adhoc - adhoc_9cedc351.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: 503.4 s
total steps: 354

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 near the middle of the table: one left-of-centre (nearer the left arm) and one right-of-centre (nearer the right arm). I'm flying each arm to hover ~15 cm above its nearest object to identify which is the pen and which is the cap.

move_to

left_x0.3600left_y-0.2100left_z0.1500left_gripper1.0000right_x0.3600right_y0.2700right_z0.1500right_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, 0.6018, -0.3794, -0.0219, -0.0246, 0.9998, -0.0189, 0.7914, 0.6098, -0.3756, -0.0227, -0.0147, 0.9991] state[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1793 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2959 right_y=0.002 right_z=0.1843 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.5538, -1.5521, 10.5504, 1.7656, -0.0415, 0.0659, -0.0366, -0.6632, -1.3197, 9.8256, 1.7216, -0.0562, -0.0513, -0.105] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.36, "left_y": -0.21, "left_z": 0.15, "left_gripper": 1, "right_x": 0.36, "right_y": 0.27, "right_z": 0.15, "right_gripper": 1}, "note": "Top view shows two small dark objects near the middle of the table: one left-of-centre (nearer the left arm) and one right-of-centre (nearer the right arm). I'm flying each arm to hover ~15 cm above its nearest object to identify which is the pen and which is the cap."})

tool

executing move_to over 23 steps (2.3s)

step 23

assistant

agent noteRight wrist camera clearly shows the pen lying diagonally below the jaws; left wrist camera shows a small short object (the cap). Advancing each arm ~2.5 cm radially and dropping to 5 cm, and yawing the right gripper ~28° so its jaws will close perpendicular to the pen's axis.

move_to

left_x0.3920left_y-0.1730left_z0.0500right_x0.3780right_y0.2320right_z0.0500right_yaw0.4900

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7509, 1.4948, 0.9085, -0.1837, -0.6243, -0.5152, 0.9998, 0.8627, 1.6665, 1.055, -0.2356, 0.6827, 0.543, 0.9991] state[eef_state]: left_x=0.3584 left_y=-0.1884 left_z=0.1412 left_yaw=0.0246 left_pitch=-0.0296 left_roll=0.0089 left_gripper=0.9998 right_x=0.3535 right_y=0.247 right_z=0.1282 right_yaw=0.008 right_pitch=-0.0642 right_roll=-0.0628 right_gripper=0.9991 state[joint_eff]: [-3.6581, -3.6171, 9.2923, 1.4579, -0.4274, 0.1832, -0.0366, 2.359, -6.8444, 11.6034, 1.6532, 0.6178, 0.2076, -0.105] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.392, "left_y": -0.173, "left_z": 0.05, "right_x": 0.378, "right_y": 0.232, "right_z": 0.05, "right_yaw": 0.49}, "note": "Right wrist camera clearly shows the pen lying diagonally below the jaws; left wrist camera shows a small short object (the cap). Advancing each arm ~2.5 cm radially and dropping to 5 cm, and yawing the right gripper ~28\u00b0 so its jaws will close perpendicular to the pen's axis."})

tool

executing move_to over 6 steps (0.6s)

step 29

assistant

agent noteThe right gripper's +yaw made the pen look more vertical in its wrist view, so I'm reversing to yaw -1.0 rad to line the pen up across the jaws. Meanwhile the left arm creeps 2.5 cm further out and down to table level over the cap.

move_to

left_x0.4050left_z0.0050right_yaw-1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6464, 1.7401, 0.7601, 0.1722, -0.561, -0.453, 0.9997, 0.6056, 1.7191, 0.7296, 0.2745, 0.2253, 0.1001, 0.9991] state[eef_state]: left_x=0.3802 left_y=-0.1646 left_z=0.0436 left_yaw=0.0504 left_pitch=-0.089 left_roll=0.0513 left_gripper=0.9997 right_x=0.3712 right_y=0.2134 right_z=0.0426 right_yaw=0.3515 right_pitch=-0.1375 right_roll=-0.0716 right_gripper=0.9991 state[joint_eff]: [0.4308, -7.3231, 5.2034, 1.7265, -0.1636, 0.2125, -0.0171, -0.6222, -6.6667, 5.3402, 1.7802, 0.0659, -0.0415, -0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.405, "left_z": 0.005, "right_yaw": -1.0}, "note": "The right gripper's +yaw made the pen look more vertical in its wrist view, so I'm reversing to yaw -1.0 rad to line the pen up across the jaws. Meanwhile the left arm creeps 2.5 cm further out and down to table level over the cap."})

tool

executing move_to over 9 steps (0.9s)

step 38

assistant

agent noteLeft wrist view shows the cap just below and right of the jaw column, lying diagonally; I'm shifting the left gripper 2.5 cm to its right, 1 cm further out, down to table level, and yawing +0.4 rad so the jaws straddle the cap's width.

move_to

left_x0.4100left_y-0.1680left_z0.0000left_yaw0.4000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5621, 1.9007, 0.7532, 0.3378, -0.5434, -0.4473, 0.9993, 0.7872, 2.36, 1.8946, -0.981, 0.804, 1.5311, 0.999] state[eef_state]: left_x=0.4005 left_y=-0.1401 left_z=0.003 left_yaw=0.1187 left_pitch=-0.0988 left_roll=0.0472 left_gripper=0.9993 right_x=0.4243 right_y=0.2506 right_z=0.0506 right_yaw=-0.7442 right_pitch=-0.2066 right_roll=0.0966 right_gripper=0.999 state[joint_eff]: [-4.0684, -6.3521, 8.2667, 1.1111, -0.0464, 0.315, -0.0464, 2.5368, -8.3487, 5.135, 0.5543, 0.6178, 0.3101, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.41, "left_y": -0.168, "left_z": 0.0, "left_yaw": 0.4}, "note": "Left wrist view shows the cap just below and right of the jaw column, lying diagonally; I'm shifting the left gripper 2.5 cm to its right, 1 cm further out, down to table level, and yawing +0.4 rad so the jaws straddle the cap's width."})

tool

executing move_to over 3 steps (0.3s)

step 41

assistant

agent noteThe cap now sits right between the left jaws at the bottom of the left wrist view, so I'm closing the left gripper on it.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6136, 2.0186, 0.9665, 0.128, -0.7082, -0.7048, 0.9993, 0.6861, 2.3829, 1.8839, -1.0752, 0.7773, 1.6028, 0.999] state[eef_state]: left_x=0.4206 left_y=-0.1513 left_z=0.0041 left_yaw=0.3292 left_pitch=-0.0807 left_roll=0.0131 left_gripper=0.9993 right_x=0.4279 right_y=0.1949 right_z=0.0333 right_yaw=-0.9113 right_pitch=-0.2368 right_roll=0.0181 right_gripper=0.999 state[joint_eff]: [-5.2444, -7.5145, 8.9094, 0.7985, -0.4567, -0.0073, -0.0073, 9.9897, -14.5299, 7.1726, 0.862, 0.5299, -0.0611, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0}, "note": "The cap now sits right between the left jaws at the bottom of the left wrist view, so I'm closing the left gripper on it."})

tool

executing move_to over 10 steps (1.0s)

step 51

assistant

agent noteThe left gripper closed empty (reading 0.008), so the cap was missed or pushed. Lifting and retracting the left arm to get an unobstructed top view of where the cap and pen actually are.

move_to

left_gripper1.0000left_z0.1800left_x0.3300

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5896, 2.0239, 0.9615, 0.1314, -0.7288, -0.7158, 0.0085, 0.6785, 2.4893, 2.0666, -1.1812, 0.7628, 1.6615, 0.999] state[eef_state]: left_x=0.423 left_y=-0.1371 left_z=0.0028 left_yaw=0.3728 left_pitch=-0.0711 left_roll=0.0194 left_gripper=0.0085 right_x=0.4411 right_y=0.2034 right_z=0.029 right_yaw=-0.9587 right_pitch=-0.2511 right_roll=0.0289 right_gripper=0.999 state[joint_eff]: [-2.1128, -9.935, 5.4359, 1.2332, -0.1587, 0.0562, 0.6667, 4.5607, -13.0256, 7.665, 0.1929, 0.5153, 0.0952, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 1, "left_z": 0.18, "left_x": 0.33}, "note": "The left gripper closed empty (reading 0.008), so the cap was missed or pushed. Lifting and retracting the left arm to get an unobstructed top view of where the cap and pen actually are."})

tool

executing move_to over 12 steps (1.2s)

step 63

assistant

agent noteBoth arms are blocking the overhead view of the table. Parking them back near home and high so I can re-localize the pen and cap cleanly in the top camera.

move_to

left_x0.2500left_y-0.0200left_z0.2500left_yaw0.0000right_x0.2500right_y0.0200right_z0.2500right_yaw0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7689, 1.4982, 1.074, -0.6434, -0.7998, -0.9195, 0.9958, 0.6762, 2.4886, 2.0659, -1.1748, 0.7471, 1.6638, 0.999] state[eef_state]: left_x=0.3364 left_y=-0.1442 left_z=0.1601 left_yaw=0.3542 left_pitch=-0.086 left_roll=0.0052 left_gripper=0.9958 right_x=0.4412 right_y=0.2047 right_z=0.0272 right_yaw=-0.9613 right_pitch=-0.2672 right_roll=0.0362 right_gripper=0.999 state[joint_eff]: [-0.4171, -7.8017, 8.9778, 1.0476, -0.5934, -0.0952, -0.1245, -0.1983, -13.559, 5.6684, 0.1832, 0.4908, -0.0611, -0.0122] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.25, "left_y": -0.02, "left_z": 0.25, "left_yaw": 0, "right_x": 0.25, "right_y": 0.02, "right_z": 0.25, "right_yaw": 0}, "note": "Both arms are blocking the overhead view of the table. Parking them back near home and high so I can re-localize the pen and cap cleanly in the top camera."})

tool

executing move_to over 16 steps (1.6s)

step 79

assistant

agent noteClean top view: the pen lies diagonally in the far right-centre of the table, the cap is a small blob left of centre. Moving the right arm to hover 12 cm above the pen with the jaws yawed -26° to be perpendicular to its axis.

move_to

right_x0.4600right_y0.2700right_z0.1200right_yaw-0.4500right_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]: [-0.2527, 0.7761, 0.9157, -0.8444, -0.268, -0.2352, 0.9964, 0.1364, 0.9302, 1.0744, -0.9768, 0.1566, 0.2436, 0.999] state[eef_state]: left_x=0.2538 left_y=-0.0135 left_z=0.2348 left_yaw=0.0893 left_pitch=-0.1041 left_roll=-0.0031 left_gripper=0.9964 right_x=0.2615 right_y=0.0117 right_z=0.2375 right_yaw=-0.1429 right_pitch=-0.2637 right_roll=0.0504 right_gripper=0.999 state[joint_eff]: [0.2256, -0.8821, 10.0444, 1.7998, -0.0415, 0.1636, 0.0513, -0.3077, -1.8803, 8.8821, 1.4872, 0.105, -0.1343, -0.0122] camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.46, "right_y": 0.27, "right_z": 0.12, "right_yaw": -0.45, "right_gripper": 1}, "note": "Clean top view: the pen lies diagonally in the far right-centre of the table, the cap is a small blob left of centre. Moving the right arm to hover 12 cm above the pen with the jaws yawed -26\u00b0 to be perpendicular to its axis."})

tool

executing move_to over 22 steps (2.2s)

step 101

assistant

agent noteRight wrist view puts the pen low and to the right of the jaw column, so I'm shifting the gripper ~6 cm along its own right direction and dropping to 5 cm above the table to line up on the pen.

move_to

right_x0.4350right_y0.2150right_z0.0500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2512, 0.7803, 0.915, -0.8719, -0.2573, -0.2348, 0.9965, 0.7227, 2.2559, 1.9987, -0.9291, 0.6292, 1.0222, 0.9991] state[eef_state]: left_x=0.2499 left_y=-0.014 left_z=0.2283 left_yaw=0.0831 left_pitch=-0.137 left_roll=0.0014 left_gripper=0.9965 right_x=0.4557 right_y=0.268 right_z=0.115 right_yaw=-0.4104 right_pitch=-0.291 right_roll=0.0352 right_gripper=0.9991 state[joint_eff]: [-0.294, -0.7179, 6.4615, 1.8291, -0.2222, -0.0073, -0.0024, 0.7179, -12.6838, 7.4598, 0.6911, 0.6178, 0.2662, -0.105] camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.435, "right_y": 0.215, "right_z": 0.05}, "note": "Right wrist view puts the pen low and to the right of the jaw column, so I'm shifting the gripper ~6 cm along its own right direction and dropping to 5 cm above the table to line up on the pen."})

tool

executing move_to over 5 steps (0.5s)

step 106

assistant

agent noteThe pen now lies across the bottom of the right wrist view just left of the jaw column and roughly perpendicular to the jaws; nudging 1.5 cm that way and settling to table level before closing.

move_to

right_x0.4240right_y0.2180right_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]: [-0.2512, 0.786, 0.915, -0.8799, -0.2546, -0.2348, 0.9965, 0.6651, 2.1635, 1.4948, -0.6304, 0.5976, 0.9726, 0.999] state[eef_state]: left_x=0.2493 left_y=-0.0143 left_z=0.2255 left_yaw=0.0815 left_pitch=-0.1506 left_roll=0.0042 left_gripper=0.9965 right_x=0.417 right_y=0.2053 right_z=0.0181 right_yaw=-0.4605 right_pitch=-0.3668 right_roll=-0.0922 right_gripper=0.999 state[joint_eff]: [-0.0342, -0.7043, 6.4342, 1.663, -0.2027, -0.0415, -0.0122, -0.294, -16.1846, 7.3504, 1.3602, 0.3736, -0.0904, -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": {"right_x": 0.424, "right_y": 0.218, "right_z": 0.0}, "note": "The pen now lies across the bottom of the right wrist view just left of the jaw column and roughly perpendicular to the jaws; nudging 1.5 cm that way and settling to table level before closing."})

tool

executing move_to over 2 steps (0.2s)

step 108

assistant

agent noteThe pen is centred between the jaws in the right wrist view but the height readback (0.021 m) is above the pen; pressing down to table level so the jaws straddle it.

move_to

right_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]: [-0.2512, 0.7868, 0.915, -0.881, -0.2543, -0.2348, 0.9965, 0.6674, 2.1818, 1.5211, -0.5713, 0.5961, 0.9623, 0.999] state[eef_state]: left_x=0.2491 left_y=-0.0144 left_z=0.2251 left_yaw=0.0813 left_pitch=-0.1524 left_roll=0.0046 left_gripper=0.9965 right_x=0.4311 right_y=0.218 right_z=0.0214 right_yaw=-0.4296 right_pitch=-0.3386 right_roll=-0.0342 right_gripper=0.999 state[joint_eff]: [-0.2667, -0.6496, 6.4068, 1.5458, -0.1343, -0.0269, -0.0122, 0.7453, -9.6205, 6.065, 0.398, 0.3687, 0.1832, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": -0.01}, "note": "The pen is centred between the jaws in the right wrist view but the height readback (0.021 m) is above the pen; pressing down to table level so the jaws straddle it."})

tool

executing move_to over 3 steps (0.3s)

step 111

assistant

agent noteGripper is now at table level with the pen shaft between the jaws; closing on 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]: [-0.2512, 0.7876, 0.915, -0.881, -0.2546, -0.2348, 0.9965, 0.6739, 2.223, 1.52, -0.5365, 0.601, 0.9749, 0.999] state[eef_state]: left_x=0.2492 left_y=-0.0143 left_z=0.2249 left_yaw=0.0816 left_pitch=-0.1531 left_roll=0.0051 left_gripper=0.9965 right_x=0.4321 right_y=0.2218 right_z=0.0053 right_yaw=-0.4349 right_pitch=-0.3377 right_roll=-0.0353 right_gripper=0.999 state[joint_eff]: [-0.1436, -0.0889, 6.8034, 1.5214, -0.1783, -0.0659, -0.0122, -0.7316, -14.0103, 4.5744, 0.7937, 0.2076, -0.1832, -0.0122] camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0}, "note": "Gripper is now at table level with the pen shaft between the jaws; closing on the pen."})

tool

executing move_to over 10 steps (1.0s)

step 121

assistant

agent noteThe close was empty (0.014) — the pen was just outside the jaws, exiting the wrist frame at the lower left. Reopening and shifting ~3 cm toward the arm's left and 2 cm back toward the base to re-centre on the pen.

move_to

right_gripper1.0000right_x0.4260right_y0.2530right_z0.0050

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2512, 0.7921, 0.915, -0.8898, -0.2546, -0.2348, 0.9965, 0.6739, 2.223, 1.5139, -0.5232, 0.598, 0.9634, 0.0145] state[eef_state]: left_x=0.2483 left_y=-0.0141 left_z=0.2224 left_yaw=0.0823 left_pitch=-0.1657 left_roll=0.0095 left_gripper=0.9965 right_x=0.4325 right_y=0.2227 right_z=0.0041 right_yaw=-0.4248 right_pitch=-0.3372 right_roll=-0.0346 right_gripper=0.0145 state[joint_eff]: [-0.0752, -0.5675, 6.5709, 1.6142, -0.1734, -0.0659, -0.0122, -0.3487, -12.0821, 6.2017, 0.7692, 0.3248, 0.0464, 0.8962] camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 1, "right_x": 0.426, "right_y": 0.253, "right_z": 0.005}, "note": "The close was empty (0.014) \u2014 the pen was just outside the jaws, exiting the wrist frame at the lower left. Reopening and shifting ~3 cm toward the arm's left and 2 cm back toward the base to re-centre on the pen."})

tool

executing move_to over 10 steps (1.0s)

step 131

assistant

agent noteThe pen has vanished from the right wrist view — I may have nudged it. Retracting the right arm high and back to get an unobstructed overhead look at both objects.

move_to

right_x0.2800right_y0.0500right_z0.2600

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2512, 0.7921, 0.915, -0.8955, -0.2543, -0.2348, 0.9965, 0.728, 2.2642, 1.6005, -0.5949, 0.6048, 1.0218, 0.9952] state[eef_state]: left_x=0.2474 left_y=-0.0139 left_z=0.2214 left_yaw=0.0823 left_pitch=-0.1712 left_roll=0.0111 left_gripper=0.9965 right_x=0.4263 right_y=0.2502 right_z=0.0065 right_yaw=-0.4149 right_pitch=-0.3423 right_roll=-0.0241 right_gripper=0.9952 state[joint_eff]: [-0.0615, -0.5538, 6.4068, 1.5946, -0.1587, -0.0415, -0.0122, 0.5812, -10.7009, 7.747, 0.5885, 0.3834, 0.0659, -0.1978] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 131): [image omitted: streamed camera frame] camera 'left_cam' (step 131): [image omitted: streamed camera frame] camera 'right_cam' (step 131): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.28, "right_y": 0.05, "right_z": 0.26}, "note": "The pen has vanished from the right wrist view \u2014 I may have nudged it. Retracting the right arm high and back to get an unobstructed overhead look at both objects."})

tool

executing move_to over 17 steps (1.7s)

step 148

assistant

agent noteStill can't see the pen; the right arm may be hiding it. Parking the right arm far to its own right and high to clear the overhead view.

move_to

right_x0.2000right_y0.3600right_z0.3000right_yaw0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2512, 0.7959, 0.915, -0.9028, -0.2543, -0.2348, 0.9965, 0.4835, 1.2938, 1.3785, -1.1992, 0.5106, 0.7723, 0.996] state[eef_state]: left_x=0.2466 left_y=-0.0137 left_z=0.2193 left_yaw=0.083 left_pitch=-0.1816 left_roll=0.0148 left_gripper=0.9965 right_x=0.2913 right_y=0.0595 right_z=0.2453 right_yaw=-0.4233 right_pitch=-0.3427 right_roll=-0.0096 right_gripper=0.996 state[joint_eff]: [-0.1436, -0.7453, 6.4342, 1.619, -0.1343, -0.0464, -0.0122, -0.3624, -5.2171, 8.2667, 1.0232, 0.1441, -0.0415, 0.0757] camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.2, "right_y": 0.36, "right_z": 0.3, "right_yaw": 0}, "note": "Still can't see the pen; the right arm may be hiding it. Parking the right arm far to its own right and high to clear the overhead view."})

tool

executing move_to over 26 steps (2.6s)

step 174

assistant

agent noteOnly one object is visible on the table and the pen seems to have been displaced; folding both arms low and close to their bases so the overhead camera sees the whole table.

move_to

left_x0.1600left_y0.0000left_z0.0600left_yaw0.0000right_x0.1600right_y0.0000right_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]: [-0.2512, 0.7994, 0.915, -0.9031, -0.2546, -0.2348, 0.9965, 1.2663, 1.9331, 2.1525, -1.578, 0.6098, 1.1751, 0.9961] state[eef_state]: left_x=0.2469 left_y=-0.0137 left_z=0.2185 left_yaw=0.0835 left_pitch=-0.1852 left_roll=0.0163 left_gripper=0.9965 right_x=0.2084 right_y=0.3378 right_z=0.2608 right_yaw=-0.0001 right_pitch=-0.3726 right_roll=-0.0258 right_gripper=0.9961 state[joint_eff]: [0.0615, -0.9368, 6.4068, 1.5018, -0.1783, -0.0269, -0.0122, 0.7316, -8.7863, 7.6376, 0.696, 0.6032, 0.0708, -0.0073] camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.16, "left_y": 0.0, "left_z": 0.06, "left_yaw": 0, "right_x": 0.16, "right_y": 0.0, "right_z": 0.06}, "note": "Only one object is visible on the table and the pen seems to have been displaced; folding both arms low and close to their bases so the overhead camera sees the whole table."})

tool

executing move_to over 29 steps (2.9s)

step 203

assistant

agent noteThe right wrist camera glimpses a long thin object (the pen) off to the arm's right, near the outer edge. Moving the right arm over that area to confirm the pen's position.

move_to

right_x0.3000right_y-0.0600right_z0.1500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1955, 0.0307, 0.2729, -0.9195, -0.1631, -0.1532, 0.9965, 0.0303, 0.3252, 0.3405, -0.9607, 0.0982, 0.1173, 0.9962] state[eef_state]: left_x=0.1732 left_y=-0.0014 left_z=0.0841 left_yaw=0.0139 left_pitch=-0.0959 left_roll=-0.0107 left_gripper=0.9965 right_x=0.1582 right_y=-0.0089 right_z=0.0609 right_yaw=-0.1352 right_pitch=-0.3818 right_roll=-0.0141 right_gripper=0.9962 state[joint_eff]: [0.5675, 2.4957, 3.8769, 0.8864, -0.0317, 0.2222, -0.0073, 1.5521, 1.8256, 7.0222, 1.4725, -0.2857, -0.2027, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.3, "right_y": -0.06, "right_z": 0.15}, "note": "The right wrist camera glimpses a long thin object (the pen) off to the arm's right, near the outer edge. Moving the right arm over that area to confirm the pen's position."})

tool

executing move_to over 11 steps (1.1s)

step 214

assistant

agent noteA pale pen-like object appears at the bottom of the right wrist view, just behind the fingertips; pulling the gripper 3-4 cm back toward the base and lower to bring it into the grasp zone.

move_to

right_x0.2500right_y-0.0500right_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]: [-0.1947, 0.0326, 0.2718, -0.9096, -0.157, -0.1551, 0.9965, -0.2401, 1.1191, 0.8406, -0.72, -0.0578, -0.099, 0.9961] state[eef_state]: left_x=0.1745 left_y=-0.0026 left_z=0.0851 left_yaw=0.0104 left_pitch=-0.09 left_roll=-0.0173 left_gripper=0.9965 right_x=0.2852 right_y=-0.0556 right_z=0.1328 right_yaw=-0.1371 right_pitch=-0.4389 right_roll=-0.0091 right_gripper=0.9961 state[joint_eff]: [-0.2393, 2.2222, 6.3111, 1.5604, -0.1832, -0.0317, -0.0073, -0.4718, -3.5077, 8.5265, 1.4286, -0.1636, -0.0366, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.25, "right_y": -0.05, "right_z": 0.06}, "note": "A pale pen-like object appears at the bottom of the right wrist view, just behind the fingertips; pulling the gripper 3-4 cm back toward the base and lower to bring it into the grasp zone."})

tool

executing move_to over 5 steps (0.5s)

step 219

assistant

agent noteThe pen is now clearly visible below the right jaws, running radially (perpendicular to the closing direction). Backing up 3 cm toward the base and descending to table level to put its shaft between the jaws.

move_to

right_x0.2100right_y-0.0550right_z0.0050

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1947, 0.033, 0.2718, -0.9081, -0.1566, -0.1551, 0.9965, -0.2539, 1.0271, 0.5076, -0.5663, -0.065, -0.1093, 0.9961] state[eef_state]: left_x=0.1747 left_y=-0.0027 left_z=0.0854 left_yaw=0.0101 left_pitch=-0.0889 left_roll=-0.0178 left_gripper=0.9965 right_x=0.2368 right_y=-0.0459 right_z=0.0506 right_yaw=-0.1327 right_pitch=-0.525 right_roll=0.003 right_gripper=0.9961 state[joint_eff]: [-0.1983, 2.6051, 6.2427, 1.6239, -0.0904, -0.0366, -0.0073, -0.5538, -3.2342, 7.6103, 1.5604, -0.0855, -0.0464, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 219): [image omitted: streamed camera frame] camera 'left_cam' (step 219): [image omitted: streamed camera frame] camera 'right_cam' (step 219): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.21, "right_y": -0.055, "right_z": 0.005}, "note": "The pen is now clearly visible below the right jaws, running radially (perpendicular to the closing direction). Backing up 3 cm toward the base and descending to table level to put its shaft between the jaws."})

tool

executing move_to over 3 steps (0.3s)

step 222

assistant

agent notePen shaft appears to run between the jaws at table level; closing the right gripper on it.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1947, 0.0334, 0.2718, -0.9085, -0.1566, -0.1551, 0.9965, -0.3542, 1.0004, 0.3225, -0.4438, -0.0914, -0.1673, 0.9961] state[eef_state]: left_x=0.1746 left_y=-0.0027 left_z=0.0852 left_yaw=0.0101 left_pitch=-0.0897 left_roll=-0.0176 left_gripper=0.9965 right_x=0.2063 right_y=-0.0553 right_z=0.0058 right_yaw=-0.1681 right_pitch=-0.5563 right_roll=0.0057 right_gripper=0.9961 state[joint_eff]: [-0.3077, 2.9333, 6.3932, 1.6581, -0.1245, -0.0464, -0.0122, -0.0615, -2.0444, 7.9658, 1.5702, -0.3736, -0.1636, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0}, "note": "Pen shaft appears to run between the jaws at table level; closing the right gripper on it."})

tool

executing move_to over 10 steps (1.0s)

step 232

assistant

agent noteThe gripper reading is very low (0.016) but the wrist view shows the pen aligned with the jaws; lifting 9 cm to check whether the pen comes up with the gripper.

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]: [-0.1947, 0.0334, 0.2718, -0.9081, -0.1562, -0.1551, 0.9965, -0.3595, 0.9901, 0.3202, -0.4263, -0.1043, -0.1696, 0.0164] state[eef_state]: left_x=0.1747 left_y=-0.0028 left_z=0.0853 left_yaw=0.0097 left_pitch=-0.0894 left_roll=-0.0179 left_gripper=0.9965 right_x=0.2106 right_y=-0.0557 right_z=0.0092 right_yaw=-0.1624 right_pitch=-0.529 right_roll=0.0121 right_gripper=0.0164 state[joint_eff]: [-0.0752, 2.4274, 6.2838, 1.6288, -0.0952, -0.0415, -0.0122, 0.1436, 0.1846, 5.0803, 0.5885, -0.0269, -0.0415, 0.7399] camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.1}, "note": "The gripper reading is very low (0.016) but the wrist view shows the pen aligned with the jaws; lifting 9 cm to check whether the pen comes up with the gripper."})

tool

executing move_to over 6 steps (0.6s)

step 238

assistant

agent noteThe pen stayed on the table — the previous close was empty, likely because the fingertips sat ~1 cm above the table. Reopening and pressing down to the floor of the box (z=-0.02) at the same spot so the jaws straddle the pen shaft.

move_to

right_gripper1.0000right_x0.2080right_y-0.0520right_z-0.0200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1947, 0.0338, 0.2718, -0.9073, -0.1566, -0.1551, 0.9965, -0.3595, 0.8906, 0.6086, -0.7948, -0.1066, -0.1696, 0.0173] state[eef_state]: left_x=0.1748 left_y=-0.0027 left_z=0.0854 left_yaw=0.0101 left_pitch=-0.0889 left_roll=-0.0178 left_gripper=0.9965 right_x=0.2161 right_y=-0.0573 right_z=0.0905 right_yaw=-0.1623 right_pitch=-0.5095 right_roll=0.01 right_gripper=0.0173 state[joint_eff]: [-0.2667, 2.359, 6.2427, 1.6532, -0.1294, -0.0415, -0.0073, -0.2803, -1.6889, 8.4444, 1.1453, -0.1001, -0.0269, 1.0281] camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 1, "right_x": 0.208, "right_y": -0.052, "right_z": -0.02}, "note": "The pen stayed on the table \u2014 the previous close was empty, likely because the fingertips sat ~1 cm above the table. Reopening and pressing down to the floor of the box (z=-0.02) at the same spot so the jaws straddle the pen shaft."})

tool

executing move_to over 10 steps (1.0s)

step 248

assistant

agent noteThe gripper is pressed to table level right over the pen (now in the camera's blind zone under the fingertips); closing on it.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1947, 0.0338, 0.2718, -0.9062, -0.1562, -0.1555, 0.9965, -0.3443, 1.0256, 0.2428, -0.2813, -0.0975, -0.1722, 0.9949] state[eef_state]: left_x=0.175 left_y=-0.0028 left_z=0.0856 left_yaw=0.0099 left_pitch=-0.0879 left_roll=-0.0186 left_gripper=0.9965 right_x=0.2126 right_y=-0.0542 right_z=-0.0074 right_yaw=-0.1555 right_pitch=-0.4986 right_roll=-0.0032 right_gripper=0.9949 state[joint_eff]: [-0.335, 2.359, 6.2291, 1.6239, -0.1343, -0.0317, -0.0122, 0.0479, 0.4855, 3.2752, 0.6276, -0.1538, 0.2271, -0.1783] camera 'top_cam' (step 248): [image omitted: streamed camera frame] camera 'left_cam' (step 248): [image omitted: streamed camera frame] camera 'right_cam' (step 248): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0}, "note": "The gripper is pressed to table level right over the pen (now in the camera's blind zone under the fingertips); closing on it."})

tool

executing move_to over 10 steps (1.0s)

step 258

assistant

agent noteAnother empty close on the right — the thing near the right base may be wood grain, not the pen. Bringing the left arm up to look down on the one object I can definitely see on the table and its surroundings.

move_to

left_x0.3500left_y-0.1400left_z0.1800

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1947, 0.0338, 0.2718, -0.9062, -0.1562, -0.1555, 0.9965, -0.3454, 1.0245, 0.2333, -0.2398, -0.1066, -0.1707, 0.0143] state[eef_state]: left_x=0.175 left_y=-0.0028 left_z=0.0856 left_yaw=0.0099 left_pitch=-0.0879 left_roll=-0.0186 left_gripper=0.9965 right_x=0.2184 right_y=-0.0548 right_z=-0.0051 right_yaw=-0.1522 right_pitch=-0.4646 right_roll=-0.0007 right_gripper=0.0143 state[joint_eff]: [-0.3214, 2.441, 6.2427, 1.6337, -0.0952, -0.0855, -0.0122, -0.0205, -1.5932, 7.1043, 0.8376, 0.0366, -0.0464, 1.2821] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.35, "left_y": -0.14, "left_z": 0.18}, "note": "Another empty close on the right \u2014 the thing near the right base may be wood grain, not the pen. Bringing the left arm up to look down on the one object I can definitely see on the table and its surroundings."})

tool

executing move_to over 14 steps (1.4s)

step 272

assistant

agent noteLeft wrist view shows the object just left of the jaw column and near the bottom edge (i.e. slightly nearer the base than the fingertips). Shifting 3 cm to the arm's left, 1 cm back, and down to 2 cm to line up on it.

move_to

left_x0.3250left_y-0.1050left_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]: [-0.5991, 1.2896, 0.8825, -0.4107, -0.4496, -0.4404, 0.9965, -0.3454, 1.0248, 0.2333, -0.2348, -0.1093, -0.1699, 0.0172] state[eef_state]: left_x=0.3362 left_y=-0.1323 left_z=0.1567 left_yaw=0.0073 left_pitch=-0.1462 left_roll=0.0024 left_gripper=0.9965 right_x=0.2195 right_y=-0.0547 right_z=-0.0045 right_yaw=-0.1506 right_pitch=-0.4596 right_roll=0.0013 right_gripper=0.0172 state[joint_eff]: [-0.4308, -5.4359, 9.4427, 1.619, -0.3736, 0.0904, -0.0073, -0.3761, -1.6615, 5.8462, 1.1502, -0.0806, -0.0269, 1.0281] 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": {"left_x": 0.325, "left_y": -0.105, "left_z": 0.02}, "note": "Left wrist view shows the object just left of the jaw column and near the bottom edge (i.e. slightly nearer the base than the fingertips). Shifting 3 cm to the arm's left, 1 cm back, and down to 2 cm to line up on it."})

tool

executing move_to over 9 steps (0.9s)

step 281

assistant

agent noteClear view now: the black pen cap (with clip) lies between the open jaws but aligned ALONG the closing direction. Rotating the wrist ~80° and centring so the jaws will close across the cap's width.

move_to

left_yaw1.4000left_x0.3200left_y-0.0820left_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]: [-0.5312, 1.4963, 0.4335, 0.1734, -0.4107, -0.4, 0.9965, -0.3454, 1.0248, 0.2333, -0.234, -0.1093, -0.1699, 0.0172] state[eef_state]: left_x=0.3119 left_y=-0.0973 left_z=0.0103 left_yaw=0.0302 left_pitch=-0.223 left_roll=0.0476 left_gripper=0.9965 right_x=0.2196 right_y=-0.0547 right_z=-0.0044 right_yaw=-0.1507 right_pitch=-0.4589 right_roll=0.0011 right_gripper=0.0172 state[joint_eff]: [0.2256, -5.6274, 5.4359, 1.8193, -0.0708, 0.0952, -0.0122, -0.3624, -1.7299, 5.8598, 1.1697, -0.0806, -0.0611, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 281): [image omitted: streamed camera frame] camera 'left_cam' (step 281): [image omitted: streamed camera frame] camera 'right_cam' (step 281): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_yaw": 1.4, "left_x": 0.32, "left_y": -0.082, "left_z": 0.01}, "note": "Clear view now: the black pen cap (with clip) lies between the open jaws but aligned ALONG the closing direction. Rotating the wrist ~80\u00b0 and centring so the jaws will close across the cap's width."})

tool

executing move_to over 9 steps (0.9s)

step 290

assistant

agent noteWith the wrist rotated the cap now lies across the jaw axis but sits ~3 cm to the gripper's left; translating along the tool's left direction to centre it before closing.

move_to

left_x0.3200left_y-0.0740left_z-0.0050

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6044, 2.1681, 1.3872, -1.0229, -0.7071, -1.9022, 0.9966, -0.3454, 1.0245, 0.2329, -0.2337, -0.1093, -0.1699, 0.0172] state[eef_state]: left_x=0.3448 left_y=-0.0943 left_z=0.0018 left_yaw=1.208 left_pitch=-0.2622 left_roll=0.0189 left_gripper=0.9966 right_x=0.2196 right_y=-0.0547 right_z=-0.0044 right_yaw=-0.1507 right_pitch=-0.4585 right_roll=0.0011 right_gripper=0.0172 state[joint_eff]: [0.9231, -10.0718, 5.2718, -0.8034, -0.2466, -0.0317, -0.0024, -0.1983, -1.6342, 6.0786, 1.1844, -0.0708, -0.0513, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 290): [image omitted: streamed camera frame] camera 'left_cam' (step 290): [image omitted: streamed camera frame] camera 'right_cam' (step 290): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.32, "left_y": -0.074, "left_z": -0.005}, "note": "With the wrist rotated the cap now lies across the jaw axis but sits ~3 cm to the gripper's left; translating along the tool's left direction to centre it before closing."})

tool

executing move_to over 2 steps (0.2s)

step 292

assistant

agent noteThe cap is now under the jaws at table level; closing the left gripper on it.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5827, 2.1258, 1.2778, -1.0504, -0.7155, -2.0071, 0.9966, -0.3454, 1.026, 0.2329, -0.231, -0.1097, -0.1699, 0.0172] state[eef_state]: left_x=0.3166 left_y=-0.0656 left_z=0.0 left_yaw=1.308 left_pitch=-0.2261 left_roll=0.0362 left_gripper=0.9966 right_x=0.22 right_y=-0.0548 right_z=-0.0044 right_yaw=-0.1505 right_pitch=-0.4573 right_roll=0.0012 right_gripper=0.0172 state[joint_eff]: [-0.3214, -10.2222, 5.3812, 0.1587, 0.1245, 0.2466, -0.0171, -0.3761, -1.2923, 5.8462, 1.2821, -0.0904, -0.0708, 1.0281] 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": {"left_gripper": 0}, "note": "The cap is now under the jaws at table level; closing the left gripper on it."})

tool

executing move_to over 10 steps (1.0s)

step 302

assistant

agent noteEmpty close again and the cap is no longer visible ahead of the jaws, so it is sitting in the blind zone just behind the fingertips. Reopening and backing up 1.5 cm along the tool axis to bring it between the jaws.

move_to

left_gripper1.0000left_x0.3110left_y-0.0790left_z-0.0050

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5858, 2.1147, 1.2667, -1.0512, -0.7238, -2.0071, 0.0091, -0.3454, 1.0252, 0.2329, -0.2325, -0.1093, -0.1699, 0.0172] state[eef_state]: left_x=0.3151 left_y=-0.0643 left_z=0.0025 left_yaw=1.3018 left_pitch=-0.2183 left_roll=0.0344 left_gripper=0.0091 right_x=0.2197 right_y=-0.0548 right_z=-0.0045 right_yaw=-0.1508 right_pitch=-0.4581 right_roll=0.001 right_gripper=0.0172 state[joint_eff]: [0.0889, -8.8684, 5.6, -0.1685, -0.6374, -0.0269, 0.5592, -0.1846, -1.5248, 5.8462, 1.3016, -0.0757, -0.0415, 1.0281] camera 'top_cam' (step 302): [image omitted: streamed camera frame] camera 'left_cam' (step 302): [image omitted: streamed camera frame] camera 'right_cam' (step 302): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 1, "left_x": 0.311, "left_y": -0.079, "left_z": -0.005}, "note": "Empty close again and the cap is no longer visible ahead of the jaws, so it is sitting in the blind zone just behind the fingertips. Reopening and backing up 1.5 cm along the tool axis to bring it between the jaws."})

tool

executing move_to over 10 steps (1.0s)

step 312

assistant

agent noteThe cap has been nudged to the far left of the wrist view; lifting to 12 cm to get a wider, less distorted look at where it now sits relative to the jaws.

move_to

left_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]: [-0.6228, 2.1338, 1.2762, -1.0737, -0.7265, -2.0598, 0.995, -0.3454, 1.0252, 0.2329, -0.2325, -0.1097, -0.1699, 0.0172] state[eef_state]: left_x=0.3102 left_y=-0.0738 left_z=0.0004 left_yaw=1.2993 left_pitch=-0.2044 left_roll=0.0263 left_gripper=0.995 right_x=0.2198 right_y=-0.0547 right_z=-0.0044 right_yaw=-0.1504 right_pitch=-0.4581 right_roll=0.0013 right_gripper=0.0172 state[joint_eff]: [-0.6222, -7.8154, 6.0239, -0.3492, -0.2125, 0.1148, -0.0659, -0.3214, -1.7299, 5.8188, 1.2625, -0.1099, -0.0317, 1.0232] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 312): [image omitted: streamed camera frame] camera 'left_cam' (step 312): [image omitted: streamed camera frame] camera 'right_cam' (step 312): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.12}, "note": "The cap has been nudged to the far left of the wrist view; lifting to 12 cm to get a wider, less distorted look at where it now sits relative to the jaws."})

tool

executing move_to over 8 steps (0.8s)

step 320

assistant

agent noteFrom 10 cm up the cap sits well to the gripper's left and slightly forward; translating ~5 cm along the tool's left and 3 cm forward, descending to 5 cm, to get it back under the jaws.

move_to

left_x0.2740left_y-0.0360left_z0.0500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6228, 1.9907, 1.4872, -1.4185, -0.7181, -2.0644, 0.9963, -0.3454, 1.0252, 0.2329, -0.2325, -0.1093, -0.1699, 0.0172] state[eef_state]: left_x=0.3144 left_y=-0.0782 left_z=0.097 left_yaw=1.3035 left_pitch=-0.2148 left_roll=0.017 left_gripper=0.9963 right_x=0.2197 right_y=-0.0548 right_z=-0.0045 right_yaw=-0.1508 right_pitch=-0.4581 right_roll=0.001 right_gripper=0.0172 state[joint_eff]: [-0.212, -11.5214, 6.9128, -0.6764, -0.4908, 0.022, 0.1245, -0.253, -1.7573, 5.8188, 1.2381, -0.0611, -0.0415, 1.0281] camera 'top_cam' (step 320): [image omitted: streamed camera frame] camera 'left_cam' (step 320): [image omitted: streamed camera frame] camera 'right_cam' (step 320): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.274, "left_y": -0.036, "left_z": 0.05}, "note": "From 10 cm up the cap sits well to the gripper's left and slightly forward; translating ~5 cm along the tool's left and 3 cm forward, descending to 5 cm, to get it back under the jaws."})

tool

executing move_to over 4 steps (0.4s)

step 324

assistant

agent noteThe cap is now centred on the jaw column but has rotated so it again lies along the closing axis; rotating the wrist back to yaw 0.35 rad so the jaws will close across it.

move_to

left_yaw0.3500left_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]: [-0.5911, 1.8942, 1.1172, -1.2224, -0.7223, -2.0369, 0.9965, -0.3454, 1.026, 0.2329, -0.2314, -0.1097, -0.1699, 0.0172] state[eef_state]: left_x=0.2631 left_y=-0.0316 left_z=0.0493 left_yaw=1.3329 left_pitch=-0.1854 left_roll=0.1098 left_gripper=0.9965 right_x=0.2199 right_y=-0.0548 right_z=-0.0045 right_yaw=-0.1505 right_pitch=-0.4577 right_roll=0.0012 right_gripper=0.0172 state[joint_eff]: [0.1983, -10.7556, 5.8188, -0.2027, -0.4127, 0.0904, 0.0024, -0.0889, -1.3744, 5.8598, 1.2918, -0.0952, -0.0611, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 324): [image omitted: streamed camera frame] camera 'left_cam' (step 324): [image omitted: streamed camera frame] camera 'right_cam' (step 324): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_yaw": 0.35, "left_z": 0.03}, "note": "The cap is now centred on the jaw column but has rotated so it again lies along the closing axis; rotating the wrist back to yaw 0.35 rad so the jaws will close across it."})

tool

executing move_to over 7 steps (0.7s)

step 331

assistant

agent noteThe cap lies ~30° off the jaw axis and 3 cm to the gripper's right; rotating the wrist a further 60° and shifting right so the jaws end up across the cap's body.

move_to

left_yaw1.6000left_x0.2560left_y-0.0380left_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]: [-0.5732, 1.2705, 0.3851, -0.3565, -0.7132, -0.9924, 0.9965, -0.345, 1.0264, 0.2325, -0.2298, -0.1093, -0.1699, 0.0172] state[eef_state]: left_x=0.2403 left_y=-0.0133 left_z=0.0199 left_yaw=0.5746 left_pitch=-0.2297 left_roll=0.0761 left_gripper=0.9965 right_x=0.22 right_y=-0.0548 right_z=-0.0045 right_yaw=-0.1505 right_pitch=-0.457 right_roll=0.0007 right_gripper=0.0172 state[joint_eff]: [0.212, -2.3863, 6.3385, 1.3162, -0.2613, 0.1832, -0.0122, -0.0615, -1.2786, 6.0786, 1.1746, -0.1245, -0.0415, 1.0281] camera 'top_cam' (step 331): [image omitted: streamed camera frame] camera 'left_cam' (step 331): [image omitted: streamed camera frame] camera 'right_cam' (step 331): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_yaw": 1.6, "left_x": 0.256, "left_y": -0.038, "left_z": 0.01}, "note": "The cap lies ~30\u00b0 off the jaw axis and 3 cm to the gripper's right; rotating the wrist a further 60\u00b0 and shifting right so the jaws end up across the cap's body."})

tool

executing move_to over 7 steps (0.7s)

step 338

assistant

agent noteThe last frame was motion-blurred; lifting slightly to get a clear, settled view of where the cap now lies relative to the jaws.

move_to

left_z0.0700

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4633, 1.9923, 1.1118, -1.0134, -0.6788, -1.8732, 0.9965, -0.3454, 1.0248, 0.2317, -0.2298, -0.1097, -0.1699, 0.0172] state[eef_state]: left_x=0.2874 left_y=-0.0156 left_z=0.0057 left_yaw=1.3662 left_pitch=-0.2676 left_roll=0.1364 left_gripper=0.9965 right_x=0.22 right_y=-0.0548 right_z=-0.0044 right_yaw=-0.1506 right_pitch=-0.4562 right_roll=0.0009 right_gripper=0.0172 state[joint_eff]: [0.2256, -8.7726, 4.2325, -1.0281, -0.2759, -0.2076, -0.0122, -0.1026, -1.5795, 5.9692, 1.1795, -0.0855, -0.0366, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 338): [image omitted: streamed camera frame] camera 'left_cam' (step 338): [image omitted: streamed camera frame] camera 'right_cam' (step 338): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.07}, "note": "The last frame was motion-blurred; lifting slightly to get a clear, settled view of where the cap now lies relative to the jaws."})

tool

executing move_to over 5 steps (0.5s)

step 343

assistant

agent noteCap is ~2 cm to the gripper's left at table level; making a final combined move down onto it while closing the jaws to pinch it end-to-end.

move_to

left_x0.2680left_y-0.0160left_z-0.0050left_gripper0.0500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4652, 1.9007, 1.2041, -1.1931, -0.6571, -1.9007, 0.9965, -0.3454, 1.0256, 0.2317, -0.2287, -0.1097, -0.1699, 0.0172] state[eef_state]: left_x=0.2876 left_y=-0.0196 left_z=0.0515 left_yaw=1.3869 left_pitch=-0.2866 left_roll=0.119 left_gripper=0.9965 right_x=0.2201 right_y=-0.0548 right_z=-0.0044 right_yaw=-0.1506 right_pitch=-0.4558 right_roll=0.0008 right_gripper=0.0172 state[joint_eff]: [0.2667, -9.7983, 6.3795, -0.4567, -0.6227, 0.2564, -0.0073, -0.1162, -1.812, 5.8325, 1.2283, -0.1148, -0.0611, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 343): [image omitted: streamed camera frame] camera 'left_cam' (step 343): [image omitted: streamed camera frame] camera 'right_cam' (step 343): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.268, "left_y": -0.016, "left_z": -0.005, "left_gripper": 0.05}, "note": "Cap is ~2 cm to the gripper's left at table level; making a final combined move down onto it while closing the jaws to pinch it end-to-end."})

tool

executing move_to over 10 steps (1.0s)

step 353

assistant

agent noteI could not grasp either object. The pen disappeared from the overhead view early on (likely nudged off the visible table / into the dark area near the right base), and repeated closes on the cap were empty: every wrist-camera-based lateral correction overshot and pushed the cap further away, and at the end the left arm stopped tracking z commands near the base. With the pen unavailable, "cap on pen" is impossible.

give_up

hindsightConcrete lessons from this run: (1) Wrist-camera pixel offsets near the bottom of the frame are far larger in px/cm than the 3-8 px/cm I assumed - my 3 cm "corrections" were typically 2-3x too big and each failed close physically shoved the small object several cm, compounding the error. Use ~1 cm corrections on small objects and re-look. (2) A yaw command does NOT keep the grasp point fixed on this rig: every yaw change moved x and y by 2-5 cm, so never combine a yaw rotation with a fine lateral alignment - yaw first at 10+ cm height, then translate. (3) The arms also drift in the uncommanded dimensions between moves (left_y crept ~1.5 cm per move), so re-read eef_state and recompute offsets from the readback each time, never from the previous target. (4) Empty closes read 0.01-0.02; a pen (~8 mm) should read ~0.08, so the threshold works, but the cheapest disambiguation is the wrist view before closing - if the object is no longer visible ahead of the jaws it may be in the blind zone OR may already have been pushed aside; check the top camera before assuming it is under the fingertips. (5) Near the base (x < 0.29) the arm stopped tracking z entirely; work objects at x > 0.30. (6) Budget: identifying and grasping two small objects took far more than 40 calls' worth of iteration; go for the confident grasp on the first descent by hovering at 10 cm, centring, then descending to z = -0.01 in one move.

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4652, 1.8877, 1.2175, -1.2423, -0.6567, -1.8793, 0.0543, -0.3454, 1.0248, 0.2317, -0.2291, -0.1097, -0.1699, 0.0172] state[eef_state]: left_x=0.2832 left_y=-0.0174 left_z=0.0601 left_yaw=1.3816 left_pitch=-0.2823 left_roll=0.1567 left_gripper=0.0543 right_x=0.2201 right_y=-0.0548 right_z=-0.0043 right_yaw=-0.1507 right_pitch=-0.4555 right_roll=0.0008 right_gripper=0.0172 state[joint_eff]: [-0.1573, -9.7846, 5.9009, -0.4615, -0.6618, 0.0415, 0.1001, -0.2256, -1.4017, 5.8598, 1.2381, -0.105, -0.0757, 1.0281] camera 'top_cam' (step 353): [image omitted: streamed camera frame] camera 'left_cam' (step 353): [image omitted: streamed camera frame] camera 'right_cam' (step 353): [image omitted: streamed camera frame]

assistant

give_up({"reason": "I could not grasp either object. The pen disappeared from the overhead view early on (likely nudged off the visible table / into the dark area near the right base), and repeated closes on the cap were empty: every wrist-camera-based lateral correction overshot and pushed the cap further away, and at the end the left arm stopped tracking z commands near the base. With the pen unavailable, \"cap on pen\" is impossible.", "hindsight": "Concrete lessons from this run: (1) Wrist-camera pixel offsets near the bottom of the frame are far larger in px/cm than the 3-8 px/cm I assumed - my 3 cm \"corrections\" were typically 2-3x too big and each failed close physically shoved the small object several cm, compounding the error. Use ~1 cm corrections on small objects and re-look. (2) A yaw command does NOT keep the grasp point fixed on this rig: every yaw change moved x and y by 2-5 cm, so never combine a yaw rotation with a fine lateral alignment - yaw first at 10+ cm height, then translate. (3) The arms also drift in the uncommanded dimensions between moves (left_y crept ~1.5 cm per move), so re-read eef_state and recompute offsets from the readback each time, never from the previous target. (4) Empty closes read 0.01-0.02; a pen (~8 mm) should read ~0.08, so the threshold works, but the cheapest disambiguation is the wrist view before closing - if the object is no longer visible ahead of the jaws it may be in the blind zone OR may already have been pushed aside; check the top camera before assuming it is under the fingertips. (5) Near the base (x < 0.29) the arm stopped tracking z entirely; work objects at x > 0.30. (6) Budget: identifying and grasping two small objects took far more than 40 calls' worth of iteration; go for the confident grasp on the first descent by hovering at 10 cm, centring, then descending to z = -0.01 in one move."})

tool

give_up: I could not grasp either object. The pen disappeared from the overhead view early on (likely nudged off the visible table / into the dark area near the right base), and repeated closes on the cap were empty: every wrist-camera-based lateral correction overshot and pushed the cap further away, and at the end the left arm stopped tracking z commands near the base. With the pen unavailable, "cap on pen" is impossible.

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"
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"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 · 19.61 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, 0.6018, -0.3794, -0.0219, -0.0246, 0.9998, -0.0189, 0.7914, 0.6098, -0.3756, -0.0227, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1793 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2959 right_y=0.002 right_z=0.1843 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.5538, -1.5521, 10.5504, 1.7656, -0.0415, 0.0659, -0.0366, -0.6632, -1.3197, 9.8256, 1.7216, -0.0562, -0.0513, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddfc7d5ce6bafeea7c88e23a2c69a3ee77dd1c94b655c7d947ad5e4f1e5cc963",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
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    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb702e4a0a4bfd9730aea13e6ccf88053446955190c76a1801a8a5e2a4d13694",
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    {
      "text": "camera 'right_cam' (step 0):",
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  "role": "user"
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[blob elided: media budget]

call 1 attempt 0 · /messages · status 200 · 28.05 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, 0.6018, -0.3794, -0.0219, -0.0246, 0.9998, -0.0189, 0.7914, 0.6098, -0.3756, -0.0227, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1793 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2959 right_y=0.002 right_z=0.1843 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.5538, -1.5521, 10.5504, 1.7656, -0.0415, 0.0659, -0.0366, -0.6632, -1.3197, 9.8256, 1.7216, -0.0562, -0.0513, -0.105]",
      "type": "text"
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    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddfc7d5ce6bafeea7c88e23a2c69a3ee77dd1c94b655c7d947ad5e4f1e5cc963",
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    {
      "text": "camera 'left_cam' (step 0):",
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    {
      "source": {
        "data": "$blob:fb702e4a0a4bfd9730aea13e6ccf88053446955190c76a1801a8a5e2a4d13694",
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      "text": "camera 'right_cam' (step 0):",
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[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NYvFjiNbX3xf51yHkVU5hp",
      "input": {
        "note": "Top view shows two small dark objects near the middle of the table: one left-of-centre (nearer the left arm) and one right-of-centre (nearer the right arm). I'm flying each arm to hover ~15 cm above its nearest object to identify which is the pen and which is the cap.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.36,
          "left_y": -0.21,
          "left_z": 0.15,
          "right_gripper": 1,
          "right_x": 0.36,
          "right_y": 0.27,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 23 steps (2.3s)",
      "tool_use_id": "toolu_01NYvFjiNbX3xf51yHkVU5hp",
      "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]: [-0.7509, 1.4948, 0.9085, -0.1837, -0.6243, -0.5152, 0.9998, 0.8627, 1.6665, 1.055, -0.2356, 0.6827, 0.543, 0.9991]\nstate[eef_state]: left_x=0.3584 left_y=-0.1884 left_z=0.1412 left_yaw=0.0246 left_pitch=-0.0296 left_roll=0.0089 left_gripper=0.9998 right_x=0.3535 right_y=0.247 right_z=0.1282 right_yaw=0.008 right_pitch=-0.0642 right_roll=-0.0628 right_gripper=0.9991\nstate[joint_eff]: [-3.6581, -3.6171, 9.2923, 1.4579, -0.4274, 0.1832, -0.0366, 2.359, -6.8444, 11.6034, 1.6532, 0.6178, 0.2076, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6232850b905ca401242543fc2ad8cf067588ec63345c480710d28bdbb6e10899",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c9751d51d9c8e6edb5f7ccb9c14902b1caddc15176b23d8a45f2220efbd54a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5ba993d1cafe66a2816bd94472805b1f6b99a8d43980c847c86ab3ea8150a7e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /messages · status 200 · 14.24 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, 0.6018, -0.3794, -0.0219, -0.0246, 0.9998, -0.0189, 0.7914, 0.6098, -0.3756, -0.0227, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1793 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2959 right_y=0.002 right_z=0.1843 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.5538, -1.5521, 10.5504, 1.7656, -0.0415, 0.0659, -0.0366, -0.6632, -1.3197, 9.8256, 1.7216, -0.0562, -0.0513, -0.105]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7509, 1.4948, 0.9085, -0.1837, -0.6243, -0.5152, 0.9998, 0.8627, 1.6665, 1.055, -0.2356, 0.6827, 0.543, 0.9991]\nstate[eef_state]: left_x=0.3584 left_y=-0.1884 left_z=0.1412 left_yaw=0.0246 left_pitch=-0.0296 left_roll=0.0089 left_gripper=0.9998 right_x=0.3535 right_y=0.247 right_z=0.1282 right_yaw=0.008 right_pitch=-0.0642 right_roll=-0.0628 right_gripper=0.9991\nstate[joint_eff]: [-3.6581, -3.6171, 9.2923, 1.4579, -0.4274, 0.1832, -0.0366, 2.359, -6.8444, 11.6034, 1.6532, 0.6178, 0.2076, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6232850b905ca401242543fc2ad8cf067588ec63345c480710d28bdbb6e10899",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c9751d51d9c8e6edb5f7ccb9c14902b1caddc15176b23d8a45f2220efbd54a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ba993d1cafe66a2816bd94472805b1f6b99a8d43980c847c86ab3ea8150a7e4",
        "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_01HGeS9pKvzChvZEjW39nWd5",
      "input": {
        "note": "Right wrist camera clearly shows the pen lying diagonally below the jaws; left wrist camera shows a small short object (the cap). Advancing each arm ~2.5 cm radially and dropping to 5 cm, and yawing the right gripper ~28° so its jaws will close perpendicular to the pen's axis.",
        "targets": {
          "left_x": 0.392,
          "left_y": -0.173,
          "left_z": 0.05,
          "right_x": 0.378,
          "right_y": 0.232,
          "right_yaw": 0.49,
          "right_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_01HGeS9pKvzChvZEjW39nWd5",
      "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]: [-0.6464, 1.7401, 0.7601, 0.1722, -0.561, -0.453, 0.9997, 0.6056, 1.7191, 0.7296, 0.2745, 0.2253, 0.1001, 0.9991]\nstate[eef_state]: left_x=0.3802 left_y=-0.1646 left_z=0.0436 left_yaw=0.0504 left_pitch=-0.089 left_roll=0.0513 left_gripper=0.9997 right_x=0.3712 right_y=0.2134 right_z=0.0426 right_yaw=0.3515 right_pitch=-0.1375 right_roll=-0.0716 right_gripper=0.9991\nstate[joint_eff]: [0.4308, -7.3231, 5.2034, 1.7265, -0.1636, 0.2125, -0.0171, -0.6222, -6.6667, 5.3402, 1.7802, 0.0659, -0.0415, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b34a06522b8b1ee1a5659b4a4b849bc66ae395f733a1c1bf9b8b7f89a83654e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3649ee25e5162408eb56901d5150ee30929b54dfc1ca100dfa2c9dac9ba832a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c907fc4a6b6c4b377dff9cb3c7cba51ebf20785a55ed84f5e4ab8b3a5e6dba07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /messages · status 200 · 33.58 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, 0.6018, -0.3794, -0.0219, -0.0246, 0.9998, -0.0189, 0.7914, 0.6098, -0.3756, -0.0227, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1793 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2959 right_y=0.002 right_z=0.1843 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.5538, -1.5521, 10.5504, 1.7656, -0.0415, 0.0659, -0.0366, -0.6632, -1.3197, 9.8256, 1.7216, -0.0562, -0.0513, -0.105]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7509, 1.4948, 0.9085, -0.1837, -0.6243, -0.5152, 0.9998, 0.8627, 1.6665, 1.055, -0.2356, 0.6827, 0.543, 0.9991]\nstate[eef_state]: left_x=0.3584 left_y=-0.1884 left_z=0.1412 left_yaw=0.0246 left_pitch=-0.0296 left_roll=0.0089 left_gripper=0.9998 right_x=0.3535 right_y=0.247 right_z=0.1282 right_yaw=0.008 right_pitch=-0.0642 right_roll=-0.0628 right_gripper=0.9991\nstate[joint_eff]: [-3.6581, -3.6171, 9.2923, 1.4579, -0.4274, 0.1832, -0.0366, 2.359, -6.8444, 11.6034, 1.6532, 0.6178, 0.2076, -0.105]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6464, 1.7401, 0.7601, 0.1722, -0.561, -0.453, 0.9997, 0.6056, 1.7191, 0.7296, 0.2745, 0.2253, 0.1001, 0.9991]\nstate[eef_state]: left_x=0.3802 left_y=-0.1646 left_z=0.0436 left_yaw=0.0504 left_pitch=-0.089 left_roll=0.0513 left_gripper=0.9997 right_x=0.3712 right_y=0.2134 right_z=0.0426 right_yaw=0.3515 right_pitch=-0.1375 right_roll=-0.0716 right_gripper=0.9991\nstate[joint_eff]: [0.4308, -7.3231, 5.2034, 1.7265, -0.1636, 0.2125, -0.0171, -0.6222, -6.6667, 5.3402, 1.7802, 0.0659, -0.0415, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b34a06522b8b1ee1a5659b4a4b849bc66ae395f733a1c1bf9b8b7f89a83654e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3649ee25e5162408eb56901d5150ee30929b54dfc1ca100dfa2c9dac9ba832a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c907fc4a6b6c4b377dff9cb3c7cba51ebf20785a55ed84f5e4ab8b3a5e6dba07",
        "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_01Rg14FLVd1RzwTyRBibv6tJ",
      "input": {
        "note": "The right gripper's +yaw made the pen look more vertical in its wrist view, so I'm reversing to yaw -1.0 rad to line the pen up across the jaws. Meanwhile the left arm creeps 2.5 cm further out and down to table level over the cap.",
        "targets": {
          "left_x": 0.405,
          "left_z": 0.005,
          "right_yaw": -1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01Rg14FLVd1RzwTyRBibv6tJ",
      "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]: [-0.5621, 1.9007, 0.7532, 0.3378, -0.5434, -0.4473, 0.9993, 0.7872, 2.36, 1.8946, -0.981, 0.804, 1.5311, 0.999]\nstate[eef_state]: left_x=0.4005 left_y=-0.1401 left_z=0.003 left_yaw=0.1187 left_pitch=-0.0988 left_roll=0.0472 left_gripper=0.9993 right_x=0.4243 right_y=0.2506 right_z=0.0506 right_yaw=-0.7442 right_pitch=-0.2066 right_roll=0.0966 right_gripper=0.999\nstate[joint_eff]: [-4.0684, -6.3521, 8.2667, 1.1111, -0.0464, 0.315, -0.0464, 2.5368, -8.3487, 5.135, 0.5543, 0.6178, 0.3101, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65365749ae3f9932cc6c225c6f46dd7a58b496cd0f79241d56139f509718fcd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:837b0af03b78d3744728723fe715ea09a15cccda5955d2235d2737a9783b2a47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:165128d53d56083df43c68b5d12585e0690311cde47f214c75ddad7cc6409082",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /messages · status 200 · 4.935 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]: [-0.7509, 1.4948, 0.9085, -0.1837, -0.6243, -0.5152, 0.9998, 0.8627, 1.6665, 1.055, -0.2356, 0.6827, 0.543, 0.9991]\nstate[eef_state]: left_x=0.3584 left_y=-0.1884 left_z=0.1412 left_yaw=0.0246 left_pitch=-0.0296 left_roll=0.0089 left_gripper=0.9998 right_x=0.3535 right_y=0.247 right_z=0.1282 right_yaw=0.008 right_pitch=-0.0642 right_roll=-0.0628 right_gripper=0.9991\nstate[joint_eff]: [-3.6581, -3.6171, 9.2923, 1.4579, -0.4274, 0.1832, -0.0366, 2.359, -6.8444, 11.6034, 1.6532, 0.6178, 0.2076, -0.105]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6464, 1.7401, 0.7601, 0.1722, -0.561, -0.453, 0.9997, 0.6056, 1.7191, 0.7296, 0.2745, 0.2253, 0.1001, 0.9991]\nstate[eef_state]: left_x=0.3802 left_y=-0.1646 left_z=0.0436 left_yaw=0.0504 left_pitch=-0.089 left_roll=0.0513 left_gripper=0.9997 right_x=0.3712 right_y=0.2134 right_z=0.0426 right_yaw=0.3515 right_pitch=-0.1375 right_roll=-0.0716 right_gripper=0.9991\nstate[joint_eff]: [0.4308, -7.3231, 5.2034, 1.7265, -0.1636, 0.2125, -0.0171, -0.6222, -6.6667, 5.3402, 1.7802, 0.0659, -0.0415, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5621, 1.9007, 0.7532, 0.3378, -0.5434, -0.4473, 0.9993, 0.7872, 2.36, 1.8946, -0.981, 0.804, 1.5311, 0.999]\nstate[eef_state]: left_x=0.4005 left_y=-0.1401 left_z=0.003 left_yaw=0.1187 left_pitch=-0.0988 left_roll=0.0472 left_gripper=0.9993 right_x=0.4243 right_y=0.2506 right_z=0.0506 right_yaw=-0.7442 right_pitch=-0.2066 right_roll=0.0966 right_gripper=0.999\nstate[joint_eff]: [-4.0684, -6.3521, 8.2667, 1.1111, -0.0464, 0.315, -0.0464, 2.5368, -8.3487, 5.135, 0.5543, 0.6178, 0.3101, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65365749ae3f9932cc6c225c6f46dd7a58b496cd0f79241d56139f509718fcd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:837b0af03b78d3744728723fe715ea09a15cccda5955d2235d2737a9783b2a47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:165128d53d56083df43c68b5d12585e0690311cde47f214c75ddad7cc6409082",
        "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_01Wt9zfF7Gg9bKoaoddJyjDx",
      "input": {
        "note": "Left wrist view shows the cap just below and right of the jaw column, lying diagonally; I'm shifting the left gripper 2.5 cm to its right, 1 cm further out, down to table level, and yawing +0.4 rad so the jaws straddle the cap's width.",
        "targets": {
          "left_x": 0.41,
          "left_y": -0.168,
          "left_yaw": 0.4,
          "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_01Wt9zfF7Gg9bKoaoddJyjDx",
      "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]: [-0.6136, 2.0186, 0.9665, 0.128, -0.7082, -0.7048, 0.9993, 0.6861, 2.3829, 1.8839, -1.0752, 0.7773, 1.6028, 0.999]\nstate[eef_state]: left_x=0.4206 left_y=-0.1513 left_z=0.0041 left_yaw=0.3292 left_pitch=-0.0807 left_roll=0.0131 left_gripper=0.9993 right_x=0.4279 right_y=0.1949 right_z=0.0333 right_yaw=-0.9113 right_pitch=-0.2368 right_roll=0.0181 right_gripper=0.999\nstate[joint_eff]: [-5.2444, -7.5145, 8.9094, 0.7985, -0.4567, -0.0073, -0.0073, 9.9897, -14.5299, 7.1726, 0.862, 0.5299, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9803b7c17c62a3c2f033c34d6b02c885f72d1e1c572ff65d8dc0c746c66ce222",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17259088ebfb98a94054d33b6a37bc79808b358ad6ce7b23c80bad9df3883e72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2a00cd5877649558ef0cea1cb506fa4e114c1610a60594be0fdee6b24140dea3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /messages · status 200 · 6.033 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]: [-0.6464, 1.7401, 0.7601, 0.1722, -0.561, -0.453, 0.9997, 0.6056, 1.7191, 0.7296, 0.2745, 0.2253, 0.1001, 0.9991]\nstate[eef_state]: left_x=0.3802 left_y=-0.1646 left_z=0.0436 left_yaw=0.0504 left_pitch=-0.089 left_roll=0.0513 left_gripper=0.9997 right_x=0.3712 right_y=0.2134 right_z=0.0426 right_yaw=0.3515 right_pitch=-0.1375 right_roll=-0.0716 right_gripper=0.9991\nstate[joint_eff]: [0.4308, -7.3231, 5.2034, 1.7265, -0.1636, 0.2125, -0.0171, -0.6222, -6.6667, 5.3402, 1.7802, 0.0659, -0.0415, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5621, 1.9007, 0.7532, 0.3378, -0.5434, -0.4473, 0.9993, 0.7872, 2.36, 1.8946, -0.981, 0.804, 1.5311, 0.999]\nstate[eef_state]: left_x=0.4005 left_y=-0.1401 left_z=0.003 left_yaw=0.1187 left_pitch=-0.0988 left_roll=0.0472 left_gripper=0.9993 right_x=0.4243 right_y=0.2506 right_z=0.0506 right_yaw=-0.7442 right_pitch=-0.2066 right_roll=0.0966 right_gripper=0.999\nstate[joint_eff]: [-4.0684, -6.3521, 8.2667, 1.1111, -0.0464, 0.315, -0.0464, 2.5368, -8.3487, 5.135, 0.5543, 0.6178, 0.3101, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6136, 2.0186, 0.9665, 0.128, -0.7082, -0.7048, 0.9993, 0.6861, 2.3829, 1.8839, -1.0752, 0.7773, 1.6028, 0.999]\nstate[eef_state]: left_x=0.4206 left_y=-0.1513 left_z=0.0041 left_yaw=0.3292 left_pitch=-0.0807 left_roll=0.0131 left_gripper=0.9993 right_x=0.4279 right_y=0.1949 right_z=0.0333 right_yaw=-0.9113 right_pitch=-0.2368 right_roll=0.0181 right_gripper=0.999\nstate[joint_eff]: [-5.2444, -7.5145, 8.9094, 0.7985, -0.4567, -0.0073, -0.0073, 9.9897, -14.5299, 7.1726, 0.862, 0.5299, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9803b7c17c62a3c2f033c34d6b02c885f72d1e1c572ff65d8dc0c746c66ce222",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17259088ebfb98a94054d33b6a37bc79808b358ad6ce7b23c80bad9df3883e72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a00cd5877649558ef0cea1cb506fa4e114c1610a60594be0fdee6b24140dea3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISvwQKjgEIEhgCKkD4ph7AEOy6jF/MIPfvOawhhbpYxVbg0H8ToCi1sWroNWGIuOKhAezgEuoIe/Ibbjl7uvPKchQfrRfUQfUNOBMpMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZPLzNUGEgxZdU9CWvaQygP8CTkaDKG+QjO53X0THZE1iyIw9J2jxdDJUCTlkminiuU6pfVyVtVPttyNxgdAJaFZV0cxYfFEsCJ/U7bfNbmrhXdFKt0CAjEJRFu8nS4MM3clsMm+iR1viO9bbW3x8kd12hKD5ZRPclpKjp/f4FnPSYZejUEcAQdUqnRkDr6nkJqSaJ/JbWMVfR9WLIGxi++KXY+hKM5+QYAaqbxp8jjTbR9aaO2ZwlqOndNNE+HLQ81YXJ6Ewi8dQoit0HmYMYV/UmoLlIpHfoemlFmoPDAl1x9/iDKFSZgPocRe6I3jczMdUTbnAK1XWaDEK9PfpIcTu4NzIoH3SWGX5p2Qk0W4M24cRjvHMNnaaPsVaArQbgGRYyKzvIg35rTf+hEq78xQDYYOXCS2UmAN/D2sHASn72vqZ3hONYRqs3EUT1/l/H4sh1aTqMljREuMqY9uPeyVDhAOyqJEVGQq2ZUcyJqVxKb9pH5GhxH19rIDkoRyK+7Nl0FJnXsJdKsE0HuXkGyAPJid53MT1mrb+RpKyuhHY0qUJnuRZhyfZpDzCI45XzCIrBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Lq7bcH9oVpkzhLRhjU2JBX",
      "input": {
        "note": "The cap now sits right between the left jaws at the bottom of the left wrist view, so I'm closing the left gripper on it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Lq7bcH9oVpkzhLRhjU2JBX",
      "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]: [-0.5896, 2.0239, 0.9615, 0.1314, -0.7288, -0.7158, 0.0085, 0.6785, 2.4893, 2.0666, -1.1812, 0.7628, 1.6615, 0.999]\nstate[eef_state]: left_x=0.423 left_y=-0.1371 left_z=0.0028 left_yaw=0.3728 left_pitch=-0.0711 left_roll=0.0194 left_gripper=0.0085 right_x=0.4411 right_y=0.2034 right_z=0.029 right_yaw=-0.9587 right_pitch=-0.2511 right_roll=0.0289 right_gripper=0.999\nstate[joint_eff]: [-2.1128, -9.935, 5.4359, 1.2332, -0.1587, 0.0562, 0.6667, 4.5607, -13.0256, 7.665, 0.1929, 0.5153, 0.0952, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6913d9050604a0212bf826748a89455aaa204c910026741a76e5ec06477fe051",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0bafda685d8c790276fd1a7a277d20766c2b994fa669fae6ca0eb5954b5e92ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3be94d3c3b2904d11b78938da740bce8644771ca6c2beda6794df6132328ce8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /messages · status 200 · 9.918 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]: [-0.5621, 1.9007, 0.7532, 0.3378, -0.5434, -0.4473, 0.9993, 0.7872, 2.36, 1.8946, -0.981, 0.804, 1.5311, 0.999]\nstate[eef_state]: left_x=0.4005 left_y=-0.1401 left_z=0.003 left_yaw=0.1187 left_pitch=-0.0988 left_roll=0.0472 left_gripper=0.9993 right_x=0.4243 right_y=0.2506 right_z=0.0506 right_yaw=-0.7442 right_pitch=-0.2066 right_roll=0.0966 right_gripper=0.999\nstate[joint_eff]: [-4.0684, -6.3521, 8.2667, 1.1111, -0.0464, 0.315, -0.0464, 2.5368, -8.3487, 5.135, 0.5543, 0.6178, 0.3101, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6136, 2.0186, 0.9665, 0.128, -0.7082, -0.7048, 0.9993, 0.6861, 2.3829, 1.8839, -1.0752, 0.7773, 1.6028, 0.999]\nstate[eef_state]: left_x=0.4206 left_y=-0.1513 left_z=0.0041 left_yaw=0.3292 left_pitch=-0.0807 left_roll=0.0131 left_gripper=0.9993 right_x=0.4279 right_y=0.1949 right_z=0.0333 right_yaw=-0.9113 right_pitch=-0.2368 right_roll=0.0181 right_gripper=0.999\nstate[joint_eff]: [-5.2444, -7.5145, 8.9094, 0.7985, -0.4567, -0.0073, -0.0073, 9.9897, -14.5299, 7.1726, 0.862, 0.5299, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.5896, 2.0239, 0.9615, 0.1314, -0.7288, -0.7158, 0.0085, 0.6785, 2.4893, 2.0666, -1.1812, 0.7628, 1.6615, 0.999]\nstate[eef_state]: left_x=0.423 left_y=-0.1371 left_z=0.0028 left_yaw=0.3728 left_pitch=-0.0711 left_roll=0.0194 left_gripper=0.0085 right_x=0.4411 right_y=0.2034 right_z=0.029 right_yaw=-0.9587 right_pitch=-0.2511 right_roll=0.0289 right_gripper=0.999\nstate[joint_eff]: [-2.1128, -9.935, 5.4359, 1.2332, -0.1587, 0.0562, 0.6667, 4.5607, -13.0256, 7.665, 0.1929, 0.5153, 0.0952, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6913d9050604a0212bf826748a89455aaa204c910026741a76e5ec06477fe051",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0bafda685d8c790276fd1a7a277d20766c2b994fa669fae6ca0eb5954b5e92ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3be94d3c3b2904d11b78938da740bce8644771ca6c2beda6794df6132328ce8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISogUKjgEIEhgCKkAcxcJF2tEWxAhEerBIi9A9QhKXBHqnW/caRXg4fuCtbnWrPkCKtXgDWY/T5JXVhwkWd4Yy+vApobsMLBlaF8myMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZnLzNUGEgyl9yXVNP0Dba9VJiEaDCgDvd2UZiiMct4/XSIwofJd0aDoIthNeH4Bhk2xFT5yM5Skye6V6mUF3NzKYrLUctNe0Ax6kpaknBBlFXWwKsADl061brRrgaRXSY2yyY9xjbaJswdeoPbXKsnViUwm/c1ICRECru4A5H60NsdHNWWcvLa+f4Nn+Y90RjeuSygwtN3tYRzUeGbgs8Of/NCfVHha/3GHew/gI/6mAoasYT9zUDm9qs0J3c0GEfngEhWMgNVyczZf2Bumou+wgArNdk4nW/7acQVOx3aQ6hGNlLr5pBW01biOKFTRVK77iM/u936r2xEYuELiBABaWga7UVJ9LmYJ4QsC5Q0OCWI8OLoLsEt8KKhywBTWlVtYkT6PndkQg13lUX1KZigS036K58FRUtQlGwFt57tCZ+icFKU8oUDcf/8OcDscLXB0hoojHzUzL8P04kiyTdGi9mXlyihpm/fNTieEQv5J7BrqXHSpW98nZ7ppQ12rrVkmQfGA7igpJ9H8TWnO43g/mpx4/qaa9TRHxzx19JiMwVHOVG59h++ihOjYfcfzoGafcgqpz9ptSvDHQV2I0krGu6u3ubSyav5cRrm3ZsXOyccFX40Tf9DrXuM+FPI6qzz7VnU3YihRFIgB6URlBhqOyN6RK/hyNGNFTa8LMtd+pVfznHVKes5gij4DLH0VTbk2Jg24KRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CqbVTXxsaTzCwN9mCaXqSU",
      "input": {
        "note": "The left gripper closed empty (reading 0.008), so the cap was missed or pushed. Lifting and retracting the left arm to get an unobstructed top view of where the cap and pen actually are.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.33,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01CqbVTXxsaTzCwN9mCaXqSU",
      "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]: [-0.7689, 1.4982, 1.074, -0.6434, -0.7998, -0.9195, 0.9958, 0.6762, 2.4886, 2.0659, -1.1748, 0.7471, 1.6638, 0.999]\nstate[eef_state]: left_x=0.3364 left_y=-0.1442 left_z=0.1601 left_yaw=0.3542 left_pitch=-0.086 left_roll=0.0052 left_gripper=0.9958 right_x=0.4412 right_y=0.2047 right_z=0.0272 right_yaw=-0.9613 right_pitch=-0.2672 right_roll=0.0362 right_gripper=0.999\nstate[joint_eff]: [-0.4171, -7.8017, 8.9778, 1.0476, -0.5934, -0.0952, -0.1245, -0.1983, -13.559, 5.6684, 0.1832, 0.4908, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1cab7f8d6401babe91ad8ef0de684fffab5e28f912374693fb869dad07c4261d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:688855dfd6849915d7cda8135f37b7072fdad49e6ae1a340a39684ceba782154",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:02bbd3eb2a959ba9af7b30083274aeb3a7dd8b1ffb3d02e4f9645a6cdcee7a04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /messages · status 200 · 15.88 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]: [-0.6136, 2.0186, 0.9665, 0.128, -0.7082, -0.7048, 0.9993, 0.6861, 2.3829, 1.8839, -1.0752, 0.7773, 1.6028, 0.999]\nstate[eef_state]: left_x=0.4206 left_y=-0.1513 left_z=0.0041 left_yaw=0.3292 left_pitch=-0.0807 left_roll=0.0131 left_gripper=0.9993 right_x=0.4279 right_y=0.1949 right_z=0.0333 right_yaw=-0.9113 right_pitch=-0.2368 right_roll=0.0181 right_gripper=0.999\nstate[joint_eff]: [-5.2444, -7.5145, 8.9094, 0.7985, -0.4567, -0.0073, -0.0073, 9.9897, -14.5299, 7.1726, 0.862, 0.5299, -0.0611, -0.0122]\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]: [-0.5896, 2.0239, 0.9615, 0.1314, -0.7288, -0.7158, 0.0085, 0.6785, 2.4893, 2.0666, -1.1812, 0.7628, 1.6615, 0.999]\nstate[eef_state]: left_x=0.423 left_y=-0.1371 left_z=0.0028 left_yaw=0.3728 left_pitch=-0.0711 left_roll=0.0194 left_gripper=0.0085 right_x=0.4411 right_y=0.2034 right_z=0.029 right_yaw=-0.9587 right_pitch=-0.2511 right_roll=0.0289 right_gripper=0.999\nstate[joint_eff]: [-2.1128, -9.935, 5.4359, 1.2332, -0.1587, 0.0562, 0.6667, 4.5607, -13.0256, 7.665, 0.1929, 0.5153, 0.0952, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.7689, 1.4982, 1.074, -0.6434, -0.7998, -0.9195, 0.9958, 0.6762, 2.4886, 2.0659, -1.1748, 0.7471, 1.6638, 0.999]\nstate[eef_state]: left_x=0.3364 left_y=-0.1442 left_z=0.1601 left_yaw=0.3542 left_pitch=-0.086 left_roll=0.0052 left_gripper=0.9958 right_x=0.4412 right_y=0.2047 right_z=0.0272 right_yaw=-0.9613 right_pitch=-0.2672 right_roll=0.0362 right_gripper=0.999\nstate[joint_eff]: [-0.4171, -7.8017, 8.9778, 1.0476, -0.5934, -0.0952, -0.1245, -0.1983, -13.559, 5.6684, 0.1832, 0.4908, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1cab7f8d6401babe91ad8ef0de684fffab5e28f912374693fb869dad07c4261d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:688855dfd6849915d7cda8135f37b7072fdad49e6ae1a340a39684ceba782154",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02bbd3eb2a959ba9af7b30083274aeb3a7dd8b1ffb3d02e4f9645a6cdcee7a04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISxAkKjgEIEhgCKkAGL8Uv/Qx4pxzc1oaEJ282QGZOFSEdRXMEKCoLsO0qriYpyvyiYND3gbHF+Nh90U9BdEZdB2kIUIsCsLC19/i9Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaTLzNUGEgzS0EHJ636XvnqoWFgaDMZan7B40yvUsDt3siIw2OgIkcaO5qOJm7iq9W4IUuscZanR2CHqKGXwTgozWPwk+VXFMYp7mO3jYsRI6hGsKuIHZ81pyHkPIlnKCLG5xmyw/pmjYwPZc15oglkbI/qf39r9uu1PgGxneTyYICHUOx9Vx/ZdpudeK9c+5JomxGWZAGpEJ958Xtc9dmlc9jmunAhzVtiCd9LSA2gUr8ppH/CrbZ6cAnafvmh1ds0qH++iOFTtoqXgPAhU9x+tJXOXZh9lZWMGeWEuyJBMaDWdOOYblvDQyz5vsyoB85GfVvSx9lwIVozg6Pka7tOyZrldoHOWdbMRjFxad4/BHkQtcQrlV1RM7fpC3Z9aEjOKKU+fyS1asB14zFBYMOK5YHZ8bSr6Mbu3zXfn85wY8KRAdMooli/qVKVqle+Et3GBKmUjZ3nirfJ1UvuhlXhCiTdHccgCV0b9hUG7AGAUSp/fa2D9T5KGlvvp9YHkgstxOj4DYlyjFhuRJY0JpVSjTKC9eoKiBlcNU12Nr7jHfsPsJQcajlWSJ7MqPLZT/AfQWMDAFrae7zCP5x9Jcm5ZpWbXkhx5ra2UX4pWKARFecR6fRhZdp+nmLvr7cIHxK8OcR4PVqFBTr/lIXvSyUAEpk1hwhU5LkA8y+2kyz2RVu3iTSdHPGRvjN7d8351fkFWoKY3tOnj4PWDyhu9v01rbqs55RlAhkcQ7HnKci0KqY3Pak4A9q2Wg2KQYRuFZHEUi2SJImZwTdkJw2bnXA4Rch0JFtcTVt8NFO/Gdf6QY+dXK4775qEj3c/+PNeZGlgYA4e6g/7HawzKUOYFouSdAQ+IPLgYqq0rKXfuAEmuyu3I2WWszBjXOsW14DTmoIg1fmkmeOnhLlAS5qXD2LEh2dxWqGiKtvNt3XpWbfcRFN69+agwqq9dRLWCFuWKTwADpUS04xPuyb/CzvgBr+i5oTqjM1hPTKABDU7jze2bbs5AI95C5kE5VOmc34+gj1IlMECqAV0Rp0qnPLWYZdlKwpq0WHsJoAd0HMZOFXM0FMK0+q8bUMnLFJfbPa0WRPwL+3Uk9G+46ArKq57PdWBSnltFOsuyfkWAGw0a/vvjRxjhVqT/KE8rVI1VwJXb2DesYlMQpA98rHJyv4uI2aKUYofOno50q9oLhuQCHmJ2f1brNwTdtEQ6zxZ/44TtkIcWWLOsQn6jcSjMhiYsQ4fY7Qgwx++urP9YuC6DVjGYjK2RRoEKcF2t+B1NIeOtOTVltnAgRKZrKYoDgTds4hkQPBbuzG1jYhMzozUDFCwGQcvs0bA7eA3JUmX6trwrvjrHtB/RyKo+TNbAe1lTv6inNgYwMssXBO03ZXvkx3PaN9OAO7W9TW4YSdrvxiyLHbjk4pdnjxf+gNpXM1Bfqspx6M12aPdi7hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LAkyieM1gtDH85dBroZBiq",
      "input": {
        "note": "Both arms are blocking the overhead view of the table. Parking them back near home and high so I can re-localize the pen and cap cleanly in the top camera.",
        "targets": {
          "left_x": 0.25,
          "left_y": -0.02,
          "left_yaw": 0,
          "left_z": 0.25,
          "right_x": 0.25,
          "right_y": 0.02,
          "right_yaw": 0,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01LAkyieM1gtDH85dBroZBiq",
      "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]: [-0.2527, 0.7761, 0.9157, -0.8444, -0.268, -0.2352, 0.9964, 0.1364, 0.9302, 1.0744, -0.9768, 0.1566, 0.2436, 0.999]\nstate[eef_state]: left_x=0.2538 left_y=-0.0135 left_z=0.2348 left_yaw=0.0893 left_pitch=-0.1041 left_roll=-0.0031 left_gripper=0.9964 right_x=0.2615 right_y=0.0117 right_z=0.2375 right_yaw=-0.1429 right_pitch=-0.2637 right_roll=0.0504 right_gripper=0.999\nstate[joint_eff]: [0.2256, -0.8821, 10.0444, 1.7998, -0.0415, 0.1636, 0.0513, -0.3077, -1.8803, 8.8821, 1.4872, 0.105, -0.1343, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74f7d654a59435ac276996084bb39391c268546397c8fb987777396d51ce93bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:563400ea9160fad9b246c0446db66c16beb9ae468d281215dd43cd67256d066c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:57c27b693d9613e9426033090104d9ddbf5887b15ea0ba156ab27a32f144fae8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /messages · status 200 · 12.43 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]: [-0.5896, 2.0239, 0.9615, 0.1314, -0.7288, -0.7158, 0.0085, 0.6785, 2.4893, 2.0666, -1.1812, 0.7628, 1.6615, 0.999]\nstate[eef_state]: left_x=0.423 left_y=-0.1371 left_z=0.0028 left_yaw=0.3728 left_pitch=-0.0711 left_roll=0.0194 left_gripper=0.0085 right_x=0.4411 right_y=0.2034 right_z=0.029 right_yaw=-0.9587 right_pitch=-0.2511 right_roll=0.0289 right_gripper=0.999\nstate[joint_eff]: [-2.1128, -9.935, 5.4359, 1.2332, -0.1587, 0.0562, 0.6667, 4.5607, -13.0256, 7.665, 0.1929, 0.5153, 0.0952, -0.0122]\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]: [-0.7689, 1.4982, 1.074, -0.6434, -0.7998, -0.9195, 0.9958, 0.6762, 2.4886, 2.0659, -1.1748, 0.7471, 1.6638, 0.999]\nstate[eef_state]: left_x=0.3364 left_y=-0.1442 left_z=0.1601 left_yaw=0.3542 left_pitch=-0.086 left_roll=0.0052 left_gripper=0.9958 right_x=0.4412 right_y=0.2047 right_z=0.0272 right_yaw=-0.9613 right_pitch=-0.2672 right_roll=0.0362 right_gripper=0.999\nstate[joint_eff]: [-0.4171, -7.8017, 8.9778, 1.0476, -0.5934, -0.0952, -0.1245, -0.1983, -13.559, 5.6684, 0.1832, 0.4908, -0.0611, -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]: [-0.2527, 0.7761, 0.9157, -0.8444, -0.268, -0.2352, 0.9964, 0.1364, 0.9302, 1.0744, -0.9768, 0.1566, 0.2436, 0.999]\nstate[eef_state]: left_x=0.2538 left_y=-0.0135 left_z=0.2348 left_yaw=0.0893 left_pitch=-0.1041 left_roll=-0.0031 left_gripper=0.9964 right_x=0.2615 right_y=0.0117 right_z=0.2375 right_yaw=-0.1429 right_pitch=-0.2637 right_roll=0.0504 right_gripper=0.999\nstate[joint_eff]: [0.2256, -0.8821, 10.0444, 1.7998, -0.0415, 0.1636, 0.0513, -0.3077, -1.8803, 8.8821, 1.4872, 0.105, -0.1343, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74f7d654a59435ac276996084bb39391c268546397c8fb987777396d51ce93bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:563400ea9160fad9b246c0446db66c16beb9ae468d281215dd43cd67256d066c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57c27b693d9613e9426033090104d9ddbf5887b15ea0ba156ab27a32f144fae8",
        "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_01NTjVLP4DLct7b8KRYAJ44y",
      "input": {
        "note": "Clean top view: the pen lies diagonally in the far right-centre of the table, the cap is a small blob left of centre. Moving the right arm to hover 12 cm above the pen with the jaws yawed -26° to be perpendicular to its axis.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.46,
          "right_y": 0.27,
          "right_yaw": -0.45,
          "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_01NTjVLP4DLct7b8KRYAJ44y",
      "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]: [-0.2512, 0.7803, 0.915, -0.8719, -0.2573, -0.2348, 0.9965, 0.7227, 2.2559, 1.9987, -0.9291, 0.6292, 1.0222, 0.9991]\nstate[eef_state]: left_x=0.2499 left_y=-0.014 left_z=0.2283 left_yaw=0.0831 left_pitch=-0.137 left_roll=0.0014 left_gripper=0.9965 right_x=0.4557 right_y=0.268 right_z=0.115 right_yaw=-0.4104 right_pitch=-0.291 right_roll=0.0352 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -0.7179, 6.4615, 1.8291, -0.2222, -0.0073, -0.0024, 0.7179, -12.6838, 7.4598, 0.6911, 0.6178, 0.2662, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50b46bf7675881da6880430a6fbfc06afe057cc200a995d154419dc1b40e599f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf2c889602f8713526b58dc97addc53822eba3e10f593f9c884feb27ae83614a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:75bb4e8eb0ea6f739b7ab8fb22a816ae94eb342867942ade7ec7a9cdb61409c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /messages · status 200 · 11.2 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]: [-0.7689, 1.4982, 1.074, -0.6434, -0.7998, -0.9195, 0.9958, 0.6762, 2.4886, 2.0659, -1.1748, 0.7471, 1.6638, 0.999]\nstate[eef_state]: left_x=0.3364 left_y=-0.1442 left_z=0.1601 left_yaw=0.3542 left_pitch=-0.086 left_roll=0.0052 left_gripper=0.9958 right_x=0.4412 right_y=0.2047 right_z=0.0272 right_yaw=-0.9613 right_pitch=-0.2672 right_roll=0.0362 right_gripper=0.999\nstate[joint_eff]: [-0.4171, -7.8017, 8.9778, 1.0476, -0.5934, -0.0952, -0.1245, -0.1983, -13.559, 5.6684, 0.1832, 0.4908, -0.0611, -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]: [-0.2527, 0.7761, 0.9157, -0.8444, -0.268, -0.2352, 0.9964, 0.1364, 0.9302, 1.0744, -0.9768, 0.1566, 0.2436, 0.999]\nstate[eef_state]: left_x=0.2538 left_y=-0.0135 left_z=0.2348 left_yaw=0.0893 left_pitch=-0.1041 left_roll=-0.0031 left_gripper=0.9964 right_x=0.2615 right_y=0.0117 right_z=0.2375 right_yaw=-0.1429 right_pitch=-0.2637 right_roll=0.0504 right_gripper=0.999\nstate[joint_eff]: [0.2256, -0.8821, 10.0444, 1.7998, -0.0415, 0.1636, 0.0513, -0.3077, -1.8803, 8.8821, 1.4872, 0.105, -0.1343, -0.0122]",
      "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]: [-0.2512, 0.7803, 0.915, -0.8719, -0.2573, -0.2348, 0.9965, 0.7227, 2.2559, 1.9987, -0.9291, 0.6292, 1.0222, 0.9991]\nstate[eef_state]: left_x=0.2499 left_y=-0.014 left_z=0.2283 left_yaw=0.0831 left_pitch=-0.137 left_roll=0.0014 left_gripper=0.9965 right_x=0.4557 right_y=0.268 right_z=0.115 right_yaw=-0.4104 right_pitch=-0.291 right_roll=0.0352 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -0.7179, 6.4615, 1.8291, -0.2222, -0.0073, -0.0024, 0.7179, -12.6838, 7.4598, 0.6911, 0.6178, 0.2662, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50b46bf7675881da6880430a6fbfc06afe057cc200a995d154419dc1b40e599f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf2c889602f8713526b58dc97addc53822eba3e10f593f9c884feb27ae83614a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75bb4e8eb0ea6f739b7ab8fb22a816ae94eb342867942ade7ec7a9cdb61409c0",
        "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_01PeRGyXh44WTgLCfz9ZmFmm",
      "input": {
        "note": "Right wrist view puts the pen low and to the right of the jaw column, so I'm shifting the gripper ~6 cm along its own right direction and dropping to 5 cm above the table to line up on the pen.",
        "targets": {
          "right_x": 0.435,
          "right_y": 0.215,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01PeRGyXh44WTgLCfz9ZmFmm",
      "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]: [-0.2512, 0.786, 0.915, -0.8799, -0.2546, -0.2348, 0.9965, 0.6651, 2.1635, 1.4948, -0.6304, 0.5976, 0.9726, 0.999]\nstate[eef_state]: left_x=0.2493 left_y=-0.0143 left_z=0.2255 left_yaw=0.0815 left_pitch=-0.1506 left_roll=0.0042 left_gripper=0.9965 right_x=0.417 right_y=0.2053 right_z=0.0181 right_yaw=-0.4605 right_pitch=-0.3668 right_roll=-0.0922 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -0.7043, 6.4342, 1.663, -0.2027, -0.0415, -0.0122, -0.294, -16.1846, 7.3504, 1.3602, 0.3736, -0.0904, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef2fb7511d9bd31d5448d7fc12bdce9e5188872aee1d54c15aba3fe758bf6a00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f58cddf82482ef003797956b9075c0aaafa4a4c02859c94eabe69e4f395ba4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8dfb6f3ea028ed45e3b3d5724c231ba1a23d69b4daef29820e07a94605976c2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /messages · status 200 · 8.009 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]: [-0.2527, 0.7761, 0.9157, -0.8444, -0.268, -0.2352, 0.9964, 0.1364, 0.9302, 1.0744, -0.9768, 0.1566, 0.2436, 0.999]\nstate[eef_state]: left_x=0.2538 left_y=-0.0135 left_z=0.2348 left_yaw=0.0893 left_pitch=-0.1041 left_roll=-0.0031 left_gripper=0.9964 right_x=0.2615 right_y=0.0117 right_z=0.2375 right_yaw=-0.1429 right_pitch=-0.2637 right_roll=0.0504 right_gripper=0.999\nstate[joint_eff]: [0.2256, -0.8821, 10.0444, 1.7998, -0.0415, 0.1636, 0.0513, -0.3077, -1.8803, 8.8821, 1.4872, 0.105, -0.1343, -0.0122]",
      "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]: [-0.2512, 0.7803, 0.915, -0.8719, -0.2573, -0.2348, 0.9965, 0.7227, 2.2559, 1.9987, -0.9291, 0.6292, 1.0222, 0.9991]\nstate[eef_state]: left_x=0.2499 left_y=-0.014 left_z=0.2283 left_yaw=0.0831 left_pitch=-0.137 left_roll=0.0014 left_gripper=0.9965 right_x=0.4557 right_y=0.268 right_z=0.115 right_yaw=-0.4104 right_pitch=-0.291 right_roll=0.0352 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -0.7179, 6.4615, 1.8291, -0.2222, -0.0073, -0.0024, 0.7179, -12.6838, 7.4598, 0.6911, 0.6178, 0.2662, -0.105]",
      "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]: [-0.2512, 0.786, 0.915, -0.8799, -0.2546, -0.2348, 0.9965, 0.6651, 2.1635, 1.4948, -0.6304, 0.5976, 0.9726, 0.999]\nstate[eef_state]: left_x=0.2493 left_y=-0.0143 left_z=0.2255 left_yaw=0.0815 left_pitch=-0.1506 left_roll=0.0042 left_gripper=0.9965 right_x=0.417 right_y=0.2053 right_z=0.0181 right_yaw=-0.4605 right_pitch=-0.3668 right_roll=-0.0922 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -0.7043, 6.4342, 1.663, -0.2027, -0.0415, -0.0122, -0.294, -16.1846, 7.3504, 1.3602, 0.3736, -0.0904, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef2fb7511d9bd31d5448d7fc12bdce9e5188872aee1d54c15aba3fe758bf6a00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f58cddf82482ef003797956b9075c0aaafa4a4c02859c94eabe69e4f395ba4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8dfb6f3ea028ed45e3b3d5724c231ba1a23d69b4daef29820e07a94605976c2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISsAsKjgEIEhgCKkDFCBN4Z9pgrO7cvtgbCgtet6wNV+StQDvBUbERA5tzKRDd5eSodStw3ssZmzUP74w7s68noFiVSYCRqQ96FW7KMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdDLzNUGEgxsRbyiYzRsIYbSj4oaDJ2eCScsxp6lcuxuTSIwjgCliXLz2mys/UxVzg0AzLGieSMdSRCfwZ7t3kTlihDEIiHdK1ucSgH8XAfp/pT+Ks4J5n0I/5lQBsHDWRT8WA7yU+zW1sdalQQfyebqjhbt1O3PJxiWE0p0S+OcoPBgWZlE3fYQPp5lZGIMn0HC6sRomBERiUz30L5K9J3c5ueQNmV2w0Gcm79MYEDddghm1nBE/ssSmySkPmkNWD59TivH1NAjKYYYJ7jbUUv2KNGddCO+/JYK49XvwFajBgFEduh22Rc4v+vZJhZs12gI3QDW7RPtM5nHLCuh+ryaXrg64vfyS68m/uiOOByvAZfiigVBSDi+ZgIjYmQTpJRZgAG4BC4TN1T36NU2rbAQpCFUVtFk8D3TMlkvexc7HquuJZUTlGTPxwx/NJUFWe0q70I2J1cWPgzUyOxyLEz2KRLk0DWhG5Xx5Bwg7C/oEXFnhjoErkNxEWUsc97JwswCYJQ92W/EYza0feRgSkp3zV+h0RkmiFgLbFRuGLNbRf/8XdRixpboBwlvYdS7JXj+zdNVnlc1WqoDpCR0YUhk4c8y3zWRraPvwmgwvVfELOG86LMTe8LCfrXko8/Vm/poLV2Djo3MT1ft3IcImFu4RwRAKXOlqWP3yOgkablwWx+gbZ0CHIYkQz/glfFly/pPoCSXm6VJK2Tg4p26okh6z3Y4Qi0C0630stYq5lcBiGIUyXjM5bsiGkTJs2kry80nN/Z8vBvr9O+uI0nF/c3MNH9aU1hlc/xRRlmOzVHXV6ByPiUWL8JSplrI0TlDnrgfEjkfPTLL+EVh+uaygXAcC9QpYfC0ZE9Q69VsJn9916HQ3RpUZJroOvB6AV62ykuX8wVe3ZF5jzk4BrDp+Hz293gZdlh6Nnf0TkWCQ+DbX5VElOqZy1S0m/wV8IK4KxNElWB2AU09qHaP+CrJIHN3s2Cate3xPwj0w3pxIXmIyt391NgJlH0RCxtN23mwY8j06athpPnrye/s2Ns+aK1pnN6Seee2Tgrr/FuAmYvZsxLoiY4xSd7+Wrm9wHLqoOFWNVkU01gkLiGLXPFEb0s6y/nzviY4HQFEn19t5gVVkSlsnzABLVzS4C8ho0xCah3xA8Z6NGaEX4XScqpji8aoiSn5PYybens8kbwzMvEi9AcwFqOZY/aOJ2KhOAjQiuCXwFAj+YvYNHE71Z2kUXG94a78mPkm1aUkWvi6unFRVwo7AWrXA35OdFEHB8jtgZ5O6VF7/Wh5wITOm9s9L1yu2AeX+RQChe5GfGWfcqRWuJLFqIXxsXjJmNWj8GP8C2ujJxzXRB1+7wu8d8Z6APe/muTSip6y4QshiYJBOTGcYKWHgUvB2hRq/WC7xTL0RUmLHNdMaXxo6+U6X+0kTFALOVJ/tHX19joX01v5EU5LNu65ElHyIw7+hIuRUR3SJCj2qA9yFT0mAKvHXPMsSiagfNPQT795iglicBsvDN+iO4H3FhFR/p9h5kjm38OaXY+1bc0J1WbJYIUFkEYvUpgzKGwEbHkx3ClrCfYjsPHBnYSMgXueXiU2F9X8cROX4Ch0jZcb90pB0S3PTpbFHUrSUniAEn1EwVFH631fZrMHTzNMyjT/SlFiKIY4OoyLSTH2BtDaOQOIPljeP/VPGj7m4G2zreda+zQjw3msv9hZs14NkSJu2GLNmKhpB00vy8ja96uzmW8hfeKGRdr/0S1DsC+UGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CeMG3cL27DSai23n3hcbbN",
      "input": {
        "note": "The pen now lies across the bottom of the right wrist view just left of the jaw column and roughly perpendicular to the jaws; nudging 1.5 cm that way and settling to table level before closing.",
        "targets": {
          "right_x": 0.424,
          "right_y": 0.218,
          "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_01CeMG3cL27DSai23n3hcbbN",
      "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]: [-0.2512, 0.7868, 0.915, -0.881, -0.2543, -0.2348, 0.9965, 0.6674, 2.1818, 1.5211, -0.5713, 0.5961, 0.9623, 0.999]\nstate[eef_state]: left_x=0.2491 left_y=-0.0144 left_z=0.2251 left_yaw=0.0813 left_pitch=-0.1524 left_roll=0.0046 left_gripper=0.9965 right_x=0.4311 right_y=0.218 right_z=0.0214 right_yaw=-0.4296 right_pitch=-0.3386 right_roll=-0.0342 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -0.6496, 6.4068, 1.5458, -0.1343, -0.0269, -0.0122, 0.7453, -9.6205, 6.065, 0.398, 0.3687, 0.1832, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a5a0190806cf60d8b029124f056c6c4235ce05b0f7e97c09e395f8c3ce52088",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d09d00d8d879322bc00e7bacb53a59c2e844a7dcb6d758748fd1ba60a1b23d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1e61873d2de6fa284fe063048597e6654bb5db545f898585d0857d88680369a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /messages · status 200 · 3.216 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]: [-0.2512, 0.7803, 0.915, -0.8719, -0.2573, -0.2348, 0.9965, 0.7227, 2.2559, 1.9987, -0.9291, 0.6292, 1.0222, 0.9991]\nstate[eef_state]: left_x=0.2499 left_y=-0.014 left_z=0.2283 left_yaw=0.0831 left_pitch=-0.137 left_roll=0.0014 left_gripper=0.9965 right_x=0.4557 right_y=0.268 right_z=0.115 right_yaw=-0.4104 right_pitch=-0.291 right_roll=0.0352 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -0.7179, 6.4615, 1.8291, -0.2222, -0.0073, -0.0024, 0.7179, -12.6838, 7.4598, 0.6911, 0.6178, 0.2662, -0.105]",
      "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]: [-0.2512, 0.786, 0.915, -0.8799, -0.2546, -0.2348, 0.9965, 0.6651, 2.1635, 1.4948, -0.6304, 0.5976, 0.9726, 0.999]\nstate[eef_state]: left_x=0.2493 left_y=-0.0143 left_z=0.2255 left_yaw=0.0815 left_pitch=-0.1506 left_roll=0.0042 left_gripper=0.9965 right_x=0.417 right_y=0.2053 right_z=0.0181 right_yaw=-0.4605 right_pitch=-0.3668 right_roll=-0.0922 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -0.7043, 6.4342, 1.663, -0.2027, -0.0415, -0.0122, -0.294, -16.1846, 7.3504, 1.3602, 0.3736, -0.0904, -0.0171]",
      "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]: [-0.2512, 0.7868, 0.915, -0.881, -0.2543, -0.2348, 0.9965, 0.6674, 2.1818, 1.5211, -0.5713, 0.5961, 0.9623, 0.999]\nstate[eef_state]: left_x=0.2491 left_y=-0.0144 left_z=0.2251 left_yaw=0.0813 left_pitch=-0.1524 left_roll=0.0046 left_gripper=0.9965 right_x=0.4311 right_y=0.218 right_z=0.0214 right_yaw=-0.4296 right_pitch=-0.3386 right_roll=-0.0342 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -0.6496, 6.4068, 1.5458, -0.1343, -0.0269, -0.0122, 0.7453, -9.6205, 6.065, 0.398, 0.3687, 0.1832, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a5a0190806cf60d8b029124f056c6c4235ce05b0f7e97c09e395f8c3ce52088",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d09d00d8d879322bc00e7bacb53a59c2e844a7dcb6d758748fd1ba60a1b23d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e61873d2de6fa284fe063048597e6654bb5db545f898585d0857d88680369a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS+wcKjgEIEhgCKkBhhLArVAGQuzamPKPDtd6wis9xjV4K7dcOP63WrYn6sHcKG1t7a4ZaFBxrqotMew7bPibHUrRJxYBXCbB5NE23Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdjLzNUGEgx53IcNO2mb1LIeKuEaDAeMDZjz/kUIcZxdDiIwjct/Rgic0zGF/5G8v/Aj9Uasb8PUA3uMACBpSW9G1/Oxa9RjfWiadhY31LIXV9HMKpkGw4mTVdHaSDENAnsnZwegsXeizVYcfNtA36BbS8J0+uKaVYysByIHb+PuNzqRoBBxtwDCP1Nhm9/RYiXSR1J8yfB+shu5QpKbiHmqbDS/ag6G2kahJdTdVGMwaKtUOzqKCbYMhNTKZ8B8I3CFuY7pEdh4HmJfWtHz551DdEad2rCn1uLoIMEceay4GxFOXcaQuKV4zqEL+dn2NIZY5LngF6NTsq7cViixxb43Yobh0Oj/HqiNOnJtpHBe9pImETTrMEsh0W24Q362/kxU4VbhxIgZuWS/3I4lX1uW315iAnanVO2/atguKZONFXyAFMWH3wxzUCb0fa7G/U1BMUKjh8SA/26Jn2Szp+mjlqJ86k5yJ0ph5Xr0cVleJoijlDmBRhMjGkqgeIC4CbzWC4oPjDKR9AbPBWbs4d8daGAys+dXwdbhxq5RUMKnV0MwnPc+xzp31wG3ya4Cuz3XjIQYLyYVj5PuBUcxXLD7RdGKRLFwAgXcXueWjsrzA+5xi9Y0/aKDZpYeuHjSyHFnsuSlX90Oqe79Y8kutlHsYSFxMM7TNMw9v7WUGw2fROGAdT5nBWlFVnReTmBLKP2zn5TJ5pZDKvg4mEi3F/xYKM2ECqkTPQ4vBdL0bIUiBGyfPN4bWXGcmFbV5HLlgEz3VTat4eF2jjyPGEBdTb80wg8gbUfPYSPD6RLSYGOn8h7R/xZlfhI2oGUS9B2D5QtkehqaBY6zyRo0iQ8wz+YBcNP2Yo8tw1nU64B7Ef0jsq9vLOw2aCK4chcQl+iXcS3tlpfAfM7W4AjebGoNmtKBQjdVFXsVndNgUoiE3e1kPVdx8AZNtWRlw+vs0udsiVvFt18fmWC2+CaHWyY/gxpyOT73jw8DOcaT8/vQKu/c3aY4DoUnqzHVIMqIXJbuxMn2dSHYVPc8zFiMuIbzzVeeixBDagwVtHQMhSvZVGJdr3J4JwqBgqHe6mB2appICrdhOh3GwVUFQQi2IJqXYs82jq9DBcbwL9Sc2Syh3coFLlZuT2xRPjuzslD9dlHde88ubP0BHfBYBa+KTv1SbxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CCzYNn8PUDrbyPo6jiWvVH",
      "input": {
        "note": "The pen is centred between the jaws in the right wrist view but the height readback (0.021 m) is above the pen; pressing down to table level so the jaws straddle it.",
        "targets": {
          "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_01CCzYNn8PUDrbyPo6jiWvVH",
      "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]: [-0.2512, 0.7876, 0.915, -0.881, -0.2546, -0.2348, 0.9965, 0.6739, 2.223, 1.52, -0.5365, 0.601, 0.9749, 0.999]\nstate[eef_state]: left_x=0.2492 left_y=-0.0143 left_z=0.2249 left_yaw=0.0816 left_pitch=-0.1531 left_roll=0.0051 left_gripper=0.9965 right_x=0.4321 right_y=0.2218 right_z=0.0053 right_yaw=-0.4349 right_pitch=-0.3377 right_roll=-0.0353 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -0.0889, 6.8034, 1.5214, -0.1783, -0.0659, -0.0122, -0.7316, -14.0103, 4.5744, 0.7937, 0.2076, -0.1832, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25c9f08a55f6f1d7e601d6dd5cb55fc96603fad79f4c84494c3112c303577806",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5360091895655c121f492328d0ec200fa1074c81d157eda072324a353d5d9293",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fe39b4662bcba2ab66d9d493334deafea2864a18c12368fce1f5dcbdb6fea9be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /messages · status 200 · 11.13 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]: [-0.2512, 0.786, 0.915, -0.8799, -0.2546, -0.2348, 0.9965, 0.6651, 2.1635, 1.4948, -0.6304, 0.5976, 0.9726, 0.999]\nstate[eef_state]: left_x=0.2493 left_y=-0.0143 left_z=0.2255 left_yaw=0.0815 left_pitch=-0.1506 left_roll=0.0042 left_gripper=0.9965 right_x=0.417 right_y=0.2053 right_z=0.0181 right_yaw=-0.4605 right_pitch=-0.3668 right_roll=-0.0922 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -0.7043, 6.4342, 1.663, -0.2027, -0.0415, -0.0122, -0.294, -16.1846, 7.3504, 1.3602, 0.3736, -0.0904, -0.0171]",
      "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]: [-0.2512, 0.7868, 0.915, -0.881, -0.2543, -0.2348, 0.9965, 0.6674, 2.1818, 1.5211, -0.5713, 0.5961, 0.9623, 0.999]\nstate[eef_state]: left_x=0.2491 left_y=-0.0144 left_z=0.2251 left_yaw=0.0813 left_pitch=-0.1524 left_roll=0.0046 left_gripper=0.9965 right_x=0.4311 right_y=0.218 right_z=0.0214 right_yaw=-0.4296 right_pitch=-0.3386 right_roll=-0.0342 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -0.6496, 6.4068, 1.5458, -0.1343, -0.0269, -0.0122, 0.7453, -9.6205, 6.065, 0.398, 0.3687, 0.1832, -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]: [-0.2512, 0.7876, 0.915, -0.881, -0.2546, -0.2348, 0.9965, 0.6739, 2.223, 1.52, -0.5365, 0.601, 0.9749, 0.999]\nstate[eef_state]: left_x=0.2492 left_y=-0.0143 left_z=0.2249 left_yaw=0.0816 left_pitch=-0.1531 left_roll=0.0051 left_gripper=0.9965 right_x=0.4321 right_y=0.2218 right_z=0.0053 right_yaw=-0.4349 right_pitch=-0.3377 right_roll=-0.0353 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -0.0889, 6.8034, 1.5214, -0.1783, -0.0659, -0.0122, -0.7316, -14.0103, 4.5744, 0.7937, 0.2076, -0.1832, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25c9f08a55f6f1d7e601d6dd5cb55fc96603fad79f4c84494c3112c303577806",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5360091895655c121f492328d0ec200fa1074c81d157eda072324a353d5d9293",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe39b4662bcba2ab66d9d493334deafea2864a18c12368fce1f5dcbdb6fea9be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISuAIKjgEIEhgCKkASiG+7NvLeuJ9ypH4gzNlFtgiRpovn+/r86D/r1KtRIZ+DI/RQOaZ0gj7aQ7I0oY7/lX9WHXzTyNKte3gge2X3Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdzLzNUGEgyCbmiY0llbr2OVvYkaDF+UqX+D4J66NsyGECIwreuLMWfMxSLp4XfYHwTWa4GgaAFfYxSZjTn2sHs7zYh5oO+fvW/IUX5wd8EH7iajKldcCI4qwI5AtoWc0xw0NHtwsVtbr3tIIeVzdYObZ1c9SWg+MjCQX1bqtHaRPfds71c7RDRG3+fWaqW5IxAg4oJY5vcESrE10IAntHXyMb0WP6LMlC64afkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012aLk9ZbVbUHWAdD9J6rUK2",
      "input": {
        "note": "Gripper is now at table level with the pen shaft between the jaws; closing on 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_012aLk9ZbVbUHWAdD9J6rUK2",
      "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]: [-0.2512, 0.7921, 0.915, -0.8898, -0.2546, -0.2348, 0.9965, 0.6739, 2.223, 1.5139, -0.5232, 0.598, 0.9634, 0.0145]\nstate[eef_state]: left_x=0.2483 left_y=-0.0141 left_z=0.2224 left_yaw=0.0823 left_pitch=-0.1657 left_roll=0.0095 left_gripper=0.9965 right_x=0.4325 right_y=0.2227 right_z=0.0041 right_yaw=-0.4248 right_pitch=-0.3372 right_roll=-0.0346 right_gripper=0.0145\nstate[joint_eff]: [-0.0752, -0.5675, 6.5709, 1.6142, -0.1734, -0.0659, -0.0122, -0.3487, -12.0821, 6.2017, 0.7692, 0.3248, 0.0464, 0.8962]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13a53cfc9f661b8bb0808a904a45d42efae84a3840e71048103248b7d69c898a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:019c93093981c10d91d381b0a1abb83c779b3f4af26bbd8d60337117af9084f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:919484d7a9007f57db16d276d67f4766cac9fb4a384a77c5454a9727c9e0219b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /messages · status 200 · 7.167 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]: [-0.2512, 0.7868, 0.915, -0.881, -0.2543, -0.2348, 0.9965, 0.6674, 2.1818, 1.5211, -0.5713, 0.5961, 0.9623, 0.999]\nstate[eef_state]: left_x=0.2491 left_y=-0.0144 left_z=0.2251 left_yaw=0.0813 left_pitch=-0.1524 left_roll=0.0046 left_gripper=0.9965 right_x=0.4311 right_y=0.218 right_z=0.0214 right_yaw=-0.4296 right_pitch=-0.3386 right_roll=-0.0342 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -0.6496, 6.4068, 1.5458, -0.1343, -0.0269, -0.0122, 0.7453, -9.6205, 6.065, 0.398, 0.3687, 0.1832, -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]: [-0.2512, 0.7876, 0.915, -0.881, -0.2546, -0.2348, 0.9965, 0.6739, 2.223, 1.52, -0.5365, 0.601, 0.9749, 0.999]\nstate[eef_state]: left_x=0.2492 left_y=-0.0143 left_z=0.2249 left_yaw=0.0816 left_pitch=-0.1531 left_roll=0.0051 left_gripper=0.9965 right_x=0.4321 right_y=0.2218 right_z=0.0053 right_yaw=-0.4349 right_pitch=-0.3377 right_roll=-0.0353 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -0.0889, 6.8034, 1.5214, -0.1783, -0.0659, -0.0122, -0.7316, -14.0103, 4.5744, 0.7937, 0.2076, -0.1832, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2512, 0.7921, 0.915, -0.8898, -0.2546, -0.2348, 0.9965, 0.6739, 2.223, 1.5139, -0.5232, 0.598, 0.9634, 0.0145]\nstate[eef_state]: left_x=0.2483 left_y=-0.0141 left_z=0.2224 left_yaw=0.0823 left_pitch=-0.1657 left_roll=0.0095 left_gripper=0.9965 right_x=0.4325 right_y=0.2227 right_z=0.0041 right_yaw=-0.4248 right_pitch=-0.3372 right_roll=-0.0346 right_gripper=0.0145\nstate[joint_eff]: [-0.0752, -0.5675, 6.5709, 1.6142, -0.1734, -0.0659, -0.0122, -0.3487, -12.0821, 6.2017, 0.7692, 0.3248, 0.0464, 0.8962]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13a53cfc9f661b8bb0808a904a45d42efae84a3840e71048103248b7d69c898a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:019c93093981c10d91d381b0a1abb83c779b3f4af26bbd8d60337117af9084f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:919484d7a9007f57db16d276d67f4766cac9fb4a384a77c5454a9727c9e0219b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS5goKjgEIEhgCKkAsymKytuCXYw7h6XpnFfz2xnO9GLFWJ6yQaYF2lQdOYdC6BB/eFtNK1v1Dzgmv5dOmW3mUFWi+9enhbpJsWLUiMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAefLzNUGEgwhFtpFur6R8OqWLlIaDOfrYZ2N8nmkSVcOlyIwqo9yRr5W4ZhQTWH1jImqujj52AP+7FQq065lMM6SL3mw8JfzZvDCThWGo5ZsWVTSKoQJf2CrSbdbfQg8ShMWiJkKwOQgkCkI1uPtzVmUZ+wn3LODP7AackBpom13tJrp7QlZHI3cFmE3qmpmKwNVBZYKa5eJT9xNWLw+70NmG98MRexrwmHTIzv5315Dw+lWE5SYf/l6WXPKoJGdJzsugZkBkEX2Y0f1MohblBwv1MLXHbPSSKWpY0n1v0HRuoXnOaVXfc/4a1ALtu2yO4u1xinm/YhsXSuNytQ1Dk/7NyyD828P3uJ3p63d48xCT/BgQjIEej6cKce3rbQiR3uLwCLbOvXurUiH3JzTeMesYmHzGP7HFldY+scyP5V7U99Y0oc8NsISJWZivtsyvHOuDq/Aj8mWxyhj6rCv1wBUvY3XIN3MNfj5u2BFoQVQIiYO8uqqagrjR0Kw8sHUfp5n+37y0L/rAPURQdtWaHXl/zjrnrga/Ozr7S0fX+kbup2XC8Y7yV01AUGW5qEvsSPC/QxLlyFrHNybOiswokSjkizPOCZMhtw7MeJa9qJ2noHmmzcfgRdXXJeDgYEpDcHlWS03jHDi9nDdFomEgCzfPJDDpjP8YexdxZi360DrF/7FVc/UbC5Iy0ZRSPLbpHDjhnrIZ3Sv6LGHNEcB/bPiACXVaoMFZvxpZWQprA0JOeoqLpObITJTWrrj7LUKhxiQpNj2tk9rRGW4lBjSoE/3mM3/k8tAlUCM1STwGHr74XDyNvCIxyLtzpyAiSphuVcZ/SF3b8VRd7r5RYwioduHW9LDBiNgHW2Z6+A4kLhhj2SP5z4RE0f4gkTG7KrVs8Rnau/bHwuM4d/Nm2zKIuc7ARTKRJaNgZuFzHUeLbB+6RU17ULoIDQuKsBwcg6D9guYsHyc0GTcSpnTyniZDtZARFzORrMRAKdgyIVjtttfpIz6y6D7hUY1+sXJb6CF51wo2BlPCcqfZPdJz7dtXXU1UgOMAkkrgg/hxZE6Yk8o79YsPutMf8r5ZSJ7VoAwEbNWCoCW0/OueeqiiU8iQqvHgZgX0Slnvfmc2Q+As5bkUUOJ5a+QsMXngUZqKvnH/3BwkfNN3+b2KmaPazw9jWmlHx92YzSUFcWJnFRwrf63WbWJ3YnQzufIJOOj+m/pcFtd3/4vu4uFN8M56784G3K3FT/yxccdxerVx5V17MNExlrrdhYcNZQZIn47oATvWhBntd0NHIKcr6bRvxUDAaWVcCXYQ6p8Vz1lQb8VR/BIGIi2I4A1FM8TaPiYvXs5hvXPcHKC4Af694GrHldVpftNQf0QY2ICh69BWsQQ8ctvRAnVaIjTVY4x5/6hHjlAeYRgo7b06rxw5nslUTHW0h9WlCBeT8Cn2dbgJO/nFSFVCenKffRfZlSMlpnwx7s9uL9eFamsXxpYxjPgU/FmQDWEJU4loLrhmY6epl1hX76QL6L3jPSyAIlozL1xY8t4w7sL5MjvlS2ADOm/lAVacxBMbo/JiMBPrEuZrdK1QRU3cjtPkvSY1GmIKhrSqrOfBzmWwtjl0MDhoNRJWzG7th32+LDaERUxjyogR8coJ2vt3hFAKiTnBhJmyBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013EQk3FZm734CwYcRJvkK7A",
      "input": {
        "note": "The close was empty (0.014) — the pen was just outside the jaws, exiting the wrist frame at the lower left. Reopening and shifting ~3 cm toward the arm's left and 2 cm back toward the base to re-centre on the pen.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.426,
          "right_y": 0.253,
          "right_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_013EQk3FZm734CwYcRJvkK7A",
      "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]: [-0.2512, 0.7921, 0.915, -0.8955, -0.2543, -0.2348, 0.9965, 0.728, 2.2642, 1.6005, -0.5949, 0.6048, 1.0218, 0.9952]\nstate[eef_state]: left_x=0.2474 left_y=-0.0139 left_z=0.2214 left_yaw=0.0823 left_pitch=-0.1712 left_roll=0.0111 left_gripper=0.9965 right_x=0.4263 right_y=0.2502 right_z=0.0065 right_yaw=-0.4149 right_pitch=-0.3423 right_roll=-0.0241 right_gripper=0.9952\nstate[joint_eff]: [-0.0615, -0.5538, 6.4068, 1.5946, -0.1587, -0.0415, -0.0122, 0.5812, -10.7009, 7.747, 0.5885, 0.3834, 0.0659, -0.1978]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5488df0b0c08b0b4fa343cbfa1745f777382bb5c4158b8f9f401c46850191b52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d77a81bd5ff6727182fe8373b09c2a1978de43a56dc30b45a31b9f4ca9f2d5fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6427f4b022ff7ed592a16301dd9b9aca7664a5d8b1129ce1739c6263778da85d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /messages · status 200 · 12 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]: [-0.2512, 0.7876, 0.915, -0.881, -0.2546, -0.2348, 0.9965, 0.6739, 2.223, 1.52, -0.5365, 0.601, 0.9749, 0.999]\nstate[eef_state]: left_x=0.2492 left_y=-0.0143 left_z=0.2249 left_yaw=0.0816 left_pitch=-0.1531 left_roll=0.0051 left_gripper=0.9965 right_x=0.4321 right_y=0.2218 right_z=0.0053 right_yaw=-0.4349 right_pitch=-0.3377 right_roll=-0.0353 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -0.0889, 6.8034, 1.5214, -0.1783, -0.0659, -0.0122, -0.7316, -14.0103, 4.5744, 0.7937, 0.2076, -0.1832, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2512, 0.7921, 0.915, -0.8898, -0.2546, -0.2348, 0.9965, 0.6739, 2.223, 1.5139, -0.5232, 0.598, 0.9634, 0.0145]\nstate[eef_state]: left_x=0.2483 left_y=-0.0141 left_z=0.2224 left_yaw=0.0823 left_pitch=-0.1657 left_roll=0.0095 left_gripper=0.9965 right_x=0.4325 right_y=0.2227 right_z=0.0041 right_yaw=-0.4248 right_pitch=-0.3372 right_roll=-0.0346 right_gripper=0.0145\nstate[joint_eff]: [-0.0752, -0.5675, 6.5709, 1.6142, -0.1734, -0.0659, -0.0122, -0.3487, -12.0821, 6.2017, 0.7692, 0.3248, 0.0464, 0.8962]",
      "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]: [-0.2512, 0.7921, 0.915, -0.8955, -0.2543, -0.2348, 0.9965, 0.728, 2.2642, 1.6005, -0.5949, 0.6048, 1.0218, 0.9952]\nstate[eef_state]: left_x=0.2474 left_y=-0.0139 left_z=0.2214 left_yaw=0.0823 left_pitch=-0.1712 left_roll=0.0111 left_gripper=0.9965 right_x=0.4263 right_y=0.2502 right_z=0.0065 right_yaw=-0.4149 right_pitch=-0.3423 right_roll=-0.0241 right_gripper=0.9952\nstate[joint_eff]: [-0.0615, -0.5538, 6.4068, 1.5946, -0.1587, -0.0415, -0.0122, 0.5812, -10.7009, 7.747, 0.5885, 0.3834, 0.0659, -0.1978]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5488df0b0c08b0b4fa343cbfa1745f777382bb5c4158b8f9f401c46850191b52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d77a81bd5ff6727182fe8373b09c2a1978de43a56dc30b45a31b9f4ca9f2d5fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6427f4b022ff7ed592a16301dd9b9aca7664a5d8b1129ce1739c6263778da85d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISpgcKjgEIEhgCKkAZe9gN1vS9LuTqwqmGUTLuNAsrHRm9BblWpAYHQUj3FoHhVgdBkFvny/bwc97s9Tw6p8bpt4m+lChE/+LfPUTBMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfDLzNUGEgweqv1fVHpfiT+2r2AaDMkAAdFd/5idKDlFHiIwK5RfJFHtN2j6NPnTizeKswkLMZEv3caOsiNYpbCmWXugUfNlJMaC066VUiO513F/KsQFbSAh+mKWAEiwHdKuTq3AkF7QOcvIsl7sRP05DFXJqMghcx5x7rpdFq1FRMPXYZVGNPRJFVIFfFM64bs4BVa2pRZEZqcAlBIHk9N5vicsla+wGyr3sh9I6/b9gGPeVjPcex1AeRzpkrLRPNcqjtYXJeI85HLXTqUV4dmr9zKUSDcpmSORdzeXHv5NYgdhs2Ob11exXSmTeC+MitX8u8fvgr+vsQpLQxnuyyUCwJNYmoPwnXz3Q0SzLFMJhxgZ/RgLzLYB9QZ/2+8QA65dE521ojCnw4w5KfCzq2ira9sQ0j23w1hgBXof6VAfPbEvMEe+IwVZ2mTof5Ivt5QDwomZam660qCvxRb0RLFK4/KBoHSHRVc9BF7/60RjnJrAb5nJhIT/ZJLxCeQ+klnfJr/ri8CnPaINLq6fqeuAf+MTwQEwXDqECoWEzfaCAHqz9clJ5Cq+ypLgCLDFz1MojrJGTlR4uW8f5rAxBNVbZcN415HXYimVr9ktPLuEg71gMDFABjZAApKMlNDrDI7KgJFh/GNo58spEcDGaum+lOsUCZms0Wh+9E6DtN02zDrPDyqrbYWCWgYwH84NSAlqP07bwMMQoSko4j89doR3v5S4g6pH+bzGVOIS8pFTUdw3gP1+ImMBwco6H3vukZRW8ZImOSExF0cgzZsoupcgCmdG1lYj+BFHID44bd4wG+E1z+ytQRKJ1DMf1tcLhXKrjuEcTdf6YHywpn2tT9lO6tDZ/Y/188uADBu/RurTwf6vRmVVDMfBVhwFyC6hAvmR5Tkd5cwOsa7YIwX9FG5uO38knBJzBoyY55VrLIF7c7bJ4oLkYkVntkU5QWCJ5qitTnKgDZTKLi82LZ/5jSh+URno2RpUKWV/nS5eaG9A3eGFMCfCgL1L8Uy1E3lwfrucRsSp4kL4RX24X59Xm/2RJExkN62TbdLDGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Go1Naj56GZrJEvkzs6HcgM",
      "input": {
        "note": "The pen has vanished from the right wrist view — I may have nudged it. Retracting the right arm high and back to get an unobstructed overhead look at both objects.",
        "targets": {
          "right_x": 0.28,
          "right_y": 0.05,
          "right_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01Go1Naj56GZrJEvkzs6HcgM",
      "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]: [-0.2512, 0.7959, 0.915, -0.9028, -0.2543, -0.2348, 0.9965, 0.4835, 1.2938, 1.3785, -1.1992, 0.5106, 0.7723, 0.996]\nstate[eef_state]: left_x=0.2466 left_y=-0.0137 left_z=0.2193 left_yaw=0.083 left_pitch=-0.1816 left_roll=0.0148 left_gripper=0.9965 right_x=0.2913 right_y=0.0595 right_z=0.2453 right_yaw=-0.4233 right_pitch=-0.3427 right_roll=-0.0096 right_gripper=0.996\nstate[joint_eff]: [-0.1436, -0.7453, 6.4342, 1.619, -0.1343, -0.0464, -0.0122, -0.3624, -5.2171, 8.2667, 1.0232, 0.1441, -0.0415, 0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:befc03230ddbdce4a49efce0b82edbefcf53d1c4d153c87c0b39a6fdbdbd96f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2e427424198e3d8ce4633ae62a6e399655bcf4900dfcd36feca32b751501632",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cdb801882c08b4f97693f89e5baa84e6bba012b701149f4370a62b28e8cad825",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /messages · status 200 · 22.98 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]: [-0.2512, 0.7921, 0.915, -0.8898, -0.2546, -0.2348, 0.9965, 0.6739, 2.223, 1.5139, -0.5232, 0.598, 0.9634, 0.0145]\nstate[eef_state]: left_x=0.2483 left_y=-0.0141 left_z=0.2224 left_yaw=0.0823 left_pitch=-0.1657 left_roll=0.0095 left_gripper=0.9965 right_x=0.4325 right_y=0.2227 right_z=0.0041 right_yaw=-0.4248 right_pitch=-0.3372 right_roll=-0.0346 right_gripper=0.0145\nstate[joint_eff]: [-0.0752, -0.5675, 6.5709, 1.6142, -0.1734, -0.0659, -0.0122, -0.3487, -12.0821, 6.2017, 0.7692, 0.3248, 0.0464, 0.8962]",
      "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]: [-0.2512, 0.7921, 0.915, -0.8955, -0.2543, -0.2348, 0.9965, 0.728, 2.2642, 1.6005, -0.5949, 0.6048, 1.0218, 0.9952]\nstate[eef_state]: left_x=0.2474 left_y=-0.0139 left_z=0.2214 left_yaw=0.0823 left_pitch=-0.1712 left_roll=0.0111 left_gripper=0.9965 right_x=0.4263 right_y=0.2502 right_z=0.0065 right_yaw=-0.4149 right_pitch=-0.3423 right_roll=-0.0241 right_gripper=0.9952\nstate[joint_eff]: [-0.0615, -0.5538, 6.4068, 1.5946, -0.1587, -0.0415, -0.0122, 0.5812, -10.7009, 7.747, 0.5885, 0.3834, 0.0659, -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 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]: [-0.2512, 0.7959, 0.915, -0.9028, -0.2543, -0.2348, 0.9965, 0.4835, 1.2938, 1.3785, -1.1992, 0.5106, 0.7723, 0.996]\nstate[eef_state]: left_x=0.2466 left_y=-0.0137 left_z=0.2193 left_yaw=0.083 left_pitch=-0.1816 left_roll=0.0148 left_gripper=0.9965 right_x=0.2913 right_y=0.0595 right_z=0.2453 right_yaw=-0.4233 right_pitch=-0.3427 right_roll=-0.0096 right_gripper=0.996\nstate[joint_eff]: [-0.1436, -0.7453, 6.4342, 1.619, -0.1343, -0.0464, -0.0122, -0.3624, -5.2171, 8.2667, 1.0232, 0.1441, -0.0415, 0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:befc03230ddbdce4a49efce0b82edbefcf53d1c4d153c87c0b39a6fdbdbd96f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2e427424198e3d8ce4633ae62a6e399655bcf4900dfcd36feca32b751501632",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cdb801882c08b4f97693f89e5baa84e6bba012b701149f4370a62b28e8cad825",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIShQ0KjgEIEhgCKkD3NNZlpUSA8d7Ygh9Yz303lyJSmQCYoHbGYRUGB+3ATl4d+BNC3oZnNB7ePBXIchrpAqzENKqKKRbP6xLUrXIZMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf3LzNUGEgzTlbV/JcdmoOYWo34aDKdu/ilXFNFNwN2wVCIw0uMcyswombKS6Pv8obB/b9KW3Z4gpMDf+MMO2BLspdwMReOkhXxbbDu7Pn5a2Sb8KqMLwTRPvI8MozADh8nfAdcafEQ6bbx0kYy/24Vd5rPnAbs+TJfHsr1Tdo4aOR2tPLV4G+anUyQvIBhWjdZQ8Eif4xw1hn1QEw6DKzQ07dIP7OrbWrEaLqQ5gKGMNauBDYjsYxrR1Lzikki1agLJE/zqJT2jEgZzPK+CdOMeGnleRU0EGae2rg5JY4YigfQ5G87fFFeOLSVZskqXtMssutPx9T4sehZdbUXGm46tdCOdGDF/IhApB8zFo9wYgeOAlmsW8ywdPj7XjCfiz4MLi6WWiB+wFQgHvASntV9x1SyGhMe2H0pOw+sl4cLBE8Rt4wPbUxqUGKseUo5oiwNdlF6HbEbB09PUY/QRwpz7ks/nc0scm/sumbuHNGx3IXMClduLd4nzznzh7v8IArKO8HWklAlx9Upopj7V/HhrZheoTSi+GYRiTc0NbkwwexBNh4Yebfu8K3RyctZDPjf1JBbisKjpg+Ma6oN4D4LM9A1XG5xquE+VNhSYqhL5ePEIKJUcTc2TMOKMi7CGrK8CucNbfSNdiDwKA0pPG4rk8F9ucwZk/kOlP3YOCZ9gy6C6TtSlDioshTgff2UXsDRLfp69xs8QfoV5sTMyECQWPVFhhiqgW3TgmuwSIAVatsi5OYPq1IMQRqbyVD1V9bqgJPYcASoLZ9Wk0/IRFIYukbnqwcBBRY64DuRK2Ms31lM61Uus3e+CGZDpn19gyOSBdo0zgppNMGZX55at5RzaTN/5DLPCQIWaBmez4akRyDsicQuYIrBy25LltYtMHLyf+GkGnAsJyrhFzs8wpMj6DbqfyZ9nl+lSF1yl9DxvVLMhfa2qNPwCJ81GPSTlOEeks8ouMx4Wlho/ZUcXMVQKahFie8N4W++sdhhGQS/fddDWVW5eFi+byCq4070tfp6P9wXh2hAclmnkWXYHNkRw24NTod7zd2l5AIJU3nN1sOni2r4/hrAOrRRwA4WCR5VkQLOn2FxjJJfZt8cDhETL3KFvPbsL+87FC+mbe08bAS1GkioSlV66y0K6g2cEjUyoa1+mYBALqKZeHBZmT5Xv9TXhidA1qWjpf9vmVnLORhvWXnkdbsa7N1K16v4A0/DNyzVQfagNDnrhztBxKFw1iSosDOrCGCfnLpPEXpLNJlmBlSzmvWKiHKCOyMv/kzgrURFvRxVG+eHyQDl8++6FCiHrIqaI03T6XCctpcUKdZ8tO33WzRcZkyNYOvFHHzAOyylrpYYFSZ9P/W3E9X4EkahFrzJQ0ozjAT06eXETIwkD91F5Zzf17ZKGNpsqmepWdZYkFyn43p1Mkke7UiBFvUyEQyHottcB6zxil7JNyCqq3PsxLvnplOC2VIRkcN6K6wPnkpSlHBu1zU3J/5vn+X32J5XmxIJz+uaotHVBQVjUcXzh0GnKVS1z8/qMjuUDD3PuFPc7DPPUuESdl9tVJP8r5pF1KSPNLphYkYHozHPZVyN4Aa8dB8T/jhYZHe0kVwDPKD+fBZqGMVdPt3zmrCQU+Pi6cYvMv601DodlLKGstbdWD77nVtY9dvlaYwT+dFrLUO0Rus3UldkP52/KvAo3AmlF+ULnsOEMDl8pQURn0jY/23lh+KqfqvDIp0OaIkQlw8As4lS2MbvpYqU1RSRi+RgzNRINxmgI+3fyNpK8tLU1pEXEceqgKAtNRXovPwXrcm8GpelDao/DnLAijLtVv0hKxtc1634rGoZ79Vpuo4BEoJSicbIZQrfHWV/h577E7nGKDNJxfXIrlYxa1Nu6KnTi+RoMcuvgfEt6YTFh29jo+EEq1zbK620dbW+apQ1SdBLisEXF+HyFdSDfyGIH7tcdMtdKcb4aPsfxhXsOACT6iVtLHnKXyNff90iaY1zXAC/tsEjvhgrgHyQVSbtB25wU3wjoRYvuwn0ogoI2qxSQAPSsGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KTyNx6QQ11aNeaHLJ52iU6",
      "input": {
        "note": "Still can't see the pen; the right arm may be hiding it. Parking the right arm far to its own right and high to clear the overhead view.",
        "targets": {
          "right_x": 0.2,
          "right_y": 0.36,
          "right_yaw": 0,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 26 steps (2.6s)",
      "tool_use_id": "toolu_01KTyNx6QQ11aNeaHLJ52iU6",
      "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]: [-0.2512, 0.7994, 0.915, -0.9031, -0.2546, -0.2348, 0.9965, 1.2663, 1.9331, 2.1525, -1.578, 0.6098, 1.1751, 0.9961]\nstate[eef_state]: left_x=0.2469 left_y=-0.0137 left_z=0.2185 left_yaw=0.0835 left_pitch=-0.1852 left_roll=0.0163 left_gripper=0.9965 right_x=0.2084 right_y=0.3378 right_z=0.2608 right_yaw=-0.0001 right_pitch=-0.3726 right_roll=-0.0258 right_gripper=0.9961\nstate[joint_eff]: [0.0615, -0.9368, 6.4068, 1.5018, -0.1783, -0.0269, -0.0122, 0.7316, -8.7863, 7.6376, 0.696, 0.6032, 0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fdec8eaad7155b9e2e4479288de088cafff174aebf73dc38b9f1fe8bc7c8fcf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7cd349649005baf16011f09c1dc563d601aafc105f5d51acaf28bc9daee2fc4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:915687e8172496e7b43a4e8ab3dbdd4bd4b61ca5a4d1f63dfc89976286775c2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /messages · status 200 · 15.29 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]: [-0.2512, 0.7921, 0.915, -0.8955, -0.2543, -0.2348, 0.9965, 0.728, 2.2642, 1.6005, -0.5949, 0.6048, 1.0218, 0.9952]\nstate[eef_state]: left_x=0.2474 left_y=-0.0139 left_z=0.2214 left_yaw=0.0823 left_pitch=-0.1712 left_roll=0.0111 left_gripper=0.9965 right_x=0.4263 right_y=0.2502 right_z=0.0065 right_yaw=-0.4149 right_pitch=-0.3423 right_roll=-0.0241 right_gripper=0.9952\nstate[joint_eff]: [-0.0615, -0.5538, 6.4068, 1.5946, -0.1587, -0.0415, -0.0122, 0.5812, -10.7009, 7.747, 0.5885, 0.3834, 0.0659, -0.1978]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.2512, 0.7959, 0.915, -0.9028, -0.2543, -0.2348, 0.9965, 0.4835, 1.2938, 1.3785, -1.1992, 0.5106, 0.7723, 0.996]\nstate[eef_state]: left_x=0.2466 left_y=-0.0137 left_z=0.2193 left_yaw=0.083 left_pitch=-0.1816 left_roll=0.0148 left_gripper=0.9965 right_x=0.2913 right_y=0.0595 right_z=0.2453 right_yaw=-0.4233 right_pitch=-0.3427 right_roll=-0.0096 right_gripper=0.996\nstate[joint_eff]: [-0.1436, -0.7453, 6.4342, 1.619, -0.1343, -0.0464, -0.0122, -0.3624, -5.2171, 8.2667, 1.0232, 0.1441, -0.0415, 0.0757]",
      "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]: [-0.2512, 0.7994, 0.915, -0.9031, -0.2546, -0.2348, 0.9965, 1.2663, 1.9331, 2.1525, -1.578, 0.6098, 1.1751, 0.9961]\nstate[eef_state]: left_x=0.2469 left_y=-0.0137 left_z=0.2185 left_yaw=0.0835 left_pitch=-0.1852 left_roll=0.0163 left_gripper=0.9965 right_x=0.2084 right_y=0.3378 right_z=0.2608 right_yaw=-0.0001 right_pitch=-0.3726 right_roll=-0.0258 right_gripper=0.9961\nstate[joint_eff]: [0.0615, -0.9368, 6.4068, 1.5018, -0.1783, -0.0269, -0.0122, 0.7316, -8.7863, 7.6376, 0.696, 0.6032, 0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fdec8eaad7155b9e2e4479288de088cafff174aebf73dc38b9f1fe8bc7c8fcf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7cd349649005baf16011f09c1dc563d601aafc105f5d51acaf28bc9daee2fc4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:915687e8172496e7b43a4e8ab3dbdd4bd4b61ca5a4d1f63dfc89976286775c2d",
        "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_01Jwce8e3eC374eR9PkrNmjQ",
      "input": {
        "note": "Only one object is visible on the table and the pen seems to have been displaced; folding both arms low and close to their bases so the overhead camera sees the whole table.",
        "targets": {
          "left_x": 0.16,
          "left_y": 0.0,
          "left_yaw": 0,
          "left_z": 0.06,
          "right_x": 0.16,
          "right_y": 0.0,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 29 steps (2.9s)",
      "tool_use_id": "toolu_01Jwce8e3eC374eR9PkrNmjQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1955, 0.0307, 0.2729, -0.9195, -0.1631, -0.1532, 0.9965, 0.0303, 0.3252, 0.3405, -0.9607, 0.0982, 0.1173, 0.9962]\nstate[eef_state]: left_x=0.1732 left_y=-0.0014 left_z=0.0841 left_yaw=0.0139 left_pitch=-0.0959 left_roll=-0.0107 left_gripper=0.9965 right_x=0.1582 right_y=-0.0089 right_z=0.0609 right_yaw=-0.1352 right_pitch=-0.3818 right_roll=-0.0141 right_gripper=0.9962\nstate[joint_eff]: [0.5675, 2.4957, 3.8769, 0.8864, -0.0317, 0.2222, -0.0073, 1.5521, 1.8256, 7.0222, 1.4725, -0.2857, -0.2027, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2452d9a7c7f9f2e97c5b182c1c7e731127f9ffae5793aeaa57f1ca1320710ade",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39d13801d70df0413125e27a5e6eebdc6b59404023a1f85d51de6738764260cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:778dc5e2c945fa82b0cb4a0696825670f6e62d53e1c1e41e4d831562d880fcc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /messages · status 200 · 11.39 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]: [-0.2512, 0.7959, 0.915, -0.9028, -0.2543, -0.2348, 0.9965, 0.4835, 1.2938, 1.3785, -1.1992, 0.5106, 0.7723, 0.996]\nstate[eef_state]: left_x=0.2466 left_y=-0.0137 left_z=0.2193 left_yaw=0.083 left_pitch=-0.1816 left_roll=0.0148 left_gripper=0.9965 right_x=0.2913 right_y=0.0595 right_z=0.2453 right_yaw=-0.4233 right_pitch=-0.3427 right_roll=-0.0096 right_gripper=0.996\nstate[joint_eff]: [-0.1436, -0.7453, 6.4342, 1.619, -0.1343, -0.0464, -0.0122, -0.3624, -5.2171, 8.2667, 1.0232, 0.1441, -0.0415, 0.0757]",
      "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]: [-0.2512, 0.7994, 0.915, -0.9031, -0.2546, -0.2348, 0.9965, 1.2663, 1.9331, 2.1525, -1.578, 0.6098, 1.1751, 0.9961]\nstate[eef_state]: left_x=0.2469 left_y=-0.0137 left_z=0.2185 left_yaw=0.0835 left_pitch=-0.1852 left_roll=0.0163 left_gripper=0.9965 right_x=0.2084 right_y=0.3378 right_z=0.2608 right_yaw=-0.0001 right_pitch=-0.3726 right_roll=-0.0258 right_gripper=0.9961\nstate[joint_eff]: [0.0615, -0.9368, 6.4068, 1.5018, -0.1783, -0.0269, -0.0122, 0.7316, -8.7863, 7.6376, 0.696, 0.6032, 0.0708, -0.0073]",
      "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]: [-0.1955, 0.0307, 0.2729, -0.9195, -0.1631, -0.1532, 0.9965, 0.0303, 0.3252, 0.3405, -0.9607, 0.0982, 0.1173, 0.9962]\nstate[eef_state]: left_x=0.1732 left_y=-0.0014 left_z=0.0841 left_yaw=0.0139 left_pitch=-0.0959 left_roll=-0.0107 left_gripper=0.9965 right_x=0.1582 right_y=-0.0089 right_z=0.0609 right_yaw=-0.1352 right_pitch=-0.3818 right_roll=-0.0141 right_gripper=0.9962\nstate[joint_eff]: [0.5675, 2.4957, 3.8769, 0.8864, -0.0317, 0.2222, -0.0073, 1.5521, 1.8256, 7.0222, 1.4725, -0.2857, -0.2027, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2452d9a7c7f9f2e97c5b182c1c7e731127f9ffae5793aeaa57f1ca1320710ade",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39d13801d70df0413125e27a5e6eebdc6b59404023a1f85d51de6738764260cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:778dc5e2c945fa82b0cb4a0696825670f6e62d53e1c1e41e4d831562d880fcc5",
        "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_01AncscMXHTvhxdVxUE6VWwj",
      "input": {
        "note": "The right wrist camera glimpses a long thin object (the pen) off to the arm's right, near the outer edge. Moving the right arm over that area to confirm the pen's position.",
        "targets": {
          "right_x": 0.3,
          "right_y": -0.06,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01AncscMXHTvhxdVxUE6VWwj",
      "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]: [-0.1947, 0.0326, 0.2718, -0.9096, -0.157, -0.1551, 0.9965, -0.2401, 1.1191, 0.8406, -0.72, -0.0578, -0.099, 0.9961]\nstate[eef_state]: left_x=0.1745 left_y=-0.0026 left_z=0.0851 left_yaw=0.0104 left_pitch=-0.09 left_roll=-0.0173 left_gripper=0.9965 right_x=0.2852 right_y=-0.0556 right_z=0.1328 right_yaw=-0.1371 right_pitch=-0.4389 right_roll=-0.0091 right_gripper=0.9961\nstate[joint_eff]: [-0.2393, 2.2222, 6.3111, 1.5604, -0.1832, -0.0317, -0.0073, -0.4718, -3.5077, 8.5265, 1.4286, -0.1636, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a0af659ad4680629a35fdba13b4c8b4dd859ca29d06d47de973aeba487e463d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4191b9f97c410691637fd407e0d319bb4ee3ee17df5e5fdd569ae3da61fc179",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e85ef407e10b37735be93b0ced7695f60fb66dacde6cb710afead3be23f60167",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /messages · status 200 · 13.46 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]: [-0.2512, 0.7994, 0.915, -0.9031, -0.2546, -0.2348, 0.9965, 1.2663, 1.9331, 2.1525, -1.578, 0.6098, 1.1751, 0.9961]\nstate[eef_state]: left_x=0.2469 left_y=-0.0137 left_z=0.2185 left_yaw=0.0835 left_pitch=-0.1852 left_roll=0.0163 left_gripper=0.9965 right_x=0.2084 right_y=0.3378 right_z=0.2608 right_yaw=-0.0001 right_pitch=-0.3726 right_roll=-0.0258 right_gripper=0.9961\nstate[joint_eff]: [0.0615, -0.9368, 6.4068, 1.5018, -0.1783, -0.0269, -0.0122, 0.7316, -8.7863, 7.6376, 0.696, 0.6032, 0.0708, -0.0073]",
      "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]: [-0.1955, 0.0307, 0.2729, -0.9195, -0.1631, -0.1532, 0.9965, 0.0303, 0.3252, 0.3405, -0.9607, 0.0982, 0.1173, 0.9962]\nstate[eef_state]: left_x=0.1732 left_y=-0.0014 left_z=0.0841 left_yaw=0.0139 left_pitch=-0.0959 left_roll=-0.0107 left_gripper=0.9965 right_x=0.1582 right_y=-0.0089 right_z=0.0609 right_yaw=-0.1352 right_pitch=-0.3818 right_roll=-0.0141 right_gripper=0.9962\nstate[joint_eff]: [0.5675, 2.4957, 3.8769, 0.8864, -0.0317, 0.2222, -0.0073, 1.5521, 1.8256, 7.0222, 1.4725, -0.2857, -0.2027, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.1947, 0.0326, 0.2718, -0.9096, -0.157, -0.1551, 0.9965, -0.2401, 1.1191, 0.8406, -0.72, -0.0578, -0.099, 0.9961]\nstate[eef_state]: left_x=0.1745 left_y=-0.0026 left_z=0.0851 left_yaw=0.0104 left_pitch=-0.09 left_roll=-0.0173 left_gripper=0.9965 right_x=0.2852 right_y=-0.0556 right_z=0.1328 right_yaw=-0.1371 right_pitch=-0.4389 right_roll=-0.0091 right_gripper=0.9961\nstate[joint_eff]: [-0.2393, 2.2222, 6.3111, 1.5604, -0.1832, -0.0317, -0.0073, -0.4718, -3.5077, 8.5265, 1.4286, -0.1636, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a0af659ad4680629a35fdba13b4c8b4dd859ca29d06d47de973aeba487e463d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4191b9f97c410691637fd407e0d319bb4ee3ee17df5e5fdd569ae3da61fc179",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e85ef407e10b37735be93b0ced7695f60fb66dacde6cb710afead3be23f60167",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS6goKjgEIEhgCKkALep+qbfS76+ALx/lkZqm0WFHXFCj59MRy3YCyGrzDc4gSWw4dNpjbo8j6N5sBBfKLiqQIs8zq6f/+CmcJ1M4sMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbXMzNUGEgxjYElgSAoAJjBksvwaDL6YBaFxRUsgfCdJoiIwE4dl4XbzD13I25E9FVmIZ3qcKd7wZYjDwBwXcdRtsHG5Jj0fu0rlrDcagkDJRD2ZKogJFT6gYh/iaTMarzbsaxMk20gETlwVtvreCHUvEeiPkhXPVeporwpwQyEI6i8SC1/gIZYjwGJCLHMfe9MBW7TyytZwrHbgTeqqsGmDluYeEhjr79QaN+AZ1GqxSEcNrFzmJelaiQK37qUMn9LJk2PJTaTPrwftM8jqWpwQlzSQAxMT9ylWiViVhsxdQsTqFrkS3G8O0TIcoMxHLgSkXfS04ZxMgWqXqbI8AlPBqbXc615E9xHZs1drvmzDf7S3qrUEDna3xIBC61vHQ6ueaus3iUsrBd5CS2sOGUUGFvRYqKRoUhZBoJRpR91JP0wUyrI8CBfAfShjl7jG8/xMMULX+N73VcRa+QH3emx+zzHr+BrAT+eLdYhNLLTWdnFqY2po6knwe6GgXrHlkWlZCa6hTa1N23Kw0zLU7U01/ronuHv/PGBmXV7gVmuBjM2o1lVBvdn2Cm7ot7NHhMAUA2zibfw0FwGT0V4xW82WD6qJGTysUS8JD98PKd4NBMV9T/pYQhGtsojfC01ZEz7UZIZce0ZxaYc/jLOmfEYqJu/Itfm8bCa95/9BY4IwJB8I59ELmJYjKWR5jtK7hw3MPiZ6R8nZ3IA3XKT6OdyZ5QJ/Cb2Y8lrKwYrd+G54cNbBNDQwlRv+qvUowf4HNKf3GaPlupsqPxi3+USCpX2cbB+ReS/wvdHBaOiHW54fZTcJlLd7jCgMPoK0BPwt5d4vvasSceStzzAqH25OQsfgF+/1Ygs9vXsZEdhXsQsbs4eAa7O8rrtzcq7kGkZuKrwb3uuKkQwsw0xRdPvamzDmwC6Priqwzzpuj8MTKxx7qZmznJ5mldzj7zd22SLxSKqia0svtsJ622j1A+JDMSZfC4d14tMzWwtyh3Ft4GzwJf6vLAw37UGXsQqcS6xT904pJpqNPYKBG8JCH6o9RbWmRslWdfU4Btfg9HGNlmynSh3QG9JP1sn/DmYQFYQw7RZ65BlydUzxUohZV+E5g7aPPLiR5vgnSkADwtdjrE2GenNxg8qEW9w35vXksieel/gO7w+gpqVazysY7MRdJaSFhlmMI94spAV7TV6KrRvASJmket9/fT5FLCtnO1Be8qCbcvtNsmF/czN7DDAotEvmJUfMT0YEV3MRC6PVLJmf4sAkquQ5meXGFJYChVuzwrk9PFgkjLkpsTZqEJ0HfB/jrcONLzR+nwEMzdhcd4kWjLI76gnY5bViwhNpD50piGxLieNkmvX/xoXFm0I21opExaqBICkN9AYEX4QK9Mxv0/oTflsbfRw2n0baqhHzUa+iw9/pjHKw3OIDyThp1JAG+9Etg8JK5VRGq3bZ/Djf2jiROLgZoWXcTb+dtELUYi18HofBp7hfoOIHPdQQz4ynJzqJ5UZvkX27Qvz2S9o8YCbseJdyjJwooAZyPZK92WbY69nvjTwUwVG4a1fKHCUGIo4yZmotgWLEBJxa3SeLcbRlWN8WtOpVZgE+3ROu5GgezwdUqzGweZt/Gmoj0AjWZNXrgyvDnP3ChbLBLJWyswG6i72DcEYVA7trzt4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014DzKPEzM9H8YZWyQRdGxFi",
      "input": {
        "note": "A pale pen-like object appears at the bottom of the right wrist view, just behind the fingertips; pulling the gripper 3-4 cm back toward the base and lower to bring it into the grasp zone.",
        "targets": {
          "right_x": 0.25,
          "right_y": -0.05,
          "right_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_014DzKPEzM9H8YZWyQRdGxFi",
      "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]: [-0.1947, 0.033, 0.2718, -0.9081, -0.1566, -0.1551, 0.9965, -0.2539, 1.0271, 0.5076, -0.5663, -0.065, -0.1093, 0.9961]\nstate[eef_state]: left_x=0.1747 left_y=-0.0027 left_z=0.0854 left_yaw=0.0101 left_pitch=-0.0889 left_roll=-0.0178 left_gripper=0.9965 right_x=0.2368 right_y=-0.0459 right_z=0.0506 right_yaw=-0.1327 right_pitch=-0.525 right_roll=0.003 right_gripper=0.9961\nstate[joint_eff]: [-0.1983, 2.6051, 6.2427, 1.6239, -0.0904, -0.0366, -0.0073, -0.5538, -3.2342, 7.6103, 1.5604, -0.0855, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec7c8b1a1bbeb01f4c79abf2f6ce33c4685626d11d228c3d8423b6d0f77b7800",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c71a8246c50192a42f6e13219bb1ca52ec995bfec11fab8cc653970b3fdeb07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4d57494c60fb00898e9328c41520d8ab4dc230e63396ce4679138d71346443cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /messages · status 200 · 3.94 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]: [-0.1955, 0.0307, 0.2729, -0.9195, -0.1631, -0.1532, 0.9965, 0.0303, 0.3252, 0.3405, -0.9607, 0.0982, 0.1173, 0.9962]\nstate[eef_state]: left_x=0.1732 left_y=-0.0014 left_z=0.0841 left_yaw=0.0139 left_pitch=-0.0959 left_roll=-0.0107 left_gripper=0.9965 right_x=0.1582 right_y=-0.0089 right_z=0.0609 right_yaw=-0.1352 right_pitch=-0.3818 right_roll=-0.0141 right_gripper=0.9962\nstate[joint_eff]: [0.5675, 2.4957, 3.8769, 0.8864, -0.0317, 0.2222, -0.0073, 1.5521, 1.8256, 7.0222, 1.4725, -0.2857, -0.2027, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1947, 0.0326, 0.2718, -0.9096, -0.157, -0.1551, 0.9965, -0.2401, 1.1191, 0.8406, -0.72, -0.0578, -0.099, 0.9961]\nstate[eef_state]: left_x=0.1745 left_y=-0.0026 left_z=0.0851 left_yaw=0.0104 left_pitch=-0.09 left_roll=-0.0173 left_gripper=0.9965 right_x=0.2852 right_y=-0.0556 right_z=0.1328 right_yaw=-0.1371 right_pitch=-0.4389 right_roll=-0.0091 right_gripper=0.9961\nstate[joint_eff]: [-0.2393, 2.2222, 6.3111, 1.5604, -0.1832, -0.0317, -0.0073, -0.4718, -3.5077, 8.5265, 1.4286, -0.1636, -0.0366, -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 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]: [-0.1947, 0.033, 0.2718, -0.9081, -0.1566, -0.1551, 0.9965, -0.2539, 1.0271, 0.5076, -0.5663, -0.065, -0.1093, 0.9961]\nstate[eef_state]: left_x=0.1747 left_y=-0.0027 left_z=0.0854 left_yaw=0.0101 left_pitch=-0.0889 left_roll=-0.0178 left_gripper=0.9965 right_x=0.2368 right_y=-0.0459 right_z=0.0506 right_yaw=-0.1327 right_pitch=-0.525 right_roll=0.003 right_gripper=0.9961\nstate[joint_eff]: [-0.1983, 2.6051, 6.2427, 1.6239, -0.0904, -0.0366, -0.0073, -0.5538, -3.2342, 7.6103, 1.5604, -0.0855, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec7c8b1a1bbeb01f4c79abf2f6ce33c4685626d11d228c3d8423b6d0f77b7800",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c71a8246c50192a42f6e13219bb1ca52ec995bfec11fab8cc653970b3fdeb07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d57494c60fb00898e9328c41520d8ab4dc230e63396ce4679138d71346443cc",
        "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_01MWZdVPpv4eWLWKbQ5Fcada",
      "input": {
        "note": "The pen is now clearly visible below the right jaws, running radially (perpendicular to the closing direction). Backing up 3 cm toward the base and descending to table level to put its shaft between the jaws.",
        "targets": {
          "right_x": 0.21,
          "right_y": -0.055,
          "right_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01MWZdVPpv4eWLWKbQ5Fcada",
      "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]: [-0.1947, 0.0334, 0.2718, -0.9085, -0.1566, -0.1551, 0.9965, -0.3542, 1.0004, 0.3225, -0.4438, -0.0914, -0.1673, 0.9961]\nstate[eef_state]: left_x=0.1746 left_y=-0.0027 left_z=0.0852 left_yaw=0.0101 left_pitch=-0.0897 left_roll=-0.0176 left_gripper=0.9965 right_x=0.2063 right_y=-0.0553 right_z=0.0058 right_yaw=-0.1681 right_pitch=-0.5563 right_roll=0.0057 right_gripper=0.9961\nstate[joint_eff]: [-0.3077, 2.9333, 6.3932, 1.6581, -0.1245, -0.0464, -0.0122, -0.0615, -2.0444, 7.9658, 1.5702, -0.3736, -0.1636, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:796b897c951ea6c3be53dcb03e78a42200cc12c8ea153db9913c6898041299fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3901b8d9f057601f8cc436149e546e23d05ea9919ff456d4ceffc6a826ffaee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:38f6e401e2b59d012af43b851efc57976a6ab4677515728382e4486705a9239e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /messages · status 200 · 8.568 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]: [-0.1947, 0.0326, 0.2718, -0.9096, -0.157, -0.1551, 0.9965, -0.2401, 1.1191, 0.8406, -0.72, -0.0578, -0.099, 0.9961]\nstate[eef_state]: left_x=0.1745 left_y=-0.0026 left_z=0.0851 left_yaw=0.0104 left_pitch=-0.09 left_roll=-0.0173 left_gripper=0.9965 right_x=0.2852 right_y=-0.0556 right_z=0.1328 right_yaw=-0.1371 right_pitch=-0.4389 right_roll=-0.0091 right_gripper=0.9961\nstate[joint_eff]: [-0.2393, 2.2222, 6.3111, 1.5604, -0.1832, -0.0317, -0.0073, -0.4718, -3.5077, 8.5265, 1.4286, -0.1636, -0.0366, -0.0171]\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]: [-0.1947, 0.033, 0.2718, -0.9081, -0.1566, -0.1551, 0.9965, -0.2539, 1.0271, 0.5076, -0.5663, -0.065, -0.1093, 0.9961]\nstate[eef_state]: left_x=0.1747 left_y=-0.0027 left_z=0.0854 left_yaw=0.0101 left_pitch=-0.0889 left_roll=-0.0178 left_gripper=0.9965 right_x=0.2368 right_y=-0.0459 right_z=0.0506 right_yaw=-0.1327 right_pitch=-0.525 right_roll=0.003 right_gripper=0.9961\nstate[joint_eff]: [-0.1983, 2.6051, 6.2427, 1.6239, -0.0904, -0.0366, -0.0073, -0.5538, -3.2342, 7.6103, 1.5604, -0.0855, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.1947, 0.0334, 0.2718, -0.9085, -0.1566, -0.1551, 0.9965, -0.3542, 1.0004, 0.3225, -0.4438, -0.0914, -0.1673, 0.9961]\nstate[eef_state]: left_x=0.1746 left_y=-0.0027 left_z=0.0852 left_yaw=0.0101 left_pitch=-0.0897 left_roll=-0.0176 left_gripper=0.9965 right_x=0.2063 right_y=-0.0553 right_z=0.0058 right_yaw=-0.1681 right_pitch=-0.5563 right_roll=0.0057 right_gripper=0.9961\nstate[joint_eff]: [-0.3077, 2.9333, 6.3932, 1.6581, -0.1245, -0.0464, -0.0122, -0.0615, -2.0444, 7.9658, 1.5702, -0.3736, -0.1636, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:796b897c951ea6c3be53dcb03e78a42200cc12c8ea153db9913c6898041299fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3901b8d9f057601f8cc436149e546e23d05ea9919ff456d4ceffc6a826ffaee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38f6e401e2b59d012af43b851efc57976a6ab4677515728382e4486705a9239e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISqwMKjgEIEhgCKkAx25OKBfTRRt9u7nKbJB3V+dsZJ73cu+sovvNCFDdAjLxQzk2ZXyAqfmMpU0SgoEM+rmQ8TalwcPX/FU9RkoQoMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcjMzNUGEgycnvBj47H22Y+2/OwaDC++EDAapAqkMeSy5CIwJtmgX4djCEjipxwl9M9fEMsKCHjun/3VfeK2iuXeDA4jZnH2OsU7AM9ukc5V7WCzKskBbBsXhYkF3Zch3Gh3mnsB4DfuQOD049f5CEnx9nUanU0SmfkJSiSGrkNyT8q5HC6k9uOaV4MFvTES/HB4doGVlnS3C6jBEBeu+nsJ0xEMSNqRenyrLVy7G4PqH43Mrt4q9ukCHqF1PsIQeS/3yO/6AWW0oGwakATVRdRQlRrTA0DbuJH3d6uhkQFtNf5fxi31VbVoDEZRkHrnO1LMc1SxHTnBuka7cB34jMbf1WCMViwauQSUwu5y349JYOHWtYfPDtSZtvb6Q4YrGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Y2bkANPa4oTc5N9rpnMJGr",
      "input": {
        "note": "Pen shaft appears to run between the jaws at table level; closing the right gripper on it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Y2bkANPa4oTc5N9rpnMJGr",
      "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]: [-0.1947, 0.0334, 0.2718, -0.9081, -0.1562, -0.1551, 0.9965, -0.3595, 0.9901, 0.3202, -0.4263, -0.1043, -0.1696, 0.0164]\nstate[eef_state]: left_x=0.1747 left_y=-0.0028 left_z=0.0853 left_yaw=0.0097 left_pitch=-0.0894 left_roll=-0.0179 left_gripper=0.9965 right_x=0.2106 right_y=-0.0557 right_z=0.0092 right_yaw=-0.1624 right_pitch=-0.529 right_roll=0.0121 right_gripper=0.0164\nstate[joint_eff]: [-0.0752, 2.4274, 6.2838, 1.6288, -0.0952, -0.0415, -0.0122, 0.1436, 0.1846, 5.0803, 0.5885, -0.0269, -0.0415, 0.7399]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd9fd9041a569d045d2db5dd07840e4531fc2d1ba5240454769bf7953c41fbed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da6ad870adb2da4603d329a2a85dfe5add3a7cb224917c70f9eafa6ffd4359db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:32290146f974da4bdc97786a8d945c1a474db17be990a02ffd7d682ff30f8a7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /messages · status 200 · 20.03 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]: [-0.1947, 0.033, 0.2718, -0.9081, -0.1566, -0.1551, 0.9965, -0.2539, 1.0271, 0.5076, -0.5663, -0.065, -0.1093, 0.9961]\nstate[eef_state]: left_x=0.1747 left_y=-0.0027 left_z=0.0854 left_yaw=0.0101 left_pitch=-0.0889 left_roll=-0.0178 left_gripper=0.9965 right_x=0.2368 right_y=-0.0459 right_z=0.0506 right_yaw=-0.1327 right_pitch=-0.525 right_roll=0.003 right_gripper=0.9961\nstate[joint_eff]: [-0.1983, 2.6051, 6.2427, 1.6239, -0.0904, -0.0366, -0.0073, -0.5538, -3.2342, 7.6103, 1.5604, -0.0855, -0.0464, -0.0073]\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]: [-0.1947, 0.0334, 0.2718, -0.9085, -0.1566, -0.1551, 0.9965, -0.3542, 1.0004, 0.3225, -0.4438, -0.0914, -0.1673, 0.9961]\nstate[eef_state]: left_x=0.1746 left_y=-0.0027 left_z=0.0852 left_yaw=0.0101 left_pitch=-0.0897 left_roll=-0.0176 left_gripper=0.9965 right_x=0.2063 right_y=-0.0553 right_z=0.0058 right_yaw=-0.1681 right_pitch=-0.5563 right_roll=0.0057 right_gripper=0.9961\nstate[joint_eff]: [-0.3077, 2.9333, 6.3932, 1.6581, -0.1245, -0.0464, -0.0122, -0.0615, -2.0444, 7.9658, 1.5702, -0.3736, -0.1636, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.1947, 0.0334, 0.2718, -0.9081, -0.1562, -0.1551, 0.9965, -0.3595, 0.9901, 0.3202, -0.4263, -0.1043, -0.1696, 0.0164]\nstate[eef_state]: left_x=0.1747 left_y=-0.0028 left_z=0.0853 left_yaw=0.0097 left_pitch=-0.0894 left_roll=-0.0179 left_gripper=0.9965 right_x=0.2106 right_y=-0.0557 right_z=0.0092 right_yaw=-0.1624 right_pitch=-0.529 right_roll=0.0121 right_gripper=0.0164\nstate[joint_eff]: [-0.0752, 2.4274, 6.2838, 1.6288, -0.0952, -0.0415, -0.0122, 0.1436, 0.1846, 5.0803, 0.5885, -0.0269, -0.0415, 0.7399]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd9fd9041a569d045d2db5dd07840e4531fc2d1ba5240454769bf7953c41fbed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da6ad870adb2da4603d329a2a85dfe5add3a7cb224917c70f9eafa6ffd4359db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32290146f974da4bdc97786a8d945c1a474db17be990a02ffd7d682ff30f8a7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISgwkKjgEIEhgCKkDL5etNapldpKDZeWtVWU7na7Gqss+3KYBs36TAfLaeMWjJQ6KWIUGQvFp5ISQLmyjL1mVV88nTtuMdtlZJFfkxMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdHMzNUGEgzQBWib3XE805E16DkaDEkCwcByeaZmbDYnBiIwIpSCbeAvCWP56oHSV6f0J8GmJXAHtb/m/zw9ESTocUTTYG8jqwClXiAv/H9jOjknKqEHwKsrPmF0AKyBYBcJ9HukWBU8nS36Shn5MGessVDOaO1NgFL7lcc31sSCUEiGbubShe5kXy5OVj63KgdhvH9C3H+RJWmjYD7MlV/ckob/09UB/91nPbZaQPqoUNemAoVQjEXonLLexVI4gChp8XGIjqghVfdpd0kjMxZkdYKzrlhsURLb6JByPsED5bxDmkwgPedohfRpsCn3CNwa+60iqMCJL5DTp36n/g2KISdF1PU5XfRjUtVwq3ykDQV1wvIeIAD1AxK/9OUqU++44EmWoz6VYh/lHD0AKqxzEeFnrUZy9fvNYD9InVjB0dzQ2FjSv95YpomvJZUrl7lXis2va0SkVFD0EHtnO87BS4BMfKbACxePvHFuVA1juWrzCozOdH98qFONy3U03agYe3xte3td0/sPxUPBvxyDj08GL/3S3niXfTsRKcRYqHvdGONal+9aJ0PGs2ed3o2lXBQwW2aNIcwd5FCfBZKchFsBpK8IYrZE471fFWtP0OZeAmwyMid5T8v1iL+9ivIA873X8PnFq4jfkE0IsvXHUM2UnFbcfMXDP0H8U71DYy/tVqWBMusM53qGIfRlkRJuy8JKy9pijPitRtrkjUWeQwdRxi7CUbqEVf9ZMe67S9sX9u4xUkud2QGnACfob9Cj8bcOmYQs+JCsxVY9LK/u3z8Rc+O7y1DLWOMSu24qYOIz8VjKRMYHIh6DiBRT82/4EkpPFNldg6XEgsCejcpj3ydLFvDIKIh2yOFo5e9dC0ewASyVH0I5UJwzdnlIxu+GK4LStWKJIRACWMcg6SEdM3AMs1OH1cnGa/Ke+YhdmCVYv/XW7OuAMNrVktm5EZlGtPxhNuC2bBaigyfB4WL3hxZJcy8H+1YhaA4M+5UwpEmmWR7utcskBezkgwOGwW/YcgVQPtK5Wiqoxvr0HHWwWR9hEBUk2bCc5+azjkwOoBFeAZdjMxXpt75b4QDk+//eyIvMqfW+rsS2JT/1nXrWY0JxejAx9/8w/rdexGsYCg8f1wqC+82lZ4ozKNZD3vCWtSKcpYXCbC2eQ+4y/j3cG3XtnthWwmbwh0NxHrume9jzdjXFxtPmmmp5Y/adIIOxhHjqaWnN7GZa0BKJwnbOiL+wzD+/biggM9xLpAlo1Ek6zQ2NUvrVIUknXTVqcp+5znkmC7mZkPuCn0MpxlbLdALmD8NLzftHXbcZqJXWF6I3SQ52epIq6tw7QB5AM0Uj+RHhiUYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DtEtm2FgtYJw7R331D4dAT",
      "input": {
        "note": "The gripper reading is very low (0.016) but the wrist view shows the pen aligned with the jaws; lifting 9 cm to check whether the pen comes up with the gripper.",
        "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_01DtEtm2FgtYJw7R331D4dAT",
      "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]: [-0.1947, 0.0338, 0.2718, -0.9073, -0.1566, -0.1551, 0.9965, -0.3595, 0.8906, 0.6086, -0.7948, -0.1066, -0.1696, 0.0173]\nstate[eef_state]: left_x=0.1748 left_y=-0.0027 left_z=0.0854 left_yaw=0.0101 left_pitch=-0.0889 left_roll=-0.0178 left_gripper=0.9965 right_x=0.2161 right_y=-0.0573 right_z=0.0905 right_yaw=-0.1623 right_pitch=-0.5095 right_roll=0.01 right_gripper=0.0173\nstate[joint_eff]: [-0.2667, 2.359, 6.2427, 1.6532, -0.1294, -0.0415, -0.0073, -0.2803, -1.6889, 8.4444, 1.1453, -0.1001, -0.0269, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02ead6f390a1377c5aa78318e257aa3a38d1f855713eaf7e665fb26265a038f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94278b20ff789bc96524d39e0e2a67c1cd9f982472911eae205163fc387cb2df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c1bc178b55c52e9429348d79b364c4158fb41eac4867851adb28446116808a51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /messages · status 200 · 4.612 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]: [-0.1947, 0.0334, 0.2718, -0.9085, -0.1566, -0.1551, 0.9965, -0.3542, 1.0004, 0.3225, -0.4438, -0.0914, -0.1673, 0.9961]\nstate[eef_state]: left_x=0.1746 left_y=-0.0027 left_z=0.0852 left_yaw=0.0101 left_pitch=-0.0897 left_roll=-0.0176 left_gripper=0.9965 right_x=0.2063 right_y=-0.0553 right_z=0.0058 right_yaw=-0.1681 right_pitch=-0.5563 right_roll=0.0057 right_gripper=0.9961\nstate[joint_eff]: [-0.3077, 2.9333, 6.3932, 1.6581, -0.1245, -0.0464, -0.0122, -0.0615, -2.0444, 7.9658, 1.5702, -0.3736, -0.1636, -0.0073]\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]: [-0.1947, 0.0334, 0.2718, -0.9081, -0.1562, -0.1551, 0.9965, -0.3595, 0.9901, 0.3202, -0.4263, -0.1043, -0.1696, 0.0164]\nstate[eef_state]: left_x=0.1747 left_y=-0.0028 left_z=0.0853 left_yaw=0.0097 left_pitch=-0.0894 left_roll=-0.0179 left_gripper=0.9965 right_x=0.2106 right_y=-0.0557 right_z=0.0092 right_yaw=-0.1624 right_pitch=-0.529 right_roll=0.0121 right_gripper=0.0164\nstate[joint_eff]: [-0.0752, 2.4274, 6.2838, 1.6288, -0.0952, -0.0415, -0.0122, 0.1436, 0.1846, 5.0803, 0.5885, -0.0269, -0.0415, 0.7399]",
      "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]: [-0.1947, 0.0338, 0.2718, -0.9073, -0.1566, -0.1551, 0.9965, -0.3595, 0.8906, 0.6086, -0.7948, -0.1066, -0.1696, 0.0173]\nstate[eef_state]: left_x=0.1748 left_y=-0.0027 left_z=0.0854 left_yaw=0.0101 left_pitch=-0.0889 left_roll=-0.0178 left_gripper=0.9965 right_x=0.2161 right_y=-0.0573 right_z=0.0905 right_yaw=-0.1623 right_pitch=-0.5095 right_roll=0.01 right_gripper=0.0173\nstate[joint_eff]: [-0.2667, 2.359, 6.2427, 1.6532, -0.1294, -0.0415, -0.0073, -0.2803, -1.6889, 8.4444, 1.1453, -0.1001, -0.0269, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02ead6f390a1377c5aa78318e257aa3a38d1f855713eaf7e665fb26265a038f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94278b20ff789bc96524d39e0e2a67c1cd9f982472911eae205163fc387cb2df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1bc178b55c52e9429348d79b364c4158fb41eac4867851adb28446116808a51",
        "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_01PTeVNPZHTEdoh7sbWdTrCM",
      "input": {
        "note": "The pen stayed on the table — the previous close was empty, likely because the fingertips sat ~1 cm above the table. Reopening and pressing down to the floor of the box (z=-0.02) at the same spot so the jaws straddle the pen shaft.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.208,
          "right_y": -0.052,
          "right_z": -0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01PTeVNPZHTEdoh7sbWdTrCM",
      "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]: [-0.1947, 0.0338, 0.2718, -0.9062, -0.1562, -0.1555, 0.9965, -0.3443, 1.0256, 0.2428, -0.2813, -0.0975, -0.1722, 0.9949]\nstate[eef_state]: left_x=0.175 left_y=-0.0028 left_z=0.0856 left_yaw=0.0099 left_pitch=-0.0879 left_roll=-0.0186 left_gripper=0.9965 right_x=0.2126 right_y=-0.0542 right_z=-0.0074 right_yaw=-0.1555 right_pitch=-0.4986 right_roll=-0.0032 right_gripper=0.9949\nstate[joint_eff]: [-0.335, 2.359, 6.2291, 1.6239, -0.1343, -0.0317, -0.0122, 0.0479, 0.4855, 3.2752, 0.6276, -0.1538, 0.2271, -0.1783]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23007194fd72b13836828e84b5d5435d246d8440a79216d1ff75e6dfa78dedd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ca17296e5d09cdc0344ccbfd445ac7dae3d6040f94029f2ef9bf9adc25e5188",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9f1c95ba8614874e29250be44494411d3269048797597306b864d92954261017",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /messages · status 200 · 18.24 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]: [-0.1947, 0.0334, 0.2718, -0.9081, -0.1562, -0.1551, 0.9965, -0.3595, 0.9901, 0.3202, -0.4263, -0.1043, -0.1696, 0.0164]\nstate[eef_state]: left_x=0.1747 left_y=-0.0028 left_z=0.0853 left_yaw=0.0097 left_pitch=-0.0894 left_roll=-0.0179 left_gripper=0.9965 right_x=0.2106 right_y=-0.0557 right_z=0.0092 right_yaw=-0.1624 right_pitch=-0.529 right_roll=0.0121 right_gripper=0.0164\nstate[joint_eff]: [-0.0752, 2.4274, 6.2838, 1.6288, -0.0952, -0.0415, -0.0122, 0.1436, 0.1846, 5.0803, 0.5885, -0.0269, -0.0415, 0.7399]",
      "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]: [-0.1947, 0.0338, 0.2718, -0.9073, -0.1566, -0.1551, 0.9965, -0.3595, 0.8906, 0.6086, -0.7948, -0.1066, -0.1696, 0.0173]\nstate[eef_state]: left_x=0.1748 left_y=-0.0027 left_z=0.0854 left_yaw=0.0101 left_pitch=-0.0889 left_roll=-0.0178 left_gripper=0.9965 right_x=0.2161 right_y=-0.0573 right_z=0.0905 right_yaw=-0.1623 right_pitch=-0.5095 right_roll=0.01 right_gripper=0.0173\nstate[joint_eff]: [-0.2667, 2.359, 6.2427, 1.6532, -0.1294, -0.0415, -0.0073, -0.2803, -1.6889, 8.4444, 1.1453, -0.1001, -0.0269, 1.0281]",
      "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]: [-0.1947, 0.0338, 0.2718, -0.9062, -0.1562, -0.1555, 0.9965, -0.3443, 1.0256, 0.2428, -0.2813, -0.0975, -0.1722, 0.9949]\nstate[eef_state]: left_x=0.175 left_y=-0.0028 left_z=0.0856 left_yaw=0.0099 left_pitch=-0.0879 left_roll=-0.0186 left_gripper=0.9965 right_x=0.2126 right_y=-0.0542 right_z=-0.0074 right_yaw=-0.1555 right_pitch=-0.4986 right_roll=-0.0032 right_gripper=0.9949\nstate[joint_eff]: [-0.335, 2.359, 6.2291, 1.6239, -0.1343, -0.0317, -0.0122, 0.0479, 0.4855, 3.2752, 0.6276, -0.1538, 0.2271, -0.1783]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23007194fd72b13836828e84b5d5435d246d8440a79216d1ff75e6dfa78dedd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ca17296e5d09cdc0344ccbfd445ac7dae3d6040f94029f2ef9bf9adc25e5188",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f1c95ba8614874e29250be44494411d3269048797597306b864d92954261017",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISyAQKjgEIEhgCKkBBU7V++04tbFKASsUGHFY4aML0G0JcKyZadTbcO9dvAgiDjKbm7t2uJWTrw4i+UCi3rafMB8yFuC4W0x9PDrEIMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAevMzNUGEgyEz1lx6ZZrA/IE2kcaDHILuQC6niCwlD96wyIw1hqiWgcwNG+XpZlpPqRDYdezWTvMkJ7Njb06pkX3dvIIutTPNzd+O859myqYIoOeKuYCcA8fGbL574BtF7z1vyNatX9mNQYCuAgkV1HAkrhxWKN9bFan/mu0LdP4jvrN0TWCU3TLnqBcJRjNsUvFUMy9wm5en7KJmDh1Zi+e8Ws3a98wsnZT4OPkNMWllOKLqnhH8LW9OxXQZnVr4xBOac3WdYh0qIYw3s7VeIoWkQtGppWyhPvZ8WjWeLy6cRfq9Yz9zqywdC5rHX0Jc+0FaoqYcXX8G+5xb4A8ZAA4OyOv5OJZL/Vn88tFG7StgaYa5MXKQRvyoEA7l5X47f11u4GkG6bYB6mBMN9Upkpe3zuUIHTqMDOXywCCDD0IHTAtsPxzNJcZw/zUrM4TxwsKbeDFlX++U2E/+SPUTFdIUytxKIE0GKvtBYwIvSzJBBliH7FdDEegn+9leO2oMbtBX2vKTtr6mzuoOdUFZg19pUuKqeVfAkd3VRLuNIcB7Ccbk6Vbav0OGy6qh+4dihtIMSmdtggP3AXuHxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014dq5jfHFfd122Hcwpj4LgY",
      "input": {
        "note": "The gripper is pressed to table level right over the pen (now in the camera's blind zone under the fingertips); closing on it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_014dq5jfHFfd122Hcwpj4LgY",
      "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]: [-0.1947, 0.0338, 0.2718, -0.9062, -0.1562, -0.1555, 0.9965, -0.3454, 1.0245, 0.2333, -0.2398, -0.1066, -0.1707, 0.0143]\nstate[eef_state]: left_x=0.175 left_y=-0.0028 left_z=0.0856 left_yaw=0.0099 left_pitch=-0.0879 left_roll=-0.0186 left_gripper=0.9965 right_x=0.2184 right_y=-0.0548 right_z=-0.0051 right_yaw=-0.1522 right_pitch=-0.4646 right_roll=-0.0007 right_gripper=0.0143\nstate[joint_eff]: [-0.3214, 2.441, 6.2427, 1.6337, -0.0952, -0.0855, -0.0122, -0.0205, -1.5932, 7.1043, 0.8376, 0.0366, -0.0464, 1.2821]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6122ddc1aac8bf49632df9f2bdb8330c273a508ae98576dd7f05d634740e1369",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30745dd3ec944a6440fb1604a96505456b709b1243e67163ae4d6457bcba2a98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d366753039bcfcf0d79c97d417898d512a582ce184b9ecaf866c69a4d11cbb95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /messages · status 200 · 18.91 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]: [-0.1947, 0.0338, 0.2718, -0.9073, -0.1566, -0.1551, 0.9965, -0.3595, 0.8906, 0.6086, -0.7948, -0.1066, -0.1696, 0.0173]\nstate[eef_state]: left_x=0.1748 left_y=-0.0027 left_z=0.0854 left_yaw=0.0101 left_pitch=-0.0889 left_roll=-0.0178 left_gripper=0.9965 right_x=0.2161 right_y=-0.0573 right_z=0.0905 right_yaw=-0.1623 right_pitch=-0.5095 right_roll=0.01 right_gripper=0.0173\nstate[joint_eff]: [-0.2667, 2.359, 6.2427, 1.6532, -0.1294, -0.0415, -0.0073, -0.2803, -1.6889, 8.4444, 1.1453, -0.1001, -0.0269, 1.0281]",
      "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]: [-0.1947, 0.0338, 0.2718, -0.9062, -0.1562, -0.1555, 0.9965, -0.3443, 1.0256, 0.2428, -0.2813, -0.0975, -0.1722, 0.9949]\nstate[eef_state]: left_x=0.175 left_y=-0.0028 left_z=0.0856 left_yaw=0.0099 left_pitch=-0.0879 left_roll=-0.0186 left_gripper=0.9965 right_x=0.2126 right_y=-0.0542 right_z=-0.0074 right_yaw=-0.1555 right_pitch=-0.4986 right_roll=-0.0032 right_gripper=0.9949\nstate[joint_eff]: [-0.335, 2.359, 6.2291, 1.6239, -0.1343, -0.0317, -0.0122, 0.0479, 0.4855, 3.2752, 0.6276, -0.1538, 0.2271, -0.1783]",
      "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]: [-0.1947, 0.0338, 0.2718, -0.9062, -0.1562, -0.1555, 0.9965, -0.3454, 1.0245, 0.2333, -0.2398, -0.1066, -0.1707, 0.0143]\nstate[eef_state]: left_x=0.175 left_y=-0.0028 left_z=0.0856 left_yaw=0.0099 left_pitch=-0.0879 left_roll=-0.0186 left_gripper=0.9965 right_x=0.2184 right_y=-0.0548 right_z=-0.0051 right_yaw=-0.1522 right_pitch=-0.4646 right_roll=-0.0007 right_gripper=0.0143\nstate[joint_eff]: [-0.3214, 2.441, 6.2427, 1.6337, -0.0952, -0.0855, -0.0122, -0.0205, -1.5932, 7.1043, 0.8376, 0.0366, -0.0464, 1.2821]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6122ddc1aac8bf49632df9f2bdb8330c273a508ae98576dd7f05d634740e1369",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30745dd3ec944a6440fb1604a96505456b709b1243e67163ae4d6457bcba2a98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d366753039bcfcf0d79c97d417898d512a582ce184b9ecaf866c69a4d11cbb95",
        "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_015NSghqwWEBBHr6yUGo4oX8",
      "input": {
        "note": "Another empty close on the right — the thing near the right base may be wood grain, not the pen. Bringing the left arm up to look down on the one object I can definitely see on the table and its surroundings.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.14,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_015NSghqwWEBBHr6yUGo4oX8",
      "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]: [-0.5991, 1.2896, 0.8825, -0.4107, -0.4496, -0.4404, 0.9965, -0.3454, 1.0248, 0.2333, -0.2348, -0.1093, -0.1699, 0.0172]\nstate[eef_state]: left_x=0.3362 left_y=-0.1323 left_z=0.1567 left_yaw=0.0073 left_pitch=-0.1462 left_roll=0.0024 left_gripper=0.9965 right_x=0.2195 right_y=-0.0547 right_z=-0.0045 right_yaw=-0.1506 right_pitch=-0.4596 right_roll=0.0013 right_gripper=0.0172\nstate[joint_eff]: [-0.4308, -5.4359, 9.4427, 1.619, -0.3736, 0.0904, -0.0073, -0.3761, -1.6615, 5.8462, 1.1502, -0.0806, -0.0269, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:086fd053212c4fff8a3ef535db0a0b64f0db4c5fa1b788229dee3d20368c6625",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc574e1a6053f5061a52d4d905dfd2a5be55501c66f1504d62f14460662bdc56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f186dcaaab756d63abee1b1fb084bdee1a62ec034396ed4662dc74b9c5ee85d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /messages · status 200 · 10.52 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]: [-0.1947, 0.0338, 0.2718, -0.9062, -0.1562, -0.1555, 0.9965, -0.3443, 1.0256, 0.2428, -0.2813, -0.0975, -0.1722, 0.9949]\nstate[eef_state]: left_x=0.175 left_y=-0.0028 left_z=0.0856 left_yaw=0.0099 left_pitch=-0.0879 left_roll=-0.0186 left_gripper=0.9965 right_x=0.2126 right_y=-0.0542 right_z=-0.0074 right_yaw=-0.1555 right_pitch=-0.4986 right_roll=-0.0032 right_gripper=0.9949\nstate[joint_eff]: [-0.335, 2.359, 6.2291, 1.6239, -0.1343, -0.0317, -0.0122, 0.0479, 0.4855, 3.2752, 0.6276, -0.1538, 0.2271, -0.1783]",
      "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]: [-0.1947, 0.0338, 0.2718, -0.9062, -0.1562, -0.1555, 0.9965, -0.3454, 1.0245, 0.2333, -0.2398, -0.1066, -0.1707, 0.0143]\nstate[eef_state]: left_x=0.175 left_y=-0.0028 left_z=0.0856 left_yaw=0.0099 left_pitch=-0.0879 left_roll=-0.0186 left_gripper=0.9965 right_x=0.2184 right_y=-0.0548 right_z=-0.0051 right_yaw=-0.1522 right_pitch=-0.4646 right_roll=-0.0007 right_gripper=0.0143\nstate[joint_eff]: [-0.3214, 2.441, 6.2427, 1.6337, -0.0952, -0.0855, -0.0122, -0.0205, -1.5932, 7.1043, 0.8376, 0.0366, -0.0464, 1.2821]\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]: [-0.5991, 1.2896, 0.8825, -0.4107, -0.4496, -0.4404, 0.9965, -0.3454, 1.0248, 0.2333, -0.2348, -0.1093, -0.1699, 0.0172]\nstate[eef_state]: left_x=0.3362 left_y=-0.1323 left_z=0.1567 left_yaw=0.0073 left_pitch=-0.1462 left_roll=0.0024 left_gripper=0.9965 right_x=0.2195 right_y=-0.0547 right_z=-0.0045 right_yaw=-0.1506 right_pitch=-0.4596 right_roll=0.0013 right_gripper=0.0172\nstate[joint_eff]: [-0.4308, -5.4359, 9.4427, 1.619, -0.3736, 0.0904, -0.0073, -0.3761, -1.6615, 5.8462, 1.1502, -0.0806, -0.0269, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:086fd053212c4fff8a3ef535db0a0b64f0db4c5fa1b788229dee3d20368c6625",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc574e1a6053f5061a52d4d905dfd2a5be55501c66f1504d62f14460662bdc56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f186dcaaab756d63abee1b1fb084bdee1a62ec034396ed4662dc74b9c5ee85d1",
        "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_011ZnBtkwGre6nA4iptNj3rL",
      "input": {
        "note": "Left wrist view shows the object just left of the jaw column and near the bottom edge (i.e. slightly nearer the base than the fingertips). Shifting 3 cm to the arm's left, 1 cm back, and down to 2 cm to line up on it.",
        "targets": {
          "left_x": 0.325,
          "left_y": -0.105,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_011ZnBtkwGre6nA4iptNj3rL",
      "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]: [-0.5312, 1.4963, 0.4335, 0.1734, -0.4107, -0.4, 0.9965, -0.3454, 1.0248, 0.2333, -0.234, -0.1093, -0.1699, 0.0172]\nstate[eef_state]: left_x=0.3119 left_y=-0.0973 left_z=0.0103 left_yaw=0.0302 left_pitch=-0.223 left_roll=0.0476 left_gripper=0.9965 right_x=0.2196 right_y=-0.0547 right_z=-0.0044 right_yaw=-0.1507 right_pitch=-0.4589 right_roll=0.0011 right_gripper=0.0172\nstate[joint_eff]: [0.2256, -5.6274, 5.4359, 1.8193, -0.0708, 0.0952, -0.0122, -0.3624, -1.7299, 5.8598, 1.1697, -0.0806, -0.0611, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20800a86d47634b7a7f1119faf06985356a9e1411c0467b490aeb373f7437507",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ada4ff6fbb341280c3f27e9841ffdff062ea1edc1d4d248dbdc5db9dc4ccc24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fdf63d66d7d8e475f62aaaba80216733264bbc3608acd8b0ddc39bbf9a3f0df8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /messages · status 200 · 8.934 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]: [-0.1947, 0.0338, 0.2718, -0.9062, -0.1562, -0.1555, 0.9965, -0.3454, 1.0245, 0.2333, -0.2398, -0.1066, -0.1707, 0.0143]\nstate[eef_state]: left_x=0.175 left_y=-0.0028 left_z=0.0856 left_yaw=0.0099 left_pitch=-0.0879 left_roll=-0.0186 left_gripper=0.9965 right_x=0.2184 right_y=-0.0548 right_z=-0.0051 right_yaw=-0.1522 right_pitch=-0.4646 right_roll=-0.0007 right_gripper=0.0143\nstate[joint_eff]: [-0.3214, 2.441, 6.2427, 1.6337, -0.0952, -0.0855, -0.0122, -0.0205, -1.5932, 7.1043, 0.8376, 0.0366, -0.0464, 1.2821]\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]: [-0.5991, 1.2896, 0.8825, -0.4107, -0.4496, -0.4404, 0.9965, -0.3454, 1.0248, 0.2333, -0.2348, -0.1093, -0.1699, 0.0172]\nstate[eef_state]: left_x=0.3362 left_y=-0.1323 left_z=0.1567 left_yaw=0.0073 left_pitch=-0.1462 left_roll=0.0024 left_gripper=0.9965 right_x=0.2195 right_y=-0.0547 right_z=-0.0045 right_yaw=-0.1506 right_pitch=-0.4596 right_roll=0.0013 right_gripper=0.0172\nstate[joint_eff]: [-0.4308, -5.4359, 9.4427, 1.619, -0.3736, 0.0904, -0.0073, -0.3761, -1.6615, 5.8462, 1.1502, -0.0806, -0.0269, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5312, 1.4963, 0.4335, 0.1734, -0.4107, -0.4, 0.9965, -0.3454, 1.0248, 0.2333, -0.234, -0.1093, -0.1699, 0.0172]\nstate[eef_state]: left_x=0.3119 left_y=-0.0973 left_z=0.0103 left_yaw=0.0302 left_pitch=-0.223 left_roll=0.0476 left_gripper=0.9965 right_x=0.2196 right_y=-0.0547 right_z=-0.0044 right_yaw=-0.1507 right_pitch=-0.4589 right_roll=0.0011 right_gripper=0.0172\nstate[joint_eff]: [0.2256, -5.6274, 5.4359, 1.8193, -0.0708, 0.0952, -0.0122, -0.3624, -1.7299, 5.8598, 1.1697, -0.0806, -0.0611, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20800a86d47634b7a7f1119faf06985356a9e1411c0467b490aeb373f7437507",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ada4ff6fbb341280c3f27e9841ffdff062ea1edc1d4d248dbdc5db9dc4ccc24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdf63d66d7d8e475f62aaaba80216733264bbc3608acd8b0ddc39bbf9a3f0df8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS5gkKjgEIEhgCKkAtcN+XHfksdKSGg/Japd4Vq1rgJ0A4ITMZNHUU2/uxuI2vwG/6LBq0EwJPy/zPnDndbSmaTyesIa9w1xuo6CDDMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZ3NzNUGEgw98vLT8sV6GvlNwHgaDIGqZyWS4gQG2vG1QSIwog6BZ0xwEeUIMfAf8Ftw2sirITxhFsgNI7q73iaC1MVvUIppVOEzEnEU7HPiGyFbKoQI7yLQ6riYeFTXv7Jnm3qWIrabCmbelANAz8p2xatBgdNHjd4H8Is9k7DwVgyTjgxYbnDjxcNs4ezNRgZ+Da4GJoO0YhQs7CzxQ4FK4is5JifeNkamgtL74wCVE0ea9HG6yGHFLaKo4QqIlU0S/ve42AZg2/RtP28J+hUue1rCdDSOYDA2xYY3Mn01rIv8z7AvCKN5o+tlHimYHIQ9bChaFOGguGyLjYyYGrPn46TjPqUg3m9G9K+rvUYQhm8p90iIb3WWcJ+PWOpT/912zDlmmqtmAE2LCLzsloKj+eGQe+uSryMtv+3QTpuf5GDzl/i4kvZLJ/A0JtdajVBWFod4JjQwGzkYJhqbEZNmTSjx/ICkKsVHOkAA02JI1ou5cS7sIq0YRyvAE8eVI6jzPF1ofqOE99swQZMPV5X0TwqYbyyzs/uUPs4aMn+DO1G6FKFRf2ogEBT3XgU24r/v7SFK02HViDxhea8+gQXGDSTgwI0uRDREfwOX653m8z84SvOrGefnynlRnWgQwEY2+9Y1yIWRLdI3wcmADJYuZx45/XiC7WnaX6CI1sY7okWgso0XkO/amVBzhg6DAefXFMAsz6ZdstLDtZwTZSkBnCJkb+EKZGrUoehqHSaNHj6wleme/Hw0u4eqbJURgyIdyQUvlb9tDA+WAJPL1jTMQwEISWxqt8poqeAocvST9+QweNYqm0+xVAg6keAerBEn28qH6PMZh/FL7vuKaFo794NDn/1Y/H8yBNjIQPBnDmECLOZZ6dgYvPiuGhphrj18KqV4pJ7inqNBHv1p1mM8vk6QTe3pAWz+fhiphvCTqV+hUqFWmZI56gds/WecsSJlfad5cwFcgbr1n7M+d37emi6ykfrq/ogD0AmUzoqGu0XlwsCDkWFtQbAEd/yMt7tfQ1Qtpm2DZa1nCckva+cr38BKELzj4Vf7jUd+IQhfij5t25lMSDkIuCQGe8OXJShtc6VXHa5TqoA2zCEI35bcCdDzhkcIKHVf6Lr+GWEcrFwRQCyF2ep2u12YddexxzNIm79SSpR8by18IOzs+fzccbTlGq8bUEcflPpO78BpJAKJ/UB/cT16Io1U1ayAhjXs6/NU6oybCyqkq0k6CzzNw9opOo49SkqaapGiMNVQ5cbpKRkqqzF2pclj+mpi7Xx9I2sEG53agWztYckmGlULYnuphUQiJ0BF/5L5ldd9OjNlJa/24X2ngbcyj1YS3NZvT6b6iYy9F4Ax2S/12AShZGAE3QOYDCbDEAa5wICOOtmGHNRGWqM7hWJEkXzc7iWbMYJC8PCUvvSRyuoXiJ0p8PnIdIMubCz2PzAfWyB3SMHm5zLP3hBWmn8dW5xRsJS3vhBihLQq4AUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VhQFQ7jsbw3Y2qqtdYsvZj",
      "input": {
        "note": "Clear view now: the black pen cap (with clip) lies between the open jaws but aligned ALONG the closing direction. Rotating the wrist ~80° and centring so the jaws will close across the cap's width.",
        "targets": {
          "left_x": 0.32,
          "left_y": -0.082,
          "left_yaw": 1.4,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01VhQFQ7jsbw3Y2qqtdYsvZj",
      "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]: [-0.6044, 2.1681, 1.3872, -1.0229, -0.7071, -1.9022, 0.9966, -0.3454, 1.0245, 0.2329, -0.2337, -0.1093, -0.1699, 0.0172]\nstate[eef_state]: left_x=0.3448 left_y=-0.0943 left_z=0.0018 left_yaw=1.208 left_pitch=-0.2622 left_roll=0.0189 left_gripper=0.9966 right_x=0.2196 right_y=-0.0547 right_z=-0.0044 right_yaw=-0.1507 right_pitch=-0.4585 right_roll=0.0011 right_gripper=0.0172\nstate[joint_eff]: [0.9231, -10.0718, 5.2718, -0.8034, -0.2466, -0.0317, -0.0024, -0.1983, -1.6342, 6.0786, 1.1844, -0.0708, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:669883c78ee18b10afd4006bafb4ef246c4b7c8007219b921b49433fea147ff4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f43e9a1e994153ead60f2b87d01c10a3b196d34670a2cdded0c23266a051f3ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8f55b0d3537b1d507291d6f12df9c04af29c06a6544a171890d25250180d6d2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /messages · status 200 · 3.616 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]: [-0.5991, 1.2896, 0.8825, -0.4107, -0.4496, -0.4404, 0.9965, -0.3454, 1.0248, 0.2333, -0.2348, -0.1093, -0.1699, 0.0172]\nstate[eef_state]: left_x=0.3362 left_y=-0.1323 left_z=0.1567 left_yaw=0.0073 left_pitch=-0.1462 left_roll=0.0024 left_gripper=0.9965 right_x=0.2195 right_y=-0.0547 right_z=-0.0045 right_yaw=-0.1506 right_pitch=-0.4596 right_roll=0.0013 right_gripper=0.0172\nstate[joint_eff]: [-0.4308, -5.4359, 9.4427, 1.619, -0.3736, 0.0904, -0.0073, -0.3761, -1.6615, 5.8462, 1.1502, -0.0806, -0.0269, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5312, 1.4963, 0.4335, 0.1734, -0.4107, -0.4, 0.9965, -0.3454, 1.0248, 0.2333, -0.234, -0.1093, -0.1699, 0.0172]\nstate[eef_state]: left_x=0.3119 left_y=-0.0973 left_z=0.0103 left_yaw=0.0302 left_pitch=-0.223 left_roll=0.0476 left_gripper=0.9965 right_x=0.2196 right_y=-0.0547 right_z=-0.0044 right_yaw=-0.1507 right_pitch=-0.4589 right_roll=0.0011 right_gripper=0.0172\nstate[joint_eff]: [0.2256, -5.6274, 5.4359, 1.8193, -0.0708, 0.0952, -0.0122, -0.3624, -1.7299, 5.8598, 1.1697, -0.0806, -0.0611, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.6044, 2.1681, 1.3872, -1.0229, -0.7071, -1.9022, 0.9966, -0.3454, 1.0245, 0.2329, -0.2337, -0.1093, -0.1699, 0.0172]\nstate[eef_state]: left_x=0.3448 left_y=-0.0943 left_z=0.0018 left_yaw=1.208 left_pitch=-0.2622 left_roll=0.0189 left_gripper=0.9966 right_x=0.2196 right_y=-0.0547 right_z=-0.0044 right_yaw=-0.1507 right_pitch=-0.4585 right_roll=0.0011 right_gripper=0.0172\nstate[joint_eff]: [0.9231, -10.0718, 5.2718, -0.8034, -0.2466, -0.0317, -0.0024, -0.1983, -1.6342, 6.0786, 1.1844, -0.0708, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:669883c78ee18b10afd4006bafb4ef246c4b7c8007219b921b49433fea147ff4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f43e9a1e994153ead60f2b87d01c10a3b196d34670a2cdded0c23266a051f3ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f55b0d3537b1d507291d6f12df9c04af29c06a6544a171890d25250180d6d2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS5QcKjgEIEhgCKkAkm8H3YI6DfXFreKbA7ngrn9iD0FOXZ5+B8uclWSDf64XOuOjMdhgyGiZmncKGodiE5ezebEj1dujNG+MlC7MAMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAajNzNUGEgxvT/BcEzxki1iva+oaDDKyLMAHBG8J4y1jIiIwFeLZdf0ukYVlnWrdeP73b527U+qAiPGN8LzAcmzcCSr/GhtCK1BGVF3sdYun/CC9KoMGF8ycNgVPloaV+kjKGrW0pEeFXKFkIyLyuUKTrn9fE9ZrJNYLtP9z9ugRQO/ANwHN8FUIhCsPw0Z2w5tgFXB6k55yIjIXD6xeGDxX7YXvofrkONw4T7EWnNXy4zeqRSezhn0D9+rV3M28LAfBIQI9RcGfG7C5g57INJ6f6a5ptYP8yTYjYo1jxV/5UMKCrTgB8gRVymf3rYmZEJyHhnD7q7O50YarbJUPOlCMhfpTPA5cH2MJLcVVHj6q/BDWJXRu2n00NAusCgg+QDLhSkfvQJL5XjJgDLI9AYjn4/vTbWLoJc00L5UcO/PpuDePVIYD8Hwyo6HzXirX+67SKHv9atn1CaMAlkhdxXEHMCmU2JmHUZxh8pVXqjW/CME2DSXyvteuerIpxZPc1iBslgj82u8zopTu66s4lV05/DiMxhz8o+obfP61Yb+yP5+bFx5aBIZ0vubr3cX+xTpye8atuKUoNLQa2bs79xsVFdvfz+6MQYXhIfhB0EmHGQCWJnwNw3sCJHNFGS7d5WcpaGI4pu/Up/rmPmvSrGQHpoXJGFVQzXk4RGn1xCO03v0N/NdjYBsBiLs7tmNa0ju+Fp6EPaVNNDtw+jFcI5mmke7+UsUb4pS7ojZcvrYx6EL64hzfDWOANg9kqnfnMb/2S375tiLBSygLtMKl7EJwa9RNHYzbQBod9D2y+Xgj1NsJM96OGkr/UzcGkgZQzt3DvFbr/0g5CgjervLg2lwQJaa269iYMKmJs+K1HC5awf7hG6Jeh4gjCRYm9OlFKMG8DqojapbEYOu+qTfeC4gVeReXpxlvV+pKxDh1+L/sHcWVGDu6QlqGbB4bEGkWfB3NNTUk2cBw194URSWGZaFXxXC6MIOVo+kAhsplL3JXYommeGjvfYEw4G4J/www/m1zFDqHWH6ytUTwOnzGq3qGHy3kF1KpLTXFFLXzHQcSjBOycv81uK6/PvKWybbt+osMmhfaKSf+Z8R9ydGN+8rCVhUss5Hn3sZdgLQEPO5v48f4TiywUygnGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NrKnJ9RftW3uzSomRm4tW1",
      "input": {
        "note": "With the wrist rotated the cap now lies across the jaw axis but sits ~3 cm to the gripper's left; translating along the tool's left direction to centre it before closing.",
        "targets": {
          "left_x": 0.32,
          "left_y": -0.074,
          "left_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01NrKnJ9RftW3uzSomRm4tW1",
      "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]: [-0.5827, 2.1258, 1.2778, -1.0504, -0.7155, -2.0071, 0.9966, -0.3454, 1.026, 0.2329, -0.231, -0.1097, -0.1699, 0.0172]\nstate[eef_state]: left_x=0.3166 left_y=-0.0656 left_z=0.0 left_yaw=1.308 left_pitch=-0.2261 left_roll=0.0362 left_gripper=0.9966 right_x=0.22 right_y=-0.0548 right_z=-0.0044 right_yaw=-0.1505 right_pitch=-0.4573 right_roll=0.0012 right_gripper=0.0172\nstate[joint_eff]: [-0.3214, -10.2222, 5.3812, 0.1587, 0.1245, 0.2466, -0.0171, -0.3761, -1.2923, 5.8462, 1.2821, -0.0904, -0.0708, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3edf43a53704dc6a37409ffdf6c1e1c722654153a35c36d834a2587fbdc95ee5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6a064eaef8283590b880c44f9acc4b5186957087540076c9b750e066603916a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9a252c84018a450c591b11c8c669c162dffe37ec0f0596c45376067432c5e3e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /messages · status 200 · 11.89 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]: [-0.5312, 1.4963, 0.4335, 0.1734, -0.4107, -0.4, 0.9965, -0.3454, 1.0248, 0.2333, -0.234, -0.1093, -0.1699, 0.0172]\nstate[eef_state]: left_x=0.3119 left_y=-0.0973 left_z=0.0103 left_yaw=0.0302 left_pitch=-0.223 left_roll=0.0476 left_gripper=0.9965 right_x=0.2196 right_y=-0.0547 right_z=-0.0044 right_yaw=-0.1507 right_pitch=-0.4589 right_roll=0.0011 right_gripper=0.0172\nstate[joint_eff]: [0.2256, -5.6274, 5.4359, 1.8193, -0.0708, 0.0952, -0.0122, -0.3624, -1.7299, 5.8598, 1.1697, -0.0806, -0.0611, 1.0281]\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]: [-0.6044, 2.1681, 1.3872, -1.0229, -0.7071, -1.9022, 0.9966, -0.3454, 1.0245, 0.2329, -0.2337, -0.1093, -0.1699, 0.0172]\nstate[eef_state]: left_x=0.3448 left_y=-0.0943 left_z=0.0018 left_yaw=1.208 left_pitch=-0.2622 left_roll=0.0189 left_gripper=0.9966 right_x=0.2196 right_y=-0.0547 right_z=-0.0044 right_yaw=-0.1507 right_pitch=-0.4585 right_roll=0.0011 right_gripper=0.0172\nstate[joint_eff]: [0.9231, -10.0718, 5.2718, -0.8034, -0.2466, -0.0317, -0.0024, -0.1983, -1.6342, 6.0786, 1.1844, -0.0708, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5827, 2.1258, 1.2778, -1.0504, -0.7155, -2.0071, 0.9966, -0.3454, 1.026, 0.2329, -0.231, -0.1097, -0.1699, 0.0172]\nstate[eef_state]: left_x=0.3166 left_y=-0.0656 left_z=0.0 left_yaw=1.308 left_pitch=-0.2261 left_roll=0.0362 left_gripper=0.9966 right_x=0.22 right_y=-0.0548 right_z=-0.0044 right_yaw=-0.1505 right_pitch=-0.4573 right_roll=0.0012 right_gripper=0.0172\nstate[joint_eff]: [-0.3214, -10.2222, 5.3812, 0.1587, 0.1245, 0.2466, -0.0171, -0.3761, -1.2923, 5.8462, 1.2821, -0.0904, -0.0708, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3edf43a53704dc6a37409ffdf6c1e1c722654153a35c36d834a2587fbdc95ee5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6a064eaef8283590b880c44f9acc4b5186957087540076c9b750e066603916a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a252c84018a450c591b11c8c669c162dffe37ec0f0596c45376067432c5e3e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS1AIKjgEIEhgCKkCHONaIKkQgDpvFfaauShOj0nOu91aYU5uiJwQvY9ulOF6JhNmOjY5MfqF0QiXY3CKgUPFni9LJkSiTsiUA9xF0Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAazNzNUGEgx/kPkKQJa6GAjY7sIaDElweGU46AfJaijt4SIwFBiRQZ69QGZGw2UJRPZ3/pfioiZo6Hazc1AvuZCPy1vf9sNNPBWQD+f94fZ5r3fNKnPElMcIfrxGeXq6wH+uaGaTnGvyRyGO3AQ10UiwiEDh2JEOq/w/NnjW7QXgmVOYRAWeuAPyctMl7EGN6lxsA/fEOHUnD+CfVbME5upgBjdOKLbGucv2jy3XYOnwdh4pfdV7oEFhZtc71FNZN6EYAUKdurJzGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UzFhR9D8Au5ZR72zL9edyV",
      "input": {
        "note": "The cap is now under the jaws at table level; closing the left gripper on it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01UzFhR9D8Au5ZR72zL9edyV",
      "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]: [-0.5858, 2.1147, 1.2667, -1.0512, -0.7238, -2.0071, 0.0091, -0.3454, 1.0252, 0.2329, -0.2325, -0.1093, -0.1699, 0.0172]\nstate[eef_state]: left_x=0.3151 left_y=-0.0643 left_z=0.0025 left_yaw=1.3018 left_pitch=-0.2183 left_roll=0.0344 left_gripper=0.0091 right_x=0.2197 right_y=-0.0548 right_z=-0.0045 right_yaw=-0.1508 right_pitch=-0.4581 right_roll=0.001 right_gripper=0.0172\nstate[joint_eff]: [0.0889, -8.8684, 5.6, -0.1685, -0.6374, -0.0269, 0.5592, -0.1846, -1.5248, 5.8462, 1.3016, -0.0757, -0.0415, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c709cdc478670e7dc8e309e1784e662fe97b86b58f6660c25668662b9c3c1fb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:078328301c02d15277ded265e32f0633571dcc6b21962bf12bac90cebc58fb8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fb330cca14c82343648295a089e9b33d824fc0d213a927bde48fda30a180de56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /messages · status 200 · 23.3 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]: [-0.6044, 2.1681, 1.3872, -1.0229, -0.7071, -1.9022, 0.9966, -0.3454, 1.0245, 0.2329, -0.2337, -0.1093, -0.1699, 0.0172]\nstate[eef_state]: left_x=0.3448 left_y=-0.0943 left_z=0.0018 left_yaw=1.208 left_pitch=-0.2622 left_roll=0.0189 left_gripper=0.9966 right_x=0.2196 right_y=-0.0547 right_z=-0.0044 right_yaw=-0.1507 right_pitch=-0.4585 right_roll=0.0011 right_gripper=0.0172\nstate[joint_eff]: [0.9231, -10.0718, 5.2718, -0.8034, -0.2466, -0.0317, -0.0024, -0.1983, -1.6342, 6.0786, 1.1844, -0.0708, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5827, 2.1258, 1.2778, -1.0504, -0.7155, -2.0071, 0.9966, -0.3454, 1.026, 0.2329, -0.231, -0.1097, -0.1699, 0.0172]\nstate[eef_state]: left_x=0.3166 left_y=-0.0656 left_z=0.0 left_yaw=1.308 left_pitch=-0.2261 left_roll=0.0362 left_gripper=0.9966 right_x=0.22 right_y=-0.0548 right_z=-0.0044 right_yaw=-0.1505 right_pitch=-0.4573 right_roll=0.0012 right_gripper=0.0172\nstate[joint_eff]: [-0.3214, -10.2222, 5.3812, 0.1587, 0.1245, 0.2466, -0.0171, -0.3761, -1.2923, 5.8462, 1.2821, -0.0904, -0.0708, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5858, 2.1147, 1.2667, -1.0512, -0.7238, -2.0071, 0.0091, -0.3454, 1.0252, 0.2329, -0.2325, -0.1093, -0.1699, 0.0172]\nstate[eef_state]: left_x=0.3151 left_y=-0.0643 left_z=0.0025 left_yaw=1.3018 left_pitch=-0.2183 left_roll=0.0344 left_gripper=0.0091 right_x=0.2197 right_y=-0.0548 right_z=-0.0045 right_yaw=-0.1508 right_pitch=-0.4581 right_roll=0.001 right_gripper=0.0172\nstate[joint_eff]: [0.0889, -8.8684, 5.6, -0.1685, -0.6374, -0.0269, 0.5592, -0.1846, -1.5248, 5.8462, 1.3016, -0.0757, -0.0415, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c709cdc478670e7dc8e309e1784e662fe97b86b58f6660c25668662b9c3c1fb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:078328301c02d15277ded265e32f0633571dcc6b21962bf12bac90cebc58fb8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb330cca14c82343648295a089e9b33d824fc0d213a927bde48fda30a180de56",
        "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_01CKF3EZDNpsaFJDtDpvz2Sn",
      "input": {
        "note": "Empty close again and the cap is no longer visible ahead of the jaws, so it is sitting in the blind zone just behind the fingertips. Reopening and backing up 1.5 cm along the tool axis to bring it between the jaws.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.311,
          "left_y": -0.079,
          "left_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01CKF3EZDNpsaFJDtDpvz2Sn",
      "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]: [-0.6228, 2.1338, 1.2762, -1.0737, -0.7265, -2.0598, 0.995, -0.3454, 1.0252, 0.2329, -0.2325, -0.1097, -0.1699, 0.0172]\nstate[eef_state]: left_x=0.3102 left_y=-0.0738 left_z=0.0004 left_yaw=1.2993 left_pitch=-0.2044 left_roll=0.0263 left_gripper=0.995 right_x=0.2198 right_y=-0.0547 right_z=-0.0044 right_yaw=-0.1504 right_pitch=-0.4581 right_roll=0.0013 right_gripper=0.0172\nstate[joint_eff]: [-0.6222, -7.8154, 6.0239, -0.3492, -0.2125, 0.1148, -0.0659, -0.3214, -1.7299, 5.8188, 1.2625, -0.1099, -0.0317, 1.0232]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6097b558703400267dcfe4e2b81ec83a189dd405e066d97cac9cdb3d2e556914",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca31b4aee71044358a8e3cf2ba0497f40d64389d5a5795d9bd91b98e8c905ce2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:025207f39818ac9857c85b1302394637166bfce8e14c83172d1f8131e201ce2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /messages · status 200 · 17.37 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]: [-0.5827, 2.1258, 1.2778, -1.0504, -0.7155, -2.0071, 0.9966, -0.3454, 1.026, 0.2329, -0.231, -0.1097, -0.1699, 0.0172]\nstate[eef_state]: left_x=0.3166 left_y=-0.0656 left_z=0.0 left_yaw=1.308 left_pitch=-0.2261 left_roll=0.0362 left_gripper=0.9966 right_x=0.22 right_y=-0.0548 right_z=-0.0044 right_yaw=-0.1505 right_pitch=-0.4573 right_roll=0.0012 right_gripper=0.0172\nstate[joint_eff]: [-0.3214, -10.2222, 5.3812, 0.1587, 0.1245, 0.2466, -0.0171, -0.3761, -1.2923, 5.8462, 1.2821, -0.0904, -0.0708, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5858, 2.1147, 1.2667, -1.0512, -0.7238, -2.0071, 0.0091, -0.3454, 1.0252, 0.2329, -0.2325, -0.1093, -0.1699, 0.0172]\nstate[eef_state]: left_x=0.3151 left_y=-0.0643 left_z=0.0025 left_yaw=1.3018 left_pitch=-0.2183 left_roll=0.0344 left_gripper=0.0091 right_x=0.2197 right_y=-0.0548 right_z=-0.0045 right_yaw=-0.1508 right_pitch=-0.4581 right_roll=0.001 right_gripper=0.0172\nstate[joint_eff]: [0.0889, -8.8684, 5.6, -0.1685, -0.6374, -0.0269, 0.5592, -0.1846, -1.5248, 5.8462, 1.3016, -0.0757, -0.0415, 1.0281]",
      "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]: [-0.6228, 2.1338, 1.2762, -1.0737, -0.7265, -2.0598, 0.995, -0.3454, 1.0252, 0.2329, -0.2325, -0.1097, -0.1699, 0.0172]\nstate[eef_state]: left_x=0.3102 left_y=-0.0738 left_z=0.0004 left_yaw=1.2993 left_pitch=-0.2044 left_roll=0.0263 left_gripper=0.995 right_x=0.2198 right_y=-0.0547 right_z=-0.0044 right_yaw=-0.1504 right_pitch=-0.4581 right_roll=0.0013 right_gripper=0.0172\nstate[joint_eff]: [-0.6222, -7.8154, 6.0239, -0.3492, -0.2125, 0.1148, -0.0659, -0.3214, -1.7299, 5.8188, 1.2625, -0.1099, -0.0317, 1.0232]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6097b558703400267dcfe4e2b81ec83a189dd405e066d97cac9cdb3d2e556914",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca31b4aee71044358a8e3cf2ba0497f40d64389d5a5795d9bd91b98e8c905ce2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:025207f39818ac9857c85b1302394637166bfce8e14c83172d1f8131e201ce2e",
        "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_01RLRFeVTZy6VpefaErMMAJP",
      "input": {
        "note": "The cap has been nudged to the far left of the wrist view; lifting to 12 cm to get a wider, less distorted look at where it now sits relative to the jaws.",
        "targets": {
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01RLRFeVTZy6VpefaErMMAJP",
      "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]: [-0.6228, 1.9907, 1.4872, -1.4185, -0.7181, -2.0644, 0.9963, -0.3454, 1.0252, 0.2329, -0.2325, -0.1093, -0.1699, 0.0172]\nstate[eef_state]: left_x=0.3144 left_y=-0.0782 left_z=0.097 left_yaw=1.3035 left_pitch=-0.2148 left_roll=0.017 left_gripper=0.9963 right_x=0.2197 right_y=-0.0548 right_z=-0.0045 right_yaw=-0.1508 right_pitch=-0.4581 right_roll=0.001 right_gripper=0.0172\nstate[joint_eff]: [-0.212, -11.5214, 6.9128, -0.6764, -0.4908, 0.022, 0.1245, -0.253, -1.7573, 5.8188, 1.2381, -0.0611, -0.0415, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea4d3994ddbb9335b347726b06b7ad70a6c6cfef79a653f59384673022e0c334",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d49416ae18f973794fe58f963a587abc435590e00f7867ca45e352760675339f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e25d7722503210b9e248bb9cde770f49f5f1a9bb53683cd3cd9094a4265731bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /messages · status 200 · 8.305 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]: [-0.5858, 2.1147, 1.2667, -1.0512, -0.7238, -2.0071, 0.0091, -0.3454, 1.0252, 0.2329, -0.2325, -0.1093, -0.1699, 0.0172]\nstate[eef_state]: left_x=0.3151 left_y=-0.0643 left_z=0.0025 left_yaw=1.3018 left_pitch=-0.2183 left_roll=0.0344 left_gripper=0.0091 right_x=0.2197 right_y=-0.0548 right_z=-0.0045 right_yaw=-0.1508 right_pitch=-0.4581 right_roll=0.001 right_gripper=0.0172\nstate[joint_eff]: [0.0889, -8.8684, 5.6, -0.1685, -0.6374, -0.0269, 0.5592, -0.1846, -1.5248, 5.8462, 1.3016, -0.0757, -0.0415, 1.0281]",
      "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]: [-0.6228, 2.1338, 1.2762, -1.0737, -0.7265, -2.0598, 0.995, -0.3454, 1.0252, 0.2329, -0.2325, -0.1097, -0.1699, 0.0172]\nstate[eef_state]: left_x=0.3102 left_y=-0.0738 left_z=0.0004 left_yaw=1.2993 left_pitch=-0.2044 left_roll=0.0263 left_gripper=0.995 right_x=0.2198 right_y=-0.0547 right_z=-0.0044 right_yaw=-0.1504 right_pitch=-0.4581 right_roll=0.0013 right_gripper=0.0172\nstate[joint_eff]: [-0.6222, -7.8154, 6.0239, -0.3492, -0.2125, 0.1148, -0.0659, -0.3214, -1.7299, 5.8188, 1.2625, -0.1099, -0.0317, 1.0232]\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 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]: [-0.6228, 1.9907, 1.4872, -1.4185, -0.7181, -2.0644, 0.9963, -0.3454, 1.0252, 0.2329, -0.2325, -0.1093, -0.1699, 0.0172]\nstate[eef_state]: left_x=0.3144 left_y=-0.0782 left_z=0.097 left_yaw=1.3035 left_pitch=-0.2148 left_roll=0.017 left_gripper=0.9963 right_x=0.2197 right_y=-0.0548 right_z=-0.0045 right_yaw=-0.1508 right_pitch=-0.4581 right_roll=0.001 right_gripper=0.0172\nstate[joint_eff]: [-0.212, -11.5214, 6.9128, -0.6764, -0.4908, 0.022, 0.1245, -0.253, -1.7573, 5.8188, 1.2381, -0.0611, -0.0415, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea4d3994ddbb9335b347726b06b7ad70a6c6cfef79a653f59384673022e0c334",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d49416ae18f973794fe58f963a587abc435590e00f7867ca45e352760675339f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e25d7722503210b9e248bb9cde770f49f5f1a9bb53683cd3cd9094a4265731bb",
        "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_01WSaMWAk3bN1DR2n7DhXFLB",
      "input": {
        "note": "From 10 cm up the cap sits well to the gripper's left and slightly forward; translating ~5 cm along the tool's left and 3 cm forward, descending to 5 cm, to get it back under the jaws.",
        "targets": {
          "left_x": 0.274,
          "left_y": -0.036,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01WSaMWAk3bN1DR2n7DhXFLB",
      "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]: [-0.5911, 1.8942, 1.1172, -1.2224, -0.7223, -2.0369, 0.9965, -0.3454, 1.026, 0.2329, -0.2314, -0.1097, -0.1699, 0.0172]\nstate[eef_state]: left_x=0.2631 left_y=-0.0316 left_z=0.0493 left_yaw=1.3329 left_pitch=-0.1854 left_roll=0.1098 left_gripper=0.9965 right_x=0.2199 right_y=-0.0548 right_z=-0.0045 right_yaw=-0.1505 right_pitch=-0.4577 right_roll=0.0012 right_gripper=0.0172\nstate[joint_eff]: [0.1983, -10.7556, 5.8188, -0.2027, -0.4127, 0.0904, 0.0024, -0.0889, -1.3744, 5.8598, 1.2918, -0.0952, -0.0611, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b47b1d306a1751d0912eacf704d2e516f96bcd5150a5f9ca76fa1c845ed61d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6f34ba51a889cf2ebffa69e350c0443bc2a78de739f148f0b5695277166c2b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:49372b0316b59d504faaa5cbbca0803cae966c7f06e9b859108c9011c6de55f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /messages · status 200 · 12.65 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]: [-0.6228, 2.1338, 1.2762, -1.0737, -0.7265, -2.0598, 0.995, -0.3454, 1.0252, 0.2329, -0.2325, -0.1097, -0.1699, 0.0172]\nstate[eef_state]: left_x=0.3102 left_y=-0.0738 left_z=0.0004 left_yaw=1.2993 left_pitch=-0.2044 left_roll=0.0263 left_gripper=0.995 right_x=0.2198 right_y=-0.0547 right_z=-0.0044 right_yaw=-0.1504 right_pitch=-0.4581 right_roll=0.0013 right_gripper=0.0172\nstate[joint_eff]: [-0.6222, -7.8154, 6.0239, -0.3492, -0.2125, 0.1148, -0.0659, -0.3214, -1.7299, 5.8188, 1.2625, -0.1099, -0.0317, 1.0232]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.6228, 1.9907, 1.4872, -1.4185, -0.7181, -2.0644, 0.9963, -0.3454, 1.0252, 0.2329, -0.2325, -0.1093, -0.1699, 0.0172]\nstate[eef_state]: left_x=0.3144 left_y=-0.0782 left_z=0.097 left_yaw=1.3035 left_pitch=-0.2148 left_roll=0.017 left_gripper=0.9963 right_x=0.2197 right_y=-0.0548 right_z=-0.0045 right_yaw=-0.1508 right_pitch=-0.4581 right_roll=0.001 right_gripper=0.0172\nstate[joint_eff]: [-0.212, -11.5214, 6.9128, -0.6764, -0.4908, 0.022, 0.1245, -0.253, -1.7573, 5.8188, 1.2381, -0.0611, -0.0415, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5911, 1.8942, 1.1172, -1.2224, -0.7223, -2.0369, 0.9965, -0.3454, 1.026, 0.2329, -0.2314, -0.1097, -0.1699, 0.0172]\nstate[eef_state]: left_x=0.2631 left_y=-0.0316 left_z=0.0493 left_yaw=1.3329 left_pitch=-0.1854 left_roll=0.1098 left_gripper=0.9965 right_x=0.2199 right_y=-0.0548 right_z=-0.0045 right_yaw=-0.1505 right_pitch=-0.4577 right_roll=0.0012 right_gripper=0.0172\nstate[joint_eff]: [0.1983, -10.7556, 5.8188, -0.2027, -0.4127, 0.0904, 0.0024, -0.0889, -1.3744, 5.8598, 1.2918, -0.0952, -0.0611, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b47b1d306a1751d0912eacf704d2e516f96bcd5150a5f9ca76fa1c845ed61d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6f34ba51a889cf2ebffa69e350c0443bc2a78de739f148f0b5695277166c2b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49372b0316b59d504faaa5cbbca0803cae966c7f06e9b859108c9011c6de55f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISxggKjgEIEhgCKkC2iI9BX/0mfDEK/i80Lhjpoo8eBpe7NCPdno8pqUcOxWWI5QN87nG//J4S2IIKgL4KvgAtGeCr61yea/META70Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAevNzNUGEgw9Z2Y9J5WQSg0PjDsaDNnkJlFWf35YBf0IHCIwhQWiWSVjG/o3hqoG+kTNWRHzzdqYE26498vyXjVqaqh7rcvwW0f/8GfGNN7pyY/aKuQGV1eVrPNTL1Bm9XpyI6kEBrUiaCZXR6KdIJFOUi8eNthDQ/FU+EX1eHi516UbOy/m7wfDen1GjQrGFPLNVja5Tt3jYLR3SqI7YCToIKvr5vk2+ngfBf84rLfalPkSvpqhGZZpI7sKD+8AVcX7JIr0NjKEMINwPa0Dt0OHNY091EoDwFKKew7Zonkh5QfXQgjyZDeoHyHL4uLDgG0OASPw2GwNrtrfvpNjRtmIhN/CF/tKUWv819UpNU+EpnaNJ7B1Hl5ixTyHd5kLS31dfEXYEo/28o9uQFGIaT0P35P7fUumRexcO2RZMZu4R2v/8X4WlutzwiU5L4o7lURWr+5VtAw0MyCmYdVDTFfQkzsE2AvIUTwTPmebFGvz35ULPq4Tw70UMV3Diu901/i3dyqmYvKIGfP4jvQvADsH3WQkfvwHvOz06fyoCpryHBqCoLtFFcnZ5yMRZ6DkAkhS8lS/gYa06mPsbLKpSN0+8Y6gw9Cd8zYXD1Ra+jd27zm81pvWmJGfBof7RRS7N9Zv6/0ZGHJAOZZII79TkNqu214Pq0Lf16R+9WLC1Tb5NpIvetL+kyMAbj3/KnD/2czq/rX8cOo/UHnv5/ojMipsz8bkvlGBw+9lpGEXqGhSKj2ViSLvOWqSX32cQH/FYimnn1KAO6RR+cKZHOz5c+P3xgnNNNw09puuXaOrrgx0BJuHvLWC/HiX0/8r8FzFlnDi5R8SiUn+zAaRIBRs0NG06+Gopzrns1BZ7eh811jGFmSwibMQF0u95OrPWFc72nRL+G7q3+UCtefoD8urdEGlfAnCfA6Bfyk+CG/Lrl2UjBAXMq3U2qbPe3Wb3k49g+3ye3PSIZUfFUGYkDaM7cAO5eiVLyqe/kEkNYRCZI4/IZrtQKjT1lJjVhUT+QZldSSBu1HBoGASPdlhv9pq7f6PtpZanHJqGtyyyKymMy71Xc994FLYS66CG+rvxYNjaqbhdt0rRN8eLy93FH95jb+RmDiFa5GuClTZYaXG0y88Rc2e38VMcDCmyvvhUvw8gfUFakcKnbqhdb4+hjcEGN+gAfs0czZqxLXWdZ4APWO+SocQPaeiww2jTmYlBFUOc0AG2Au/A2IyoJYiKvQ5GuTRUDbmL20sJD/mJExeIGAkQsBHah46o7CH0BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016dnpErqW68XfptGjizA9mj",
      "input": {
        "note": "The cap is now centred on the jaw column but has rotated so it again lies along the closing axis; rotating the wrist back to yaw 0.35 rad so the jaws will close across it.",
        "targets": {
          "left_yaw": 0.35,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_016dnpErqW68XfptGjizA9mj",
      "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]: [-0.5732, 1.2705, 0.3851, -0.3565, -0.7132, -0.9924, 0.9965, -0.345, 1.0264, 0.2325, -0.2298, -0.1093, -0.1699, 0.0172]\nstate[eef_state]: left_x=0.2403 left_y=-0.0133 left_z=0.0199 left_yaw=0.5746 left_pitch=-0.2297 left_roll=0.0761 left_gripper=0.9965 right_x=0.22 right_y=-0.0548 right_z=-0.0045 right_yaw=-0.1505 right_pitch=-0.457 right_roll=0.0007 right_gripper=0.0172\nstate[joint_eff]: [0.212, -2.3863, 6.3385, 1.3162, -0.2613, 0.1832, -0.0122, -0.0615, -1.2786, 6.0786, 1.1746, -0.1245, -0.0415, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c460bfdcf17fee56472c13fa264f5cc8d1854f7fbabf98c49d91acd3f12c93a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3c7a06951f69999541cad0b362742554151d6d1c23fc5ed4c8b98a2006293ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0a5986911c560072ff88eb116aa3d53fbe9f9fe417bab27b9985d8104ef08b55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /messages · status 200 · 5.96 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]: [-0.6228, 1.9907, 1.4872, -1.4185, -0.7181, -2.0644, 0.9963, -0.3454, 1.0252, 0.2329, -0.2325, -0.1093, -0.1699, 0.0172]\nstate[eef_state]: left_x=0.3144 left_y=-0.0782 left_z=0.097 left_yaw=1.3035 left_pitch=-0.2148 left_roll=0.017 left_gripper=0.9963 right_x=0.2197 right_y=-0.0548 right_z=-0.0045 right_yaw=-0.1508 right_pitch=-0.4581 right_roll=0.001 right_gripper=0.0172\nstate[joint_eff]: [-0.212, -11.5214, 6.9128, -0.6764, -0.4908, 0.022, 0.1245, -0.253, -1.7573, 5.8188, 1.2381, -0.0611, -0.0415, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5911, 1.8942, 1.1172, -1.2224, -0.7223, -2.0369, 0.9965, -0.3454, 1.026, 0.2329, -0.2314, -0.1097, -0.1699, 0.0172]\nstate[eef_state]: left_x=0.2631 left_y=-0.0316 left_z=0.0493 left_yaw=1.3329 left_pitch=-0.1854 left_roll=0.1098 left_gripper=0.9965 right_x=0.2199 right_y=-0.0548 right_z=-0.0045 right_yaw=-0.1505 right_pitch=-0.4577 right_roll=0.0012 right_gripper=0.0172\nstate[joint_eff]: [0.1983, -10.7556, 5.8188, -0.2027, -0.4127, 0.0904, 0.0024, -0.0889, -1.3744, 5.8598, 1.2918, -0.0952, -0.0611, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.5732, 1.2705, 0.3851, -0.3565, -0.7132, -0.9924, 0.9965, -0.345, 1.0264, 0.2325, -0.2298, -0.1093, -0.1699, 0.0172]\nstate[eef_state]: left_x=0.2403 left_y=-0.0133 left_z=0.0199 left_yaw=0.5746 left_pitch=-0.2297 left_roll=0.0761 left_gripper=0.9965 right_x=0.22 right_y=-0.0548 right_z=-0.0045 right_yaw=-0.1505 right_pitch=-0.457 right_roll=0.0007 right_gripper=0.0172\nstate[joint_eff]: [0.212, -2.3863, 6.3385, 1.3162, -0.2613, 0.1832, -0.0122, -0.0615, -1.2786, 6.0786, 1.1746, -0.1245, -0.0415, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c460bfdcf17fee56472c13fa264f5cc8d1854f7fbabf98c49d91acd3f12c93a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3c7a06951f69999541cad0b362742554151d6d1c23fc5ed4c8b98a2006293ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a5986911c560072ff88eb116aa3d53fbe9f9fe417bab27b9985d8104ef08b55",
        "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_016aJB81f5dSYZ1Z8nev4bEM",
      "input": {
        "note": "The cap lies ~30° off the jaw axis and 3 cm to the gripper's right; rotating the wrist a further 60° and shifting right so the jaws end up across the cap's body.",
        "targets": {
          "left_x": 0.256,
          "left_y": -0.038,
          "left_yaw": 1.6,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_016aJB81f5dSYZ1Z8nev4bEM",
      "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]: [-0.4633, 1.9923, 1.1118, -1.0134, -0.6788, -1.8732, 0.9965, -0.3454, 1.0248, 0.2317, -0.2298, -0.1097, -0.1699, 0.0172]\nstate[eef_state]: left_x=0.2874 left_y=-0.0156 left_z=0.0057 left_yaw=1.3662 left_pitch=-0.2676 left_roll=0.1364 left_gripper=0.9965 right_x=0.22 right_y=-0.0548 right_z=-0.0044 right_yaw=-0.1506 right_pitch=-0.4562 right_roll=0.0009 right_gripper=0.0172\nstate[joint_eff]: [0.2256, -8.7726, 4.2325, -1.0281, -0.2759, -0.2076, -0.0122, -0.1026, -1.5795, 5.9692, 1.1795, -0.0855, -0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 338):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ec9809c45495659a9cd9e4e6195d46d2dd6fb7706abff16339830d68e5b7b15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 338):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b311b122b445d02a2ae37cfa738a013358bdb2cfdf8fcb684b31332d6056522",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 338):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8694f442a654e72a05bb8b2b2d6747439115996c450b70682d4b4fd6f0a2eabe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /messages · status 200 · 9.766 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]: [-0.5911, 1.8942, 1.1172, -1.2224, -0.7223, -2.0369, 0.9965, -0.3454, 1.026, 0.2329, -0.2314, -0.1097, -0.1699, 0.0172]\nstate[eef_state]: left_x=0.2631 left_y=-0.0316 left_z=0.0493 left_yaw=1.3329 left_pitch=-0.1854 left_roll=0.1098 left_gripper=0.9965 right_x=0.2199 right_y=-0.0548 right_z=-0.0045 right_yaw=-0.1505 right_pitch=-0.4577 right_roll=0.0012 right_gripper=0.0172\nstate[joint_eff]: [0.1983, -10.7556, 5.8188, -0.2027, -0.4127, 0.0904, 0.0024, -0.0889, -1.3744, 5.8598, 1.2918, -0.0952, -0.0611, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.5732, 1.2705, 0.3851, -0.3565, -0.7132, -0.9924, 0.9965, -0.345, 1.0264, 0.2325, -0.2298, -0.1093, -0.1699, 0.0172]\nstate[eef_state]: left_x=0.2403 left_y=-0.0133 left_z=0.0199 left_yaw=0.5746 left_pitch=-0.2297 left_roll=0.0761 left_gripper=0.9965 right_x=0.22 right_y=-0.0548 right_z=-0.0045 right_yaw=-0.1505 right_pitch=-0.457 right_roll=0.0007 right_gripper=0.0172\nstate[joint_eff]: [0.212, -2.3863, 6.3385, 1.3162, -0.2613, 0.1832, -0.0122, -0.0615, -1.2786, 6.0786, 1.1746, -0.1245, -0.0415, 1.0281]",
      "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]: [-0.4633, 1.9923, 1.1118, -1.0134, -0.6788, -1.8732, 0.9965, -0.3454, 1.0248, 0.2317, -0.2298, -0.1097, -0.1699, 0.0172]\nstate[eef_state]: left_x=0.2874 left_y=-0.0156 left_z=0.0057 left_yaw=1.3662 left_pitch=-0.2676 left_roll=0.1364 left_gripper=0.9965 right_x=0.22 right_y=-0.0548 right_z=-0.0044 right_yaw=-0.1506 right_pitch=-0.4562 right_roll=0.0009 right_gripper=0.0172\nstate[joint_eff]: [0.2256, -8.7726, 4.2325, -1.0281, -0.2759, -0.2076, -0.0122, -0.1026, -1.5795, 5.9692, 1.1795, -0.0855, -0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 338):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ec9809c45495659a9cd9e4e6195d46d2dd6fb7706abff16339830d68e5b7b15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 338):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b311b122b445d02a2ae37cfa738a013358bdb2cfdf8fcb684b31332d6056522",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 338):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8694f442a654e72a05bb8b2b2d6747439115996c450b70682d4b4fd6f0a2eabe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISrAUKjgEIEhgCKkBLdQ1EoE7P0njxlDISoqC0rv8Klqx/5pAWSpFHsIOZKyPr9BZn0lcVaU4HgdL7duPQYamXqZhnRl6XhtKgv5PtMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf/NzNUGEgx27JDqmAEQA1DdbKMaDAfEQ3VKEfuIvGRmKCIwsut846OT0u2TfFQic+AhkKlVb44ZE95wk56aQ5mjA1J1ku6tASbe4hOAlPhhUc+tKsoDY7Gh7rod95IzTtLO2jBjEYQIuAqfjx3P9ZRKLqvtgMqDhUB4XJSpM9qbSIIjIuZmm729TU0dSdPEfSLf0n6FE1NWDHUsmJj6XFLJOpc8jzyYUSr/rXKiE87pLJ0J5gCA/wEoz0ZMfU7KNaJpIceX8LrcBnplLtygyVry2Oe1ch7ZLYPYxwWdzC0e6xnPEyHeLfjkEWNupBJ5iUA7cuAAaDhcI88Zta0pPZqOj80pNFLuKKSSjBv+ckW0noPScOaQn+XV44pJSNhueJP+YccpBzFvwbu+nkjS+7E3MlcyE3NOrirsdhFQBodjdm+r0M0rqZ600igV9Y1GsTdlWPTmF6H0eBAh5JlSpTcLvlijA2pQxi4ERpw7q1lKYo9pgNGgoF3pyOzXuhoxhH6mop8++LMMAKsb34Q0u7aC62bm4aZALMV9GbzVEiAlJ0gEq24weDCbVSJC6Xv0rQPMeLvNLRzAgF33LJiZQp4VECHpMhefNadFMcwoplvM9MKM7ZVw6kQijoLl0x9PkvRkljm9jK21satdvDVqxcSL0Uz7yWZlczDCzwpaQFfMGYwDxJMlhjTDQRXOZW3lCj/Vo6fpHCjYelKmNJHtpHkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JqpiLP6vwCATsqLmh8W5Gu",
      "input": {
        "note": "The last frame was motion-blurred; lifting slightly to get a clear, settled view of where the cap now lies relative to the jaws.",
        "targets": {
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01JqpiLP6vwCATsqLmh8W5Gu",
      "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]: [-0.4652, 1.9007, 1.2041, -1.1931, -0.6571, -1.9007, 0.9965, -0.3454, 1.0256, 0.2317, -0.2287, -0.1097, -0.1699, 0.0172]\nstate[eef_state]: left_x=0.2876 left_y=-0.0196 left_z=0.0515 left_yaw=1.3869 left_pitch=-0.2866 left_roll=0.119 left_gripper=0.9965 right_x=0.2201 right_y=-0.0548 right_z=-0.0044 right_yaw=-0.1506 right_pitch=-0.4558 right_roll=0.0008 right_gripper=0.0172\nstate[joint_eff]: [0.2667, -9.7983, 6.3795, -0.4567, -0.6227, 0.2564, -0.0073, -0.1162, -1.812, 5.8325, 1.2283, -0.1148, -0.0611, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29b9c99304ed478f0a096a28247dcb680d89dc4bd59bba55ee229a9370c66db1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6452bbcfad160c1bd21e220174c513b4af5f31647544e28c34540e1204e9d328",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4b90405d52de33d307ab3f3209b50cc73eff8dc3fa726827ec217c5ae90b26df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /messages · status 200 · 15.54 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]: [-0.5732, 1.2705, 0.3851, -0.3565, -0.7132, -0.9924, 0.9965, -0.345, 1.0264, 0.2325, -0.2298, -0.1093, -0.1699, 0.0172]\nstate[eef_state]: left_x=0.2403 left_y=-0.0133 left_z=0.0199 left_yaw=0.5746 left_pitch=-0.2297 left_roll=0.0761 left_gripper=0.9965 right_x=0.22 right_y=-0.0548 right_z=-0.0045 right_yaw=-0.1505 right_pitch=-0.457 right_roll=0.0007 right_gripper=0.0172\nstate[joint_eff]: [0.212, -2.3863, 6.3385, 1.3162, -0.2613, 0.1832, -0.0122, -0.0615, -1.2786, 6.0786, 1.1746, -0.1245, -0.0415, 1.0281]",
      "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]: [-0.4633, 1.9923, 1.1118, -1.0134, -0.6788, -1.8732, 0.9965, -0.3454, 1.0248, 0.2317, -0.2298, -0.1097, -0.1699, 0.0172]\nstate[eef_state]: left_x=0.2874 left_y=-0.0156 left_z=0.0057 left_yaw=1.3662 left_pitch=-0.2676 left_roll=0.1364 left_gripper=0.9965 right_x=0.22 right_y=-0.0548 right_z=-0.0044 right_yaw=-0.1506 right_pitch=-0.4562 right_roll=0.0009 right_gripper=0.0172\nstate[joint_eff]: [0.2256, -8.7726, 4.2325, -1.0281, -0.2759, -0.2076, -0.0122, -0.1026, -1.5795, 5.9692, 1.1795, -0.0855, -0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.4652, 1.9007, 1.2041, -1.1931, -0.6571, -1.9007, 0.9965, -0.3454, 1.0256, 0.2317, -0.2287, -0.1097, -0.1699, 0.0172]\nstate[eef_state]: left_x=0.2876 left_y=-0.0196 left_z=0.0515 left_yaw=1.3869 left_pitch=-0.2866 left_roll=0.119 left_gripper=0.9965 right_x=0.2201 right_y=-0.0548 right_z=-0.0044 right_yaw=-0.1506 right_pitch=-0.4558 right_roll=0.0008 right_gripper=0.0172\nstate[joint_eff]: [0.2667, -9.7983, 6.3795, -0.4567, -0.6227, 0.2564, -0.0073, -0.1162, -1.812, 5.8325, 1.2283, -0.1148, -0.0611, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29b9c99304ed478f0a096a28247dcb680d89dc4bd59bba55ee229a9370c66db1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6452bbcfad160c1bd21e220174c513b4af5f31647544e28c34540e1204e9d328",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b90405d52de33d307ab3f3209b50cc73eff8dc3fa726827ec217c5ae90b26df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS5gkKjgEIEhgCKkDUNMXCIhyoqCT9HVSVeSsO3sY7qgL8JXABimU9p7GguHvlzbkgpEx/zY18TVudH/HpTCNUutSNCF4FK8T999JgMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYnOzNUGEgx4N5BvCT1ScwkSVywaDHX+G71PRnXorKrvkSIwRCGsdGsUnDdVqtaXWIH4Lc8YRRV4qn1qKFZfwJ9p4luxHL8jH4vx7RS+Fe3s5Qv9KoQI34ogF21F2baKw0vCBo6av3yNSY0dGLxT29+Dx9GOFOqXGBg7jAkIFgCnLr9GN17uQBidqwhAWZeSTtzWuOyV0l+MeQAzSQ5VNO0+kGm7VWGtV3Tz7tJcdUXULXjnSWcIONKZNWbdj1kHQoQOAABEcpiKXPxt3vIubqfM8Bi8e18zM/EHL9EBBOBO1zekd7clVNvqE2Bxzfueo9KMM2V4pxDt0iqbtptSolEeX9dG9BAijwDyliHW5Q07/DMynZGKrO3dvGpryvOEBJvJOVz02sQ0pibAYUYnSDPYkkxX9LL0W87lJFZPkqj8gWSrshp47XYTU/3Ro8/E8A5F6UGSuWMjy8hX6vChIgxNY72poQ74tGAsxrOQ29KOUOXtQvRqRPt9NGjNmWU+0V+hYUkdcK8eBrTwq75QROcy6bLAR/st4+BKMirZn15gMws6X2WQRC0ExRMpg1LGdCB1uVMSultNo2mJEYISY4R75y1XbRfmmj2Rcf29W2mU6Lxsi0ppqZ/Vty5TCYBxnDBOCNuffcZJxiLOLSrQ0aHZmCNhbyfrdnnOqAaBjg3kG8ABGkAKIIFh/AUpgQXvQT8oDGCFnDl3ZRHqfKcYU9Lo/fBuDbcrOfI+H+WuYSydAMk92MyUE6tmxhfW24L2KKouZWEn3IOVTpvQpRYDyUDmaOHNucswCctR+C1QphqlrfU+C8kw0+Kf7hHUyJE7MYFMjLF2XQUC+duPheA16cztaCfEqZumz1GWCDnGQ/Gedn3zIdvRB5Pd4Cd4pnaLp0vGcQ0yrsW3Gjw0VBKrWhLZEzFFsO14lxLcAW6mkhtf4aDPlSvOPN9l9qgCWhZfEpdTGBCUkT9EMnlf3fHtunVH24rYW3jSP/Cu9U6p+5gAAcVIzxBolLU62yomlFwA5bGFCS+adZnGe2g+FeSDzbJ0aspy+smzIl+IDDRJQ/pyd7YoVFUggJyweZL6Q1FpINMmQdMm0eluV5CM6fWr7A6c2U+xdEKbzu95TKVeS27mLnuDbwnmKtxJY3NYGzHz8KZWIpOI4hU+aD0IswUsQSSucaLsXTfAe/4nocjcAlYFb+dkLeQTBkwbhjVnjpjW/b3rIz3KRmHO2LmwB1eOgQkDysXPsZwotxnx+bRficQ82No9wfSOT/UxLsAlQcOseWwJ9ACmh8eNWrLxNTXqyBoyVt9ch/YlTWmx3+csVr+Wf4QPo6LXpA8zylqQJnh9dVgiz7iwbfyiH1JKkVpM+T9WQf0rEsY/Dz4Rpk3upnPfa5BEhU8XMATtwqi5puh/DaDjCtm7dXeyYPl2TIWd+KFfnzmx0DSXUdQYKfczr+qzzxIXbIdt865jqKoDlHfn+DDcuMm0gIWMoisYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01D5azdQJ1nTFrj7m5zeasR2",
      "input": {
        "note": "Cap is ~2 cm to the gripper's left at table level; making a final combined move down onto it while closing the jaws to pinch it end-to-end.",
        "targets": {
          "left_gripper": 0.05,
          "left_x": 0.268,
          "left_y": -0.016,
          "left_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01D5azdQJ1nTFrj7m5zeasR2",
      "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]: [-0.4652, 1.8877, 1.2175, -1.2423, -0.6567, -1.8793, 0.0543, -0.3454, 1.0248, 0.2317, -0.2291, -0.1097, -0.1699, 0.0172]\nstate[eef_state]: left_x=0.2832 left_y=-0.0174 left_z=0.0601 left_yaw=1.3816 left_pitch=-0.2823 left_roll=0.1567 left_gripper=0.0543 right_x=0.2201 right_y=-0.0548 right_z=-0.0043 right_yaw=-0.1507 right_pitch=-0.4555 right_roll=0.0008 right_gripper=0.0172\nstate[joint_eff]: [-0.1573, -9.7846, 5.9009, -0.4615, -0.6618, 0.0415, 0.1001, -0.2256, -1.4017, 5.8598, 1.2381, -0.105, -0.0757, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 353):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31b1a27459ceab31bda97cca8fdf03538425cc4085b8e117ff59891a62c0eda2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 353):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f87f1b5fa9fa63e65bc25ba505a37a9b73288f7c3956375a457e6d2f080416ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 353):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8365ce5a7fe2b3b9b03b20e3bf3227766e71af65052538f4e2cd5cf77a0084ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]