pen keeps moving with the right jaw in the wrist view, so it may be wedged against that finger. Closing the right gripper to see whether it clamps the pen."})
tool
executing move_to over 10 steps (1.0s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteWith the jaws closed the pen is clearly visible on the table ahead and to the right of the right gripper, tilted. Moving over it and yawing so the jaws will close across it.
move_to
right_x0.4400right_y0.2300right_z0.0800right_yaw0.9000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3874, 1.0306, 0.6533, -0.3794, -0.3653, -0.2707, 0.0713, 0.6605, 1.7084, 1.0233, -0.1593, 0.0933, 0.0738, 0.0116] state[eef_state]: left_x=0.3077 left_y=-0.0535 left_z=0.1427 left_yaw=0.056 left_pitch=-0.1265 left_roll=0.0499 left_gripper=0.0713 right_x=0.3611 right_y=0.2643 right_z=0.0812 right_yaw=0.5227 right_pitch=-0.2821 right_roll=-0.0184 right_gripper=0.0116 state[joint_eff]: [-0.1299, -2.7966, 6.8718, 1.5165, -0.1929, -0.0415, 1.0281, -0.6906, -7.7197, 6.3795, 1.7265, 0.0269, 0.022, 0.9109] camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.23, "right_z": 0.08, "right_yaw": 0.9, "right_gripper": 1.0}, "note": "With the jaws closed the pen is clearly visible on the table ahead and to the right of the right gripper, tilted. Moving over it and yawing so the jaws will close across it."})
tool
executing move_to over 10 steps (1.0s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteThe pen now runs straight up the jaw column between the open jaws. Descending to table level to grasp it.
move_to
right_z-0.0050
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3874, 1.0317, 0.6533, -0.3805, -0.3656, -0.2707, 0.0713, 0.3634, 1.9186, 1.2831, -0.2829, -0.3012, -0.3988, 0.995] state[eef_state]: left_x=0.3076 left_y=-0.0534 left_z=0.1422 left_yaw=0.0564 left_pitch=-0.1284 left_roll=0.0511 left_gripper=0.0713 right_x=0.436 right_y=0.2257 right_z=0.0734 right_yaw=0.8371 right_pitch=-0.3041 right_roll=-0.0168 right_gripper=0.995 state[joint_eff]: [0.0205, -2.8786, 6.8444, 1.4872, -0.188, -0.022, 1.0281, -0.4171, -9.3744, 8.5675, 1.2332, -0.4029, -0.0073, -0.105] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": -0.005}, "note": "The pen now runs straight up the jaw column between the open jaws. Descending to table level to grasp it."})
tool
executing move_to over 6 steps (0.6s)
step 169
top_cam
camera top_cam step 169
left_cam
camera left_cam step 169
right_cam
camera right_cam step 169
assistant
agent notePen is centred between the jaws at table level. Closing the right gripper on it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3874, 1.0317, 0.6533, -0.3801, -0.3656, -0.271, 0.0713, 0.3607, 2.043, 1.1633, -0.0521, -0.3111, -0.4164, 0.9956] state[eef_state]: left_x=0.3076 left_y=-0.0534 left_z=0.1423 left_yaw=0.0566 left_pitch=-0.1281 left_roll=0.0507 left_gripper=0.0713 right_x=0.4331 right_y=0.225 right_z=0.0055 right_yaw=0.8544 right_pitch=-0.3123 right_roll=-0.0149 right_gripper=0.9956 state[joint_eff]: [-0.0205, -2.8103, 6.8444, 1.5116, -0.2173, -0.0659, 1.033, 0.0342, -8.5128, 5.135, 0.9646, -0.1099, 0.1392, 0.0562] camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Pen is centred between the jaws at table level. Closing the right gripper on it."})
tool
executing move_to over 10 steps (1.0s)
step 179
top_cam
camera top_cam step 179
assistant
agent noteRight gripper has closed on the pen (reading 0.046, pen centred in the jaws, tip forward). Lifting it and turning it so the tip points toward the centre line, where it will meet the cap.
move_to
right_x0.3500right_y0.2400right_z0.1500right_yaw1.4000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3874, 1.0317, 0.6533, -0.3801, -0.3653, -0.2707, 0.0713, 0.3603, 2.0525, 1.1591, -0.0174, -0.3161, -0.4229, 0.0458] state[eef_state]: left_x=0.3076 left_y=-0.0535 left_z=0.1422 left_yaw=0.0561 left_pitch=-0.1282 left_roll=0.0507 left_gripper=0.0713 right_x=0.4366 right_y=0.227 right_z=0.0048 right_yaw=0.8586 right_pitch=-0.292 right_roll=-0.0262 right_gripper=0.0458 state[joint_eff]: [-0.1573, -2.7282, 7.0496, 1.5653, -0.1783, -0.0171, 1.033, -0.1983, -11.453, 5.9829, 1.0281, -0.1148, 0.0317, 1.0574] camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.35, "right_y": 0.24, "right_z": 0.15, "right_yaw": 1.4, "right_pitch": 0.0}, "note": "Right gripper has closed on the pen (reading 0.046, pen centred in the jaws, tip forward). Lifting it and turning it so the tip points toward the centre line, where it will meet the cap."})
tool
executing move_to over 10 steps (1.0s)
step 189
assistant
agent notePen is held horizontally by the right arm, tip pointing toward the centre line. Bringing the left arm with the cap in, turned so the cap's opening faces the pen tip, stopping a few cm short.
move_to
left_x0.3600left_y-0.2800left_z0.1300left_yaw-1.4000left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3874, 1.0344, 0.6533, -0.3798, -0.3653, -0.271, 0.0713, 0.276, 1.7435, 1.1347, -0.3565, -0.7834, -0.8143, 0.049] state[eef_state]: left_x=0.3077 left_y=-0.0535 left_z=0.1415 left_yaw=0.0564 left_pitch=-0.1303 left_roll=0.0514 left_gripper=0.0713 right_x=0.3613 right_y=0.2356 right_z=0.1208 right_yaw=1.3235 right_pitch=-0.0645 right_roll=-0.0095 right_gripper=0.049 state[joint_eff]: [-0.1026, -2.988, 6.8991, 1.5702, -0.1832, -0.0708, 1.0281, -0.8137, -10.8923, 8.8274, 1.0867, -0.5788, -0.0659, 1.0281] camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.28, "left_z": 0.13, "left_yaw": -1.4, "left_pitch": 0.0}, "note": "Pen is held horizontally by the right arm, tip pointing toward the centre line. Bringing the left arm with the cap in, turned so the cap's opening faces the pen tip, stopping a few cm short."})
tool
executing move_to over 21 steps (2.1s)
step 210
assistant
agent noteCap and pen are close but not collinear: the pen points slightly forward-left, so the cap arm needs more yaw (≈ -1.8) to face it head-on, and it's ~1 cm lower than the pen. Correcting yaw and height.
move_to
left_yaw-1.8000left_z0.1400
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3931, 1.7638, 1.1042, -0.2028, 0.6865, 0.6277, 0.0721, 0.2752, 1.7405, 1.1347, -0.3603, -0.7818, -0.8257, 0.049] state[eef_state]: left_x=0.3608 left_y=-0.267 left_z=0.1116 left_yaw=-1.2989 left_pitch=-0.0571 left_roll=0.001 left_gripper=0.0721 right_x=0.361 right_y=0.235 right_z=0.1214 right_yaw=1.328 right_pitch=-0.0659 right_roll=-0.0188 right_gripper=0.049 state[joint_eff]: [-0.4308, -9.4564, 8.759, 1.3065, 0.4615, 0.1587, 1.033, -0.2667, -8.3214, 6.2427, 1.1795, -0.4127, 0.1441, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_yaw": -1.8, "left_z": 0.14}, "note": "Cap and pen are close but not collinear: the pen points slightly forward-left, so the cap arm needs more yaw (\u2248 -1.8) to face it head-on, and it's ~1 cm lower than the pen. Correcting yaw and height."})
tool
executing move_to over 4 steps (0.4s)
step 214
assistant
agent noteIn the left wrist view the pen now points straight at the cap but its tip sits ~2.5 cm off to one side (toward the bases) and the cap is ~1 cm high. Aligning the cap with the pen axis.
move_to
left_x0.3720left_z0.1300left_y-0.2700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3202, 2.064, 1.6489, -0.7658, 0.8623, 1.1355, 0.0748, 0.2752, 1.742, 1.1332, -0.3626, -0.7807, -0.8238, 0.049] state[eef_state]: left_x=0.399 left_y=-0.2699 left_z=0.1297 left_yaw=-1.6201 left_pitch=-0.0765 left_roll=0.0569 left_gripper=0.0748 right_x=0.3604 right_y=0.2347 right_z=0.1199 right_yaw=1.3266 right_pitch=-0.0694 right_roll=-0.0131 right_gripper=0.049 state[joint_eff]: [-0.6359, -12.1368, 6.8991, 0.3443, 0.7448, 0.1636, 0.9695, -0.2667, -8.6769, 6.3795, 1.1697, -0.4225, -0.0464, 1.0281] camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.372, "left_z": 0.13, "left_y": -0.27}, "note": "In the left wrist view the pen now points straight at the cap but its tip sits ~2.5 cm off to one side (toward the bases) and the cap is ~1 cm high. Aligning the cap with the pen axis."})
tool
executing move_to over 3 steps (0.3s)
step 217
assistant
agent noteCap overshot slightly: pen tip now appears just left of the cap in the left wrist view, and the cap arm sagged ~1 cm below the pen. Small correction in x and height.
move_to
left_x0.3770left_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]: [-0.3351, 2.0125, 1.5124, -0.786, 0.8593, 1.1809, 0.0756, 0.2752, 1.7424, 1.1313, -0.3645, -0.7818, -0.8265, 0.049] state[eef_state]: left_x=0.3619 left_y=-0.2639 left_z=0.108 left_yaw=-1.6679 left_pitch=-0.1066 left_roll=-0.0088 left_gripper=0.0756 right_x=0.3595 right_y=0.2346 right_z=0.119 right_yaw=1.3289 right_pitch=-0.0707 right_roll=-0.0111 right_gripper=0.049 state[joint_eff]: [-0.4444, -14.1607, 6.9949, 1.2674, 0.4127, -0.0659, 0.9695, -0.1299, -8.4171, 6.4342, 1.2332, -0.3834, 0.0073, 1.0281] approver: 1 step(s) modified (delta_clamped). 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": {"left_x": 0.377, "left_z": 0.145}, "note": "Cap overshot slightly: pen tip now appears just left of the cap in the left wrist view, and the cap arm sagged ~1 cm below the pen. Small correction in x and height."})
tool
executing move_to over 3 steps (0.3s)
step 220
assistant
agent noteBoth wrist views show the pen tip lined up with the cap opening and just touching. Pushing the cap straight onto the pen by ~3 cm along the pen axis.
move_to
left_y-0.2950left_x0.3760left_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]: [-0.3279, 2.0418, 1.6512, -0.889, 0.8429, 1.1576, 0.0756, 0.2752, 1.7424, 1.1301, -0.3641, -0.7792, -0.8268, 0.049] state[eef_state]: left_x=0.378 left_y=-0.2641 left_z=0.1299 left_yaw=-1.6422 left_pitch=-0.1203 left_roll=-0.0167 left_gripper=0.0756 right_x=0.3596 right_y=0.2343 right_z=0.1184 right_yaw=1.3276 right_pitch=-0.073 right_roll=-0.0119 right_gripper=0.049 state[joint_eff]: [0.253, -10.441, 8.4308, 0.6081, 0.5592, 0.1685, 0.9597, -0.2803, -8.3487, 6.4068, 1.1306, -0.4127, -0.0464, 1.0281] camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.295, "left_x": 0.376, "left_z": 0.145}, "note": "Both wrist views show the pen tip lined up with the cap opening and just touching. Pushing the cap straight onto the pen by ~3 cm along the pen axis."})
tool
executing move_to over 3 steps (0.3s)
step 223
assistant
agent noteThe cap only advanced ~0.6 cm, likely meeting the pen tip. Pushing a bit harder along the same axis to seat the cap.
move_to
left_y-0.3050left_x0.3740left_z0.1470
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3481, 2.0434, 1.673, -0.9199, 0.8341, 1.1412, 0.0762, 0.2752, 1.7424, 1.1301, -0.3645, -0.7738, -0.8268, 0.049] state[eef_state]: left_x=0.3725 left_y=-0.2705 left_z=0.1331 left_yaw=-1.652 left_pitch=-0.1314 left_roll=-0.0376 left_gripper=0.0762 right_x=0.36 right_y=0.2337 right_z=0.1178 right_yaw=1.3245 right_pitch=-0.077 right_roll=-0.0137 right_gripper=0.049 state[joint_eff]: [-0.1299, -11.0838, 6.2701, 1.0427, 0.3932, -0.1538, 0.9988, -0.2667, -8.4991, 6.2974, 1.1795, -0.4567, -0.0611, 1.0281] camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.305, "left_x": 0.374, "left_z": 0.147}, "note": "The cap only advanced ~0.6 cm, likely meeting the pen tip. Pushing a bit harder along the same axis to seat the cap."})
tool
executing move_to over 4 steps (0.4s)
step 227
assistant
agent noteThe cap is stopping against the pen tip; the left wrist view shows the tip slightly off-centre toward +x. Nudging the cap 0.5 cm in x while pushing along the pen axis again.
move_to
left_y-0.3100left_x0.3790left_z0.1470
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3542, 2.0434, 1.6707, -0.902, 0.8337, 1.1229, 0.0767, 0.2752, 1.7424, 1.1301, -0.3637, -0.7666, -0.8268, 0.049] state[eef_state]: left_x=0.3734 left_y=-0.2737 left_z=0.1333 left_yaw=-1.6461 left_pitch=-0.1278 left_roll=-0.0364 left_gripper=0.0767 right_x=0.3609 right_y=0.233 right_z=0.1171 right_yaw=1.3201 right_pitch=-0.0818 right_roll=-0.0174 right_gripper=0.049 state[joint_eff]: [-0.1983, -11.0838, 6.1744, 0.9548, 0.3736, -0.0513, 0.9841, -0.3624, -8.5128, 6.2564, 1.1844, -0.4567, -0.0708, 1.0281] 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": {"left_y": -0.31, "left_x": 0.379, "left_z": 0.147}, "note": "The cap is stopping against the pen tip; the left wrist view shows the tip slightly off-centre toward +x. Nudging the cap 0.5 cm in x while pushing along the pen axis again."})
tool
executing move_to over 4 steps (0.4s)
step 231
assistant
agent noteThe left arm is no longer moving (likely at a joint limit), not blocked by the pen. Pushing the pen into the cap with the right arm instead, ~3 cm along the pen axis.
move_to
right_x0.3690right_y0.2620right_z0.1500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3542, 2.0434, 1.6707, -0.9016, 0.8196, 1.1229, 0.08, 0.2752, 1.7424, 1.1301, -0.3637, -0.7597, -0.8265, 0.049] state[eef_state]: left_x=0.3746 left_y=-0.2723 left_z=0.1316 left_yaw=-1.6414 left_pitch=-0.1406 left_roll=-0.0323 left_gripper=0.08 right_x=0.3616 right_y=0.2323 right_z=0.1164 right_yaw=1.3159 right_pitch=-0.0867 right_roll=-0.02 right_gripper=0.049 state[joint_eff]: [-0.0342, -11.0427, 6.2427, 0.9353, 0.4957, -0.0708, 0.8523, -0.2803, -8.5128, 6.2701, 1.2283, -0.4811, -0.0464, 1.0232] camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.369, "right_y": 0.262, "right_z": 0.15}, "note": "The left arm is no longer moving (likely at a joint limit), not blocked by the pen. Pushing the pen into the cap with the right arm instead, ~3 cm along the pen axis."})
tool
executing move_to over 3 steps (0.3s)
step 234
assistant
agent noteThe pen advanced 2 cm and its tip now sits at the left jaws where the cap is held. Pushing another ~2 cm along the pen axis to seat the cap.
move_to
right_x0.3720right_y0.2750right_z0.1350
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3542, 2.0434, 1.6707, -0.9054, 0.8173, 1.1233, 0.0829, 0.3321, 1.7523, 1.2251, -0.4141, -0.7185, -0.7837, 0.0541] state[eef_state]: left_x=0.3741 left_y=-0.2719 left_z=0.1311 left_yaw=-1.6414 left_pitch=-0.1438 left_roll=-0.0351 left_gripper=0.0829 right_x=0.3666 right_y=0.2532 right_z=0.1363 right_yaw=1.322 right_pitch=-0.0968 right_roll=-0.0333 right_gripper=0.0541 state[joint_eff]: [-0.1573, -10.8239, 6.2291, 0.8083, 0.3541, -0.0611, 0.6471, 0.2803, -8.0615, 8.4855, 0.9304, -0.4518, 0.1148, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.372, "right_y": 0.275, "right_z": 0.135}, "note": "The pen advanced 2 cm and its tip now sits at the left jaws where the cap is held. Pushing another ~2 cm along the pen axis to seat the cap."})
tool
executing move_to over 2 steps (0.2s)
step 236
assistant
agent noteThe left wrist view shows the pen sliding past beside the cap (about 1 cm toward +x) instead of into it. Backing the pen out and shifting it ~1 cm toward the bases to line up with the cap.
move_to
right_x0.3580right_y0.2450right_z0.1400
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3542, 2.0438, 1.6707, -0.9096, 0.8108, 1.1233, 0.084, 0.363, 1.7676, 1.2644, -0.4137, -0.6949, -0.7475, 0.0589] state[eef_state]: left_x=0.3739 left_y=-0.271 left_z=0.1299 left_yaw=-1.6399 left_pitch=-0.1511 left_roll=-0.0378 left_gripper=0.084 right_x=0.3703 right_y=0.2654 right_z=0.1421 right_yaw=1.3164 right_pitch=-0.0983 right_roll=-0.0354 right_gripper=0.0589 state[joint_eff]: [-0.3487, -11.0974, 6.4889, 0.7643, 0.4225, -0.0464, 0.6862, 1.0598, -7.2957, 6.5983, 1.2381, -0.4908, 0.0269, 0.7399] camera 'top_cam' (step 236): [image omitted: streamed camera frame] camera 'left_cam' (step 236): [image omitted: streamed camera frame] camera 'right_cam' (step 236): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.358, "right_y": 0.245, "right_z": 0.14}, "note": "The left wrist view shows the pen sliding past beside the cap (about 1 cm toward +x) instead of into it. Backing the pen out and shifting it ~1 cm toward the bases to line up with the cap."})
tool
executing move_to over 2 steps (0.2s)
step 238
assistant
agent noteI'm stopping with the cap not on the pen, and I've nearly used up the call budget. What worked: the left gripper is holding the cap (settled reading about 0.08) and the right gripper is holding the pen (about 0.06). Both are lifted and turned to point at each other near the centre line at z≈0.13. In the last check the left wrist camera showed the pen tip passing about 1 cm to the side of the cap rather than into it. The left arm stopped moving at a shoulder joint angle of about 2.04 rad, and the right arm follows commands only partly. There aren't enough calls left to line them up and push again.
give_up
hindsight- Top camera: with both arms at home (x≈0.29, y=0) the grippers appear near the left and right image edges at image row ≈125, not at the bottom. At table level near the centre, the cap sat at pixel (77,100) and turned out to be at left_x≈0.41, left_y≈-0.165. Horizontal scale there is about 2.8 px/cm. - Grasping at the start worked: left arm to (0.41, -0.165, 0) picked up the cap; right arm to (0.436, 0.226, 0) at yaw about 0.85 picked up the pen. - Always close the gripper briefly and look at the wrist camera first. The closed jaws show up as a thin dark spike above the jaw wedge. I mistook that spike, and a pen stuck under a jaw, for objects several times. - Past a shoulder joint (joint_pos[1] or [8]) angle of about 1.9–2.05 rad the arm stops responding: the approver clamps every step and the readback doesn't change. This happens at low z and x≈0.40 with yaw about 0.5–0.8. To free it, raise z and reduce x together. Don't re-send the same lateral target. - The two arms bump into each other if both work near the centre around x≈0.4. Park one arm first. - Capping: pen tip direction = (cos yaw_R, sin yaw_R), and the cap needs left_yaw = right_yaw - π to face it head-on. Before pushing, bring the cap arm in at a lower shoulder angle (say x≈0.32 and z≈0.15-0.18) so it keeps room to move. Push with whichever arm has room, and line them up within about 5 mm first, judging this in the cap arm's wrist view, where the pen tip should sit exactly on the jaw spike. Free-space poses sag 1–2 cm, so command about 2 cm higher. - For a pen lying on the table, lower to z≈0.03 first. A jaw can come down on the pen and hold the arm up, and that looks like a controller stall.
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3542, 2.0438, 1.6707, -0.9127, 0.8104, 1.1233, 0.0844, 0.3759, 1.7931, 1.264, -0.3885, -0.6773, -0.7403, 0.0624] state[eef_state]: left_x=0.3734 left_y=-0.2707 left_z=0.1297 left_yaw=-1.6402 left_pitch=-0.1523 left_roll=-0.0406 left_gripper=0.0844 right_x=0.3731 right_y=0.2702 right_z=0.1328 right_yaw=1.3141 right_pitch=-0.11 right_roll=-0.0372 right_gripper=0.0624 state[joint_eff]: [-0.3487, -11.0291, 6.2701, 0.7546, 0.3639, -0.0269, 0.735, 0.5538, -9.1009, 6.612, 1.4335, -0.4518, 0.0806, 0.9499] camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I'm stopping with the cap not on the pen, and I've nearly used up the call budget. What worked: the left gripper is holding the cap (settled reading about 0.08) and the right gripper is holding the pen (about 0.06). Both are lifted and turned to point at each other near the centre line at z\u22480.13. In the last check the left wrist camera showed the pen tip passing about 1 cm to the side of the cap rather than into it. The left arm stopped moving at a shoulder joint angle of about 2.04 rad, and the right arm follows commands only partly. There aren't enough calls left to line them up and push again.", "hindsight": "- Top camera: with both arms at home (x\u22480.29, y=0) the grippers appear near the left and right image edges at image row \u2248125, not at the bottom. At table level near the centre, the cap sat at pixel (77,100) and turned out to be at left_x\u22480.41, left_y\u2248-0.165. Horizontal scale there is about 2.8 px/cm.\n- Grasping at the start worked: left arm to (0.41, -0.165, 0) picked up the cap; right arm to (0.436, 0.226, 0) at yaw about 0.85 picked up the pen.\n- Always close the gripper briefly and look at the wrist camera first. The closed jaws show up as a thin dark spike above the jaw wedge. I mistook that spike, and a pen stuck under a jaw, for objects several times.\n- Past a shoulder joint (joint_pos[1] or [8]) angle of about 1.9\u20132.05 rad the arm stops responding: the approver clamps every step and the readback doesn't change. This happens at low z and x\u22480.40 with yaw about 0.5\u20130.8. To free it, raise z and reduce x together. Don't re-send the same lateral target.\n- The two arms bump into each other if both work near the centre around x\u22480.4. Park one arm first.\n- Capping: pen tip direction = (cos yaw_R, sin yaw_R), and the cap needs left_yaw = right_yaw - \u03c0 to face it head-on. Before pushing, bring the cap arm in at a lower shoulder angle (say x\u22480.32 and z\u22480.15-0.18) so it keeps room to move. Push with whichever arm has room, and line them up within about 5 mm first, judging this in the cap arm's wrist view, where the pen tip should sit exactly on the jaw spike. Free-space poses sag 1\u20132 cm, so command about 2 cm higher.\n- For a pen lying on the table, lower to z\u22480.03 first. A jaw can come down on the pen and hold the arm up, and that looks like a controller stall."})
tool
give_up: I'm stopping with the cap not on the pen, and I've nearly used up the call budget. What worked: the left gripper is holding the cap (settled reading about 0.08) and the right gripper is holding the pen (about 0.06). Both are lifted and turned to point at each other near the centre line at z≈0.13. In the last check the left wrist camera showed the pen tip passing about 1 cm to the side of the cap rather than into it. The left arm stopped moving at a shoulder joint angle of about 2.04 rad, and the right arm follows commands only partly. There aren't enough calls left to line them up and push again.
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 · 13.45 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Pick up the pen and the pen cap, then put the cap on the pen.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6022, -0.3801, -0.0216, -0.0246, 0.9994, -0.0174, 0.791, 0.6094, -0.3759, -0.0231, -0.0227, 0.9994]\nstate[eef_state]: left_x=0.2945 left_y=0.0014 left_z=0.1794 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2957 right_y=0.0025 right_z=0.1841 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.6359, -1.5111, 10.4821, 1.7705, -0.0415, 0.0708, -0.0708, -0.6632, -1.2239, 9.7846, 1.7509, -0.0611, 0.0659, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99d653be92054911f829f671a48690465d7e4d29f6000eb0c8b5b4496ed96256",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8c818ae12a24f6fb9dc1dca95a48aba8ee6fd7c26cdc3fd2c02e9c1f4e98db1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8fd2b5abed9654164e6017a658a7c1eeca92e6861167dbed58d25a80d58d2cb6",
        "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 · 7.573 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6022, -0.3801, -0.0216, -0.0246, 0.9994, -0.0174, 0.791, 0.6094, -0.3759, -0.0231, -0.0227, 0.9994]\nstate[eef_state]: left_x=0.2945 left_y=0.0014 left_z=0.1794 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2957 right_y=0.0025 right_z=0.1841 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.6359, -1.5111, 10.4821, 1.7705, -0.0415, 0.0708, -0.0708, -0.6632, -1.2239, 9.7846, 1.7509, -0.0611, 0.0659, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99d653be92054911f829f671a48690465d7e4d29f6000eb0c8b5b4496ed96256",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8c818ae12a24f6fb9dc1dca95a48aba8ee6fd7c26cdc3fd2c02e9c1f4e98db1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fd2b5abed9654164e6017a658a7c1eeca92e6861167dbed58d25a80d58d2cb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Pih2F7AC8uZRGCWoyLBwg5",
      "input": {
        "note": "Overhead view shows the pen cap left of centre and the pen right of centre, lying diagonally. Moving the left arm above my estimate of the cap's position.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.2,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01Pih2F7AC8uZRGCWoyLBwg5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6773, 1.5978, 0.9752, -0.1364, -0.5438, -0.4259, 0.9994, -0.0193, 0.7959, 0.6132, -0.3897, -0.0223, -0.0227, 0.9994]\nstate[eef_state]: left_x=0.3882 left_y=-0.1903 left_z=0.1297 left_yaw=-0.01 left_pitch=-0.0595 left_roll=0.0329 left_gripper=0.9994 right_x=0.2947 right_y=0.0019 right_z=0.1817 right_yaw=-0.0026 right_pitch=-0.0149 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.4855, -7.6786, 9.4017, 1.746, -0.2711, 0.0269, -0.0171, -0.0205, -1.5932, 6.7624, 1.8437, -0.0269, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8c3bc3567b4017dfef187f75d056121adca05ede36afb53c6e8d6a4d4d54317",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5c4e20a43d5c94736babeb3b6ea89a776e51247ebb7f480020eebd8eb7f69b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d6b2e36a403553b3d542e8ff9325a97630058efbbd3290c1850e5e0e74118996",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 5.804 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6022, -0.3801, -0.0216, -0.0246, 0.9994, -0.0174, 0.791, 0.6094, -0.3759, -0.0231, -0.0227, 0.9994]\nstate[eef_state]: left_x=0.2945 left_y=0.0014 left_z=0.1794 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2957 right_y=0.0025 right_z=0.1841 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.6359, -1.5111, 10.4821, 1.7705, -0.0415, 0.0708, -0.0708, -0.6632, -1.2239, 9.7846, 1.7509, -0.0611, 0.0659, -0.0708]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6773, 1.5978, 0.9752, -0.1364, -0.5438, -0.4259, 0.9994, -0.0193, 0.7959, 0.6132, -0.3897, -0.0223, -0.0227, 0.9994]\nstate[eef_state]: left_x=0.3882 left_y=-0.1903 left_z=0.1297 left_yaw=-0.01 left_pitch=-0.0595 left_roll=0.0329 left_gripper=0.9994 right_x=0.2947 right_y=0.0019 right_z=0.1817 right_yaw=-0.0026 right_pitch=-0.0149 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.4855, -7.6786, 9.4017, 1.746, -0.2711, 0.0269, -0.0171, -0.0205, -1.5932, 6.7624, 1.8437, -0.0269, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8c3bc3567b4017dfef187f75d056121adca05ede36afb53c6e8d6a4d4d54317",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5c4e20a43d5c94736babeb3b6ea89a776e51247ebb7f480020eebd8eb7f69b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6b2e36a403553b3d542e8ff9325a97630058efbbd3290c1850e5e0e74118996",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzQsKEAgSGAI4AUIIdGhpbmtpbmcSDNXUhgnm6CUNF5HrVxoMfP7rQ8E+KKeINdkbIjARnmGJgXCNhGzg88QNjVhfctBIaVQ/3wPdKHJzLuyAwPrJ2OsmX8QCbCNOh79fzNcq6gpM0sPVMKp98fjcbZHu8febfx2wN30cqpRh2mUp0OOYNMFk2yKayqHYXX9Rfn2eyguaAO6C/x9saIHodb4a6zjd3KV2UKdMpoqYNHFIfVhCPwYYL8wzGj/TmXFFcHahZ1H3Sy3M3GegL/CG1kjBMEmdTM3X8l11NoXq06bT5Sp1uYp580UH2uLyygpA5weYcU/WfAzOHcHHrcxE/I/M2IIjOj+ZNaWzcHRKzwpsEjCUrcCR2gHMJl9mUU7yHc5a2CrXLiatgKskYvQ44meQTVfNnmcy0+c+9aA3wly1bkNG+KIQLXfp+pkb+MQ7ZZqfbvXaZedeovK8vBweHWnPDtXWxiiD0hnwfW7+C/M7jvNJlWxWqibeq0O/wSdVgi6i6Ak+/vtiHZ7lN8QdngsXAF62169xr81mX4rwMChe2HTdu4cvmynmN0Df7jcbXtR2QhhXbVPayqgonCAACwsyaUXTskxxD2bCMfzwOAZx2fOlpmYMp4nT/3aO+MqiyUCSE/8xVzJnfBujwlWkGb8tCGj7qieIDzzyWz67H6kigpameijvn4jV6OKzfPpx3yTh5sWN/n+bIX6UNGb9gbbEzMzcDqpXnzQ4dW85WIcQuI6BlM/wUUkq4Bxvg9LZGtI8mSs9U+wLUxa6heVv4AzJ3mgHOrxF7Bhy4tntVvTGT58R/ozcZzkFUw5MgI1PIaVra5LQW2TwQAECyYZLbFDHqZKDzB4BGHh52tembHsAYSIQj8AgKTnXFNrSUNPNM158IWcZGUcmbNCaaByU4jRMcJ/skUcZPoQ1no0qVMW/8Cb4rgIKtiWtSSs+vNusKb+fKnopDszXj3WHTyRyVbXtkbCkYWYqU1oK8Sym/QowLhdSzsVYRiYZXh6OqSsOhkjiAzDyDh7j0o1U+sXksUDhABIjl40tUp3UGndB8tN18mAssztHH1WqLkOXVYJaf3em5kiySKDZlI+wOqFEWsvP3FStVl042vm1XPt4VN8F2VnEtOVICl3rglCY9uqKDjaaKkPF2NIz+t0Nnn/ugnRgdaOIf0xrksddlgHOoNimdeT6u8rJaZILMCpcpXO63hN66o4oyLK9AIliLWZXdQFO4rxpUEy2+/rvAgYiT6CrkBEnZtXb2r2zIM9NDURVUPdea7cUBSzkbWchFMO+68vcJSMwAa8yEglAxIRqTzCOA+Sjy6nDXeFZZ01cphlsqZt47blzpz1TWziZGThRMY+4YV20r2GEJYpYlzY+TJjoNxdL2uF4DEjztEtxGDbvPRlFZ2R2WblTcRh6BAOYbGUkjo2d/yTZIAruiRf2hLa7sKxk1/RoIn2QJ5l9BIpcWFGivBwc68W1IjlOlhwS9eQ8zk2P+WiXvOqUYQVD5SktSywi7d6bolI8G+GA9xvm3AqZf553r4y4FZLzAojJoj27CVJrx3YXgcHUa2d0m5L8DIFcSVJ4q/QA5E20s72Je8lChsfzbadIpt1OviWyyg3Di3NBljl9Pg72A8iC9xXWKRi/xJ4MiK3IVUZzP40gXqoPvI24Jw33bMYUKHd3JoJUJ89Xs1npQW1ZYDYa8Zj6F0ET3Hh2cJvWxobM/Z3YbFTalkuhTAQp/aHCb13H+HCYKsu4X0ZMX/JB8TU6yUpbefbDtKTGW7ORzVASdVlO1UQ0pMW4AJQHxB1iJ9ZsrBaFZ0fghajg5brlpMsU6/ReilYGa0y3OUYR+pEfoXR0j/VJ7v3Q7cuRKtUzjPuBUwb7Za2Vu0IJDB0YMa0vIQ1pHaOrVYpA/anSvv7cJjInDewqc5E0JGyz+vyW3lC2GhYNVTGwvFh/gR2IxSxTdew94G2aXA7sKVKOGWAiXyAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01N8TkAkJvZkyQUUK3YaBzdu",
      "input": {
        "note": "Left wrist camera shows the cap just left of the jaw column near the bottom of the image. Shifting slightly left/forward and descending partway to re-check alignment.",
        "targets": {
          "left_x": 0.398,
          "left_y": -0.178,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01N8TkAkJvZkyQUUK3YaBzdu",
      "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]: [-0.63, 1.7386, 0.8249, 0.0921, -0.5167, -0.4072, 0.9994, -0.0193, 0.7959, 0.6132, -0.3912, -0.0227, -0.0227, 0.9994]\nstate[eef_state]: left_x=0.3878 left_y=-0.1703 left_z=0.0513 left_yaw=0.0102 left_pitch=-0.1215 left_roll=0.0706 left_gripper=0.9994 right_x=0.2945 right_y=0.0019 right_z=0.1814 right_yaw=-0.0022 right_pitch=-0.0164 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.212, -7.9248, 5.8872, 1.7265, -0.105, 0.1294, -0.0171, -0.0615, -1.1966, 7.241, 1.7314, -0.0269, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e53207d54c35d94dbbc6d91cbe9e8d4768fe9f8aa65b243d6ab6e1caf7e45b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f092ff54df76f84f1227e319ec31e8694e2ac36c0a2456ce0c662fb03a38b7e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1c716b22c1dd2d753778a08f789472d5860cd0aee12c1ea814e82639a74ec697",
        "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 · 4.101 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6022, -0.3801, -0.0216, -0.0246, 0.9994, -0.0174, 0.791, 0.6094, -0.3759, -0.0231, -0.0227, 0.9994]\nstate[eef_state]: left_x=0.2945 left_y=0.0014 left_z=0.1794 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2957 right_y=0.0025 right_z=0.1841 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.6359, -1.5111, 10.4821, 1.7705, -0.0415, 0.0708, -0.0708, -0.6632, -1.2239, 9.7846, 1.7509, -0.0611, 0.0659, -0.0708]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6773, 1.5978, 0.9752, -0.1364, -0.5438, -0.4259, 0.9994, -0.0193, 0.7959, 0.6132, -0.3897, -0.0223, -0.0227, 0.9994]\nstate[eef_state]: left_x=0.3882 left_y=-0.1903 left_z=0.1297 left_yaw=-0.01 left_pitch=-0.0595 left_roll=0.0329 left_gripper=0.9994 right_x=0.2947 right_y=0.0019 right_z=0.1817 right_yaw=-0.0026 right_pitch=-0.0149 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.4855, -7.6786, 9.4017, 1.746, -0.2711, 0.0269, -0.0171, -0.0205, -1.5932, 6.7624, 1.8437, -0.0269, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.63, 1.7386, 0.8249, 0.0921, -0.5167, -0.4072, 0.9994, -0.0193, 0.7959, 0.6132, -0.3912, -0.0227, -0.0227, 0.9994]\nstate[eef_state]: left_x=0.3878 left_y=-0.1703 left_z=0.0513 left_yaw=0.0102 left_pitch=-0.1215 left_roll=0.0706 left_gripper=0.9994 right_x=0.2945 right_y=0.0019 right_z=0.1814 right_yaw=-0.0022 right_pitch=-0.0164 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.212, -7.9248, 5.8872, 1.7265, -0.105, 0.1294, -0.0171, -0.0615, -1.1966, 7.241, 1.7314, -0.0269, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e53207d54c35d94dbbc6d91cbe9e8d4768fe9f8aa65b243d6ab6e1caf7e45b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f092ff54df76f84f1227e319ec31e8694e2ac36c0a2456ce0c662fb03a38b7e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c716b22c1dd2d753778a08f789472d5860cd0aee12c1ea814e82639a74ec697",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9wkKEAgSGAI4AUIIdGhpbmtpbmcSDKA3TwEn58PpPmdVYRoMPwet2JaKluSW8X1CIjCK25M/cdwA8n2ZvMPkdeiPLALCZ5ctub3H+CmpskvTCAGvWgemXKE0ZDBPHPtk0j4qlAnp4zmtn/kOqHNoaGFyBWnmdBcl6sIV/uEfSQLLXQiKvVi9S3MmC3iXugQfeHO7HbFdn7JMehgqwadPfUe90y8UwdycsFkt0hjRwupvlsdMGtpVaEoqe1m1B4v/xQTMD/ucG7EGE9vfyisMEXz/X2OIHw8mECck2wo1/ztFxoq2A0ryGgrv4wgeyPLFdoUNmna+B6qb/VFlE7TBfgE2ouc1ZXO4FZc6Nl8F0bU5I8/5K0eW+Dvr/dvBABrueEfGRkIU23MPRb8FiMAGuZ7c446+HBINyZEHEGHej/nPM4ajLPWi8P6gmjwY5GdUEcsO/UaH29IVQxG7KpUw9X41r5iUS11yr3n8p4Y6FqZSB1FOU7vqPdaO7SFIFqgs2H8V3eXvg8mIc8tRNicRUkLIjTMJ7Ex4P4oUsWHvPN9IuB7BddR6U4dymubpaN1WTfTaGCmeN3vVboVrz+D/BQ7SSU+SfTi4zFV0mj3+5EoupCaYd5H8BTjKjk8NZCjpneHGICs9KO2MAY8GxTCOPYQ2KHhUuF6WbumDoXxFCL2QxA4pMf6mZ5Le4QyOsO2g6n8b+J+ZY3uAgyhTvr04Zlw6gRRf0NblsC8+bnd8IarjFYwBsaHlg6rJPC3cUvjkKGBkMPifACdwV5Wqhqy1NxpuxCPlPRo1y/DWgIQYiAipNm4l7DQKAIRRx7T52GM8J0s6CxICvw9hRFLdc0VgMSyWWNRun7A8ng2ehLnehx2y0cazuEx6z3LfimO9w/ntk2qEXW1wbLuX3mVtwL2ffggu4iP4yW5ljkmtxJX2/iepMwAzrslq3w4bSSa+tdjYIJm7tleqLchhDvoHZnrZQR6vJzPhPKn1CjxH4dlq9ULHsfv2SRPLGlWNkY1+EH639gMmz5VGOi9gyNXP0PuugQW3ZRfl8k5NEXSNsE/MzSrkaxYtS7FGuFm1rt5TTqG36pe1kTxN3wxL/7euHK7AUttk0PlxH+N5w2yUeyjIWcH82b6LEzEyahFl56VhUbcqVQZ6/vyDEQreuSh7xYexsbeNEHAWpVu45c504wOvuAxEaM/P5Boob8wvJWaLKDbzDQ+L9g/8HmzD/e0LB40g2VNlXe23vHc2Z0laoq0c7JBQRVnfEhoNc3HS5y3aFhzDVLAYWoUP+izSYO/qkxGC2IZjs3+bcxFYSOXipsHsRj9rwx2xBCXkfGWY+w+J8Z6O/IwzmGQLan7EYr/S3W4PfFxKwqL/z206iQkmp1c0OzspnRL0i6w/bU1zsDd5gz8gMxCe31QI1IgHz/jVQ2/7aUNuCw2pArcMi1GbDLlKV1rv0rIDle0om8LK/egFP5oPCKxQre1gs144sNQz92b6JWFe5iPE7FVuuacezXl4cw/co9PMLxflGmtLCRp3Tj3juRbNYrTHVjHc/sqXNvsVttWIrbNnHt4a9gMsYvcLMTcaB2GSZYaJRpNdgt54BrA8ekZt01IwH/C5MKDD9C2Ul79E1iRqH/CF2sgHjoppbtrCSQYxsADuHkTBY1LsXh3TZ7Ziw03XwFwaymCz1FqH8CrfWLo5jC0l7xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EvCngeSmdzFeUhgF7hy1c8",
      "input": {
        "note": "Cap is nearly on the jaw column, a bit ahead of the fingertips. Advancing ~2 cm and descending to table level for the grasp.",
        "targets": {
          "left_x": 0.41,
          "left_y": -0.166,
          "left_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01EvCngeSmdzFeUhgF7hy1c8",
      "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]: [-0.5861, 1.9274, 0.8135, 0.3065, -0.4976, -0.3988, 0.999, -0.0193, 0.7979, 0.6132, -0.3939, -0.0223, -0.0227, 0.9994]\nstate[eef_state]: left_x=0.4068 left_y=-0.1646 left_z=0.0034 left_yaw=0.034 left_pitch=-0.1186 left_roll=0.0574 left_gripper=0.999 right_x=0.2943 right_y=0.0019 right_z=0.1803 right_yaw=-0.0026 right_pitch=-0.021 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.5265, -6.7077, 5.5043, 1.0281, -0.0562, 0.3492, -0.0562, -0.0615, -1.388, 7.2, 1.79, -0.0464, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d93a8088cd0cd803279b8b81b8d1eecfff88ab26a683ea84e1b4eccbf9ec582a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:caec3224c87c50603a499de7708189199df98a7ce639290fa111f3aa50bf5350",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0993aa8a10af1244639e9d199c3e8723ba3d1137662d0f520ea67c540425b105",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 4.258 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]: [-0.6773, 1.5978, 0.9752, -0.1364, -0.5438, -0.4259, 0.9994, -0.0193, 0.7959, 0.6132, -0.3897, -0.0223, -0.0227, 0.9994]\nstate[eef_state]: left_x=0.3882 left_y=-0.1903 left_z=0.1297 left_yaw=-0.01 left_pitch=-0.0595 left_roll=0.0329 left_gripper=0.9994 right_x=0.2947 right_y=0.0019 right_z=0.1817 right_yaw=-0.0026 right_pitch=-0.0149 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.4855, -7.6786, 9.4017, 1.746, -0.2711, 0.0269, -0.0171, -0.0205, -1.5932, 6.7624, 1.8437, -0.0269, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.63, 1.7386, 0.8249, 0.0921, -0.5167, -0.4072, 0.9994, -0.0193, 0.7959, 0.6132, -0.3912, -0.0227, -0.0227, 0.9994]\nstate[eef_state]: left_x=0.3878 left_y=-0.1703 left_z=0.0513 left_yaw=0.0102 left_pitch=-0.1215 left_roll=0.0706 left_gripper=0.9994 right_x=0.2945 right_y=0.0019 right_z=0.1814 right_yaw=-0.0022 right_pitch=-0.0164 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.212, -7.9248, 5.8872, 1.7265, -0.105, 0.1294, -0.0171, -0.0615, -1.1966, 7.241, 1.7314, -0.0269, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5861, 1.9274, 0.8135, 0.3065, -0.4976, -0.3988, 0.999, -0.0193, 0.7979, 0.6132, -0.3939, -0.0223, -0.0227, 0.9994]\nstate[eef_state]: left_x=0.4068 left_y=-0.1646 left_z=0.0034 left_yaw=0.034 left_pitch=-0.1186 left_roll=0.0574 left_gripper=0.999 right_x=0.2943 right_y=0.0019 right_z=0.1803 right_yaw=-0.0026 right_pitch=-0.021 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.5265, -6.7077, 5.5043, 1.0281, -0.0562, 0.3492, -0.0562, -0.0615, -1.388, 7.2, 1.79, -0.0464, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d93a8088cd0cd803279b8b81b8d1eecfff88ab26a683ea84e1b4eccbf9ec582a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:caec3224c87c50603a499de7708189199df98a7ce639290fa111f3aa50bf5350",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0993aa8a10af1244639e9d199c3e8723ba3d1137662d0f520ea67c540425b105",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwgcKEAgSGAI4AUIIdGhpbmtpbmcSDCsu6QkNCq6+lK8xbBoMZRzmqvttpQJpj1fUIjDArqEGgPyutJTTIxzYcyWzfWuc4ux4ykh91CHw/DodH05/GnrSdbLWjsfTur7Ulnwq3wY4venbsQq2Gyf9rHUXKLyAzm/z70OSXGGDTplGHC/slUi+V51WZoKrGv3I1AH7+fXOdHSci74MSHzL4KUq3y1IxS2kVRx+9Rxaj1rOI3tIdZ2nEi0gOSt1SsShUrclYeBINEWidPooQpgqR7abBP1fDdY16pHlliQNh2+ZKGwVv9vjaqoMvQ/khRj30HazuwdlFaPgWdUm01QErq0L2S+Wt1fu7muTG+Fr3drvggUffb21chcn0Slggwb1Oyx2Xz3keh3628yiHEqiVeSSvlLlgBK0JU1BTF4QGI2hEqVIuZRXYfom2ALKrVHpIroryzP+dGo46/lLGZKENi7z7UrOvuz8bJ5CaVngWi/xLpUP2iaJBuNSQc1HKoz3ALoPNnnN4sQzQ2kvlnmTWixhHY6GJibIxugujn0rdB4esxiEKzTNzyt2QmUbqoD0ciqZyfOBD8cFTr6vdjhucEkeCJZHtB010jIdxVQvq7M7Gh+W1aaV/lMrDBsxkXSwdeNKOBoS48UZSlCVERMe80as28YfBSHI016PWMFRF7FAi9ylRJA2N3/Za7QHSzAi4l67hFckz+T6txhWQ9Q7gaqTxNiGdkERcdPWkmPsQFD55tI4mXE+CmaaeNWnpkI2IeuJMZhSwuNVi/rAFh1o0ri4ippHamBaD02s3zm7JAoSFPCsorMoYE03V6rhUHHFJPNieVamaDDiaZM3CmFDCOAk1oCgKNPYM3V2rEWQF+6kLin7W2P88UePB2PnqJCoKr+QcIrS1YDfu6bVaVFs6XHxic0hyTqS6vo/Vt7X3LZxiKuzrlqjh684zsgQ1XMMXK4UiTKxGEmR/EQPnyCpVw0yamNXPe+zpRZu4K1IL2nbQyBc/JTNP2OOI37yr3m0U6JJlBDWRpvpP6RookFo/qNdIoR/Dv49t1DCuTTkyw0/j7cxRAb/VAKQpZCL6iuqoDL5ZVwmVMkSdyU0pvDYbqHvT6u2JwyTud2f+wQJeAF8rlWQJ2A+dFZi+QKGyP/YO4opBktJC1scZbcPROrzYjiDPEd488kY1DQdUnivmxoaMoyEdcbH5b0N09pxyTyGnDl6SghN6qZZ/fI+t10PSv55yQPrBekxCeeOX4UsfgJ8XEOrMpPhoQS2tWdD5/RiEpbrYRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XKoavtpKs8wcpg25ooJbwG",
      "input": {
        "note": "Cap lies between the open jaws at table level. Closing the left gripper.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01XKoavtpKs8wcpg25ooJbwG",
      "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]: [-0.5808, 1.9461, 0.8131, 0.3553, -0.4904, -0.3786, 0.05, -0.0193, 0.7982, 0.6132, -0.3939, -0.0227, -0.0227, 0.9994]\nstate[eef_state]: left_x=0.4122 left_y=-0.1667 left_z=0.0028 left_yaw=0.021 left_pitch=-0.0978 left_roll=0.0518 left_gripper=0.05 right_x=0.2943 right_y=0.0019 right_z=0.1802 right_yaw=-0.0022 right_pitch=-0.0214 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -7.5556, 5.0803, 1.3797, -0.0904, 0.2418, 1.4286, -0.2803, -1.0735, 7.2137, 1.7851, -0.0366, -0.0513, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63546cd9350c09d786e65c8efa32e8a638f76a8856130783c99799e880aeb702",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7913d612e3ceaa0db030bedbd9406bb326644acf9f522fe9f4e521c237f825d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a668dca2da36b483e1236159c4ced88e5cc9a1c5514f68aa9179e26cb2ba40de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 13.99 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]: [-0.63, 1.7386, 0.8249, 0.0921, -0.5167, -0.4072, 0.9994, -0.0193, 0.7959, 0.6132, -0.3912, -0.0227, -0.0227, 0.9994]\nstate[eef_state]: left_x=0.3878 left_y=-0.1703 left_z=0.0513 left_yaw=0.0102 left_pitch=-0.1215 left_roll=0.0706 left_gripper=0.9994 right_x=0.2945 right_y=0.0019 right_z=0.1814 right_yaw=-0.0022 right_pitch=-0.0164 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.212, -7.9248, 5.8872, 1.7265, -0.105, 0.1294, -0.0171, -0.0615, -1.1966, 7.241, 1.7314, -0.0269, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5861, 1.9274, 0.8135, 0.3065, -0.4976, -0.3988, 0.999, -0.0193, 0.7979, 0.6132, -0.3939, -0.0223, -0.0227, 0.9994]\nstate[eef_state]: left_x=0.4068 left_y=-0.1646 left_z=0.0034 left_yaw=0.034 left_pitch=-0.1186 left_roll=0.0574 left_gripper=0.999 right_x=0.2943 right_y=0.0019 right_z=0.1803 right_yaw=-0.0026 right_pitch=-0.021 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.5265, -6.7077, 5.5043, 1.0281, -0.0562, 0.3492, -0.0562, -0.0615, -1.388, 7.2, 1.79, -0.0464, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5808, 1.9461, 0.8131, 0.3553, -0.4904, -0.3786, 0.05, -0.0193, 0.7982, 0.6132, -0.3939, -0.0227, -0.0227, 0.9994]\nstate[eef_state]: left_x=0.4122 left_y=-0.1667 left_z=0.0028 left_yaw=0.021 left_pitch=-0.0978 left_roll=0.0518 left_gripper=0.05 right_x=0.2943 right_y=0.0019 right_z=0.1802 right_yaw=-0.0022 right_pitch=-0.0214 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -7.5556, 5.0803, 1.3797, -0.0904, 0.2418, 1.4286, -0.2803, -1.0735, 7.2137, 1.7851, -0.0366, -0.0513, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63546cd9350c09d786e65c8efa32e8a638f76a8856130783c99799e880aeb702",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7913d612e3ceaa0db030bedbd9406bb326644acf9f522fe9f4e521c237f825d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a668dca2da36b483e1236159c4ced88e5cc9a1c5514f68aa9179e26cb2ba40de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnQgKEAgSGAI4AUIIdGhpbmtpbmcSDPIJxYXA54iPjOuRhxoMWVpDH4sLs2HkYAboIjB1WisVGjHTNbVOao9IPDf2kenheUD5dORn9U4gjqJfzZa9c25urOLv7guvYdO+AcwqugdBs7ypb9XGJWEBxbmGmB18kpBEwTXFXsPC6M9sXUOhbtdrU31GSpN/Dk/MIg97K6+ai1k5rztiuUjYobFNhLwS+F25B+xtx1JqG7dM+PJrkjBxuNTEiCozA2b6OsQ6oSlhoa3pUuQar3mSFUMYkZxQuWvwvCnWUk9R4RSSFyLSoGHKCDonfsr+0aIHKz34WLxsyZK7TCeBWZuP1Av1MyB9i/dWDXxgmgmAyNhldAxcSNTbOkDuB77AX6CpJcQs+U9Txnj7RYxI1vdgBptm1/5sstJFdNQ7C+9wa805cH+RnPSZtGKhrSvkYoA8ehmgsYj3A5yx2FDlpFxZNAW3itM/nhTuGz67yF393iloZ2U6IGRqjILaocF7Imb29KSifDSQndSoYuiARBlNfyqx9gz3xxQi/5w47O6ut9D7nbsnCQrwZqha5xFFIOC1URY39OgeX4efNv54DjVRlsdeJkneJCNQhmss9piT9+aoAO0xom3k7uBEPnjNhHYJD0lGqafAtYeE4+daprKk/vs1mtzwQRLztPUkkdetW3GXzg47E9+r/g+64T0YaNyGjdst1IZF6trrMrW40CjGr77KakOMSaBqOnxRCNt+vtpbFHcZq7GwCLoQCFDdKVtDdlHs3Ce+M9V8l3Cl5UB2wpQMdumHmnE1kXnYDdkRrG08yRNEwB9P4rIwmQ0eOcfR7DpSCgBBHP5Mrxpvr3UgGhiCoU7w9AIXSbGSQLPBZgMjygMQ32jA3Jnc+gRSukraXIzMh5AnjJPnF43LPECJeEujB8jTa9SeuWZsl1avAc78BXj+29hlSxxp5rmHEQb0u3D56M/A/+W36y68CI4gO13Wt9vyWqJIwEV+kUcq1Dz6zcvKG7cLGM3JnuHp81GMlfog/O2yN3Qwl4kC9FAV/3egyRM9nLd11LT3Gm1a3LvVQC2ShztTsBrqMxDQiWljda65cIOQgrWG4hy2vBtQoSiTCLKDpBSO8Z1wcBHBr7j31Ds2stXUWAGcKg2pySc/YXErEaiAsJQ3XxrCyPTfBGuo7Of4hl1L5EmqMhpnXpzvACL3KerMQHAEgFMax946o1AkZPSdiO05/LWPRSEpyUoqqJL9QEQg9QibcSz5E8KBHwEh5GKm7uh8woHOnH89Cglyaq9TD6TlJMjPvcN1AyI4p57bO9FhV+ivxyRoB5o6w/h3kY4yxdL+EeOjy+c54Py3HqC3L0bEWSHuPcT3yVeGI1vN7kdNsLFSKgurGBTKybQ0E5YKrROfZpOmlVoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C3386JM8DybSYPWBKxZ5rd",
      "input": {
        "note": "Gripper settled at 0.05, ambiguous. Lifting to check whether the cap came with the jaws.",
        "targets": {
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01C3386JM8DybSYPWBKxZ5rd",
      "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]: [-0.5808, 1.7657, 0.886, 0.0921, -0.49, -0.3843, 0.0593, -0.0193, 0.799, 0.6132, -0.3973, -0.0223, -0.0231, 0.9994]\nstate[eef_state]: left_x=0.4096 left_y=-0.1651 left_z=0.0605 left_yaw=0.0244 left_pitch=-0.106 left_roll=0.0528 left_gripper=0.0593 right_x=0.2939 right_y=0.0019 right_z=0.1793 right_yaw=-0.0023 right_pitch=-0.0256 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -9.7299, 8.3487, 1.5604, -0.2125, 0.0024, 1.033, -0.3214, -1.1145, 7.0632, 1.7705, -0.0171, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5f180bdab6b78f1c4e96c91bdb7910513f470a278eb8b10b9ee605eae7d3f76",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e5bd4cd1ede40d9a984366b80559d2351d7daee5a312af2146f67e17135ad68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:78a13e92cd0c0b33d984a5a8b4f89533e02b95c26453ee32de49800807695562",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 6.824 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]: [-0.5861, 1.9274, 0.8135, 0.3065, -0.4976, -0.3988, 0.999, -0.0193, 0.7979, 0.6132, -0.3939, -0.0223, -0.0227, 0.9994]\nstate[eef_state]: left_x=0.4068 left_y=-0.1646 left_z=0.0034 left_yaw=0.034 left_pitch=-0.1186 left_roll=0.0574 left_gripper=0.999 right_x=0.2943 right_y=0.0019 right_z=0.1803 right_yaw=-0.0026 right_pitch=-0.021 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.5265, -6.7077, 5.5043, 1.0281, -0.0562, 0.3492, -0.0562, -0.0615, -1.388, 7.2, 1.79, -0.0464, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5808, 1.9461, 0.8131, 0.3553, -0.4904, -0.3786, 0.05, -0.0193, 0.7982, 0.6132, -0.3939, -0.0227, -0.0227, 0.9994]\nstate[eef_state]: left_x=0.4122 left_y=-0.1667 left_z=0.0028 left_yaw=0.021 left_pitch=-0.0978 left_roll=0.0518 left_gripper=0.05 right_x=0.2943 right_y=0.0019 right_z=0.1802 right_yaw=-0.0022 right_pitch=-0.0214 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -7.5556, 5.0803, 1.3797, -0.0904, 0.2418, 1.4286, -0.2803, -1.0735, 7.2137, 1.7851, -0.0366, -0.0513, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.5808, 1.7657, 0.886, 0.0921, -0.49, -0.3843, 0.0593, -0.0193, 0.799, 0.6132, -0.3973, -0.0223, -0.0231, 0.9994]\nstate[eef_state]: left_x=0.4096 left_y=-0.1651 left_z=0.0605 left_yaw=0.0244 left_pitch=-0.106 left_roll=0.0528 left_gripper=0.0593 right_x=0.2939 right_y=0.0019 right_z=0.1793 right_yaw=-0.0023 right_pitch=-0.0256 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -9.7299, 8.3487, 1.5604, -0.2125, 0.0024, 1.033, -0.3214, -1.1145, 7.0632, 1.7705, -0.0171, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5f180bdab6b78f1c4e96c91bdb7910513f470a278eb8b10b9ee605eae7d3f76",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e5bd4cd1ede40d9a984366b80559d2351d7daee5a312af2146f67e17135ad68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78a13e92cd0c0b33d984a5a8b4f89533e02b95c26453ee32de49800807695562",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012V59EWs7wPwwAXVdSJkrXk",
      "input": {
        "note": "The cap seems to be in the left gripper (reading 0.06, nothing left on the table below it). Now moving the right arm above the pen, rotated so the jaws close across the pen's diagonal.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.32,
          "right_yaw": 0.55,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 27 steps (2.7s)",
      "tool_use_id": "toolu_012V59EWs7wPwwAXVdSJkrXk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5808, 1.7645, 0.8833, 0.0727, -0.49, -0.384, 0.0662, 0.7025, 1.7435, 1.1355, -0.038, 0.131, 0.0769, 0.9994]\nstate[eef_state]: left_x=0.4063 left_y=-0.1629 left_z=0.0569 left_yaw=0.0255 left_pitch=-0.1232 left_roll=0.0651 left_gripper=0.0662 right_x=0.3917 right_y=0.306 right_z=0.1339 right_yaw=0.5359 right_pitch=-0.0821 right_roll=-0.0113 right_gripper=0.9994\nstate[joint_eff]: [0.0068, -8.1983, 5.9829, 1.5995, -0.2564, -0.0611, 1.033, 0.6906, -8.3761, 8.9231, 1.9463, 0.1294, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:586ce305e0df0ebe15c70ea1d1698de430b782bc25382dbc8ae49ac356470eec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80959ffe647b0657e0263982b4648bfc4d7327da06380918613d811f4a5e404b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d767fe2e8b68eb2161bb0ffbca9c1cd54ed4533495bb7d559f58681b6f996611",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 12.01 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]: [-0.5808, 1.9461, 0.8131, 0.3553, -0.4904, -0.3786, 0.05, -0.0193, 0.7982, 0.6132, -0.3939, -0.0227, -0.0227, 0.9994]\nstate[eef_state]: left_x=0.4122 left_y=-0.1667 left_z=0.0028 left_yaw=0.021 left_pitch=-0.0978 left_roll=0.0518 left_gripper=0.05 right_x=0.2943 right_y=0.0019 right_z=0.1802 right_yaw=-0.0022 right_pitch=-0.0214 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -7.5556, 5.0803, 1.3797, -0.0904, 0.2418, 1.4286, -0.2803, -1.0735, 7.2137, 1.7851, -0.0366, -0.0513, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.5808, 1.7657, 0.886, 0.0921, -0.49, -0.3843, 0.0593, -0.0193, 0.799, 0.6132, -0.3973, -0.0223, -0.0231, 0.9994]\nstate[eef_state]: left_x=0.4096 left_y=-0.1651 left_z=0.0605 left_yaw=0.0244 left_pitch=-0.106 left_roll=0.0528 left_gripper=0.0593 right_x=0.2939 right_y=0.0019 right_z=0.1793 right_yaw=-0.0023 right_pitch=-0.0256 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -9.7299, 8.3487, 1.5604, -0.2125, 0.0024, 1.033, -0.3214, -1.1145, 7.0632, 1.7705, -0.0171, -0.0659, -0.0171]",
      "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]: [-0.5808, 1.7645, 0.8833, 0.0727, -0.49, -0.384, 0.0662, 0.7025, 1.7435, 1.1355, -0.038, 0.131, 0.0769, 0.9994]\nstate[eef_state]: left_x=0.4063 left_y=-0.1629 left_z=0.0569 left_yaw=0.0255 left_pitch=-0.1232 left_roll=0.0651 left_gripper=0.0662 right_x=0.3917 right_y=0.306 right_z=0.1339 right_yaw=0.5359 right_pitch=-0.0821 right_roll=-0.0113 right_gripper=0.9994\nstate[joint_eff]: [0.0068, -8.1983, 5.9829, 1.5995, -0.2564, -0.0611, 1.033, 0.6906, -8.3761, 8.9231, 1.9463, 0.1294, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:586ce305e0df0ebe15c70ea1d1698de430b782bc25382dbc8ae49ac356470eec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80959ffe647b0657e0263982b4648bfc4d7327da06380918613d811f4a5e404b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d767fe2e8b68eb2161bb0ffbca9c1cd54ed4533495bb7d559f58681b6f996611",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PdxmCCtR5dGYYj1MuuBLQf",
      "input": {
        "note": "Right wrist view shows the pen running along the jaw column, slightly right of centre. Shifting ~1.5 cm to the tool's right and descending to table level.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.293,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01PdxmCCtR5dGYYj1MuuBLQf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5785, 1.7645, 0.8833, 0.0696, -0.49, -0.384, 0.0663, 0.6666, 2.0274, 0.9192, 0.4332, 0.1036, 0.0547, 0.9993]\nstate[eef_state]: left_x=0.4063 left_y=-0.1617 left_z=0.0565 left_yaw=0.0281 left_pitch=-0.1257 left_roll=0.0669 left_gripper=0.0663 right_x=0.3953 right_y=0.2923 right_z=0.0031 right_yaw=0.5348 right_pitch=-0.1133 right_roll=-0.0165 right_gripper=0.9993\nstate[joint_eff]: [-0.4991, -8.3077, 5.9556, 1.4286, -0.2564, -0.0269, 1.0281, -0.8821, -8.294, 4.5197, 1.2283, -0.1978, 0.1099, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92d6fd8de6f7ae3af2bfb875527394a89796e6496254deef6c18c32e0907c9e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b20be6dc80fe483694a3fe6aeba962968b60d28e3918b60eaaedfa8b1560344",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4ef0566253db16a599caefdfd65ed6384fab0506390d3939ce42f791adee8af5",
        "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 · 7.945 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]: [-0.5808, 1.7657, 0.886, 0.0921, -0.49, -0.3843, 0.0593, -0.0193, 0.799, 0.6132, -0.3973, -0.0223, -0.0231, 0.9994]\nstate[eef_state]: left_x=0.4096 left_y=-0.1651 left_z=0.0605 left_yaw=0.0244 left_pitch=-0.106 left_roll=0.0528 left_gripper=0.0593 right_x=0.2939 right_y=0.0019 right_z=0.1793 right_yaw=-0.0023 right_pitch=-0.0256 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -9.7299, 8.3487, 1.5604, -0.2125, 0.0024, 1.033, -0.3214, -1.1145, 7.0632, 1.7705, -0.0171, -0.0659, -0.0171]",
      "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]: [-0.5808, 1.7645, 0.8833, 0.0727, -0.49, -0.384, 0.0662, 0.7025, 1.7435, 1.1355, -0.038, 0.131, 0.0769, 0.9994]\nstate[eef_state]: left_x=0.4063 left_y=-0.1629 left_z=0.0569 left_yaw=0.0255 left_pitch=-0.1232 left_roll=0.0651 left_gripper=0.0662 right_x=0.3917 right_y=0.306 right_z=0.1339 right_yaw=0.5359 right_pitch=-0.0821 right_roll=-0.0113 right_gripper=0.9994\nstate[joint_eff]: [0.0068, -8.1983, 5.9829, 1.5995, -0.2564, -0.0611, 1.033, 0.6906, -8.3761, 8.9231, 1.9463, 0.1294, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5785, 1.7645, 0.8833, 0.0696, -0.49, -0.384, 0.0663, 0.6666, 2.0274, 0.9192, 0.4332, 0.1036, 0.0547, 0.9993]\nstate[eef_state]: left_x=0.4063 left_y=-0.1617 left_z=0.0565 left_yaw=0.0281 left_pitch=-0.1257 left_roll=0.0669 left_gripper=0.0663 right_x=0.3953 right_y=0.2923 right_z=0.0031 right_yaw=0.5348 right_pitch=-0.1133 right_roll=-0.0165 right_gripper=0.9993\nstate[joint_eff]: [-0.4991, -8.3077, 5.9556, 1.4286, -0.2564, -0.0269, 1.0281, -0.8821, -8.294, 4.5197, 1.2283, -0.1978, 0.1099, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92d6fd8de6f7ae3af2bfb875527394a89796e6496254deef6c18c32e0907c9e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b20be6dc80fe483694a3fe6aeba962968b60d28e3918b60eaaedfa8b1560344",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ef0566253db16a599caefdfd65ed6384fab0506390d3939ce42f791adee8af5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PbVFSbDC73jwkcNhk8Jvao",
      "input": {
        "note": "My sideways correction went the wrong way: the pen now sits right of the right jaw in the wrist view. Moving ~3 cm the opposite direction, slightly above the table.",
        "targets": {
          "right_x": 0.388,
          "right_y": 0.32,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01PbVFSbDC73jwkcNhk8Jvao",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5781, 1.7645, 0.8833, 0.0692, -0.49, -0.384, 0.0713, 0.7208, 2.0392, 0.9657, 0.3897, 0.1322, 0.0727, 0.9993]\nstate[eef_state]: left_x=0.4063 left_y=-0.1615 left_z=0.0564 left_yaw=0.0285 left_pitch=-0.1261 left_roll=0.0671 left_gripper=0.0713 right_x=0.3879 right_y=0.3145 right_z=0.0061 right_yaw=0.5549 right_pitch=-0.1193 right_roll=-0.0216 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -8.1983, 5.9692, 1.4628, -0.2613, -0.0708, 1.033, 0.3624, -12.1641, 6.8718, 1.4676, 0.2369, 0.1587, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ba7e31d1ddfaf252b6f083d1bd284eba4f00be5b03870a64fe49307a075c09d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c793824af5d7a99de8d29434c3c8e71faa2a17820e5931894d33ae120b9dc79b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1e4d1e1544fec9b55b0417dff7c0a202aa0f017e94f044c4d8ad307310220814",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 4.522 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]: [-0.5808, 1.7645, 0.8833, 0.0727, -0.49, -0.384, 0.0662, 0.7025, 1.7435, 1.1355, -0.038, 0.131, 0.0769, 0.9994]\nstate[eef_state]: left_x=0.4063 left_y=-0.1629 left_z=0.0569 left_yaw=0.0255 left_pitch=-0.1232 left_roll=0.0651 left_gripper=0.0662 right_x=0.3917 right_y=0.306 right_z=0.1339 right_yaw=0.5359 right_pitch=-0.0821 right_roll=-0.0113 right_gripper=0.9994\nstate[joint_eff]: [0.0068, -8.1983, 5.9829, 1.5995, -0.2564, -0.0611, 1.033, 0.6906, -8.3761, 8.9231, 1.9463, 0.1294, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5785, 1.7645, 0.8833, 0.0696, -0.49, -0.384, 0.0663, 0.6666, 2.0274, 0.9192, 0.4332, 0.1036, 0.0547, 0.9993]\nstate[eef_state]: left_x=0.4063 left_y=-0.1617 left_z=0.0565 left_yaw=0.0281 left_pitch=-0.1257 left_roll=0.0669 left_gripper=0.0663 right_x=0.3953 right_y=0.2923 right_z=0.0031 right_yaw=0.5348 right_pitch=-0.1133 right_roll=-0.0165 right_gripper=0.9993\nstate[joint_eff]: [-0.4991, -8.3077, 5.9556, 1.4286, -0.2564, -0.0269, 1.0281, -0.8821, -8.294, 4.5197, 1.2283, -0.1978, 0.1099, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5781, 1.7645, 0.8833, 0.0692, -0.49, -0.384, 0.0713, 0.7208, 2.0392, 0.9657, 0.3897, 0.1322, 0.0727, 0.9993]\nstate[eef_state]: left_x=0.4063 left_y=-0.1615 left_z=0.0564 left_yaw=0.0285 left_pitch=-0.1261 left_roll=0.0671 left_gripper=0.0713 right_x=0.3879 right_y=0.3145 right_z=0.0061 right_yaw=0.5549 right_pitch=-0.1193 right_roll=-0.0216 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -8.1983, 5.9692, 1.4628, -0.2613, -0.0708, 1.033, 0.3624, -12.1641, 6.8718, 1.4676, 0.2369, 0.1587, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ba7e31d1ddfaf252b6f083d1bd284eba4f00be5b03870a64fe49307a075c09d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c793824af5d7a99de8d29434c3c8e71faa2a17820e5931894d33ae120b9dc79b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e4d1e1544fec9b55b0417dff7c0a202aa0f017e94f044c4d8ad307310220814",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RCHZnfU58nhM28GWnzMv7j",
      "input": {
        "note": "The pen keeps appearing further right in the wrist view and may have been nudged. Raising the right arm and shifting to the tool's right to get a clear view of the pen again.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.28,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01RCHZnfU58nhM28GWnzMv7j",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5781, 1.7645, 0.8833, 0.0662, -0.49, -0.384, 0.0713, 0.7128, 2.0281, 0.9737, 0.3424, 0.1265, 0.0708, 0.9993]\nstate[eef_state]: left_x=0.4058 left_y=-0.1613 left_z=0.0559 left_yaw=0.0287 left_pitch=-0.1286 left_roll=0.0688 left_gripper=0.0713 right_x=0.3871 right_y=0.3099 right_z=0.0053 right_yaw=0.5521 right_pitch=-0.1477 right_roll=-0.0241 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -8.3077, 5.8598, 1.4725, -0.2418, -0.0611, 1.0281, -0.4171, -13.053, 5.3402, 1.536, -0.0269, -0.0855, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c12bc8cd8c65c39430c960459bddba3fce9442c462eece79cca2649045f41a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d970c51a98597eb7175455ad73d74cba14ec36f06e5675c42bad543688d8c335",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:82731b3a61f6a38a5a0b4656c09a86fc183aaaa52c100880a56e5503bcab999a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 5.932 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]: [-0.5785, 1.7645, 0.8833, 0.0696, -0.49, -0.384, 0.0663, 0.6666, 2.0274, 0.9192, 0.4332, 0.1036, 0.0547, 0.9993]\nstate[eef_state]: left_x=0.4063 left_y=-0.1617 left_z=0.0565 left_yaw=0.0281 left_pitch=-0.1257 left_roll=0.0669 left_gripper=0.0663 right_x=0.3953 right_y=0.2923 right_z=0.0031 right_yaw=0.5348 right_pitch=-0.1133 right_roll=-0.0165 right_gripper=0.9993\nstate[joint_eff]: [-0.4991, -8.3077, 5.9556, 1.4286, -0.2564, -0.0269, 1.0281, -0.8821, -8.294, 4.5197, 1.2283, -0.1978, 0.1099, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5781, 1.7645, 0.8833, 0.0692, -0.49, -0.384, 0.0713, 0.7208, 2.0392, 0.9657, 0.3897, 0.1322, 0.0727, 0.9993]\nstate[eef_state]: left_x=0.4063 left_y=-0.1615 left_z=0.0564 left_yaw=0.0285 left_pitch=-0.1261 left_roll=0.0671 left_gripper=0.0713 right_x=0.3879 right_y=0.3145 right_z=0.0061 right_yaw=0.5549 right_pitch=-0.1193 right_roll=-0.0216 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -8.1983, 5.9692, 1.4628, -0.2613, -0.0708, 1.033, 0.3624, -12.1641, 6.8718, 1.4676, 0.2369, 0.1587, -0.0122]",
      "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]: [-0.5781, 1.7645, 0.8833, 0.0662, -0.49, -0.384, 0.0713, 0.7128, 2.0281, 0.9737, 0.3424, 0.1265, 0.0708, 0.9993]\nstate[eef_state]: left_x=0.4058 left_y=-0.1613 left_z=0.0559 left_yaw=0.0287 left_pitch=-0.1286 left_roll=0.0688 left_gripper=0.0713 right_x=0.3871 right_y=0.3099 right_z=0.0053 right_yaw=0.5521 right_pitch=-0.1477 right_roll=-0.0241 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -8.3077, 5.8598, 1.4725, -0.2418, -0.0611, 1.0281, -0.4171, -13.053, 5.3402, 1.536, -0.0269, -0.0855, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c12bc8cd8c65c39430c960459bddba3fce9442c462eece79cca2649045f41a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d970c51a98597eb7175455ad73d74cba14ec36f06e5675c42bad543688d8c335",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82731b3a61f6a38a5a0b4656c09a86fc183aaaa52c100880a56e5503bcab999a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1QgKEAgSGAI4AUIIdGhpbmtpbmcSDGg4083P9svXfhW9dBoM+lQDTUAJrkGSf+dtIjCIrdepyNLxFtHaZtNu2qRm1vVjU81uHCmshIXnK9ykP7Iq75SKG0XEHZvsTOgc05Iq8gfa7cB26mJYkmNqrB4I7awou9N8XAFmLSPEU8Ay4epmkQ8IPBvAJutxlomAhj04423bewkW7gpTk3b7V0JBaRAWzWGZ6qBEb1/5nsACrdTvfUToPHqvY9NMjACcHWISMC+O30QESam0zjkgj29RGi2jtd2pcF1JX+8tC3SmnXBgAHVRl+uMIzxp2aPy5iQE+Pl8AJYfdEgdK4HuWZOXt5Ai0b4nu6t3rYYvNWccrrlRqqFbV/WGvDFOEuhdY/pBAUayCJ0Ivf/4dq4pQegAiQNruTlgdkyOXaDR5//EKgi7e76nZpY2Wqy3OgSw1PZObDaOjQ1M8qf1OzYReHrgiJVYP5jFVaf/Vu4g0kWunnEVihKUKYYrIGm9mTK55O6nB2RMXkLh/xoJabimgrMlLTHOdV/B4NNaEcKNZGSLhLM0UYnrh5j1A0y0nIcM5UVTRwGfasOa/bfWgh0puiRXukZnBQoc72R8MYqYIg7uXcD/6r0NeBcsSXnRnFryqSad/VszZOSf3t8nppuM8VwTsa48HNmophOSByytruO6lcDYfoTHrlQMY2JAbmGjHfSnokDL19gNIXchb/xkxZvttJv5UMoT3CWpy2BCE5L7Y2oyYrbVPqz/5XD7gGq5b8Ti8ouu3A23WVvcPrX/WTVo2zxKAiy4vqwisyJlbzxyMFjkGOQJoHB3KztTawOS8T04NiDMdpJwbE9pgE9a0PjG/vn/bR98esvlcj1pEfx/3uTKeOcEK+p+Ig5EdC3w8+IZm0V9PxYW3VGSs3h89sSlzFggzyOtbG/hS0IEIytSGdifU/fSbMtgcVFwddtCSYrYFBSjl7PljWckFlz1x+vhpmmR6WkK6E/CK2bkQKJZWZvJOvIAyXgict03cDDlu9IwNQ0oDyoc9Mn2p+VI0dolqtGxGHJDpNZExjN9P10CfrdPHa0rRVSXaLFfGstur8gKlS4Pg/TFnU3UXM+lI7Cl+SMxR6VaKX6IoZ0o7mA0l7oBEH9x0Ar0ehRCeAsr8F/8zHkO5QRnYx0fGEp4x578R4nKqJNBd/MJLYXP+tU1W7Y3+A8aX6cxsjd90lf7/+nRzb6LqgI4amcjPzmzM68lsMVna54hGslma8gWekIZ8fqk0zIkd+pUgLITbW/gPAh8fGxogbu2ss1iTIqSEm4tca7nSd9b17vt6pleD/ECTt+CdTqEKvGrRbkS9pi8QWLDdgbwMztCAj9emgcR/lpYIASLPRi1ftT0YDN0m0/+RI+2viDoMNcDY8chvJ2M4TZPJsyuC8P9IlWWbKiwVcx4Z3rzAzmig23HHQSFT9ihHt/10QhWlZjXHLwMRIbfByw9swmORBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K7xGr4VByTpYwj3eC2tLck",
      "input": {
        "note": "The right arm did not respond to the last move (readback unchanged). Trying a pure lift first to free it.",
        "targets": {
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01K7xGr4VByTpYwj3eC2tLck",
      "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]: [-0.5781, 1.7645, 0.8833, 0.0631, -0.49, -0.384, 0.0713, 0.7128, 1.8122, 1.1378, -0.0322, 0.1226, 0.0704, 0.9993]\nstate[eef_state]: left_x=0.4054 left_y=-0.161 left_z=0.0555 left_yaw=0.0289 left_pitch=-0.1311 left_roll=0.0706 left_gripper=0.0713 right_x=0.3891 right_y=0.3125 right_z=0.103 right_yaw=0.5557 right_pitch=-0.1429 right_roll=-0.021 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -8.294, 5.7641, 1.453, -0.2466, -0.0464, 1.033, -0.3487, -11.7812, 8.9778, 1.5751, 0.0464, -0.0366, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:060d7012698675db43f3325dfea89623c303826529299752de3bff1d31ad5048",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d1c76fb03113da9fb3308869e95791aaced86fb07e269cbb8f5b6dd305a8827",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f6c1848de2d5eae39cef2346102c82210910d4178666e003902cad23523c7000",
        "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 · 11.56 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]: [-0.5781, 1.7645, 0.8833, 0.0692, -0.49, -0.384, 0.0713, 0.7208, 2.0392, 0.9657, 0.3897, 0.1322, 0.0727, 0.9993]\nstate[eef_state]: left_x=0.4063 left_y=-0.1615 left_z=0.0564 left_yaw=0.0285 left_pitch=-0.1261 left_roll=0.0671 left_gripper=0.0713 right_x=0.3879 right_y=0.3145 right_z=0.0061 right_yaw=0.5549 right_pitch=-0.1193 right_roll=-0.0216 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -8.1983, 5.9692, 1.4628, -0.2613, -0.0708, 1.033, 0.3624, -12.1641, 6.8718, 1.4676, 0.2369, 0.1587, -0.0122]",
      "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]: [-0.5781, 1.7645, 0.8833, 0.0662, -0.49, -0.384, 0.0713, 0.7128, 2.0281, 0.9737, 0.3424, 0.1265, 0.0708, 0.9993]\nstate[eef_state]: left_x=0.4058 left_y=-0.1613 left_z=0.0559 left_yaw=0.0287 left_pitch=-0.1286 left_roll=0.0688 left_gripper=0.0713 right_x=0.3871 right_y=0.3099 right_z=0.0053 right_yaw=0.5521 right_pitch=-0.1477 right_roll=-0.0241 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -8.3077, 5.8598, 1.4725, -0.2418, -0.0611, 1.0281, -0.4171, -13.053, 5.3402, 1.536, -0.0269, -0.0855, -0.0073]",
      "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]: [-0.5781, 1.7645, 0.8833, 0.0631, -0.49, -0.384, 0.0713, 0.7128, 1.8122, 1.1378, -0.0322, 0.1226, 0.0704, 0.9993]\nstate[eef_state]: left_x=0.4054 left_y=-0.161 left_z=0.0555 left_yaw=0.0289 left_pitch=-0.1311 left_roll=0.0706 left_gripper=0.0713 right_x=0.3891 right_y=0.3125 right_z=0.103 right_yaw=0.5557 right_pitch=-0.1429 right_roll=-0.021 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -8.294, 5.7641, 1.453, -0.2466, -0.0464, 1.033, -0.3487, -11.7812, 8.9778, 1.5751, 0.0464, -0.0366, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:060d7012698675db43f3325dfea89623c303826529299752de3bff1d31ad5048",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d1c76fb03113da9fb3308869e95791aaced86fb07e269cbb8f5b6dd305a8827",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6c1848de2d5eae39cef2346102c82210910d4178666e003902cad23523c7000",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSywoKEAgSGAI4AUIIdGhpbmtpbmcSDN/skeJH54iz/D5TJhoMdP7pQ3Nzg6YYRUSNIjCoQ+H67T+8hAQcx954OsuxS/Ne9AjxtusXnth9R3Wf6bpohXoW902klFvDcMmHL30q6AkOJlwVR7FNybyxULTmcI4fbZnB6Nf3U0f8g2LWQ9NSVFFaQYaJCqAA5j44RpHjAn32btRPD/1H39a0mVvvd3s+z0LIv5gSNB+pyOEVInvMCPAhpArLMYpJilVDh9ocXjjA2Frg0sAt7U1WQOphmgwhmrGmMzCogsS25ZaZCz2p8DwRTzcf/fslEpfLE3GXfMv/KGCEUKwxTg5cinKmHC2Uw012/wsG/xsnhKICky5slJLbNQxX833d2m+ywz/iD6B6jPSvUEafMzCi6bFlS8HkRKRzpUyrBm6cjdLIw6WHiajENDEMNKbEINo3GiTgph4LhGkKuzyB3F9kXlU+YINbEcnPz4mqpFR8vLR1aBKFWltcbf38R10DlRqo53CapzPZWjyImNvfdEGfBvun6TSshcR6fC0vjiZkQC2WAsMUqkyADgmd0HsnMsp3MKhoIR+j6jxfcE8YSZ7vvcIKCJSsYCVt+BudOs5v3/u53/XEYjVZcOAIfnaArnle1/MhgBZhGptuWU+fShWQK41PWib+1M/qV3n7RlW9C6F0AhUzJj8TR12+4MIiBJ6R74ut6I+RClbOTGjP1Gw15ItHZOZTJlk313x3plobaZWjg1yo91z/lR9DB/dz4AW9skDSpbWIXUSywAZRBMC7lp4dzyNgdJBco/eZpENYvO/WD0V7SBf3yD+GW3FwT9xE3+d3EL5E8NmOBn3C7Dtlg6riFanf3UP5f3U0GZBd9e9zvJaJbz2C+4cwbN59HfYwtbVQQzKyPEwStyp3RMuemROsQ0xIsoHr4M7IPver8O5hf/8zRasjvmNXvzdragcrjoljywkCcGnMkmppAaDuvkbTP0QUJbPuca5YIeCYg/fo5TRxBHRWPbzGC/vRNtaDeyVnLOUvR8fCEVNMHGjmyNqJWxYTnICYpbQP0AtgCiTN4OmvwHP1DEYRco9YTNJtF6wOMs1vKWedETIV8HteeqU6fkB1LiYb/2RKtPuVoAN2lUzbjAh/fqHKBwbGYuONTz3yEfYQduhFdApsfqrahXkdm37p7CGmJMirCGm2OelaKdIQzw/h4uHCJZPDfDrVaHJO6SAOfzn4Pf/q5dBOIFWqgz1dslU5Oo/JpLKiMtJv3KO9eviAWcnOc43T2tyI55Z0NyQoALny9u8o6pWqLfWKvuu6C9jiwOWas6YfLqFwCFG9LJ86YhndMRBBOfmAH8cHQitv8QszNPt9eoIbgWx7QKlVS5sx6Pwt3jOHbNrB10NxhIdh8HOGD5w6nMeF6/9VKSkh6NsfPGabJr6e2Z/k9h1M8MxdhG2bVk4BoSnq6BZ7a3IIr2ogIih077+nuwYdSnZk+V1+vYfCdj6BDbpiEP6GzVU39PXvzc/aMUqmVMf+OrlpenhA9smdRGtQ4nUIos9UsB6mGmZXBc4K+NWRsZ1/fy3ADLc7NmRGlDjF5ET10TAco9m8hLHBXvVYA7lYrp8ggnPajbFGczHQkJpAVMvHxh4Lkbkx1YJNYsTRSVy4Dpge8pfbXsjBx6W7piFJcgpIJ/2TmqD8hjgEznYl1nrRmafBISvley3/t0uQ3FN6GrvS35V8c1ZRfWcosdxr/cZjpaogwAikawnXo8jygFwa3R+FcDo1ZNkg0WjHB86QDGyJi1U5JylHww7B8+MUn3tyJC3lBp8oORgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012NwkyjsSTWsYLuAuExcGHJ",
      "input": {
        "note": "The two grippers are crowding each other over the pen. Moving the left arm (holding the cap) back to its side so the right arm has room and the overhead view clears.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.05,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_012NwkyjsSTWsYLuAuExcGHJ",
      "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]: [-0.3897, 1.0176, 0.6659, -0.355, -0.3752, -0.2661, 0.0713, 0.7132, 1.8114, 1.1355, -0.0513, 0.1188, 0.07, 0.9993]\nstate[eef_state]: left_x=0.313 left_y=-0.0547 left_z=0.1565 left_yaw=0.057 left_pitch=-0.0787 left_roll=0.0379 left_gripper=0.0713 right_x=0.3858 right_y=0.3107 right_z=0.0989 right_yaw=0.5591 right_pitch=-0.1636 right_roll=-0.022 right_gripper=0.9993\nstate[joint_eff]: [0.3077, -2.4957, 6.7077, 1.5653, -0.0464, 0.1832, 1.0281, -0.212, -9.3607, 6.6803, 1.8926, 0.0952, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb576377ff4b779442331f1e533f50579a6fbd7e4381164257fd03dd080d6888",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5be09933a1e50756db13a10b9611c4bf27c18526b9e73fc79e87513cc444131b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fde02be968aa0c9cc61c9375c132ac1b954ce73cc61553e5a2a284c757757e36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 6.533 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]: [-0.5781, 1.7645, 0.8833, 0.0662, -0.49, -0.384, 0.0713, 0.7128, 2.0281, 0.9737, 0.3424, 0.1265, 0.0708, 0.9993]\nstate[eef_state]: left_x=0.4058 left_y=-0.1613 left_z=0.0559 left_yaw=0.0287 left_pitch=-0.1286 left_roll=0.0688 left_gripper=0.0713 right_x=0.3871 right_y=0.3099 right_z=0.0053 right_yaw=0.5521 right_pitch=-0.1477 right_roll=-0.0241 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -8.3077, 5.8598, 1.4725, -0.2418, -0.0611, 1.0281, -0.4171, -13.053, 5.3402, 1.536, -0.0269, -0.0855, -0.0073]",
      "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]: [-0.5781, 1.7645, 0.8833, 0.0631, -0.49, -0.384, 0.0713, 0.7128, 1.8122, 1.1378, -0.0322, 0.1226, 0.0704, 0.9993]\nstate[eef_state]: left_x=0.4054 left_y=-0.161 left_z=0.0555 left_yaw=0.0289 left_pitch=-0.1311 left_roll=0.0706 left_gripper=0.0713 right_x=0.3891 right_y=0.3125 right_z=0.103 right_yaw=0.5557 right_pitch=-0.1429 right_roll=-0.021 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -8.294, 5.7641, 1.453, -0.2466, -0.0464, 1.033, -0.3487, -11.7812, 8.9778, 1.5751, 0.0464, -0.0366, -0.0073]\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 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]: [-0.3897, 1.0176, 0.6659, -0.355, -0.3752, -0.2661, 0.0713, 0.7132, 1.8114, 1.1355, -0.0513, 0.1188, 0.07, 0.9993]\nstate[eef_state]: left_x=0.313 left_y=-0.0547 left_z=0.1565 left_yaw=0.057 left_pitch=-0.0787 left_roll=0.0379 left_gripper=0.0713 right_x=0.3858 right_y=0.3107 right_z=0.0989 right_yaw=0.5591 right_pitch=-0.1636 right_roll=-0.022 right_gripper=0.9993\nstate[joint_eff]: [0.3077, -2.4957, 6.7077, 1.5653, -0.0464, 0.1832, 1.0281, -0.212, -9.3607, 6.6803, 1.8926, 0.0952, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb576377ff4b779442331f1e533f50579a6fbd7e4381164257fd03dd080d6888",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5be09933a1e50756db13a10b9611c4bf27c18526b9e73fc79e87513cc444131b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fde02be968aa0c9cc61c9375c132ac1b954ce73cc61553e5a2a284c757757e36",
        "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_01TB8K24wkAioHrejMtdjFS7",
      "input": {
        "note": "Cap appears held in the left gripper (no cap left on the table). Right wrist view shows the pen to the lower right, tilted; shifting ~3 cm to the tool's right and yawing a bit more to line the jaws up across it.",
        "targets": {
          "right_x": 0.402,
          "right_y": 0.284,
          "right_yaw": 0.8,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01TB8K24wkAioHrejMtdjFS7",
      "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]: [-0.3874, 1.0233, 0.6643, -0.3981, -0.3656, -0.2611, 0.0713, 0.5739, 1.8271, 1.0977, -0.0154, -0.0784, -0.1013, 0.9993]\nstate[eef_state]: left_x=0.3067 left_y=-0.053 left_z=0.1462 left_yaw=0.0511 left_pitch=-0.127 left_roll=0.0577 left_gripper=0.0713 right_x=0.4026 right_y=0.281 right_z=0.0821 right_yaw=0.6816 right_pitch=-0.1846 right_roll=-0.0175 right_gripper=0.9993\nstate[joint_eff]: [-0.4171, -2.6598, 7.1043, 1.9658, -0.2759, -0.0904, 1.0281, -0.1026, -8.4855, 6.2427, 1.8535, -0.1636, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c913839789f2c646a7518936049879e12219f2fb3d199549d5b8c1504d4cd66e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4979d70487b2affe0f376c846048344a6ca98dc88cc40bda9b465b8f78ad3d92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0b7c0577dec0043e3ff7c3d812f4caf2e7a73ad33b3d7e6238db77705d93ccf6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 7.456 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]: [-0.5781, 1.7645, 0.8833, 0.0631, -0.49, -0.384, 0.0713, 0.7128, 1.8122, 1.1378, -0.0322, 0.1226, 0.0704, 0.9993]\nstate[eef_state]: left_x=0.4054 left_y=-0.161 left_z=0.0555 left_yaw=0.0289 left_pitch=-0.1311 left_roll=0.0706 left_gripper=0.0713 right_x=0.3891 right_y=0.3125 right_z=0.103 right_yaw=0.5557 right_pitch=-0.1429 right_roll=-0.021 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -8.294, 5.7641, 1.453, -0.2466, -0.0464, 1.033, -0.3487, -11.7812, 8.9778, 1.5751, 0.0464, -0.0366, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.3897, 1.0176, 0.6659, -0.355, -0.3752, -0.2661, 0.0713, 0.7132, 1.8114, 1.1355, -0.0513, 0.1188, 0.07, 0.9993]\nstate[eef_state]: left_x=0.313 left_y=-0.0547 left_z=0.1565 left_yaw=0.057 left_pitch=-0.0787 left_roll=0.0379 left_gripper=0.0713 right_x=0.3858 right_y=0.3107 right_z=0.0989 right_yaw=0.5591 right_pitch=-0.1636 right_roll=-0.022 right_gripper=0.9993\nstate[joint_eff]: [0.3077, -2.4957, 6.7077, 1.5653, -0.0464, 0.1832, 1.0281, -0.212, -9.3607, 6.6803, 1.8926, 0.0952, -0.0708, -0.0073]",
      "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]: [-0.3874, 1.0233, 0.6643, -0.3981, -0.3656, -0.2611, 0.0713, 0.5739, 1.8271, 1.0977, -0.0154, -0.0784, -0.1013, 0.9993]\nstate[eef_state]: left_x=0.3067 left_y=-0.053 left_z=0.1462 left_yaw=0.0511 left_pitch=-0.127 left_roll=0.0577 left_gripper=0.0713 right_x=0.4026 right_y=0.281 right_z=0.0821 right_yaw=0.6816 right_pitch=-0.1846 right_roll=-0.0175 right_gripper=0.9993\nstate[joint_eff]: [-0.4171, -2.6598, 7.1043, 1.9658, -0.2759, -0.0904, 1.0281, -0.1026, -8.4855, 6.2427, 1.8535, -0.1636, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c913839789f2c646a7518936049879e12219f2fb3d199549d5b8c1504d4cd66e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4979d70487b2affe0f376c846048344a6ca98dc88cc40bda9b465b8f78ad3d92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b7c0577dec0043e3ff7c3d812f4caf2e7a73ad33b3d7e6238db77705d93ccf6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxwoKEAgSGAI4AUIIdGhpbmtpbmcSDGwiHCx/1x+/RZfmeRoMF5IEmrEpbmbrl93rIjBDpJAq4N3LMXx4LJo+fhxewTsuxzeGwj/8LU3tBh9Apl9l5Lw0CLYdqJP8I/d3Q6Yq5Algs7KzMv90AZUKLCqlq428PbK8fw3vU3bJxQu1RYr9CNsk1Thn/TXg8A634WjArGV9NYIq8FBcuPVP9tqk3XKCBtdTweI+cc4SwCTaLwd2px+KedZeL/8rye9LBeQAO3KasCfMQprsQenm+l6JSAshAhEO1gxkxpWXaLIcPNFaaYU5T9dCJNmZFDSadkqLYGacSSp1MvXP4TxXPoUpiz9zTNeokCyU+dUcLTGkygCZqPCQ7btprpTo5sz1lWbtmPAgO5ECNx5PZ+/r0OapybURZhigs7z+4MfMJudprKGupGyNRdoMvNBki30D7xk/xlYaY+DVFJ/TcW0SU8vcf3vFWlZObbnDxBCk7y8kZdvjGDii3EOztcjAFxYbYgwQcy5jTtamgaO/jxymURclgJR42p2tRATlkbAz1cghqZVApV0SuNzwBTlT/hlo2gN6asokvmsCbrDusYF0W7BJ7bFD4nnRt6e7QLJ3UtkzioAyZgW3zTz6K+lyMUGLUaDtQdPVrLbJgAPwqRVORAuXckkqSVdVvm/7t9EjzFkg32KxUqmnWiMTQHkZ3v510IyZWEZFanZmwj7cEPnS6yX8pYv9lCwcPuV3Xlr4huPJSoTZwEmUxR6aX1FQNVxBPTdGyB8XrLOHi1cF7cvoe9BNR4TZCOvwWbyzWxNLU/VvVJ/U/N3Y+x/Qb/UkWY2wGCFUWu6cP47DOn6HtEMjDTWaYX1IMRkKwbuIMXqJaU2x+np6rTAojQj8kZc0K6eKiczMDnFUpDeUtuIOe87Hdmb5LtuDbAZevmNB2LK3Cl2PkVXItpU0zrBjI//VDhHYKXncNYyhtRuHQGXdg77rt7bKLerbqIkH+HdQLRqj611dBuw1VNNVan+yLioa2mPfOmqu3Uh6XyB2a0OqNn0yPCKegGHxQyqAaDrw7E+G4iVkXiKZgr/+596iTM66gRYtHA2JRqzYYp3rhtW9wDYeSmONPUnZY1WOZOvDXGVyhwG04Uta75Oq4/HlQ4xnCeS3XBTTfggKdMQ+m04VwjkGkCeVe+KdiUaiOVu6VWmmthx582s5O0zOfP6Zo7k/8IUhNE17OrGtXOEUm8J/7pJUFye3szrmJ/ghCHoPhX9ZvQsj52I34OIsVjbRzBZR1mBK3wP/TQe3s7NwZbI6IdTOtHjSvTBUTrF98QU4IHu1Xi4AsOUk05jD1Fqu6Vb7O1xmLnd58t1LvxzW8tw7j7EybORzvHkVqslNb+ECY5HLVjG+UZlj56p1dULvj6JCM5hwaYlD4tc+0MY7YNtE1iyQ0vx5ESQ8/kxuobxlKr8IaqyHJWr2uDUzhEjXi56UbRsEV37CqR7adS5ylCsGAaMDiC9zLcF63ajd/eyxqpiFD7kFfy3LEcMhs5X9+5czkVWpVp9gGfNVCRTVXWo18KxX+6gX8ZtCuW2uTFp2iZy+3AC1pSbhw4Y553Xysb0o5mOc9l6F5/IkoKEfh1gR4DEztpBpSRZYZW8HDM1cYvY6TqhTRy1rBiqFa1T+1QcMrzyyH8DuIHkNnUvaOZ/64fiGYMQN/gckWVsIz4Ff45gT1ZIijNSzq4AU6loRqWr4Od+sWTikjbSiE44T/DbJRxm8GYfGAuE5T7BSay6Hs9nFQuKXl2yXYIn3rjohh6x887kxnn9uOMrapskmGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ji8GDn1tQi3A8T648Y2hUG",
      "input": {
        "note": "Pen tip is still right of the jaw column in the right wrist view. Shifting another ~3 cm to the tool's right.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.258,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Ji8GDn1tQi3A8T648Y2hUG",
      "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]: [-0.3874, 1.0225, 0.6643, -0.382, -0.3656, -0.2699, 0.0713, 0.5259, 1.8393, 1.0863, -0.0181, -0.1726, -0.1867, 0.9993]\nstate[eef_state]: left_x=0.309 left_y=-0.054 left_z=0.1492 left_yaw=0.055 left_pitch=-0.1116 left_roll=0.0436 left_gripper=0.0713 right_x=0.4024 right_y=0.2728 right_z=0.0728 right_yaw=0.7614 right_pitch=-0.1994 right_roll=-0.0116 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -2.6188, 7.0496, 1.37, -0.2173, 0.0757, 1.0281, -1.7573, -9.2103, 8.0479, 1.663, 0.1148, 0.2369, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90af4aebb277cb3a0beae235dfea932bd9ae00a9a0d1b2064b7b4f06d6f23ae7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f504fc1498526af327e0ec933b07ec934b3b0bed40313f3e454939f9f56ca78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6693fcff33e81b8808ee3ae8b6c66a1e485a5726ac5c97bd0ab8d6cf4b252bfe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 8.106 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]: [-0.3897, 1.0176, 0.6659, -0.355, -0.3752, -0.2661, 0.0713, 0.7132, 1.8114, 1.1355, -0.0513, 0.1188, 0.07, 0.9993]\nstate[eef_state]: left_x=0.313 left_y=-0.0547 left_z=0.1565 left_yaw=0.057 left_pitch=-0.0787 left_roll=0.0379 left_gripper=0.0713 right_x=0.3858 right_y=0.3107 right_z=0.0989 right_yaw=0.5591 right_pitch=-0.1636 right_roll=-0.022 right_gripper=0.9993\nstate[joint_eff]: [0.3077, -2.4957, 6.7077, 1.5653, -0.0464, 0.1832, 1.0281, -0.212, -9.3607, 6.6803, 1.8926, 0.0952, -0.0708, -0.0073]",
      "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]: [-0.3874, 1.0233, 0.6643, -0.3981, -0.3656, -0.2611, 0.0713, 0.5739, 1.8271, 1.0977, -0.0154, -0.0784, -0.1013, 0.9993]\nstate[eef_state]: left_x=0.3067 left_y=-0.053 left_z=0.1462 left_yaw=0.0511 left_pitch=-0.127 left_roll=0.0577 left_gripper=0.0713 right_x=0.4026 right_y=0.281 right_z=0.0821 right_yaw=0.6816 right_pitch=-0.1846 right_roll=-0.0175 right_gripper=0.9993\nstate[joint_eff]: [-0.4171, -2.6598, 7.1043, 1.9658, -0.2759, -0.0904, 1.0281, -0.1026, -8.4855, 6.2427, 1.8535, -0.1636, -0.0513, -0.0122]",
      "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]: [-0.3874, 1.0225, 0.6643, -0.382, -0.3656, -0.2699, 0.0713, 0.5259, 1.8393, 1.0863, -0.0181, -0.1726, -0.1867, 0.9993]\nstate[eef_state]: left_x=0.309 left_y=-0.054 left_z=0.1492 left_yaw=0.055 left_pitch=-0.1116 left_roll=0.0436 left_gripper=0.0713 right_x=0.4024 right_y=0.2728 right_z=0.0728 right_yaw=0.7614 right_pitch=-0.1994 right_roll=-0.0116 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -2.6188, 7.0496, 1.37, -0.2173, 0.0757, 1.0281, -1.7573, -9.2103, 8.0479, 1.663, 0.1148, 0.2369, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90af4aebb277cb3a0beae235dfea932bd9ae00a9a0d1b2064b7b4f06d6f23ae7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f504fc1498526af327e0ec933b07ec934b3b0bed40313f3e454939f9f56ca78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6693fcff33e81b8808ee3ae8b6c66a1e485a5726ac5c97bd0ab8d6cf4b252bfe",
        "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_0145Qd6Bk9HNxBgwa9r9pQ5t",
      "input": {
        "note": "The pen-like object in the right wrist view hasn't moved in the image across several moves, so it may be caught on the right jaw. Lifting and pulling the right arm back to check the overhead view for the pen.",
        "targets": {
          "right_x": 0.32,
          "right_y": 0.2,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_0145Qd6Bk9HNxBgwa9r9pQ5t",
      "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]: [-0.3874, 1.0229, 0.6643, -0.382, -0.3653, -0.2707, 0.0713, 0.4927, 1.8393, 1.0863, -0.0257, -0.1467, -0.1684, 0.9993]\nstate[eef_state]: left_x=0.309 left_y=-0.0541 left_z=0.1491 left_yaw=0.0551 left_pitch=-0.112 left_roll=0.043 left_gripper=0.0713 right_x=0.4127 right_y=0.2549 right_z=0.0709 right_yaw=0.6964 right_pitch=-0.2108 right_roll=-0.0145 right_gripper=0.9993\nstate[joint_eff]: [-0.1299, -2.7692, 6.8991, 1.5263, -0.1783, -0.0122, 1.033, -0.1299, -8.9231, 8.0479, 1.5946, -0.022, 0.1001, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9216b415f26034bbe329d43eeb2ecd66068eb0d76f2ce4f5620ef85b987ffcb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a83026041e38321afb269d81af8b663ffdfb87da5018ef04e1718ee2ad64094c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c4430b9d8fda9bc8ce74a6f2366d37f55589d351e0348b42e69ca4393fc57d92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 7.598 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]: [-0.3874, 1.0233, 0.6643, -0.3981, -0.3656, -0.2611, 0.0713, 0.5739, 1.8271, 1.0977, -0.0154, -0.0784, -0.1013, 0.9993]\nstate[eef_state]: left_x=0.3067 left_y=-0.053 left_z=0.1462 left_yaw=0.0511 left_pitch=-0.127 left_roll=0.0577 left_gripper=0.0713 right_x=0.4026 right_y=0.281 right_z=0.0821 right_yaw=0.6816 right_pitch=-0.1846 right_roll=-0.0175 right_gripper=0.9993\nstate[joint_eff]: [-0.4171, -2.6598, 7.1043, 1.9658, -0.2759, -0.0904, 1.0281, -0.1026, -8.4855, 6.2427, 1.8535, -0.1636, -0.0513, -0.0122]",
      "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]: [-0.3874, 1.0225, 0.6643, -0.382, -0.3656, -0.2699, 0.0713, 0.5259, 1.8393, 1.0863, -0.0181, -0.1726, -0.1867, 0.9993]\nstate[eef_state]: left_x=0.309 left_y=-0.054 left_z=0.1492 left_yaw=0.055 left_pitch=-0.1116 left_roll=0.0436 left_gripper=0.0713 right_x=0.4024 right_y=0.2728 right_z=0.0728 right_yaw=0.7614 right_pitch=-0.1994 right_roll=-0.0116 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -2.6188, 7.0496, 1.37, -0.2173, 0.0757, 1.0281, -1.7573, -9.2103, 8.0479, 1.663, 0.1148, 0.2369, -0.0122]",
      "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]: [-0.3874, 1.0229, 0.6643, -0.382, -0.3653, -0.2707, 0.0713, 0.4927, 1.8393, 1.0863, -0.0257, -0.1467, -0.1684, 0.9993]\nstate[eef_state]: left_x=0.309 left_y=-0.0541 left_z=0.1491 left_yaw=0.0551 left_pitch=-0.112 left_roll=0.043 left_gripper=0.0713 right_x=0.4127 right_y=0.2549 right_z=0.0709 right_yaw=0.6964 right_pitch=-0.2108 right_roll=-0.0145 right_gripper=0.9993\nstate[joint_eff]: [-0.1299, -2.7692, 6.8991, 1.5263, -0.1783, -0.0122, 1.033, -0.1299, -8.9231, 8.0479, 1.5946, -0.022, 0.1001, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9216b415f26034bbe329d43eeb2ecd66068eb0d76f2ce4f5620ef85b987ffcb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a83026041e38321afb269d81af8b663ffdfb87da5018ef04e1718ee2ad64094c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4430b9d8fda9bc8ce74a6f2366d37f55589d351e0348b42e69ca4393fc57d92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01A2nia3uEv4ZX9zm1n1mbJy",
      "input": {
        "note": "The right arm is only tracking small moves, but the pen now lies between the open jaws in the right wrist view. Descending to table level to grasp it.",
        "targets": {
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01A2nia3uEv4ZX9zm1n1mbJy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3874, 1.0248, 0.6643, -0.3817, -0.3656, -0.2707, 0.0713, 0.4984, 1.8442, 1.0702, 0.0013, -0.1436, -0.1692, 0.9993]\nstate[eef_state]: left_x=0.3092 left_y=-0.054 left_z=0.1486 left_yaw=0.0555 left_pitch=-0.1133 left_roll=0.0439 left_gripper=0.0713 right_x=0.4112 right_y=0.2567 right_z=0.067 right_yaw=0.6997 right_pitch=-0.2053 right_roll=-0.0185 right_gripper=0.9993\nstate[joint_eff]: [0.0068, -2.865, 6.8444, 1.5458, -0.2027, -0.0366, 1.0281, -0.759, -7.2821, 5.0256, 1.5556, -0.1099, -0.0073, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0fd90fb88db3cf39e56d03e19d59ae9bf34f203ebfa60ab21fa1e6d576ad022",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a67b694408c74d13d457efa440aa4751498a9bba145bcf1a230339e5619fb9b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3b1714f22884cd4db37a59b07a66ed4d28b9ae21cdff861f2ec1981525c8e2b3",
        "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 · 6.58 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]: [-0.3874, 1.0225, 0.6643, -0.382, -0.3656, -0.2699, 0.0713, 0.5259, 1.8393, 1.0863, -0.0181, -0.1726, -0.1867, 0.9993]\nstate[eef_state]: left_x=0.309 left_y=-0.054 left_z=0.1492 left_yaw=0.055 left_pitch=-0.1116 left_roll=0.0436 left_gripper=0.0713 right_x=0.4024 right_y=0.2728 right_z=0.0728 right_yaw=0.7614 right_pitch=-0.1994 right_roll=-0.0116 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -2.6188, 7.0496, 1.37, -0.2173, 0.0757, 1.0281, -1.7573, -9.2103, 8.0479, 1.663, 0.1148, 0.2369, -0.0122]",
      "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]: [-0.3874, 1.0229, 0.6643, -0.382, -0.3653, -0.2707, 0.0713, 0.4927, 1.8393, 1.0863, -0.0257, -0.1467, -0.1684, 0.9993]\nstate[eef_state]: left_x=0.309 left_y=-0.0541 left_z=0.1491 left_yaw=0.0551 left_pitch=-0.112 left_roll=0.043 left_gripper=0.0713 right_x=0.4127 right_y=0.2549 right_z=0.0709 right_yaw=0.6964 right_pitch=-0.2108 right_roll=-0.0145 right_gripper=0.9993\nstate[joint_eff]: [-0.1299, -2.7692, 6.8991, 1.5263, -0.1783, -0.0122, 1.033, -0.1299, -8.9231, 8.0479, 1.5946, -0.022, 0.1001, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.3874, 1.0248, 0.6643, -0.3817, -0.3656, -0.2707, 0.0713, 0.4984, 1.8442, 1.0702, 0.0013, -0.1436, -0.1692, 0.9993]\nstate[eef_state]: left_x=0.3092 left_y=-0.054 left_z=0.1486 left_yaw=0.0555 left_pitch=-0.1133 left_roll=0.0439 left_gripper=0.0713 right_x=0.4112 right_y=0.2567 right_z=0.067 right_yaw=0.6997 right_pitch=-0.2053 right_roll=-0.0185 right_gripper=0.9993\nstate[joint_eff]: [0.0068, -2.865, 6.8444, 1.5458, -0.2027, -0.0366, 1.0281, -0.759, -7.2821, 5.0256, 1.5556, -0.1099, -0.0073, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0fd90fb88db3cf39e56d03e19d59ae9bf34f203ebfa60ab21fa1e6d576ad022",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a67b694408c74d13d457efa440aa4751498a9bba145bcf1a230339e5619fb9b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b1714f22884cd4db37a59b07a66ed4d28b9ae21cdff861f2ec1981525c8e2b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015ZtNHbHFTW2zjswi2QPf2o",
      "input": {
        "note": "Right arm is stalling; the yaw target may be hard for the IK. Reducing yaw slightly and descending toward the pen, which lies between the jaws.",
        "targets": {
          "right_yaw": 0.6,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_015ZtNHbHFTW2zjswi2QPf2o",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3874, 1.0294, 0.6548, -0.3805, -0.3653, -0.271, 0.0713, 0.5064, 1.903, 1.0283, 0.0589, -0.131, -0.1608, 0.9993]\nstate[eef_state]: left_x=0.3078 left_y=-0.0535 left_z=0.1435 left_yaw=0.0561 left_pitch=-0.1251 left_roll=0.0489 left_gripper=0.0713 right_x=0.4045 right_y=0.2548 right_z=0.0336 right_yaw=0.6942 right_pitch=-0.2493 right_roll=-0.0129 right_gripper=0.9993\nstate[joint_eff]: [0.0068, -3.1658, 7.7333, 1.4921, -0.1685, -0.0562, 1.0281, 0.1026, -12.4239, 7.0496, 1.4579, 0.0757, 0.1587, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75f59f7a64583fb64a28f5f569acab8db7b11a3071d7ed90a45b3948eeb3406a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e76a251fc590e38776f5cfcafd48e561a085a5327e688da17ea8127ed14a3ce4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:21a1c385144a0162ebf95ef67aad45c0a5bfe450af27ceb1f19441fdb25be00e",
        "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 · 6.621 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]: [-0.3874, 1.0229, 0.6643, -0.382, -0.3653, -0.2707, 0.0713, 0.4927, 1.8393, 1.0863, -0.0257, -0.1467, -0.1684, 0.9993]\nstate[eef_state]: left_x=0.309 left_y=-0.0541 left_z=0.1491 left_yaw=0.0551 left_pitch=-0.112 left_roll=0.043 left_gripper=0.0713 right_x=0.4127 right_y=0.2549 right_z=0.0709 right_yaw=0.6964 right_pitch=-0.2108 right_roll=-0.0145 right_gripper=0.9993\nstate[joint_eff]: [-0.1299, -2.7692, 6.8991, 1.5263, -0.1783, -0.0122, 1.033, -0.1299, -8.9231, 8.0479, 1.5946, -0.022, 0.1001, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3874, 1.0248, 0.6643, -0.3817, -0.3656, -0.2707, 0.0713, 0.4984, 1.8442, 1.0702, 0.0013, -0.1436, -0.1692, 0.9993]\nstate[eef_state]: left_x=0.3092 left_y=-0.054 left_z=0.1486 left_yaw=0.0555 left_pitch=-0.1133 left_roll=0.0439 left_gripper=0.0713 right_x=0.4112 right_y=0.2567 right_z=0.067 right_yaw=0.6997 right_pitch=-0.2053 right_roll=-0.0185 right_gripper=0.9993\nstate[joint_eff]: [0.0068, -2.865, 6.8444, 1.5458, -0.2027, -0.0366, 1.0281, -0.759, -7.2821, 5.0256, 1.5556, -0.1099, -0.0073, -0.0122]\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 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]: [-0.3874, 1.0294, 0.6548, -0.3805, -0.3653, -0.271, 0.0713, 0.5064, 1.903, 1.0283, 0.0589, -0.131, -0.1608, 0.9993]\nstate[eef_state]: left_x=0.3078 left_y=-0.0535 left_z=0.1435 left_yaw=0.0561 left_pitch=-0.1251 left_roll=0.0489 left_gripper=0.0713 right_x=0.4045 right_y=0.2548 right_z=0.0336 right_yaw=0.6942 right_pitch=-0.2493 right_roll=-0.0129 right_gripper=0.9993\nstate[joint_eff]: [0.0068, -3.1658, 7.7333, 1.4921, -0.1685, -0.0562, 1.0281, 0.1026, -12.4239, 7.0496, 1.4579, 0.0757, 0.1587, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75f59f7a64583fb64a28f5f569acab8db7b11a3071d7ed90a45b3948eeb3406a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e76a251fc590e38776f5cfcafd48e561a085a5327e688da17ea8127ed14a3ce4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21a1c385144a0162ebf95ef67aad45c0a5bfe450af27ceb1f19441fdb25be00e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS/QoKEAgSGAI4AUIIdGhpbmtpbmcSDB68KRzw8MSgFbpiBhoMjzH7DjXFQs/z9SWgIjA4wP6XN0TbHqJUuvA7yjwZ3B9uN9Y4R0sSwDjZ6lnKmN/h8G9iaSmZEzL/EDzzG2Mqmgpx4XKoyKCOM+2hPm2LIl+DVLMvnaqIxHp9qjkJX8v8Pqn37ehkCXRC+YL+DY1js7e11Y6Xr9t6ydOwx79M1Rz28ywU4ZVxNYT0FVCDwv82wslgq0fXzBXZCcOvPslzsW/xLx7yxBkl/ULPKq2qmoO/mM8lJAenIQA6wTuBDjbrWwHmJIh+8FwtxsLZ0s5RzvzqdaDDVIlTmIZgHlvYF+E0Z18QdZbmXz1Og2elQwS7sqWe+RmiU6qrv+AQ3rWoGhPBE/HbOcCZD33ziwfnPzXNHcyTlKHhDvuuDSjBpLZe465UyQuNFqAki9BwyxI45egvDH8k8mzSmMzUQfWSHdfnOXLozEACp1aDkJMhj6UEhhVdYXBg+Mp/W795uCBU5g8ZuQeGqxWkHuoe7clZncRX0/Wj/tSUkNtFxbbzwjIY7B0bjgAZp9tqe0YdVvq0c5xitpae8NybTHiazFRCyTkFVSH9EmBDuWHf01MPIzKpiVBXX/O+Y2XGkdzKXvF7weMAa9b2ERgBD+2AtmVY517o2gG6ga4mmKQTiYxIREnoR8GA7lf9h6pQmj1+at8FNJ8ONTLVCCxm2UenHpolORGzukFA+Xg8meBIISScvLbwr7F8ZfxSo43IvIxefCdnjHdpkuqpgk5wv5JgMWGinP56j9yoylNZEyu/I4RXj9oNAFig1MWjEMDeJxW1E7uwtK9ez8btcW0LHgE6lk4MHeuZtwHBTh0ch1CBwHc8ckx7OOUE9sEt2HHFUEljK+qoxnj1W2uPbG4+uy0bzO2sbe29PZW5TEGj3psOtDeBimMjFjagLcoZMXCtQHaiUX/J2Hvsocu2BLicVzuccRxcFVW7K8P97XtnDzGNcaWuJxdw5g5SUIATG7q0uDOIxdW+/2CnbAPWByNqiXyvK4kJqxumgaI/BN1SeikZu5eRaI199P9jX5do6mAljegUbduN7TVH9toVwOCFY9QBx4Qpi5KqHalHL4Zhz82yjJJP20Lma/szexF+4IE5V7PFx7tg1tKR3cIPN8qzwGigBfuwZqICscZJ1u0WEBSG79k7aIzi5KcIXN+1b+ThweXIDYL8SqC50L+kVDzH6caHwU5/fj2vkLYHzr9tKlN3KXgEChFHre/aAtOlCqVbRXmsLSBzzOELJUQ3DnytZDmFvpGWSICgtkQNoTo6gDdSBjjMJe+IUd4H9GojUdo/DM8l5Jt8GVySqcNEGUP114JjLV+nT0AL2sRPVJS3NBsuGohG3o4iiLS5G9U0WFGaDoll1VPJ2YUaRGYpQQD/q7DIuY7BlCE01jBAWi6As/HeRyDr/VhNFkLtvBW0LGjfno1dx7bfPPN5BAG273ElgOZFCOM/MRf9fn39Ij8UaAbvaPm8S1+u+/b+/PO4qGXAvOcJEI964FSJMoYq4fXh5C/nKDzFpnCZIPEV1l9drGyuubzSKQBMMuiKOBzECuHEz2bZw1qIirKyeZrqdc5glrCzxNdCOS3hAo/hkKDkg78BkAtFusf5Q01dDgN9PHxEHX7jV/Wua9APlhzRg/LWlOclr0M1Qd/7zFPv1VebKjuhGbuuBaa47ekc+sva9wBQqFc3lP0u/44EKjOLX4YPAnfc/b0NdOEP6XoObY1X0fckIjIPqQjhvT3fEYZDCj+zhu+66UAgEmkJq3K2rRQGVbfY1LRS7YA0f3wdZCKfkDLW6fqoBUxceGvhqQTazVH/FOnBAaWgAHsQg/SPJSYef4TzGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SkPuyBwyWSetNPVWQdyC4B",
      "input": {
        "note": "Pen is visible running into the right jaw, i.e. right of the jaw column. Shifting ~2.5 cm to the tool's right so the pen sits centred between the jaws.",
        "targets": {
          "right_x": 0.418,
          "right_y": 0.236,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01SkPuyBwyWSetNPVWQdyC4B",
      "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]: [-0.3874, 1.0298, 0.6548, -0.3805, -0.3656, -0.271, 0.0713, 0.5064, 1.8992, 1.0283, 0.0566, -0.1276, -0.1566, 0.9993]\nstate[eef_state]: left_x=0.3078 left_y=-0.0535 left_z=0.1434 left_yaw=0.0564 left_pitch=-0.1253 left_roll=0.0493 left_gripper=0.0713 right_x=0.4047 right_y=0.2543 right_z=0.0349 right_yaw=0.6888 right_pitch=-0.2483 right_roll=-0.0127 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -2.4957, 6.8581, 1.5507, -0.2173, -0.0513, 1.033, -0.0342, -12.0957, 7.0496, 1.4579, 0.0708, 0.1734, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68595bfb7be81e590891956b4871867e118e5d8eeced8836d065b4cbe85cb174",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eccf8382d07f236639f2c58212487d48b51b0fcef7589a74c32c934db7c60445",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a31c820b45bab1ac3c0ebfc42b0661603937e4d055d375c5baca781c7f5b0f6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 6.03 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]: [-0.3874, 1.0248, 0.6643, -0.3817, -0.3656, -0.2707, 0.0713, 0.4984, 1.8442, 1.0702, 0.0013, -0.1436, -0.1692, 0.9993]\nstate[eef_state]: left_x=0.3092 left_y=-0.054 left_z=0.1486 left_yaw=0.0555 left_pitch=-0.1133 left_roll=0.0439 left_gripper=0.0713 right_x=0.4112 right_y=0.2567 right_z=0.067 right_yaw=0.6997 right_pitch=-0.2053 right_roll=-0.0185 right_gripper=0.9993\nstate[joint_eff]: [0.0068, -2.865, 6.8444, 1.5458, -0.2027, -0.0366, 1.0281, -0.759, -7.2821, 5.0256, 1.5556, -0.1099, -0.0073, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.3874, 1.0294, 0.6548, -0.3805, -0.3653, -0.271, 0.0713, 0.5064, 1.903, 1.0283, 0.0589, -0.131, -0.1608, 0.9993]\nstate[eef_state]: left_x=0.3078 left_y=-0.0535 left_z=0.1435 left_yaw=0.0561 left_pitch=-0.1251 left_roll=0.0489 left_gripper=0.0713 right_x=0.4045 right_y=0.2548 right_z=0.0336 right_yaw=0.6942 right_pitch=-0.2493 right_roll=-0.0129 right_gripper=0.9993\nstate[joint_eff]: [0.0068, -3.1658, 7.7333, 1.4921, -0.1685, -0.0562, 1.0281, 0.1026, -12.4239, 7.0496, 1.4579, 0.0757, 0.1587, -0.0122]",
      "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]: [-0.3874, 1.0298, 0.6548, -0.3805, -0.3656, -0.271, 0.0713, 0.5064, 1.8992, 1.0283, 0.0566, -0.1276, -0.1566, 0.9993]\nstate[eef_state]: left_x=0.3078 left_y=-0.0535 left_z=0.1434 left_yaw=0.0564 left_pitch=-0.1253 left_roll=0.0493 left_gripper=0.0713 right_x=0.4047 right_y=0.2543 right_z=0.0349 right_yaw=0.6888 right_pitch=-0.2483 right_roll=-0.0127 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -2.4957, 6.8581, 1.5507, -0.2173, -0.0513, 1.033, -0.0342, -12.0957, 7.0496, 1.4579, 0.0708, 0.1734, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68595bfb7be81e590891956b4871867e118e5d8eeced8836d065b4cbe85cb174",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eccf8382d07f236639f2c58212487d48b51b0fcef7589a74c32c934db7c60445",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a31c820b45bab1ac3c0ebfc42b0661603937e4d055d375c5baca781c7f5b0f6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UPkQxFe4zrJyzbRhVLvGP1",
      "input": {
        "note": "Lateral moves of the right arm are being held, but descents work. Lowering to table level; the pen lies near the right jaw, and a parallel close should sweep it to the centre.",
        "targets": {
          "right_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01UPkQxFe4zrJyzbRhVLvGP1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3874, 1.0298, 0.6533, -0.3798, -0.3653, -0.2707, 0.0713, 0.5064, 1.8988, 1.0283, 0.0528, -0.1242, -0.1535, 0.9993]\nstate[eef_state]: left_x=0.3076 left_y=-0.0535 left_z=0.1428 left_yaw=0.056 left_pitch=-0.1261 left_roll=0.0497 left_gripper=0.0713 right_x=0.4045 right_y=0.2535 right_z=0.0344 right_yaw=0.6843 right_pitch=-0.2521 right_roll=-0.0124 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -2.7829, 7.1453, 1.5116, -0.1587, -0.0464, 1.0281, 0.0615, -11.9179, 7.0359, 1.5067, 0.0269, 0.105, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1640bb6bc3886535bca00543eae34a14431070262408d8f54d33562e47f6258",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91f158cef4fca26aa123075e3d1d0d9644ef4dbef5604ae761c6fc0efbb02337",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:522fe3822531315f13c30b337394120fbed3c5338580325fc9e34a037e605b91",
        "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 · 5.234 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]: [-0.3874, 1.0294, 0.6548, -0.3805, -0.3653, -0.271, 0.0713, 0.5064, 1.903, 1.0283, 0.0589, -0.131, -0.1608, 0.9993]\nstate[eef_state]: left_x=0.3078 left_y=-0.0535 left_z=0.1435 left_yaw=0.0561 left_pitch=-0.1251 left_roll=0.0489 left_gripper=0.0713 right_x=0.4045 right_y=0.2548 right_z=0.0336 right_yaw=0.6942 right_pitch=-0.2493 right_roll=-0.0129 right_gripper=0.9993\nstate[joint_eff]: [0.0068, -3.1658, 7.7333, 1.4921, -0.1685, -0.0562, 1.0281, 0.1026, -12.4239, 7.0496, 1.4579, 0.0757, 0.1587, -0.0122]",
      "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]: [-0.3874, 1.0298, 0.6548, -0.3805, -0.3656, -0.271, 0.0713, 0.5064, 1.8992, 1.0283, 0.0566, -0.1276, -0.1566, 0.9993]\nstate[eef_state]: left_x=0.3078 left_y=-0.0535 left_z=0.1434 left_yaw=0.0564 left_pitch=-0.1253 left_roll=0.0493 left_gripper=0.0713 right_x=0.4047 right_y=0.2543 right_z=0.0349 right_yaw=0.6888 right_pitch=-0.2483 right_roll=-0.0127 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -2.4957, 6.8581, 1.5507, -0.2173, -0.0513, 1.033, -0.0342, -12.0957, 7.0496, 1.4579, 0.0708, 0.1734, -0.0122]",
      "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]: [-0.3874, 1.0298, 0.6533, -0.3798, -0.3653, -0.2707, 0.0713, 0.5064, 1.8988, 1.0283, 0.0528, -0.1242, -0.1535, 0.9993]\nstate[eef_state]: left_x=0.3076 left_y=-0.0535 left_z=0.1428 left_yaw=0.056 left_pitch=-0.1261 left_roll=0.0497 left_gripper=0.0713 right_x=0.4045 right_y=0.2535 right_z=0.0344 right_yaw=0.6843 right_pitch=-0.2521 right_roll=-0.0124 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -2.7829, 7.1453, 1.5116, -0.1587, -0.0464, 1.0281, 0.0615, -11.9179, 7.0359, 1.5067, 0.0269, 0.105, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1640bb6bc3886535bca00543eae34a14431070262408d8f54d33562e47f6258",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91f158cef4fca26aa123075e3d1d0d9644ef4dbef5604ae761c6fc0efbb02337",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:522fe3822531315f13c30b337394120fbed3c5338580325fc9e34a037e605b91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3woKEAgSGAI4AUIIdGhpbmtpbmcSDO3aSD/p/RaviwFzqRoMQvSUvbcuQluuL2PZIjAeT/1ZmyQR7dTsOvu9Mwk7LvqWSPrZ2JJeYANHvCEKGbeBfcr7bO9MdFshNeHmfQMq/AknJ8lWTFw+8aQQiq1XiIlaBwJMebK5Pw+duHswP/9Q6gMPz9FCgb/mALMOv6EoNX5juh+XhTAfijxgEwro27+kJjc/qElXUjCQgR2tmX2F+nGXcgPLUTcPgeHoQEWgUFRYLXJGEtSD/TnCwz9LiFuYhRfnb44FCUbxtO8bVYN2p5KT8xB2cnY+2DBFVCIbm5OOiOzv1HVNNARrnNWkCTNs+0UjwQ9p0vQQlneWXvapEriwr1m3G4eHNKNC4O3LwHMPQ8xvKTHFpLL4JbpPcLpdwHo0NCCfGxhFEKrUsEQP79aBIyHYLtqGz9p1HxhZFeyTzykWoe3smm7RMxFP1hRLr2KU6+QAeXgZFi4IFs+Wu87k/GE5yGqF+GGFt5WlfGKLnixPRqvyihNi5b+LQ1YdUtNfztl0RMcahSkpvPT1eR8AJZRQMMjI7LCqsS2nLdOQ8aYV6uIaYpZO+cNHK8CYlb7KTGMXCuNgUB84I2+sa6gOAY2mvd9vh4SdxCium5VBCD4uu9XPQwkclYkOzryQsXOXBCFuJZ+9CtQlP3IXpuQXQsBv76b8dhXqN+6+ezsp+wgbdWLVZPdrKF+oOEYLTbn5TX6LbjkYpz4pBhkerfJ3Mc24aEuknQ+Tj1t/9KFvMUjqufYjZkMuLzxnh8Gz667IMI72OXEZUf2p9NrmtWBJXii9pJ2MCphP50zEoIH7XNzAE7V2dTNJ1zUMbCmvaJejgZaEgRJNJx6cZukN7JoFBdNfvPhol5U4UCqCUx3G/Iazj7CopI83XzKn54OBOdO9PdAr6v77Ih20C6CAIsW4sUfNgnV78gMzAPwpiovpXTa7BY+KPRPrgmRfMrifIjKmFAQ1hEIYKWneerd/YodkGy/keI192vVBD8GO8d6gH+1SNhS9fnREBSG9AjLkqdHPHwZQcbO1avfEQTEMOOlAkVPF/HDvy1NqrezuMj4uaYk6zXABQp3OC1GFI+/gOkhW1rV2l2zNgyEm6PfLc2Pi1Sa5455KKby5jt1AmXkLlSUrZOur0BZsNUxUQ3L52EhSzA0tADNKSZa4RtWc+PUuq9fAbzXXl8qIum6fRayWB5mtNgy5sLpB70JfLtgStMvHEbVcC4Lv9KK86Cs+JEx896N9lOFmLpkBTMgCyCn7fLIY15rFt/55goRPPR0q6MSReXloNPODoMBhPUdr0xxl0FTuWrJkBxxwraitw2fYkWjpwix2WFjgKcbROS1OCNiAWCnLwDb47nhtLyyhIjy1HJoCUn7nlg3nTSqQVC2Iby8A2eTJU+pSn20lm06+waPlJe2gkIz47duNZuOwfQKnF1H7rHlb3aGVtLE6/FwBY/e2gdAc/Hfq1AZpaxr076ji1YaLYbMol+ngnsqPd/kDPkGKJ16jeY8crbTlSqKD5JCd5lU1q4jQCjoEpXoJs1czt89g2qTbXcsM1/YBgSb/zMsg+bRL03OIZ/YsGz7yZFqhFgLuuBh+m9AJ4gT0WTubDhC/1sCwWQAyKuesGDXBO1gTMC4ycsTLwqxHyOu5Use/qfkn6a+tK/LkjGlF6e89jQKXi9cLvEa7hqMZvoIWROTwjnJ3ciZh5ZNXTJ/DDn69BefP7yxoXpNn6vuol0TO3oc5qhuLpHPIzqjSkbZU04wmbtw0hzJ/hapJG//P/2b3eaVqDglJNoUe4eK4UpfhQlfcfGAh2urKGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CfJd1zXxWgKoE6xdnanaH1",
      "input": {
        "note": "The right jaw seems to be resting on the pen (descent stops at z≈0.034). Lifting clear before shifting sideways.",
        "targets": {
          "right_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01CfJd1zXxWgKoE6xdnanaH1",
      "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]: [-0.3874, 1.0298, 0.6533, -0.3794, -0.3653, -0.2707, 0.0713, 0.5064, 1.8988, 1.0283, 0.0528, -0.1242, -0.1535, 0.9993]\nstate[eef_state]: left_x=0.3077 left_y=-0.0535 left_z=0.1429 left_yaw=0.0559 left_pitch=-0.1258 left_roll=0.0496 left_gripper=0.0713 right_x=0.4045 right_y=0.2535 right_z=0.0344 right_yaw=0.6843 right_pitch=-0.2521 right_roll=-0.0124 right_gripper=0.9993\nstate[joint_eff]: [-0.1709, -2.7966, 7.0632, 1.536, -0.2076, -0.0513, 1.0281, -0.0342, -11.9043, 7.2137, 1.4921, 0.0171, 0.1001, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e06fa7ba54bf1129d423f56064a8706fe004e17d2fc9a0a01088e68e02f2f771",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e9eb113e97be65df244d2faadf4d42cfcb311710f3c2f43df8650e385cc8084",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:870eb9006233555e74a3d4c6710cc73c4150d607ff5873e2bdb08ad781123a61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 9.059 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]: [-0.3874, 1.0298, 0.6548, -0.3805, -0.3656, -0.271, 0.0713, 0.5064, 1.8992, 1.0283, 0.0566, -0.1276, -0.1566, 0.9993]\nstate[eef_state]: left_x=0.3078 left_y=-0.0535 left_z=0.1434 left_yaw=0.0564 left_pitch=-0.1253 left_roll=0.0493 left_gripper=0.0713 right_x=0.4047 right_y=0.2543 right_z=0.0349 right_yaw=0.6888 right_pitch=-0.2483 right_roll=-0.0127 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -2.4957, 6.8581, 1.5507, -0.2173, -0.0513, 1.033, -0.0342, -12.0957, 7.0496, 1.4579, 0.0708, 0.1734, -0.0122]",
      "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]: [-0.3874, 1.0298, 0.6533, -0.3798, -0.3653, -0.2707, 0.0713, 0.5064, 1.8988, 1.0283, 0.0528, -0.1242, -0.1535, 0.9993]\nstate[eef_state]: left_x=0.3076 left_y=-0.0535 left_z=0.1428 left_yaw=0.056 left_pitch=-0.1261 left_roll=0.0497 left_gripper=0.0713 right_x=0.4045 right_y=0.2535 right_z=0.0344 right_yaw=0.6843 right_pitch=-0.2521 right_roll=-0.0124 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -2.7829, 7.1453, 1.5116, -0.1587, -0.0464, 1.0281, 0.0615, -11.9179, 7.0359, 1.5067, 0.0269, 0.105, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3874, 1.0298, 0.6533, -0.3794, -0.3653, -0.2707, 0.0713, 0.5064, 1.8988, 1.0283, 0.0528, -0.1242, -0.1535, 0.9993]\nstate[eef_state]: left_x=0.3077 left_y=-0.0535 left_z=0.1429 left_yaw=0.0559 left_pitch=-0.1258 left_roll=0.0496 left_gripper=0.0713 right_x=0.4045 right_y=0.2535 right_z=0.0344 right_yaw=0.6843 right_pitch=-0.2521 right_roll=-0.0124 right_gripper=0.9993\nstate[joint_eff]: [-0.1709, -2.7966, 7.0632, 1.536, -0.2076, -0.0513, 1.0281, -0.0342, -11.9043, 7.2137, 1.4921, 0.0171, 0.1001, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e06fa7ba54bf1129d423f56064a8706fe004e17d2fc9a0a01088e68e02f2f771",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e9eb113e97be65df244d2faadf4d42cfcb311710f3c2f43df8650e385cc8084",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:870eb9006233555e74a3d4c6710cc73c4150d607ff5873e2bdb08ad781123a61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShQkKEAgSGAI4AUIIdGhpbmtpbmcSDHp82fEoazpe3skzAhoMeAFD6CYaLFlnjxVeIjAy6cATvUrUGP+j1sU0vERjABPX1bWQM72ZxFmpdy20Gid2+c6KCL5OUSM/hKgsXOoqogirvJtjDdUizT59WBEkrQKY8eUyto91+e5oGXlyuJDyg4gJ8vauQtLzRFAAPPbe4iNZX5jJmPR5uRHm674ycLfeFf56YZv3V8vY5dOQufoACydFlPTrsgesb/GSjAjFNTdx3O0OurzLuAV2QNHlPGFr5+649DfEjpbfXD+/XfLb1vZg6bSSCJC8o9G6WIrHRM3zIdq2QQKaSk2ZLiCkFy3IkcGoOQQxdXjJXsJk9HBXkKg6li3qbm1i4nWg7XMPaZinguLQmE/quT5rwz1Vmw4nyOcTN1KNaKJiGr+gunWhWMsdqx/ExhL9rimNSebYOL+BRc8B670RH+ibjzh8WSnLDRJOCrayButVWAubf+5PgkR0Vke6xoSb7wM5PQP3RHLLnds9/zCuqvC2XZAwKwOmWfu9L/e8dbUdbP0L2vKKFtn7XS0jrePtl0FRJimjL0a0ctGmoKp3xf7cof8tO5FngruHDAwrBDiokjvGwUaM+La3HmJlyOXuIMDLMRaGUT6ZV09AQ71AaMKEXlS6BMPKm0DwrPoOwljJESv0s3Eg8lOMJMFeQX3VCn6C9LSzRWmXBRm3e4Ahoudvh+7qbAKK9xwxZEt2NgECs637aB3wLXU1gi0EIgelPqFSNsXTDaHgNf7/k5yfreRewH1OiRaGy2tuTJWW9zgmrPWx/yP68KABYHBVWm4eX6597pR4s8Ipp5TG9wvnRdLkIPaKQBNKCCYhp27MNx50dBER3xWKJ3vicBwtxumAa6NjHKLy8wfor9lVhHahACTTxLWqSSAsbRS9dFbmX7QOF7tWCz7gFxzGKxjmkLAof4+9y38ydLCubEKr/KC3uWkQslnyX9QhJXPWAGzIpc0AXb3UzLH1znHSMpEsmHjo9QvqXpeIpuzm4kvqL5/R6AL40tlv6At/DGDvYhtaLDp/FXTMdfEuoxZ0MIvCwQrlCGEOdzmSANb795T8axoRIHC9JUpp9Ibq1zpe/7IMnlcKHNWJ6RjJn+ihGq4vP5c8QwB1bH6ANWWFBc+t/r8LSrNnPP759SGvjAHkBimyjTU2s9f6oOogobVkr5ka6qyes0ZFZ8aPRvUbqc0lEo1k+kGcHEW8MdE8t4Y9mgRn6Vf/HCF0Cm6LisyresLqYi5Am40UPXc1W4KzZVMkJ7cYuBranKODt4GqFJeGpxZAuFCapj7FWcYpY3ah+zcVN3LwOmA1fu6XXArXR5O647rFHDUvS6eJ8XMjbsxdQ7qET39RyR+6Ci1Pgrh8oP7kW2NxfJjuJhhjemmy94PkkHyF91fhQrq6D/qTdzleHUm7ZUEXcMJrzaMO1iyB5auXwO18aG7GKGYfCC+fBGVjfQZqjwcqgz25UHRI15NElj4xMJip1gwhmY18sppU9Wzmps6Mfjk8kHA/jNH2txgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EH3bxR6ht8DxcikrJTgZVJ",
      "input": {
        "note": "The right arm has stopped responding entirely. Trying a retract-and-raise target that folds the shoulder less, to see if it unsticks.",
        "targets": {
          "right_x": 0.37,
          "right_yaw": 0.4,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01EH3bxR6ht8DxcikrJTgZVJ",
      "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]: [-0.3874, 1.0302, 0.6533, -0.379, -0.3653, -0.2707, 0.0713, 0.6548, 1.7161, 1.0237, -0.1337, 0.0952, 0.0788, 0.9993]\nstate[eef_state]: left_x=0.3077 left_y=-0.0535 left_z=0.1429 left_yaw=0.0559 left_pitch=-0.1258 left_roll=0.0496 left_gripper=0.0713 right_x=0.3664 right_y=0.2647 right_z=0.0823 right_yaw=0.5133 right_pitch=-0.2638 right_roll=-0.0137 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -2.2496, 6.8718, 1.6288, -0.1832, -0.0366, 1.033, -0.212, -10.0855, 8.7453, 1.4676, 0.2857, 0.1929, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7bea7b9bed945ab2d006962477577eb6ce40c03cffd63ac4fd8cfd6330738c5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59fb594f1631ca84d54daadca5a59feb06b84b30f7895a0e27de6b0660c940d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f4778b610d639e2c41f159b91cbf972ba728eaf770e8119493d2abd57c0db36c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 11.1 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]: [-0.3874, 1.0298, 0.6533, -0.3798, -0.3653, -0.2707, 0.0713, 0.5064, 1.8988, 1.0283, 0.0528, -0.1242, -0.1535, 0.9993]\nstate[eef_state]: left_x=0.3076 left_y=-0.0535 left_z=0.1428 left_yaw=0.056 left_pitch=-0.1261 left_roll=0.0497 left_gripper=0.0713 right_x=0.4045 right_y=0.2535 right_z=0.0344 right_yaw=0.6843 right_pitch=-0.2521 right_roll=-0.0124 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -2.7829, 7.1453, 1.5116, -0.1587, -0.0464, 1.0281, 0.0615, -11.9179, 7.0359, 1.5067, 0.0269, 0.105, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3874, 1.0298, 0.6533, -0.3794, -0.3653, -0.2707, 0.0713, 0.5064, 1.8988, 1.0283, 0.0528, -0.1242, -0.1535, 0.9993]\nstate[eef_state]: left_x=0.3077 left_y=-0.0535 left_z=0.1429 left_yaw=0.0559 left_pitch=-0.1258 left_roll=0.0496 left_gripper=0.0713 right_x=0.4045 right_y=0.2535 right_z=0.0344 right_yaw=0.6843 right_pitch=-0.2521 right_roll=-0.0124 right_gripper=0.9993\nstate[joint_eff]: [-0.1709, -2.7966, 7.0632, 1.536, -0.2076, -0.0513, 1.0281, -0.0342, -11.9043, 7.2137, 1.4921, 0.0171, 0.1001, -0.0122]\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 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]: [-0.3874, 1.0302, 0.6533, -0.379, -0.3653, -0.2707, 0.0713, 0.6548, 1.7161, 1.0237, -0.1337, 0.0952, 0.0788, 0.9993]\nstate[eef_state]: left_x=0.3077 left_y=-0.0535 left_z=0.1429 left_yaw=0.0559 left_pitch=-0.1258 left_roll=0.0496 left_gripper=0.0713 right_x=0.3664 right_y=0.2647 right_z=0.0823 right_yaw=0.5133 right_pitch=-0.2638 right_roll=-0.0137 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -2.2496, 6.8718, 1.6288, -0.1832, -0.0366, 1.033, -0.212, -10.0855, 8.7453, 1.4676, 0.2857, 0.1929, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7bea7b9bed945ab2d006962477577eb6ce40c03cffd63ac4fd8cfd6330738c5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59fb594f1631ca84d54daadca5a59feb06b84b30f7895a0e27de6b0660c940d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4778b610d639e2c41f159b91cbf972ba728eaf770e8119493d2abd57c0db36c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017V2dHUg3kCCDRznVrgSGm9",
      "input": {
        "note": "The pen keeps moving with the right jaw in the wrist view, so it may be wedged against that finger. Closing the right gripper to see whether it clamps the pen.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_017V2dHUg3kCCDRznVrgSGm9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3874, 1.0306, 0.6533, -0.3794, -0.3653, -0.2707, 0.0713, 0.6605, 1.7084, 1.0233, -0.1593, 0.0933, 0.0738, 0.0116]\nstate[eef_state]: left_x=0.3077 left_y=-0.0535 left_z=0.1427 left_yaw=0.056 left_pitch=-0.1265 left_roll=0.0499 left_gripper=0.0713 right_x=0.3611 right_y=0.2643 right_z=0.0812 right_yaw=0.5227 right_pitch=-0.2821 right_roll=-0.0184 right_gripper=0.0116\nstate[joint_eff]: [-0.1299, -2.7966, 6.8718, 1.5165, -0.1929, -0.0415, 1.0281, -0.6906, -7.7197, 6.3795, 1.7265, 0.0269, 0.022, 0.9109]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0879884dd99207d2272517a20945e2167f488ffb08af677713371eec1ead1119",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af3f978231d5e88caeb1aba0453f7255ea20a47031b329b28a1e01ad1ed5c0bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5d9919057b47f5c350b3cfe0930593fdf92eae23297643ac17ee53a3661bd75d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 4.669 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]: [-0.3874, 1.0298, 0.6533, -0.3794, -0.3653, -0.2707, 0.0713, 0.5064, 1.8988, 1.0283, 0.0528, -0.1242, -0.1535, 0.9993]\nstate[eef_state]: left_x=0.3077 left_y=-0.0535 left_z=0.1429 left_yaw=0.0559 left_pitch=-0.1258 left_roll=0.0496 left_gripper=0.0713 right_x=0.4045 right_y=0.2535 right_z=0.0344 right_yaw=0.6843 right_pitch=-0.2521 right_roll=-0.0124 right_gripper=0.9993\nstate[joint_eff]: [-0.1709, -2.7966, 7.0632, 1.536, -0.2076, -0.0513, 1.0281, -0.0342, -11.9043, 7.2137, 1.4921, 0.0171, 0.1001, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.3874, 1.0302, 0.6533, -0.379, -0.3653, -0.2707, 0.0713, 0.6548, 1.7161, 1.0237, -0.1337, 0.0952, 0.0788, 0.9993]\nstate[eef_state]: left_x=0.3077 left_y=-0.0535 left_z=0.1429 left_yaw=0.0559 left_pitch=-0.1258 left_roll=0.0496 left_gripper=0.0713 right_x=0.3664 right_y=0.2647 right_z=0.0823 right_yaw=0.5133 right_pitch=-0.2638 right_roll=-0.0137 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -2.2496, 6.8718, 1.6288, -0.1832, -0.0366, 1.033, -0.212, -10.0855, 8.7453, 1.4676, 0.2857, 0.1929, -0.0073]",
      "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]: [-0.3874, 1.0306, 0.6533, -0.3794, -0.3653, -0.2707, 0.0713, 0.6605, 1.7084, 1.0233, -0.1593, 0.0933, 0.0738, 0.0116]\nstate[eef_state]: left_x=0.3077 left_y=-0.0535 left_z=0.1427 left_yaw=0.056 left_pitch=-0.1265 left_roll=0.0499 left_gripper=0.0713 right_x=0.3611 right_y=0.2643 right_z=0.0812 right_yaw=0.5227 right_pitch=-0.2821 right_roll=-0.0184 right_gripper=0.0116\nstate[joint_eff]: [-0.1299, -2.7966, 6.8718, 1.5165, -0.1929, -0.0415, 1.0281, -0.6906, -7.7197, 6.3795, 1.7265, 0.0269, 0.022, 0.9109]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0879884dd99207d2272517a20945e2167f488ffb08af677713371eec1ead1119",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af3f978231d5e88caeb1aba0453f7255ea20a47031b329b28a1e01ad1ed5c0bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d9919057b47f5c350b3cfe0930593fdf92eae23297643ac17ee53a3661bd75d",
        "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_016SJ7iK1ndCpzgqCrR8YJUa",
      "input": {
        "note": "With the jaws closed the pen is clearly visible on the table ahead and to the right of the right gripper, tilted. Moving over it and yawing so the jaws will close across it.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.44,
          "right_y": 0.23,
          "right_yaw": 0.9,
          "right_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_016SJ7iK1ndCpzgqCrR8YJUa",
      "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]: [-0.3874, 1.0317, 0.6533, -0.3805, -0.3656, -0.2707, 0.0713, 0.3634, 1.9186, 1.2831, -0.2829, -0.3012, -0.3988, 0.995]\nstate[eef_state]: left_x=0.3076 left_y=-0.0534 left_z=0.1422 left_yaw=0.0564 left_pitch=-0.1284 left_roll=0.0511 left_gripper=0.0713 right_x=0.436 right_y=0.2257 right_z=0.0734 right_yaw=0.8371 right_pitch=-0.3041 right_roll=-0.0168 right_gripper=0.995\nstate[joint_eff]: [0.0205, -2.8786, 6.8444, 1.4872, -0.188, -0.022, 1.0281, -0.4171, -9.3744, 8.5675, 1.2332, -0.4029, -0.0073, -0.105]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc4862b33bde22685edc3de1e2b42d5f0f8740de2beb9458eb195424a1fd113b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d632cd6102bb580503a0c67989b12e877f267a4bac4b030b23385b95c0839eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d1626d425d33b7234be7a0435a56a2d5fe12a226d77149df7acdf46af94e0c57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 3.241 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]: [-0.3874, 1.0302, 0.6533, -0.379, -0.3653, -0.2707, 0.0713, 0.6548, 1.7161, 1.0237, -0.1337, 0.0952, 0.0788, 0.9993]\nstate[eef_state]: left_x=0.3077 left_y=-0.0535 left_z=0.1429 left_yaw=0.0559 left_pitch=-0.1258 left_roll=0.0496 left_gripper=0.0713 right_x=0.3664 right_y=0.2647 right_z=0.0823 right_yaw=0.5133 right_pitch=-0.2638 right_roll=-0.0137 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -2.2496, 6.8718, 1.6288, -0.1832, -0.0366, 1.033, -0.212, -10.0855, 8.7453, 1.4676, 0.2857, 0.1929, -0.0073]",
      "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]: [-0.3874, 1.0306, 0.6533, -0.3794, -0.3653, -0.2707, 0.0713, 0.6605, 1.7084, 1.0233, -0.1593, 0.0933, 0.0738, 0.0116]\nstate[eef_state]: left_x=0.3077 left_y=-0.0535 left_z=0.1427 left_yaw=0.056 left_pitch=-0.1265 left_roll=0.0499 left_gripper=0.0713 right_x=0.3611 right_y=0.2643 right_z=0.0812 right_yaw=0.5227 right_pitch=-0.2821 right_roll=-0.0184 right_gripper=0.0116\nstate[joint_eff]: [-0.1299, -2.7966, 6.8718, 1.5165, -0.1929, -0.0415, 1.0281, -0.6906, -7.7197, 6.3795, 1.7265, 0.0269, 0.022, 0.9109]",
      "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]: [-0.3874, 1.0317, 0.6533, -0.3805, -0.3656, -0.2707, 0.0713, 0.3634, 1.9186, 1.2831, -0.2829, -0.3012, -0.3988, 0.995]\nstate[eef_state]: left_x=0.3076 left_y=-0.0534 left_z=0.1422 left_yaw=0.0564 left_pitch=-0.1284 left_roll=0.0511 left_gripper=0.0713 right_x=0.436 right_y=0.2257 right_z=0.0734 right_yaw=0.8371 right_pitch=-0.3041 right_roll=-0.0168 right_gripper=0.995\nstate[joint_eff]: [0.0205, -2.8786, 6.8444, 1.4872, -0.188, -0.022, 1.0281, -0.4171, -9.3744, 8.5675, 1.2332, -0.4029, -0.0073, -0.105]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc4862b33bde22685edc3de1e2b42d5f0f8740de2beb9458eb195424a1fd113b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d632cd6102bb580503a0c67989b12e877f267a4bac4b030b23385b95c0839eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1626d425d33b7234be7a0435a56a2d5fe12a226d77149df7acdf46af94e0c57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrQkKEAgSGAI4AUIIdGhpbmtpbmcSDJO5NJMtqz0gPVISSRoMENdjDDKCnqmakMruIjAwViHi2yI+ArZn0EUPTMRJNZ/BnhrZ9cxyy/Pl6NXhM/1QSoAjlP1/KJJXHtPCQCkqyghHEoTOzHpdjWz7PVPBJU5o0+tyyUMROHHbxQIMHcDONpiUxMXX57aNrUPE+5cfb3Q/adX5PyGCNDWwTNmmhZN2ZIznQ5KhYZqy1hBEBC3j1vp5UqeVAR+qEAWhF+yuAPiULNoM9ge0kZ3eO4zScad7iQyUgv/BfqpLiofnBkNHqsRJ8l8S8PbiRyhf8cIznq2vbbLuygD7XBoGAuK/6GV/scdSCR0nD/eKXTM/ke04rvO2yCJcY3ma/0CIrtKQJjm1hq1vMQztM8lLfjFtLMwDbH1XUmhoYFf/jTmUXmF9fxewf0eDSEdkoEc6xOdWi3mgM88N37rYXKQpeIURFn7CpqbhWCf29yHToNUsUNKcNb35gfmfDwYxAIWDq+fA5/lxWfXYfTVOzNFs07sJI5VulBvr803v4V+9FnriLm+n/WCPzO/ebA1BTgmd1SS/fCT5c+aa3tmvN71IVLWCgKsEqo7OZAnsJqjOAY40QrCfcw7nWxMsmYFjlX/iNMVbDIA8ud0pD8W94arxbXaGHBBtVOSqZwRLI4QSHw+zw1A3jSddceNOxOZpNrFz0s9mzY0Irpj4yyTKTU/j2GjaaZZ9PzNlb8yM3SFy9GngKH3OPY9rzTMznFrHb2j/45DqJjKBRmTrD2dEs4o/DXGCdaJX7DtmOlUB3yyQ77fF8gbifs6Rd+ACHXMeSwf/Ejpt5sCIUSEQJ630QDP+s7JUd/FTZbyFqfmNWVxziuYaBbBJSVThUHw4GCrZHO6KRwldR4s9NgX8RDmkTQJypG7k/Wr0RwDI2Z5xMV309ZRXLAmoxGj3l0H+FlqMRhoZ+HS2fnls/pd7FuKtptB3AzRNl6w+Fj1Z8Oc+sG03hOMaTi+1O7PkMv73zDvh1wqxqPir5T+T+QUwpNQ6HkR5byCbN/vpqSu/53mXwUT8pYI0/RxL6M3pURtZcPt1D0BZpPccpWEz9/bwRPdkmikmTgbLGmr5AWDgIoZ2MAmutyEMPXDIkJefhVsxMAEoDY+gHm8I9YVcqH17kuAmuCxJPH7vBZFRdokXs5tdkF4k0zamoczxuYDNtDGTl5D+FUWuIeowSNNxxwh+LSbUz6z+Tdg9XFaBb5I0Pd1zDkkMd2lFEaAilf3H+oYJKH/3uAaiUTzMrdeRfVg7YTozWHScEQ/vcyeEGh/Wo9E7LRYXpcySBF9B/Prx/xjsJBPPZll2PfYDxAcFOLEoUAhpm9dix6gTqa9ZsAMg4DTUxyZEDWtLkj6/L0Y7LfKxD3Po/Vd9YTZ515ZZ5JHHuThJFddgE9fy4WJicCcMVuxyABICrTgHX5MtRtFGcCirEFgWnrA1Ov7Ya2eh0uY3X2VOw4SAQRikLeMaOR9R2Otn0AqJsSu11EKOApe4+r8W8zfZZ8kH72KCtXRHfGyqzhAWCS59kpTM6wgHA2qiJsJwSLdWX6wnwmwVv7du3u8truXOeTwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GdjpgmsKqrKhfZtUJ6zvAZ",
      "input": {
        "note": "The pen now runs straight up the jaw column between the open jaws. Descending to table level to grasp it.",
        "targets": {
          "right_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01GdjpgmsKqrKhfZtUJ6zvAZ",
      "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]: [-0.3874, 1.0317, 0.6533, -0.3801, -0.3656, -0.271, 0.0713, 0.3607, 2.043, 1.1633, -0.0521, -0.3111, -0.4164, 0.9956]\nstate[eef_state]: left_x=0.3076 left_y=-0.0534 left_z=0.1423 left_yaw=0.0566 left_pitch=-0.1281 left_roll=0.0507 left_gripper=0.0713 right_x=0.4331 right_y=0.225 right_z=0.0055 right_yaw=0.8544 right_pitch=-0.3123 right_roll=-0.0149 right_gripper=0.9956\nstate[joint_eff]: [-0.0205, -2.8103, 6.8444, 1.5116, -0.2173, -0.0659, 1.033, 0.0342, -8.5128, 5.135, 0.9646, -0.1099, 0.1392, 0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da69d7ce5efe973de90420227d8f14b6fce144fe2a491add262beeac01658e26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86c8a0c6e126093378accd054b7e5a04bfa87b43b6c6de8cbccb71d173596028",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b6b9e174d6874e6f6069c9a8f2ecc8e027f1a1d3513d87757cef0bfc89903efb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 13.32 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]: [-0.3874, 1.0306, 0.6533, -0.3794, -0.3653, -0.2707, 0.0713, 0.6605, 1.7084, 1.0233, -0.1593, 0.0933, 0.0738, 0.0116]\nstate[eef_state]: left_x=0.3077 left_y=-0.0535 left_z=0.1427 left_yaw=0.056 left_pitch=-0.1265 left_roll=0.0499 left_gripper=0.0713 right_x=0.3611 right_y=0.2643 right_z=0.0812 right_yaw=0.5227 right_pitch=-0.2821 right_roll=-0.0184 right_gripper=0.0116\nstate[joint_eff]: [-0.1299, -2.7966, 6.8718, 1.5165, -0.1929, -0.0415, 1.0281, -0.6906, -7.7197, 6.3795, 1.7265, 0.0269, 0.022, 0.9109]",
      "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]: [-0.3874, 1.0317, 0.6533, -0.3805, -0.3656, -0.2707, 0.0713, 0.3634, 1.9186, 1.2831, -0.2829, -0.3012, -0.3988, 0.995]\nstate[eef_state]: left_x=0.3076 left_y=-0.0534 left_z=0.1422 left_yaw=0.0564 left_pitch=-0.1284 left_roll=0.0511 left_gripper=0.0713 right_x=0.436 right_y=0.2257 right_z=0.0734 right_yaw=0.8371 right_pitch=-0.3041 right_roll=-0.0168 right_gripper=0.995\nstate[joint_eff]: [0.0205, -2.8786, 6.8444, 1.4872, -0.188, -0.022, 1.0281, -0.4171, -9.3744, 8.5675, 1.2332, -0.4029, -0.0073, -0.105]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.3874, 1.0317, 0.6533, -0.3801, -0.3656, -0.271, 0.0713, 0.3607, 2.043, 1.1633, -0.0521, -0.3111, -0.4164, 0.9956]\nstate[eef_state]: left_x=0.3076 left_y=-0.0534 left_z=0.1423 left_yaw=0.0566 left_pitch=-0.1281 left_roll=0.0507 left_gripper=0.0713 right_x=0.4331 right_y=0.225 right_z=0.0055 right_yaw=0.8544 right_pitch=-0.3123 right_roll=-0.0149 right_gripper=0.9956\nstate[joint_eff]: [-0.0205, -2.8103, 6.8444, 1.5116, -0.2173, -0.0659, 1.033, 0.0342, -8.5128, 5.135, 0.9646, -0.1099, 0.1392, 0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da69d7ce5efe973de90420227d8f14b6fce144fe2a491add262beeac01658e26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86c8a0c6e126093378accd054b7e5a04bfa87b43b6c6de8cbccb71d173596028",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6b9e174d6874e6f6069c9a8f2ecc8e027f1a1d3513d87757cef0bfc89903efb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RugyVqZKQ2ojz28RjEUXoJ",
      "input": {
        "note": "Pen is centred between the jaws at table level. Closing the right gripper on it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01RugyVqZKQ2ojz28RjEUXoJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3874, 1.0317, 0.6533, -0.3801, -0.3653, -0.2707, 0.0713, 0.3603, 2.0525, 1.1591, -0.0174, -0.3161, -0.4229, 0.0458]\nstate[eef_state]: left_x=0.3076 left_y=-0.0535 left_z=0.1422 left_yaw=0.0561 left_pitch=-0.1282 left_roll=0.0507 left_gripper=0.0713 right_x=0.4366 right_y=0.227 right_z=0.0048 right_yaw=0.8586 right_pitch=-0.292 right_roll=-0.0262 right_gripper=0.0458\nstate[joint_eff]: [-0.1573, -2.7282, 7.0496, 1.5653, -0.1783, -0.0171, 1.033, -0.1983, -11.453, 5.9829, 1.0281, -0.1148, 0.0317, 1.0574]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:870510a812657940fcf646d9ec57d3326cc3ad15bcfc11d567b7d3bccb0479dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e50ec7e168b330d49ff7d7c7f847690fcdf2e9701d4151c5c2ccdcdf403461df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:46eb78be65404d49b5cb60574a28ca27402b9e58d7ca4168fcd2c4afccf57ebd",
        "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 · 7.848 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]: [-0.3874, 1.0317, 0.6533, -0.3805, -0.3656, -0.2707, 0.0713, 0.3634, 1.9186, 1.2831, -0.2829, -0.3012, -0.3988, 0.995]\nstate[eef_state]: left_x=0.3076 left_y=-0.0534 left_z=0.1422 left_yaw=0.0564 left_pitch=-0.1284 left_roll=0.0511 left_gripper=0.0713 right_x=0.436 right_y=0.2257 right_z=0.0734 right_yaw=0.8371 right_pitch=-0.3041 right_roll=-0.0168 right_gripper=0.995\nstate[joint_eff]: [0.0205, -2.8786, 6.8444, 1.4872, -0.188, -0.022, 1.0281, -0.4171, -9.3744, 8.5675, 1.2332, -0.4029, -0.0073, -0.105]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.3874, 1.0317, 0.6533, -0.3801, -0.3656, -0.271, 0.0713, 0.3607, 2.043, 1.1633, -0.0521, -0.3111, -0.4164, 0.9956]\nstate[eef_state]: left_x=0.3076 left_y=-0.0534 left_z=0.1423 left_yaw=0.0566 left_pitch=-0.1281 left_roll=0.0507 left_gripper=0.0713 right_x=0.4331 right_y=0.225 right_z=0.0055 right_yaw=0.8544 right_pitch=-0.3123 right_roll=-0.0149 right_gripper=0.9956\nstate[joint_eff]: [-0.0205, -2.8103, 6.8444, 1.5116, -0.2173, -0.0659, 1.033, 0.0342, -8.5128, 5.135, 0.9646, -0.1099, 0.1392, 0.0562]",
      "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]: [-0.3874, 1.0317, 0.6533, -0.3801, -0.3653, -0.2707, 0.0713, 0.3603, 2.0525, 1.1591, -0.0174, -0.3161, -0.4229, 0.0458]\nstate[eef_state]: left_x=0.3076 left_y=-0.0535 left_z=0.1422 left_yaw=0.0561 left_pitch=-0.1282 left_roll=0.0507 left_gripper=0.0713 right_x=0.4366 right_y=0.227 right_z=0.0048 right_yaw=0.8586 right_pitch=-0.292 right_roll=-0.0262 right_gripper=0.0458\nstate[joint_eff]: [-0.1573, -2.7282, 7.0496, 1.5653, -0.1783, -0.0171, 1.033, -0.1983, -11.453, 5.9829, 1.0281, -0.1148, 0.0317, 1.0574]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:870510a812657940fcf646d9ec57d3326cc3ad15bcfc11d567b7d3bccb0479dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e50ec7e168b330d49ff7d7c7f847690fcdf2e9701d4151c5c2ccdcdf403461df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46eb78be65404d49b5cb60574a28ca27402b9e58d7ca4168fcd2c4afccf57ebd",
        "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_012PefCCyC8V4sAU9NCnsgyi",
      "input": {
        "note": "Right gripper has closed on the pen (reading 0.046, pen centred in the jaws, tip forward). Lifting it and turning it so the tip points toward the centre line, where it will meet the cap.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.35,
          "right_y": 0.24,
          "right_yaw": 1.4,
          "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_012PefCCyC8V4sAU9NCnsgyi",
      "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]: [-0.3874, 1.0344, 0.6533, -0.3798, -0.3653, -0.271, 0.0713, 0.276, 1.7435, 1.1347, -0.3565, -0.7834, -0.8143, 0.049]\nstate[eef_state]: left_x=0.3077 left_y=-0.0535 left_z=0.1415 left_yaw=0.0564 left_pitch=-0.1303 left_roll=0.0514 left_gripper=0.0713 right_x=0.3613 right_y=0.2356 right_z=0.1208 right_yaw=1.3235 right_pitch=-0.0645 right_roll=-0.0095 right_gripper=0.049\nstate[joint_eff]: [-0.1026, -2.988, 6.8991, 1.5702, -0.1832, -0.0708, 1.0281, -0.8137, -10.8923, 8.8274, 1.0867, -0.5788, -0.0659, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:471c6a52ca46589de595318741fcfe8d9cafc1ac793baeaa590ddd8ffe0667a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae13ae6483198c8349d977b1582f94561af1eb9723174be1c219fe227074358d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1bf4097eea5e8d547098bba24796f42acc6818f060e15a0e17d8ed02f66c1aca",
        "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 · 7.673 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]: [-0.3874, 1.0317, 0.6533, -0.3801, -0.3656, -0.271, 0.0713, 0.3607, 2.043, 1.1633, -0.0521, -0.3111, -0.4164, 0.9956]\nstate[eef_state]: left_x=0.3076 left_y=-0.0534 left_z=0.1423 left_yaw=0.0566 left_pitch=-0.1281 left_roll=0.0507 left_gripper=0.0713 right_x=0.4331 right_y=0.225 right_z=0.0055 right_yaw=0.8544 right_pitch=-0.3123 right_roll=-0.0149 right_gripper=0.9956\nstate[joint_eff]: [-0.0205, -2.8103, 6.8444, 1.5116, -0.2173, -0.0659, 1.033, 0.0342, -8.5128, 5.135, 0.9646, -0.1099, 0.1392, 0.0562]",
      "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]: [-0.3874, 1.0317, 0.6533, -0.3801, -0.3653, -0.2707, 0.0713, 0.3603, 2.0525, 1.1591, -0.0174, -0.3161, -0.4229, 0.0458]\nstate[eef_state]: left_x=0.3076 left_y=-0.0535 left_z=0.1422 left_yaw=0.0561 left_pitch=-0.1282 left_roll=0.0507 left_gripper=0.0713 right_x=0.4366 right_y=0.227 right_z=0.0048 right_yaw=0.8586 right_pitch=-0.292 right_roll=-0.0262 right_gripper=0.0458\nstate[joint_eff]: [-0.1573, -2.7282, 7.0496, 1.5653, -0.1783, -0.0171, 1.033, -0.1983, -11.453, 5.9829, 1.0281, -0.1148, 0.0317, 1.0574]",
      "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]: [-0.3874, 1.0344, 0.6533, -0.3798, -0.3653, -0.271, 0.0713, 0.276, 1.7435, 1.1347, -0.3565, -0.7834, -0.8143, 0.049]\nstate[eef_state]: left_x=0.3077 left_y=-0.0535 left_z=0.1415 left_yaw=0.0564 left_pitch=-0.1303 left_roll=0.0514 left_gripper=0.0713 right_x=0.3613 right_y=0.2356 right_z=0.1208 right_yaw=1.3235 right_pitch=-0.0645 right_roll=-0.0095 right_gripper=0.049\nstate[joint_eff]: [-0.1026, -2.988, 6.8991, 1.5702, -0.1832, -0.0708, 1.0281, -0.8137, -10.8923, 8.8274, 1.0867, -0.5788, -0.0659, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:471c6a52ca46589de595318741fcfe8d9cafc1ac793baeaa590ddd8ffe0667a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae13ae6483198c8349d977b1582f94561af1eb9723174be1c219fe227074358d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1bf4097eea5e8d547098bba24796f42acc6818f060e15a0e17d8ed02f66c1aca",
        "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_01PvuBE73Vn5rbiKyYpx257Z",
      "input": {
        "note": "Pen is held horizontally by the right arm, tip pointing toward the centre line. Bringing the left arm with the cap in, turned so the cap's opening faces the pen tip, stopping a few cm short.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.36,
          "left_y": -0.28,
          "left_yaw": -1.4,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_01PvuBE73Vn5rbiKyYpx257Z",
      "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]: [-0.3931, 1.7638, 1.1042, -0.2028, 0.6865, 0.6277, 0.0721, 0.2752, 1.7405, 1.1347, -0.3603, -0.7818, -0.8257, 0.049]\nstate[eef_state]: left_x=0.3608 left_y=-0.267 left_z=0.1116 left_yaw=-1.2989 left_pitch=-0.0571 left_roll=0.001 left_gripper=0.0721 right_x=0.361 right_y=0.235 right_z=0.1214 right_yaw=1.328 right_pitch=-0.0659 right_roll=-0.0188 right_gripper=0.049\nstate[joint_eff]: [-0.4308, -9.4564, 8.759, 1.3065, 0.4615, 0.1587, 1.033, -0.2667, -8.3214, 6.2427, 1.1795, -0.4127, 0.1441, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef7edcdb81a2cfd4ccbf4ee1c233d22ce539189c24d281b7b9fe8249a6a635bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16835aa0d82e377d0cd138dc13bb69c335494d47ba2c1e7542c856007673fa14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9d7f001bf30e46c4a9f2a56fd0e22ee1be03a3fc917725a8c20098fd18a3a0bd",
        "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 · 9.165 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]: [-0.3874, 1.0317, 0.6533, -0.3801, -0.3653, -0.2707, 0.0713, 0.3603, 2.0525, 1.1591, -0.0174, -0.3161, -0.4229, 0.0458]\nstate[eef_state]: left_x=0.3076 left_y=-0.0535 left_z=0.1422 left_yaw=0.0561 left_pitch=-0.1282 left_roll=0.0507 left_gripper=0.0713 right_x=0.4366 right_y=0.227 right_z=0.0048 right_yaw=0.8586 right_pitch=-0.292 right_roll=-0.0262 right_gripper=0.0458\nstate[joint_eff]: [-0.1573, -2.7282, 7.0496, 1.5653, -0.1783, -0.0171, 1.033, -0.1983, -11.453, 5.9829, 1.0281, -0.1148, 0.0317, 1.0574]",
      "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]: [-0.3874, 1.0344, 0.6533, -0.3798, -0.3653, -0.271, 0.0713, 0.276, 1.7435, 1.1347, -0.3565, -0.7834, -0.8143, 0.049]\nstate[eef_state]: left_x=0.3077 left_y=-0.0535 left_z=0.1415 left_yaw=0.0564 left_pitch=-0.1303 left_roll=0.0514 left_gripper=0.0713 right_x=0.3613 right_y=0.2356 right_z=0.1208 right_yaw=1.3235 right_pitch=-0.0645 right_roll=-0.0095 right_gripper=0.049\nstate[joint_eff]: [-0.1026, -2.988, 6.8991, 1.5702, -0.1832, -0.0708, 1.0281, -0.8137, -10.8923, 8.8274, 1.0867, -0.5788, -0.0659, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3931, 1.7638, 1.1042, -0.2028, 0.6865, 0.6277, 0.0721, 0.2752, 1.7405, 1.1347, -0.3603, -0.7818, -0.8257, 0.049]\nstate[eef_state]: left_x=0.3608 left_y=-0.267 left_z=0.1116 left_yaw=-1.2989 left_pitch=-0.0571 left_roll=0.001 left_gripper=0.0721 right_x=0.361 right_y=0.235 right_z=0.1214 right_yaw=1.328 right_pitch=-0.0659 right_roll=-0.0188 right_gripper=0.049\nstate[joint_eff]: [-0.4308, -9.4564, 8.759, 1.3065, 0.4615, 0.1587, 1.033, -0.2667, -8.3214, 6.2427, 1.1795, -0.4127, 0.1441, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef7edcdb81a2cfd4ccbf4ee1c233d22ce539189c24d281b7b9fe8249a6a635bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16835aa0d82e377d0cd138dc13bb69c335494d47ba2c1e7542c856007673fa14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d7f001bf30e46c4a9f2a56fd0e22ee1be03a3fc917725a8c20098fd18a3a0bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ya7NCrr2EV32iCyNAfFbS4",
      "input": {
        "note": "Cap and pen are close but not collinear: the pen points slightly forward-left, so the cap arm needs more yaw (≈ -1.8) to face it head-on, and it's ~1 cm lower than the pen. Correcting yaw and height.",
        "targets": {
          "left_yaw": -1.8,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Ya7NCrr2EV32iCyNAfFbS4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3202, 2.064, 1.6489, -0.7658, 0.8623, 1.1355, 0.0748, 0.2752, 1.742, 1.1332, -0.3626, -0.7807, -0.8238, 0.049]\nstate[eef_state]: left_x=0.399 left_y=-0.2699 left_z=0.1297 left_yaw=-1.6201 left_pitch=-0.0765 left_roll=0.0569 left_gripper=0.0748 right_x=0.3604 right_y=0.2347 right_z=0.1199 right_yaw=1.3266 right_pitch=-0.0694 right_roll=-0.0131 right_gripper=0.049\nstate[joint_eff]: [-0.6359, -12.1368, 6.8991, 0.3443, 0.7448, 0.1636, 0.9695, -0.2667, -8.6769, 6.3795, 1.1697, -0.4225, -0.0464, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e70513cc9b374bdab451e0cfd0d03daf645999bf41dba024bfad0d07ec04ab1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a21cb74f7e1ed6b298d672b319ef4ab33d7a56811c006d1b9ef141896c11e3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8e07dbf42f336afb5d7d1bcce98a53aa0a7baa4861ae1576ad2cfc33ce9774e0",
        "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 · 8.485 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]: [-0.3874, 1.0344, 0.6533, -0.3798, -0.3653, -0.271, 0.0713, 0.276, 1.7435, 1.1347, -0.3565, -0.7834, -0.8143, 0.049]\nstate[eef_state]: left_x=0.3077 left_y=-0.0535 left_z=0.1415 left_yaw=0.0564 left_pitch=-0.1303 left_roll=0.0514 left_gripper=0.0713 right_x=0.3613 right_y=0.2356 right_z=0.1208 right_yaw=1.3235 right_pitch=-0.0645 right_roll=-0.0095 right_gripper=0.049\nstate[joint_eff]: [-0.1026, -2.988, 6.8991, 1.5702, -0.1832, -0.0708, 1.0281, -0.8137, -10.8923, 8.8274, 1.0867, -0.5788, -0.0659, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3931, 1.7638, 1.1042, -0.2028, 0.6865, 0.6277, 0.0721, 0.2752, 1.7405, 1.1347, -0.3603, -0.7818, -0.8257, 0.049]\nstate[eef_state]: left_x=0.3608 left_y=-0.267 left_z=0.1116 left_yaw=-1.2989 left_pitch=-0.0571 left_roll=0.001 left_gripper=0.0721 right_x=0.361 right_y=0.235 right_z=0.1214 right_yaw=1.328 right_pitch=-0.0659 right_roll=-0.0188 right_gripper=0.049\nstate[joint_eff]: [-0.4308, -9.4564, 8.759, 1.3065, 0.4615, 0.1587, 1.033, -0.2667, -8.3214, 6.2427, 1.1795, -0.4127, 0.1441, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.3202, 2.064, 1.6489, -0.7658, 0.8623, 1.1355, 0.0748, 0.2752, 1.742, 1.1332, -0.3626, -0.7807, -0.8238, 0.049]\nstate[eef_state]: left_x=0.399 left_y=-0.2699 left_z=0.1297 left_yaw=-1.6201 left_pitch=-0.0765 left_roll=0.0569 left_gripper=0.0748 right_x=0.3604 right_y=0.2347 right_z=0.1199 right_yaw=1.3266 right_pitch=-0.0694 right_roll=-0.0131 right_gripper=0.049\nstate[joint_eff]: [-0.6359, -12.1368, 6.8991, 0.3443, 0.7448, 0.1636, 0.9695, -0.2667, -8.6769, 6.3795, 1.1697, -0.4225, -0.0464, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e70513cc9b374bdab451e0cfd0d03daf645999bf41dba024bfad0d07ec04ab1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a21cb74f7e1ed6b298d672b319ef4ab33d7a56811c006d1b9ef141896c11e3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e07dbf42f336afb5d7d1bcce98a53aa0a7baa4861ae1576ad2cfc33ce9774e0",
        "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_01B8wVmmoxdnYTZafBWhCtyi",
      "input": {
        "note": "In the left wrist view the pen now points straight at the cap but its tip sits ~2.5 cm off to one side (toward the bases) and the cap is ~1 cm high. Aligning the cap with the pen axis.",
        "targets": {
          "left_x": 0.372,
          "left_y": -0.27,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01B8wVmmoxdnYTZafBWhCtyi",
      "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]: [-0.3351, 2.0125, 1.5124, -0.786, 0.8593, 1.1809, 0.0756, 0.2752, 1.7424, 1.1313, -0.3645, -0.7818, -0.8265, 0.049]\nstate[eef_state]: left_x=0.3619 left_y=-0.2639 left_z=0.108 left_yaw=-1.6679 left_pitch=-0.1066 left_roll=-0.0088 left_gripper=0.0756 right_x=0.3595 right_y=0.2346 right_z=0.119 right_yaw=1.3289 right_pitch=-0.0707 right_roll=-0.0111 right_gripper=0.049\nstate[joint_eff]: [-0.4444, -14.1607, 6.9949, 1.2674, 0.4127, -0.0659, 0.9695, -0.1299, -8.4171, 6.4342, 1.2332, -0.3834, 0.0073, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1326f828a5f37ad087941df8094dabe82d54e9839c6da41e1fc10361263b72d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:281e8a68c78972c7e4051156647559497cf8703705c034a31149737281da6abc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6288fb5d5f2aa831743c542f54d848cbc7a759f4d0c2462860db4fa58d2a8d39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 4.905 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]: [-0.3931, 1.7638, 1.1042, -0.2028, 0.6865, 0.6277, 0.0721, 0.2752, 1.7405, 1.1347, -0.3603, -0.7818, -0.8257, 0.049]\nstate[eef_state]: left_x=0.3608 left_y=-0.267 left_z=0.1116 left_yaw=-1.2989 left_pitch=-0.0571 left_roll=0.001 left_gripper=0.0721 right_x=0.361 right_y=0.235 right_z=0.1214 right_yaw=1.328 right_pitch=-0.0659 right_roll=-0.0188 right_gripper=0.049\nstate[joint_eff]: [-0.4308, -9.4564, 8.759, 1.3065, 0.4615, 0.1587, 1.033, -0.2667, -8.3214, 6.2427, 1.1795, -0.4127, 0.1441, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.3202, 2.064, 1.6489, -0.7658, 0.8623, 1.1355, 0.0748, 0.2752, 1.742, 1.1332, -0.3626, -0.7807, -0.8238, 0.049]\nstate[eef_state]: left_x=0.399 left_y=-0.2699 left_z=0.1297 left_yaw=-1.6201 left_pitch=-0.0765 left_roll=0.0569 left_gripper=0.0748 right_x=0.3604 right_y=0.2347 right_z=0.1199 right_yaw=1.3266 right_pitch=-0.0694 right_roll=-0.0131 right_gripper=0.049\nstate[joint_eff]: [-0.6359, -12.1368, 6.8991, 0.3443, 0.7448, 0.1636, 0.9695, -0.2667, -8.6769, 6.3795, 1.1697, -0.4225, -0.0464, 1.0281]",
      "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]: [-0.3351, 2.0125, 1.5124, -0.786, 0.8593, 1.1809, 0.0756, 0.2752, 1.7424, 1.1313, -0.3645, -0.7818, -0.8265, 0.049]\nstate[eef_state]: left_x=0.3619 left_y=-0.2639 left_z=0.108 left_yaw=-1.6679 left_pitch=-0.1066 left_roll=-0.0088 left_gripper=0.0756 right_x=0.3595 right_y=0.2346 right_z=0.119 right_yaw=1.3289 right_pitch=-0.0707 right_roll=-0.0111 right_gripper=0.049\nstate[joint_eff]: [-0.4444, -14.1607, 6.9949, 1.2674, 0.4127, -0.0659, 0.9695, -0.1299, -8.4171, 6.4342, 1.2332, -0.3834, 0.0073, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1326f828a5f37ad087941df8094dabe82d54e9839c6da41e1fc10361263b72d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:281e8a68c78972c7e4051156647559497cf8703705c034a31149737281da6abc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6288fb5d5f2aa831743c542f54d848cbc7a759f4d0c2462860db4fa58d2a8d39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Fh8iCPV6JkxUZW9xuQeatv",
      "input": {
        "note": "Cap overshot slightly: pen tip now appears just left of the cap in the left wrist view, and the cap arm sagged ~1 cm below the pen. Small correction in x and height.",
        "targets": {
          "left_x": 0.377,
          "left_z": 0.145
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Fh8iCPV6JkxUZW9xuQeatv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3279, 2.0418, 1.6512, -0.889, 0.8429, 1.1576, 0.0756, 0.2752, 1.7424, 1.1301, -0.3641, -0.7792, -0.8268, 0.049]\nstate[eef_state]: left_x=0.378 left_y=-0.2641 left_z=0.1299 left_yaw=-1.6422 left_pitch=-0.1203 left_roll=-0.0167 left_gripper=0.0756 right_x=0.3596 right_y=0.2343 right_z=0.1184 right_yaw=1.3276 right_pitch=-0.073 right_roll=-0.0119 right_gripper=0.049\nstate[joint_eff]: [0.253, -10.441, 8.4308, 0.6081, 0.5592, 0.1685, 0.9597, -0.2803, -8.3487, 6.4068, 1.1306, -0.4127, -0.0464, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0dc32a4bced44739dc59c5f446e20d4bb002f458b395a5949ab2702693e79550",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cd4242017d53f6db6ec31a4c36d2256b7de68650f3e4b6cf631d87714881d3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5feca70ebfdbd502b4d4e758c7a19314236f6254e595b70ec3e4f3c801fd0aab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 4.711 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]: [-0.3202, 2.064, 1.6489, -0.7658, 0.8623, 1.1355, 0.0748, 0.2752, 1.742, 1.1332, -0.3626, -0.7807, -0.8238, 0.049]\nstate[eef_state]: left_x=0.399 left_y=-0.2699 left_z=0.1297 left_yaw=-1.6201 left_pitch=-0.0765 left_roll=0.0569 left_gripper=0.0748 right_x=0.3604 right_y=0.2347 right_z=0.1199 right_yaw=1.3266 right_pitch=-0.0694 right_roll=-0.0131 right_gripper=0.049\nstate[joint_eff]: [-0.6359, -12.1368, 6.8991, 0.3443, 0.7448, 0.1636, 0.9695, -0.2667, -8.6769, 6.3795, 1.1697, -0.4225, -0.0464, 1.0281]",
      "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]: [-0.3351, 2.0125, 1.5124, -0.786, 0.8593, 1.1809, 0.0756, 0.2752, 1.7424, 1.1313, -0.3645, -0.7818, -0.8265, 0.049]\nstate[eef_state]: left_x=0.3619 left_y=-0.2639 left_z=0.108 left_yaw=-1.6679 left_pitch=-0.1066 left_roll=-0.0088 left_gripper=0.0756 right_x=0.3595 right_y=0.2346 right_z=0.119 right_yaw=1.3289 right_pitch=-0.0707 right_roll=-0.0111 right_gripper=0.049\nstate[joint_eff]: [-0.4444, -14.1607, 6.9949, 1.2674, 0.4127, -0.0659, 0.9695, -0.1299, -8.4171, 6.4342, 1.2332, -0.3834, 0.0073, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.3279, 2.0418, 1.6512, -0.889, 0.8429, 1.1576, 0.0756, 0.2752, 1.7424, 1.1301, -0.3641, -0.7792, -0.8268, 0.049]\nstate[eef_state]: left_x=0.378 left_y=-0.2641 left_z=0.1299 left_yaw=-1.6422 left_pitch=-0.1203 left_roll=-0.0167 left_gripper=0.0756 right_x=0.3596 right_y=0.2343 right_z=0.1184 right_yaw=1.3276 right_pitch=-0.073 right_roll=-0.0119 right_gripper=0.049\nstate[joint_eff]: [0.253, -10.441, 8.4308, 0.6081, 0.5592, 0.1685, 0.9597, -0.2803, -8.3487, 6.4068, 1.1306, -0.4127, -0.0464, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0dc32a4bced44739dc59c5f446e20d4bb002f458b395a5949ab2702693e79550",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cd4242017d53f6db6ec31a4c36d2256b7de68650f3e4b6cf631d87714881d3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5feca70ebfdbd502b4d4e758c7a19314236f6254e595b70ec3e4f3c801fd0aab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3ggKEAgSGAI4AUIIdGhpbmtpbmcSDNgtuV3yRvDF7xZ/zRoMOC1bUI0OU6ha9EleIjDmEfSiRUJFs/DzZCuaEkftQc22vZ287ASjRzaj93iYaOLcCUUZugpvFVEjylNT8Xsq+weKU03vGqKK7qPl+VkpxVrax4PTMOnrLYpvjJrgJqU1uOCdycUrrIoOzycdm1UUv60ZJ8ir6cg7qJaE6uSYWEs7mpxc8+6zk9dboZfJjfSNSDSMyOjzBubYQkRqGMndXPosyUkpHMAxHyHsLodq2fpnlKtoZv7IOv0vV6/IbQl61MC8AWzPbiRPCiD0Kr49larEmla2uoemqn9JwgyUZPTSh0+cdO8qxuwP8hb8lguusbs7IfVjptYACi5eVN74VYpB/PPOqnEmvO5BFKnPBQUe/gCWwbzcaJ2tftuLA7kSTsgJzlAK4ues9N17hAex320b6Zn9u/yaOULgngK8mcYdZLxscSvUi/p44g4cUY0hregb53JTynSZ6tKBN9/zg0Sv5orm91Lfsly0fwALiuH5haYAx+2tVcaEJTN4qK7/NpTFBVlzKxyZpe2IBplPdr1P77igzXQ2LGlRX1fimZoBsfPkKWZ467nC5RCMkhYbJHAphhayhhIXyypwuXEjpE6iRfvDmq6wsVcfDjRK0RGGfTggHfpQPVzPdsd0Q8W2dVz8Dd6mLFxExVMPshCJ6jCMGG2P67ThynXE8PsI+An650s+pEsvNg3OZBTR0cDjRhFrTOEJq4qoef80Qk6nLqFOVmj/rno/Hp/l2a673u8d31UATh6BqrIW/ayUzb/20wxgxfb4FD1yWiuEthYmbA3LsctdGDee4M2oJRDQe4JZyNXaguJQTe/jtBifBaXtQIs1z58KJYOGnykYyY4JM8/BvjUkqPVbjPo1bMhlbPSM2Lv4tF41Ljsj8G7tlu8764mIo2LfdlJldmhZsNvxkNDTT97vephkA3ulHyhV4Nl1dkTA3DjF6tYGB6CQBdF/Y7ofufGtd2yn3RZCL1XJG+VfxgwRObsZCOnK5eJ9QJssuoKgAOlZytgatp+carq/mUEa4LU9l4mT4Mbc/MJr9Sse87JB2UaQ+xEqFXMc0+/XKzKV+/9l9yt8D/K7yfWD1Ck+mKxj8mxaUdY+mv+zO8pMd3EdaFT7wG99VWrV3JIpSLfr2Jxjs+i0o1vMnbXErVf8QolsT40VdvUuI1MMVZAxrGiuWj0u408RFLnsAQUbcKgI3eepFMDEjMvW8zeKfjs18r8yALmycNzWeh+mXrg7YQr8WZsTDUbBnLRyEzPCuzuZVF4lEYxRnr8lYG61IfSoQmuLSgUtR9wzFoWYPzwXJq1GC6ENwpbUXQAyEIFlmAjgkm4TRZxC2lCON/ywKi/u94++LQf6AlTJCOtEM36/8/ahH3DzSk7B+J/9kGqEfxCvdyn2/Jx+ouHoz+rLTj3+iqUwu8pJw9b5XDYsc6CgxPfQK2UbI4GERxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CapavmozktRny6oQRZqfEr",
      "input": {
        "note": "Both wrist views show the pen tip lined up with the cap opening and just touching. Pushing the cap straight onto the pen by ~3 cm along the pen axis.",
        "targets": {
          "left_x": 0.376,
          "left_y": -0.295,
          "left_z": 0.145
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01CapavmozktRny6oQRZqfEr",
      "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]: [-0.3481, 2.0434, 1.673, -0.9199, 0.8341, 1.1412, 0.0762, 0.2752, 1.7424, 1.1301, -0.3645, -0.7738, -0.8268, 0.049]\nstate[eef_state]: left_x=0.3725 left_y=-0.2705 left_z=0.1331 left_yaw=-1.652 left_pitch=-0.1314 left_roll=-0.0376 left_gripper=0.0762 right_x=0.36 right_y=0.2337 right_z=0.1178 right_yaw=1.3245 right_pitch=-0.077 right_roll=-0.0137 right_gripper=0.049\nstate[joint_eff]: [-0.1299, -11.0838, 6.2701, 1.0427, 0.3932, -0.1538, 0.9988, -0.2667, -8.4991, 6.2974, 1.1795, -0.4567, -0.0611, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a2fd6fc07c5e6764b82e82331e642e70a7b081cb50d05799350e46f8296d15b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa8b7ca252429908a098df6db92f3ef93216b64799909141ff8624f1ab01f504",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5dcc2c3adec11700156b21e9166eafdae579f78de0e9ce4bc84b6b30a1184886",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 10.44 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3351, 2.0125, 1.5124, -0.786, 0.8593, 1.1809, 0.0756, 0.2752, 1.7424, 1.1313, -0.3645, -0.7818, -0.8265, 0.049]\nstate[eef_state]: left_x=0.3619 left_y=-0.2639 left_z=0.108 left_yaw=-1.6679 left_pitch=-0.1066 left_roll=-0.0088 left_gripper=0.0756 right_x=0.3595 right_y=0.2346 right_z=0.119 right_yaw=1.3289 right_pitch=-0.0707 right_roll=-0.0111 right_gripper=0.049\nstate[joint_eff]: [-0.4444, -14.1607, 6.9949, 1.2674, 0.4127, -0.0659, 0.9695, -0.1299, -8.4171, 6.4342, 1.2332, -0.3834, 0.0073, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3279, 2.0418, 1.6512, -0.889, 0.8429, 1.1576, 0.0756, 0.2752, 1.7424, 1.1301, -0.3641, -0.7792, -0.8268, 0.049]\nstate[eef_state]: left_x=0.378 left_y=-0.2641 left_z=0.1299 left_yaw=-1.6422 left_pitch=-0.1203 left_roll=-0.0167 left_gripper=0.0756 right_x=0.3596 right_y=0.2343 right_z=0.1184 right_yaw=1.3276 right_pitch=-0.073 right_roll=-0.0119 right_gripper=0.049\nstate[joint_eff]: [0.253, -10.441, 8.4308, 0.6081, 0.5592, 0.1685, 0.9597, -0.2803, -8.3487, 6.4068, 1.1306, -0.4127, -0.0464, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3481, 2.0434, 1.673, -0.9199, 0.8341, 1.1412, 0.0762, 0.2752, 1.7424, 1.1301, -0.3645, -0.7738, -0.8268, 0.049]\nstate[eef_state]: left_x=0.3725 left_y=-0.2705 left_z=0.1331 left_yaw=-1.652 left_pitch=-0.1314 left_roll=-0.0376 left_gripper=0.0762 right_x=0.36 right_y=0.2337 right_z=0.1178 right_yaw=1.3245 right_pitch=-0.077 right_roll=-0.0137 right_gripper=0.049\nstate[joint_eff]: [-0.1299, -11.0838, 6.2701, 1.0427, 0.3932, -0.1538, 0.9988, -0.2667, -8.4991, 6.2974, 1.1795, -0.4567, -0.0611, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a2fd6fc07c5e6764b82e82331e642e70a7b081cb50d05799350e46f8296d15b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa8b7ca252429908a098df6db92f3ef93216b64799909141ff8624f1ab01f504",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5dcc2c3adec11700156b21e9166eafdae579f78de0e9ce4bc84b6b30a1184886",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS+ggKEAgSGAI4AUIIdGhpbmtpbmcSDC4s6v+p/5kY9xFSExoMst4SvQx/aSUsN7PAIjDxkWLX+ciLqtEfMRlvwX/+Fx39rrLJ88JgF4MHUsW2Tic0xMxdWHlC/7ormG2o23gqlwjMFUPlNhXrLQSdUcrxNw/A++cDpWbeJoR8tar6K6Ml3U6kq+bhqvolIhH2ADlPPegI6dJhoZO18juIa4QnWOOM6Z6S+WRyDGgKuO7S/hhDGK/vc9wDLipJpsPy7+ZOWSgxG0Mj5RxvDxsaod+WLvTpuzN6L0VJ17Bhx7Vo7ErUGVycdjw/n3fcl+7vBURaJZxmzsB3wc3RfcJj0BPYqi1F4qKnglkOzCsNJ6qjprLmK3o70ifU9aPOVx9tGkUrVofW+DN3BbMrDpM6PGTv8t+OzO9/axucnLCtQqGnmfGgBLFyHrd6Qj3T+tne8ijwRyc1GBDtcvELc7aRMUKhhUlZP1tzqtuIb0ozASeEOQzVQI00x+EzwW0Xb+s74uYN9qdqlwE6lD+oi/gUxrvr9iLRuRCtJkAXizrlR8vpCIO328hcuz2bcNdTqbYvCECx+wsa8VI/SB+KQeYFXq0Xh+tkSZEYCbvZbrRBTbghBFnOjfwFIDJ9Bvj2ZwzwXdAKvJBL+ThAn8ajbBCCZuAUt6bvSRf+K7nbvzSFRpd+EBQIw6FlGWxN7AhzPOqrJfuX80A8Xi8e1M+Hc0Xj0ZhylrvpJPrCWzG/9UpF64YlHBQVoVjwBGuk1jJJ5d+ZGpUT0WFhGrvVNEASLlnsPjdbeS/Ga7rQq7gtfYX6Vs/UWq6JySH4HYMWkB/BNRsWk5e/xncuy3WPZP+wFZrwn+yua9tfZkG7Bk25tSxcFNiBwj1K58epf9fpnk/WXk3q89YHAqMM3aTaOwd4rLmc9PnnKIVCa43n59G5q2eoZcwsWWlEBC2bg5TLO9ESvxBu8vxkNv11JFoap5LaMzdbS/b+75K//0yshujPoHDF85FGNEvEgWbtTU0JlwMsoJkYhuV3KpYGtc26rTECoR1nty8GCc31u+QIgTrgJr3V7RS36Q6FamUMTxj89wk1yxF8Qn0ykaABOh2+N76oga3oz2OsuohkyVqs0XhSQEdL/uvXk7r07Kg8YXnW5SiQTkHtUbzH96h6Sl/O/I1Tig2+cqhZm8QeOlM3EjAOskAiyJjNNwWot9xhEFgkTURDG8mStwdRtnkmMuyoVUmT/Rd6KnL2nTI1AzfARMppNmRxaKTXweJPx8xfBGHGhQnQ/AknG4fF/SeT272VMUEp1uNbpAQV0xMpvixOlfv7B/EAjZYyckah6hJcXn5/mFJbJ3Zt4iyXR/cjIwmKZg0os1jHhbZgxW/KFaJHfqEee4VIl+2ham0G+mWbK1qFp5+LeLSuZD/LDzoZD++TE7U98PMruWwtTVlrav37m9Hxqq6VTiBJN+tsaJt2Xa5mF/wa4DPsCmFtGmq31da+8QpRe3PrtTzOHMX8q6UTE/C9OxCnFQ42WIy1wFCdS93r4xgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Uku1mMCoGdC1RKUJNxHUbK",
      "input": {
        "note": "The cap only advanced ~0.6 cm, likely meeting the pen tip. Pushing a bit harder along the same axis to seat the cap.",
        "targets": {
          "left_x": 0.374,
          "left_y": -0.305,
          "left_z": 0.147
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Uku1mMCoGdC1RKUJNxHUbK",
      "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]: [-0.3542, 2.0434, 1.6707, -0.902, 0.8337, 1.1229, 0.0767, 0.2752, 1.7424, 1.1301, -0.3637, -0.7666, -0.8268, 0.049]\nstate[eef_state]: left_x=0.3734 left_y=-0.2737 left_z=0.1333 left_yaw=-1.6461 left_pitch=-0.1278 left_roll=-0.0364 left_gripper=0.0767 right_x=0.3609 right_y=0.233 right_z=0.1171 right_yaw=1.3201 right_pitch=-0.0818 right_roll=-0.0174 right_gripper=0.049\nstate[joint_eff]: [-0.1983, -11.0838, 6.1744, 0.9548, 0.3736, -0.0513, 0.9841, -0.3624, -8.5128, 6.2564, 1.1844, -0.4567, -0.0708, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e27cb4e1f9368f0de2adb8cf398ce8c18654a1f9f83e0e1db931f40f5b1258d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:baaff603862da272eba239f28ec3fbbcf1f786154f5e77e1f7878686e7ff7a21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a61b03afdcca72f91da83d32d622ac3b042a2ae5915aa2769d53fc667ce6e800",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 5.696 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3279, 2.0418, 1.6512, -0.889, 0.8429, 1.1576, 0.0756, 0.2752, 1.7424, 1.1301, -0.3641, -0.7792, -0.8268, 0.049]\nstate[eef_state]: left_x=0.378 left_y=-0.2641 left_z=0.1299 left_yaw=-1.6422 left_pitch=-0.1203 left_roll=-0.0167 left_gripper=0.0756 right_x=0.3596 right_y=0.2343 right_z=0.1184 right_yaw=1.3276 right_pitch=-0.073 right_roll=-0.0119 right_gripper=0.049\nstate[joint_eff]: [0.253, -10.441, 8.4308, 0.6081, 0.5592, 0.1685, 0.9597, -0.2803, -8.3487, 6.4068, 1.1306, -0.4127, -0.0464, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3481, 2.0434, 1.673, -0.9199, 0.8341, 1.1412, 0.0762, 0.2752, 1.7424, 1.1301, -0.3645, -0.7738, -0.8268, 0.049]\nstate[eef_state]: left_x=0.3725 left_y=-0.2705 left_z=0.1331 left_yaw=-1.652 left_pitch=-0.1314 left_roll=-0.0376 left_gripper=0.0762 right_x=0.36 right_y=0.2337 right_z=0.1178 right_yaw=1.3245 right_pitch=-0.077 right_roll=-0.0137 right_gripper=0.049\nstate[joint_eff]: [-0.1299, -11.0838, 6.2701, 1.0427, 0.3932, -0.1538, 0.9988, -0.2667, -8.4991, 6.2974, 1.1795, -0.4567, -0.0611, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3542, 2.0434, 1.6707, -0.902, 0.8337, 1.1229, 0.0767, 0.2752, 1.7424, 1.1301, -0.3637, -0.7666, -0.8268, 0.049]\nstate[eef_state]: left_x=0.3734 left_y=-0.2737 left_z=0.1333 left_yaw=-1.6461 left_pitch=-0.1278 left_roll=-0.0364 left_gripper=0.0767 right_x=0.3609 right_y=0.233 right_z=0.1171 right_yaw=1.3201 right_pitch=-0.0818 right_roll=-0.0174 right_gripper=0.049\nstate[joint_eff]: [-0.1983, -11.0838, 6.1744, 0.9548, 0.3736, -0.0513, 0.9841, -0.3624, -8.5128, 6.2564, 1.1844, -0.4567, -0.0708, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e27cb4e1f9368f0de2adb8cf398ce8c18654a1f9f83e0e1db931f40f5b1258d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:baaff603862da272eba239f28ec3fbbcf1f786154f5e77e1f7878686e7ff7a21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a61b03afdcca72f91da83d32d622ac3b042a2ae5915aa2769d53fc667ce6e800",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015hkMYTsuAjoN1n9enUB16Q",
      "input": {
        "note": "The cap is stopping against the pen tip; the left wrist view shows the tip slightly off-centre toward +x. Nudging the cap 0.5 cm in x while pushing along the pen axis again.",
        "targets": {
          "left_x": 0.379,
          "left_y": -0.31,
          "left_z": 0.147
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_015hkMYTsuAjoN1n9enUB16Q",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3542, 2.0434, 1.6707, -0.9016, 0.8196, 1.1229, 0.08, 0.2752, 1.7424, 1.1301, -0.3637, -0.7597, -0.8265, 0.049]\nstate[eef_state]: left_x=0.3746 left_y=-0.2723 left_z=0.1316 left_yaw=-1.6414 left_pitch=-0.1406 left_roll=-0.0323 left_gripper=0.08 right_x=0.3616 right_y=0.2323 right_z=0.1164 right_yaw=1.3159 right_pitch=-0.0867 right_roll=-0.02 right_gripper=0.049\nstate[joint_eff]: [-0.0342, -11.0427, 6.2427, 0.9353, 0.4957, -0.0708, 0.8523, -0.2803, -8.5128, 6.2701, 1.2283, -0.4811, -0.0464, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b917b83081078866d9435432a9edd8f8688a2fa1daee234d610b605c0cf97deb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4e131db0cfefa3e929dded78ccf3e4477b8d7bb402c91934457637afb10567f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:be58cd4b001b4c15cc2e8e544d4585926e6f96b50f21e1ea9fc21cffecc0ff2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 9.924 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3481, 2.0434, 1.673, -0.9199, 0.8341, 1.1412, 0.0762, 0.2752, 1.7424, 1.1301, -0.3645, -0.7738, -0.8268, 0.049]\nstate[eef_state]: left_x=0.3725 left_y=-0.2705 left_z=0.1331 left_yaw=-1.652 left_pitch=-0.1314 left_roll=-0.0376 left_gripper=0.0762 right_x=0.36 right_y=0.2337 right_z=0.1178 right_yaw=1.3245 right_pitch=-0.077 right_roll=-0.0137 right_gripper=0.049\nstate[joint_eff]: [-0.1299, -11.0838, 6.2701, 1.0427, 0.3932, -0.1538, 0.9988, -0.2667, -8.4991, 6.2974, 1.1795, -0.4567, -0.0611, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3542, 2.0434, 1.6707, -0.902, 0.8337, 1.1229, 0.0767, 0.2752, 1.7424, 1.1301, -0.3637, -0.7666, -0.8268, 0.049]\nstate[eef_state]: left_x=0.3734 left_y=-0.2737 left_z=0.1333 left_yaw=-1.6461 left_pitch=-0.1278 left_roll=-0.0364 left_gripper=0.0767 right_x=0.3609 right_y=0.233 right_z=0.1171 right_yaw=1.3201 right_pitch=-0.0818 right_roll=-0.0174 right_gripper=0.049\nstate[joint_eff]: [-0.1983, -11.0838, 6.1744, 0.9548, 0.3736, -0.0513, 0.9841, -0.3624, -8.5128, 6.2564, 1.1844, -0.4567, -0.0708, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3542, 2.0434, 1.6707, -0.9016, 0.8196, 1.1229, 0.08, 0.2752, 1.7424, 1.1301, -0.3637, -0.7597, -0.8265, 0.049]\nstate[eef_state]: left_x=0.3746 left_y=-0.2723 left_z=0.1316 left_yaw=-1.6414 left_pitch=-0.1406 left_roll=-0.0323 left_gripper=0.08 right_x=0.3616 right_y=0.2323 right_z=0.1164 right_yaw=1.3159 right_pitch=-0.0867 right_roll=-0.02 right_gripper=0.049\nstate[joint_eff]: [-0.0342, -11.0427, 6.2427, 0.9353, 0.4957, -0.0708, 0.8523, -0.2803, -8.5128, 6.2701, 1.2283, -0.4811, -0.0464, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b917b83081078866d9435432a9edd8f8688a2fa1daee234d610b605c0cf97deb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4e131db0cfefa3e929dded78ccf3e4477b8d7bb402c91934457637afb10567f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be58cd4b001b4c15cc2e8e544d4585926e6f96b50f21e1ea9fc21cffecc0ff2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlAoKEAgSGAI4AUIIdGhpbmtpbmcSDCHm4Tb5OArrGiZiKhoMi+RlZApkZMe5NKPZIjBGA8qr3BNgxa024IoZlMwt/UNyZmJFgMbQJOUir7w8ZvJNANMMSwiIHlC6MxIgQ3EqsQn100OF13Nju6pB1eMwxDhrrKh06yNWjYuz1+MJ3W0reg5NFTEON1zVIURM4pbUkBUaCBHVD1j86bD6JjImtl1KBrPSVNHlaR01NcwM6zRIskUOQ/Ty12U9K82JCo1t1AmF5oWoGHN3rPa5FOy7sEEL1aBA52FiQoX08/PhjhpeBTstnWaiqExkxC7eIsTKka3HdXyIAkEvxZdNVExMwqNSnHYhdu7xeg3Gk5FvTT76p6ZVurm7IBz3+4CcN08PP3tVSQLFGCXH4V9qJh8TxY8/+v+GuZJzNsA68VCqGYAcBbIFOVRI5t+tBGAIovXp4wB3SaupEbXt0YsoPJ3n7oCgGksZL5GAkpfCdioWg3x8NHnWCmF7hR83DRT8ep/118pH0KOQVeSgHQ6P37WOFhlX4qZLM1Y98Xl+pD/4stVCpYDq8XbLpW462z8/pQQFOpsoP3DrQjW0JQ6kUeki7CzupXx4DZwD0kOORIe2aPAWIUraG3KjUur4/9FAhQAxEeJA0s4Z9nKaFvE8WoX/FiddmQpQyuoathbllH/NjIRtWDYxd+ncIziaY8bB8xa8GYgN4Y/rp3JE71VpC1+rE8ihBr5RWIJH3TaXxNBGsYUdHVK285oKyKHRu9LZsn9INAXqXwwut1s9i4JGzpGHg78YGwm0fQQpGP5ZV741OKtpIvKWOpzVhJ70opjgaBbh8sJ/g2PdiXBySSkgzhz0wb5Md/eNzfYRPNTFPMG5JmsH8cTJpPbR/36+DbFYp0cehbojs1fHpU4ndq1X69kLMwrQK1X58Lh0UZaIFwBXpgwl6rSu14fv/uStz2SL0qFHhARgh6Ex5El+bR/hZ2enibt/341nxF/wBG+aX1k71BpdkyrzDDT7eX0EGrzxo78qkCd4ZkGqGdaI5oJ6FBF/9D8MKRdNAYb59Wp2CbRWr04lsFvNOFke5fKiwQxKv927M7tYuFrynDhD04ulPljHqkD/z5taPWO0RYiy6qGJOW/B53GbPfGaJqfUzobkcYWDYOpBs1wCYsrkTYHFgJZBisxBxpZHAepOYbw+y1KXPi6ZYy1jPYNNd9i3nM1ILHMxHpLVguMnTDzZ4uTCl57PkTD+1yzH+aSJ6OfshDNoV7kCUCqMYQUQfmaRl3YTAix9AsdMzGoRhlFl+TgZiBnz4O47/WA6BpRFTgXE7BD8hEIZNAzFUDEK9Dv+29IKR81MFDfuTCne9SSplGEFXOW3ASOXgv3TW2xnHZ8q1vuS19eNySLtIjck2nUhT34PqO9qLTRnylJb252CP5PBNKLf+jwR7AlPgl54PNViUGWbjLjYxdjmzP3xS4bbVKV32xEBNllTeX7S0AFwswzWJS3FeEwbzZr5PEIn3FgNIehzEImQKCRZO0rNllHPVr2qsyIiwSxR7bGYyYjT89UL6SmEHi9ld4i1fgQXpti4Yldn8ybG1VjEFlniRtX20xsH+oqqTdTKk0ysHuyaVBdPshYcox/qrU7PfODKo5Bl2PILLaE5/nGWLfBLtHqhMEE5Pf2/bwyUsnTZGVJnPVD2gAY+qghJb8a4/5Omh+0l92GMEGcp/5q7JT3T2uiAYaox9rJ7p3rvGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SeZiqejhE9YzZvAFNdTsth",
      "input": {
        "note": "The left arm is no longer moving (likely at a joint limit), not blocked by the pen. Pushing the pen into the cap with the right arm instead, ~3 cm along the pen axis.",
        "targets": {
          "right_x": 0.369,
          "right_y": 0.262,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01SeZiqejhE9YzZvAFNdTsth",
      "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]: [-0.3542, 2.0434, 1.6707, -0.9054, 0.8173, 1.1233, 0.0829, 0.3321, 1.7523, 1.2251, -0.4141, -0.7185, -0.7837, 0.0541]\nstate[eef_state]: left_x=0.3741 left_y=-0.2719 left_z=0.1311 left_yaw=-1.6414 left_pitch=-0.1438 left_roll=-0.0351 left_gripper=0.0829 right_x=0.3666 right_y=0.2532 right_z=0.1363 right_yaw=1.322 right_pitch=-0.0968 right_roll=-0.0333 right_gripper=0.0541\nstate[joint_eff]: [-0.1573, -10.8239, 6.2291, 0.8083, 0.3541, -0.0611, 0.6471, 0.2803, -8.0615, 8.4855, 0.9304, -0.4518, 0.1148, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:738effd315c6dcdcea164de2a0921307df90bf8e7519f89b07c63e608030c4e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4b8de7a080bd821e479238d512800e87259efdb5526902e4833cecc04165254",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:39068bad7725a6dc09f85c83739eb78ec068b392bd900afa552879b89fd19261",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 7.453 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3542, 2.0434, 1.6707, -0.902, 0.8337, 1.1229, 0.0767, 0.2752, 1.7424, 1.1301, -0.3637, -0.7666, -0.8268, 0.049]\nstate[eef_state]: left_x=0.3734 left_y=-0.2737 left_z=0.1333 left_yaw=-1.6461 left_pitch=-0.1278 left_roll=-0.0364 left_gripper=0.0767 right_x=0.3609 right_y=0.233 right_z=0.1171 right_yaw=1.3201 right_pitch=-0.0818 right_roll=-0.0174 right_gripper=0.049\nstate[joint_eff]: [-0.1983, -11.0838, 6.1744, 0.9548, 0.3736, -0.0513, 0.9841, -0.3624, -8.5128, 6.2564, 1.1844, -0.4567, -0.0708, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3542, 2.0434, 1.6707, -0.9016, 0.8196, 1.1229, 0.08, 0.2752, 1.7424, 1.1301, -0.3637, -0.7597, -0.8265, 0.049]\nstate[eef_state]: left_x=0.3746 left_y=-0.2723 left_z=0.1316 left_yaw=-1.6414 left_pitch=-0.1406 left_roll=-0.0323 left_gripper=0.08 right_x=0.3616 right_y=0.2323 right_z=0.1164 right_yaw=1.3159 right_pitch=-0.0867 right_roll=-0.02 right_gripper=0.049\nstate[joint_eff]: [-0.0342, -11.0427, 6.2427, 0.9353, 0.4957, -0.0708, 0.8523, -0.2803, -8.5128, 6.2701, 1.2283, -0.4811, -0.0464, 1.0232]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3542, 2.0434, 1.6707, -0.9054, 0.8173, 1.1233, 0.0829, 0.3321, 1.7523, 1.2251, -0.4141, -0.7185, -0.7837, 0.0541]\nstate[eef_state]: left_x=0.3741 left_y=-0.2719 left_z=0.1311 left_yaw=-1.6414 left_pitch=-0.1438 left_roll=-0.0351 left_gripper=0.0829 right_x=0.3666 right_y=0.2532 right_z=0.1363 right_yaw=1.322 right_pitch=-0.0968 right_roll=-0.0333 right_gripper=0.0541\nstate[joint_eff]: [-0.1573, -10.8239, 6.2291, 0.8083, 0.3541, -0.0611, 0.6471, 0.2803, -8.0615, 8.4855, 0.9304, -0.4518, 0.1148, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:738effd315c6dcdcea164de2a0921307df90bf8e7519f89b07c63e608030c4e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4b8de7a080bd821e479238d512800e87259efdb5526902e4833cecc04165254",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39068bad7725a6dc09f85c83739eb78ec068b392bd900afa552879b89fd19261",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FFGxEEM2pzawK1HFUTdeHM",
      "input": {
        "note": "The pen advanced 2 cm and its tip now sits at the left jaws where the cap is held. Pushing another ~2 cm along the pen axis to seat the cap.",
        "targets": {
          "right_x": 0.372,
          "right_y": 0.275,
          "right_z": 0.135
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01FFGxEEM2pzawK1HFUTdeHM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3542, 2.0438, 1.6707, -0.9096, 0.8108, 1.1233, 0.084, 0.363, 1.7676, 1.2644, -0.4137, -0.6949, -0.7475, 0.0589]\nstate[eef_state]: left_x=0.3739 left_y=-0.271 left_z=0.1299 left_yaw=-1.6399 left_pitch=-0.1511 left_roll=-0.0378 left_gripper=0.084 right_x=0.3703 right_y=0.2654 right_z=0.1421 right_yaw=1.3164 right_pitch=-0.0983 right_roll=-0.0354 right_gripper=0.0589\nstate[joint_eff]: [-0.3487, -11.0974, 6.4889, 0.7643, 0.4225, -0.0464, 0.6862, 1.0598, -7.2957, 6.5983, 1.2381, -0.4908, 0.0269, 0.7399]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68834a636b391ebc1a654fe2406d089315c18b5cb204ab98c09741adea5265bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7054ce7702e90430f9b851d541e7a27fd2beb5ec7a79b0dca99e55b6741b488b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:453c404fdb534d57b2b67a38d84dc70e94db48705242d0c51263a924819fd61b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /messages · status 200 · 13.54 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3542, 2.0434, 1.6707, -0.9016, 0.8196, 1.1229, 0.08, 0.2752, 1.7424, 1.1301, -0.3637, -0.7597, -0.8265, 0.049]\nstate[eef_state]: left_x=0.3746 left_y=-0.2723 left_z=0.1316 left_yaw=-1.6414 left_pitch=-0.1406 left_roll=-0.0323 left_gripper=0.08 right_x=0.3616 right_y=0.2323 right_z=0.1164 right_yaw=1.3159 right_pitch=-0.0867 right_roll=-0.02 right_gripper=0.049\nstate[joint_eff]: [-0.0342, -11.0427, 6.2427, 0.9353, 0.4957, -0.0708, 0.8523, -0.2803, -8.5128, 6.2701, 1.2283, -0.4811, -0.0464, 1.0232]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3542, 2.0434, 1.6707, -0.9054, 0.8173, 1.1233, 0.0829, 0.3321, 1.7523, 1.2251, -0.4141, -0.7185, -0.7837, 0.0541]\nstate[eef_state]: left_x=0.3741 left_y=-0.2719 left_z=0.1311 left_yaw=-1.6414 left_pitch=-0.1438 left_roll=-0.0351 left_gripper=0.0829 right_x=0.3666 right_y=0.2532 right_z=0.1363 right_yaw=1.322 right_pitch=-0.0968 right_roll=-0.0333 right_gripper=0.0541\nstate[joint_eff]: [-0.1573, -10.8239, 6.2291, 0.8083, 0.3541, -0.0611, 0.6471, 0.2803, -8.0615, 8.4855, 0.9304, -0.4518, 0.1148, 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 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3542, 2.0438, 1.6707, -0.9096, 0.8108, 1.1233, 0.084, 0.363, 1.7676, 1.2644, -0.4137, -0.6949, -0.7475, 0.0589]\nstate[eef_state]: left_x=0.3739 left_y=-0.271 left_z=0.1299 left_yaw=-1.6399 left_pitch=-0.1511 left_roll=-0.0378 left_gripper=0.084 right_x=0.3703 right_y=0.2654 right_z=0.1421 right_yaw=1.3164 right_pitch=-0.0983 right_roll=-0.0354 right_gripper=0.0589\nstate[joint_eff]: [-0.3487, -11.0974, 6.4889, 0.7643, 0.4225, -0.0464, 0.6862, 1.0598, -7.2957, 6.5983, 1.2381, -0.4908, 0.0269, 0.7399]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68834a636b391ebc1a654fe2406d089315c18b5cb204ab98c09741adea5265bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7054ce7702e90430f9b851d541e7a27fd2beb5ec7a79b0dca99e55b6741b488b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:453c404fdb534d57b2b67a38d84dc70e94db48705242d0c51263a924819fd61b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PSBfnez9ELtF5BWX4oXnog",
      "input": {
        "note": "The left wrist view shows the pen sliding past beside the cap (about 1 cm toward +x) instead of into it. Backing the pen out and shifting it ~1 cm toward the bases to line up with the cap.",
        "targets": {
          "right_x": 0.358,
          "right_y": 0.245,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01PSBfnez9ELtF5BWX4oXnog",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3542, 2.0438, 1.6707, -0.9127, 0.8104, 1.1233, 0.0844, 0.3759, 1.7931, 1.264, -0.3885, -0.6773, -0.7403, 0.0624]\nstate[eef_state]: left_x=0.3734 left_y=-0.2707 left_z=0.1297 left_yaw=-1.6402 left_pitch=-0.1523 left_roll=-0.0406 left_gripper=0.0844 right_x=0.3731 right_y=0.2702 right_z=0.1328 right_yaw=1.3141 right_pitch=-0.11 right_roll=-0.0372 right_gripper=0.0624\nstate[joint_eff]: [-0.3487, -11.0291, 6.2701, 0.7546, 0.3639, -0.0269, 0.735, 0.5538, -9.1009, 6.612, 1.4335, -0.4518, 0.0806, 0.9499]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7abd90bb09f72ae6cab3a2ad3abcf1e3a362fa6e6965f2a80bb0557a9d67cd52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9335e32a3b7c8d31053fd65aa12c2b0edbe531ae4aa62b2aaeea630435cceb60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2cc40940fa26318d18496731b2641b2607fc749c885488b57a9b6a54bba2e1c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]