adhoc - adhoc_8e745851.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.anthropic.com/v1
depth: render
effort: medium
image_horizon: 2
images: always
max_llm_calls: 40
max_output_tokens: 16000
max_speed_frac: 0.25
model: claude-opus-5
pre_check: null
prior_learnings: null
prior_learnings_sha256: null
replan_interval: null
speed: null
temperature: null
transcript_echo: false
wire: messages
wire_capture: true
seed: 0
max steps: 900
duration: 565.8 s
total steps: 335

operator

scenes

trials

errored

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

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

user

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

step 0

assistant

agent noteTop view shows two small dark objects on the table: a shorter one left-of-centre and a longer thin one right-of-centre (likely the cap and the pen). I'm bringing the left arm to hover ~15 cm above the left object to inspect it with the wrist camera.

move_to

left_x0.3500left_y-0.1500left_z0.1500left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.7933, 0.6022, -0.3805, -0.02, -0.0116, 0.9998, -0.0185, 0.7914, 0.6098, -0.3759, -0.0261, -0.0147, 0.999] state[eef_state]: left_x=0.2944 left_y=0.0011 left_z=0.1792 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9998 right_x=0.2958 right_y=0.0027 right_z=0.1842 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.999 state[joint_eff]: [-0.5675, -1.5521, 10.4821, 1.7851, -0.0708, -0.0757, -0.0366, -0.7726, -1.2786, 9.8256, 1.7216, 0.0171, 0.0073, -0.1148] 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": 0.35, "left_y": -0.15, "left_z": 0.15, "left_gripper": 1}, "note": "Top view shows two small dark objects on the table: a shorter one left-of-centre and a longer thin one right-of-centre (likely the cap and the pen). I'm bringing the left arm to hover ~15 cm above the left object to inspect it with the wrist camera."})

tool

executing move_to over 14 steps (1.4s)

step 14

assistant

agent noteThe left wrist camera shows the small object centred on the jaw column but high in the frame, meaning it is still several cm further out than the fingertips. Advancing radially ~6 cm and dropping to 10 cm height.

move_to

left_x0.4000left_y-0.1450left_z0.1000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6456, 1.3212, 0.7296, -0.1665, -0.5072, -0.3782, 0.9998, -0.0193, 0.7979, 0.6132, -0.3897, -0.0261, -0.0147, 0.999] state[eef_state]: left_x=0.3371 left_y=-0.142 left_z=0.1268 left_yaw=-0.0238 left_pitch=-0.0744 left_roll=0.0411 left_gripper=0.9998 right_x=0.2949 right_y=0.0025 right_z=0.1812 right_yaw=-0.0004 right_pitch=-0.0168 right_roll=0.0005 right_gripper=0.999 state[joint_eff]: [-0.3487, -5.6547, 9.5248, 1.8046, -0.3346, -0.0806, -0.0366, -0.1299, -1.7436, 6.7624, 1.8535, -0.022, -0.0366, -0.022] camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.4, "left_y": -0.145, "left_z": 0.1}, "note": "The left wrist camera shows the small object centred on the jaw column but high in the frame, meaning it is still several cm further out than the fingertips. Advancing radially ~6 cm and dropping to 10 cm height."})

tool

executing move_to over 5 steps (0.5s)

step 19

assistant

agent noteObject still sits high in the left wrist frame, so the fingertips remain short of it; advancing another ~6 cm radially and lowering to 5 cm with the tool leveled.

move_to

left_x0.4400left_y-0.1400left_z0.0500left_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]: [-0.5346, 1.5757, 0.7818, -0.0422, -0.4412, -0.3267, 0.9998, -0.0193, 0.8005, 0.6132, -0.3935, -0.0265, -0.0147, 0.999] state[eef_state]: left_x=0.3758 left_y=-0.1307 left_z=0.073 left_yaw=0.0134 left_pitch=-0.1672 left_roll=0.0847 left_gripper=0.9998 right_x=0.2945 right_y=0.0026 right_z=0.1796 right_yaw=-0.0001 right_pitch=-0.0233 right_roll=0.0008 right_gripper=0.999 state[joint_eff]: [0.4444, -6.9812, 9.6205, 1.8046, -0.2515, 0.2662, -0.0171, -0.0615, -1.4154, 7.0222, 1.746, -0.0415, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.44, "left_y": -0.14, "left_z": 0.05, "left_pitch": 0}, "note": "Object still sits high in the left wrist frame, so the fingertips remain short of it; advancing another ~6 cm radially and lowering to 5 cm with the tool leveled."})

tool

executing move_to over 6 steps (0.6s)

step 25

assistant

agent noteThe arm under-tracked the last command (only reached x=0.387), so I'm re-commanding the forward/down target without constraining pitch to let the IK reach over the cap.

move_to

left_x0.4400left_y-0.1400left_z0.0400

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5251, 1.5944, 0.8017, -0.0025, -0.4332, -0.3119, 0.9998, -0.0193, 0.8005, 0.6132, -0.3935, -0.0265, -0.0147, 0.999] state[eef_state]: left_x=0.3871 left_y=-0.1344 left_z=0.0792 left_yaw=0.0054 left_pitch=-0.1359 left_roll=0.0697 left_gripper=0.9998 right_x=0.2945 right_y=0.0026 right_z=0.1796 right_yaw=-0.0001 right_pitch=-0.0233 right_roll=0.0008 right_gripper=0.999 state[joint_eff]: [-0.1846, -7.5009, 8.7863, 1.8193, -0.0855, 0.2271, -0.0171, -0.0889, -1.1282, 7.0222, 1.7509, -0.0269, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.44, "left_y": -0.14, "left_z": 0.04}, "note": "The arm under-tracked the last command (only reached x=0.387), so I'm re-commanding the forward/down target without constraining pitch to let the IK reach over the cap."})

tool

executing move_to over 5 steps (0.5s)

step 30

assistant

agent noteThe left arm has stalled at x≈0.388 (likely a joint limit in this low, extended pose); raising to 14 cm while pushing forward to see if it can unfold and reach further out.

move_to

left_x0.4400left_y-0.1400left_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]: [-0.5247, 1.5944, 0.8017, 0.001, -0.4332, -0.3122, 0.9998, -0.0193, 0.8009, 0.6132, -0.3965, -0.0261, -0.0147, 0.999] state[eef_state]: left_x=0.3876 left_y=-0.1346 left_z=0.0797 left_yaw=0.0058 left_pitch=-0.1329 left_roll=0.0677 left_gripper=0.9998 right_x=0.2941 right_y=0.0025 right_z=0.1789 right_yaw=-0.0004 right_pitch=-0.0267 right_roll=0.0007 right_gripper=0.999 state[joint_eff]: [-0.253, -7.5009, 8.7453, 1.7851, -0.0904, 0.1685, -0.0171, -0.0479, -1.0462, 7.1726, 1.7558, -0.0317, -0.0269, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.44, "left_y": -0.14, "left_z": 0.14}, "note": "The left arm has stalled at x\u22480.388 (likely a joint limit in this low, extended pose); raising to 14 cm while pushing forward to see if it can unfold and reach further out."})

tool

executing move_to over 5 steps (0.5s)

step 35

assistant

agent noteThe object now sits just above the jaws at the bottom of the left wrist view, but its long axis is roughly horizontal in the image (parallel to the jaw closing direction). Rotating the wrist 90° and descending to 6 cm so the jaws will close across it.

move_to

left_x0.4400left_y-0.1400left_z0.0600left_yaw-1.5000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4644, 1.6596, 1.095, -0.1947, -0.4095, -0.2943, 0.9997, -0.0193, 0.8036, 0.6132, -0.3981, -0.0261, -0.0147, 0.999] state[eef_state]: left_x=0.4363 left_y=-0.1359 left_z=0.1349 left_yaw=0.0356 left_pitch=-0.1135 left_roll=0.0509 left_gripper=0.9997 right_x=0.2941 right_y=0.0025 right_z=0.1779 right_yaw=-0.0004 right_pitch=-0.0309 right_roll=0.0008 right_gripper=0.999 state[joint_eff]: [0.2393, -7.2547, 8.1162, 1.3602, -0.0122, 0.1783, -0.0171, -0.3487, -1.5111, 7.0222, 1.7021, -0.0317, -0.0708, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.44, "left_y": -0.14, "left_z": 0.06, "left_yaw": -1.5}, "note": "The object now sits just above the jaws at the bottom of the left wrist view, but its long axis is roughly horizontal in the image (parallel to the jaw closing direction). Rotating the wrist 90\u00b0 and descending to 6 cm so the jaws will close across it."})

tool

executing move_to over 10 steps (1.0s)

step 45

assistant

agent noteThe combined yaw+descend command produced no motion at all, so I'm testing a pure descent to 6 cm to see whether the arm still tracks.

move_to

left_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]: [-0.4606, 1.673, 1.1217, -0.2516, -0.3878, -0.2783, 0.9997, -0.0193, 0.8043, 0.6132, -0.3973, -0.0261, -0.0147, 0.999] state[eef_state]: left_x=0.4339 left_y=-0.1367 left_z=0.1295 left_yaw=0.0162 left_pitch=-0.1596 left_roll=0.0702 left_gripper=0.9997 right_x=0.2943 right_y=0.0025 right_z=0.1778 right_yaw=-0.0004 right_pitch=-0.0309 right_roll=0.0008 right_gripper=0.999 state[joint_eff]: [-0.0752, -8.253, 8.4581, 1.5653, -0.1978, 0.1392, -0.0073, -0.1436, -1.388, 7.0085, 1.7558, -0.0415, -0.0806, -0.0122] camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.06}, "note": "The combined yaw+descend command produced no motion at all, so I'm testing a pure descent to 6 cm to see whether the arm still tracks."})

tool

executing move_to over 5 steps (0.5s)

step 50

assistant

agent noteIn the left wrist view the object sits up and to the right of the jaw column, so I'm shifting ~4 cm to the arm's right and pushing ~4 cm further out while descending near the table.

move_to

left_x0.4600left_y-0.1700left_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]: [-0.4061, 1.7733, 0.9253, -0.0345, -0.2401, -0.1173, 0.9997, -0.0193, 0.8089, 0.6132, -0.408, -0.0265, -0.0147, 0.999] state[eef_state]: left_x=0.4164 left_y=-0.1294 left_z=0.04 left_yaw=-0.1331 left_pitch=-0.2825 left_roll=0.111 left_gripper=0.9997 right_x=0.2931 right_y=0.0026 right_z=0.1744 right_yaw=-0.0001 right_pitch=-0.0461 right_roll=0.0013 right_gripper=0.999 state[joint_eff]: [1.2103, -8.9641, 8.1846, 1.5165, -0.2271, -0.1734, -0.0122, -0.3487, -1.6342, 7.1179, 1.8388, -0.0269, -0.0611, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.46, "left_y": -0.17, "left_z": 0.02}, "note": "In the left wrist view the object sits up and to the right of the jaw column, so I'm shifting ~4 cm to the arm's right and pushing ~4 cm further out while descending near the table."})

tool

executing move_to over 4 steps (0.4s)

step 54

assistant

agent noteThe object is now nicely centred on the jaw column in the left wrist view with its axis vertical; descending to table level while nudging forward before closing.

move_to

left_z-0.0100left_x0.4500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4255, 1.821, 0.9138, 0.0471, -0.2802, -0.1478, 0.9997, -0.0193, 0.8101, 0.6132, -0.4122, -0.0265, -0.0147, 0.999] state[eef_state]: left_x=0.4225 left_y=-0.1339 left_z=0.0301 left_yaw=-0.1036 left_pitch=-0.2501 left_roll=0.1133 left_gripper=0.9997 right_x=0.2925 right_y=0.0026 right_z=0.1732 right_yaw=-0.0001 right_pitch=-0.0515 right_roll=0.0014 right_gripper=0.999 state[joint_eff]: [-0.2393, -8.5812, 5.4769, 1.7851, -0.0464, 0.2027, -0.0122, -0.0615, -1.4427, 7.1863, 1.7509, -0.022, -0.0562, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": -0.01, "left_x": 0.45}, "note": "The object is now nicely centred on the jaw column in the left wrist view with its axis vertical; descending to table level while nudging forward before closing."})

tool

executing move_to over 3 steps (0.3s)

step 57

assistant

agent noteThe arm refuses to go lower or further (stuck at x=0.42, z=0.03), but the object is centred on the jaw column; closing the gripper as a cheap test of whether it is already between the fingers.

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]: [-0.4259, 1.821, 0.9131, 0.0574, -0.2802, -0.1474, 0.9997, -0.0193, 0.8104, 0.6132, -0.4126, -0.0265, -0.0143, 0.999] state[eef_state]: left_x=0.4239 left_y=-0.1347 left_z=0.0315 left_yaw=-0.1049 left_pitch=-0.2411 left_roll=0.1105 left_gripper=0.9997 right_x=0.2925 right_y=0.0026 right_z=0.173 right_yaw=-0.0003 right_pitch=-0.0522 right_roll=0.0017 right_gripper=0.999 state[joint_eff]: [-0.3897, -8.6769, 5.7094, 1.7216, -0.0757, 0.1636, -0.0122, -0.1709, -1.2923, 7.0085, 1.6972, -0.0317, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0}, "note": "The arm refuses to go lower or further (stuck at x=0.42, z=0.03), but the object is centred on the jaw column; closing the gripper as a cheap test of whether it is already between the fingers."})

tool

executing move_to over 10 steps (1.0s)

step 67

assistant

agent noteThe close came back empty (0.008) and the cap is still ~2-3 cm beyond the jaws, but the arm won't extend in this posture; reopening and trying a forward-pitched wrist pose which should let the fingertips reach further out.

move_to

left_gripper1.0000left_pitch0.5000left_x0.4600left_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]: [-0.4255, 1.821, 0.9131, 0.0433, -0.2806, -0.152, 0.0085, -0.0193, 0.8108, 0.6132, -0.4126, -0.0261, -0.0147, 0.999] state[eef_state]: left_x=0.4216 left_y=-0.1334 left_z=0.0293 left_yaw=-0.1006 left_pitch=-0.2541 left_roll=0.1121 left_gripper=0.0085 right_x=0.2925 right_y=0.0026 right_z=0.1729 right_yaw=-0.0004 right_pitch=-0.0526 right_roll=0.0012 right_gripper=0.999 state[joint_eff]: [0.0068, -8.6906, 5.6547, 1.5702, -0.1245, 0.0415, 0.569, -0.3624, -1.1966, 7.0496, 1.6923, -0.0171, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 1, "left_pitch": 0.5, "left_x": 0.46, "left_z": 0.06}, "note": "The close came back empty (0.008) and the cap is still ~2-3 cm beyond the jaws, but the arm won't extend in this posture; reopening and trying a forward-pitched wrist pose which should let the fingertips reach further out."})

tool

executing move_to over 26 steps (2.6s)

step 93

assistant

agent notePitching the wrist forward let the arm extend to x=0.453; the cap is now just under/past the fingertips (out of wrist view), so I'm shifting 2 cm to the arm's right onto its estimated position and descending to table level.

move_to

left_y-0.1550left_z0.0000left_x0.4500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4381, 2.207, 0.6373, 1.4017, -0.3897, 0.0513, 0.9979, -0.0193, 0.8108, 0.6132, -0.4129, -0.0265, -0.0147, 0.999] state[eef_state]: left_x=0.4534 left_y=-0.1344 left_z=0.0406 left_yaw=-0.1145 left_pitch=0.4116 left_roll=0.1249 left_gripper=0.9979 right_x=0.2925 right_y=0.0026 right_z=0.1728 right_yaw=-0.0001 right_pitch=-0.053 right_roll=0.0014 right_gripper=0.999 state[joint_eff]: [0.253, -8.6632, 4.9026, 2.2295, -0.0952, 0.0415, -0.0708, -0.1709, -1.1692, 7.0085, 1.6777, -0.022, -0.0513, -0.0171] camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_y": -0.155, "left_z": 0.0, "left_x": 0.45}, "note": "Pitching the wrist forward let the arm extend to x=0.453; the cap is now just under/past the fingertips (out of wrist view), so I'm shifting 2 cm to the arm's right onto its estimated position and descending to table level."})

tool

executing move_to over 3 steps (0.3s)

step 96

assistant

agent noteSomething dark appears right at the bottom of the left wrist frame between the jaws; closing to test for a grasp on the cap.

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]: [-0.49, 2.3646, 0.6968, 1.5455, -0.4366, 0.0246, 0.9979, -0.0193, 0.8131, 0.6132, -0.4133, -0.0261, -0.0147, 0.999] state[eef_state]: left_x=0.4541 left_y=-0.1535 left_z=0.0196 left_yaw=-0.0997 left_pitch=0.4584 left_roll=0.0851 left_gripper=0.9979 right_x=0.2926 right_y=0.0026 right_z=0.1721 right_yaw=-0.0004 right_pitch=-0.0557 right_roll=0.0013 right_gripper=0.999 state[joint_eff]: [-0.2667, -7.6103, 2.1949, 1.0574, 0.0855, 0.2662, -0.0073, -0.212, -1.1282, 7.0085, 1.663, -0.0269, -0.0415, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0}, "note": "Something dark appears right at the bottom of the left wrist frame between the jaws; closing to test for a grasp on the cap."})

tool

executing move_to over 10 steps (1.0s)

step 106

assistant

agent noteSecond empty close, and I can no longer identify the cap in the top view because the left arm occludes that area. Retracting the left arm to home so the overhead camera can show both objects clearly.

move_to

left_x0.2500left_y0.0000left_z0.2000left_pitch0.0000left_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]: [-0.4934, 2.3749, 0.701, 1.5528, -0.4397, 0.0257, 0.0084, -0.0193, 0.8131, 0.6132, -0.4129, -0.0265, -0.0147, 0.999] state[eef_state]: left_x=0.454 left_y=-0.1547 left_z=0.0178 left_yaw=-0.1007 left_pitch=0.4595 left_roll=0.0863 left_gripper=0.0084 right_x=0.2926 right_y=0.0026 right_z=0.1722 right_yaw=-0.0001 right_pitch=-0.0553 right_roll=0.0015 right_gripper=0.999 state[joint_eff]: [-0.1026, -10.6188, 2.0855, 1.7753, 0.0317, -0.0806, 0.5641, -0.212, -1.2239, 7.0085, 1.7167, -0.0464, -0.0855, -0.0171] camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.25, "left_y": 0.0, "left_z": 0.2, "left_pitch": 0, "left_gripper": 1}, "note": "Second empty close, and I can no longer identify the cap in the top view because the left arm occludes that area. Retracting the left arm to home so the overhead camera can show both objects clearly."})

tool

executing move_to over 16 steps (1.6s)

step 122

assistant

agent noteWith the left arm retracted the overhead view clearly shows the short cap at left and the longer pen right of centre. Moving the right arm over the pen, yawed 45° so the jaws close across the pen's axis.

move_to

right_x0.4400right_y0.2600right_z0.1200right_yaw0.7850right_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]: [-0.0101, 0.6041, 0.5865, -0.4675, -0.0265, 0.0811, 0.9968, -0.0193, 0.8185, 0.6128, -0.416, -0.0265, -0.0147, 0.999] state[eef_state]: left_x=0.2672 left_y=0.0056 left_z=0.2028 left_yaw=-0.0344 left_pitch=0.0839 left_roll=0.0835 left_gripper=0.9968 right_x=0.2924 right_y=0.0026 right_z=0.17 right_yaw=-0.0001 right_pitch=-0.0641 right_roll=0.0016 right_gripper=0.999 state[joint_eff]: [0.253, -0.253, 9.7436, 1.7265, 0.0317, 0.2027, 0.1392, -0.0479, -1.7709, 7.0632, 1.707, -0.0024, -0.0659, -0.0122] 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_x": 0.44, "right_y": 0.26, "right_z": 0.12, "right_yaw": 0.785, "right_gripper": 1}, "note": "With the left arm retracted the overhead view clearly shows the short cap at left and the longer pen right of centre. Moving the right arm over the pen, yawed 45\u00b0 so the jaws close across the pen's axis."})

tool

executing move_to over 22 steps (2.2s)

step 144

assistant

agent noteThe pen is not visible in the right wrist view, meaning the gripper has already overshot past it; pulling back 5 cm in x to bring the pen into view ahead of the jaws.

move_to

right_x0.3800right_z0.1000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0093, 0.6102, 0.5858, -0.4847, -0.0227, 0.0799, 0.9978, 0.4152, 1.8103, 1.1336, -0.0162, -0.2745, -0.2054, 0.999] state[eef_state]: left_x=0.2657 left_y=0.0051 left_z=0.1972 left_yaw=-0.0362 left_pitch=0.06 left_roll=0.0801 left_gripper=0.9978 right_x=0.4331 right_y=0.2472 right_z=0.1086 right_yaw=0.7464 right_pitch=-0.1051 right_roll=0.0103 right_gripper=0.999 state[joint_eff]: [-0.2803, -0.253, 7.1726, 1.9316, -0.0464, -0.0024, 0.0952, 0.8274, -8.9641, 8.3214, 1.7118, -0.2271, 0.0317, -0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.38, "right_z": 0.1}, "note": "The pen is not visible in the right wrist view, meaning the gripper has already overshot past it; pulling back 5 cm in x to bring the pen into view ahead of the jaws."})

tool

executing move_to over 5 steps (0.5s)

step 149

assistant

agent noteThe pen is now visible in the right wrist view as a near-vertical line ~30 px right of the jaw centre, already perpendicular to the jaws. Shifting ~3 cm to the tool's left and descending to just above the table.

move_to

right_x0.3570right_y0.2670right_z0.0300

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0093, 0.6163, 0.5858, -0.4858, -0.0223, 0.0795, 0.9979, 0.4751, 1.7039, 0.9234, 0.0284, -0.2394, -0.1825, 0.999] state[eef_state]: left_x=0.266 left_y=0.005 left_z=0.1955 left_yaw=-0.0363 left_pitch=0.0527 left_roll=0.0794 left_gripper=0.9979 right_x=0.3775 right_y=0.2453 right_z=0.0789 right_yaw=0.7672 right_pitch=-0.1689 right_roll=0.0241 right_gripper=0.999 state[joint_eff]: [-0.253, -0.1709, 6.9128, 1.873, -0.0611, -0.0806, -0.0024, 0.4308, -10.6872, 6.6667, 1.8779, -0.0073, 0.1929, -0.022] camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.357, "right_y": 0.267, "right_z": 0.03}, "note": "The pen is now visible in the right wrist view as a near-vertical line ~30 px right of the jaw centre, already perpendicular to the jaws. Shifting ~3 cm to the tool's left and descending to just above the table."})

tool

executing move_to over 4 steps (0.4s)

step 153

assistant

agent noteMy lateral guess was inverted — the pen slid to the right edge of the wrist view. Applying the corrected offset (~5 cm back the other way) to centre the pen between the jaws at table level.

move_to

right_x0.3970right_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]: [-0.0093, 0.617, 0.5858, -0.4866, -0.0223, 0.0795, 0.9979, 0.5549, 1.7962, 0.8082, 0.1802, -0.194, -0.1417, 0.999] state[eef_state]: left_x=0.266 left_y=0.005 left_z=0.1951 left_yaw=-0.0363 left_pitch=0.0512 left_roll=0.0793 left_gripper=0.9979 right_x=0.3475 right_y=0.2597 right_z=0.022 right_yaw=0.7893 right_pitch=-0.2321 right_roll=0.0376 right_gripper=0.999 state[joint_eff]: [-0.1983, 0.0068, 6.9128, 1.79, -0.0659, -0.0659, -0.0122, 0.4855, -8.1299, 6.065, 2.1319, -0.0757, 0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). 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": 0.397, "right_y": 0.236, "right_z": 0.02}, "note": "My lateral guess was inverted \u2014 the pen slid to the right edge of the wrist view. Applying the corrected offset (~5 cm back the other way) to centre the pen between the jaws at table level."})

tool

executing move_to over 4 steps (0.4s)

step 157

assistant

agent noteThe right arm stalled (shoulder saturated) and ignored the lateral correction. Lifting to 10 cm and pitching the wrist forward — which unlocked reach on the left arm earlier — while applying the lateral shift.

move_to

right_x0.4000right_y0.2360right_z0.1000right_pitch0.4000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.009, 0.617, 0.5858, -0.4866, -0.0223, 0.0799, 0.9979, 0.5644, 1.8114, 0.7963, 0.244, -0.1833, -0.1345, 0.999] state[eef_state]: left_x=0.266 left_y=0.0051 left_z=0.1951 left_yaw=-0.0361 left_pitch=0.0512 left_roll=0.0797 left_gripper=0.9979 right_x=0.351 right_y=0.2645 right_z=0.0222 right_yaw=0.784 right_pitch=-0.1983 right_roll=0.027 right_gripper=0.999 state[joint_eff]: [0.0068, 0.0889, 6.9949, 1.8046, -0.0464, -0.0269, -0.0122, -0.0342, -8.6632, 5.9556, 1.7949, 0.0317, 0.1148, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.4, "right_y": 0.236, "right_z": 0.1, "right_pitch": 0.4}, "note": "The right arm stalled (shoulder saturated) and ignored the lateral correction. Lifting to 10 cm and pitching the wrist forward \u2014 which unlocked reach on the left arm earlier \u2014 while applying the lateral shift."})

tool

executing move_to over 20 steps (2.0s)

step 177

assistant

agent notePen now appears at the bottom of the right wrist view, ~35 px right of the jaw centre; applying the same lateral correction direction that worked last time and descending to table level for the grasp.

move_to

right_x0.4290right_y0.2160right_z0.0250

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0093, 0.6189, 0.5858, -0.49, -0.0223, 0.0799, 0.9979, 0.3702, 1.9057, 0.6121, 1.0477, -0.4255, -0.0776, 0.999] state[eef_state]: left_x=0.2657 left_y=0.005 left_z=0.1939 left_yaw=-0.0365 left_pitch=0.0458 left_roll=0.0795 left_gripper=0.9979 right_x=0.3972 right_y=0.2362 right_z=0.0861 right_yaw=0.7813 right_pitch=0.3333 right_roll=0.0291 right_gripper=0.999 state[joint_eff]: [-0.1709, -0.1983, 6.9538, 1.7705, -0.0562, -0.0366, -0.0171, -0.6632, -7.3094, 4.3282, 2.2149, -0.2418, 0.1538, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.429, "right_y": 0.216, "right_z": 0.025}, "note": "Pen now appears at the bottom of the right wrist view, ~35 px right of the jaw centre; applying the same lateral correction direction that worked last time and descending to table level for the grasp."})

tool

executing move_to over 4 steps (0.4s)

step 181

assistant

agent noteThe pen is now centred between the open jaws at the bottom of the right wrist view; closing the gripper to grasp 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]: [-0.009, 0.6235, 0.5858, -0.4934, -0.0223, 0.0799, 0.9979, 0.2855, 2.199, 0.6834, 1.1912, -0.4908, -0.1047, 0.9988] state[eef_state]: left_x=0.2657 left_y=0.0051 left_z=0.1921 left_yaw=-0.0361 left_pitch=0.0378 left_roll=0.0793 left_gripper=0.9979 right_x=0.4197 right_y=0.2137 right_z=0.0125 right_yaw=0.7586 right_pitch=0.271 right_roll=0.0542 right_gripper=0.9988 state[joint_eff]: [-0.0889, -0.1983, 6.8991, 1.7656, -0.0317, -0.0513, -0.0122, -0.3214, -10.2222, 5.053, 1.1209, -0.1294, 0.486, -0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0}, "note": "The pen is now centred between the open jaws at the bottom of the right wrist view; closing the gripper to grasp it."})

tool

executing move_to over 10 steps (1.0s)

step 191

assistant

agent noteClose was empty (0.008), so the pen lies a couple of cm beyond the fingertips; reopening and advancing ~2.5 cm radially outward before retrying.

move_to

right_gripper1.0000right_x0.4470right_y0.2260right_z0.0150

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0093, 0.6239, 0.5858, -0.4961, -0.0223, 0.0799, 0.9979, 0.2764, 2.212, 0.6994, 1.2201, -0.5175, -0.1081, 0.008] state[eef_state]: left_x=0.2654 left_y=0.005 left_z=0.1914 left_yaw=-0.0365 left_pitch=0.0348 left_roll=0.0792 left_gripper=0.9979 right_x=0.4239 right_y=0.2148 right_z=0.0182 right_yaw=0.7791 right_pitch=0.3032 right_roll=0.0426 right_gripper=0.008 state[joint_eff]: [-0.3624, -0.0479, 6.8855, 1.7802, -0.0366, -0.0464, -0.0171, -0.3487, -8.9231, 4.5744, 2.044, -0.0562, 0.022, 0.5983] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 1, "right_x": 0.447, "right_y": 0.226, "right_z": 0.015}, "note": "Close was empty (0.008), so the pen lies a couple of cm beyond the fingertips; reopening and advancing ~2.5 cm radially outward before retrying."})

tool

executing move_to over 10 steps (1.0s)

step 201

assistant

agent noteThe right wrist view now shows the pen squarely between the two jaws; closing to grasp.

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]: [-0.009, 0.6281, 0.5858, -0.4961, -0.0223, 0.0799, 0.9979, 0.2836, 2.2524, 0.7937, 1.1587, -0.5159, -0.1123, 0.9951] state[eef_state]: left_x=0.2657 left_y=0.0051 left_z=0.1904 left_yaw=-0.0361 left_pitch=0.0306 left_roll=0.0791 left_gripper=0.9979 right_x=0.4425 right_y=0.2235 right_z=0.0143 right_yaw=0.7862 right_pitch=0.2965 right_roll=0.0418 right_gripper=0.9951 state[joint_eff]: [-0.0342, -0.4718, 6.8855, 1.746, -0.0611, -0.0562, -0.0171, 0.1162, -8.9778, 5.1214, 1.8779, -0.0464, 0.0366, -0.2027] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0}, "note": "The right wrist view now shows the pen squarely between the two jaws; closing to grasp."})

tool

executing move_to over 10 steps (1.0s)

step 211

assistant

agent noteEmpty again — the jaws are likely closing just above the thin pen lying flat. Reopening and pressing down to table level (z = -0.01) before closing again.

move_to

right_gripper1.0000right_z-0.0100

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.009, 0.63, 0.5858, -0.4961, -0.0223, 0.0795, 0.9979, 0.2874, 2.2532, 0.7925, 1.1603, -0.5179, -0.1162, 0.0078] state[eef_state]: left_x=0.2658 left_y=0.0051 left_z=0.1899 left_yaw=-0.0359 left_pitch=0.0287 left_roll=0.0787 left_gripper=0.9979 right_x=0.4411 right_y=0.2253 right_z=0.014 right_yaw=0.7937 right_pitch=0.2965 right_roll=0.0386 right_gripper=0.0078 state[joint_eff]: [-0.1026, -0.1846, 6.8991, 1.7656, -0.0806, -0.0659, -0.0171, -0.4718, -9.9077, 3.6718, 1.7802, -0.0611, 0.0024, 0.5885] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 1, "right_z": -0.01}, "note": "Empty again \u2014 the jaws are likely closing just above the thin pen lying flat. Reopening and pressing down to table level (z = -0.01) before closing again."})

tool

executing move_to over 10 steps (1.0s)

step 221

assistant

agent noteThe gripper can't press below z≈0.02 here and the pen is out of the wrist view; lifting to 10 cm to re-see the pen relative to the jaws before a clean vertical descent.

move_to

right_z0.1000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.009, 0.63, 0.5858, -0.4961, -0.0223, 0.0795, 0.9979, 0.2878, 2.3116, 0.8097, 1.2915, -0.5278, -0.1314, 0.9947] state[eef_state]: left_x=0.2658 left_y=0.0051 left_z=0.1899 left_yaw=-0.0359 left_pitch=0.0287 left_roll=0.0787 left_gripper=0.9979 right_x=0.4464 right_y=0.2287 right_z=0.0203 right_yaw=0.8272 right_pitch=0.376 right_roll=-0.0225 right_gripper=0.9947 state[joint_eff]: [0.0068, -0.0068, 6.8991, 1.7314, -0.0562, -0.0659, -0.0171, -0.3077, -7.0222, 3.6444, 1.1111, 0.0171, 0.2173, -0.1978] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 221): [image omitted: streamed camera frame] camera 'left_cam' (step 221): [image omitted: streamed camera frame] camera 'right_cam' (step 221): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.1}, "note": "The gripper can't press below z\u22480.02 here and the pen is out of the wrist view; lifting to 10 cm to re-see the pen relative to the jaws before a clean vertical descent."})

tool

executing move_to over 6 steps (0.6s)

step 227

assistant

agent noteReturning to the pose where the pen was centred between the jaws, but with the wrist closer to vertical and pressing to table level so the fingers reach below the thin pen.

move_to

right_x0.4430right_y0.2235right_z0.0000right_pitch0.1500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.009, 0.635, 0.5858, -0.4965, -0.0223, 0.0795, 0.9979, 0.2878, 2.0407, 0.7898, 1.0447, -0.5289, -0.1356, 0.9958] state[eef_state]: left_x=0.2662 left_y=0.0051 left_z=0.1886 left_yaw=-0.0359 left_pitch=0.0234 left_roll=0.0786 left_gripper=0.9979 right_x=0.4451 right_y=0.2285 right_z=0.0884 right_yaw=0.8315 right_pitch=0.3797 right_roll=-0.029 right_gripper=0.9958 state[joint_eff]: [-0.1709, -0.2667, 7.0222, 1.7363, -0.0562, -0.0464, -0.0171, -0.212, -11.2752, 5.5316, 1.8046, -0.1148, 0.0366, 0.105] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.443, "right_y": 0.2235, "right_z": 0.0, "right_pitch": 0.15}, "note": "Returning to the pose where the pen was centred between the jaws, but with the wrist closer to vertical and pressing to table level so the fingers reach below the thin pen."})

tool

executing move_to over 8 steps (0.8s)

step 235

assistant

agent noteGripper is now at table level (z=0.010) in the pose where the pen was centred; closing to grasp the pen.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0093, 0.6388, 0.5858, -0.4965, -0.0223, 0.0799, 0.9979, 0.2886, 2.1685, 0.8246, 0.91, -0.4976, -0.2451, 0.996] state[eef_state]: left_x=0.2665 left_y=0.005 left_z=0.1877 left_yaw=-0.0364 left_pitch=0.0195 left_roll=0.0788 left_gripper=0.9979 right_x=0.4416 right_y=0.2228 right_z=0.0105 right_yaw=0.8315 right_pitch=0.179 right_roll=-0.025 right_gripper=0.996 state[joint_eff]: [-0.3624, -0.4034, 6.9265, 1.7558, -0.0562, -0.0708, -0.0171, 0.2803, -8.5538, 5.5726, 1.4579, -0.0464, 0.2515, 0.0024] camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0}, "note": "Gripper is now at table level (z=0.010) in the pose where the pen was centred; closing to grasp the pen."})

tool

executing move_to over 10 steps (1.0s)

step 245

assistant

agent noteSix empty closes: my estimate of the pen's location must be off. Retracting the right arm out of the way so the overhead camera can show the pen again and I can re-measure it.

move_to

right_x0.3000right_y0.0500right_z0.2000right_pitch0.0000right_yaw0.0000right_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]: [-0.009, 0.6422, 0.5858, -0.4965, -0.0223, 0.0799, 0.9979, 0.2882, 2.1735, 0.8265, 0.9035, -0.4984, -0.2508, 0.0082] state[eef_state]: left_x=0.2667 left_y=0.0051 left_z=0.1868 left_yaw=-0.0361 left_pitch=0.0161 left_roll=0.0787 left_gripper=0.9979 right_x=0.4411 right_y=0.2226 right_z=0.0075 right_yaw=0.834 right_pitch=0.171 right_roll=-0.0251 right_gripper=0.0082 state[joint_eff]: [-0.1709, -0.2393, 7.1043, 1.7607, -0.0806, -0.0317, -0.0122, -0.294, -10.4684, 3.9863, 1.8095, -0.0659, 0.0024, 0.5885] camera 'top_cam' (step 245): [image omitted: streamed camera frame] camera 'left_cam' (step 245): [image omitted: streamed camera frame] camera 'right_cam' (step 245): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.3, "right_y": 0.05, "right_z": 0.2, "right_pitch": 0, "right_yaw": 0, "right_gripper": 1}, "note": "Six empty closes: my estimate of the pen's location must be off. Retracting the right arm out of the way so the overhead camera can show the pen again and I can re-measure it."})

tool

executing move_to over 15 steps (1.5s)

step 260

assistant

agent noteWith the arm clear, the right wrist camera shows the pen lying nearly radially, only ~20 px left of the jaw column — much closer to the arm's centre line than my earlier estimate. Moving forward and slightly left at 10 cm height to re-check alignment.

move_to

right_x0.4000right_y0.1000right_z0.1000right_yaw0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.009, 0.6487, 0.5774, -0.4965, -0.0223, 0.0795, 0.9979, 0.3027, 0.8867, 0.654, -0.2989, 0.194, 0.0845, 0.9964] state[eef_state]: left_x=0.2665 left_y=0.0051 left_z=0.1814 left_yaw=-0.0359 left_pitch=0.0012 left_roll=0.078 left_gripper=0.9979 right_x=0.3101 right_y=0.0649 right_z=0.1953 right_yaw=0.0825 right_pitch=0.0368 right_roll=-0.0254 right_gripper=0.9964 state[joint_eff]: [-0.0615, -0.7863, 7.6103, 1.7558, -0.0269, -0.0562, -0.0122, -0.0889, -2.1812, 9.2103, 1.746, 0.2125, 0.2369, -0.1978] camera 'top_cam' (step 260): [image omitted: streamed camera frame] camera 'left_cam' (step 260): [image omitted: streamed camera frame] camera 'right_cam' (step 260): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.4, "right_y": 0.1, "right_z": 0.1, "right_yaw": 0}, "note": "With the arm clear, the right wrist camera shows the pen lying nearly radially, only ~20 px left of the jaw column \u2014 much closer to the arm's centre line than my earlier estimate. Moving forward and slightly left at 10 cm height to re-check alignment."})

tool

executing move_to over 7 steps (0.7s)

step 267

assistant

agent noteThe pen is clearly visible ~37 px left of the jaw column in the right wrist view, lying nearly radially. Shifting ~5 cm to the arm's left and descending to 4 cm to line the jaws up across it.

move_to

right_y0.1450right_x0.4000right_z0.0400

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.009, 0.6556, 0.5739, -0.4973, -0.0223, 0.0795, 0.9979, 0.3687, 1.4799, 0.5987, 0.2024, 0.2905, 0.136, 0.9974] state[eef_state]: left_x=0.2665 left_y=0.0051 left_z=0.178 left_yaw=-0.0359 left_pitch=-0.0098 left_roll=0.0777 left_gripper=0.9979 right_x=0.3757 right_y=0.0948 right_z=0.0739 right_yaw=0.0392 right_pitch=-0.0891 right_roll=-0.0752 right_gripper=0.9974 state[joint_eff]: [-0.0615, -0.6085, 7.3368, 1.746, -0.0464, -0.0659, -0.0171, 0.4718, -6.8855, 8.4718, 1.9658, 0.2711, 0.2613, 0.0904] camera 'top_cam' (step 267): [image omitted: streamed camera frame] camera 'left_cam' (step 267): [image omitted: streamed camera frame] camera 'right_cam' (step 267): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": 0.145, "right_x": 0.4, "right_z": 0.04}, "note": "The pen is clearly visible ~37 px left of the jaw column in the right wrist view, lying nearly radially. Shifting ~5 cm to the arm's left and descending to 4 cm to line the jaws up across it."})

tool

executing move_to over 5 steps (0.5s)

step 272

assistant

agent noteThe pen now runs right down the jaw column in the wrist view, its near end just at the bottom edge; nudging 1 cm to the arm's right to match where the pen extrapolates under the fingertips and pressing to table level.

move_to

right_y0.1330right_x0.4000right_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]: [-0.0093, 0.6601, 0.5728, -0.4965, -0.0227, 0.0799, 0.9979, 0.4896, 1.7287, 0.6815, 0.2947, 0.3527, 0.1883, 0.9975] state[eef_state]: left_x=0.2668 left_y=0.0051 left_z=0.1765 left_yaw=-0.0361 left_pitch=-0.0148 left_roll=0.0781 left_gripper=0.9979 right_x=0.3873 right_y=0.1413 right_z=0.0295 right_yaw=0.0779 right_pitch=-0.141 right_roll=-0.0991 right_gripper=0.9975 state[joint_eff]: [-0.3487, -0.5538, 7.0769, 1.6825, -0.0659, -0.022, -0.0122, 0.2803, -7.1726, 7.241, 1.7851, 0.3101, 0.2808, -0.0024] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 272): [image omitted: streamed camera frame] camera 'left_cam' (step 272): [image omitted: streamed camera frame] camera 'right_cam' (step 272): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": 0.133, "right_x": 0.4, "right_z": 0.0}, "note": "The pen now runs right down the jaw column in the wrist view, its near end just at the bottom edge; nudging 1 cm to the arm's right to match where the pen extrapolates under the fingertips and pressing to table level."})

tool

executing move_to over 2 steps (0.2s)

step 274

assistant

agent noteThe wrist is saturated and drifted slightly left; making a final alignment move forward and ~2.5 cm to the arm's right so the jaws straddle the pen's near end.

move_to

right_x0.4200right_y0.1200right_z0.0100

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.009, 0.6613, 0.5728, -0.4965, -0.0223, 0.0799, 0.9979, 0.4992, 1.7477, 0.6918, 0.3, 0.366, 0.1993, 0.9975] state[eef_state]: left_x=0.2669 left_y=0.0051 left_z=0.1762 left_yaw=-0.0361 left_pitch=-0.0159 left_roll=0.0779 left_gripper=0.9979 right_x=0.3889 right_y=0.1441 right_z=0.0271 right_yaw=0.0704 right_pitch=-0.14 right_roll=-0.1004 right_gripper=0.9975 state[joint_eff]: [-0.1709, -0.2256, 6.9812, 1.7021, -0.0855, -0.0464, -0.0122, -0.294, -7.2684, 6.9812, 1.7753, 0.3053, 0.1832, -0.0122] camera 'top_cam' (step 274): [image omitted: streamed camera frame] camera 'left_cam' (step 274): [image omitted: streamed camera frame] camera 'right_cam' (step 274): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.42, "right_y": 0.12, "right_z": 0.01}, "note": "The wrist is saturated and drifted slightly left; making a final alignment move forward and ~2.5 cm to the arm's right so the jaws straddle the pen's near end."})

tool

executing move_to over 3 steps (0.3s)

step 277

assistant

agent noteThe arm is frozen at its shoulder limit; commanding a forward-pitched wrist (which unlocked reach earlier) together with a 3 cm shift to the arm's right and a descent to table level, straddling the pen.

move_to

right_x0.4300right_y0.1120right_z0.0050right_pitch0.3000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.009, 0.6613, 0.5728, -0.4965, -0.0223, 0.0795, 0.9979, 0.4992, 1.7477, 0.6918, 0.3, 0.366, 0.1993, 0.9975] state[eef_state]: left_x=0.2669 left_y=0.0051 left_z=0.1762 left_yaw=-0.0359 left_pitch=-0.0159 left_roll=0.0775 left_gripper=0.9979 right_x=0.3889 right_y=0.1441 right_z=0.0271 right_yaw=0.0704 right_pitch=-0.14 right_roll=-0.1004 right_gripper=0.9975 state[joint_eff]: [-0.1846, -0.3487, 7.0769, 1.6972, -0.0757, -0.0806, -0.0171, -0.4581, -7.4735, 6.9265, 1.8095, 0.3004, 0.188, -0.0122] camera 'top_cam' (step 277): [image omitted: streamed camera frame] camera 'left_cam' (step 277): [image omitted: streamed camera frame] camera 'right_cam' (step 277): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.43, "right_y": 0.112, "right_z": 0.005, "right_pitch": 0.3}, "note": "The arm is frozen at its shoulder limit; commanding a forward-pitched wrist (which unlocked reach earlier) together with a 3 cm shift to the arm's right and a descent to table level, straddling the pen."})

tool

executing move_to over 15 steps (1.5s)

step 292

assistant

agent noteAt y=0.117 the pen sits left of the jaw column and at y=0.144 it sat slightly right, so splitting the difference at y=0.138 to centre the jaws across the pen.

move_to

right_y0.1380

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.009, 0.6651, 0.5709, -0.4965, -0.0223, 0.0795, 0.9979, 0.3908, 2.2074, 0.5423, 1.3708, 0.3382, 0.0193, 0.9976] state[eef_state]: left_x=0.2669 left_y=0.0051 left_z=0.1744 left_yaw=-0.0359 left_pitch=-0.0216 left_roll=0.0774 left_gripper=0.9979 right_x=0.4281 right_y=0.1169 right_z=0.0063 right_yaw=0.0716 right_pitch=0.2793 right_roll=-0.079 right_gripper=0.9976 state[joint_eff]: [-0.253, -0.6496, 7.0906, 1.7558, -0.0806, -0.0415, -0.0171, -0.7453, -6.8718, 3.1111, 1.5018, 0.1001, -0.2076, -0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 292): [image omitted: streamed camera frame] camera 'left_cam' (step 292): [image omitted: streamed camera frame] camera 'right_cam' (step 292): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": 0.138}, "note": "At y=0.117 the pen sits left of the jaw column and at y=0.144 it sat slightly right, so splitting the difference at y=0.138 to centre the jaws across the pen."})

tool

executing move_to over 2 steps (0.2s)

step 294

assistant

agent noteThe pen is still ~2.5 cm left of the jaw centre in the wrist view; shifting the jaws that much to the arm's left to straddle it.

move_to

right_y0.1550

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.009, 0.6651, 0.5709, -0.4969, -0.0223, 0.0795, 0.9979, 0.4217, 2.2192, 0.5579, 1.3819, 0.3649, 0.0151, 0.9976] state[eef_state]: left_x=0.2669 left_y=0.0051 left_z=0.1743 left_yaw=-0.0359 left_pitch=-0.022 left_roll=0.0774 left_gripper=0.9979 right_x=0.4288 right_y=0.1272 right_z=0.0084 right_yaw=0.0799 right_pitch=0.2957 right_roll=-0.0856 right_gripper=0.9976 state[joint_eff]: [-0.1573, -0.294, 7.1179, 1.6972, -0.0855, -0.0806, -0.0122, 1.3744, -9.2923, 3.7265, 1.7118, 0.188, 0.0317, -0.0122] camera 'top_cam' (step 294): [image omitted: streamed camera frame] camera 'left_cam' (step 294): [image omitted: streamed camera frame] camera 'right_cam' (step 294): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": 0.155}, "note": "The pen is still ~2.5 cm left of the jaw centre in the wrist view; shifting the jaws that much to the arm's left to straddle it."})

tool

executing move_to over 3 steps (0.3s)

step 297

assistant

agent noteThe pen now passes straight between the two jaws at the bottom of the right wrist view; closing to grasp 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]: [-0.009, 0.6697, 0.5701, -0.4965, -0.0223, 0.0795, 0.9979, 0.4576, 2.2189, 0.5755, 1.3548, 0.3851, 0.0326, 0.9976] state[eef_state]: left_x=0.2671 left_y=0.0051 left_z=0.1729 left_yaw=-0.0359 left_pitch=-0.027 left_roll=0.0772 left_gripper=0.9979 right_x=0.4277 right_y=0.1406 right_z=0.0075 right_yaw=0.0892 right_pitch=0.2896 right_roll=-0.0768 right_gripper=0.9976 state[joint_eff]: [-0.1573, -0.4034, 7.0085, 1.6825, -0.0757, -0.0855, -0.0122, -0.8547, -8.4444, 2.6188, 1.917, 0.1001, -0.1441, -0.0122] camera 'top_cam' (step 297): [image omitted: streamed camera frame] camera 'left_cam' (step 297): [image omitted: streamed camera frame] camera 'right_cam' (step 297): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0}, "note": "The pen now passes straight between the two jaws at the bottom of the right wrist view; closing to grasp it."})

tool

executing move_to over 10 steps (1.0s)

step 307

assistant

agent noteEmpty again — the pen lies just beyond the fingertips. Reopening and pitching the wrist further forward to squeeze out another ~3 cm of reach so the jaws land on the pen.

move_to

right_gripper1.0000right_x0.4650right_pitch0.5000right_z0.0100

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.009, 0.6697, 0.5701, -0.4965, -0.0223, 0.0795, 0.9979, 0.458, 2.2169, 0.5751, 1.3701, 0.3847, 0.0212, 0.0091] state[eef_state]: left_x=0.2671 left_y=0.0051 left_z=0.1729 left_yaw=-0.0359 left_pitch=-0.027 left_roll=0.0772 left_gripper=0.9979 right_x=0.4286 right_y=0.1413 right_z=0.0116 right_yaw=0.0944 right_pitch=0.3049 right_roll=-0.082 right_gripper=0.0091 state[joint_eff]: [-0.335, 0.0205, 7.0359, 1.7265, -0.0806, -0.0757, -0.0171, -0.2667, -8.5949, 3.1111, 1.6288, 0.0415, 0.0415, 0.5836] camera 'top_cam' (step 307): [image omitted: streamed camera frame] camera 'left_cam' (step 307): [image omitted: streamed camera frame] camera 'right_cam' (step 307): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 1, "right_x": 0.465, "right_pitch": 0.5, "right_z": 0.01}, "note": "Empty again \u2014 the pen lies just beyond the fingertips. Reopening and pitching the wrist further forward to squeeze out another ~3 cm of reach so the jaws land on the pen."})

tool

executing move_to over 10 steps (1.0s)

step 317

assistant

agent noteWith the extra reach the pen now lies right at the jaw opening in the wrist view; closing for a final grasp attempt.

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]: [-0.0093, 0.6739, 0.5701, -0.4965, -0.0227, 0.0795, 0.9979, 0.4248, 2.4016, 0.7601, 1.5608, 0.3546, -0.0433, 0.9949] state[eef_state]: left_x=0.2674 left_y=0.0051 left_z=0.1719 left_yaw=-0.0359 left_pitch=-0.0312 left_roll=0.0773 left_gripper=0.9979 right_x=0.4728 right_y=0.1505 right_z=0.0227 right_yaw=0.0992 right_pitch=0.481 right_roll=-0.0756 right_gripper=0.9949 state[joint_eff]: [-0.2256, -0.6496, 7.2274, 1.7118, -0.0855, -0.0562, -0.0122, -1.0598, -8.7043, 3.4803, 1.9707, -0.022, -0.0659, -0.1441] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 317): [image omitted: streamed camera frame] camera 'left_cam' (step 317): [image omitted: streamed camera frame] camera 'right_cam' (step 317): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0}, "note": "With the extra reach the pen now lies right at the jaw opening in the wrist view; closing for a final grasp attempt."})

tool

executing move_to over 10 steps (1.0s)

step 327

assistant

agent noteThe pen has vanished from the wrist view after the close, which can mean it is held; lifting 10 cm to verify in the overhead camera.

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]: [-0.009, 0.6743, 0.5701, -0.4965, -0.0223, 0.0795, 0.9979, 0.4213, 2.4069, 0.7628, 1.5642, 0.355, -0.0414, 0.0188] state[eef_state]: left_x=0.2674 left_y=0.0051 left_z=0.1718 left_yaw=-0.0359 left_pitch=-0.0315 left_roll=0.0771 left_gripper=0.9979 right_x=0.4736 right_y=0.1489 right_z=0.0217 right_yaw=0.0941 right_pitch=0.4818 right_roll=-0.0732 right_gripper=0.0188 state[joint_eff]: [-0.1299, -0.3761, 6.9812, 1.7118, -0.0904, -0.0806, -0.0171, 0.1846, -10.5915, 2.3863, 1.8632, 0.0073, -0.0415, 0.7839] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 327): [image omitted: streamed camera frame] camera 'left_cam' (step 327): [image omitted: streamed camera frame] camera 'right_cam' (step 327): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.12}, "note": "The pen has vanished from the wrist view after the close, which can mean it is held; lifting 10 cm to verify in the overhead camera."})

tool

executing move_to over 7 steps (0.7s)

step 334

assistant

agent noteOut of call budget with the task incomplete. I never got a confirmed grasp: after many attempts the right gripper closed to 0.021 (≈2 mm, possibly pinching only the pen's tip, likely empty) and the cap was never picked up, so the cap was never placed on the pen.

give_up

hindsightKey things I wish I had known: (1) Both objects sat at x ≈ 0.45-0.48, right at the edge of where these arms work: the shoulder joint saturates near 1.8-2.4 rad and the arm then silently ignores ALL further commands (x, y and z alike, not just the blocked direction). The cure is to pitch the wrist forward (pitch 0.4-0.5), which buys ~4-5 cm of reach; with pitch 0 the left arm stalled at x≈0.42 and the right at x≈0.43. Check for saturation whenever a readback equals the previous readback exactly. (2) At such extended poses z also bottoms out at +0.01..+0.03, so you cannot press to the table; the jaws then close above a thin pen. (3) The overhead camera badly misled me on lateral position: my top-view estimate put the pen at right_y≈0.25 when the wrist view (and reality) put it at right_y≈0.14 — a 10 cm error. Trust the wrist camera bearing, and calibrate the wrist lateral scale with one deliberate 2-3 cm pure-y move (I measured roughly 12 px/cm near the bottom of the frame at low height). (4) The direction convention that actually held: at yaw 0, moving the arm +y shifts scene features to image-right in the wrist view. (5) Objects sitting centred at the very bottom edge of the wrist image are still ~2-3 cm beyond the fingertips; you must advance until they disappear off the bottom before closing. (6) Budget: each grasp attempt costs ~3 calls (open+reposition, close, verify); 40 calls is barely enough for two objects, so nail the first localisation.

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.009, 0.6762, 0.5701, -0.4965, -0.0223, 0.0795, 0.9979, 0.4213, 2.0312, 0.7143, 1.2427, 0.3542, -0.0422, 0.0212] state[eef_state]: left_x=0.2675 left_y=0.0051 left_z=0.1713 left_yaw=-0.0359 left_pitch=-0.0335 left_roll=0.0771 left_gripper=0.9979 right_x=0.4729 right_y=0.1487 right_z=0.1092 right_yaw=0.0943 right_pitch=0.4872 right_roll=-0.072 right_gripper=0.0212 state[joint_eff]: [-0.294, -0.1983, 7.2547, 1.6923, -0.0708, -0.0659, -0.0122, -0.1983, -10.6325, 4.9436, 1.8584, -0.0171, -0.0024, 0.4615] camera 'top_cam' (step 334): [image omitted: streamed camera frame] camera 'left_cam' (step 334): [image omitted: streamed camera frame] camera 'right_cam' (step 334): [image omitted: streamed camera frame]

assistant

give_up({"reason": "Out of call budget with the task incomplete. I never got a confirmed grasp: after many attempts the right gripper closed to 0.021 (\u22482 mm, possibly pinching only the pen's tip, likely empty) and the cap was never picked up, so the cap was never placed on the pen.", "hindsight": "Key things I wish I had known: (1) Both objects sat at x \u2248 0.45-0.48, right at the edge of where these arms work: the shoulder joint saturates near 1.8-2.4 rad and the arm then silently ignores ALL further commands (x, y and z alike, not just the blocked direction). The cure is to pitch the wrist forward (pitch 0.4-0.5), which buys ~4-5 cm of reach; with pitch 0 the left arm stalled at x\u22480.42 and the right at x\u22480.43. Check for saturation whenever a readback equals the previous readback exactly. (2) At such extended poses z also bottoms out at +0.01..+0.03, so you cannot press to the table; the jaws then close above a thin pen. (3) The overhead camera badly misled me on lateral position: my top-view estimate put the pen at right_y\u22480.25 when the wrist view (and reality) put it at right_y\u22480.14 \u2014 a 10 cm error. Trust the wrist camera bearing, and calibrate the wrist lateral scale with one deliberate 2-3 cm pure-y move (I measured roughly 12 px/cm near the bottom of the frame at low height). (4) The direction convention that actually held: at yaw 0, moving the arm +y shifts scene features to image-right in the wrist view. (5) Objects sitting centred at the very bottom edge of the wrist image are still ~2-3 cm beyond the fingertips; you must advance until they disappear off the bottom before closing. (6) Budget: each grasp attempt costs ~3 calls (open+reposition, close, verify); 40 calls is barely enough for two objects, so nail the first localisation."})

tool

give_up: Out of call budget with the task incomplete. I never got a confirmed grasp: after many attempts the right gripper closed to 0.021 (≈2 mm, possibly pinching only the pen's tip, likely empty) and the cap was never picked up, so the cap was never placed on the pen.

Trial 0 Wire

Tools (trial initial)

[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]

System (trial initial)

[
{
"cache_control": {
"type": "ephemeral"
},
"text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n in meters in the arm's base frame (the grasp point sits between the\n fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n the trial's start orientation; 0 keeps the start orientation and positive\n turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n also relative to the trial's start orientation. Positive pitch tips the\n tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n 9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n (both face forward), each with its own base frame: +x forward, +y left,\n +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n With the tool pointing straight down the wrist reaches ~0.51 m from the\n base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n normalized fraction of that (0 closed, 1 open). After a full close the\n settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n and stays there for many seconds. Effort cannot tell an empty close\n from a grasp. Judge grasps by the settled reading, then by lifting\n 5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n at ~45°. It is not a plan view: you see the sides of objects, and image-y\n is compressed relative to image-x. Arm-forward is image-up, arm-right is\n image-right, the two bases sit just below the bottom edge, and an arm\n extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n px/cm in the far half of the frame where the arms work, rising to ≈ 8\n px/cm at the bottom edge, and x and y scales differ at the same spot.\n Derive the local scale from your first sizeable move and reuse it.\n Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n forward of the finger axis, so they look *past* the fingertips. Anything\n at or nearer than the grasp point is out of frame; the dark wedge at the\n bottom-centre is the jaws; a held object is never visible in its own\n wrist camera; the working arm hides from the top camera whatever it\n hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n at or below the bottom edge of the wrist image. An object that appears\n centred on the jaw column with clear space below it is still a few\n centimetres short of the fingertips, toward the base. The jaws converge\n on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n pitched forward, ≈ 200 with the tool vertical): a brief empty close\n shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n table and changes within a single frame (larger toward the bottom\n edge). To calibrate it, make a pure radial move of known size and read\n the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n 3 cm radial move and a 1.4 cm descent shift features about equally), so\n depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n toward the base. Rolling the wrist rotates the scene but the jaws still\n close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n description). The fence-side y bound is tight because a low fence runs\n along each outer table edge; the cross-over side reaches past the\n table's centre line, so any point on the table is reachable by at least\n one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n reach and with a load. Aim ~2 cm high when carrying and when clearing\n obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n unfold from there; if a move out of a folded pose stalls, first raise z\n and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n the shoulder stops tracking while its effort stays negative (still\n holding the arm up); effort flipping positive means the arm is pressing\n into the surface: back off. A grasped object touching down reads as a\n stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n more than ~1.5 cm means one of three things: the target was clipped to\n the workspace box (the tool description lists the bounds), the arm is\n at its reach or folded limit (the arm simply stops), or you are in\n contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n the tool about the grasp point; it does not move the grasp point\n sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n with the far-region scale from the facts, remembering the view is\n oblique: a target's image-y position over-states its distance from the\n base by the compression factor, and it sits in whichever arm's frame\n you convert to (the workspace box gives the base spacing for switching\n frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n look at the wrist camera. The object should sit on the jaw column\n (x ≈ 110). If it is fully visible with empty frame below it, advance\n 2–3 cm radially before descending, because the fingertips are further\n out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n retry once. If the second close is also empty, do not repeat it:\n re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n lift clear, then verify in the overhead frame after the arm has moved\n away. The working arm's occlusion of the top view is expected; do not\n retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n cross-over bound), so any object on the table is reachable by at least\n one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n moves, scale probes or table touches; the first task motion is the\n sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n off-centre. Align in the wrist view before closing, and close no further\n than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n and give up early; the operator can move it or widen the box for the\n next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
"type": "text"
}
]

call 0 attempt 0 · /messages · status 200 · 19.88 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

{
  "content": "Goal: Pick up the pen and the pen cap, then put the cap on the pen.",
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7933, 0.6022, -0.3805, -0.02, -0.0116, 0.9998, -0.0185, 0.7914, 0.6098, -0.3759, -0.0261, -0.0147, 0.999]\nstate[eef_state]: left_x=0.2944 left_y=0.0011 left_z=0.1792 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9998 right_x=0.2958 right_y=0.0027 right_z=0.1842 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.5675, -1.5521, 10.4821, 1.7851, -0.0708, -0.0757, -0.0366, -0.7726, -1.2786, 9.8256, 1.7216, 0.0171, 0.0073, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7afabd0318205d06eb174ccfd5cc42a2bc9c13b14b985430d7901a5f65ab8cf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dffb33d9702f199775b6e4b8238e596863f3de958b95e6337130d02ed1768ad7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:583fd6419e0b5e3f85a0af69fd9423119c6ea4cb52bb13847b922216a7a56fc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /messages · status 200 · 10.28 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 1 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7933, 0.6022, -0.3805, -0.02, -0.0116, 0.9998, -0.0185, 0.7914, 0.6098, -0.3759, -0.0261, -0.0147, 0.999]\nstate[eef_state]: left_x=0.2944 left_y=0.0011 left_z=0.1792 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9998 right_x=0.2958 right_y=0.0027 right_z=0.1842 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.5675, -1.5521, 10.4821, 1.7851, -0.0708, -0.0757, -0.0366, -0.7726, -1.2786, 9.8256, 1.7216, 0.0171, 0.0073, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7afabd0318205d06eb174ccfd5cc42a2bc9c13b14b985430d7901a5f65ab8cf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dffb33d9702f199775b6e4b8238e596863f3de958b95e6337130d02ed1768ad7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:583fd6419e0b5e3f85a0af69fd9423119c6ea4cb52bb13847b922216a7a56fc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CtAeUAfqW5KE2HLUW7Q64h",
      "input": {
        "note": "Top view shows two small dark objects on the table: a shorter one left-of-centre and a longer thin one right-of-centre (likely the cap and the pen). I'm bringing the left arm to hover ~15 cm above the left object to inspect it with the wrist camera.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.35,
          "left_y": -0.15,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01CtAeUAfqW5KE2HLUW7Q64h",
      "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]: [-0.6456, 1.3212, 0.7296, -0.1665, -0.5072, -0.3782, 0.9998, -0.0193, 0.7979, 0.6132, -0.3897, -0.0261, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3371 left_y=-0.142 left_z=0.1268 left_yaw=-0.0238 left_pitch=-0.0744 left_roll=0.0411 left_gripper=0.9998 right_x=0.2949 right_y=0.0025 right_z=0.1812 right_yaw=-0.0004 right_pitch=-0.0168 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -5.6547, 9.5248, 1.8046, -0.3346, -0.0806, -0.0366, -0.1299, -1.7436, 6.7624, 1.8535, -0.022, -0.0366, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9dd9b553f1086fd105254345710522a38046aee2d7b137aaf47abae0359021ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c88ac7b069ac69e8a4fb39365456bc69c2d53e07cfe034bdd4dc7c3f3913f52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bc03d9a678be6824b2dddb050e5a4ca4c4f911d5e49115e5fdec1f178abc382b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /messages · status 200 · 6.749 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7933, 0.6022, -0.3805, -0.02, -0.0116, 0.9998, -0.0185, 0.7914, 0.6098, -0.3759, -0.0261, -0.0147, 0.999]\nstate[eef_state]: left_x=0.2944 left_y=0.0011 left_z=0.1792 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9998 right_x=0.2958 right_y=0.0027 right_z=0.1842 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.5675, -1.5521, 10.4821, 1.7851, -0.0708, -0.0757, -0.0366, -0.7726, -1.2786, 9.8256, 1.7216, 0.0171, 0.0073, -0.1148]",
      "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]: [-0.6456, 1.3212, 0.7296, -0.1665, -0.5072, -0.3782, 0.9998, -0.0193, 0.7979, 0.6132, -0.3897, -0.0261, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3371 left_y=-0.142 left_z=0.1268 left_yaw=-0.0238 left_pitch=-0.0744 left_roll=0.0411 left_gripper=0.9998 right_x=0.2949 right_y=0.0025 right_z=0.1812 right_yaw=-0.0004 right_pitch=-0.0168 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -5.6547, 9.5248, 1.8046, -0.3346, -0.0806, -0.0366, -0.1299, -1.7436, 6.7624, 1.8535, -0.022, -0.0366, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9dd9b553f1086fd105254345710522a38046aee2d7b137aaf47abae0359021ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c88ac7b069ac69e8a4fb39365456bc69c2d53e07cfe034bdd4dc7c3f3913f52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc03d9a678be6824b2dddb050e5a4ca4c4f911d5e49115e5fdec1f178abc382b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISogoKjgEIEhgCKkBR75p3F0g6i5e236G6yUM0TTLJGvq3Q2hUEGNwyfav/DpUqcFK1c/qjjOEUVKCRyWqQeeG9xr3tvRIONke8O02Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbCvzNUGEgzM2fr4y+B1kvEaLMsaDGjSOBmw8+rXRKnE+yIwEHZuQ1i9FiSgSCr682T1TMeb/DvxcKBa2gWR9MaKAxI0siieeuBm3A8OeAVltqWmKsAIiPcTYqsxsyXmL4b1M2RSlM2bW7ueWi4VPUi44cdNvuTiN+DQCbBl5elCVLPY5Ha+BTvp3HyOnBbxBUftvqDI9h2lPW83rPz3NEb9kk1zWdzg07YMkWlnHSF33a0zPKSzEuXlRrpmGhDcZLXz8zWD0TSPdZWkb5sD4I278whHuTsvAzY4RewX8AijP6eZAih/3ZJtrS+kvcLjGADOHEXHoTdYNJWiCY2H9qCUNcsOTyG9ANXCEUJJrWjIUqdx4SrmNZkusi8gT3sexuRkbI8DNuEdjnZpwarCwgCRIBYJgS5bbyy+8JC3ZJuedoGBiif85eiSsCaq3U0aWVphM2SmLqMkhitWdd7Ww3hVbK6Ff2P+4RKWs/+caWcqGMdc+mbxjge7UjCI9ZcaIrf2GMWIcYRixj3Y6XX7501J18duFY8BFtKEHqO+3aav35qIcIaGsxBnBH4yAeuHipdI8+42rjBn3cLFtxB1vroc6DU8wCZN1kOjm0/5c0RVY522U75Kgl+2XyJgZaZaa3lWuQ/yFQ9iR0rgCNFLpSABjeLBwFWanwBu0YuVB4EzRAAtbhRgn5O2sLiSK0qJ1B4RSf5F1cfjwDx2znjc59jrmPpfnLL5NUXn2u21oQyjJg0bPqV6BfIE0DO3Ml1TaiU0CpGhcpWSuc+Cg5EXvR9JGr9eftTixQaM+bVLSLfKRFhZmwvSzfF4hT7YAmDOhp1Tq9D2Yr1PV9LzTb+ETiTk9/kZ5nmBJIF8vw3RNcVR01XtmalZ8Xi8VGz/C30DRUNkTqYc46v9/2OkmLxv/3pouvhesTJnsidJKGmHb3Vovu/3Pb0hnuZZysAMpYUrJAnRJ6rztKhLcXp3snKGRkasqsKsu+Mp3oo0tP6COjg1GlBhUk0lUP/bsp327udgbFX/GKbL1+LN/axN70DmaAPWpomw01vMd9o4gLOD9fIeu5JYKrJRsVA6w8TddjBdrVw4udGY8YPetxxg1IM3GgoZFhs6944CUbLWQsZdx/eyTC72fvM8o13Os3KdAGa5lPA5Mlq725orBOYfa9mfVc25FiSUgoL+Nonni0BHRfPsrF34dl62+J61BuVDR6cYuiTYrbBPh+BQUR6qkpo/SiKhhjbp9YJQXbTFqkrXO0Zn694qIrMuICaB6XX1uiDp6HYvHJi4R+HeXQGtT08MPXAuepvvyOaI8YUxkmAJ1Bbm5olGHDqLBN7mIXZ//Et69Idu6ROx30MDgc/w680SavMGjitXhwXjhHOnfffaxfTAeSOM3vfvtoIqMTC0DDGN6/MS/DyEPBWIPlS77XwpvFY2FqD2Y6pAwzXEeymqQU7gCMY2ngL3b2TpJ4Sp7239ZlWjiByF+MYx8E4X5JWWrQQODdJXVEWsrKZXvPqEmOsK05JioM1lRegrCaXF1TWf8vo+fWBJLeQkkfuPUCVvsX4vIR7iNFMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01A6rECvHBgL7uqNA6eGDrj7",
      "input": {
        "note": "The left wrist camera shows the small object centred on the jaw column but high in the frame, meaning it is still several cm further out than the fingertips. Advancing radially ~6 cm and dropping to 10 cm height.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.145,
          "left_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_01A6rECvHBgL7uqNA6eGDrj7",
      "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]: [-0.5346, 1.5757, 0.7818, -0.0422, -0.4412, -0.3267, 0.9998, -0.0193, 0.8005, 0.6132, -0.3935, -0.0265, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3758 left_y=-0.1307 left_z=0.073 left_yaw=0.0134 left_pitch=-0.1672 left_roll=0.0847 left_gripper=0.9998 right_x=0.2945 right_y=0.0026 right_z=0.1796 right_yaw=-0.0001 right_pitch=-0.0233 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [0.4444, -6.9812, 9.6205, 1.8046, -0.2515, 0.2662, -0.0171, -0.0615, -1.4154, 7.0222, 1.746, -0.0415, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e54fc97455288183b9880e7c4c847a0e922bdb9bec18f58298cf501ed56de2d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fcce2c8d2ff08e9ebbccded9f3c521199205f7e476110418b65f3ff95b049475",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:52643c96fca7ffa218bbb8e1515fc07e3dc992708f684bbf15c87f889577a282",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /messages · status 200 · 10.36 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7933, 0.6022, -0.3805, -0.02, -0.0116, 0.9998, -0.0185, 0.7914, 0.6098, -0.3759, -0.0261, -0.0147, 0.999]\nstate[eef_state]: left_x=0.2944 left_y=0.0011 left_z=0.1792 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9998 right_x=0.2958 right_y=0.0027 right_z=0.1842 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.5675, -1.5521, 10.4821, 1.7851, -0.0708, -0.0757, -0.0366, -0.7726, -1.2786, 9.8256, 1.7216, 0.0171, 0.0073, -0.1148]",
      "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]: [-0.6456, 1.3212, 0.7296, -0.1665, -0.5072, -0.3782, 0.9998, -0.0193, 0.7979, 0.6132, -0.3897, -0.0261, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3371 left_y=-0.142 left_z=0.1268 left_yaw=-0.0238 left_pitch=-0.0744 left_roll=0.0411 left_gripper=0.9998 right_x=0.2949 right_y=0.0025 right_z=0.1812 right_yaw=-0.0004 right_pitch=-0.0168 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -5.6547, 9.5248, 1.8046, -0.3346, -0.0806, -0.0366, -0.1299, -1.7436, 6.7624, 1.8535, -0.022, -0.0366, -0.022]",
      "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]: [-0.5346, 1.5757, 0.7818, -0.0422, -0.4412, -0.3267, 0.9998, -0.0193, 0.8005, 0.6132, -0.3935, -0.0265, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3758 left_y=-0.1307 left_z=0.073 left_yaw=0.0134 left_pitch=-0.1672 left_roll=0.0847 left_gripper=0.9998 right_x=0.2945 right_y=0.0026 right_z=0.1796 right_yaw=-0.0001 right_pitch=-0.0233 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [0.4444, -6.9812, 9.6205, 1.8046, -0.2515, 0.2662, -0.0171, -0.0615, -1.4154, 7.0222, 1.746, -0.0415, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e54fc97455288183b9880e7c4c847a0e922bdb9bec18f58298cf501ed56de2d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fcce2c8d2ff08e9ebbccded9f3c521199205f7e476110418b65f3ff95b049475",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52643c96fca7ffa218bbb8e1515fc07e3dc992708f684bbf15c87f889577a282",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS8gUKjgEIEhgCKkAK68VDMaCv1r+3k95a7lpX10QU28Zrk3+z54ak4AHzTN9Q70cPGUmPeZ3juFQbTIToQwFP6g5/AAGoyDAGdKYCMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbevzNUGEgy93veKEd2Pk37RXIAaDH105jqiOZEQV/PG7yIwuXB3gbscgOiuEyVg+2ObIdo7tNzlotFlUlejQYQKIkMAP2Xg8/BrXMTckb4hac/mKpAEIQTDDZciyKNI/mivQ6LDgR0Dx1OHUxgmBcha9TNWzMtE1HPxuZVqOWa6SN05m67YsV09/MUQGbqwnhBmNnYS/jk7o/EX+xVla9gryFy3OZbC6wrJjZYQZcq06Pk+zc1b7qBNdjFhcvfDCjOTdqTg52/Hh7xke8FZgCMMk9Zn72MgWBIYhWPxsGBQ/0wMnAGqJbHR5E2ehuaN+DE8goq46e7gzohyHjaD2TWbmbiqqK6xfKXciVpQ4WLwLAnmxpQwObPUrZUhp8BSQrMsymVt84+haXIu5eGvE59hPhM3u5O4l/p3scRFifTN7UZrZWp5K7exB9PdtpmKaLRSqaIg5luk3addUJGz1VQZYDzKO31/4YmT+6nXkZDZSTGZOH+fjJBOmDNzMVWhaEwyO9Mq9CSCMiixvp+UoEYzdx9jETdA8zg7VGigq4P553E+rmhmCfeSwwJW4YJemW1wOSet/Dz+jOexqy7R9Be8BVS9SQHX3ocIFg0CjwlKXSHjNjMWGgKiwXvkLBwq6xmsihS5KSgI5O3MFuCtuAUA4HrL1jqh1OfeyiRnbwi9zYg4aUmco8cqbj+afzlUzlhPRdtmccpsJrbsWvzla5+n6anaK6OJMs44h2d5f60tfLia9saYIiKx76OLoEUa4ioU6nu2DE+Wn2C8qel3epUQHIhrFm9GeD6fxjHWxuSvFalL1AvLGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GidY41Wnb7CAtcuDeDAAhM",
      "input": {
        "note": "Object still sits high in the left wrist frame, so the fingertips remain short of it; advancing another ~6 cm radially and lowering to 5 cm with the tool leveled.",
        "targets": {
          "left_pitch": 0,
          "left_x": 0.44,
          "left_y": -0.14,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01GidY41Wnb7CAtcuDeDAAhM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5251, 1.5944, 0.8017, -0.0025, -0.4332, -0.3119, 0.9998, -0.0193, 0.8005, 0.6132, -0.3935, -0.0265, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3871 left_y=-0.1344 left_z=0.0792 left_yaw=0.0054 left_pitch=-0.1359 left_roll=0.0697 left_gripper=0.9998 right_x=0.2945 right_y=0.0026 right_z=0.1796 right_yaw=-0.0001 right_pitch=-0.0233 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -7.5009, 8.7863, 1.8193, -0.0855, 0.2271, -0.0171, -0.0889, -1.1282, 7.0222, 1.7509, -0.0269, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a04218a076827c34a68aa5016e9ccfef7bce03a1d86fd585e73929a07a380f26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f37a242b80783bfee169a5f89ddecfa2cb5c5dcaaec736384a11915d791d62b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3639d55cfb7efb4437e8cbfe22a5735e9ee53034c62ad5eeddb15ff82a8a38f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /messages · status 200 · 7.7 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6456, 1.3212, 0.7296, -0.1665, -0.5072, -0.3782, 0.9998, -0.0193, 0.7979, 0.6132, -0.3897, -0.0261, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3371 left_y=-0.142 left_z=0.1268 left_yaw=-0.0238 left_pitch=-0.0744 left_roll=0.0411 left_gripper=0.9998 right_x=0.2949 right_y=0.0025 right_z=0.1812 right_yaw=-0.0004 right_pitch=-0.0168 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -5.6547, 9.5248, 1.8046, -0.3346, -0.0806, -0.0366, -0.1299, -1.7436, 6.7624, 1.8535, -0.022, -0.0366, -0.022]",
      "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]: [-0.5346, 1.5757, 0.7818, -0.0422, -0.4412, -0.3267, 0.9998, -0.0193, 0.8005, 0.6132, -0.3935, -0.0265, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3758 left_y=-0.1307 left_z=0.073 left_yaw=0.0134 left_pitch=-0.1672 left_roll=0.0847 left_gripper=0.9998 right_x=0.2945 right_y=0.0026 right_z=0.1796 right_yaw=-0.0001 right_pitch=-0.0233 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [0.4444, -6.9812, 9.6205, 1.8046, -0.2515, 0.2662, -0.0171, -0.0615, -1.4154, 7.0222, 1.746, -0.0415, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5251, 1.5944, 0.8017, -0.0025, -0.4332, -0.3119, 0.9998, -0.0193, 0.8005, 0.6132, -0.3935, -0.0265, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3871 left_y=-0.1344 left_z=0.0792 left_yaw=0.0054 left_pitch=-0.1359 left_roll=0.0697 left_gripper=0.9998 right_x=0.2945 right_y=0.0026 right_z=0.1796 right_yaw=-0.0001 right_pitch=-0.0233 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -7.5009, 8.7863, 1.8193, -0.0855, 0.2271, -0.0171, -0.0889, -1.1282, 7.0222, 1.7509, -0.0269, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a04218a076827c34a68aa5016e9ccfef7bce03a1d86fd585e73929a07a380f26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f37a242b80783bfee169a5f89ddecfa2cb5c5dcaaec736384a11915d791d62b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3639d55cfb7efb4437e8cbfe22a5735e9ee53034c62ad5eeddb15ff82a8a38f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISowoKjgEIEhgCKkCEi3ltTzNPDpnkRYxw/DsSedhsw3BfxiqyJCUi88CEHaflj3Htw44KfW0DdLbeT2ZQhhEswncRkY/oatFLsJTeMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcKvzNUGEgymnm0HF+8JXxheKJwaDAZPrYOeEnNQZ/YFuiIwPCN2r+WomqOG19RZLItvjWevq8tmaqXcxfOPk0iiz629mgKYeKruvXLxODNHlEnhKsEIWJtp7Hc87+tCwA78AfGtFAnbTgOBFU2vOFSO0BD3T0u836hdc3fcbEyU4O6QFRl29iDH5M2/Zr/JqUWccd/AcGz37o8wf55FKpEygGVJEC2xSecj5npW/4S+TDQXqiAwW0lfrBWurZviKeB69NKP5eE6wwhPWFPGQ1LoQWpOIbF4/1yo5XOEskz2Y4o5RXxkpyLCoMtA7gCXFtQMwP7sR4aAoJg/1dbvbY8i2ZjcQqjLS64Hom8T5OWhphis2LeM+xcPZiedzmC10LyogFepsy1mY22pf6n/CeMmJPXPFeURpyUXikDJWifyUfzYjlEpIAereiK1LjGiMEaRr2hitqRB0eBIV9/1AMS/Cg/EoUGNsr3jqUUdPpKAISVY41VRrmMOucUNA/uVH64BsDzFu3DE+5+a47pikv884GDdp0Tq0fKiz1ctiYn5TxuUgejnvyP6rDhixA+OMv+clLmd9+4Z2AFBzgyywH2403L0OqBSB3qreN1CMYNutNvyitq31Hic+99U3VdTwtzC3lVDZA0WLABMWAXcbkH7v16sP7K8vHOZ2A8itS6PvwAl5PblgDEXhSDUl5bGtY6xzNZCsXGazeexJUccNiRbnZ18Ysc4QRTXsHrfsPO+LXfgf4EZebXGFtad0RIeGIkJSqdp22MWN13IuLGqeWPbkEyCkXm4iOcT+fNBAVebBzKFel79GZmbBeFhlON/3z+Yip3PsJLWLJ6803PQeIDuewlcx9uRbZCa6T7BvoYXjh+I+40ZqkJye1yICQlLDDw88HOSJJA0YYpL8Smpez23Z+I2ZmR3XnUrFcWzEvghQlb9KlvqYW1m34yxDqd1Ya+lQZmTtMq6vO3NJfXIfxX48SnusP2uHbDYTEPR39QZoHaPPg8DBOIvp69SKKFvrdXZZy/oB3n/Tbm0ruc8NlpK2MrNUMcE4k9ZGMLWQDlmcRUD9YPAK79Tzoh3rJRUOD68NZzx7d2aM8pdypf3AECq2rero6mqT9OXxuf+puxSu4tjl/KNwZnofmhDMATm1mVlz5BRkNxGvKAW1XQwvmjLI4wNWzT18Oe7fxC4IKLcqYGxL9WArbZ9Lfc4f1/sNqRVIQ/MldTZ5ITTyJ/9tLrHBj4nRpRKoNtA0memzrPbHq+VJWeJFAW6KT1aBBouPoVCJFziPOS+dIx3n3p1FNHA+LP2wyBo09yiKQAN1dF8z+OR9W9QiegadZpB1lLBsFuE8oTCMKHp4rB4b8WdZCdnCKJ60W0MqhujQAIqUGtFohXyV8EdXb0S2/QE0CO7Murahi4Ws52w3hDaAwUXtfdxDJ8n/DOvpi8yvxqsREBvpcSeHr58A2B71I2cGC5wJWQygWv+ucEYse16AY0yT6I9edT//qeGZhIsTCpDM1xhcdG8zRbWqCq9KkLGDMJUGpRFsgGR4vJyDD4YbU5cWmBNm+DyDHsBGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014CxaWzCGrr9fv7gfrFuzAc",
      "input": {
        "note": "The arm under-tracked the last command (only reached x=0.387), so I'm re-commanding the forward/down target without constraining pitch to let the IK reach over the cap.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.14,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_014CxaWzCGrr9fv7gfrFuzAc",
      "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]: [-0.5247, 1.5944, 0.8017, 0.001, -0.4332, -0.3122, 0.9998, -0.0193, 0.8009, 0.6132, -0.3965, -0.0261, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3876 left_y=-0.1346 left_z=0.0797 left_yaw=0.0058 left_pitch=-0.1329 left_roll=0.0677 left_gripper=0.9998 right_x=0.2941 right_y=0.0025 right_z=0.1789 right_yaw=-0.0004 right_pitch=-0.0267 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [-0.253, -7.5009, 8.7453, 1.7851, -0.0904, 0.1685, -0.0171, -0.0479, -1.0462, 7.1726, 1.7558, -0.0317, -0.0269, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa37569dae41a0a5b6ac22ef650dc5cfb41c0674954afdc2b0753718cd9ab905",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24d69531e1525aed58cd14418d42cbeb5816004c6fef1f56b878ac4844efb5fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7a2abab392a26e23014d506efcf096d343ea3c562cf701aab59ee82d62b2c0ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /messages · status 200 · 12.98 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5346, 1.5757, 0.7818, -0.0422, -0.4412, -0.3267, 0.9998, -0.0193, 0.8005, 0.6132, -0.3935, -0.0265, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3758 left_y=-0.1307 left_z=0.073 left_yaw=0.0134 left_pitch=-0.1672 left_roll=0.0847 left_gripper=0.9998 right_x=0.2945 right_y=0.0026 right_z=0.1796 right_yaw=-0.0001 right_pitch=-0.0233 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [0.4444, -6.9812, 9.6205, 1.8046, -0.2515, 0.2662, -0.0171, -0.0615, -1.4154, 7.0222, 1.746, -0.0415, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5251, 1.5944, 0.8017, -0.0025, -0.4332, -0.3119, 0.9998, -0.0193, 0.8005, 0.6132, -0.3935, -0.0265, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3871 left_y=-0.1344 left_z=0.0792 left_yaw=0.0054 left_pitch=-0.1359 left_roll=0.0697 left_gripper=0.9998 right_x=0.2945 right_y=0.0026 right_z=0.1796 right_yaw=-0.0001 right_pitch=-0.0233 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -7.5009, 8.7863, 1.8193, -0.0855, 0.2271, -0.0171, -0.0889, -1.1282, 7.0222, 1.7509, -0.0269, -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]: [-0.5247, 1.5944, 0.8017, 0.001, -0.4332, -0.3122, 0.9998, -0.0193, 0.8009, 0.6132, -0.3965, -0.0261, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3876 left_y=-0.1346 left_z=0.0797 left_yaw=0.0058 left_pitch=-0.1329 left_roll=0.0677 left_gripper=0.9998 right_x=0.2941 right_y=0.0025 right_z=0.1789 right_yaw=-0.0004 right_pitch=-0.0267 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [-0.253, -7.5009, 8.7453, 1.7851, -0.0904, 0.1685, -0.0171, -0.0479, -1.0462, 7.1726, 1.7558, -0.0317, -0.0269, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa37569dae41a0a5b6ac22ef650dc5cfb41c0674954afdc2b0753718cd9ab905",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24d69531e1525aed58cd14418d42cbeb5816004c6fef1f56b878ac4844efb5fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a2abab392a26e23014d506efcf096d343ea3c562cf701aab59ee82d62b2c0ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISsQcKjgEIEhgCKkA2VCnJAOROFJLH/9QSkSzLJ3e9MAI2FZXNI4trDuW/xj/4rBB3CRLokXVcNaZr9Fu979yJEzQdhzPoDlVS0UxkMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcqvzNUGEgzsoJE+8UBgm+F1g/kaDD+ieiQMw9LhsgP4jCIw6eeRSIRgcLFATrR7fRhzAYqfGeDpOSYRWMrPx66e1T+O3ZJweHdH9HkrIVtkjtWNKs8F8bG9fv2bnljAHRyrpGwjHW5XlgVMze44tSI7Fe/gO+llNKcGRwgZjlSSfIjkwb2Sh9ciHS/D5rjTYoWTpjQUkZQUZHo8MxZL4jrqz1fj6bBOwSEFkKL5ioz6RvCdXBtBA/7xgGV+el6PCap/Qyo0hwm/SMBl9zIL6uUq4P3+lqd5wprFiKCBHRcwilEmQPNppVWKy+2TkWYABL91To2GMzPfiQpK0gApRqTWo32CGCTOptGkEWAnnxeYqzpM4OKtYMwtl24MSMRbSz/vLeDqT9L0OgN4yX+0y52/NxS1priQn7bdE48qEwBkKOwGl2+y2KqI8o6qhu4vkKuSZl/LjrdpfoF27IdPqi0eCN5jf1brnW6UVviVfATfIbDJg9K1CEZLNP4jzlZsU8jdfpEmPl/wbhwyqJdGbYOpaIjctAAGCKGJgFGj1q+1pCZW5wIcR1TeYSWVnzVF9TYlXYNFZsrXIIXNJxKkRhufJQ7wgPIPA1v4vUKWaK0fFPRWA8Ky8F0q2Un43MuLaCediGD2+KEqVQAkVhcqQ5nACHFaFsifreTYE6IpF9jnGjSim8ps6vkHppAeIFte0IS9TN+OKDB7pic56AVWOrNAaaEx93H4Y1TmX0pEfNfabtYWsIan/dIZLyBj4zhhum26MkYURYIxA4FrmRGvFUbmXIhR5LM9FXxU35yOvDs/lrjW6uZliQDgSlnAl8433sU0+Z7JRhAK+K4xV6y0c5qkHtMkf1m8cgxOrGR6O5cWEt9hLiQQXTOBJ2mbyDtBB1gzjZdnXeC9vbE7dIXTxmaDD3fP9Vhf8/Fie0zwDqg5w9Q1q2aVqnwvo6EMUbm5BKw1CapWikedr48acbwfQxeV+EbJbM1AlThpdQFqxsF+rF4RuGYvNzBzih3hiwqD9pWNXHNbRvL79yUj/YB9mdlojolFtE4MDeyVqQIISsnfzZGSeRsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Xcizo4mF8qZnV2Hpdh32tW",
      "input": {
        "note": "The left arm has stalled at x≈0.388 (likely a joint limit in this low, extended pose); raising to 14 cm while pushing forward to see if it can unfold and reach further out.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.14,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Xcizo4mF8qZnV2Hpdh32tW",
      "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]: [-0.4644, 1.6596, 1.095, -0.1947, -0.4095, -0.2943, 0.9997, -0.0193, 0.8036, 0.6132, -0.3981, -0.0261, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4363 left_y=-0.1359 left_z=0.1349 left_yaw=0.0356 left_pitch=-0.1135 left_roll=0.0509 left_gripper=0.9997 right_x=0.2941 right_y=0.0025 right_z=0.1779 right_yaw=-0.0004 right_pitch=-0.0309 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [0.2393, -7.2547, 8.1162, 1.3602, -0.0122, 0.1783, -0.0171, -0.3487, -1.5111, 7.0222, 1.7021, -0.0317, -0.0708, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77421cdb61bcf156f94570ae9a71da13169abbf0bfef83da070333737b2a2c74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9495749f06e1d6deff172465b0b1cc9012c391ca13538b311e2d3696d48d519",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:538f6ed73de50e6e43b9fbb83b88ae088ec1c467e76c032593e16416c058e1ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /messages · status 200 · 7.246 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5251, 1.5944, 0.8017, -0.0025, -0.4332, -0.3119, 0.9998, -0.0193, 0.8005, 0.6132, -0.3935, -0.0265, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3871 left_y=-0.1344 left_z=0.0792 left_yaw=0.0054 left_pitch=-0.1359 left_roll=0.0697 left_gripper=0.9998 right_x=0.2945 right_y=0.0026 right_z=0.1796 right_yaw=-0.0001 right_pitch=-0.0233 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -7.5009, 8.7863, 1.8193, -0.0855, 0.2271, -0.0171, -0.0889, -1.1282, 7.0222, 1.7509, -0.0269, -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]: [-0.5247, 1.5944, 0.8017, 0.001, -0.4332, -0.3122, 0.9998, -0.0193, 0.8009, 0.6132, -0.3965, -0.0261, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3876 left_y=-0.1346 left_z=0.0797 left_yaw=0.0058 left_pitch=-0.1329 left_roll=0.0677 left_gripper=0.9998 right_x=0.2941 right_y=0.0025 right_z=0.1789 right_yaw=-0.0004 right_pitch=-0.0267 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [-0.253, -7.5009, 8.7453, 1.7851, -0.0904, 0.1685, -0.0171, -0.0479, -1.0462, 7.1726, 1.7558, -0.0317, -0.0269, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.4644, 1.6596, 1.095, -0.1947, -0.4095, -0.2943, 0.9997, -0.0193, 0.8036, 0.6132, -0.3981, -0.0261, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4363 left_y=-0.1359 left_z=0.1349 left_yaw=0.0356 left_pitch=-0.1135 left_roll=0.0509 left_gripper=0.9997 right_x=0.2941 right_y=0.0025 right_z=0.1779 right_yaw=-0.0004 right_pitch=-0.0309 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [0.2393, -7.2547, 8.1162, 1.3602, -0.0122, 0.1783, -0.0171, -0.3487, -1.5111, 7.0222, 1.7021, -0.0317, -0.0708, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77421cdb61bcf156f94570ae9a71da13169abbf0bfef83da070333737b2a2c74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9495749f06e1d6deff172465b0b1cc9012c391ca13538b311e2d3696d48d519",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:538f6ed73de50e6e43b9fbb83b88ae088ec1c467e76c032593e16416c058e1ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012Hv8isCvzfXo7wdSmoKY7o",
      "input": {
        "note": "The object now sits just above the jaws at the bottom of the left wrist view, but its long axis is roughly horizontal in the image (parallel to the jaw closing direction). Rotating the wrist 90° and descending to 6 cm so the jaws will close across it.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.14,
          "left_yaw": -1.5,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_012Hv8isCvzfXo7wdSmoKY7o",
      "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]: [-0.4606, 1.673, 1.1217, -0.2516, -0.3878, -0.2783, 0.9997, -0.0193, 0.8043, 0.6132, -0.3973, -0.0261, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4339 left_y=-0.1367 left_z=0.1295 left_yaw=0.0162 left_pitch=-0.1596 left_roll=0.0702 left_gripper=0.9997 right_x=0.2943 right_y=0.0025 right_z=0.1778 right_yaw=-0.0004 right_pitch=-0.0309 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -8.253, 8.4581, 1.5653, -0.1978, 0.1392, -0.0073, -0.1436, -1.388, 7.0085, 1.7558, -0.0415, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d26771b2c6799a9f53077e5cdd734e2fe482fef74456bb6a11268d6f75852a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c15cb8351f9ec5baf5718f252b5171575f85d6a114deb6f8cdef109e01dd0f89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f79c8aef7e6b71a678c06bc944a299cf7dd89986cb6df8c77fe763e9652bc5cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /messages · status 200 · 16.28 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5247, 1.5944, 0.8017, 0.001, -0.4332, -0.3122, 0.9998, -0.0193, 0.8009, 0.6132, -0.3965, -0.0261, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3876 left_y=-0.1346 left_z=0.0797 left_yaw=0.0058 left_pitch=-0.1329 left_roll=0.0677 left_gripper=0.9998 right_x=0.2941 right_y=0.0025 right_z=0.1789 right_yaw=-0.0004 right_pitch=-0.0267 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [-0.253, -7.5009, 8.7453, 1.7851, -0.0904, 0.1685, -0.0171, -0.0479, -1.0462, 7.1726, 1.7558, -0.0317, -0.0269, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.4644, 1.6596, 1.095, -0.1947, -0.4095, -0.2943, 0.9997, -0.0193, 0.8036, 0.6132, -0.3981, -0.0261, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4363 left_y=-0.1359 left_z=0.1349 left_yaw=0.0356 left_pitch=-0.1135 left_roll=0.0509 left_gripper=0.9997 right_x=0.2941 right_y=0.0025 right_z=0.1779 right_yaw=-0.0004 right_pitch=-0.0309 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [0.2393, -7.2547, 8.1162, 1.3602, -0.0122, 0.1783, -0.0171, -0.3487, -1.5111, 7.0222, 1.7021, -0.0317, -0.0708, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.4606, 1.673, 1.1217, -0.2516, -0.3878, -0.2783, 0.9997, -0.0193, 0.8043, 0.6132, -0.3973, -0.0261, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4339 left_y=-0.1367 left_z=0.1295 left_yaw=0.0162 left_pitch=-0.1596 left_roll=0.0702 left_gripper=0.9997 right_x=0.2943 right_y=0.0025 right_z=0.1778 right_yaw=-0.0004 right_pitch=-0.0309 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -8.253, 8.4581, 1.5653, -0.1978, 0.1392, -0.0073, -0.1436, -1.388, 7.0085, 1.7558, -0.0415, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d26771b2c6799a9f53077e5cdd734e2fe482fef74456bb6a11268d6f75852a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c15cb8351f9ec5baf5718f252b5171575f85d6a114deb6f8cdef109e01dd0f89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f79c8aef7e6b71a678c06bc944a299cf7dd89986cb6df8c77fe763e9652bc5cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISqgcKjgEIEhgCKkBYhxCIk4EiY63qhDSEAlbo3N9WQBXobEV30C7sRKm5l8DfcJXMqOzdmA+O44Fs3COGU8zEVW0ca9xZYRE7Zz19Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeCvzNUGEgzq2HNNimagUJTVscgaDDAFkmKXQPgj7GFdwyIwus+XZX7FOMLsZvv/y0YY+h0sDSiMix/HsPS1qiDN0NwtA1qdszihSJw3KcFJiYCcKsgFke+NOX5sEVIGbpHspOSho4FD7qA1ypk0SVWiE6QfJxV/VxJE0DjPVlRI6GzQqhiekmmn8u/JBWoVCgloZaLUTNnPcMUJfJrWJqhC3TNAB+yrspDh7O5EhpR6G+2Q5TTbv9D0n0yWZkYbacL4gmTbfSkGAHnamTyvOfbwm9/cMuLK61e/lDeNWpqYzRRMqkd+pikJyHjm2MW8vmKf/Hxll4s7d26ChOZaNF25VyhOBNZrDdJA03rdgqlEy+XhWChCE01V81Z++Ndw/pRbbwMkdc6cLGhDOjJGBzJDUKmC9U3qBsNFRPObTpy0uWx/cB4ttMJ3vbXc9EAb2BpCzAFnyG3+T6bmKJVVylAVujJJwrwsiUE0oKOyIpNSxs6Iqmnjldi6VO7DbMRInJ9bExVhM12lA02MYnFcJ2eEJ38VHjXTx/iXkvrbev60xpXKR3o/K1fh8Inwr4w5H3N9BQvya/jTyWoZxc6a7QOEZvqZLJIrd8QX7PvKi+tyWsfwhLxndlfyirWQzt/HHQMA+MMpNMvsTUI8snnriyymcHUPBdbBXpHpfgBT/B82CWPqjhMaULjlyDbcbL9+OwAHY0Cn9TQuBCk/MQ4UuImBKaUbCSO+OF9fUswYnau34nj+5t1lQOky8MfUDCVeY9LqLYeYu+BhtGEZh4+L0OmMhRlc6HhmQHI5FepdmaLqcADVQAQ4NkbsFbAzWC40JhQBc/KAQnTVq3D/wAk/7RpFzbWFEOBtYg8Ga362QUJfaZMerGR8EAUpzpaiJ8OciuhVpYJP2Ur7T344VM12Rc4UhByhltJt8G1o66EIBHs98K+/m4dM+Ymza8AAP7863GHKKkY3iWsJrqKKO9dx0PkNnV1TuBfCEblcHrMJbrTXW0tcfw9EbUgUrpLUNImXY+v4QFdHSlrT6A0lXexIByy8Q2wr7Yzi9bIE9cgeGBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EaymHnEqUNRnHQ5na5FzKm",
      "input": {
        "note": "The combined yaw+descend command produced no motion at all, so I'm testing a pure descent to 6 cm to see whether the arm still tracks.",
        "targets": {
          "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_01EaymHnEqUNRnHQ5na5FzKm",
      "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]: [-0.4061, 1.7733, 0.9253, -0.0345, -0.2401, -0.1173, 0.9997, -0.0193, 0.8089, 0.6132, -0.408, -0.0265, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4164 left_y=-0.1294 left_z=0.04 left_yaw=-0.1331 left_pitch=-0.2825 left_roll=0.111 left_gripper=0.9997 right_x=0.2931 right_y=0.0026 right_z=0.1744 right_yaw=-0.0001 right_pitch=-0.0461 right_roll=0.0013 right_gripper=0.999\nstate[joint_eff]: [1.2103, -8.9641, 8.1846, 1.5165, -0.2271, -0.1734, -0.0122, -0.3487, -1.6342, 7.1179, 1.8388, -0.0269, -0.0611, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d99e3774412a7a7806b55807f75211e3db441b8fd1952619d77be03fc9730889",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eccc605e4f060e611ab4df1dc8c0e7bb63977ec91c9c6a2d5dd090279ce8b54a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dc60b4e50fd0f3e307c6c35e4927287b822d239a5809dd7539e3bf56915c887b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /messages · status 200 · 10.36 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4644, 1.6596, 1.095, -0.1947, -0.4095, -0.2943, 0.9997, -0.0193, 0.8036, 0.6132, -0.3981, -0.0261, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4363 left_y=-0.1359 left_z=0.1349 left_yaw=0.0356 left_pitch=-0.1135 left_roll=0.0509 left_gripper=0.9997 right_x=0.2941 right_y=0.0025 right_z=0.1779 right_yaw=-0.0004 right_pitch=-0.0309 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [0.2393, -7.2547, 8.1162, 1.3602, -0.0122, 0.1783, -0.0171, -0.3487, -1.5111, 7.0222, 1.7021, -0.0317, -0.0708, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.4606, 1.673, 1.1217, -0.2516, -0.3878, -0.2783, 0.9997, -0.0193, 0.8043, 0.6132, -0.3973, -0.0261, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4339 left_y=-0.1367 left_z=0.1295 left_yaw=0.0162 left_pitch=-0.1596 left_roll=0.0702 left_gripper=0.9997 right_x=0.2943 right_y=0.0025 right_z=0.1778 right_yaw=-0.0004 right_pitch=-0.0309 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -8.253, 8.4581, 1.5653, -0.1978, 0.1392, -0.0073, -0.1436, -1.388, 7.0085, 1.7558, -0.0415, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4061, 1.7733, 0.9253, -0.0345, -0.2401, -0.1173, 0.9997, -0.0193, 0.8089, 0.6132, -0.408, -0.0265, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4164 left_y=-0.1294 left_z=0.04 left_yaw=-0.1331 left_pitch=-0.2825 left_roll=0.111 left_gripper=0.9997 right_x=0.2931 right_y=0.0026 right_z=0.1744 right_yaw=-0.0001 right_pitch=-0.0461 right_roll=0.0013 right_gripper=0.999\nstate[joint_eff]: [1.2103, -8.9641, 8.1846, 1.5165, -0.2271, -0.1734, -0.0122, -0.3487, -1.6342, 7.1179, 1.8388, -0.0269, -0.0611, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d99e3774412a7a7806b55807f75211e3db441b8fd1952619d77be03fc9730889",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eccc605e4f060e611ab4df1dc8c0e7bb63977ec91c9c6a2d5dd090279ce8b54a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc60b4e50fd0f3e307c6c35e4927287b822d239a5809dd7539e3bf56915c887b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011pNnfNt6HUNP6pJB4HK3Yt",
      "input": {
        "note": "In the left wrist view the object sits up and to the right of the jaw column, so I'm shifting ~4 cm to the arm's right and pushing ~4 cm further out while descending near the table.",
        "targets": {
          "left_x": 0.46,
          "left_y": -0.17,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_011pNnfNt6HUNP6pJB4HK3Yt",
      "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]: [-0.4255, 1.821, 0.9138, 0.0471, -0.2802, -0.1478, 0.9997, -0.0193, 0.8101, 0.6132, -0.4122, -0.0265, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4225 left_y=-0.1339 left_z=0.0301 left_yaw=-0.1036 left_pitch=-0.2501 left_roll=0.1133 left_gripper=0.9997 right_x=0.2925 right_y=0.0026 right_z=0.1732 right_yaw=-0.0001 right_pitch=-0.0515 right_roll=0.0014 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -8.5812, 5.4769, 1.7851, -0.0464, 0.2027, -0.0122, -0.0615, -1.4427, 7.1863, 1.7509, -0.022, -0.0562, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2e7c2c45ab9393e8c78ac03e131afd58633cedb4e1861d05a81503db009de0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6827708d83ff89a8ddd0ff627ded7dcd32042a397d74d172346776de0b43511d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0725e14f757b6b236e0f6e3d0b32a825bfabdd04106ef92652fedafb34477bef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /messages · status 200 · 14.11 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4606, 1.673, 1.1217, -0.2516, -0.3878, -0.2783, 0.9997, -0.0193, 0.8043, 0.6132, -0.3973, -0.0261, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4339 left_y=-0.1367 left_z=0.1295 left_yaw=0.0162 left_pitch=-0.1596 left_roll=0.0702 left_gripper=0.9997 right_x=0.2943 right_y=0.0025 right_z=0.1778 right_yaw=-0.0004 right_pitch=-0.0309 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -8.253, 8.4581, 1.5653, -0.1978, 0.1392, -0.0073, -0.1436, -1.388, 7.0085, 1.7558, -0.0415, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4061, 1.7733, 0.9253, -0.0345, -0.2401, -0.1173, 0.9997, -0.0193, 0.8089, 0.6132, -0.408, -0.0265, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4164 left_y=-0.1294 left_z=0.04 left_yaw=-0.1331 left_pitch=-0.2825 left_roll=0.111 left_gripper=0.9997 right_x=0.2931 right_y=0.0026 right_z=0.1744 right_yaw=-0.0001 right_pitch=-0.0461 right_roll=0.0013 right_gripper=0.999\nstate[joint_eff]: [1.2103, -8.9641, 8.1846, 1.5165, -0.2271, -0.1734, -0.0122, -0.3487, -1.6342, 7.1179, 1.8388, -0.0269, -0.0611, -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 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]: [-0.4255, 1.821, 0.9138, 0.0471, -0.2802, -0.1478, 0.9997, -0.0193, 0.8101, 0.6132, -0.4122, -0.0265, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4225 left_y=-0.1339 left_z=0.0301 left_yaw=-0.1036 left_pitch=-0.2501 left_roll=0.1133 left_gripper=0.9997 right_x=0.2925 right_y=0.0026 right_z=0.1732 right_yaw=-0.0001 right_pitch=-0.0515 right_roll=0.0014 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -8.5812, 5.4769, 1.7851, -0.0464, 0.2027, -0.0122, -0.0615, -1.4427, 7.1863, 1.7509, -0.022, -0.0562, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2e7c2c45ab9393e8c78ac03e131afd58633cedb4e1861d05a81503db009de0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6827708d83ff89a8ddd0ff627ded7dcd32042a397d74d172346776de0b43511d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0725e14f757b6b236e0f6e3d0b32a825bfabdd04106ef92652fedafb34477bef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIShwsKjgEIEhgCKkA86j7VgHJXPykvasrOOZGBmSl9US8g9aSmffzSp2gGHoER42n2zLS5s+K6J50SRFEFE/bJEBZE+jEVMvOBc/sXMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfyvzNUGEgx1CoL+s6paS16A7swaDCZnA/YjCQxLgmr2lCIwE7AskIRAMV7EAIYp1JQnoT+8tMZnPIagAKXQ72CX96a5f7rqRCpbqnlfa8gF79dYKqUJLAUZfsIFbguU0aoiOqip5Q3bDXO21voffS9PaWf9O8NltFs+s4t4jjH6D45ESMcHrdbScDrJC50UVv5nrxZW6lqHTdrYD9c3BUrTtCKRwArlWZxPQNL8iYqE+fpJqAX9SYuKXgYp62KuUn1SGde3r69j8HJnJGGBld/95HXWPbZ2bfFzAYOpDnDXI6631iY2gwRcmPBVwZsI0RLjHb3N5Yhzv/NWPATMmaDwmRNPlzfWTwrkU4amOPu0g/6EwuyMA/XBO5hm0JpyweKNcnwF0rfV7nZj+P4TaJwq2BaJWDMkL7nZi9jP6LMxUb8VBCQyzZdQitWnHazDJKATUW4nfxVm97JybXNniJAHvDKWZ275oKJWs1zJ3bbegPPeRu3LSpkGY06GfrIvKglc1uVcj3FSk/VX7r+3eY+ozr1pea9OC8PT2U0XO+FiJuDEo0E80tM0xxzyVnQ5kutC4BSAZ+Loc+xPmUfuZH+nLSZZkfIDRiGd8cdkQ7Pg98MsGp6t0yFabaWjRVVg9FLxvFOu2oj9sL7wg4ILNZghV44OZwa2vxt+ru6UzJ4zC0pmxIJdaEtneSYttTxwqmGEpd1x+AnnHIxikTvQWQhxkM3HqJC9s3DWvvjckWzGAkutoSYUBIevULhYlx/HQlNFg146sBK9S8mkFG445tTLv1CwrXAjGlF5ozfbUSLrgYF9SrkvVLtIAgux3ZwXpPz/jDzR1DPQuf3E2RFmfszSzvyxw0grRF3CBUlouJQp1BTodlKExPlkEO4ilxGwxhRtkiWONvL9DKceD0snEoELIo0b473r18xOaMfG7CGZgYDJfXk+OBCFaI12uDqKGXCWCn3MQAlKjBpf+ochjaQxKxpcH5ngMbBu/oRvGUH/zvgx25m5IJ0Kxezo8goOEEwLO/xlWMx75QKudFn3p0hfHqF1iGQCw9ms1J7rLOKA0CEINV95U+5oyCFR3OgrBdvAENbrQ6L2CYtr6Li6F+J9CdeiFHwhAXF2KHIhrnX7SMLxNiBH2k3XZAc+pdAo118vxZUe3ONql1NnhH03/1Rn06XxExFj3417WH5LLOOboMI7nje8WI0JlWnnIt1KYjCShi8C0IQTd+w8M2CSGhZDmWAsmwef/FYrqcVSy90+p2cIEBQWV36KIr7RmENUc7T6q/R2oY9hcSkYRUpXHJkPHZmVuRAtfn/RYMs5LsuTY2bgFKF9l0FFV5THamMr7bYwfb/1uhAZr3ILD38dM/B5/i7Pjh6HUp7oT0HUorvRAYmkne4do6My5N8yeTtXWfpKHBN9tTmogHGDNakOihamCAJ5ysnX/tsjE8A6+otgK3cgEQV/tYlSoscf9ro6KcEgHnYQHtVF/WqHiySx39MMFVpHz/L8Q3on/rm42tEXGODI0Lj9P/UhIbTMz9gX8bTMxenfKI7PlTzqHt+FCloif//0UIQnl69Izbkw5hj4XkzUE+aVqN8EKsyBO4RGPcy99WpF+gb9Selcjx3Yz0Sq98AI0FoqVjy14tdxo9PLAQd9VLRgS+DZapzi+Alct4wEplrJjp00uYYgQlccszNOdJtlwZRhZi0PjBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YJ7yLZtzhHkaUmNrG2moQE",
      "input": {
        "note": "The object is now nicely centred on the jaw column in the left wrist view with its axis vertical; descending to table level while nudging forward before closing.",
        "targets": {
          "left_x": 0.45,
          "left_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01YJ7yLZtzhHkaUmNrG2moQE",
      "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]: [-0.4259, 1.821, 0.9131, 0.0574, -0.2802, -0.1474, 0.9997, -0.0193, 0.8104, 0.6132, -0.4126, -0.0265, -0.0143, 0.999]\nstate[eef_state]: left_x=0.4239 left_y=-0.1347 left_z=0.0315 left_yaw=-0.1049 left_pitch=-0.2411 left_roll=0.1105 left_gripper=0.9997 right_x=0.2925 right_y=0.0026 right_z=0.173 right_yaw=-0.0003 right_pitch=-0.0522 right_roll=0.0017 right_gripper=0.999\nstate[joint_eff]: [-0.3897, -8.6769, 5.7094, 1.7216, -0.0757, 0.1636, -0.0122, -0.1709, -1.2923, 7.0085, 1.6972, -0.0317, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68a07630c7753c8d7e7749d575d5d2ee04377d79e55393185849e448a7be6bec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8edb55a828f215613fa520d80386a85678fd5924b5a2d9db01fd18eeeb64401a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f3bf2b6f08144e370af8616fbc954dd9578fe46c7fea9298c8c52113523fe0e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /messages · status 200 · 13.11 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4061, 1.7733, 0.9253, -0.0345, -0.2401, -0.1173, 0.9997, -0.0193, 0.8089, 0.6132, -0.408, -0.0265, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4164 left_y=-0.1294 left_z=0.04 left_yaw=-0.1331 left_pitch=-0.2825 left_roll=0.111 left_gripper=0.9997 right_x=0.2931 right_y=0.0026 right_z=0.1744 right_yaw=-0.0001 right_pitch=-0.0461 right_roll=0.0013 right_gripper=0.999\nstate[joint_eff]: [1.2103, -8.9641, 8.1846, 1.5165, -0.2271, -0.1734, -0.0122, -0.3487, -1.6342, 7.1179, 1.8388, -0.0269, -0.0611, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.4255, 1.821, 0.9138, 0.0471, -0.2802, -0.1478, 0.9997, -0.0193, 0.8101, 0.6132, -0.4122, -0.0265, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4225 left_y=-0.1339 left_z=0.0301 left_yaw=-0.1036 left_pitch=-0.2501 left_roll=0.1133 left_gripper=0.9997 right_x=0.2925 right_y=0.0026 right_z=0.1732 right_yaw=-0.0001 right_pitch=-0.0515 right_roll=0.0014 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -8.5812, 5.4769, 1.7851, -0.0464, 0.2027, -0.0122, -0.0615, -1.4427, 7.1863, 1.7509, -0.022, -0.0562, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.4259, 1.821, 0.9131, 0.0574, -0.2802, -0.1474, 0.9997, -0.0193, 0.8104, 0.6132, -0.4126, -0.0265, -0.0143, 0.999]\nstate[eef_state]: left_x=0.4239 left_y=-0.1347 left_z=0.0315 left_yaw=-0.1049 left_pitch=-0.2411 left_roll=0.1105 left_gripper=0.9997 right_x=0.2925 right_y=0.0026 right_z=0.173 right_yaw=-0.0003 right_pitch=-0.0522 right_roll=0.0017 right_gripper=0.999\nstate[joint_eff]: [-0.3897, -8.6769, 5.7094, 1.7216, -0.0757, 0.1636, -0.0122, -0.1709, -1.2923, 7.0085, 1.6972, -0.0317, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68a07630c7753c8d7e7749d575d5d2ee04377d79e55393185849e448a7be6bec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8edb55a828f215613fa520d80386a85678fd5924b5a2d9db01fd18eeeb64401a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3bf2b6f08144e370af8616fbc954dd9578fe46c7fea9298c8c52113523fe0e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Wq4F4QGL22iX8Y6PUmTFbT",
      "input": {
        "note": "The arm refuses to go lower or further (stuck at x=0.42, z=0.03), but the object is centred on the jaw column; closing the gripper as a cheap test of whether it is already between the fingers.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Wq4F4QGL22iX8Y6PUmTFbT",
      "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]: [-0.4255, 1.821, 0.9131, 0.0433, -0.2806, -0.152, 0.0085, -0.0193, 0.8108, 0.6132, -0.4126, -0.0261, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4216 left_y=-0.1334 left_z=0.0293 left_yaw=-0.1006 left_pitch=-0.2541 left_roll=0.1121 left_gripper=0.0085 right_x=0.2925 right_y=0.0026 right_z=0.1729 right_yaw=-0.0004 right_pitch=-0.0526 right_roll=0.0012 right_gripper=0.999\nstate[joint_eff]: [0.0068, -8.6906, 5.6547, 1.5702, -0.1245, 0.0415, 0.569, -0.3624, -1.1966, 7.0496, 1.6923, -0.0171, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b01980a641a2722e21bda0eddf3f69f2db58990dae2b426c89f9605e8da8408",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35a51dca510a718ea7d55e96262af9fcc84281371ba2b2a7769c26aa9345b687",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:252f38b27caa3d67346cd022610984adc347944c7bec26d70a3f035abe993f21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /messages · status 200 · 11.09 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4255, 1.821, 0.9138, 0.0471, -0.2802, -0.1478, 0.9997, -0.0193, 0.8101, 0.6132, -0.4122, -0.0265, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4225 left_y=-0.1339 left_z=0.0301 left_yaw=-0.1036 left_pitch=-0.2501 left_roll=0.1133 left_gripper=0.9997 right_x=0.2925 right_y=0.0026 right_z=0.1732 right_yaw=-0.0001 right_pitch=-0.0515 right_roll=0.0014 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -8.5812, 5.4769, 1.7851, -0.0464, 0.2027, -0.0122, -0.0615, -1.4427, 7.1863, 1.7509, -0.022, -0.0562, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.4259, 1.821, 0.9131, 0.0574, -0.2802, -0.1474, 0.9997, -0.0193, 0.8104, 0.6132, -0.4126, -0.0265, -0.0143, 0.999]\nstate[eef_state]: left_x=0.4239 left_y=-0.1347 left_z=0.0315 left_yaw=-0.1049 left_pitch=-0.2411 left_roll=0.1105 left_gripper=0.9997 right_x=0.2925 right_y=0.0026 right_z=0.173 right_yaw=-0.0003 right_pitch=-0.0522 right_roll=0.0017 right_gripper=0.999\nstate[joint_eff]: [-0.3897, -8.6769, 5.7094, 1.7216, -0.0757, 0.1636, -0.0122, -0.1709, -1.2923, 7.0085, 1.6972, -0.0317, -0.0513, -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 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]: [-0.4255, 1.821, 0.9131, 0.0433, -0.2806, -0.152, 0.0085, -0.0193, 0.8108, 0.6132, -0.4126, -0.0261, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4216 left_y=-0.1334 left_z=0.0293 left_yaw=-0.1006 left_pitch=-0.2541 left_roll=0.1121 left_gripper=0.0085 right_x=0.2925 right_y=0.0026 right_z=0.1729 right_yaw=-0.0004 right_pitch=-0.0526 right_roll=0.0012 right_gripper=0.999\nstate[joint_eff]: [0.0068, -8.6906, 5.6547, 1.5702, -0.1245, 0.0415, 0.569, -0.3624, -1.1966, 7.0496, 1.6923, -0.0171, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b01980a641a2722e21bda0eddf3f69f2db58990dae2b426c89f9605e8da8408",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35a51dca510a718ea7d55e96262af9fcc84281371ba2b2a7769c26aa9345b687",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:252f38b27caa3d67346cd022610984adc347944c7bec26d70a3f035abe993f21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SLQ7PEDmbksDJo5uKw7vuk",
      "input": {
        "note": "The close came back empty (0.008) and the cap is still ~2-3 cm beyond the jaws, but the arm won't extend in this posture; reopening and trying a forward-pitched wrist pose which should let the fingertips reach further out.",
        "targets": {
          "left_gripper": 1,
          "left_pitch": 0.5,
          "left_x": 0.46,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 26 steps (2.6s)",
      "tool_use_id": "toolu_01SLQ7PEDmbksDJo5uKw7vuk",
      "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]: [-0.4381, 2.207, 0.6373, 1.4017, -0.3897, 0.0513, 0.9979, -0.0193, 0.8108, 0.6132, -0.4129, -0.0265, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4534 left_y=-0.1344 left_z=0.0406 left_yaw=-0.1145 left_pitch=0.4116 left_roll=0.1249 left_gripper=0.9979 right_x=0.2925 right_y=0.0026 right_z=0.1728 right_yaw=-0.0001 right_pitch=-0.053 right_roll=0.0014 right_gripper=0.999\nstate[joint_eff]: [0.253, -8.6632, 4.9026, 2.2295, -0.0952, 0.0415, -0.0708, -0.1709, -1.1692, 7.0085, 1.6777, -0.022, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aad29888a61e7cf8fc68bb69cae70fd6a523c7bb4158867c6d20d0707e5d0bf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0faff7dc5a50e4f164b1e81a452fdaaa1a8cc7aaeb69cc09c7cc0cb286a1dc75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3263c8b6665d046358619d7653d4fbcf92bc1448623a45fd4321e54d33770231",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /messages · status 200 · 5.778 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4259, 1.821, 0.9131, 0.0574, -0.2802, -0.1474, 0.9997, -0.0193, 0.8104, 0.6132, -0.4126, -0.0265, -0.0143, 0.999]\nstate[eef_state]: left_x=0.4239 left_y=-0.1347 left_z=0.0315 left_yaw=-0.1049 left_pitch=-0.2411 left_roll=0.1105 left_gripper=0.9997 right_x=0.2925 right_y=0.0026 right_z=0.173 right_yaw=-0.0003 right_pitch=-0.0522 right_roll=0.0017 right_gripper=0.999\nstate[joint_eff]: [-0.3897, -8.6769, 5.7094, 1.7216, -0.0757, 0.1636, -0.0122, -0.1709, -1.2923, 7.0085, 1.6972, -0.0317, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4255, 1.821, 0.9131, 0.0433, -0.2806, -0.152, 0.0085, -0.0193, 0.8108, 0.6132, -0.4126, -0.0261, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4216 left_y=-0.1334 left_z=0.0293 left_yaw=-0.1006 left_pitch=-0.2541 left_roll=0.1121 left_gripper=0.0085 right_x=0.2925 right_y=0.0026 right_z=0.1729 right_yaw=-0.0004 right_pitch=-0.0526 right_roll=0.0012 right_gripper=0.999\nstate[joint_eff]: [0.0068, -8.6906, 5.6547, 1.5702, -0.1245, 0.0415, 0.569, -0.3624, -1.1966, 7.0496, 1.6923, -0.0171, -0.0757, -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 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]: [-0.4381, 2.207, 0.6373, 1.4017, -0.3897, 0.0513, 0.9979, -0.0193, 0.8108, 0.6132, -0.4129, -0.0265, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4534 left_y=-0.1344 left_z=0.0406 left_yaw=-0.1145 left_pitch=0.4116 left_roll=0.1249 left_gripper=0.9979 right_x=0.2925 right_y=0.0026 right_z=0.1728 right_yaw=-0.0001 right_pitch=-0.053 right_roll=0.0014 right_gripper=0.999\nstate[joint_eff]: [0.253, -8.6632, 4.9026, 2.2295, -0.0952, 0.0415, -0.0708, -0.1709, -1.1692, 7.0085, 1.6777, -0.022, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aad29888a61e7cf8fc68bb69cae70fd6a523c7bb4158867c6d20d0707e5d0bf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0faff7dc5a50e4f164b1e81a452fdaaa1a8cc7aaeb69cc09c7cc0cb286a1dc75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3263c8b6665d046358619d7653d4fbcf92bc1448623a45fd4321e54d33770231",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS8QoKjgEIEhgCKkBN7AEiTO9fVXOh6E3IoMm0PYbKJmqW/gzdbHEn+QfWpRLdNZNk9fKL4EfPo2Eryhz7PQww5t8aphfQ5vCJulroMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaWwzNUGEgyEe9rGvihTI+OuduwaDE5Wk8M9uPkXbnH52yIwsV8O1GhvxUsXYAJMVkxoS78aiL+eQv9DFQN8a00lOyyFU/PmEotp77L+tDhYF/izKo8J0+PqKT+/34xyn/XaHo0BU91BulZ4oOg2uWr0Y+O5ir5N0Z6jTcrE4OAzzrcqRzUWsk9agmnyzs0fUzAKU+ZGLuTXC4QSf8hrG9tg1Pg3Ub8CEBTOQ0KUuAc2UP/FToUMyR3M+AQzCqHSOyRE0nXEOF8pD7Ar1bOHjY/oP+4ytIikcMy92j4nwrcnixoFUGn1SDN0RYnB0qFZRUXM734CG4GsM75/lfRpzWFwBn9pjQv+ReIA/ET/4pvSINQopCsfnoVRiAL5xTZF4HHUHxZP9GpuCdvo1TUbGEJS3g8FnlW59MP1pEcm7cx812D2KLKaTQx9iZu8uIQZF3lOA8NAsUg+SNCNdmy42TsB7D/o+qBfqqhiYXSj2i8lcIOJb7b/cGAfO7hWuf9G5QOVj9WXkSz8JkXRI1+vd3KP/7mbIwIMHuzmEagEjZyP5TjMNzCdTINqZBvAQLXIMY2HS0zSbsDpvX7R/3UwMpP2D6s5aH5XyMk6A1QtJZlIHF2Nx9oFz77ZF7R33qPe1KqSdoH5pOCR8lKCvCFWQyJTOO0HIjb5Qa7xqYkED9XGBI3bA0k5w20Jy46iUaS5Y7ZY++Aog6G2dWqcsC2FLsDKYxhbjsT99R0dSwy7GrZNjsSWP7AE0tZmkj6aoCXPg2OzowPgeD8R0Taq+kn6QVhFr3suMVXc0hq7uykXMQEwZbZJVe2sZU1sdq5SqGgWBmvAgDCXsci1jU+veNQWnBeUH0BTIAZ9FFQhpKAJ7osEtnnbUJxZX7JYf9Bm0HyLiAhTpWIJXm84so1pyD9JsSsrzaDDnnHX3RhWipxEMrqv4b/RatNp36BWTNoK8rBZQRL4kz6FcEmX8ZfIY+8Z0j5JZ050lY5VejisUOha8ya1UGgprwa8PND79VW4mIqMAk64iqbfh2TBFV42DoODk7bXumI0UtzcF/X2rWKjxvMWZEwmGm0J4PeXUuBn03+hf77VIon4jMNqDpzjLvbQe3ge2Bb2LmpGUeRQUxiT8pb/fuTVU+MFA07ywYSz2r1v4jUDUEBxvTnUbdUfXj0r1ZGvugtcAN3C0I1Pj1bQesfkCr/YbX0ozar6Svzz9aQGKOeq9j8IPfMfLgb80R1cs7BzkOvtP33cBZajKJVlUXxcSMf/x26GPnHfuz4xtqJK2Ir+8b0ihSuIJ90nWar/Bpsh2gEXPj3yjXkKai6pEwcj51DdnV/RUMZl/ih4DQRteVuBXu3BmeWzHW43ZZVWLmRDVdBH/QlZyNn+muKdgcaVkCNcFLCYQ37/pjyTq74JHTeYJ6gwtKfgMkJ1dXfAshEK6UlvIMx/0ApWgRFmnYwBACBA2njMG4c/KVCkTu3f0n53O42CB5t+fq9fubNSyudE5ZmwMMN/pjKrtmCIC4Ft3T0p+fDDbNRAteojWh8Mx5az4Nc09KEtS9KrBdVUaQ5rrodA6ONBzEbRLSrJEDM/jPG+mCh+xUTHcxgSw6QlUkx4klfSCCeukQ+XPoG8WS80S/Ed8KGaRxBhmNXv1ofy7rlJJ8UkRnwTbcdXGuaHIwcCLoyhGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011orNJbrYkCcMTnJSxAuthJ",
      "input": {
        "note": "Pitching the wrist forward let the arm extend to x=0.453; the cap is now just under/past the fingertips (out of wrist view), so I'm shifting 2 cm to the arm's right onto its estimated position and descending to table level.",
        "targets": {
          "left_x": 0.45,
          "left_y": -0.155,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_011orNJbrYkCcMTnJSxAuthJ",
      "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]: [-0.49, 2.3646, 0.6968, 1.5455, -0.4366, 0.0246, 0.9979, -0.0193, 0.8131, 0.6132, -0.4133, -0.0261, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4541 left_y=-0.1535 left_z=0.0196 left_yaw=-0.0997 left_pitch=0.4584 left_roll=0.0851 left_gripper=0.9979 right_x=0.2926 right_y=0.0026 right_z=0.1721 right_yaw=-0.0004 right_pitch=-0.0557 right_roll=0.0013 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -7.6103, 2.1949, 1.0574, 0.0855, 0.2662, -0.0073, -0.212, -1.1282, 7.0085, 1.663, -0.0269, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8926fb8dcfc792e9a90e239911d7c4f182b2f52aaa10bc4bc89806ed06374f21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb0eaf52c73310c581b92414110a744db258dd1a9be730cd03bb7232db73ee54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a06e33f4c8fec9b851e71e0d6c15f6cf26efda46e3b20c795d9039d47b5e5240",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /messages · status 200 · 7.667 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4255, 1.821, 0.9131, 0.0433, -0.2806, -0.152, 0.0085, -0.0193, 0.8108, 0.6132, -0.4126, -0.0261, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4216 left_y=-0.1334 left_z=0.0293 left_yaw=-0.1006 left_pitch=-0.2541 left_roll=0.1121 left_gripper=0.0085 right_x=0.2925 right_y=0.0026 right_z=0.1729 right_yaw=-0.0004 right_pitch=-0.0526 right_roll=0.0012 right_gripper=0.999\nstate[joint_eff]: [0.0068, -8.6906, 5.6547, 1.5702, -0.1245, 0.0415, 0.569, -0.3624, -1.1966, 7.0496, 1.6923, -0.0171, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.4381, 2.207, 0.6373, 1.4017, -0.3897, 0.0513, 0.9979, -0.0193, 0.8108, 0.6132, -0.4129, -0.0265, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4534 left_y=-0.1344 left_z=0.0406 left_yaw=-0.1145 left_pitch=0.4116 left_roll=0.1249 left_gripper=0.9979 right_x=0.2925 right_y=0.0026 right_z=0.1728 right_yaw=-0.0001 right_pitch=-0.053 right_roll=0.0014 right_gripper=0.999\nstate[joint_eff]: [0.253, -8.6632, 4.9026, 2.2295, -0.0952, 0.0415, -0.0708, -0.1709, -1.1692, 7.0085, 1.6777, -0.022, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.49, 2.3646, 0.6968, 1.5455, -0.4366, 0.0246, 0.9979, -0.0193, 0.8131, 0.6132, -0.4133, -0.0261, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4541 left_y=-0.1535 left_z=0.0196 left_yaw=-0.0997 left_pitch=0.4584 left_roll=0.0851 left_gripper=0.9979 right_x=0.2926 right_y=0.0026 right_z=0.1721 right_yaw=-0.0004 right_pitch=-0.0557 right_roll=0.0013 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -7.6103, 2.1949, 1.0574, 0.0855, 0.2662, -0.0073, -0.212, -1.1282, 7.0085, 1.663, -0.0269, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8926fb8dcfc792e9a90e239911d7c4f182b2f52aaa10bc4bc89806ed06374f21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb0eaf52c73310c581b92414110a744db258dd1a9be730cd03bb7232db73ee54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a06e33f4c8fec9b851e71e0d6c15f6cf26efda46e3b20c795d9039d47b5e5240",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS9AQKjgEIEhgCKkDmR2N/NnTZ9WBSORi8pNO8Yk/4agiIfe5FxtWI1GhMRS14GGZUREWY9d1yCtXpKEYPcdupvPkcckCsjFlnJDTIMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaywzNUGEgzejwRCYJXP+n42kRAaDHIYxzuL2WczCpJ20SIwmFkPSfb3shyLNGQHjHzmcOJyAhOsmre6C4SSgdIS4MkvwvO56Lm6kJhUxqYZYx27KpID4882xVrNCGb1lD9kt3pcR7SSKivuAYwr1sxkvLen2aCU3MwyHzlhCZLewCpKeezeP3SwNtkSdIKPasOb3EetENXUKOGLkvbVy2V4cw8DQ+D6lua9uilcGflgG0Dzxp5Bp3DXNdOtcPTVjT1TNIGbDNztFnPvq9iyRhsaRQYsiaLYwOn2M2kJYv57392xYv7jC1wzDe6/+OhG1oDWSW6qhvNfC63wLkNMlGRWrhVYzoYzjYArkfKG8TLh1Rz+jfuO0B1+qGWHkO+pEItO0sP4xQFNEdFc+2Yd6/9bVPXKsxpIs/fRBQclgcI0k1q1aFFtyMzjOK0bg/5nXkonXV+g63tmSrQ9h/tD4LKsXnnL9dIlh+SsA5mOrzA/sqD7l6XvZSj1/qHPg5qUViJJVd5rlzYmt3O5Y3Cfv9F/2IYmNKy46hwKuIMZws5kEomE73Zt6qwHypYB/81Uy5V8KT0yeCxVv84M9aU8ADXyaJoLkiKeRe3/xNEFFOTRvPM7MZWbcwM0eequgt1X4kOpMdRVAeBgGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Y6pFq3URaiEokjxiphYaA3",
      "input": {
        "note": "Something dark appears right at the bottom of the left wrist frame between the jaws; closing to test for a grasp on the cap.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Y6pFq3URaiEokjxiphYaA3",
      "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]: [-0.4934, 2.3749, 0.701, 1.5528, -0.4397, 0.0257, 0.0084, -0.0193, 0.8131, 0.6132, -0.4129, -0.0265, -0.0147, 0.999]\nstate[eef_state]: left_x=0.454 left_y=-0.1547 left_z=0.0178 left_yaw=-0.1007 left_pitch=0.4595 left_roll=0.0863 left_gripper=0.0084 right_x=0.2926 right_y=0.0026 right_z=0.1722 right_yaw=-0.0001 right_pitch=-0.0553 right_roll=0.0015 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -10.6188, 2.0855, 1.7753, 0.0317, -0.0806, 0.5641, -0.212, -1.2239, 7.0085, 1.7167, -0.0464, -0.0855, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61c01c25ea03f0e04721cbfda3405090c4be4760a96202f22066e3f0ed85a3e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24bb380d2a8f40659fffd6c0f51bc9480057b4417526cae6f02f6216839030c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1c9dfa755260e9050a06e41995fbbfb88ff652ef8ac84fcb53ffa9a2f544ddf3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /messages · status 200 · 39.92 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4381, 2.207, 0.6373, 1.4017, -0.3897, 0.0513, 0.9979, -0.0193, 0.8108, 0.6132, -0.4129, -0.0265, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4534 left_y=-0.1344 left_z=0.0406 left_yaw=-0.1145 left_pitch=0.4116 left_roll=0.1249 left_gripper=0.9979 right_x=0.2925 right_y=0.0026 right_z=0.1728 right_yaw=-0.0001 right_pitch=-0.053 right_roll=0.0014 right_gripper=0.999\nstate[joint_eff]: [0.253, -8.6632, 4.9026, 2.2295, -0.0952, 0.0415, -0.0708, -0.1709, -1.1692, 7.0085, 1.6777, -0.022, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.49, 2.3646, 0.6968, 1.5455, -0.4366, 0.0246, 0.9979, -0.0193, 0.8131, 0.6132, -0.4133, -0.0261, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4541 left_y=-0.1535 left_z=0.0196 left_yaw=-0.0997 left_pitch=0.4584 left_roll=0.0851 left_gripper=0.9979 right_x=0.2926 right_y=0.0026 right_z=0.1721 right_yaw=-0.0004 right_pitch=-0.0557 right_roll=0.0013 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -7.6103, 2.1949, 1.0574, 0.0855, 0.2662, -0.0073, -0.212, -1.1282, 7.0085, 1.663, -0.0269, -0.0415, -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 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]: [-0.4934, 2.3749, 0.701, 1.5528, -0.4397, 0.0257, 0.0084, -0.0193, 0.8131, 0.6132, -0.4129, -0.0265, -0.0147, 0.999]\nstate[eef_state]: left_x=0.454 left_y=-0.1547 left_z=0.0178 left_yaw=-0.1007 left_pitch=0.4595 left_roll=0.0863 left_gripper=0.0084 right_x=0.2926 right_y=0.0026 right_z=0.1722 right_yaw=-0.0001 right_pitch=-0.0553 right_roll=0.0015 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -10.6188, 2.0855, 1.7753, 0.0317, -0.0806, 0.5641, -0.212, -1.2239, 7.0085, 1.7167, -0.0464, -0.0855, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61c01c25ea03f0e04721cbfda3405090c4be4760a96202f22066e3f0ed85a3e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24bb380d2a8f40659fffd6c0f51bc9480057b4417526cae6f02f6216839030c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c9dfa755260e9050a06e41995fbbfb88ff652ef8ac84fcb53ffa9a2f544ddf3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISwgcKjgEIEhgCKkCX3DxN+cV06AA4RMpS5+9CgcPrakIKFl/zTaCdL4xMetN650qI75IlLFRPVvQjJp4ge4b6dGjUoHnTBKl8vsYIMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbSwzNUGEgw4nBEULz5r1/livLkaDKFrXmv8gjCkulyTSSIwOmUY19WhgwuY7cU9q9NUYIQh3CNLtZK+JrNgYltyqsMuFZLGSsFiK2e06eQPHcYWKuAFkyMt8g08TtFXexChujplDyzuYfMhv9wBtOBQqC4u6SL3opRY3nZAbdyTCaz5nFL5d+Gj+3laXECLxVge4FOSyInlvWdWUP552ppFZwfuSJSEYBpVYejUBMqbAG8Js5ToAH20HV3F9FGuoNNWPjKymdrw91Rqf80WVLYj4/YfpE07LPbxMzkgEoqwNdr2tF3FxGAR6RUS6kH4hjYfusDDWvu7VWLdmoaVi8qOXb0yg7g0oCA5rv/WxNZvaLZm9C6of4gf2cxsd3o51aFt/aXA+Zc1u4vlaHYWMO9VzeEzEca8yJaCDYpddOsc8uPgrBSun/OlYrfayz4lpAIRH6YUuZfNuIVkEBROrWgVnaYO0bdQ7VDQf40azrw8nj/ZnRLQoOPyYEBM+ehs5PYWuNdPFFTQyHwkablMVmZ2Ncw3eN+gQTAsuhd9ZlpVYVfTWSIki6qNQY+JOQ21RmA5xLxclrQXVfHLbZjcoSNimeXYx2AvrT0FwDb111q3WrkyPNg7f/NT1heis3HelaAEKNiThuPBPTVKHG2/2/7ks8bkpmpl2L1L6n6wBypuOmlUc+HevOYIg1Zg74pMkTGT71Di2SX3wa6wVhHrBVheI7itOQDQWIdKwzhdTbuw0FfDb5mDma1/Z1xXAXlrFhoAKA5wNGB19s14R7q44N97JWYkoxvw42q7puBAKmaIAVlUVys1uySB4OwKZMeuQUV2nECt1/gXqSnSFeVM6428d2oE8Qfz3JKhPYFUasig5kR4BLXs6ZdY5XAmFhR8gSAQw5yhbI8hqEkGskSSI8EEOiGdR8nUTT/fagHhkKfm6Qso0YnbxXa+sRCtdGQpmyjn4EaHHKViVysa6yLzSICbznLv/K3QJvso6rNc091cd6eh83sfqJwkpFGAXU0zdsWzACC67iQAbdM8oodIQylc369fGzrCX9biHGIOwMfizpoK/k5K8UiOQXJ9BiYbwZD4GCQVjhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01APG6EQHHVEYTdHGEa4rxzH",
      "input": {
        "note": "Second empty close, and I can no longer identify the cap in the top view because the left arm occludes that area. Retracting the left arm to home so the overhead camera can show both objects clearly.",
        "targets": {
          "left_gripper": 1,
          "left_pitch": 0,
          "left_x": 0.25,
          "left_y": 0.0,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01APG6EQHHVEYTdHGEa4rxzH",
      "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]: [-0.0101, 0.6041, 0.5865, -0.4675, -0.0265, 0.0811, 0.9968, -0.0193, 0.8185, 0.6128, -0.416, -0.0265, -0.0147, 0.999]\nstate[eef_state]: left_x=0.2672 left_y=0.0056 left_z=0.2028 left_yaw=-0.0344 left_pitch=0.0839 left_roll=0.0835 left_gripper=0.9968 right_x=0.2924 right_y=0.0026 right_z=0.17 right_yaw=-0.0001 right_pitch=-0.0641 right_roll=0.0016 right_gripper=0.999\nstate[joint_eff]: [0.253, -0.253, 9.7436, 1.7265, 0.0317, 0.2027, 0.1392, -0.0479, -1.7709, 7.0632, 1.707, -0.0024, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:075b01fdc7471997806ec66e5c2c1d8ec975e5d817e1956469e0d2253e9d5698",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b92807e54629ed35bf4ab83e429a5831f7c94b502b19bbf40270ebfedc348176",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e54400535f3f22917ce94b0b4167512348418b22ff7e2fda58fa62f5db5ce64c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /messages · status 200 · 7.463 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.49, 2.3646, 0.6968, 1.5455, -0.4366, 0.0246, 0.9979, -0.0193, 0.8131, 0.6132, -0.4133, -0.0261, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4541 left_y=-0.1535 left_z=0.0196 left_yaw=-0.0997 left_pitch=0.4584 left_roll=0.0851 left_gripper=0.9979 right_x=0.2926 right_y=0.0026 right_z=0.1721 right_yaw=-0.0004 right_pitch=-0.0557 right_roll=0.0013 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -7.6103, 2.1949, 1.0574, 0.0855, 0.2662, -0.0073, -0.212, -1.1282, 7.0085, 1.663, -0.0269, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4934, 2.3749, 0.701, 1.5528, -0.4397, 0.0257, 0.0084, -0.0193, 0.8131, 0.6132, -0.4129, -0.0265, -0.0147, 0.999]\nstate[eef_state]: left_x=0.454 left_y=-0.1547 left_z=0.0178 left_yaw=-0.1007 left_pitch=0.4595 left_roll=0.0863 left_gripper=0.0084 right_x=0.2926 right_y=0.0026 right_z=0.1722 right_yaw=-0.0001 right_pitch=-0.0553 right_roll=0.0015 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -10.6188, 2.0855, 1.7753, 0.0317, -0.0806, 0.5641, -0.212, -1.2239, 7.0085, 1.7167, -0.0464, -0.0855, -0.0171]",
      "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]: [-0.0101, 0.6041, 0.5865, -0.4675, -0.0265, 0.0811, 0.9968, -0.0193, 0.8185, 0.6128, -0.416, -0.0265, -0.0147, 0.999]\nstate[eef_state]: left_x=0.2672 left_y=0.0056 left_z=0.2028 left_yaw=-0.0344 left_pitch=0.0839 left_roll=0.0835 left_gripper=0.9968 right_x=0.2924 right_y=0.0026 right_z=0.17 right_yaw=-0.0001 right_pitch=-0.0641 right_roll=0.0016 right_gripper=0.999\nstate[joint_eff]: [0.253, -0.253, 9.7436, 1.7265, 0.0317, 0.2027, 0.1392, -0.0479, -1.7709, 7.0632, 1.707, -0.0024, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:075b01fdc7471997806ec66e5c2c1d8ec975e5d817e1956469e0d2253e9d5698",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b92807e54629ed35bf4ab83e429a5831f7c94b502b19bbf40270ebfedc348176",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e54400535f3f22917ce94b0b4167512348418b22ff7e2fda58fa62f5db5ce64c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012CvGEXweQhqTVwq8FDwAjc",
      "input": {
        "note": "With the left arm retracted the overhead view clearly shows the short cap at left and the longer pen right of centre. Moving the right arm over the pen, yawed 45° so the jaws close across the pen's axis.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.44,
          "right_y": 0.26,
          "right_yaw": 0.785,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_012CvGEXweQhqTVwq8FDwAjc",
      "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]: [-0.0093, 0.6102, 0.5858, -0.4847, -0.0227, 0.0799, 0.9978, 0.4152, 1.8103, 1.1336, -0.0162, -0.2745, -0.2054, 0.999]\nstate[eef_state]: left_x=0.2657 left_y=0.0051 left_z=0.1972 left_yaw=-0.0362 left_pitch=0.06 left_roll=0.0801 left_gripper=0.9978 right_x=0.4331 right_y=0.2472 right_z=0.1086 right_yaw=0.7464 right_pitch=-0.1051 right_roll=0.0103 right_gripper=0.999\nstate[joint_eff]: [-0.2803, -0.253, 7.1726, 1.9316, -0.0464, -0.0024, 0.0952, 0.8274, -8.9641, 8.3214, 1.7118, -0.2271, 0.0317, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e6b5a3a46636a72e1c8a3e2d9ba834aacb49aa246c830c224d955c90939094c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95688c2f94c00f56d7ed7c305f1a0ef668f9bfa9be29b29410aaad57b770b9a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f173c231586912e28c5a93c1477960f54389583a945c07eb487dfb320061f6ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /messages · status 200 · 16.88 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4934, 2.3749, 0.701, 1.5528, -0.4397, 0.0257, 0.0084, -0.0193, 0.8131, 0.6132, -0.4129, -0.0265, -0.0147, 0.999]\nstate[eef_state]: left_x=0.454 left_y=-0.1547 left_z=0.0178 left_yaw=-0.1007 left_pitch=0.4595 left_roll=0.0863 left_gripper=0.0084 right_x=0.2926 right_y=0.0026 right_z=0.1722 right_yaw=-0.0001 right_pitch=-0.0553 right_roll=0.0015 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -10.6188, 2.0855, 1.7753, 0.0317, -0.0806, 0.5641, -0.212, -1.2239, 7.0085, 1.7167, -0.0464, -0.0855, -0.0171]",
      "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]: [-0.0101, 0.6041, 0.5865, -0.4675, -0.0265, 0.0811, 0.9968, -0.0193, 0.8185, 0.6128, -0.416, -0.0265, -0.0147, 0.999]\nstate[eef_state]: left_x=0.2672 left_y=0.0056 left_z=0.2028 left_yaw=-0.0344 left_pitch=0.0839 left_roll=0.0835 left_gripper=0.9968 right_x=0.2924 right_y=0.0026 right_z=0.17 right_yaw=-0.0001 right_pitch=-0.0641 right_roll=0.0016 right_gripper=0.999\nstate[joint_eff]: [0.253, -0.253, 9.7436, 1.7265, 0.0317, 0.2027, 0.1392, -0.0479, -1.7709, 7.0632, 1.707, -0.0024, -0.0659, -0.0122]",
      "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]: [-0.0093, 0.6102, 0.5858, -0.4847, -0.0227, 0.0799, 0.9978, 0.4152, 1.8103, 1.1336, -0.0162, -0.2745, -0.2054, 0.999]\nstate[eef_state]: left_x=0.2657 left_y=0.0051 left_z=0.1972 left_yaw=-0.0362 left_pitch=0.06 left_roll=0.0801 left_gripper=0.9978 right_x=0.4331 right_y=0.2472 right_z=0.1086 right_yaw=0.7464 right_pitch=-0.1051 right_roll=0.0103 right_gripper=0.999\nstate[joint_eff]: [-0.2803, -0.253, 7.1726, 1.9316, -0.0464, -0.0024, 0.0952, 0.8274, -8.9641, 8.3214, 1.7118, -0.2271, 0.0317, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e6b5a3a46636a72e1c8a3e2d9ba834aacb49aa246c830c224d955c90939094c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95688c2f94c00f56d7ed7c305f1a0ef668f9bfa9be29b29410aaad57b770b9a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f173c231586912e28c5a93c1477960f54389583a945c07eb487dfb320061f6ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS8gcKjgEIEhgCKkCoU0c2p7WfNE8wR/jMcIELN2VhU7K59Debs7chalWFM7cTUuJbYRCHeT4hSC6lCFouGdP1VzJ0hMK5ckTCZHWkMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeewzNUGEgzsTb/NG7Aq0khSgTgaDDifdd4BsrujzvTxYyIwwYZcMMAVbqxhI4ymjMBAWLqZDLaDk0ITBfrlS1wN25qmihTe7/MD3hiwNU7r2e2WKpAGAUIMLi8Z0CvZccbnqB9VEGujR0dD8lrB+jl29FUtx8tH+zBv9b18zH88QhZ8tO48v3FId+CtX9L0lEZcrnFZvqQx/RP+oPECo+A+ebBt17q94RAsdBEDGq92Jz+epRh/4R8vXhhRRIjZWDgpavBi8ibtaxVeChLI0N7ogMffLb71xjbJJPeCroaltY9E+UYG9apP8BD6+FRDbK8DhA39d/gIIfJrujLbD/uVJsRdPrlRSgOvTKiDtQWDFQalxSZdIMS71/h4CRSVC+xFbXPftsQMByzC66u8KR6EFUl+fk8A5CFShuNUd53YIco8Hns/UHA4hzbIUIQXcRvPflrLQlrYyMTpQQhkcIpf/CMxv4PElz+NBivRzX8AHnmF0g4s0fd6pFhtBgoNsJs6gzYLzlOgMu+ofF+VV0s3XkzDjUDDHee/pBHU+k8gCUZw/JzMHpP4kHStjpNj+MLEvyBQnqr+LK6tqEcMYENFoKi6qOhJHfztl+H/NmZzyTXGLI3HjwPFIvKXv3xCb1xR9GvBW7O7Pvsk3C5na7NK0+CgtggZiLMtv+tmisf+9CwAy6izVAJ6P/oaeAWEedYOxUnnZad0Or0z7p8blBNLBRN1sPou2FpTWKB04tu6ijidRy6MEb1Fh554ZVu5RQt2A23Y4gZ7wgAPQPP1P804VXGHXsW4c+igy/AdmKNxo2EPZ2USKq3UxabXPwvEEZFJtO7OFIoed5rWfYRD0oZw1IhFzz6p+OIgqBeoNSME0kpSvvUN/9bs2G8K8RakJnJdjGr+r5ceR1EPTIu/eAjOinyg6jnd8Hf4OaSX5jklvvOSJRaOn/6Tf/k0y4Y1Pot2GIe8ymHOGZMaYo+pf5mMgr0V3u+dEHsG8j+H/hgZaiPUGp4SBJX3F5z8EjbeTL+raTZ1a4QHMYlYx8lrufMvfG3Nc1FWlNicwewq/BI08SNpIhdqBgoCUt3dz+jhnR4VMJJpZJwOGaP+ni9zJtHoYU1TUW2Bos2Q3e1hEJ3byTL/1AIVoqt0voln0siyYaY1XcSAURgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Gt24DZoxxbTL55XrLcWEsF",
      "input": {
        "note": "The pen is not visible in the right wrist view, meaning the gripper has already overshot past it; pulling back 5 cm in x to bring the pen into view ahead of the jaws.",
        "targets": {
          "right_x": 0.38,
          "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_01Gt24DZoxxbTL55XrLcWEsF",
      "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]: [-0.0093, 0.6163, 0.5858, -0.4858, -0.0223, 0.0795, 0.9979, 0.4751, 1.7039, 0.9234, 0.0284, -0.2394, -0.1825, 0.999]\nstate[eef_state]: left_x=0.266 left_y=0.005 left_z=0.1955 left_yaw=-0.0363 left_pitch=0.0527 left_roll=0.0794 left_gripper=0.9979 right_x=0.3775 right_y=0.2453 right_z=0.0789 right_yaw=0.7672 right_pitch=-0.1689 right_roll=0.0241 right_gripper=0.999\nstate[joint_eff]: [-0.253, -0.1709, 6.9128, 1.873, -0.0611, -0.0806, -0.0024, 0.4308, -10.6872, 6.6667, 1.8779, -0.0073, 0.1929, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:281c99ceb87053a652afdff61aeb39f4af264e2c0fbfec41986aa65d3612cb0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5afd62a71cefbaa04f5121b9cde85653181f9c138418b98d87fe46f24676291f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:18d7021b7f2a70d8ea77e7bda4cba4f9bb51a16a53ce17c62afb7df29b3539d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /messages · status 200 · 15.37 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0101, 0.6041, 0.5865, -0.4675, -0.0265, 0.0811, 0.9968, -0.0193, 0.8185, 0.6128, -0.416, -0.0265, -0.0147, 0.999]\nstate[eef_state]: left_x=0.2672 left_y=0.0056 left_z=0.2028 left_yaw=-0.0344 left_pitch=0.0839 left_roll=0.0835 left_gripper=0.9968 right_x=0.2924 right_y=0.0026 right_z=0.17 right_yaw=-0.0001 right_pitch=-0.0641 right_roll=0.0016 right_gripper=0.999\nstate[joint_eff]: [0.253, -0.253, 9.7436, 1.7265, 0.0317, 0.2027, 0.1392, -0.0479, -1.7709, 7.0632, 1.707, -0.0024, -0.0659, -0.0122]",
      "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]: [-0.0093, 0.6102, 0.5858, -0.4847, -0.0227, 0.0799, 0.9978, 0.4152, 1.8103, 1.1336, -0.0162, -0.2745, -0.2054, 0.999]\nstate[eef_state]: left_x=0.2657 left_y=0.0051 left_z=0.1972 left_yaw=-0.0362 left_pitch=0.06 left_roll=0.0801 left_gripper=0.9978 right_x=0.4331 right_y=0.2472 right_z=0.1086 right_yaw=0.7464 right_pitch=-0.1051 right_roll=0.0103 right_gripper=0.999\nstate[joint_eff]: [-0.2803, -0.253, 7.1726, 1.9316, -0.0464, -0.0024, 0.0952, 0.8274, -8.9641, 8.3214, 1.7118, -0.2271, 0.0317, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0093, 0.6163, 0.5858, -0.4858, -0.0223, 0.0795, 0.9979, 0.4751, 1.7039, 0.9234, 0.0284, -0.2394, -0.1825, 0.999]\nstate[eef_state]: left_x=0.266 left_y=0.005 left_z=0.1955 left_yaw=-0.0363 left_pitch=0.0527 left_roll=0.0794 left_gripper=0.9979 right_x=0.3775 right_y=0.2453 right_z=0.0789 right_yaw=0.7672 right_pitch=-0.1689 right_roll=0.0241 right_gripper=0.999\nstate[joint_eff]: [-0.253, -0.1709, 6.9128, 1.873, -0.0611, -0.0806, -0.0024, 0.4308, -10.6872, 6.6667, 1.8779, -0.0073, 0.1929, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:281c99ceb87053a652afdff61aeb39f4af264e2c0fbfec41986aa65d3612cb0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5afd62a71cefbaa04f5121b9cde85653181f9c138418b98d87fe46f24676291f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18d7021b7f2a70d8ea77e7bda4cba4f9bb51a16a53ce17c62afb7df29b3539d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WNGPVcZrH3z7VkTrhxRUfY",
      "input": {
        "note": "The pen is now visible in the right wrist view as a near-vertical line ~30 px right of the jaw centre, already perpendicular to the jaws. Shifting ~3 cm to the tool's left and descending to just above the table.",
        "targets": {
          "right_x": 0.357,
          "right_y": 0.267,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01WNGPVcZrH3z7VkTrhxRUfY",
      "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]: [-0.0093, 0.617, 0.5858, -0.4866, -0.0223, 0.0795, 0.9979, 0.5549, 1.7962, 0.8082, 0.1802, -0.194, -0.1417, 0.999]\nstate[eef_state]: left_x=0.266 left_y=0.005 left_z=0.1951 left_yaw=-0.0363 left_pitch=0.0512 left_roll=0.0793 left_gripper=0.9979 right_x=0.3475 right_y=0.2597 right_z=0.022 right_yaw=0.7893 right_pitch=-0.2321 right_roll=0.0376 right_gripper=0.999\nstate[joint_eff]: [-0.1983, 0.0068, 6.9128, 1.79, -0.0659, -0.0659, -0.0122, 0.4855, -8.1299, 6.065, 2.1319, -0.0757, 0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf00c57db857a9e310fb7dbfcef1c763c683d792011a86eed51395ccee61d05b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fb8ef51f700d56ecf9642c770425406a3556c84460790eb83d8582794dbd6d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d9b0bd27ed51294a69897e3edfd47e9d3efb65712daa489a27c0fc029e3793ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /messages · status 200 · 9.536 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0093, 0.6102, 0.5858, -0.4847, -0.0227, 0.0799, 0.9978, 0.4152, 1.8103, 1.1336, -0.0162, -0.2745, -0.2054, 0.999]\nstate[eef_state]: left_x=0.2657 left_y=0.0051 left_z=0.1972 left_yaw=-0.0362 left_pitch=0.06 left_roll=0.0801 left_gripper=0.9978 right_x=0.4331 right_y=0.2472 right_z=0.1086 right_yaw=0.7464 right_pitch=-0.1051 right_roll=0.0103 right_gripper=0.999\nstate[joint_eff]: [-0.2803, -0.253, 7.1726, 1.9316, -0.0464, -0.0024, 0.0952, 0.8274, -8.9641, 8.3214, 1.7118, -0.2271, 0.0317, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0093, 0.6163, 0.5858, -0.4858, -0.0223, 0.0795, 0.9979, 0.4751, 1.7039, 0.9234, 0.0284, -0.2394, -0.1825, 0.999]\nstate[eef_state]: left_x=0.266 left_y=0.005 left_z=0.1955 left_yaw=-0.0363 left_pitch=0.0527 left_roll=0.0794 left_gripper=0.9979 right_x=0.3775 right_y=0.2453 right_z=0.0789 right_yaw=0.7672 right_pitch=-0.1689 right_roll=0.0241 right_gripper=0.999\nstate[joint_eff]: [-0.253, -0.1709, 6.9128, 1.873, -0.0611, -0.0806, -0.0024, 0.4308, -10.6872, 6.6667, 1.8779, -0.0073, 0.1929, -0.022]",
      "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]: [-0.0093, 0.617, 0.5858, -0.4866, -0.0223, 0.0795, 0.9979, 0.5549, 1.7962, 0.8082, 0.1802, -0.194, -0.1417, 0.999]\nstate[eef_state]: left_x=0.266 left_y=0.005 left_z=0.1951 left_yaw=-0.0363 left_pitch=0.0512 left_roll=0.0793 left_gripper=0.9979 right_x=0.3475 right_y=0.2597 right_z=0.022 right_yaw=0.7893 right_pitch=-0.2321 right_roll=0.0376 right_gripper=0.999\nstate[joint_eff]: [-0.1983, 0.0068, 6.9128, 1.79, -0.0659, -0.0659, -0.0122, 0.4855, -8.1299, 6.065, 2.1319, -0.0757, 0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf00c57db857a9e310fb7dbfcef1c763c683d792011a86eed51395ccee61d05b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fb8ef51f700d56ecf9642c770425406a3556c84460790eb83d8582794dbd6d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9b0bd27ed51294a69897e3edfd47e9d3efb65712daa489a27c0fc029e3793ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012wcVpfquURAS7qom6B5kEx",
      "input": {
        "note": "My lateral guess was inverted — the pen slid to the right edge of the wrist view. Applying the corrected offset (~5 cm back the other way) to centre the pen between the jaws at table level.",
        "targets": {
          "right_x": 0.397,
          "right_y": 0.236,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_012wcVpfquURAS7qom6B5kEx",
      "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]: [-0.009, 0.617, 0.5858, -0.4866, -0.0223, 0.0799, 0.9979, 0.5644, 1.8114, 0.7963, 0.244, -0.1833, -0.1345, 0.999]\nstate[eef_state]: left_x=0.266 left_y=0.0051 left_z=0.1951 left_yaw=-0.0361 left_pitch=0.0512 left_roll=0.0797 left_gripper=0.9979 right_x=0.351 right_y=0.2645 right_z=0.0222 right_yaw=0.784 right_pitch=-0.1983 right_roll=0.027 right_gripper=0.999\nstate[joint_eff]: [0.0068, 0.0889, 6.9949, 1.8046, -0.0464, -0.0269, -0.0122, -0.0342, -8.6632, 5.9556, 1.7949, 0.0317, 0.1148, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:443784f683b01072f644f9127ea2a327de6661d28639678d2d128232fa4faff9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12bb7f27f8f7eeaa917cde2d91aba522c8383f9d2d9171f466d0c839907b8db1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e40dc7755e0d7f8ef7653ed188dc77a67cf07cffe32c10c86141daa4e49f3d13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /messages · status 200 · 14.88 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0093, 0.6163, 0.5858, -0.4858, -0.0223, 0.0795, 0.9979, 0.4751, 1.7039, 0.9234, 0.0284, -0.2394, -0.1825, 0.999]\nstate[eef_state]: left_x=0.266 left_y=0.005 left_z=0.1955 left_yaw=-0.0363 left_pitch=0.0527 left_roll=0.0794 left_gripper=0.9979 right_x=0.3775 right_y=0.2453 right_z=0.0789 right_yaw=0.7672 right_pitch=-0.1689 right_roll=0.0241 right_gripper=0.999\nstate[joint_eff]: [-0.253, -0.1709, 6.9128, 1.873, -0.0611, -0.0806, -0.0024, 0.4308, -10.6872, 6.6667, 1.8779, -0.0073, 0.1929, -0.022]",
      "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]: [-0.0093, 0.617, 0.5858, -0.4866, -0.0223, 0.0795, 0.9979, 0.5549, 1.7962, 0.8082, 0.1802, -0.194, -0.1417, 0.999]\nstate[eef_state]: left_x=0.266 left_y=0.005 left_z=0.1951 left_yaw=-0.0363 left_pitch=0.0512 left_roll=0.0793 left_gripper=0.9979 right_x=0.3475 right_y=0.2597 right_z=0.022 right_yaw=0.7893 right_pitch=-0.2321 right_roll=0.0376 right_gripper=0.999\nstate[joint_eff]: [-0.1983, 0.0068, 6.9128, 1.79, -0.0659, -0.0659, -0.0122, 0.4855, -8.1299, 6.065, 2.1319, -0.0757, 0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.009, 0.617, 0.5858, -0.4866, -0.0223, 0.0799, 0.9979, 0.5644, 1.8114, 0.7963, 0.244, -0.1833, -0.1345, 0.999]\nstate[eef_state]: left_x=0.266 left_y=0.0051 left_z=0.1951 left_yaw=-0.0361 left_pitch=0.0512 left_roll=0.0797 left_gripper=0.9979 right_x=0.351 right_y=0.2645 right_z=0.0222 right_yaw=0.784 right_pitch=-0.1983 right_roll=0.027 right_gripper=0.999\nstate[joint_eff]: [0.0068, 0.0889, 6.9949, 1.8046, -0.0464, -0.0269, -0.0122, -0.0342, -8.6632, 5.9556, 1.7949, 0.0317, 0.1148, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:443784f683b01072f644f9127ea2a327de6661d28639678d2d128232fa4faff9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12bb7f27f8f7eeaa917cde2d91aba522c8383f9d2d9171f466d0c839907b8db1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e40dc7755e0d7f8ef7653ed188dc77a67cf07cffe32c10c86141daa4e49f3d13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISuQgKjgEIEhgCKkBwfP8ZTzVQBzXC5UGoQtfaUcLx84Sq0VUU6P8EuoO2ZVDrO2LFEady1Vq7uBalH0pamHnfEuNA/NcxfZX1C9hgMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZKxzNUGEgwOJsk+xiHc01GZdOcaDOnMp+L/FqF6RGirUCIwTT8+ZoBZE76Rmqr2bx86IYPpjUaJKWSmI9wHks6mrrseBuMVBB50FhwbMiYEBI8jKtcGNvRj0vJS3xfZCQ1k07AaeOfBlKQoMJCW5i5GyEUtqciUTNTPZpw7FtdvDmKnjsIWeeuMDQvtmQjyPKkFiM317s9Ya+Kve37sNTofzzptcRJWp9wZa59u/wbcr/vE5PlaFHWktbnwMtakwMc7siM9qRl/0+5JW/V/i17jfHbO3wCNdFBJ/43jkMYnjvEP3GrtKidnzjkwtBvOOLqUvIPNAU69mCuCV1eAM1G4Mu24sF4oBI/mUg8FOizgAW6bPSvGbWJomvWOIDCJsvuDZHUqxP4jQ5gGjUH0wcmJkIFDBpD5rcfN71YPIoLQiayx0oucFtPYNwvd3dKWfmOhVD3XWobOcmpRS81WuPX/G6n9KjSgIH3bmVj5iLFP0fi8MAWryT3pqNExa8iMT2sijelMcxkNwchHnILx8PZpY6OWcrc86w80XH1OJ77D5kbCkbc23YDdu5jQuz4vv5Kpg26d25rXG4LD2BrF5KHOqZ5/RxySYulQGIenGkK4FDEB5P1CKt6QgER515LKgBJvSgyz5+utSVwFDSC+837nXYMPjPFqSPQkW+JFPArPZ37griJMzZu+z3IGB+lmowVGJzm4Ntell117VhvjmFPw7OOIb00zQxbWL9FQ1AovmKYflYgQ6+ej0xppZIJIWxY82sfrKCPEhCkVpF6vVFzWSGK+3IIM7FwRRJZs/cil1oDJwfdD11Ne4mPzJub80iDNOxVegRPzczMhFA/SdnYYbiU68FgfSqZcCZR+kucnbCNQGHcSJj8d9rbucfgn3K+2oZfuSH/A61oK23t0xZEwoQut0yqz7AvEaHgKI9zG8fzj8O0AY9ajTXmqU4FEnUcmNOe80ha3AQI789NHgaqQBn59pFAScPRgd2jX+cOBfzHryoD8zLmpFBHsTlK1Nd8snadpJJxVIl6uwfmI+ry6zY3tQd7xZFrlRdblXNBXcCmH5SxhV9saCv/u53LX59dEbxAlVEOZyUvYRDiKaOyLusL1Q+I/1zMMpvM4UdQmBT20YHBnlGnLy7ozbQ3x71kvXOEOz3hacDOSEqCWmYglrrFIPCiw5kqnwo3VI8oNo7vb7qoVRPB0eXx0CyTWVO0ODqXAlwjBchwqaIKzV9k0T0j8+XGN0ZCeIwwjGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WDXeWYGRmmqBHQB7x6bGiH",
      "input": {
        "note": "The right arm stalled (shoulder saturated) and ignored the lateral correction. Lifting to 10 cm and pitching the wrist forward — which unlocked reach on the left arm earlier — while applying the lateral shift.",
        "targets": {
          "right_pitch": 0.4,
          "right_x": 0.4,
          "right_y": 0.236,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01WDXeWYGRmmqBHQB7x6bGiH",
      "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]: [-0.0093, 0.6189, 0.5858, -0.49, -0.0223, 0.0799, 0.9979, 0.3702, 1.9057, 0.6121, 1.0477, -0.4255, -0.0776, 0.999]\nstate[eef_state]: left_x=0.2657 left_y=0.005 left_z=0.1939 left_yaw=-0.0365 left_pitch=0.0458 left_roll=0.0795 left_gripper=0.9979 right_x=0.3972 right_y=0.2362 right_z=0.0861 right_yaw=0.7813 right_pitch=0.3333 right_roll=0.0291 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -0.1983, 6.9538, 1.7705, -0.0562, -0.0366, -0.0171, -0.6632, -7.3094, 4.3282, 2.2149, -0.2418, 0.1538, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34af4d5a5ca7e7c25a772830ddeaab8d3e333c0ed5167138968b72cd1eaf5f30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a4cfad8a95f2553ce52b3d135bc663e0f1bc522e9f9706a5f3404525f8c4c36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:060b6cc9e9a33ffec6cc3db03ab2a6a90f614f4afc75501455aac73aee171996",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /messages · status 200 · 4.515 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0093, 0.617, 0.5858, -0.4866, -0.0223, 0.0795, 0.9979, 0.5549, 1.7962, 0.8082, 0.1802, -0.194, -0.1417, 0.999]\nstate[eef_state]: left_x=0.266 left_y=0.005 left_z=0.1951 left_yaw=-0.0363 left_pitch=0.0512 left_roll=0.0793 left_gripper=0.9979 right_x=0.3475 right_y=0.2597 right_z=0.022 right_yaw=0.7893 right_pitch=-0.2321 right_roll=0.0376 right_gripper=0.999\nstate[joint_eff]: [-0.1983, 0.0068, 6.9128, 1.79, -0.0659, -0.0659, -0.0122, 0.4855, -8.1299, 6.065, 2.1319, -0.0757, 0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.009, 0.617, 0.5858, -0.4866, -0.0223, 0.0799, 0.9979, 0.5644, 1.8114, 0.7963, 0.244, -0.1833, -0.1345, 0.999]\nstate[eef_state]: left_x=0.266 left_y=0.0051 left_z=0.1951 left_yaw=-0.0361 left_pitch=0.0512 left_roll=0.0797 left_gripper=0.9979 right_x=0.351 right_y=0.2645 right_z=0.0222 right_yaw=0.784 right_pitch=-0.1983 right_roll=0.027 right_gripper=0.999\nstate[joint_eff]: [0.0068, 0.0889, 6.9949, 1.8046, -0.0464, -0.0269, -0.0122, -0.0342, -8.6632, 5.9556, 1.7949, 0.0317, 0.1148, -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 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]: [-0.0093, 0.6189, 0.5858, -0.49, -0.0223, 0.0799, 0.9979, 0.3702, 1.9057, 0.6121, 1.0477, -0.4255, -0.0776, 0.999]\nstate[eef_state]: left_x=0.2657 left_y=0.005 left_z=0.1939 left_yaw=-0.0365 left_pitch=0.0458 left_roll=0.0795 left_gripper=0.9979 right_x=0.3972 right_y=0.2362 right_z=0.0861 right_yaw=0.7813 right_pitch=0.3333 right_roll=0.0291 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -0.1983, 6.9538, 1.7705, -0.0562, -0.0366, -0.0171, -0.6632, -7.3094, 4.3282, 2.2149, -0.2418, 0.1538, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34af4d5a5ca7e7c25a772830ddeaab8d3e333c0ed5167138968b72cd1eaf5f30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a4cfad8a95f2553ce52b3d135bc663e0f1bc522e9f9706a5f3404525f8c4c36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:060b6cc9e9a33ffec6cc3db03ab2a6a90f614f4afc75501455aac73aee171996",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016ux7K3wK8BT1q73H5KHagh",
      "input": {
        "note": "Pen now appears at the bottom of the right wrist view, ~35 px right of the jaw centre; applying the same lateral correction direction that worked last time and descending to table level for the grasp.",
        "targets": {
          "right_x": 0.429,
          "right_y": 0.216,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_016ux7K3wK8BT1q73H5KHagh",
      "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]: [-0.009, 0.6235, 0.5858, -0.4934, -0.0223, 0.0799, 0.9979, 0.2855, 2.199, 0.6834, 1.1912, -0.4908, -0.1047, 0.9988]\nstate[eef_state]: left_x=0.2657 left_y=0.0051 left_z=0.1921 left_yaw=-0.0361 left_pitch=0.0378 left_roll=0.0793 left_gripper=0.9979 right_x=0.4197 right_y=0.2137 right_z=0.0125 right_yaw=0.7586 right_pitch=0.271 right_roll=0.0542 right_gripper=0.9988\nstate[joint_eff]: [-0.0889, -0.1983, 6.8991, 1.7656, -0.0317, -0.0513, -0.0122, -0.3214, -10.2222, 5.053, 1.1209, -0.1294, 0.486, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e819ebcd087f994258d7af26e1249a57a62619f1e43c3a4e8eb62d5454e49cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7eb53ec7e9d71cd411d3b4dcd230f64d6c9cc4787527d8caf9033286ac730400",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f7282058ba2d6d158b1e6e2e9bb40c3708da0cf847dc249b4d4b39b38bed947e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /messages · status 200 · 13.49 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.009, 0.617, 0.5858, -0.4866, -0.0223, 0.0799, 0.9979, 0.5644, 1.8114, 0.7963, 0.244, -0.1833, -0.1345, 0.999]\nstate[eef_state]: left_x=0.266 left_y=0.0051 left_z=0.1951 left_yaw=-0.0361 left_pitch=0.0512 left_roll=0.0797 left_gripper=0.9979 right_x=0.351 right_y=0.2645 right_z=0.0222 right_yaw=0.784 right_pitch=-0.1983 right_roll=0.027 right_gripper=0.999\nstate[joint_eff]: [0.0068, 0.0889, 6.9949, 1.8046, -0.0464, -0.0269, -0.0122, -0.0342, -8.6632, 5.9556, 1.7949, 0.0317, 0.1148, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0093, 0.6189, 0.5858, -0.49, -0.0223, 0.0799, 0.9979, 0.3702, 1.9057, 0.6121, 1.0477, -0.4255, -0.0776, 0.999]\nstate[eef_state]: left_x=0.2657 left_y=0.005 left_z=0.1939 left_yaw=-0.0365 left_pitch=0.0458 left_roll=0.0795 left_gripper=0.9979 right_x=0.3972 right_y=0.2362 right_z=0.0861 right_yaw=0.7813 right_pitch=0.3333 right_roll=0.0291 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -0.1983, 6.9538, 1.7705, -0.0562, -0.0366, -0.0171, -0.6632, -7.3094, 4.3282, 2.2149, -0.2418, 0.1538, -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 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]: [-0.009, 0.6235, 0.5858, -0.4934, -0.0223, 0.0799, 0.9979, 0.2855, 2.199, 0.6834, 1.1912, -0.4908, -0.1047, 0.9988]\nstate[eef_state]: left_x=0.2657 left_y=0.0051 left_z=0.1921 left_yaw=-0.0361 left_pitch=0.0378 left_roll=0.0793 left_gripper=0.9979 right_x=0.4197 right_y=0.2137 right_z=0.0125 right_yaw=0.7586 right_pitch=0.271 right_roll=0.0542 right_gripper=0.9988\nstate[joint_eff]: [-0.0889, -0.1983, 6.8991, 1.7656, -0.0317, -0.0513, -0.0122, -0.3214, -10.2222, 5.053, 1.1209, -0.1294, 0.486, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e819ebcd087f994258d7af26e1249a57a62619f1e43c3a4e8eb62d5454e49cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7eb53ec7e9d71cd411d3b4dcd230f64d6c9cc4787527d8caf9033286ac730400",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7282058ba2d6d158b1e6e2e9bb40c3708da0cf847dc249b4d4b39b38bed947e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISzQMKjgEIEhgCKkCg6SJhiFNRnrmG6A5VJrkgnxloVFA72gfCtmxTU0k6r9UNxkxYD7CDYGcJmKDo4Y0QpFPVNG3CCc+dTY/NrUgrMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaixzNUGEgwIv6qDmzmfA0JuaiQaDJQXjS3a9MqoCshqHiIwTaM5WoBwP3jMRe5hUMvPQvKFKyr8IQHOAW/WqZBSLud2yN5XL8+r16Yb4+u55mBNKusB3wBrgMTRRdmjhn6/V1wpDBKqG96N2PITHeLjjMh6qLqycFKVajjtIHhUSq0AkmQL/SgBMxgdr07ct2QiT3ydbQ8QrwSLLldYu/KjzLd8ZsqNnAbHbxoPDH4bYLvL1q/OBucMHLvvt/XzzI14JosMKEw7eRVsaV0WHdX21cWHD3NsPCg35iUKiffRTpf8gpiXlM7HmjA70K/0JE9n9s9vA+2biS5jVMzygJ0fyjNBf6B79o45HRHO/H21tj4zbv9qXVKSuaiKQqtx2OPmrw0ZgxdmjiT/4foFglIM485yROmGWRkc4AQt5RXNrxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KdKQfxEJE31WpKij65kjKj",
      "input": {
        "note": "The pen is now centred between the open jaws at the bottom of the right wrist view; closing the gripper to grasp it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01KdKQfxEJE31WpKij65kjKj",
      "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]: [-0.0093, 0.6239, 0.5858, -0.4961, -0.0223, 0.0799, 0.9979, 0.2764, 2.212, 0.6994, 1.2201, -0.5175, -0.1081, 0.008]\nstate[eef_state]: left_x=0.2654 left_y=0.005 left_z=0.1914 left_yaw=-0.0365 left_pitch=0.0348 left_roll=0.0792 left_gripper=0.9979 right_x=0.4239 right_y=0.2148 right_z=0.0182 right_yaw=0.7791 right_pitch=0.3032 right_roll=0.0426 right_gripper=0.008\nstate[joint_eff]: [-0.3624, -0.0479, 6.8855, 1.7802, -0.0366, -0.0464, -0.0171, -0.3487, -8.9231, 4.5744, 2.044, -0.0562, 0.022, 0.5983]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46a978be6406a06d0c0e7afee4d348f1a40e2310dfcaaa426a1d8a54b15e421e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:435f1b9fe64622c972ba9ab9f72fe08f1f386f60447381e9139ef22fee9909eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:607266cb64a22426df34a32347acfd5146a9dae845e4fd794732ef3a0b9a3e07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /messages · status 200 · 3.899 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0093, 0.6189, 0.5858, -0.49, -0.0223, 0.0799, 0.9979, 0.3702, 1.9057, 0.6121, 1.0477, -0.4255, -0.0776, 0.999]\nstate[eef_state]: left_x=0.2657 left_y=0.005 left_z=0.1939 left_yaw=-0.0365 left_pitch=0.0458 left_roll=0.0795 left_gripper=0.9979 right_x=0.3972 right_y=0.2362 right_z=0.0861 right_yaw=0.7813 right_pitch=0.3333 right_roll=0.0291 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -0.1983, 6.9538, 1.7705, -0.0562, -0.0366, -0.0171, -0.6632, -7.3094, 4.3282, 2.2149, -0.2418, 0.1538, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.009, 0.6235, 0.5858, -0.4934, -0.0223, 0.0799, 0.9979, 0.2855, 2.199, 0.6834, 1.1912, -0.4908, -0.1047, 0.9988]\nstate[eef_state]: left_x=0.2657 left_y=0.0051 left_z=0.1921 left_yaw=-0.0361 left_pitch=0.0378 left_roll=0.0793 left_gripper=0.9979 right_x=0.4197 right_y=0.2137 right_z=0.0125 right_yaw=0.7586 right_pitch=0.271 right_roll=0.0542 right_gripper=0.9988\nstate[joint_eff]: [-0.0889, -0.1983, 6.8991, 1.7656, -0.0317, -0.0513, -0.0122, -0.3214, -10.2222, 5.053, 1.1209, -0.1294, 0.486, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.0093, 0.6239, 0.5858, -0.4961, -0.0223, 0.0799, 0.9979, 0.2764, 2.212, 0.6994, 1.2201, -0.5175, -0.1081, 0.008]\nstate[eef_state]: left_x=0.2654 left_y=0.005 left_z=0.1914 left_yaw=-0.0365 left_pitch=0.0348 left_roll=0.0792 left_gripper=0.9979 right_x=0.4239 right_y=0.2148 right_z=0.0182 right_yaw=0.7791 right_pitch=0.3032 right_roll=0.0426 right_gripper=0.008\nstate[joint_eff]: [-0.3624, -0.0479, 6.8855, 1.7802, -0.0366, -0.0464, -0.0171, -0.3487, -8.9231, 4.5744, 2.044, -0.0562, 0.022, 0.5983]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46a978be6406a06d0c0e7afee4d348f1a40e2310dfcaaa426a1d8a54b15e421e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:435f1b9fe64622c972ba9ab9f72fe08f1f386f60447381e9139ef22fee9909eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:607266cb64a22426df34a32347acfd5146a9dae845e4fd794732ef3a0b9a3e07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BvAW52SFWqRjAsCGeqv5Fy",
      "input": {
        "note": "Close was empty (0.008), so the pen lies a couple of cm beyond the fingertips; reopening and advancing ~2.5 cm radially outward before retrying.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.447,
          "right_y": 0.226,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01BvAW52SFWqRjAsCGeqv5Fy",
      "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]: [-0.009, 0.6281, 0.5858, -0.4961, -0.0223, 0.0799, 0.9979, 0.2836, 2.2524, 0.7937, 1.1587, -0.5159, -0.1123, 0.9951]\nstate[eef_state]: left_x=0.2657 left_y=0.0051 left_z=0.1904 left_yaw=-0.0361 left_pitch=0.0306 left_roll=0.0791 left_gripper=0.9979 right_x=0.4425 right_y=0.2235 right_z=0.0143 right_yaw=0.7862 right_pitch=0.2965 right_roll=0.0418 right_gripper=0.9951\nstate[joint_eff]: [-0.0342, -0.4718, 6.8855, 1.746, -0.0611, -0.0562, -0.0171, 0.1162, -8.9778, 5.1214, 1.8779, -0.0464, 0.0366, -0.2027]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac87af779c04806aeddf42957f3343fb7221947b1ea63519d8341470f0034a4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12d431b54d8ba420d7a803ea7a1e9b89b1bee0b8dd279d366bbec6b11ca6a27d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5587853b2dd23f02ae56a55f8e4a4281876fadc05503cd305eef198ca97d5504",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /messages · status 200 · 10.66 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.009, 0.6235, 0.5858, -0.4934, -0.0223, 0.0799, 0.9979, 0.2855, 2.199, 0.6834, 1.1912, -0.4908, -0.1047, 0.9988]\nstate[eef_state]: left_x=0.2657 left_y=0.0051 left_z=0.1921 left_yaw=-0.0361 left_pitch=0.0378 left_roll=0.0793 left_gripper=0.9979 right_x=0.4197 right_y=0.2137 right_z=0.0125 right_yaw=0.7586 right_pitch=0.271 right_roll=0.0542 right_gripper=0.9988\nstate[joint_eff]: [-0.0889, -0.1983, 6.8991, 1.7656, -0.0317, -0.0513, -0.0122, -0.3214, -10.2222, 5.053, 1.1209, -0.1294, 0.486, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0093, 0.6239, 0.5858, -0.4961, -0.0223, 0.0799, 0.9979, 0.2764, 2.212, 0.6994, 1.2201, -0.5175, -0.1081, 0.008]\nstate[eef_state]: left_x=0.2654 left_y=0.005 left_z=0.1914 left_yaw=-0.0365 left_pitch=0.0348 left_roll=0.0792 left_gripper=0.9979 right_x=0.4239 right_y=0.2148 right_z=0.0182 right_yaw=0.7791 right_pitch=0.3032 right_roll=0.0426 right_gripper=0.008\nstate[joint_eff]: [-0.3624, -0.0479, 6.8855, 1.7802, -0.0366, -0.0464, -0.0171, -0.3487, -8.9231, 4.5744, 2.044, -0.0562, 0.022, 0.5983]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.009, 0.6281, 0.5858, -0.4961, -0.0223, 0.0799, 0.9979, 0.2836, 2.2524, 0.7937, 1.1587, -0.5159, -0.1123, 0.9951]\nstate[eef_state]: left_x=0.2657 left_y=0.0051 left_z=0.1904 left_yaw=-0.0361 left_pitch=0.0306 left_roll=0.0791 left_gripper=0.9979 right_x=0.4425 right_y=0.2235 right_z=0.0143 right_yaw=0.7862 right_pitch=0.2965 right_roll=0.0418 right_gripper=0.9951\nstate[joint_eff]: [-0.0342, -0.4718, 6.8855, 1.746, -0.0611, -0.0562, -0.0171, 0.1162, -8.9778, 5.1214, 1.8779, -0.0464, 0.0366, -0.2027]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac87af779c04806aeddf42957f3343fb7221947b1ea63519d8341470f0034a4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12d431b54d8ba420d7a803ea7a1e9b89b1bee0b8dd279d366bbec6b11ca6a27d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5587853b2dd23f02ae56a55f8e4a4281876fadc05503cd305eef198ca97d5504",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISkAMKjgEIEhgCKkD9HBWTDRA54Mgtq5KdZD4HQvEPKUE9LasfqG20TyTaXl14TKN6JaKw2kxgrxFzvyfz4Ynt1UXIy1vjIV//ODpDMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbuxzNUGEgyFWEx5M8WVwQGHb9YaDOMugCKSLKDa6pjQGSIwuVUjU9+MuvBWUNSlhEkzX8Aq5TrSBF0xTRvBOnenszAKirD9lpQdqqS00j+NQeSrKq4BkfV3a/tR+X57T5sIhy8yOVq+OxPFk/MFb3UjFlvpdPI1kJhK0l0JWgOs4hLRrlP/3XkD6cm4M2baufLgb2rsZescRMPC0yN+ugEK4xItYjcxrmujyUtY4HudDoGeTUj2xgpguM6JoLJC1ZZq8/HbBEDIoHVry1VrdJpmk6m5x5lL8VTpAzlaFIDGBYgAdP55CxJooh6xDWLpOSnpegwj4eEnj5RyKcJhUqowJgOsGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JT2nTtuUcL5QzcsJAxkSTA",
      "input": {
        "note": "The right wrist view now shows the pen squarely between the two jaws; closing to grasp.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01JT2nTtuUcL5QzcsJAxkSTA",
      "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]: [-0.009, 0.63, 0.5858, -0.4961, -0.0223, 0.0795, 0.9979, 0.2874, 2.2532, 0.7925, 1.1603, -0.5179, -0.1162, 0.0078]\nstate[eef_state]: left_x=0.2658 left_y=0.0051 left_z=0.1899 left_yaw=-0.0359 left_pitch=0.0287 left_roll=0.0787 left_gripper=0.9979 right_x=0.4411 right_y=0.2253 right_z=0.014 right_yaw=0.7937 right_pitch=0.2965 right_roll=0.0386 right_gripper=0.0078\nstate[joint_eff]: [-0.1026, -0.1846, 6.8991, 1.7656, -0.0806, -0.0659, -0.0171, -0.4718, -9.9077, 3.6718, 1.7802, -0.0611, 0.0024, 0.5885]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b981075ec0fe8186e0ec470eb3d696df4d18b34fb86a7fab892d7f1e4afb88fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:862ba11347ad650006fba0f4dff2e0b4b72a7df6057916d100e63df8df7bdd4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c9632f9caf488b935f2f51b09f8cace4eaeb707e21cbb7be33c7749f63856470",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /messages · status 200 · 22.11 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0093, 0.6239, 0.5858, -0.4961, -0.0223, 0.0799, 0.9979, 0.2764, 2.212, 0.6994, 1.2201, -0.5175, -0.1081, 0.008]\nstate[eef_state]: left_x=0.2654 left_y=0.005 left_z=0.1914 left_yaw=-0.0365 left_pitch=0.0348 left_roll=0.0792 left_gripper=0.9979 right_x=0.4239 right_y=0.2148 right_z=0.0182 right_yaw=0.7791 right_pitch=0.3032 right_roll=0.0426 right_gripper=0.008\nstate[joint_eff]: [-0.3624, -0.0479, 6.8855, 1.7802, -0.0366, -0.0464, -0.0171, -0.3487, -8.9231, 4.5744, 2.044, -0.0562, 0.022, 0.5983]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.009, 0.6281, 0.5858, -0.4961, -0.0223, 0.0799, 0.9979, 0.2836, 2.2524, 0.7937, 1.1587, -0.5159, -0.1123, 0.9951]\nstate[eef_state]: left_x=0.2657 left_y=0.0051 left_z=0.1904 left_yaw=-0.0361 left_pitch=0.0306 left_roll=0.0791 left_gripper=0.9979 right_x=0.4425 right_y=0.2235 right_z=0.0143 right_yaw=0.7862 right_pitch=0.2965 right_roll=0.0418 right_gripper=0.9951\nstate[joint_eff]: [-0.0342, -0.4718, 6.8855, 1.746, -0.0611, -0.0562, -0.0171, 0.1162, -8.9778, 5.1214, 1.8779, -0.0464, 0.0366, -0.2027]\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]: [-0.009, 0.63, 0.5858, -0.4961, -0.0223, 0.0795, 0.9979, 0.2874, 2.2532, 0.7925, 1.1603, -0.5179, -0.1162, 0.0078]\nstate[eef_state]: left_x=0.2658 left_y=0.0051 left_z=0.1899 left_yaw=-0.0359 left_pitch=0.0287 left_roll=0.0787 left_gripper=0.9979 right_x=0.4411 right_y=0.2253 right_z=0.014 right_yaw=0.7937 right_pitch=0.2965 right_roll=0.0386 right_gripper=0.0078\nstate[joint_eff]: [-0.1026, -0.1846, 6.8991, 1.7656, -0.0806, -0.0659, -0.0171, -0.4718, -9.9077, 3.6718, 1.7802, -0.0611, 0.0024, 0.5885]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b981075ec0fe8186e0ec470eb3d696df4d18b34fb86a7fab892d7f1e4afb88fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:862ba11347ad650006fba0f4dff2e0b4b72a7df6057916d100e63df8df7bdd4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9632f9caf488b935f2f51b09f8cace4eaeb707e21cbb7be33c7749f63856470",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS2AoKjgEIEhgCKkBBz6t7Dps+X5TzakGDQhpPMEN5x8SaA/V63iXVxcOUroQtyBDhwQ44TUcG9rgdY/WpR7e2NGAAMDenJld37R0WMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcexzNUGEgxR0u9SlIyGxQ10STwaDEIYvFsp0o4/xsZjLCIwLFjXfKABnqq0NODVqQp6HnU6xgy/pEO1hDYXff1KIBxG+ECMEcL2Hzf4yP/4OJODKvYIEKl8oSRgkjA3Oe2px/gODaEG6368377Zis0hlWxEyx2mnyNEOvLyQfwJ/2MumCtnuID4AQnMwTOzaWQ/GThbWamyFFqSFms77AO512UQeAvnu6xolLFmRDYcQj9zwyX/s1QuV9deoTHjJbdymMY3Ra5vFJtYuMzYK591Se4zM49l8JpK3h7ssyW98PdAbOsazMukVw/LCj/WRm2o1cRlK6N0N7NTB6JGxad1bmbhesV2m3AIrPRmSC7YxZsYniUPOluZZS4/u1LNC5I3QODooPwxHE9+9WOpVmU5gRo6cZXrBeo+8PifyZkEq/6W2agvChHMEQyzRhprXGSymQfCLq3fWNTLbKkE8Z/wVoBQqspwYuKlWhlpzN2GI7wO4sc2alOtuiwHWkZqmAhErNaQ3aiYN0Jo0vaRsnKEwadWiQshUfZGQSpiZj/En4G106Ji7DcsKSRTeWvtvHLFizIQVVzT34lqtn0chM/x+Ku7zUVaijUXR49qVCSM3eOk7e4ITPHwoE/qPdk5yg11Trf2P2aMaW4vdDyuajNMxuRebSO6oQVtLs1na1LZPOF7RlZkc8uhCfAPQQ5qsO8w16v0Wd6b+XoSXKxDLUVBUBpenpRCadJOXID/BoqHDX5K2jKRqeCCCwOgGZuKZ8wn8v1Ska1ir8ouuuc4lTNDeNrr7/5PurZCVhkY0j0Bdex5Bp82mQvo+7a7Z4nxxd85sRqMpTgR3anQRD5YNbayFq5A14V18teAAgza2O7qQtUz7fGAYpy7xR7IUqWagKxp6w/qbQWEoeWfB4q6BnwuHUCknRDKxZR1ow6PZxBnp7dFDaqPCppCzvLC1vzuGrlvWw6p0Nyqz1xDzWu21sXW8w1ytP3Y6i4x7WlnGH59xX/k7d0NVoWp6xFica1/VsWy+zIlKvDTauxYqq4JYoE+yvwVxr3NNhlc1venVyp35X9Xu7oDjGL1zSpWgkRI1esurPp3WuCAk6j8eR8t07zfgreGlSuVUeW6ZzJW5HXx359RCUZxLsonZKw6h1iede66cLNJ1zNeb+C979pxhCYZ+BFpnkm3nF/KcEjGFlDvRvdcUCF41W5imKtxdeXjk29NzNcHjcgP7egD9jGVm6XgrVnnRJxzAIgaur+44zaikQLHRUAkO0p4GWm3tmWuzZgwnbmxrV4s4VTXT7dL5VhKDHwYfWRy/zm5FTZs9WXpKXLe5ozyrue0wzC2wdoUcurOBfA6IifYmMYWhnZMCAoW7trIJyrCLhOh2bJ+KWVha2HWFyYSLdsxVL4ewDMuC+pg8YLt1OhESHEI87xb77T7sUjtjNjNwAvMBagXbAgD7K3jWLnsPZ/ApXdXDX5sitTOZ+1PUsdpwDp4zDDMxHzFrbLdUo+nDWu46o77vgIkrrjxyC2vBGPdb22NyeiCOViHn1IGNTCazO1/ma85l0wSwshliHugrmyBZtAoya4jIrfgh2MRJpChfjJZdtFcPkBT6BJNbpGsYrpKrfpLz22xDiEhefnpWXf9a4cYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01H6UXmgLLSise8v79dEaztx",
      "input": {
        "note": "Empty again — the jaws are likely closing just above the thin pen lying flat. Reopening and pressing down to table level (z = -0.01) before closing again.",
        "targets": {
          "right_gripper": 1,
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01H6UXmgLLSise8v79dEaztx",
      "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]: [-0.009, 0.63, 0.5858, -0.4961, -0.0223, 0.0795, 0.9979, 0.2878, 2.3116, 0.8097, 1.2915, -0.5278, -0.1314, 0.9947]\nstate[eef_state]: left_x=0.2658 left_y=0.0051 left_z=0.1899 left_yaw=-0.0359 left_pitch=0.0287 left_roll=0.0787 left_gripper=0.9979 right_x=0.4464 right_y=0.2287 right_z=0.0203 right_yaw=0.8272 right_pitch=0.376 right_roll=-0.0225 right_gripper=0.9947\nstate[joint_eff]: [0.0068, -0.0068, 6.8991, 1.7314, -0.0562, -0.0659, -0.0171, -0.3077, -7.0222, 3.6444, 1.1111, 0.0171, 0.2173, -0.1978]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa047842a8618886acd4423210056e42427dbfa7b72ec717868c58fe6a4a4302",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:618b2982d53a63fe3a867375f02c4a27853273c021c0182ac18d3d0ba88718af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:17cf5578722575a68c0f97a14c5874af9d62efd1a941a90f2b0c0b316d7c5171",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /messages · status 200 · 23.68 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.009, 0.6281, 0.5858, -0.4961, -0.0223, 0.0799, 0.9979, 0.2836, 2.2524, 0.7937, 1.1587, -0.5159, -0.1123, 0.9951]\nstate[eef_state]: left_x=0.2657 left_y=0.0051 left_z=0.1904 left_yaw=-0.0361 left_pitch=0.0306 left_roll=0.0791 left_gripper=0.9979 right_x=0.4425 right_y=0.2235 right_z=0.0143 right_yaw=0.7862 right_pitch=0.2965 right_roll=0.0418 right_gripper=0.9951\nstate[joint_eff]: [-0.0342, -0.4718, 6.8855, 1.746, -0.0611, -0.0562, -0.0171, 0.1162, -8.9778, 5.1214, 1.8779, -0.0464, 0.0366, -0.2027]\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]: [-0.009, 0.63, 0.5858, -0.4961, -0.0223, 0.0795, 0.9979, 0.2874, 2.2532, 0.7925, 1.1603, -0.5179, -0.1162, 0.0078]\nstate[eef_state]: left_x=0.2658 left_y=0.0051 left_z=0.1899 left_yaw=-0.0359 left_pitch=0.0287 left_roll=0.0787 left_gripper=0.9979 right_x=0.4411 right_y=0.2253 right_z=0.014 right_yaw=0.7937 right_pitch=0.2965 right_roll=0.0386 right_gripper=0.0078\nstate[joint_eff]: [-0.1026, -0.1846, 6.8991, 1.7656, -0.0806, -0.0659, -0.0171, -0.4718, -9.9077, 3.6718, 1.7802, -0.0611, 0.0024, 0.5885]\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 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]: [-0.009, 0.63, 0.5858, -0.4961, -0.0223, 0.0795, 0.9979, 0.2878, 2.3116, 0.8097, 1.2915, -0.5278, -0.1314, 0.9947]\nstate[eef_state]: left_x=0.2658 left_y=0.0051 left_z=0.1899 left_yaw=-0.0359 left_pitch=0.0287 left_roll=0.0787 left_gripper=0.9979 right_x=0.4464 right_y=0.2287 right_z=0.0203 right_yaw=0.8272 right_pitch=0.376 right_roll=-0.0225 right_gripper=0.9947\nstate[joint_eff]: [0.0068, -0.0068, 6.8991, 1.7314, -0.0562, -0.0659, -0.0171, -0.3077, -7.0222, 3.6444, 1.1111, 0.0171, 0.2173, -0.1978]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa047842a8618886acd4423210056e42427dbfa7b72ec717868c58fe6a4a4302",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:618b2982d53a63fe3a867375f02c4a27853273c021c0182ac18d3d0ba88718af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
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{
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      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015coW1d6EbLYJKf9s6eKar1",
      "input": {
        "note": "The gripper can't press below z≈0.02 here and the pen is out of the wrist view; lifting to 10 cm to re-see the pen relative to the jaws before a clean vertical descent.",
        "targets": {
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_015coW1d6EbLYJKf9s6eKar1",
      "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]: [-0.009, 0.635, 0.5858, -0.4965, -0.0223, 0.0795, 0.9979, 0.2878, 2.0407, 0.7898, 1.0447, -0.5289, -0.1356, 0.9958]\nstate[eef_state]: left_x=0.2662 left_y=0.0051 left_z=0.1886 left_yaw=-0.0359 left_pitch=0.0234 left_roll=0.0786 left_gripper=0.9979 right_x=0.4451 right_y=0.2285 right_z=0.0884 right_yaw=0.8315 right_pitch=0.3797 right_roll=-0.029 right_gripper=0.9958\nstate[joint_eff]: [-0.1709, -0.2667, 7.0222, 1.7363, -0.0562, -0.0464, -0.0171, -0.212, -11.2752, 5.5316, 1.8046, -0.1148, 0.0366, 0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8eca73fe3d850886b4fd8a6215e23f17782cde6b919fd79f6696f337b4cc8b68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e1412a745181087f8116e3b56881cbdd150c77a7d9951d1bf9c0e4ecc429e2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8b4eb5a3bba43786545405db4468c52d6a4fc02550d340a14658df48886b434d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /messages · status 200 · 3.601 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.009, 0.63, 0.5858, -0.4961, -0.0223, 0.0795, 0.9979, 0.2874, 2.2532, 0.7925, 1.1603, -0.5179, -0.1162, 0.0078]\nstate[eef_state]: left_x=0.2658 left_y=0.0051 left_z=0.1899 left_yaw=-0.0359 left_pitch=0.0287 left_roll=0.0787 left_gripper=0.9979 right_x=0.4411 right_y=0.2253 right_z=0.014 right_yaw=0.7937 right_pitch=0.2965 right_roll=0.0386 right_gripper=0.0078\nstate[joint_eff]: [-0.1026, -0.1846, 6.8991, 1.7656, -0.0806, -0.0659, -0.0171, -0.4718, -9.9077, 3.6718, 1.7802, -0.0611, 0.0024, 0.5885]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.009, 0.63, 0.5858, -0.4961, -0.0223, 0.0795, 0.9979, 0.2878, 2.3116, 0.8097, 1.2915, -0.5278, -0.1314, 0.9947]\nstate[eef_state]: left_x=0.2658 left_y=0.0051 left_z=0.1899 left_yaw=-0.0359 left_pitch=0.0287 left_roll=0.0787 left_gripper=0.9979 right_x=0.4464 right_y=0.2287 right_z=0.0203 right_yaw=0.8272 right_pitch=0.376 right_roll=-0.0225 right_gripper=0.9947\nstate[joint_eff]: [0.0068, -0.0068, 6.8991, 1.7314, -0.0562, -0.0659, -0.0171, -0.3077, -7.0222, 3.6444, 1.1111, 0.0171, 0.2173, -0.1978]\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 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]: [-0.009, 0.635, 0.5858, -0.4965, -0.0223, 0.0795, 0.9979, 0.2878, 2.0407, 0.7898, 1.0447, -0.5289, -0.1356, 0.9958]\nstate[eef_state]: left_x=0.2662 left_y=0.0051 left_z=0.1886 left_yaw=-0.0359 left_pitch=0.0234 left_roll=0.0786 left_gripper=0.9979 right_x=0.4451 right_y=0.2285 right_z=0.0884 right_yaw=0.8315 right_pitch=0.3797 right_roll=-0.029 right_gripper=0.9958\nstate[joint_eff]: [-0.1709, -0.2667, 7.0222, 1.7363, -0.0562, -0.0464, -0.0171, -0.212, -11.2752, 5.5316, 1.8046, -0.1148, 0.0366, 0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8eca73fe3d850886b4fd8a6215e23f17782cde6b919fd79f6696f337b4cc8b68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e1412a745181087f8116e3b56881cbdd150c77a7d9951d1bf9c0e4ecc429e2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b4eb5a3bba43786545405db4468c52d6a4fc02550d340a14658df48886b434d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01B6Ht26fqqYRzpfwVc1BYuj",
      "input": {
        "note": "Returning to the pose where the pen was centred between the jaws, but with the wrist closer to vertical and pressing to table level so the fingers reach below the thin pen.",
        "targets": {
          "right_pitch": 0.15,
          "right_x": 0.443,
          "right_y": 0.2235,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01B6Ht26fqqYRzpfwVc1BYuj",
      "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]: [-0.0093, 0.6388, 0.5858, -0.4965, -0.0223, 0.0799, 0.9979, 0.2886, 2.1685, 0.8246, 0.91, -0.4976, -0.2451, 0.996]\nstate[eef_state]: left_x=0.2665 left_y=0.005 left_z=0.1877 left_yaw=-0.0364 left_pitch=0.0195 left_roll=0.0788 left_gripper=0.9979 right_x=0.4416 right_y=0.2228 right_z=0.0105 right_yaw=0.8315 right_pitch=0.179 right_roll=-0.025 right_gripper=0.996\nstate[joint_eff]: [-0.3624, -0.4034, 6.9265, 1.7558, -0.0562, -0.0708, -0.0171, 0.2803, -8.5538, 5.5726, 1.4579, -0.0464, 0.2515, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53893412bc7dba14dbdb88e2fc46d9927e02b79cf626813d61d59a883736557f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9871801471e4b5f720ef5ef4ff68024ff013a696effaedbca57be41cdaaf175",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:24dea7195ba6b384c8e11c76b96be5407458f24ec52c5f47b00d3d55d2e9f00e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /messages · status 200 · 20.86 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.009, 0.63, 0.5858, -0.4961, -0.0223, 0.0795, 0.9979, 0.2878, 2.3116, 0.8097, 1.2915, -0.5278, -0.1314, 0.9947]\nstate[eef_state]: left_x=0.2658 left_y=0.0051 left_z=0.1899 left_yaw=-0.0359 left_pitch=0.0287 left_roll=0.0787 left_gripper=0.9979 right_x=0.4464 right_y=0.2287 right_z=0.0203 right_yaw=0.8272 right_pitch=0.376 right_roll=-0.0225 right_gripper=0.9947\nstate[joint_eff]: [0.0068, -0.0068, 6.8991, 1.7314, -0.0562, -0.0659, -0.0171, -0.3077, -7.0222, 3.6444, 1.1111, 0.0171, 0.2173, -0.1978]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.009, 0.635, 0.5858, -0.4965, -0.0223, 0.0795, 0.9979, 0.2878, 2.0407, 0.7898, 1.0447, -0.5289, -0.1356, 0.9958]\nstate[eef_state]: left_x=0.2662 left_y=0.0051 left_z=0.1886 left_yaw=-0.0359 left_pitch=0.0234 left_roll=0.0786 left_gripper=0.9979 right_x=0.4451 right_y=0.2285 right_z=0.0884 right_yaw=0.8315 right_pitch=0.3797 right_roll=-0.029 right_gripper=0.9958\nstate[joint_eff]: [-0.1709, -0.2667, 7.0222, 1.7363, -0.0562, -0.0464, -0.0171, -0.212, -11.2752, 5.5316, 1.8046, -0.1148, 0.0366, 0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0093, 0.6388, 0.5858, -0.4965, -0.0223, 0.0799, 0.9979, 0.2886, 2.1685, 0.8246, 0.91, -0.4976, -0.2451, 0.996]\nstate[eef_state]: left_x=0.2665 left_y=0.005 left_z=0.1877 left_yaw=-0.0364 left_pitch=0.0195 left_roll=0.0788 left_gripper=0.9979 right_x=0.4416 right_y=0.2228 right_z=0.0105 right_yaw=0.8315 right_pitch=0.179 right_roll=-0.025 right_gripper=0.996\nstate[joint_eff]: [-0.3624, -0.4034, 6.9265, 1.7558, -0.0562, -0.0708, -0.0171, 0.2803, -8.5538, 5.5726, 1.4579, -0.0464, 0.2515, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53893412bc7dba14dbdb88e2fc46d9927e02b79cf626813d61d59a883736557f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9871801471e4b5f720ef5ef4ff68024ff013a696effaedbca57be41cdaaf175",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24dea7195ba6b384c8e11c76b96be5407458f24ec52c5f47b00d3d55d2e9f00e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS6AIKjgEIEhgCKkAGFnIeAoWfUPMZldop78QrlFaTL8Vm85DsUXiHguCMJTaOJ2awuvuRmcGErHCGEBPinrgMj1FUiJ4kfalrr6UfMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfuxzNUGEgyGPePm1L4kqF98s3EaDJERq07FrSEbUTcnAyIw1Kg1Xj1zwuU7O+49SQAn/m59R18hh82bRocx+hbTfd4EKWYRpF+zJHe67Iq2AZhHKoYBxEUdQnwVKhguNcoL4pNOEaLjRtLAu6HDWcIpB8cEQnFLFJMxNUSBeNkvQNM+QghfwyNjKNn80mNQhPytzBs3ZykVrasjnoAXW8D/nuQoxiBeA5YeSXLKdfY4/17Knhv8XQgUN3VKoTzJNhoIxA+EkSmEISZ4uiiUhJ9Lwct4qeXyTj6cm9AYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CRve9ZBb9MBkzGLN7V6Vk1",
      "input": {
        "note": "Gripper is now at table level (z=0.010) in the pose where the pen was centred; closing to grasp the pen.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01CRve9ZBb9MBkzGLN7V6Vk1",
      "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]: [-0.009, 0.6422, 0.5858, -0.4965, -0.0223, 0.0799, 0.9979, 0.2882, 2.1735, 0.8265, 0.9035, -0.4984, -0.2508, 0.0082]\nstate[eef_state]: left_x=0.2667 left_y=0.0051 left_z=0.1868 left_yaw=-0.0361 left_pitch=0.0161 left_roll=0.0787 left_gripper=0.9979 right_x=0.4411 right_y=0.2226 right_z=0.0075 right_yaw=0.834 right_pitch=0.171 right_roll=-0.0251 right_gripper=0.0082\nstate[joint_eff]: [-0.1709, -0.2393, 7.1043, 1.7607, -0.0806, -0.0317, -0.0122, -0.294, -10.4684, 3.9863, 1.8095, -0.0659, 0.0024, 0.5885]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8858b1c4438ae3c2951ac0334023ba5964a72cbe5fa6a2acb4191167f9c0c13f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d562b049808ce334e25b1efa0e10aa7ac08f8313d86ff62715e0bac6b353bc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7004d6bf15e2766a4ff4e03923079c31c131b39a741e9622c537e5a335c4b17a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /messages · status 200 · 49.03 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.009, 0.635, 0.5858, -0.4965, -0.0223, 0.0795, 0.9979, 0.2878, 2.0407, 0.7898, 1.0447, -0.5289, -0.1356, 0.9958]\nstate[eef_state]: left_x=0.2662 left_y=0.0051 left_z=0.1886 left_yaw=-0.0359 left_pitch=0.0234 left_roll=0.0786 left_gripper=0.9979 right_x=0.4451 right_y=0.2285 right_z=0.0884 right_yaw=0.8315 right_pitch=0.3797 right_roll=-0.029 right_gripper=0.9958\nstate[joint_eff]: [-0.1709, -0.2667, 7.0222, 1.7363, -0.0562, -0.0464, -0.0171, -0.212, -11.2752, 5.5316, 1.8046, -0.1148, 0.0366, 0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0093, 0.6388, 0.5858, -0.4965, -0.0223, 0.0799, 0.9979, 0.2886, 2.1685, 0.8246, 0.91, -0.4976, -0.2451, 0.996]\nstate[eef_state]: left_x=0.2665 left_y=0.005 left_z=0.1877 left_yaw=-0.0364 left_pitch=0.0195 left_roll=0.0788 left_gripper=0.9979 right_x=0.4416 right_y=0.2228 right_z=0.0105 right_yaw=0.8315 right_pitch=0.179 right_roll=-0.025 right_gripper=0.996\nstate[joint_eff]: [-0.3624, -0.4034, 6.9265, 1.7558, -0.0562, -0.0708, -0.0171, 0.2803, -8.5538, 5.5726, 1.4579, -0.0464, 0.2515, 0.0024]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.009, 0.6422, 0.5858, -0.4965, -0.0223, 0.0799, 0.9979, 0.2882, 2.1735, 0.8265, 0.9035, -0.4984, -0.2508, 0.0082]\nstate[eef_state]: left_x=0.2667 left_y=0.0051 left_z=0.1868 left_yaw=-0.0361 left_pitch=0.0161 left_roll=0.0787 left_gripper=0.9979 right_x=0.4411 right_y=0.2226 right_z=0.0075 right_yaw=0.834 right_pitch=0.171 right_roll=-0.0251 right_gripper=0.0082\nstate[joint_eff]: [-0.1709, -0.2393, 7.1043, 1.7607, -0.0806, -0.0317, -0.0122, -0.294, -10.4684, 3.9863, 1.8095, -0.0659, 0.0024, 0.5885]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8858b1c4438ae3c2951ac0334023ba5964a72cbe5fa6a2acb4191167f9c0c13f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d562b049808ce334e25b1efa0e10aa7ac08f8313d86ff62715e0bac6b353bc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7004d6bf15e2766a4ff4e03923079c31c131b39a741e9622c537e5a335c4b17a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XwHzpoG9z2S276xgaXck6M",
      "input": {
        "note": "Six empty closes: my estimate of the pen's location must be off. Retracting the right arm out of the way so the overhead camera can show the pen again and I can re-measure it.",
        "targets": {
          "right_gripper": 1,
          "right_pitch": 0,
          "right_x": 0.3,
          "right_y": 0.05,
          "right_yaw": 0,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01XwHzpoG9z2S276xgaXck6M",
      "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]: [-0.009, 0.6487, 0.5774, -0.4965, -0.0223, 0.0795, 0.9979, 0.3027, 0.8867, 0.654, -0.2989, 0.194, 0.0845, 0.9964]\nstate[eef_state]: left_x=0.2665 left_y=0.0051 left_z=0.1814 left_yaw=-0.0359 left_pitch=0.0012 left_roll=0.078 left_gripper=0.9979 right_x=0.3101 right_y=0.0649 right_z=0.1953 right_yaw=0.0825 right_pitch=0.0368 right_roll=-0.0254 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -0.7863, 7.6103, 1.7558, -0.0269, -0.0562, -0.0122, -0.0889, -2.1812, 9.2103, 1.746, 0.2125, 0.2369, -0.1978]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a7f76c55a2aa08ee5b91f7121f5a7d531af2924b8f911edb3af230755cdd582",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95c1ffd162077fdb93f8b09bb9991cbf91e3b3360aa6cdcdc33ae8579dcea511",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:11341b412c32021fde0aae3ff51b53814b52d031c50d18273cf958798f5d2db9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /messages · status 200 · 15.64 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0093, 0.6388, 0.5858, -0.4965, -0.0223, 0.0799, 0.9979, 0.2886, 2.1685, 0.8246, 0.91, -0.4976, -0.2451, 0.996]\nstate[eef_state]: left_x=0.2665 left_y=0.005 left_z=0.1877 left_yaw=-0.0364 left_pitch=0.0195 left_roll=0.0788 left_gripper=0.9979 right_x=0.4416 right_y=0.2228 right_z=0.0105 right_yaw=0.8315 right_pitch=0.179 right_roll=-0.025 right_gripper=0.996\nstate[joint_eff]: [-0.3624, -0.4034, 6.9265, 1.7558, -0.0562, -0.0708, -0.0171, 0.2803, -8.5538, 5.5726, 1.4579, -0.0464, 0.2515, 0.0024]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.009, 0.6422, 0.5858, -0.4965, -0.0223, 0.0799, 0.9979, 0.2882, 2.1735, 0.8265, 0.9035, -0.4984, -0.2508, 0.0082]\nstate[eef_state]: left_x=0.2667 left_y=0.0051 left_z=0.1868 left_yaw=-0.0361 left_pitch=0.0161 left_roll=0.0787 left_gripper=0.9979 right_x=0.4411 right_y=0.2226 right_z=0.0075 right_yaw=0.834 right_pitch=0.171 right_roll=-0.0251 right_gripper=0.0082\nstate[joint_eff]: [-0.1709, -0.2393, 7.1043, 1.7607, -0.0806, -0.0317, -0.0122, -0.294, -10.4684, 3.9863, 1.8095, -0.0659, 0.0024, 0.5885]",
      "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]: [-0.009, 0.6487, 0.5774, -0.4965, -0.0223, 0.0795, 0.9979, 0.3027, 0.8867, 0.654, -0.2989, 0.194, 0.0845, 0.9964]\nstate[eef_state]: left_x=0.2665 left_y=0.0051 left_z=0.1814 left_yaw=-0.0359 left_pitch=0.0012 left_roll=0.078 left_gripper=0.9979 right_x=0.3101 right_y=0.0649 right_z=0.1953 right_yaw=0.0825 right_pitch=0.0368 right_roll=-0.0254 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -0.7863, 7.6103, 1.7558, -0.0269, -0.0562, -0.0122, -0.0889, -2.1812, 9.2103, 1.746, 0.2125, 0.2369, -0.1978]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a7f76c55a2aa08ee5b91f7121f5a7d531af2924b8f911edb3af230755cdd582",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95c1ffd162077fdb93f8b09bb9991cbf91e3b3360aa6cdcdc33ae8579dcea511",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11341b412c32021fde0aae3ff51b53814b52d031c50d18273cf958798f5d2db9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Mk2wshuB3QxVy5SLwsdKwh",
      "input": {
        "note": "With the arm clear, the right wrist camera shows the pen lying nearly radially, only ~20 px left of the jaw column — much closer to the arm's centre line than my earlier estimate. Moving forward and slightly left at 10 cm height to re-check alignment.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.1,
          "right_yaw": 0,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Mk2wshuB3QxVy5SLwsdKwh",
      "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]: [-0.009, 0.6556, 0.5739, -0.4973, -0.0223, 0.0795, 0.9979, 0.3687, 1.4799, 0.5987, 0.2024, 0.2905, 0.136, 0.9974]\nstate[eef_state]: left_x=0.2665 left_y=0.0051 left_z=0.178 left_yaw=-0.0359 left_pitch=-0.0098 left_roll=0.0777 left_gripper=0.9979 right_x=0.3757 right_y=0.0948 right_z=0.0739 right_yaw=0.0392 right_pitch=-0.0891 right_roll=-0.0752 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, -0.6085, 7.3368, 1.746, -0.0464, -0.0659, -0.0171, 0.4718, -6.8855, 8.4718, 1.9658, 0.2711, 0.2613, 0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5dabd631da271ece60f6125d71211c6ca44f1a1659d1cc9621f739f949579011",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44b584df20bad3fe299e4c886e2fd25f62112dfc65aeee8ec9be478ae5886446",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:946176658d2e5413cc2eedfb4fbba31699ab9bbc3c5c33b41ba1415de26aa763",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /messages · status 200 · 13.09 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.009, 0.6422, 0.5858, -0.4965, -0.0223, 0.0799, 0.9979, 0.2882, 2.1735, 0.8265, 0.9035, -0.4984, -0.2508, 0.0082]\nstate[eef_state]: left_x=0.2667 left_y=0.0051 left_z=0.1868 left_yaw=-0.0361 left_pitch=0.0161 left_roll=0.0787 left_gripper=0.9979 right_x=0.4411 right_y=0.2226 right_z=0.0075 right_yaw=0.834 right_pitch=0.171 right_roll=-0.0251 right_gripper=0.0082\nstate[joint_eff]: [-0.1709, -0.2393, 7.1043, 1.7607, -0.0806, -0.0317, -0.0122, -0.294, -10.4684, 3.9863, 1.8095, -0.0659, 0.0024, 0.5885]",
      "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]: [-0.009, 0.6487, 0.5774, -0.4965, -0.0223, 0.0795, 0.9979, 0.3027, 0.8867, 0.654, -0.2989, 0.194, 0.0845, 0.9964]\nstate[eef_state]: left_x=0.2665 left_y=0.0051 left_z=0.1814 left_yaw=-0.0359 left_pitch=0.0012 left_roll=0.078 left_gripper=0.9979 right_x=0.3101 right_y=0.0649 right_z=0.1953 right_yaw=0.0825 right_pitch=0.0368 right_roll=-0.0254 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -0.7863, 7.6103, 1.7558, -0.0269, -0.0562, -0.0122, -0.0889, -2.1812, 9.2103, 1.746, 0.2125, 0.2369, -0.1978]",
      "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]: [-0.009, 0.6556, 0.5739, -0.4973, -0.0223, 0.0795, 0.9979, 0.3687, 1.4799, 0.5987, 0.2024, 0.2905, 0.136, 0.9974]\nstate[eef_state]: left_x=0.2665 left_y=0.0051 left_z=0.178 left_yaw=-0.0359 left_pitch=-0.0098 left_roll=0.0777 left_gripper=0.9979 right_x=0.3757 right_y=0.0948 right_z=0.0739 right_yaw=0.0392 right_pitch=-0.0891 right_roll=-0.0752 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, -0.6085, 7.3368, 1.746, -0.0464, -0.0659, -0.0171, 0.4718, -6.8855, 8.4718, 1.9658, 0.2711, 0.2613, 0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5dabd631da271ece60f6125d71211c6ca44f1a1659d1cc9621f739f949579011",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44b584df20bad3fe299e4c886e2fd25f62112dfc65aeee8ec9be478ae5886446",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:946176658d2e5413cc2eedfb4fbba31699ab9bbc3c5c33b41ba1415de26aa763",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XXmmauhJeBjsafBVCMgfpP",
      "input": {
        "note": "The pen is clearly visible ~37 px left of the jaw column in the right wrist view, lying nearly radially. Shifting ~5 cm to the arm's left and descending to 4 cm to line the jaws up across it.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.145,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01XXmmauhJeBjsafBVCMgfpP",
      "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]: [-0.0093, 0.6601, 0.5728, -0.4965, -0.0227, 0.0799, 0.9979, 0.4896, 1.7287, 0.6815, 0.2947, 0.3527, 0.1883, 0.9975]\nstate[eef_state]: left_x=0.2668 left_y=0.0051 left_z=0.1765 left_yaw=-0.0361 left_pitch=-0.0148 left_roll=0.0781 left_gripper=0.9979 right_x=0.3873 right_y=0.1413 right_z=0.0295 right_yaw=0.0779 right_pitch=-0.141 right_roll=-0.0991 right_gripper=0.9975\nstate[joint_eff]: [-0.3487, -0.5538, 7.0769, 1.6825, -0.0659, -0.022, -0.0122, 0.2803, -7.1726, 7.241, 1.7851, 0.3101, 0.2808, -0.0024]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6177315a4dd1689c8b803253cd710b690422c602b1757eb368a678b189e27f39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a24d4a9294aff7ef18373556605482f9a0aa6919c9228a027d8ebf2713e7da8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cd7f2d5cae5594dcaa427824f90a3097b38a9140def947527cc26423ed4fa765",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /messages · status 200 · 8.881 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.009, 0.6487, 0.5774, -0.4965, -0.0223, 0.0795, 0.9979, 0.3027, 0.8867, 0.654, -0.2989, 0.194, 0.0845, 0.9964]\nstate[eef_state]: left_x=0.2665 left_y=0.0051 left_z=0.1814 left_yaw=-0.0359 left_pitch=0.0012 left_roll=0.078 left_gripper=0.9979 right_x=0.3101 right_y=0.0649 right_z=0.1953 right_yaw=0.0825 right_pitch=0.0368 right_roll=-0.0254 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -0.7863, 7.6103, 1.7558, -0.0269, -0.0562, -0.0122, -0.0889, -2.1812, 9.2103, 1.746, 0.2125, 0.2369, -0.1978]",
      "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]: [-0.009, 0.6556, 0.5739, -0.4973, -0.0223, 0.0795, 0.9979, 0.3687, 1.4799, 0.5987, 0.2024, 0.2905, 0.136, 0.9974]\nstate[eef_state]: left_x=0.2665 left_y=0.0051 left_z=0.178 left_yaw=-0.0359 left_pitch=-0.0098 left_roll=0.0777 left_gripper=0.9979 right_x=0.3757 right_y=0.0948 right_z=0.0739 right_yaw=0.0392 right_pitch=-0.0891 right_roll=-0.0752 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, -0.6085, 7.3368, 1.746, -0.0464, -0.0659, -0.0171, 0.4718, -6.8855, 8.4718, 1.9658, 0.2711, 0.2613, 0.0904]",
      "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]: [-0.0093, 0.6601, 0.5728, -0.4965, -0.0227, 0.0799, 0.9979, 0.4896, 1.7287, 0.6815, 0.2947, 0.3527, 0.1883, 0.9975]\nstate[eef_state]: left_x=0.2668 left_y=0.0051 left_z=0.1765 left_yaw=-0.0361 left_pitch=-0.0148 left_roll=0.0781 left_gripper=0.9979 right_x=0.3873 right_y=0.1413 right_z=0.0295 right_yaw=0.0779 right_pitch=-0.141 right_roll=-0.0991 right_gripper=0.9975\nstate[joint_eff]: [-0.3487, -0.5538, 7.0769, 1.6825, -0.0659, -0.022, -0.0122, 0.2803, -7.1726, 7.241, 1.7851, 0.3101, 0.2808, -0.0024]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6177315a4dd1689c8b803253cd710b690422c602b1757eb368a678b189e27f39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a24d4a9294aff7ef18373556605482f9a0aa6919c9228a027d8ebf2713e7da8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd7f2d5cae5594dcaa427824f90a3097b38a9140def947527cc26423ed4fa765",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016yQWBYhHVpBEhVCvpCpJw7",
      "input": {
        "note": "The pen now runs right down the jaw column in the wrist view, its near end just at the bottom edge; nudging 1 cm to the arm's right to match where the pen extrapolates under the fingertips and pressing to table level.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.133,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_016yQWBYhHVpBEhVCvpCpJw7",
      "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]: [-0.009, 0.6613, 0.5728, -0.4965, -0.0223, 0.0799, 0.9979, 0.4992, 1.7477, 0.6918, 0.3, 0.366, 0.1993, 0.9975]\nstate[eef_state]: left_x=0.2669 left_y=0.0051 left_z=0.1762 left_yaw=-0.0361 left_pitch=-0.0159 left_roll=0.0779 left_gripper=0.9979 right_x=0.3889 right_y=0.1441 right_z=0.0271 right_yaw=0.0704 right_pitch=-0.14 right_roll=-0.1004 right_gripper=0.9975\nstate[joint_eff]: [-0.1709, -0.2256, 6.9812, 1.7021, -0.0855, -0.0464, -0.0122, -0.294, -7.2684, 6.9812, 1.7753, 0.3053, 0.1832, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81d66077b2bbc52172a186ff7afc837091e80c725cb9878af353487548a3e491",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38129e5dfe173e03035dbae1831aace5d2f8c5bda8bd90d684e583035b2a67d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bc71e900c7af0aebb4f31a52ae1dd973e2322845505864e0604cc97bab6d793a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /messages · status 200 · 16.75 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.009, 0.6556, 0.5739, -0.4973, -0.0223, 0.0795, 0.9979, 0.3687, 1.4799, 0.5987, 0.2024, 0.2905, 0.136, 0.9974]\nstate[eef_state]: left_x=0.2665 left_y=0.0051 left_z=0.178 left_yaw=-0.0359 left_pitch=-0.0098 left_roll=0.0777 left_gripper=0.9979 right_x=0.3757 right_y=0.0948 right_z=0.0739 right_yaw=0.0392 right_pitch=-0.0891 right_roll=-0.0752 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, -0.6085, 7.3368, 1.746, -0.0464, -0.0659, -0.0171, 0.4718, -6.8855, 8.4718, 1.9658, 0.2711, 0.2613, 0.0904]",
      "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]: [-0.0093, 0.6601, 0.5728, -0.4965, -0.0227, 0.0799, 0.9979, 0.4896, 1.7287, 0.6815, 0.2947, 0.3527, 0.1883, 0.9975]\nstate[eef_state]: left_x=0.2668 left_y=0.0051 left_z=0.1765 left_yaw=-0.0361 left_pitch=-0.0148 left_roll=0.0781 left_gripper=0.9979 right_x=0.3873 right_y=0.1413 right_z=0.0295 right_yaw=0.0779 right_pitch=-0.141 right_roll=-0.0991 right_gripper=0.9975\nstate[joint_eff]: [-0.3487, -0.5538, 7.0769, 1.6825, -0.0659, -0.022, -0.0122, 0.2803, -7.1726, 7.241, 1.7851, 0.3101, 0.2808, -0.0024]\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 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]: [-0.009, 0.6613, 0.5728, -0.4965, -0.0223, 0.0799, 0.9979, 0.4992, 1.7477, 0.6918, 0.3, 0.366, 0.1993, 0.9975]\nstate[eef_state]: left_x=0.2669 left_y=0.0051 left_z=0.1762 left_yaw=-0.0361 left_pitch=-0.0159 left_roll=0.0779 left_gripper=0.9979 right_x=0.3889 right_y=0.1441 right_z=0.0271 right_yaw=0.0704 right_pitch=-0.14 right_roll=-0.1004 right_gripper=0.9975\nstate[joint_eff]: [-0.1709, -0.2256, 6.9812, 1.7021, -0.0855, -0.0464, -0.0122, -0.294, -7.2684, 6.9812, 1.7753, 0.3053, 0.1832, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81d66077b2bbc52172a186ff7afc837091e80c725cb9878af353487548a3e491",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38129e5dfe173e03035dbae1831aace5d2f8c5bda8bd90d684e583035b2a67d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc71e900c7af0aebb4f31a52ae1dd973e2322845505864e0604cc97bab6d793a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISrAgKjgEIEhgCKkD1Q/9ggQhAkQ90wS+/JAUj9mjtpYHi0l6vjQyh43Yo6KmTJ+tc23aacU0s/g93PH/CA0PBol1JNG39q2O3JIMaMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAemyzNUGEgyeVVP0zNtcXIEqBsMaDMhgwiX3kt1nKGFTzSIwmjQiTn9HvD9RU9/4G4zNDngiwuTgeRZ4Pn4pvdOndGKRiKZ9o7BgV6RJadsnq6ElKsoGLhOy+H/MER+C8+UJOznR0EPEjDvMYGAVQxWDpnd5C6xAlDNMxu+8832YCMmdxT2uUgC6bsaDeOXYA57BuBrcMyvxI0wuF1jfZ/Cou/gwT2rlG6AOIFuoP7uS+bO0y5dgCYXM8XZSbsPduAATGByZPP4iP6vz8nI5FDAzoP3VeFnnxpcgBPRPcBXt2YFgKGYRPH7f/FByzEBrJiBPLGbex702t/x7QqNHt2PxFfqJaoHN7j4xu6gDyzODQcQREqd0IR37cPDaOupvaIgwRROwMe9SOcSPFdlqQyJEarpbwgpDRGqhoSw4ZlTIUJoTFU2UKO3FNbo8z/ZyRBuXXHz+5yGsafy2iSsr5dVXXq4HVTGaRp6+H00VRqLxgidFs+My2jnjo6uxn9srsssMIVKOkqF7DVQJTTuevmHu3k3KycgrgC4CZ3k9tJz6bl2V6RELNjofETrh8bVfKBHZzsryz2CfHgEF5crPo0jBgyWtE0whkloSXuKOHyeM6ERzrSMNgIKEP7CDIDeiPMfCy/7McX54loJHdoqugGgcRsgDWIdRPvcZOm08/IjK0EXeblRV+/Aloj4vp2yUy3GIt6swClVnLKm69MZ4dyWX2N5hiUVH//3QhqBoJ/t/o9w30eYz3OXRECy3MzWU01ngITuZ6dmNRmQLy3XgFw9ysZonEa5/RQmh6vdLiGeok9R2kaoOlNSuSIzxPvVDKh/GZo7ppIEXExdV0CtNlcCGsYzeFeWXsH90YbGRdBkoXKzcymbqR5XdFK0GD3PTLU+w7pdQsAWv6KyH+Vo84Zv3+sG0a3fBoMWn7KBrLIvg5aHL0INB1Jn3U6Ds4o8T3dMTu9KuHZUf4GxKIieNwzn2Q9f64765OkCuzB75S85/eOJ7XXiLE7TpckCeq4FbePIwXHwBtsrOJ805ddgYT1O/JMPl7RDQKoWTC/tYdwwjxwBMvy3W047gRbMGdGblJMGro9oL+ssSQqovw2SL2fKRDbY1jlN7+xEgWvr+V/5bEkeFzuyMYjDcvQZ2IClQ+eyjy7NSncliLiZH/iQv+8FEhwIlBLHVyXbfqwpQWlp7OeIoOO9qgrQU/lNNlGxeTgFhzuKEF9fvKNQAW/uTpHYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019s7Pjwh4uSGMPaS9kQdsvT",
      "input": {
        "note": "The wrist is saturated and drifted slightly left; making a final alignment move forward and ~2.5 cm to the arm's right so the jaws straddle the pen's near end.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.12,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_019s7Pjwh4uSGMPaS9kQdsvT",
      "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]: [-0.009, 0.6613, 0.5728, -0.4965, -0.0223, 0.0795, 0.9979, 0.4992, 1.7477, 0.6918, 0.3, 0.366, 0.1993, 0.9975]\nstate[eef_state]: left_x=0.2669 left_y=0.0051 left_z=0.1762 left_yaw=-0.0359 left_pitch=-0.0159 left_roll=0.0775 left_gripper=0.9979 right_x=0.3889 right_y=0.1441 right_z=0.0271 right_yaw=0.0704 right_pitch=-0.14 right_roll=-0.1004 right_gripper=0.9975\nstate[joint_eff]: [-0.1846, -0.3487, 7.0769, 1.6972, -0.0757, -0.0806, -0.0171, -0.4581, -7.4735, 6.9265, 1.8095, 0.3004, 0.188, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c23d63fca64be753ce71a6e8b09f51ba7c6760de5fece74bfacf87320b7e12c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de72a715a36c6939adb8fdcad6b68e294cd7b7db77af6d405fd7e95ab080c5d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2cbb842a3d65da906eae29d121de57a18db203af87ad4bf30565e59e74b51474",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /messages · status 200 · 9.251 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0093, 0.6601, 0.5728, -0.4965, -0.0227, 0.0799, 0.9979, 0.4896, 1.7287, 0.6815, 0.2947, 0.3527, 0.1883, 0.9975]\nstate[eef_state]: left_x=0.2668 left_y=0.0051 left_z=0.1765 left_yaw=-0.0361 left_pitch=-0.0148 left_roll=0.0781 left_gripper=0.9979 right_x=0.3873 right_y=0.1413 right_z=0.0295 right_yaw=0.0779 right_pitch=-0.141 right_roll=-0.0991 right_gripper=0.9975\nstate[joint_eff]: [-0.3487, -0.5538, 7.0769, 1.6825, -0.0659, -0.022, -0.0122, 0.2803, -7.1726, 7.241, 1.7851, 0.3101, 0.2808, -0.0024]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.009, 0.6613, 0.5728, -0.4965, -0.0223, 0.0799, 0.9979, 0.4992, 1.7477, 0.6918, 0.3, 0.366, 0.1993, 0.9975]\nstate[eef_state]: left_x=0.2669 left_y=0.0051 left_z=0.1762 left_yaw=-0.0361 left_pitch=-0.0159 left_roll=0.0779 left_gripper=0.9979 right_x=0.3889 right_y=0.1441 right_z=0.0271 right_yaw=0.0704 right_pitch=-0.14 right_roll=-0.1004 right_gripper=0.9975\nstate[joint_eff]: [-0.1709, -0.2256, 6.9812, 1.7021, -0.0855, -0.0464, -0.0122, -0.294, -7.2684, 6.9812, 1.7753, 0.3053, 0.1832, -0.0122]",
      "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]: [-0.009, 0.6613, 0.5728, -0.4965, -0.0223, 0.0795, 0.9979, 0.4992, 1.7477, 0.6918, 0.3, 0.366, 0.1993, 0.9975]\nstate[eef_state]: left_x=0.2669 left_y=0.0051 left_z=0.1762 left_yaw=-0.0359 left_pitch=-0.0159 left_roll=0.0775 left_gripper=0.9979 right_x=0.3889 right_y=0.1441 right_z=0.0271 right_yaw=0.0704 right_pitch=-0.14 right_roll=-0.1004 right_gripper=0.9975\nstate[joint_eff]: [-0.1846, -0.3487, 7.0769, 1.6972, -0.0757, -0.0806, -0.0171, -0.4581, -7.4735, 6.9265, 1.8095, 0.3004, 0.188, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c23d63fca64be753ce71a6e8b09f51ba7c6760de5fece74bfacf87320b7e12c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de72a715a36c6939adb8fdcad6b68e294cd7b7db77af6d405fd7e95ab080c5d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2cbb842a3d65da906eae29d121de57a18db203af87ad4bf30565e59e74b51474",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QQXkf98T3odPAm8kNUvSdt",
      "input": {
        "note": "The arm is frozen at its shoulder limit; commanding a forward-pitched wrist (which unlocked reach earlier) together with a 3 cm shift to the arm's right and a descent to table level, straddling the pen.",
        "targets": {
          "right_pitch": 0.3,
          "right_x": 0.43,
          "right_y": 0.112,
          "right_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01QQXkf98T3odPAm8kNUvSdt",
      "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]: [-0.009, 0.6651, 0.5709, -0.4965, -0.0223, 0.0795, 0.9979, 0.3908, 2.2074, 0.5423, 1.3708, 0.3382, 0.0193, 0.9976]\nstate[eef_state]: left_x=0.2669 left_y=0.0051 left_z=0.1744 left_yaw=-0.0359 left_pitch=-0.0216 left_roll=0.0774 left_gripper=0.9979 right_x=0.4281 right_y=0.1169 right_z=0.0063 right_yaw=0.0716 right_pitch=0.2793 right_roll=-0.079 right_gripper=0.9976\nstate[joint_eff]: [-0.253, -0.6496, 7.0906, 1.7558, -0.0806, -0.0415, -0.0171, -0.7453, -6.8718, 3.1111, 1.5018, 0.1001, -0.2076, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:458c89dea06dfa35bcc18ec8b0a05a5a76e04d5665f251e8d99d9bbc0c5c977a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65c33412860c7fa1b11143575322a1aac96dad9f73b9c7fa7bf72cbc5ace1892",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2aa38476553d56d4677bb498b8f696d619827ed86c70fb6b7e970efdb461d03d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /messages · status 200 · 8.005 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.009, 0.6613, 0.5728, -0.4965, -0.0223, 0.0799, 0.9979, 0.4992, 1.7477, 0.6918, 0.3, 0.366, 0.1993, 0.9975]\nstate[eef_state]: left_x=0.2669 left_y=0.0051 left_z=0.1762 left_yaw=-0.0361 left_pitch=-0.0159 left_roll=0.0779 left_gripper=0.9979 right_x=0.3889 right_y=0.1441 right_z=0.0271 right_yaw=0.0704 right_pitch=-0.14 right_roll=-0.1004 right_gripper=0.9975\nstate[joint_eff]: [-0.1709, -0.2256, 6.9812, 1.7021, -0.0855, -0.0464, -0.0122, -0.294, -7.2684, 6.9812, 1.7753, 0.3053, 0.1832, -0.0122]",
      "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]: [-0.009, 0.6613, 0.5728, -0.4965, -0.0223, 0.0795, 0.9979, 0.4992, 1.7477, 0.6918, 0.3, 0.366, 0.1993, 0.9975]\nstate[eef_state]: left_x=0.2669 left_y=0.0051 left_z=0.1762 left_yaw=-0.0359 left_pitch=-0.0159 left_roll=0.0775 left_gripper=0.9979 right_x=0.3889 right_y=0.1441 right_z=0.0271 right_yaw=0.0704 right_pitch=-0.14 right_roll=-0.1004 right_gripper=0.9975\nstate[joint_eff]: [-0.1846, -0.3487, 7.0769, 1.6972, -0.0757, -0.0806, -0.0171, -0.4581, -7.4735, 6.9265, 1.8095, 0.3004, 0.188, -0.0122]",
      "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]: [-0.009, 0.6651, 0.5709, -0.4965, -0.0223, 0.0795, 0.9979, 0.3908, 2.2074, 0.5423, 1.3708, 0.3382, 0.0193, 0.9976]\nstate[eef_state]: left_x=0.2669 left_y=0.0051 left_z=0.1744 left_yaw=-0.0359 left_pitch=-0.0216 left_roll=0.0774 left_gripper=0.9979 right_x=0.4281 right_y=0.1169 right_z=0.0063 right_yaw=0.0716 right_pitch=0.2793 right_roll=-0.079 right_gripper=0.9976\nstate[joint_eff]: [-0.253, -0.6496, 7.0906, 1.7558, -0.0806, -0.0415, -0.0171, -0.7453, -6.8718, 3.1111, 1.5018, 0.1001, -0.2076, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:458c89dea06dfa35bcc18ec8b0a05a5a76e04d5665f251e8d99d9bbc0c5c977a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65c33412860c7fa1b11143575322a1aac96dad9f73b9c7fa7bf72cbc5ace1892",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2aa38476553d56d4677bb498b8f696d619827ed86c70fb6b7e970efdb461d03d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISiQkKjgEIEhgCKkAtlQ54Ux7WYijzS52CSduKDBYdjJGDxddGy3984MBfZ2IlmOrUZlqYK67+pdz9M03PRqi9m1yB/jf2VuktdOhdMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYWzzNUGEgxhVxa2Y4Z/lGVRbmgaDFEPF6g2+Fksthae5iIwlKk4+U1GRgjhd35xVq+6QP4S1WMLb2nt0WnELGG3DpDXsRrookI/ZlQrSqv17KPbKqcHdgF8B0aduLIa3hjzUTe8FbdOaSIp51pr0kXazeTsnylBeaP6U9qLJy1H8QGSaDEXe+J3bdH+gJc2hGRZouyw9lALo0gkiZABgYMAYsUOW7Z0lJ/1riqQk6XKTeopTp6RX4X+Ljr8G4fDcYWr58bI7fXDAH5N3X9jkklz7FBEBML4jqtXJIO3xF4YogZgnr/tnnwrmz8rSLYZdjPPy7uSd5DL0O8pccFsfyUiGNiOAMxxaNbfyNCiJJW7ppG7K1D78/0I6rVRYSN3v/BChwn8Mtc+D4+b+wHzzfC2oLxQddUeo81ssZJXbkpnparUaCQfEDsrz5oCibu0tkpAKT3nObau/hIlsTfhhbEKWyD3BL2vzdhAWFwU8k3GdrDWhsrNw/ucdXD51ePgpX6uiCeX9aW2edPWVibX47zRiMOZRTVqHCANcxRhElYwr4I2I6aN1OZU7X1+U7nZ7TUw+gpLOOYryPAIJizd2Jy9piyCwW6RXHeG9f43juiwH1P5cakTno9HyusxlOOmHyftktQ+UcYZaiMvgXelciU71L5JZU0NofFBsrpeG9dpmn9aGsgvFZV4HTavkC8zHDoARTvb2no2hXsokfkDaltWZpdIiwGA54xMKlwJl1OJkVH0sBfE5u2qLfxnm4XXIDRUgDCOLBHxzeUoJAudEHMNrNUiX6sZHaZd1ApvyzB+bD7v7Oe75b17vaJN3fUpt2N3IKjZQ6+YN/auJdKO87UfdSSUduNg8r/9EZBt44Z2ESWJBZtgm76npqvKtdpCbY9r1vgzvghYUNBfDgBWTjrZJEkrWO2O3UkkLc1oOYrpjdFUwS6bgOPfP63obtxGNjgOf2LF4xp0HTr9pMmMjLZee8lyLxI221tmXR8tw0EvSCNlCbdDPuIWIpJXziBEX2fG1iR6FenA+ouXgnYDR5g/OcbNcWHYCf7DRJHO6YOpODEfZY+tce4jP7W505zPNsjH1YBRObsEHcygJXriVbA9qXbcKSK2TLWAnQRQINLonBFWtVs6fbhmQWI06Pe+myeBZGsBtTkwIev5Szkx9svOJLEpSb/ONZZmzkh/AH+gkEaTy7KX0gkepusm7dhIaxlX7vPMdAyTy8XvH5x23iOBK4YXIQKDU2QtG8EwFLtIRcGmxY5bSUSd/zhakKdtnD80GpHnRzq3a9p4cyPSsvuN/7sjxA+GU7k6s8+eR91k9PENcP1XXlL6ZbQaDJD1P8BD2M1DKmFXuB0diMUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01N33SfFLLJs3YcY4TSXM1aF",
      "input": {
        "note": "At y=0.117 the pen sits left of the jaw column and at y=0.144 it sat slightly right, so splitting the difference at y=0.138 to centre the jaws across the pen.",
        "targets": {
          "right_y": 0.138
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01N33SfFLLJs3YcY4TSXM1aF",
      "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]: [-0.009, 0.6651, 0.5709, -0.4969, -0.0223, 0.0795, 0.9979, 0.4217, 2.2192, 0.5579, 1.3819, 0.3649, 0.0151, 0.9976]\nstate[eef_state]: left_x=0.2669 left_y=0.0051 left_z=0.1743 left_yaw=-0.0359 left_pitch=-0.022 left_roll=0.0774 left_gripper=0.9979 right_x=0.4288 right_y=0.1272 right_z=0.0084 right_yaw=0.0799 right_pitch=0.2957 right_roll=-0.0856 right_gripper=0.9976\nstate[joint_eff]: [-0.1573, -0.294, 7.1179, 1.6972, -0.0855, -0.0806, -0.0122, 1.3744, -9.2923, 3.7265, 1.7118, 0.188, 0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46dd7b8b9e550e34d9a172e6422347e339e3d45cafafe582b32c9ec5122a2b96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd2f79d199d07c3bce151029a64ede8f9b504f692fdfac57e0f223c74b690fe9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4be52c23eca6dc02686b49fc280d72d80729596234a4515112cdd30f43b8143d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /messages · status 200 · 5.56 s

model: claude-opus-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]: [-0.009, 0.6613, 0.5728, -0.4965, -0.0223, 0.0795, 0.9979, 0.4992, 1.7477, 0.6918, 0.3, 0.366, 0.1993, 0.9975]\nstate[eef_state]: left_x=0.2669 left_y=0.0051 left_z=0.1762 left_yaw=-0.0359 left_pitch=-0.0159 left_roll=0.0775 left_gripper=0.9979 right_x=0.3889 right_y=0.1441 right_z=0.0271 right_yaw=0.0704 right_pitch=-0.14 right_roll=-0.1004 right_gripper=0.9975\nstate[joint_eff]: [-0.1846, -0.3487, 7.0769, 1.6972, -0.0757, -0.0806, -0.0171, -0.4581, -7.4735, 6.9265, 1.8095, 0.3004, 0.188, -0.0122]",
      "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]: [-0.009, 0.6651, 0.5709, -0.4965, -0.0223, 0.0795, 0.9979, 0.3908, 2.2074, 0.5423, 1.3708, 0.3382, 0.0193, 0.9976]\nstate[eef_state]: left_x=0.2669 left_y=0.0051 left_z=0.1744 left_yaw=-0.0359 left_pitch=-0.0216 left_roll=0.0774 left_gripper=0.9979 right_x=0.4281 right_y=0.1169 right_z=0.0063 right_yaw=0.0716 right_pitch=0.2793 right_roll=-0.079 right_gripper=0.9976\nstate[joint_eff]: [-0.253, -0.6496, 7.0906, 1.7558, -0.0806, -0.0415, -0.0171, -0.7453, -6.8718, 3.1111, 1.5018, 0.1001, -0.2076, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.009, 0.6651, 0.5709, -0.4969, -0.0223, 0.0795, 0.9979, 0.4217, 2.2192, 0.5579, 1.3819, 0.3649, 0.0151, 0.9976]\nstate[eef_state]: left_x=0.2669 left_y=0.0051 left_z=0.1743 left_yaw=-0.0359 left_pitch=-0.022 left_roll=0.0774 left_gripper=0.9979 right_x=0.4288 right_y=0.1272 right_z=0.0084 right_yaw=0.0799 right_pitch=0.2957 right_roll=-0.0856 right_gripper=0.9976\nstate[joint_eff]: [-0.1573, -0.294, 7.1179, 1.6972, -0.0855, -0.0806, -0.0122, 1.3744, -9.2923, 3.7265, 1.7118, 0.188, 0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46dd7b8b9e550e34d9a172e6422347e339e3d45cafafe582b32c9ec5122a2b96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd2f79d199d07c3bce151029a64ede8f9b504f692fdfac57e0f223c74b690fe9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4be52c23eca6dc02686b49fc280d72d80729596234a4515112cdd30f43b8143d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS7wcKjgEIEhgCKkBzGcYzZ9JFvziM7mlWDjAkutErJfFxROZcpfb5pBTXUx6NxvsAwtM5hp/IDrdescGlZ7myNb8YmoyykFAYnQh3Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAY2zzNUGEgx4zkffz3jAbIXwCowaDOSd2n98Eofio43E9SIwclkYS2uXjV6Yn25NUFHvBuP7I/gSSZ/tgVE2YbpwWjdd9OiDhdPB3gBqe+L92oMqKo0GH8IMijOwkwwNeWgkQqxDPTtZueliRzRZAoMyjXR2mIoIr+wl6ktqRp3+B1WY+JXjXQ4s59CsY+Y1L72POo7qWwrBS5uiYGvyTXEx9m6Z9jQqd4gTaKkmeZD0kEOyLkOLXmSRDClPd1/R1pfY9BiWzjwdyifEnNMTj7ZFa/6w/aVxvNF+ruy0X1EhPG334b3yJv0nt6+T263yMCTLqWtNYJXZ2R3R5M/I88Bcx4Zl/ZePK/C4WVrme0bu+Yx617DJze+KTgqd8qfN51H1Oa901pQ0nP8RknT8ncO8pwAcooN41523yvw6ieQFERlWB43fFu/EV0M360PzqnPq/LwUHxcwOtVMbJHYkRcQmduQxNxw6ZnJDnbHbOLr3ltlam8eHVAtlXTiiKm8fCNlbsaChIdDjg3zCKbuWhsmMAzlFqRUBw64r8vDFmfi2B+C6qa+w1EHWPWV8dcLeuWR20PUSNOnbbm4ATCuDXnIarbCWtymxgX51wQKTqv3kAFuPDZZsLrzKtSzRCIo3N9k/tp3eqKJDEv7Evo6tEhvYET9Z7fv3tZvWRTLMzR0CVnJ958pFPODb9zchZh+laYg71CU4GOXI5GaMeYVIuzKqnPFbtQYjV2Ve+MqZ4MbUlGHi12ID+a46p2eEsIkmdxgc6GfijqQSfqVugZ+3MY7/QODwGntPd3+64PCXP098YnQtOrxokLQMnSBEfcTjdgQaE38dw4yjxTMyU1W7xQZqcLhQAAFtg6Yco8b1PqavKBKMSMxPCxfz3R7t1s4su5DkH0UOra3LWRBPgf7A2/CE2asdNUn03JE9Y9/BAZL3pbY4jOFcnQXWVFDGoYwWWc+Dtm/9QQd8UQOEKwmE1rDXNJjWGBcdIfPLtHDA0iUpsfLF0rGeubSpgt22rY1blSt1Wef6wm935F2MzzGF2K7S7MqAuSoR8Kn/cS1MopQr39xMDt9t96m+AqGwyPb3Am0gjOPi+5UWsPnrZBw6KIqFSAp+ywivAh45WtgzEqu/VimCxYfpdnVp0NkgyCsxrebNxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TQx32XTAPD1PnQqwbMcDsq",
      "input": {
        "note": "The pen is still ~2.5 cm left of the jaw centre in the wrist view; shifting the jaws that much to the arm's left to straddle it.",
        "targets": {
          "right_y": 0.155
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01TQx32XTAPD1PnQqwbMcDsq",
      "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]: [-0.009, 0.6697, 0.5701, -0.4965, -0.0223, 0.0795, 0.9979, 0.4576, 2.2189, 0.5755, 1.3548, 0.3851, 0.0326, 0.9976]\nstate[eef_state]: left_x=0.2671 left_y=0.0051 left_z=0.1729 left_yaw=-0.0359 left_pitch=-0.027 left_roll=0.0772 left_gripper=0.9979 right_x=0.4277 right_y=0.1406 right_z=0.0075 right_yaw=0.0892 right_pitch=0.2896 right_roll=-0.0768 right_gripper=0.9976\nstate[joint_eff]: [-0.1573, -0.4034, 7.0085, 1.6825, -0.0757, -0.0855, -0.0122, -0.8547, -8.4444, 2.6188, 1.917, 0.1001, -0.1441, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2beef010856855bf21b5f3947bf9d09fd336612bc79a9e11e8070b555b1a8ac7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a90d7aee84c23850c938b0643066f879ea58d15aef44d2aa8f74d446bae5ee4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:19afa4fd45fb1445b3d88cdd2b23a48fc987ae2d6318548c17599ea7ddde3ab0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 36 attempt 0 · /messages · status 200 · 7.177 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

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]: [-0.009, 0.6651, 0.5709, -0.4965, -0.0223, 0.0795, 0.9979, 0.3908, 2.2074, 0.5423, 1.3708, 0.3382, 0.0193, 0.9976]\nstate[eef_state]: left_x=0.2669 left_y=0.0051 left_z=0.1744 left_yaw=-0.0359 left_pitch=-0.0216 left_roll=0.0774 left_gripper=0.9979 right_x=0.4281 right_y=0.1169 right_z=0.0063 right_yaw=0.0716 right_pitch=0.2793 right_roll=-0.079 right_gripper=0.9976\nstate[joint_eff]: [-0.253, -0.6496, 7.0906, 1.7558, -0.0806, -0.0415, -0.0171, -0.7453, -6.8718, 3.1111, 1.5018, 0.1001, -0.2076, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "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]: [-0.009, 0.6651, 0.5709, -0.4969, -0.0223, 0.0795, 0.9979, 0.4217, 2.2192, 0.5579, 1.3819, 0.3649, 0.0151, 0.9976]\nstate[eef_state]: left_x=0.2669 left_y=0.0051 left_z=0.1743 left_yaw=-0.0359 left_pitch=-0.022 left_roll=0.0774 left_gripper=0.9979 right_x=0.4288 right_y=0.1272 right_z=0.0084 right_yaw=0.0799 right_pitch=0.2957 right_roll=-0.0856 right_gripper=0.9976\nstate[joint_eff]: [-0.1573, -0.294, 7.1179, 1.6972, -0.0855, -0.0806, -0.0122, 1.3744, -9.2923, 3.7265, 1.7118, 0.188, 0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.009, 0.6697, 0.5701, -0.4965, -0.0223, 0.0795, 0.9979, 0.4576, 2.2189, 0.5755, 1.3548, 0.3851, 0.0326, 0.9976]\nstate[eef_state]: left_x=0.2671 left_y=0.0051 left_z=0.1729 left_yaw=-0.0359 left_pitch=-0.027 left_roll=0.0772 left_gripper=0.9979 right_x=0.4277 right_y=0.1406 right_z=0.0075 right_yaw=0.0892 right_pitch=0.2896 right_roll=-0.0768 right_gripper=0.9976\nstate[joint_eff]: [-0.1573, -0.4034, 7.0085, 1.6825, -0.0757, -0.0855, -0.0122, -0.8547, -8.4444, 2.6188, 1.917, 0.1001, -0.1441, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2beef010856855bf21b5f3947bf9d09fd336612bc79a9e11e8070b555b1a8ac7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a90d7aee84c23850c938b0643066f879ea58d15aef44d2aa8f74d446bae5ee4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19afa4fd45fb1445b3d88cdd2b23a48fc987ae2d6318548c17599ea7ddde3ab0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIStQMKjgEIEhgCKkAChTYV7ngw0rpPWwVndKj56UB1Anlp+QBvndWGCDdGfL0mViQweFFnWsU6P4Q6S/FBS8bHfrbN4TNEPVGl3CR3Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZOzzNUGEgzT0Npj6vvxlAuNXcoaDFbQUthj0M2ZcGeMuSIwsC7ct0Ffx4nYy9N+7ELN0LeqFKz/nKxuRAQ4+bOH62qKZ0Fx2+d+IiB/OUjKkhgrKtMBwQud3IFJPfNBEP/gyQ1Fj8btxNQMCXoBBlbPi8l2HAEvsO5MAMN4/CZTI8q62MdQU0VEGsInMHL1jPKBuDBIzaCcKtKh/359RMs+mGtdhq2U6hJNd0deVHvsXV6SdE1j3wig+aOI1HHIFcLUX5BRYsR7ee2wHtF6uVOYhVmSpKqixTZtlEVCZ8RmqqcNJcd9FCuQ96sjwpj+dL0GzpjnKi0dwub8Fo2OrJ4E/enn9I7UFMAFZoZqPfdVuxKZUMFmkPKYiNQ51NwWc6Q3qQE3nLpCcBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TJ8m2HH71qUDuJ5qnaAkMe",
      "input": {
        "note": "The pen now passes straight between the two jaws at the bottom of the right wrist view; closing to grasp it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01TJ8m2HH71qUDuJ5qnaAkMe",
      "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]: [-0.009, 0.6697, 0.5701, -0.4965, -0.0223, 0.0795, 0.9979, 0.458, 2.2169, 0.5751, 1.3701, 0.3847, 0.0212, 0.0091]\nstate[eef_state]: left_x=0.2671 left_y=0.0051 left_z=0.1729 left_yaw=-0.0359 left_pitch=-0.027 left_roll=0.0772 left_gripper=0.9979 right_x=0.4286 right_y=0.1413 right_z=0.0116 right_yaw=0.0944 right_pitch=0.3049 right_roll=-0.082 right_gripper=0.0091\nstate[joint_eff]: [-0.335, 0.0205, 7.0359, 1.7265, -0.0806, -0.0757, -0.0171, -0.2667, -8.5949, 3.1111, 1.6288, 0.0415, 0.0415, 0.5836]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19c44a44e69b886b053de04005871dd76686327bb18bb70b0724be8a8ea25922",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d55708b852df935277d038720499d329197629a76a952d4f2eef85c0791ce77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0c5706e9b84a1ba5583bc8b2bd0b0b18fda707923ea421dddffb14f81fcb2e30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 37 attempt 0 · /messages · status 200 · 7.843 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

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]: [-0.009, 0.6651, 0.5709, -0.4969, -0.0223, 0.0795, 0.9979, 0.4217, 2.2192, 0.5579, 1.3819, 0.3649, 0.0151, 0.9976]\nstate[eef_state]: left_x=0.2669 left_y=0.0051 left_z=0.1743 left_yaw=-0.0359 left_pitch=-0.022 left_roll=0.0774 left_gripper=0.9979 right_x=0.4288 right_y=0.1272 right_z=0.0084 right_yaw=0.0799 right_pitch=0.2957 right_roll=-0.0856 right_gripper=0.9976\nstate[joint_eff]: [-0.1573, -0.294, 7.1179, 1.6972, -0.0855, -0.0806, -0.0122, 1.3744, -9.2923, 3.7265, 1.7118, 0.188, 0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.009, 0.6697, 0.5701, -0.4965, -0.0223, 0.0795, 0.9979, 0.4576, 2.2189, 0.5755, 1.3548, 0.3851, 0.0326, 0.9976]\nstate[eef_state]: left_x=0.2671 left_y=0.0051 left_z=0.1729 left_yaw=-0.0359 left_pitch=-0.027 left_roll=0.0772 left_gripper=0.9979 right_x=0.4277 right_y=0.1406 right_z=0.0075 right_yaw=0.0892 right_pitch=0.2896 right_roll=-0.0768 right_gripper=0.9976\nstate[joint_eff]: [-0.1573, -0.4034, 7.0085, 1.6825, -0.0757, -0.0855, -0.0122, -0.8547, -8.4444, 2.6188, 1.917, 0.1001, -0.1441, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.009, 0.6697, 0.5701, -0.4965, -0.0223, 0.0795, 0.9979, 0.458, 2.2169, 0.5751, 1.3701, 0.3847, 0.0212, 0.0091]\nstate[eef_state]: left_x=0.2671 left_y=0.0051 left_z=0.1729 left_yaw=-0.0359 left_pitch=-0.027 left_roll=0.0772 left_gripper=0.9979 right_x=0.4286 right_y=0.1413 right_z=0.0116 right_yaw=0.0944 right_pitch=0.3049 right_roll=-0.082 right_gripper=0.0091\nstate[joint_eff]: [-0.335, 0.0205, 7.0359, 1.7265, -0.0806, -0.0757, -0.0171, -0.2667, -8.5949, 3.1111, 1.6288, 0.0415, 0.0415, 0.5836]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19c44a44e69b886b053de04005871dd76686327bb18bb70b0724be8a8ea25922",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d55708b852df935277d038720499d329197629a76a952d4f2eef85c0791ce77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c5706e9b84a1ba5583bc8b2bd0b0b18fda707923ea421dddffb14f81fcb2e30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISnwUKjgEIEhgCKkBn2ONnzD2RhZi27Iqk7dv6CcofPN+FIgc2VjSHG3nmcpu2gigaUUFD3FlU0FJUIA0dQb/6AqkA0mdexCieGwE/Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZuzzNUGEgwVGxwQfEVZbjugEuIaDK9YlDCbrKAi1p6H+yIw3c5jbrpw+UgcjtUs8nUgKp0IM6xVpN1sF5jpHAd+X1Vh8C1W8bGxZu/hFYfsdNZOKr0DXlhrLmOIdtpW/Z0865ZX6BU4xkGiW/dtkCjSgu/zr1vxV0DUK4N3JlVcu1k6mK7sS9kaH4jyd3xMDp02bFir2Hw5oQYoUbd5koLtU+zpw96CUKB/ZGEFwgcuGzUlWFgkSLcx5StrrBv+JfgjtaqWvq62NY54jWqSMavr/aJY2dmuiz1q8xwFocqGkFBWDD0onckPffR4Fw9wCPxdDJdWa8AMkpR3jtsRHUcUnDaGjYrV8fIvrzDWj3mYsXT9kLDA7CTv8yKgilSXfVN00AMBUJgvUYQWUsc3pQN7FWfGAL8uim0A/uf9sehwmsjytgn+gXfN7HF30YZkZPlRY9o5TrbQJIga3iYIGjEj1eM1ew3smffgoX7yOWILtS22+3aD5AEGpnVj6HxmlvKNpaF9LsA10vtfJq2OXJOp8PnmkxvlFN5i2olG9n/mpvQ1N97/I92Bn+cxE2+3Ca5AaB101OxzNk8VXIHRGK06mBKCglGhckseJvPuDArH/tkx4Lbp0BcTizfeHKcW+nLoKbu22EtuJH/JPZtCu97qF1weJ0hWtDNd7X8oxFekHA3gNf2DqDOFXKXO+Nbc4Ln7zhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XEfrSA3qVgwm56oVEY97ZT",
      "input": {
        "note": "Empty again — the pen lies just beyond the fingertips. Reopening and pitching the wrist further forward to squeeze out another ~3 cm of reach so the jaws land on the pen.",
        "targets": {
          "right_gripper": 1,
          "right_pitch": 0.5,
          "right_x": 0.465,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01XEfrSA3qVgwm56oVEY97ZT",
      "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]: [-0.0093, 0.6739, 0.5701, -0.4965, -0.0227, 0.0795, 0.9979, 0.4248, 2.4016, 0.7601, 1.5608, 0.3546, -0.0433, 0.9949]\nstate[eef_state]: left_x=0.2674 left_y=0.0051 left_z=0.1719 left_yaw=-0.0359 left_pitch=-0.0312 left_roll=0.0773 left_gripper=0.9979 right_x=0.4728 right_y=0.1505 right_z=0.0227 right_yaw=0.0992 right_pitch=0.481 right_roll=-0.0756 right_gripper=0.9949\nstate[joint_eff]: [-0.2256, -0.6496, 7.2274, 1.7118, -0.0855, -0.0562, -0.0122, -1.0598, -8.7043, 3.4803, 1.9707, -0.022, -0.0659, -0.1441]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:268ae1b2d06680443ca67db1249e77f42808da30d796754f14d412b7229e7ce5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7bd727d6ecf95de489d28eeaef62b47b93786f3791b7cb06370dc98c5a514bc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8fc04a48ef8e160b15c72bf51443c5b49b03ca22432043aef1f5a611465d60da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 38 attempt 0 · /messages · status 200 · 5.922 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 106 changed as sent

message 109 changed as sent

message 112 changed as sent

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.009, 0.6697, 0.5701, -0.4965, -0.0223, 0.0795, 0.9979, 0.4576, 2.2189, 0.5755, 1.3548, 0.3851, 0.0326, 0.9976]\nstate[eef_state]: left_x=0.2671 left_y=0.0051 left_z=0.1729 left_yaw=-0.0359 left_pitch=-0.027 left_roll=0.0772 left_gripper=0.9979 right_x=0.4277 right_y=0.1406 right_z=0.0075 right_yaw=0.0892 right_pitch=0.2896 right_roll=-0.0768 right_gripper=0.9976\nstate[joint_eff]: [-0.1573, -0.4034, 7.0085, 1.6825, -0.0757, -0.0855, -0.0122, -0.8547, -8.4444, 2.6188, 1.917, 0.1001, -0.1441, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.009, 0.6697, 0.5701, -0.4965, -0.0223, 0.0795, 0.9979, 0.458, 2.2169, 0.5751, 1.3701, 0.3847, 0.0212, 0.0091]\nstate[eef_state]: left_x=0.2671 left_y=0.0051 left_z=0.1729 left_yaw=-0.0359 left_pitch=-0.027 left_roll=0.0772 left_gripper=0.9979 right_x=0.4286 right_y=0.1413 right_z=0.0116 right_yaw=0.0944 right_pitch=0.3049 right_roll=-0.082 right_gripper=0.0091\nstate[joint_eff]: [-0.335, 0.0205, 7.0359, 1.7265, -0.0806, -0.0757, -0.0171, -0.2667, -8.5949, 3.1111, 1.6288, 0.0415, 0.0415, 0.5836]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 112 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0093, 0.6739, 0.5701, -0.4965, -0.0227, 0.0795, 0.9979, 0.4248, 2.4016, 0.7601, 1.5608, 0.3546, -0.0433, 0.9949]\nstate[eef_state]: left_x=0.2674 left_y=0.0051 left_z=0.1719 left_yaw=-0.0359 left_pitch=-0.0312 left_roll=0.0773 left_gripper=0.9979 right_x=0.4728 right_y=0.1505 right_z=0.0227 right_yaw=0.0992 right_pitch=0.481 right_roll=-0.0756 right_gripper=0.9949\nstate[joint_eff]: [-0.2256, -0.6496, 7.2274, 1.7118, -0.0855, -0.0562, -0.0122, -1.0598, -8.7043, 3.4803, 1.9707, -0.022, -0.0659, -0.1441]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:268ae1b2d06680443ca67db1249e77f42808da30d796754f14d412b7229e7ce5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7bd727d6ecf95de489d28eeaef62b47b93786f3791b7cb06370dc98c5a514bc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fc04a48ef8e160b15c72bf51443c5b49b03ca22432043aef1f5a611465d60da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISmgUKjgEIEhgCKkAbR06qNfX0XFzfu0FHbAnfwlRilfrT+MemVd4IahAuIC+bRPTbe6k8GoLh+SdkXrzFIxSl+9Y9UE4jIKEz9vjIMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaOzzNUGEgytPMQOSaUssCEk97IaDO2nyV4XWNZRqPjCXiIw0YiGkMnTzKy6LNb4rL99q/xz2GFNvI5jYeILdUZ0jJgOq56A1kUnYCHOUVXU+cTGKrgDCcXoFNhZszKkTRwZaSzT+Xf4ycpJM3Om6h2OqDRjHmUAej8fRZaLQ6hODTvZ45Pu8bEydThoftEoCWQPwzKWgeJ5FYW7+iJTFzFzIBzhdYxwPo79qoV2Tsye8K5wMrDhTM/5Irl7AkqsMz4uxcnKCvE0EA41w2FWMdPB+L8w7NSn0vJYADvDQF6AKGTH60avOtMORLLKBuO4djc176u202vLaAQsGKG7JLYF+Zo/DjO0yHZ71Ofrvv0TEmKMRQtpbvoCejwqPYyx4FXY6gp8xgWaZPmUKrQdlBn4oKlVtnQC0xxCHo1xnFmfymQmHLAVh4027lAOsJQQy5GF2zlsrfqjWS5rvadham+sqJCHtn1XBCJCgnssPE8O103dabP+RjNRFOWp2xvNl6YBL1wRDH22JhgAE6tTXHtSURyxdVV0k2Ct1cNivl1jDwtMQwzenaZTWWIRy2FKz4F5gx9W2jmAcbojfm+OZgpT7XKjgLRTvqYl9gV8GaBTTJpstPtc3Ya0o1M2+Wi5xwqvFkeDrR7ijcXvEikFBxNzHS2bIU4ufU8wSM8ysfhM2zTfg2jX8mEBX2k14hoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PNzDbJx4Kqr9bSdZupTs5h",
      "input": {
        "note": "With the extra reach the pen now lies right at the jaw opening in the wrist view; closing for a final grasp attempt.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01PNzDbJx4Kqr9bSdZupTs5h",
      "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]: [-0.009, 0.6743, 0.5701, -0.4965, -0.0223, 0.0795, 0.9979, 0.4213, 2.4069, 0.7628, 1.5642, 0.355, -0.0414, 0.0188]\nstate[eef_state]: left_x=0.2674 left_y=0.0051 left_z=0.1718 left_yaw=-0.0359 left_pitch=-0.0315 left_roll=0.0771 left_gripper=0.9979 right_x=0.4736 right_y=0.1489 right_z=0.0217 right_yaw=0.0941 right_pitch=0.4818 right_roll=-0.0732 right_gripper=0.0188\nstate[joint_eff]: [-0.1299, -0.3761, 6.9812, 1.7118, -0.0904, -0.0806, -0.0171, 0.1846, -10.5915, 2.3863, 1.8632, 0.0073, -0.0415, 0.7839]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a5552d7aaa3a97f0a5f372b2223b7acca01cd8cb55856d37864199a72125b37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7103b14c46210c5c7b6f7c091d3fe7c319a3314042042a34fd135942011698d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1c8a3fcd1af6bb8cdde7a36aaa5ccaa62d533a38bf216e367d525635f2023dbf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 39 attempt 0 · /messages · status 200 · 19.69 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 109 changed as sent

message 112 changed as sent

message 115 changed as sent

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.009, 0.6697, 0.5701, -0.4965, -0.0223, 0.0795, 0.9979, 0.458, 2.2169, 0.5751, 1.3701, 0.3847, 0.0212, 0.0091]\nstate[eef_state]: left_x=0.2671 left_y=0.0051 left_z=0.1729 left_yaw=-0.0359 left_pitch=-0.027 left_roll=0.0772 left_gripper=0.9979 right_x=0.4286 right_y=0.1413 right_z=0.0116 right_yaw=0.0944 right_pitch=0.3049 right_roll=-0.082 right_gripper=0.0091\nstate[joint_eff]: [-0.335, 0.0205, 7.0359, 1.7265, -0.0806, -0.0757, -0.0171, -0.2667, -8.5949, 3.1111, 1.6288, 0.0415, 0.0415, 0.5836]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 112 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0093, 0.6739, 0.5701, -0.4965, -0.0227, 0.0795, 0.9979, 0.4248, 2.4016, 0.7601, 1.5608, 0.3546, -0.0433, 0.9949]\nstate[eef_state]: left_x=0.2674 left_y=0.0051 left_z=0.1719 left_yaw=-0.0359 left_pitch=-0.0312 left_roll=0.0773 left_gripper=0.9979 right_x=0.4728 right_y=0.1505 right_z=0.0227 right_yaw=0.0992 right_pitch=0.481 right_roll=-0.0756 right_gripper=0.9949\nstate[joint_eff]: [-0.2256, -0.6496, 7.2274, 1.7118, -0.0855, -0.0562, -0.0122, -1.0598, -8.7043, 3.4803, 1.9707, -0.022, -0.0659, -0.1441]\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 115 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.009, 0.6743, 0.5701, -0.4965, -0.0223, 0.0795, 0.9979, 0.4213, 2.4069, 0.7628, 1.5642, 0.355, -0.0414, 0.0188]\nstate[eef_state]: left_x=0.2674 left_y=0.0051 left_z=0.1718 left_yaw=-0.0359 left_pitch=-0.0315 left_roll=0.0771 left_gripper=0.9979 right_x=0.4736 right_y=0.1489 right_z=0.0217 right_yaw=0.0941 right_pitch=0.4818 right_roll=-0.0732 right_gripper=0.0188\nstate[joint_eff]: [-0.1299, -0.3761, 6.9812, 1.7118, -0.0904, -0.0806, -0.0171, 0.1846, -10.5915, 2.3863, 1.8632, 0.0073, -0.0415, 0.7839]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a5552d7aaa3a97f0a5f372b2223b7acca01cd8cb55856d37864199a72125b37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7103b14c46210c5c7b6f7c091d3fe7c319a3314042042a34fd135942011698d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c8a3fcd1af6bb8cdde7a36aaa5ccaa62d533a38bf216e367d525635f2023dbf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISyQUKjgEIEhgCKkDvM/JiFkcEcY4jf16k7mCqkNDL2u9BxYJN10+YbddjREuQOay+L+SBRgRCF6lt6kYngtbIexMDoM3qkXie+Y5ZMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAauzzNUGEgzGEc65w7e8Zylx7YIaDECm5AAX0fA1GcfH1yIw7MyAILA4+NRgLB/fUcFQjYlP3jtXpfpWt+Mlo4eCsTowQG/xXOQpdJsbqP6hj2eyKucDJoW3o/DO4UTX/RwTHKvv1VHLXWiXaY+YsbyWb7InzxbrSeVmkINQMZKYb7V20CYWCK6HeE4o4EDNppk3dnzRyqN70I1ZGUh6JI9Q1B33rpFuHj5UfZMBiBh1aDiYb5YaQcwhMv2QJEVzjqnY9zSdQxG2EsyGNIwqIvnPLSqARzRhLdHQ20BDG+p40/ld9J7ZxB8bQc/nyX6/QJDKJ6w8SKOC6tW2OjK/yEHhPJT/o5F3WtxaJQR1LpYNq12thVfAodg/YAC/JLlNXEzkATZCB7nGM6uFqH8W3OnXZDNX8I1be+9GsIZB3eCptAIve+zjmQmqCod7gh4QoyrW8NnmzedrYVfHcDbdV638LvV/thdWErAJZHXyTKcZE2s8O0zauvs5IfKk83LRE7GBwFL2PD0Efx4MI2AJ4af2apbGRzsCTMgNkGBhlnRQR6TgHgOHqailFIWPTwSvPYPazJ5Q9LUB9GRRZcaOzDC146gVowVZ1hBxzW4CJSssBqHyMxlDewGeOT+kQmgqVH43VY/RrQnVFNEI8bffmg79B4La+OJe9omokFYQYyBuwpTs0IVfZ2ALcALqkQ3NKhP4LNHEtliqZqBW2QRdTW09rhFW3uVhkvT800TC9FplikXL98ELUlXqZgGW6hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DCV327JMbXP3wEtWDQXh9n",
      "input": {
        "note": "The pen has vanished from the wrist view after the close, which can mean it is held; lifting 10 cm to verify in the overhead camera.",
        "targets": {
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01DCV327JMbXP3wEtWDQXh9n",
      "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]: [-0.009, 0.6762, 0.5701, -0.4965, -0.0223, 0.0795, 0.9979, 0.4213, 2.0312, 0.7143, 1.2427, 0.3542, -0.0422, 0.0212]\nstate[eef_state]: left_x=0.2675 left_y=0.0051 left_z=0.1713 left_yaw=-0.0359 left_pitch=-0.0335 left_roll=0.0771 left_gripper=0.9979 right_x=0.4729 right_y=0.1487 right_z=0.1092 right_yaw=0.0943 right_pitch=0.4872 right_roll=-0.072 right_gripper=0.0212\nstate[joint_eff]: [-0.294, -0.1983, 7.2547, 1.6923, -0.0708, -0.0659, -0.0122, -0.1983, -10.6325, 4.9436, 1.8584, -0.0171, -0.0024, 0.4615]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6f36574d0caa7bb3abf7f74761a92ae35eb62e026a97e69a3169fe809773358",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea6d04c666f1b4fece8816b129117f4e5264a2d5b2e96c18eea0ab4d8fbe9d2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:42ab2095dcff253b006f3efd5b19002ab63b7e1e160107d2ee139a505e95973e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]