adhoc

completed
2026-09-22T20:26:47.194458+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
324.9 s
total steps
235
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteFrom the overhead view, the pen is lying diagonally just right of centre and the cap is left of centre. I'm moving the right arm above the pen and turning it so the jaws will close across the pen's body.
move_to
right_x0.3800right_y0.2600right_z0.1500right_yaw0.6800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.7929, 0.6025, -0.3794, -0.02, -0.0113, 0.9998, -0.0185, 0.7906, 0.6094, -0.3759, -0.0261, -0.0147, 0.9991] state[eef_state]: left_x=0.2946 left_y=0.0011 left_z=0.1797 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2957 right_y=0.0027 right_z=0.1843 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.5675, -1.5248, 10.5231, 1.7753, -0.0464, -0.0855, -0.0366, -0.8, -1.1829, 9.7846, 1.746, 0.0269, -0.0122, -0.1148] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.26, "right_z": 0.15, "right_yaw": 0.68}, "note": "From the overhead view, the pen is lying diagonally just right of centre and the cap is left of centre. I'm moving the right arm above the pen and turning it so the jaws will close across the pen's body."})
tool
executing move_to over 22 steps (2.2s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteThe right wrist camera shows the pen running along the jaw's forward axis, just a little right of the jaw centre. I'm shifting slightly toward the tool's right and lowering to the table to grasp the pen.
move_to
right_x0.3800right_y0.2360right_z0.0000right_yaw0.6800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.7994, 0.6037, -0.3809, -0.0196, -0.0109, 0.9998, 0.5365, 1.552, 0.9012, 0.0265, -0.1089, -0.0681, 0.999] state[eef_state]: left_x=0.295 left_y=0.0012 left_z=0.1782 left_yaw=-0.0001 left_pitch=-0.0069 left_roll=0.0003 left_gripper=0.9998 right_x=0.3715 right_y=0.2475 right_z=0.1318 right_yaw=0.6537 right_pitch=-0.0632 right_roll=0.0061 right_gripper=0.999 state[joint_eff]: [-0.1846, -1.7573, 6.9675, 1.7265, -0.0513, -0.0317, -0.0171, 0.3214, -7.1453, 8.9504, 1.8779, -0.105, -0.0611, -0.0171] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.236, "right_z": 0.0, "right_yaw": 0.68}, "note": "The right wrist camera shows the pen running along the jaw's forward axis, just a little right of the jaw centre. I'm shifting slightly toward the tool's right and lowering to the table to grasp the pen."})
tool
executing move_to over 9 steps (0.9s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
Pen lies between jaws. Close.
agent noteThe pen sits between the open jaws at table level, so I'm 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]: [-0.02, 0.8032, 0.6037, -0.3809, -0.02, -0.0109, 0.9998, 0.485, 1.9072, 0.6975, 0.5507, -0.1623, -0.1177, 0.999] state[eef_state]: left_x=0.2952 left_y=0.0012 left_z=0.1771 left_yaw=0.0002 left_pitch=-0.0107 left_roll=0.0005 left_gripper=0.9998 right_x=0.3771 right_y=0.2351 right_z=0.0037 right_yaw=0.6742 right_pitch=-0.092 right_roll=0.0031 right_gripper=0.999 state[joint_eff]: [-0.3487, -1.5795, 7.0359, 1.6923, -0.0757, -0.0415, -0.0122, -0.8, -6.5709, 4.3009, 1.2625, -0.2564, 0.0708, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
Pen lies between jaws. Close.
move_to({"targets": {"right_gripper": 0.0}, "note": "The pen sits between the open jaws at table level, so I'm closing the right gripper on it."})
tool
executing move_to over 10 steps (1.0s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteThe gripper closed with the pen centred in the jaws (reading 0.03, which is borderline for a thin pen). Lifting to check whether the pen comes up with it.
move_to
right_z0.0800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8051, 0.6037, -0.3809, -0.0196, -0.0109, 0.9998, 0.4847, 1.9232, 0.6949, 0.5888, -0.1619, -0.1226, 0.0323] state[eef_state]: left_x=0.2954 left_y=0.0011 left_z=0.1766 left_yaw=-0.0001 left_pitch=-0.0126 left_roll=0.0004 left_gripper=0.9998 right_x=0.3798 right_y=0.2362 right_z=0.0034 right_yaw=0.6758 right_pitch=-0.0729 right_roll=-0.0048 right_gripper=0.0323 state[joint_eff]: [-0.212, -1.4017, 7.2684, 1.7411, -0.0611, -0.0415, -0.0171, 0.1162, -9.6889, 5.1077, 1.453, -0.0855, 0.0317, 1.5995] 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": {"right_z": 0.08}, "note": "The gripper closed with the pen centred in the jaws (reading 0.03, which is borderline for a thin pen). Lifting to check whether the pen comes up with it."})
tool
executing move_to over 5 steps (0.5s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteThe pen is lifted in the right gripper (it no longer shows on the table). Now I'm moving the left arm above the cap and turning it so the jaws close across the cap.
move_to
left_x0.4000left_y-0.2000left_z0.1500left_yaw-0.6000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.807, 0.6037, -0.3809, -0.0196, -0.0109, 0.9998, 0.4847, 1.7119, 0.7666, 0.3077, -0.1619, -0.1249, 0.0403] state[eef_state]: left_x=0.2955 left_y=0.0011 left_z=0.1761 left_yaw=-0.0001 left_pitch=-0.0145 left_roll=0.0004 left_gripper=0.9998 right_x=0.3795 right_y=0.236 right_z=0.0646 right_yaw=0.677 right_pitch=-0.071 right_roll=-0.0071 right_gripper=0.0403 state[joint_eff]: [-0.1162, -1.4017, 7.0496, 1.707, -0.0464, -0.0366, -0.0122, -0.3487, -9.3333, 7.9248, 1.619, -0.0659, -0.0024, 1.0379] camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.2, "left_z": 0.15, "left_yaw": -0.6}, "note": "The pen is lifted in the right gripper (it no longer shows on the table). Now I'm moving the left arm above the cap and turning it so the jaws close across the cap."})
tool
executing move_to over 18 steps (1.8s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteThe left wrist camera shows the cap lined up with the jaws, but about 3 cm to the tool's left and close to the fingertips. I'm shifting over and lowering to the table to grasp it.
move_to
left_x0.4000left_y-0.1600left_z0.0000left_yaw-0.6000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4049, 1.5143, 0.8726, -0.0372, 0.1177, 0.0727, 0.9998, 0.4847, 1.7058, 0.765, 0.2913, -0.1616, -0.1249, 0.046] state[eef_state]: left_x=0.387 left_y=-0.1846 left_z=0.123 left_yaw=-0.5464 left_pitch=-0.1037 left_roll=-0.0187 left_gripper=0.9998 right_x=0.3772 right_y=0.2348 right_z=0.0633 right_yaw=0.6768 right_pitch=-0.0826 right_roll=-0.005 right_gripper=0.046 state[joint_eff]: [-0.335, -7.2274, 9.6615, 2.0391, 0.315, 0.188, -0.0171, -0.2393, -7.2274, 6.0513, 1.8144, -0.0513, -0.0415, 1.033] camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.16, "left_z": 0.0, "left_yaw": -0.6}, "note": "The left wrist camera shows the cap lined up with the jaws, but about 3 cm to the tool's left and close to the fingertips. I'm shifting over and lowering to the table to grasp it."})
tool
executing move_to over 8 steps (0.8s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteThe cap is now between the left jaws at table level, a little left of centre. Closing the gripper to grab 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]: [-0.2947, 1.8523, 0.6853, 0.4347, 0.2173, 0.1616, 0.9997, 0.4847, 1.7058, 0.7643, 0.2852, -0.1619, -0.1249, 0.046] state[eef_state]: left_x=0.3969 left_y=-0.1565 left_z=0.0019 left_yaw=-0.5695 left_pitch=-0.1418 left_roll=-0.0245 left_gripper=0.9997 right_x=0.3761 right_y=0.2343 right_z=0.0619 right_yaw=0.6773 right_pitch=-0.0893 right_roll=-0.0035 right_gripper=0.046 state[joint_eff]: [0.212, -6.5162, 3.9863, 1.0183, 0.1978, 0.0952, -0.0171, -0.2803, -7.7333, 5.8598, 1.6825, -0.0904, -0.0562, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The cap is now between the left jaws at table level, a little left of centre. Closing the gripper to grab it."})
tool
executing move_to over 10 steps (1.0s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteThe left gripper closed on the cap (reading 0.047, so something is in the jaws). Lifting it to confirm the cap comes with it.
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]: [-0.2913, 1.866, 0.6796, 0.4782, 0.2153, 0.1596, 0.0474, 0.4847, 1.7058, 0.7643, 0.2836, -0.1619, -0.1249, 0.046] state[eef_state]: left_x=0.4008 left_y=-0.1558 left_z=0.0023 left_yaw=-0.5626 left_pitch=-0.119 left_roll=-0.0182 left_gripper=0.0474 right_x=0.3759 right_y=0.2342 right_z=0.0616 right_yaw=0.6773 right_pitch=-0.0908 right_roll=-0.0032 right_gripper=0.046 state[joint_eff]: [-0.2256, -9.1009, 5.1897, 1.199, 0.1392, 0.0171, 1.116, -0.3214, -7.5419, 5.7778, 1.6337, -0.1148, -0.0806, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.12}, "note": "The left gripper closed on the cap (reading 0.047, so something is in the jaws). Lifting it to confirm the cap comes with it."})
tool
executing move_to over 8 steps (0.8s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteBoth the pen (right arm) and the cap (left arm) are held and the table is clear. I'm lining the pen up to point straight forward (+x) on the line where the two will meet.
move_to
right_x0.2800right_y0.3900right_z0.1500right_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]: [-0.2913, 1.5768, 0.8486, -0.004, 0.2142, 0.1581, 0.0528, 0.4847, 1.7084, 0.7605, 0.276, -0.1619, -0.1249, 0.046] state[eef_state]: left_x=0.3973 left_y=-0.1546 left_z=0.0956 left_yaw=-0.5617 left_pitch=-0.1424 left_roll=-0.0252 left_gripper=0.0528 right_x=0.3737 right_y=0.233 right_z=0.0575 right_yaw=0.6776 right_pitch=-0.1047 right_roll=-0.0005 right_gripper=0.046 state[joint_eff]: [-0.1573, -9.0462, 9.5111, 1.6874, 0.0366, -0.0171, 1.0281, -0.335, -7.7333, 6.2291, 1.707, -0.1294, -0.0562, 1.033] camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.28, "right_y": 0.39, "right_z": 0.15, "right_yaw": 0.0}, "note": "Both the pen (right arm) and the cap (left arm) are held and the table is clear. I'm lining the pen up to point straight forward (+x) on the line where the two will meet."})
tool
executing move_to over 14 steps (1.4s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteThe pen now points forward, held by the right arm just left of the table centre. I'm bringing the cap high and in front of the pen on the same line, turned to yaw 0, and staying above the pen to avoid hitting it.
move_to
left_x0.4700left_y-0.2500left_z0.2200left_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]: [-0.2913, 1.5753, 0.8505, -0.0185, 0.2142, 0.1581, 0.0579, 1.1988, 1.9873, 1.5932, -0.6388, 0.7494, 0.873, 0.046] state[eef_state]: left_x=0.3956 left_y=-0.154 left_z=0.0944 left_yaw=-0.5621 left_pitch=-0.1531 left_roll=-0.0281 left_gripper=0.0579 right_x=0.2826 right_y=0.4031 right_z=0.1437 right_yaw=0.1083 right_pitch=-0.1232 right_roll=0.0141 right_gripper=0.046 state[joint_eff]: [-0.294, -6.9538, 6.3795, 1.6972, 0.0366, -0.0659, 1.0232, 0.335, -10.7692, 7.3504, 0.7204, 0.6764, 0.2076, 1.0281] camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.47, "left_y": -0.25, "left_z": 0.22, "left_yaw": 0.0}, "note": "The pen now points forward, held by the right arm just left of the table centre. I'm bringing the cap high and in front of the pen on the same line, turned to yaw 0, and staying above the pen to avoid hitting it."})
tool
executing move_to over 9 steps (0.9s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteThe cap is now in front of and above the pen tip. Both yaws are about 0.1 rad off, so I'm correcting them and lowering the cap to the pen's height.
move_to
left_z0.1550left_yaw0.1000right_yaw-0.1000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6407, 1.9415, 1.7752, -0.5999, -0.3676, -0.4068, 0.0579, 1.1919, 1.972, 1.5723, -0.6449, 0.7418, 0.878, 0.0499] state[eef_state]: left_x=0.4702 left_y=-0.267 left_z=0.2139 left_yaw=-0.1123 left_pitch=-0.1351 left_roll=-0.0585 left_gripper=0.0579 right_x=0.2824 right_y=0.3964 right_z=0.1419 right_yaw=0.1017 right_pitch=-0.1346 right_roll=0.0105 right_gripper=0.0499 state[joint_eff]: [0.1436, -11.6718, 7.5829, 0.906, -0.3883, 0.0024, 1.0281, 0.1299, -10.4957, 6.7761, 1.1941, 0.3834, -0.0171, 1.033] camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.155, "left_yaw": 0.1, "right_yaw": -0.1}, "note": "The cap is now in front of and above the pen tip. Both yaws are about 0.1 rad off, so I'm correcting them and lowering the cap to the pen's height."})
tool
executing move_to over 4 steps (0.4s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
agent noteBoth tools are now close to yaw 0 and the pen points forward toward the cap. The cap sits about 1.5 cm higher than the pen, so I'm lowering it to match and easing it back toward the pen tip.
move_to
left_z0.1400left_x0.4400left_y-0.2500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6891, 2.0247, 1.6924, -0.569, -0.4973, -0.5659, 0.0622, 1.2072, 2.1098, 1.7767, -0.8673, 0.786, 1.0641, 0.0508] state[eef_state]: left_x=0.4624 left_y=-0.2672 left_z=0.1495 left_yaw=0.0398 left_pitch=-0.1908 left_roll=-0.0192 left_gripper=0.0622 right_x=0.2832 right_y=0.4028 right_z=0.1336 right_yaw=-0.0258 right_pitch=-0.1621 right_roll=-0.0067 right_gripper=0.0508 state[joint_eff]: [-0.2667, -11.6991, 7.2821, 1.6679, -0.5299, -0.0952, 1.033, 0.8274, -11.6718, 8.3624, 0.8181, 0.7106, 0.1978, 1.0379] camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.14, "left_x": 0.44, "left_y": -0.25}, "note": "Both tools are now close to yaw 0 and the pen points forward toward the cap. The cap sits about 1.5 cm higher than the pen, so I'm lowering it to match and easing it back toward the pen tip."})
tool
executing move_to over 2 steps (0.2s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent noteThe left arm didn't move back as commanded (still at x≈0.466). I'm trying a smaller step back toward the pen to see whether it's a tracking issue or contact.
move_to
left_x0.4500left_y-0.2550left_z0.1400left_yaw0.0800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6983, 2.0487, 1.6825, -0.5339, -0.5438, -0.6212, 0.0622, 1.2064, 2.122, 1.7748, -0.9047, 0.7979, 1.1137, 0.0541] state[eef_state]: left_x=0.4664 left_y=-0.2675 left_z=0.1415 left_yaw=0.0944 left_pitch=-0.1654 left_roll=-0.0344 left_gripper=0.0622 right_x=0.2822 right_y=0.395 right_z=0.1265 right_yaw=-0.0658 right_pitch=-0.1678 right_roll=-0.0221 right_gripper=0.0541 state[joint_eff]: [-0.0752, -12.7385, 7.2547, 1.4921, -0.3736, -0.0464, 1.0379, -0.1983, -13.4906, 5.7504, 0.9109, 0.4127, -0.1148, 0.9353] camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.255, "left_z": 0.14, "left_yaw": 0.08}, "note": "The left arm didn't move back as commanded (still at x\u22480.466). I'm trying a smaller step back toward the pen to see whether it's a tracking issue or contact."})
tool
executing move_to over 2 steps (0.2s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteThe left arm is holding still and ignoring small targets, maybe because the IK is stuck in an awkward wrist pose. I'm sending a clearly different target (higher, yaw 0) to see if it responds.
move_to
left_x0.4600left_y-0.2400left_z0.1800left_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]: [-0.6983, 2.0487, 1.6825, -0.5339, -0.5438, -0.6212, 0.0622, 1.206, 2.122, 1.7592, -0.8845, 0.7776, 1.084, 0.0557] state[eef_state]: left_x=0.4664 left_y=-0.2675 left_z=0.1415 left_yaw=0.0944 left_pitch=-0.1654 left_roll=-0.0344 left_gripper=0.0622 right_x=0.2804 right_y=0.3969 right_z=0.1204 right_yaw=-0.042 right_pitch=-0.1848 right_roll=-0.0342 right_gripper=0.0557 state[joint_eff]: [0.1573, -12.8479, 7.2684, 1.4676, -0.3736, -0.0464, 1.0379, -0.0479, -11.7812, 7.4051, 0.6227, 0.525, 0.0317, 0.9353] 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": {"left_x": 0.46, "left_y": -0.24, "left_z": 0.18, "left_yaw": 0.0}, "note": "The left arm is holding still and ignoring small targets, maybe because the IK is stuck in an awkward wrist pose. I'm sending a clearly different target (higher, yaw 0) to see if it responds."})
tool
executing move_to over 3 steps (0.3s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteThe left arm is frozen, and in the overhead view the two arms cross near the centre, so they may be touching or blocked by a proximity guard. I'm moving the right arm (with the pen) back toward its own side to separate them.
move_to
right_y0.2800right_x0.2800right_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]: [-0.6983, 2.0487, 1.6825, -0.5343, -0.5438, -0.6212, 0.0622, 1.206, 2.122, 1.7592, -0.8837, 0.7727, 1.0882, 0.0586] state[eef_state]: left_x=0.4664 left_y=-0.2674 left_z=0.1415 left_yaw=0.0945 left_pitch=-0.1657 left_roll=-0.0341 left_gripper=0.0622 right_x=0.2799 right_y=0.3974 right_z=0.1199 right_yaw=-0.0423 right_pitch=-0.189 right_roll=-0.0288 right_gripper=0.0586 state[joint_eff]: [0.0068, -12.7248, 7.4462, 1.4725, -0.359, -0.0415, 1.033, -0.1983, -11.4803, 6.2154, 0.7497, 0.3834, -0.0855, 0.6081] camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.28, "right_x": 0.28, "right_z": 0.15}, "note": "The left arm is frozen, and in the overhead view the two arms cross near the centre, so they may be touching or blocked by a proximity guard. I'm moving the right arm (with the pen) back toward its own side to separate them."})
tool
executing move_to over 10 steps (1.0s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteThe arms are separated now. Trying the left arm again: raising it and pulling it slightly back to see whether it tracks.
move_to
left_z0.2000left_x0.4200left_y-0.2500left_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]: [-0.6983, 2.0491, 1.6825, -0.5377, -0.5434, -0.6212, 0.0622, 1.0897, 1.7119, 1.2697, -0.7486, 0.7136, 0.9478, 0.0613] state[eef_state]: left_x=0.4659 left_y=-0.2671 left_z=0.1408 left_yaw=0.0947 left_pitch=-0.1686 left_roll=-0.0316 left_gripper=0.0622 right_x=0.275 right_y=0.2847 right_z=0.1338 right_yaw=-0.0474 right_pitch=-0.2218 right_roll=-0.0587 right_gripper=0.0613 state[joint_eff]: [-0.212, -11.535, 6.6393, 1.3602, -0.2808, -0.0415, 1.033, -0.4308, -9.9214, 6.5709, 1.1209, 0.4615, -0.1197, 0.6178] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.2, "left_x": 0.42, "left_y": -0.25, "left_yaw": 0.0}, "note": "The arms are separated now. Trying the left arm again: raising it and pulling it slightly back to see whether it tracks."})
tool
executing move_to over 4 steps (0.4s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteThe left arm responds again. The pen is pointing forward from the right gripper, just right of centre; I'm putting the cap directly in front of the pen tip on the same line.
move_to
left_x0.4700left_y-0.3600left_z0.1600left_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]: [-0.7082, 1.8908, 1.5879, -0.6136, -0.5087, -0.5823, 0.0622, 1.095, 1.6997, 1.2629, -0.7483, 0.7006, 0.9337, 0.0638] state[eef_state]: left_x=0.4315 left_y=-0.2515 left_z=0.1689 left_yaw=0.0401 left_pitch=-0.1961 left_roll=-0.014 left_gripper=0.0622 right_x=0.2714 right_y=0.2859 right_z=0.1346 right_yaw=-0.0271 right_pitch=-0.2306 right_roll=-0.0584 right_gripper=0.0638 state[joint_eff]: [-0.8547, -13.5453, 6.9675, 1.4725, -0.2418, 0.1343, 1.0379, -0.335, -6.6393, 6.7624, 0.9499, 0.4518, 0.0952, 0.5983] camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.47, "left_y": -0.36, "left_z": 0.16, "left_yaw": 0.0}, "note": "The left arm responds again. The pen is pointing forward from the right gripper, just right of centre; I'm putting the cap directly in front of the pen tip on the same line."})
tool
executing move_to over 10 steps (1.0s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteThe cap is about 20 cm in front of the pen grip, with a lateral offset of about 1 cm and sitting 2 cm higher. I'm lowering it and shifting it sideways to line up with the pen's axis.
move_to
left_z0.1400left_y-0.3650
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8078, 2.3341, 2.2135, -0.833, -0.5327, -0.6525, 0.0622, 1.0935, 1.7035, 1.2575, -0.7498, 0.6941, 0.9329, 0.0653] state[eef_state]: left_x=0.4694 left_y=-0.3559 left_z=0.1518 left_yaw=0.0016 left_pitch=-0.2094 left_roll=-0.0248 left_gripper=0.0622 right_x=0.2705 right_y=0.2848 right_z=0.1307 right_yaw=-0.0275 right_pitch=-0.2407 right_roll=-0.0662 right_gripper=0.0653 state[joint_eff]: [-0.6085, -13.7504, 8.841, 0.9792, -0.3541, 0.0317, 1.033, 0.0068, -8.4444, 7.0085, 0.8474, 0.4127, -0.0171, 0.7204] approver: 1 step(s) modified (delta_clamped). 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": {"left_z": 0.14, "left_y": -0.365}, "note": "The cap is about 20 cm in front of the pen grip, with a lateral offset of about 1 cm and sitting 2 cm higher. I'm lowering it and shifting it sideways to line up with the pen's axis."})
tool
executing move_to over 1 steps (0.1s)
step 149
top_cam
camera top_cam step 149
left_cam
camera left_cam step 149
right_cam
camera right_cam step 149
assistant
agent noteThe left arm is near an awkward limit, so I'll hold the cap still and move the pen instead. I'm matching the pen to the cap's lateral position and height and pushing it forward toward the cap.
move_to
right_y0.2920right_z0.1600right_x0.3200right_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]: [-0.8124, 2.3611, 2.2395, -0.8589, -0.54, -0.6537, 0.0658, 1.0935, 1.7035, 1.2575, -0.7509, 0.6937, 0.9325, 0.0662] state[eef_state]: left_x=0.4684 left_y=-0.3571 left_z=0.1436 left_yaw=0.007 left_pitch=-0.2236 left_roll=-0.0012 left_gripper=0.0658 right_x=0.2703 right_y=0.2846 right_z=0.1306 right_yaw=-0.0274 right_pitch=-0.2415 right_roll=-0.0673 right_gripper=0.0662 state[joint_eff]: [-0.4171, -14.3111, 9.388, 1.1258, -0.3541, 0.0415, 1.033, -0.0889, -8.3487, 6.8718, 0.8864, 0.3443, -0.0562, 0.5543] camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.292, "right_z": 0.16, "right_x": 0.32, "right_yaw": 0.0}, "note": "The left arm is near an awkward limit, so I'll hold the cap still and move the pen instead. I'm matching the pen to the cap's lateral position and height and pushing it forward toward the cap."})
tool
executing move_to over 4 steps (0.4s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteThe right arm stalled short of its target, and in the overhead view the two arms' links overlap, so the approach from the front makes them collide. I'm backing the right arm away first so I can set up a side-to-side approach instead.
move_to
right_x0.2600right_y0.2000right_z0.1600
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8078, 2.36, 2.2265, -0.8501, -0.5396, -0.6571, 0.0658, 0.997, 1.7927, 1.3636, -0.8116, 0.6399, 0.8085, 0.0684] state[eef_state]: left_x=0.4697 left_y=-0.3547 left_z=0.1404 left_yaw=0.0137 left_pitch=-0.2259 left_roll=-0.0016 left_gripper=0.0658 right_x=0.2997 right_y=0.2759 right_z=0.1219 right_yaw=-0.0418 right_pitch=-0.3132 right_roll=-0.1695 right_gripper=0.0684 state[joint_eff]: [-0.6496, -13.7094, 7.8427, 1.116, -0.2906, 0.0024, 1.0037, -0.8137, -11.1385, 11.5214, 1.3455, 0.2759, -0.0073, 0.5348] camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.26, "right_y": 0.2, "right_z": 0.16}, "note": "The right arm stalled short of its target, and in the overhead view the two arms' links overlap, so the approach from the front makes them collide. I'm backing the right arm away first so I can set up a side-to-side approach instead."})
tool
executing move_to over 7 steps (0.7s)
step 160
top_cam
camera top_cam step 160
left_cam
camera left_cam step 160
right_cam
camera right_cam step 160
assistant
agent noteThe arms are apart now. I'm bringing the cap back toward the left side of centre and turning it 90° so its axis runs side to side and its open end faces the right arm.
move_to
left_x0.3600left_y-0.2000left_z0.1700left_yaw1.5700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8112, 2.3611, 2.225, -0.8505, -0.5362, -0.6575, 0.0658, 0.9741, 1.486, 1.1572, -0.9035, 0.609, 0.7731, 0.0676] state[eef_state]: left_x=0.468 left_y=-0.3566 left_z=0.1389 left_yaw=0.0087 left_pitch=-0.2301 left_roll=-0.0016 left_gripper=0.0658 right_x=0.2605 right_y=0.2101 right_z=0.1501 right_yaw=-0.0274 right_pitch=-0.3365 right_roll=-0.1697 right_gripper=0.0676 state[joint_eff]: [0.1436, -13.9145, 6.653, 1.1941, -0.3346, -0.0366, 1.0037, -0.7179, -6.9265, 6.3111, 0.9988, 0.5201, -0.0708, 0.315] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.2, "left_z": 0.17, "left_yaw": 1.57}, "note": "The arms are apart now. I'm bringing the cap back toward the left side of centre and turning it 90\u00b0 so its axis runs side to side and its open end faces the right arm."})
tool
executing move_to over 14 steps (1.4s)
step 174
top_cam
camera top_cam step 174
left_cam
camera left_cam step 174
right_cam
camera right_cam step 174
assistant
agent noteThe left arm ended up 12 cm short in y and 9 cm low after the big yaw turn. Sending a slightly adjusted target to finish the move now that the rotation is done.
move_to
left_x0.3500left_y-0.1900left_z0.1800left_yaw1.5700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5049, 2.2742, 1.8965, -1.5513, -0.6727, -2.0613, 0.0658, 0.9764, 1.4845, 1.1496, -0.9169, 0.5823, 0.7696, 0.0678] state[eef_state]: left_x=0.3765 left_y=-0.0782 left_z=0.084 left_yaw=1.4497 left_pitch=-0.2529 left_roll=0.0334 left_gripper=0.0658 right_x=0.2548 right_y=0.2098 right_z=0.1447 right_yaw=-0.0155 right_pitch=-0.3685 right_roll=-0.1747 right_gripper=0.0678 state[joint_eff]: [0.1162, -15.1453, 5.1624, -0.4664, -0.4518, -0.2173, 1.0183, -0.335, -6.0103, 6.8171, 0.9841, 0.5153, -0.0024, 0.6911] 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": 0.35, "left_y": -0.19, "left_z": 0.18, "left_yaw": 1.57}, "note": "The left arm ended up 12 cm short in y and 9 cm low after the big yaw turn. Sending a slightly adjusted target to finish the move now that the rotation is done."})
tool
executing move_to over 10 steps (1.0s)
step 184
top_cam
camera top_cam step 184
left_cam
camera left_cam step 184
right_cam
camera right_cam step 184
assistant
agent noteThe left arm won't reach the target at yaw 1.57; it stalls low and short, probably at a wrist limit. I'm easing the yaw back to 1.0 so the pen and cap can meet on a diagonal instead.
move_to
left_x0.4000left_y-0.2000left_z0.1700left_yaw1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4767, 2.2101, 1.8236, -1.5566, -0.6388, -2.0865, 0.0658, 0.9764, 1.4845, 1.1496, -0.9112, 0.5732, 0.7696, 0.0699] state[eef_state]: left_x=0.3607 left_y=-0.0637 left_z=0.09 left_yaw=1.511 left_pitch=-0.2761 left_roll=0.0422 left_gripper=0.0658 right_x=0.2545 right_y=0.2118 right_z=0.1442 right_yaw=-0.0089 right_pitch=-0.3726 right_roll=-0.1645 right_gripper=0.0699 state[joint_eff]: [0.6632, -13.9009, 4.6701, -0.5934, -0.3492, -0.149, 1.0183, -0.1299, -6.0923, 6.2427, 0.7643, 0.4029, -0.0317, 0.4469] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.2, "left_z": 0.17, "left_yaw": 1.0}, "note": "The left arm won't reach the target at yaw 1.57; it stalls low and short, probably at a wrist limit. I'm easing the yaw back to 1.0 so the pen and cap can meet on a diagonal instead."})
tool
executing move_to over 13 steps (1.3s)
step 197
top_cam
camera top_cam step 197
left_cam
camera left_cam step 197
right_cam
camera right_cam step 197
assistant
agent noteThe cap is held steady at yaw 1.04, its axis running diagonally forward-left. I'm turning the pen to the same yaw and placing it so the pen tip sits on that axis, about 3 cm short of the cap's open end.
move_to
right_x0.3120right_y0.3520right_z0.1430right_yaw1.0400
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.688, 2.2471, 2.0937, -1.5635, -0.6804, -1.7756, 0.0658, 0.9768, 1.4845, 1.1458, -0.91, 0.5663, 0.7696, 0.0696] state[eef_state]: left_x=0.3866 left_y=-0.1693 left_z=0.1348 left_yaw=1.044 left_pitch=-0.3079 left_roll=0.0146 left_gripper=0.0658 right_x=0.2533 right_y=0.2121 right_z=0.1425 right_yaw=-0.0058 right_pitch=-0.3795 right_roll=-0.163 right_gripper=0.0696 state[joint_eff]: [-0.759, -10.3726, 7.9795, -0.0806, -0.6716, 0.1734, 1.0085, -0.0342, -5.9829, 6.5573, 0.8083, 0.3199, -0.0269, 0.6813] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.312, "right_y": 0.352, "right_z": 0.143, "right_yaw": 1.04}, "note": "The cap is held steady at yaw 1.04, its axis running diagonally forward-left. I'm turning the pen to the same yaw and placing it so the pen tip sits on that axis, about 3 cm short of the cap's open end."})
tool
executing move_to over 12 steps (1.2s)
step 209
top_cam
camera top_cam step 209
assistant
agent noteThe two gripper housings bumped together near the centre (the right arm stopped short and pushed the left arm). The pen tip is still well short of the cap. I'm backing the right arm off slightly to clear the contact.
move_to
right_x0.2700right_y0.2900right_z0.1500right_yaw1.0400
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6308, 2.2471, 2.0922, -1.5578, -0.7086, -1.7748, 0.0658, 0.8108, 1.7283, 1.3441, -0.6811, 0.0422, -0.1963, 0.0712] state[eef_state]: left_x=0.399 left_y=-0.1446 left_z=0.1375 left_yaw=1.0941 left_pitch=-0.281 left_roll=0.0062 left_gripper=0.0658 right_x=0.2993 right_y=0.3093 right_z=0.1209 right_yaw=0.8752 right_pitch=-0.5158 right_roll=-0.1586 right_gripper=0.0712 state[joint_eff]: [-5.2171, -11.7949, 5.6547, -0.0366, -0.0659, -0.022, 1.0085, 0.7179, -5.8872, 10.7009, 2.4347, -0.442, -0.3785, 0.5739] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 209): [image omitted: streamed camera frame] camera 'left_cam' (step 209): [image omitted: streamed camera frame] camera 'right_cam' (step 209): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.27, "right_y": 0.29, "right_z": 0.15, "right_yaw": 1.04}, "note": "The two gripper housings bumped together near the centre (the right arm stopped short and pushed the left arm). The pen tip is still well short of the cap. I'm backing the right arm off slightly to clear the contact."})
tool
executing move_to over 3 steps (0.3s)
step 212
assistant
agent noteThe pen and cap are coaxial, but the two gripper housings collide about 22 cm apart, before the pen reaches the cap. I'm rolling the two wrists in opposite directions so the housings splay to opposite sides of the shared axis.
move_to
left_roll-0.8000right_roll0.8000right_pitch0.0000left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6277, 2.2471, 2.0895, -1.5608, -0.7067, -1.7748, 0.0658, 0.8074, 1.676, 1.3136, -0.7143, -0.0044, -0.2787, 0.0736] state[eef_state]: left_x=0.3983 left_y=-0.1429 left_z=0.1367 left_yaw=1.0992 left_pitch=-0.282 left_roll=0.0124 left_gripper=0.0658 right_x=0.2838 right_y=0.3029 right_z=0.1267 right_yaw=0.968 right_pitch=-0.5286 right_roll=-0.1554 right_gripper=0.0736 state[joint_eff]: [-0.212, -11.9316, 5.7915, -0.0562, -0.5153, -0.022, 1.0134, 0.0889, -9.8803, 6.735, 1.0818, -0.0904, -0.1441, 0.2515] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_roll": -0.8, "right_roll": 0.8, "right_pitch": 0.0, "left_pitch": 0.0}, "note": "The pen and cap are coaxial, but the two gripper housings collide about 22 cm apart, before the pen reaches the cap. I'm rolling the two wrists in opposite directions so the housings splay to opposite sides of the shared axis."})
tool
executing move_to over 18 steps (1.8s)
step 230
assistant
agent noteWith the wrists rolled apart, the right wrist camera now shows the left gripper off to one side, clear of the pen axis. I'm advancing the pen about 5 cm along its axis toward the cap.
move_to
right_x0.3020right_y0.3370right_z0.1250right_yaw1.0400right_roll0.8000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.73, 1.94, 1.3037, -0.6666, -1.1004, -2.0666, 0.0658, 0.5072, 1.5883, 0.7364, 0.1589, -0.7601, 0.3599, 0.0763] state[eef_state]: left_x=0.3962 left_y=-0.1385 left_z=0.1162 left_yaw=1.1003 left_pitch=-0.0266 left_roll=-0.6985 left_gripper=0.0658 right_x=0.2745 right_y=0.2959 right_z=0.1047 right_yaw=0.9677 right_pitch=-0.1023 right_roll=0.7538 right_gripper=0.0763 state[joint_eff]: [-1.2239, -12.7248, 5.641, 0.6178, -0.8181, 0.0024, 1.0037, -1.0462, -6.147, 6.6803, 2.0244, -0.2662, 0.2515, 0.2662] camera 'top_cam' (step 230): [image omitted: streamed camera frame] camera 'left_cam' (step 230): [image omitted: streamed camera frame] camera 'right_cam' (step 230): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.302, "right_y": 0.337, "right_z": 0.125, "right_yaw": 1.04, "right_roll": 0.8, "right_pitch": 0.0}, "note": "With the wrists rolled apart, the right wrist camera now shows the left gripper off to one side, clear of the pen axis. I'm advancing the pen about 5 cm along its axis toward the cap."})
tool
executing move_to over 4 steps (0.4s)
step 234
assistant
agent noteI picked up both objects: the pen is in the right gripper (grasped across its middle at yaw ~0.68) and the cap is in the left gripper. I couldn't put the cap on the pen. When I lined the pen and cap up on the same axis, the two gripper housings and wrists hit each other while the grasp points were still about 22–24 cm apart. The pen sticks out only about 10 cm past its jaws and the cap barely sticks out past its own, so the pen tip stopped about 10 cm short of the cap. I tried meeting head-on at yaw 0 (the arm links crossed and the left arm froze), side to side at yaw ±1.57 (the left arm's inverse kinematics couldn't reach it) and on a diagonal at yaw 1.04 with the wrists rolled ±0.8 apart. Each time the housings collided and pushed the left arm (shoulder effort around −4 to −5 N·m). Doing this would need a different grasp, for example holding the pen near its very end or the cap by its tip, so they stick out far enough.
give_up
hindsight- The grasp geometry decides whether capping is possible. Each gripper housing plus its wrist-camera mount needs about 11 cm of clearance along the held object's axis. So two coaxial held objects can only meet if their combined protrusion past the jaws is more than about 22 cm. Plan the grasps for that before picking anything up: take the pen at its far back end and the cap at its closed tip, or brace one object on the table. - Picking worked well with the facts sheet. For each object I flew to z 0.15 with the yaw set so the jaws close across it. In the wrist view the object ran along image-y. I shifted about 2–3 cm toward the tool side where it sat, went down to z 0, closed, and lifted. - Settled readings on thin objects: pen 0.03–0.05, cap about 0.05–0.065. Both were real grasps even though they were near the 0.04 'empty' threshold. - Object positions from the top camera: at arm x≈0.3 the grippers show near image rows 120–130, about 2.6 px/cm across. The centre line is at image x≈105. - Left arm yaw about +1.5 at x 0.36, y −0.2 is not reachable (it stalls low and short). A yaw of about 1.0 was fine. - When both arms reach toward the centre line with forward-pointing tools, their links cross. The left arm then freezes and ignores targets until the right arm backs off. - Pitch readback drifts to −0.2 to −0.5 while carrying unless you command pitch 0 explicitly. - Signs of arm-to-arm contact: the other arm's y creeps and its shoulder yaw effort jumps to about ±4–5 N·m.
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6823, 1.9312, 1.2892, -0.6422, -1.0958, -2.0674, 0.0658, 0.5255, 1.7283, 0.8379, 0.2367, -0.8509, 0.3916, 0.0784] state[eef_state]: left_x=0.4023 left_y=-0.1198 left_z=0.1158 left_yaw=1.1465 left_pitch=-0.0359 left_roll=-0.7161 left_gripper=0.0658 right_x=0.2866 right_y=0.3239 right_z=0.1068 right_yaw=1.0478 right_pitch=-0.053 right_roll=0.8112 right_gripper=0.0784 state[joint_eff]: [-4.3282, -9.0462, 6.8855, 0.5104, -0.5641, -0.0317, 1.0134, 0.8547, -6.7761, 10.1265, 1.8584, -0.1685, 0.3053, 0.2173] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I picked up both objects: the pen is in the right gripper (grasped across its middle at yaw ~0.68) and the cap is in the left gripper. I couldn't put the cap on the pen. When I lined the pen and cap up on the same axis, the two gripper housings and wrists hit each other while the grasp points were still about 22\u201324 cm apart. The pen sticks out only about 10 cm past its jaws and the cap barely sticks out past its own, so the pen tip stopped about 10 cm short of the cap. I tried meeting head-on at yaw 0 (the arm links crossed and the left arm froze), side to side at yaw \u00b11.57 (the left arm's inverse kinematics couldn't reach it) and on a diagonal at yaw 1.04 with the wrists rolled \u00b10.8 apart. Each time the housings collided and pushed the left arm (shoulder effort around \u22124 to \u22125 N\u00b7m). Doing this would need a different grasp, for example holding the pen near its very end or the cap by its tip, so they stick out far enough.", "hindsight": "- The grasp geometry decides whether capping is possible. Each gripper housing plus its wrist-camera mount needs about 11 cm of clearance along the held object's axis. So two coaxial held objects can only meet if their combined protrusion past the jaws is more than about 22 cm. Plan the grasps for that before picking anything up: take the pen at its far back end and the cap at its closed tip, or brace one object on the table.\n- Picking worked well with the facts sheet. For each object I flew to z 0.15 with the yaw set so the jaws close across it. In the wrist view the object ran along image-y. I shifted about 2\u20133 cm toward the tool side where it sat, went down to z 0, closed, and lifted.\n- Settled readings on thin objects: pen 0.03\u20130.05, cap about 0.05\u20130.065. Both were real grasps even though they were near the 0.04 'empty' threshold.\n- Object positions from the top camera: at arm x\u22480.3 the grippers show near image rows 120\u2013130, about 2.6 px/cm across. The centre line is at image x\u2248105.\n- Left arm yaw about +1.5 at x 0.36, y \u22120.2 is not reachable (it stalls low and short). A yaw of about 1.0 was fine.\n- When both arms reach toward the centre line with forward-pointing tools, their links cross. The left arm then freezes and ignores targets until the right arm backs off.\n- Pitch readback drifts to \u22120.2 to \u22120.5 while carrying unless you command pitch 0 explicitly.\n- Signs of arm-to-arm contact: the other arm's y creeps and its shoulder yaw effort jumps to about \u00b14\u20135 N\u00b7m."})
tool
give_up: I picked up both objects: the pen is in the right gripper (grasped across its middle at yaw ~0.68) and the cap is in the left gripper. I couldn't put the cap on the pen. When I lined the pen and cap up on the same axis, the two gripper housings and wrists hit each other while the grasp points were still about 22–24 cm apart. The pen sticks out only about 10 cm past its jaws and the cap barely sticks out past its own, so the pen tip stopped about 10 cm short of the cap. I tried meeting head-on at yaw 0 (the arm links crossed and the left arm froze), side to side at yaw ±1.57 (the left arm's inverse kinematics couldn't reach it) and on a diagonal at yaw 1.04 with the wrists rolled ±0.8 apart. Each time the housings collided and pushed the left arm (shoulder effort around −4 to −5 N·m). Doing this would need a different grasp, for example holding the pen near its very end or the cap by its tip, so they stick out far enough.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 17.83 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Pick up the pen and the pen cap, then put the cap on the pen.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6025, -0.3794, -0.02, -0.0113, 0.9998, -0.0185, 0.7906, 0.6094, -0.3759, -0.0261, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.0011 left_z=0.1797 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2957 right_y=0.0027 right_z=0.1843 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.5675, -1.5248, 10.5231, 1.7753, -0.0464, -0.0855, -0.0366, -0.8, -1.1829, 9.7846, 1.746, 0.0269, -0.0122, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f8dcec10754ab9f750b6467fdfde8fa2da69109219483c816290fe1d458ac72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8649f49acfe42e0332ca3755d8c820dc519f76c2a44baa59ce54aefa560cb96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:95ecd49b14eb5724346f18e816f5fce83ef34f34606b1ac16656877c896be8e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 7.776 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6025, -0.3794, -0.02, -0.0113, 0.9998, -0.0185, 0.7906, 0.6094, -0.3759, -0.0261, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.0011 left_z=0.1797 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2957 right_y=0.0027 right_z=0.1843 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.5675, -1.5248, 10.5231, 1.7753, -0.0464, -0.0855, -0.0366, -0.8, -1.1829, 9.7846, 1.746, 0.0269, -0.0122, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f8dcec10754ab9f750b6467fdfde8fa2da69109219483c816290fe1d458ac72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8649f49acfe42e0332ca3755d8c820dc519f76c2a44baa59ce54aefa560cb96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95ecd49b14eb5724346f18e816f5fce83ef34f34606b1ac16656877c896be8e0",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QA4YJEpNvEgX3TguoZ14fM",
      "input": {
        "note": "From the overhead view, the pen is lying diagonally just right of centre and the cap is left of centre. I'm moving the right arm above the pen and turning it so the jaws will close across the pen's body.",
        "targets": {
          "right_x": 0.38,
          "right_y": 0.26,
          "right_yaw": 0.68,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_01QA4YJEpNvEgX3TguoZ14fM",
      "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]: [-0.02, 0.7994, 0.6037, -0.3809, -0.0196, -0.0109, 0.9998, 0.5365, 1.552, 0.9012, 0.0265, -0.1089, -0.0681, 0.999]\nstate[eef_state]: left_x=0.295 left_y=0.0012 left_z=0.1782 left_yaw=-0.0001 left_pitch=-0.0069 left_roll=0.0003 left_gripper=0.9998 right_x=0.3715 right_y=0.2475 right_z=0.1318 right_yaw=0.6537 right_pitch=-0.0632 right_roll=0.0061 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -1.7573, 6.9675, 1.7265, -0.0513, -0.0317, -0.0171, 0.3214, -7.1453, 8.9504, 1.8779, -0.105, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3325a5f75fd741b11f801e24a988cb9c4157ec825721be0b87af9ff6200ce45b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:809c62073db7e8e2af7d0c16114169526e9422fdb193efa5485d0b0200781e94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6e3ad3407c214d206141b943e7895067e4c887054b5af788a44b51eec387e755",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 3.15 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6025, -0.3794, -0.02, -0.0113, 0.9998, -0.0185, 0.7906, 0.6094, -0.3759, -0.0261, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.0011 left_z=0.1797 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2957 right_y=0.0027 right_z=0.1843 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.5675, -1.5248, 10.5231, 1.7753, -0.0464, -0.0855, -0.0366, -0.8, -1.1829, 9.7846, 1.746, 0.0269, -0.0122, -0.1148]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7994, 0.6037, -0.3809, -0.0196, -0.0109, 0.9998, 0.5365, 1.552, 0.9012, 0.0265, -0.1089, -0.0681, 0.999]\nstate[eef_state]: left_x=0.295 left_y=0.0012 left_z=0.1782 left_yaw=-0.0001 left_pitch=-0.0069 left_roll=0.0003 left_gripper=0.9998 right_x=0.3715 right_y=0.2475 right_z=0.1318 right_yaw=0.6537 right_pitch=-0.0632 right_roll=0.0061 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -1.7573, 6.9675, 1.7265, -0.0513, -0.0317, -0.0171, 0.3214, -7.1453, 8.9504, 1.8779, -0.105, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3325a5f75fd741b11f801e24a988cb9c4157ec825721be0b87af9ff6200ce45b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:809c62073db7e8e2af7d0c16114169526e9422fdb193efa5485d0b0200781e94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e3ad3407c214d206141b943e7895067e4c887054b5af788a44b51eec387e755",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShQwKEAgSGAI4AUIIdGhpbmtpbmcSDKjG/YUm3UQzxij9VBoMF5t76EbId4UCJwfxIjAcNgtg/n0SjoZZOR5EjlzUXpjoIi23Xt7t2VL/YwNkM3ivv3Le1hkiFWe0e2n48ncqogsh26HTEkURYXPJHqo+zH/q5KbY0u0yScD2BvqHJ0ogZND1VSKX88uHt2t1mmH2lud6XVFxI7W6JqkF5lu9n0oxws2Ovoq6UmX84xgglw/WLuYQeYmpDdDZWN3gICwO2LvaF48qn6TYXOUi0TUF1lsncpJV2naQzKs2i02RxNNJjtor9kIegBIm8rkopt55auM8EsVcne+dytHU1t55riyu+B2g/Eeq9l77AYWuMsZL8ocHWfdqIE4yrNmEL4qJUakS/lgpdtKTsIqeXS5nMvQG9j4mbvzwxZ1ScFnyzdaO0ycL164H8P9e5kUcUmjaaLfRPjgEiYEoJNa4kNIjpf2qr1n/QsTxx90gXb7IbcJf7MhrEBN+31PGPRq07mb2JvBaXbeINAAD1zl39EqSeLrZ4RofdQeOuycyhkF/k+aqqpXshnL5je96bFKvF6K6NdeMT1mySmpH7xen8PNBRE0EDwToL338SCwM2R1aCejpct7Bjp9YX4shkhdlNf2iZiJIz6yoqhCRvMMNvL5fF1xsv39RDElhZiUN4Xaw9XDRGorfyoTXioAI+faWPIY8o5G/WEAUf6RAB25cFKpIRiIHAgQ+BuKLpwxQFiATKiGlNvXTYVGddlOIVwzHLAv/0zZFZFW8rTMbpcPI/V1d7gBO1pS6hGmrHqnLrrl1Cfkm6t/L4aAqZt9OxQyR9ut9iS029Sd1xLTnEbfJvS61iNUOT71Fk4G0ZcytQ9wjS6jGf6Xe7pY2btuNoUE3j/rv893URahsrc/tPgv82YWytvIx6GLnnNFo/Eovei+1TjZ1Pefdrn3HYwK+J1mPsabGT0rSmLCdOwtk/5wan6BcdJ8e+afN+zFyCOyXY+1kIjAgm1dbx5C+7JYzylkFnLr/9zWMjBDysSXUNEum5N6Bf6fQkq4srijWU5Inkq76uMnuj4z6CBCyKX+VzWTohsgilf3RW8Ps27+T1krZg++xjDIXXEmO9tRKOdePHBoqP+Lo7S5QV0W2xIzWSdEe9cs/GB92jgr8NYTeIyeWfKu6cWBDGhWEp5ZrZeBDyUbc2vr31X2C/+HI6gDlzYmJ27yhjOEu1owVxfO6+ZmyfAyPZmXwFw/WLKBMFLz80c7/7xGkbH1tqIJI1CgO2UcnqJ30Q5GLIh42lj9fTb4zUeV4Q01oQf9dsZitUb36YnNVnSFLNuqRF1awbIqzB2nvg+8rdF3Rtzs2IX8Wr4NiQUyGgRLFHXwd4S9XUxQmiAjJ+JlED2MrEj4GsvTUYCpzXesDrNbrAk2SO1Mcx7jDg9tmRRzIuLOhidHBTCxXgSL/b1vpo2Wr0YrSdV5o2GFlwoIy0DNPbNUJZsTs2Y8glZ3thWff/VbzVJYUed+pLKX8f4fCjnSeNv2UErxUGYtTeXOQ8HYZi0uLn7h9GRsZqZPBjIKCfdQPWOxC3rJwJDGYL1P7BwWbZa20W3rQGLeTHYE1JT0i0TdXCVHjfa6DEUpqUheG5CM/m0ZcNwDCPDV0txc1VnlVNBL8p43HLHrbVDjicecFx/CEMVeLLWe0wvrFuoqC3S5xntIOdCumjSq8RRHneftrUL+r//9t8SKk8nCUNa4HfekudpWzAzmnXE3EJ7LQlJMz0Ypswl1e+jPkQp4c76HCuFfZAo48kOW7rL9Dd0FCAox5dAcjxtqV73gjLlAxKtY6qe+EnWzd7NrV9NzohV5LBO56ju66ZZsbiZfKU2Uf7lV7EUEmPYSUbIiS8WjL3LYCTaRpAI/6nq3c3oPRdUmOXCmASThGRxP/RfCcQclkHd+jKBTl/dw4u5lRUhu9GcgQaaiPm1m7Gq7SbZG2pI3syKKmjnUJTMELiiacK6bmmsbcqjqPfaHoEaAHxELsmhguIGr7M2mm2Bw+O8cGgwV4FlE58eA2hPzqXfl2otgxhxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XYmToFUPQoabeQjg6st9AZ",
      "input": {
        "note": "The right wrist camera shows the pen running along the jaw's forward axis, just a little right of the jaw centre. I'm shifting slightly toward the tool's right and lowering to the table to grasp the pen.",
        "targets": {
          "right_x": 0.38,
          "right_y": 0.236,
          "right_yaw": 0.68,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01XYmToFUPQoabeQjg6st9AZ",
      "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]: [-0.02, 0.8032, 0.6037, -0.3809, -0.02, -0.0109, 0.9998, 0.485, 1.9072, 0.6975, 0.5507, -0.1623, -0.1177, 0.999]\nstate[eef_state]: left_x=0.2952 left_y=0.0012 left_z=0.1771 left_yaw=0.0002 left_pitch=-0.0107 left_roll=0.0005 left_gripper=0.9998 right_x=0.3771 right_y=0.2351 right_z=0.0037 right_yaw=0.6742 right_pitch=-0.092 right_roll=0.0031 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -1.5795, 7.0359, 1.6923, -0.0757, -0.0415, -0.0122, -0.8, -6.5709, 4.3009, 1.2625, -0.2564, 0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37799346d648e08d4c0213900e6b829de8f0db64ea273e6517c6dbba945d3acf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ecb2a04f1a64809f5599672d858434598f8494c9fd9857b823b6f5ecbe07319",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fe59a59e51f316ddad30fbd3815b687503e257b68eef778e0032d4344f6f2d5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 4.022 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6025, -0.3794, -0.02, -0.0113, 0.9998, -0.0185, 0.7906, 0.6094, -0.3759, -0.0261, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.0011 left_z=0.1797 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2957 right_y=0.0027 right_z=0.1843 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.5675, -1.5248, 10.5231, 1.7753, -0.0464, -0.0855, -0.0366, -0.8, -1.1829, 9.7846, 1.746, 0.0269, -0.0122, -0.1148]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7994, 0.6037, -0.3809, -0.0196, -0.0109, 0.9998, 0.5365, 1.552, 0.9012, 0.0265, -0.1089, -0.0681, 0.999]\nstate[eef_state]: left_x=0.295 left_y=0.0012 left_z=0.1782 left_yaw=-0.0001 left_pitch=-0.0069 left_roll=0.0003 left_gripper=0.9998 right_x=0.3715 right_y=0.2475 right_z=0.1318 right_yaw=0.6537 right_pitch=-0.0632 right_roll=0.0061 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -1.7573, 6.9675, 1.7265, -0.0513, -0.0317, -0.0171, 0.3214, -7.1453, 8.9504, 1.8779, -0.105, -0.0611, -0.0171]",
      "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]: [-0.02, 0.8032, 0.6037, -0.3809, -0.02, -0.0109, 0.9998, 0.485, 1.9072, 0.6975, 0.5507, -0.1623, -0.1177, 0.999]\nstate[eef_state]: left_x=0.2952 left_y=0.0012 left_z=0.1771 left_yaw=0.0002 left_pitch=-0.0107 left_roll=0.0005 left_gripper=0.9998 right_x=0.3771 right_y=0.2351 right_z=0.0037 right_yaw=0.6742 right_pitch=-0.092 right_roll=0.0031 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -1.5795, 7.0359, 1.6923, -0.0757, -0.0415, -0.0122, -0.8, -6.5709, 4.3009, 1.2625, -0.2564, 0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37799346d648e08d4c0213900e6b829de8f0db64ea273e6517c6dbba945d3acf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ecb2a04f1a64809f5599672d858434598f8494c9fd9857b823b6f5ecbe07319",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe59a59e51f316ddad30fbd3815b687503e257b68eef778e0032d4344f6f2d5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Pen lies between jaws. Close.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013Ht4asSe92msGKHRBrExch",
      "input": {
        "note": "The pen sits between the open jaws at table level, so I'm closing the right gripper on it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_013Ht4asSe92msGKHRBrExch",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8051, 0.6037, -0.3809, -0.0196, -0.0109, 0.9998, 0.4847, 1.9232, 0.6949, 0.5888, -0.1619, -0.1226, 0.0323]\nstate[eef_state]: left_x=0.2954 left_y=0.0011 left_z=0.1766 left_yaw=-0.0001 left_pitch=-0.0126 left_roll=0.0004 left_gripper=0.9998 right_x=0.3798 right_y=0.2362 right_z=0.0034 right_yaw=0.6758 right_pitch=-0.0729 right_roll=-0.0048 right_gripper=0.0323\nstate[joint_eff]: [-0.212, -1.4017, 7.2684, 1.7411, -0.0611, -0.0415, -0.0171, 0.1162, -9.6889, 5.1077, 1.453, -0.0855, 0.0317, 1.5995]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0fc7e9177cf962945d8414c99166e53de6ea58fa1b8e86c580de76e2c1488c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:868195853ed9919ed1309d9369e282a35b0444915243e6b64068090a8c6758a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8907ab263631b7d3465b3423c9deb2d738ff44c230b1a0f78870c2fd00358afc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 8.951 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7994, 0.6037, -0.3809, -0.0196, -0.0109, 0.9998, 0.5365, 1.552, 0.9012, 0.0265, -0.1089, -0.0681, 0.999]\nstate[eef_state]: left_x=0.295 left_y=0.0012 left_z=0.1782 left_yaw=-0.0001 left_pitch=-0.0069 left_roll=0.0003 left_gripper=0.9998 right_x=0.3715 right_y=0.2475 right_z=0.1318 right_yaw=0.6537 right_pitch=-0.0632 right_roll=0.0061 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -1.7573, 6.9675, 1.7265, -0.0513, -0.0317, -0.0171, 0.3214, -7.1453, 8.9504, 1.8779, -0.105, -0.0611, -0.0171]",
      "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]: [-0.02, 0.8032, 0.6037, -0.3809, -0.02, -0.0109, 0.9998, 0.485, 1.9072, 0.6975, 0.5507, -0.1623, -0.1177, 0.999]\nstate[eef_state]: left_x=0.2952 left_y=0.0012 left_z=0.1771 left_yaw=0.0002 left_pitch=-0.0107 left_roll=0.0005 left_gripper=0.9998 right_x=0.3771 right_y=0.2351 right_z=0.0037 right_yaw=0.6742 right_pitch=-0.092 right_roll=0.0031 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -1.5795, 7.0359, 1.6923, -0.0757, -0.0415, -0.0122, -0.8, -6.5709, 4.3009, 1.2625, -0.2564, 0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8051, 0.6037, -0.3809, -0.0196, -0.0109, 0.9998, 0.4847, 1.9232, 0.6949, 0.5888, -0.1619, -0.1226, 0.0323]\nstate[eef_state]: left_x=0.2954 left_y=0.0011 left_z=0.1766 left_yaw=-0.0001 left_pitch=-0.0126 left_roll=0.0004 left_gripper=0.9998 right_x=0.3798 right_y=0.2362 right_z=0.0034 right_yaw=0.6758 right_pitch=-0.0729 right_roll=-0.0048 right_gripper=0.0323\nstate[joint_eff]: [-0.212, -1.4017, 7.2684, 1.7411, -0.0611, -0.0415, -0.0171, 0.1162, -9.6889, 5.1077, 1.453, -0.0855, 0.0317, 1.5995]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0fc7e9177cf962945d8414c99166e53de6ea58fa1b8e86c580de76e2c1488c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:868195853ed9919ed1309d9369e282a35b0444915243e6b64068090a8c6758a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8907ab263631b7d3465b3423c9deb2d738ff44c230b1a0f78870c2fd00358afc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSxwcKEAgSGAI4AUIIdGhpbmtpbmcSDBTJK/1E+2FvJJm6xBoMP3yzPc0h6rnf+c+6IjDdEOdMpD0EiK4lhiIzjUGIQ1duYLOQ8V6ESSUqQTRuHvFz693Rcej8H2L4PP12UlMq5AbkFtLpru2THIGIYaf5yrE8CJ50Rb2kiP2ZXil54v0LcipIxdLTjzpS0Qaa8ycWKJILHX1bO7tCm2roCaydycU8OzMnpq/Wh0b4ll6NlBqLxZg9p8hELNJluDKVAdiw/hmhXQJ9E1pF1PwhmrebOhbqDjKPGvTbOhMTXMTk1sXkZoV5boyKlOuRfCA7i+MOhdpxq2IgHOSTgONkD/hLopYICuLxrgV2sKGw9Gx0jjcr2dn9WYAkJa6lhIx3VgsuGX061VfnSHv5SZpDzuiKj38YcngyVJVijEntK+uRT9PJz5RfyEtYZiEeNexlWp0dp6+q+AMNXolbBO+whF+Ch9sSpHuzrnJQUWZpLAYefw1Zj6dLYfA0feHdUIM1RVfMnqAsqeiqplV8yKLlYCswdkHvW2aP/9Ma1u7+U/trW9xbE1OF4egQRUvenOgKcOReb7twVGjD7rKK2GpY3BHZWLKzs2bOtrp6VRKAdJqyr/s0gXjS+Ykam4HWenwpTAGYStrmA1UuZcDTyjEhoxCv+eWolyu+2dZqPYa4h0MbDwkbAW0tLLMSCQPZp/RRGF5l6vHXTewKHvYIaheXYOKhTBh36pon3yR732pJwGiunXKKZRB+oPJB25OarnWXFByJKuP2zBX5oP9esVADEWjS/WR0Q4Q8CYIel1j3xOqNCBq0NeRhJvvQluHyptQmVMXSaiAlzxLrHpEuDdOLJNv+74yXAeoGWteIgFkR9Q07B0t8D1Ju+No9dLW08T+ll61sQ52pW8QxclNpaA0pwTUKefD+cBiAbvKSdeYEJSGHxAHE7Hb4+bmdk5lJARZ3LtthXfrGPAnCzCeKUC0WNVNlWqj+SFb0w7Tp39bQuKx+5blTaKN1+yewJNL3E+oCK/fqVVuI2eZLXG0Pwojgg21AkyOkGeCt553Pw0YQ7TnA5Nh3LV4hEQja+3P1MJudo+rka+eX8GoLWIf9VgIb8ujOWtk58Pf6WBHROSo3yzvGo+gySq1EMjco6YIanlzuQYJmRGe6n2BLcmIkaaWo10xvYo09jfNOZlXXAxBn9+GCqmkslQisQymjgTaOmfBa5zWJkpWSW4dXpFqdTJJiCyzZVdIWYtd9ZNraVmZ9uKBZNeUF0i4wCL6c3PB0EfwqXPDHeM+4L8ooGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AV4tXeRbn5VNia8evvDD4G",
      "input": {
        "note": "The gripper closed with the pen centred in the jaws (reading 0.03, which is borderline for a thin pen). Lifting to check whether the pen comes up with it.",
        "targets": {
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01AV4tXeRbn5VNia8evvDD4G",
      "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]: [-0.02, 0.807, 0.6037, -0.3809, -0.0196, -0.0109, 0.9998, 0.4847, 1.7119, 0.7666, 0.3077, -0.1619, -0.1249, 0.0403]\nstate[eef_state]: left_x=0.2955 left_y=0.0011 left_z=0.1761 left_yaw=-0.0001 left_pitch=-0.0145 left_roll=0.0004 left_gripper=0.9998 right_x=0.3795 right_y=0.236 right_z=0.0646 right_yaw=0.677 right_pitch=-0.071 right_roll=-0.0071 right_gripper=0.0403\nstate[joint_eff]: [-0.1162, -1.4017, 7.0496, 1.707, -0.0464, -0.0366, -0.0122, -0.3487, -9.3333, 7.9248, 1.619, -0.0659, -0.0024, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d240e14f0448d6635fa0890da6ecb27b8d99d7b3628d15f7602779ba593cf54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:490b713b3d42edd0df4cbe5930414b2214cfb2a4a9463380e2ad0bb2c4ed2212",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2d442607cc5ab87858a0c1523d7198bf3188ea8f4d85c7287e1739d5bf9cc069",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 6.419 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8032, 0.6037, -0.3809, -0.02, -0.0109, 0.9998, 0.485, 1.9072, 0.6975, 0.5507, -0.1623, -0.1177, 0.999]\nstate[eef_state]: left_x=0.2952 left_y=0.0012 left_z=0.1771 left_yaw=0.0002 left_pitch=-0.0107 left_roll=0.0005 left_gripper=0.9998 right_x=0.3771 right_y=0.2351 right_z=0.0037 right_yaw=0.6742 right_pitch=-0.092 right_roll=0.0031 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -1.5795, 7.0359, 1.6923, -0.0757, -0.0415, -0.0122, -0.8, -6.5709, 4.3009, 1.2625, -0.2564, 0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8051, 0.6037, -0.3809, -0.0196, -0.0109, 0.9998, 0.4847, 1.9232, 0.6949, 0.5888, -0.1619, -0.1226, 0.0323]\nstate[eef_state]: left_x=0.2954 left_y=0.0011 left_z=0.1766 left_yaw=-0.0001 left_pitch=-0.0126 left_roll=0.0004 left_gripper=0.9998 right_x=0.3798 right_y=0.2362 right_z=0.0034 right_yaw=0.6758 right_pitch=-0.0729 right_roll=-0.0048 right_gripper=0.0323\nstate[joint_eff]: [-0.212, -1.4017, 7.2684, 1.7411, -0.0611, -0.0415, -0.0171, 0.1162, -9.6889, 5.1077, 1.453, -0.0855, 0.0317, 1.5995]",
      "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]: [-0.02, 0.807, 0.6037, -0.3809, -0.0196, -0.0109, 0.9998, 0.4847, 1.7119, 0.7666, 0.3077, -0.1619, -0.1249, 0.0403]\nstate[eef_state]: left_x=0.2955 left_y=0.0011 left_z=0.1761 left_yaw=-0.0001 left_pitch=-0.0145 left_roll=0.0004 left_gripper=0.9998 right_x=0.3795 right_y=0.236 right_z=0.0646 right_yaw=0.677 right_pitch=-0.071 right_roll=-0.0071 right_gripper=0.0403\nstate[joint_eff]: [-0.1162, -1.4017, 7.0496, 1.707, -0.0464, -0.0366, -0.0122, -0.3487, -9.3333, 7.9248, 1.619, -0.0659, -0.0024, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d240e14f0448d6635fa0890da6ecb27b8d99d7b3628d15f7602779ba593cf54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:490b713b3d42edd0df4cbe5930414b2214cfb2a4a9463380e2ad0bb2c4ed2212",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d442607cc5ab87858a0c1523d7198bf3188ea8f4d85c7287e1739d5bf9cc069",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RSwGc542JyHB1gkoM9ZLSN",
      "input": {
        "note": "The pen is lifted in the right gripper (it no longer shows on the table). Now I'm moving the left arm above the cap and turning it so the jaws close across the cap.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.2,
          "left_yaw": -0.6,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01RSwGc542JyHB1gkoM9ZLSN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4049, 1.5143, 0.8726, -0.0372, 0.1177, 0.0727, 0.9998, 0.4847, 1.7058, 0.765, 0.2913, -0.1616, -0.1249, 0.046]\nstate[eef_state]: left_x=0.387 left_y=-0.1846 left_z=0.123 left_yaw=-0.5464 left_pitch=-0.1037 left_roll=-0.0187 left_gripper=0.9998 right_x=0.3772 right_y=0.2348 right_z=0.0633 right_yaw=0.6768 right_pitch=-0.0826 right_roll=-0.005 right_gripper=0.046\nstate[joint_eff]: [-0.335, -7.2274, 9.6615, 2.0391, 0.315, 0.188, -0.0171, -0.2393, -7.2274, 6.0513, 1.8144, -0.0513, -0.0415, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a220de30b6e04d2fe3543b4e9f371479d40ce48441783f9e6b883a8714e0fc72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:063d9a7937689a12d51b479ec1f16c3bde72b9b43f16e852fc7b142ad9cefc1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2e02655541a9210bf15b9b06e4fa556c54c5c498eae5d2901cd75be835905c9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 3.97 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8051, 0.6037, -0.3809, -0.0196, -0.0109, 0.9998, 0.4847, 1.9232, 0.6949, 0.5888, -0.1619, -0.1226, 0.0323]\nstate[eef_state]: left_x=0.2954 left_y=0.0011 left_z=0.1766 left_yaw=-0.0001 left_pitch=-0.0126 left_roll=0.0004 left_gripper=0.9998 right_x=0.3798 right_y=0.2362 right_z=0.0034 right_yaw=0.6758 right_pitch=-0.0729 right_roll=-0.0048 right_gripper=0.0323\nstate[joint_eff]: [-0.212, -1.4017, 7.2684, 1.7411, -0.0611, -0.0415, -0.0171, 0.1162, -9.6889, 5.1077, 1.453, -0.0855, 0.0317, 1.5995]",
      "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]: [-0.02, 0.807, 0.6037, -0.3809, -0.0196, -0.0109, 0.9998, 0.4847, 1.7119, 0.7666, 0.3077, -0.1619, -0.1249, 0.0403]\nstate[eef_state]: left_x=0.2955 left_y=0.0011 left_z=0.1761 left_yaw=-0.0001 left_pitch=-0.0145 left_roll=0.0004 left_gripper=0.9998 right_x=0.3795 right_y=0.236 right_z=0.0646 right_yaw=0.677 right_pitch=-0.071 right_roll=-0.0071 right_gripper=0.0403\nstate[joint_eff]: [-0.1162, -1.4017, 7.0496, 1.707, -0.0464, -0.0366, -0.0122, -0.3487, -9.3333, 7.9248, 1.619, -0.0659, -0.0024, 1.0379]",
      "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]: [-0.4049, 1.5143, 0.8726, -0.0372, 0.1177, 0.0727, 0.9998, 0.4847, 1.7058, 0.765, 0.2913, -0.1616, -0.1249, 0.046]\nstate[eef_state]: left_x=0.387 left_y=-0.1846 left_z=0.123 left_yaw=-0.5464 left_pitch=-0.1037 left_roll=-0.0187 left_gripper=0.9998 right_x=0.3772 right_y=0.2348 right_z=0.0633 right_yaw=0.6768 right_pitch=-0.0826 right_roll=-0.005 right_gripper=0.046\nstate[joint_eff]: [-0.335, -7.2274, 9.6615, 2.0391, 0.315, 0.188, -0.0171, -0.2393, -7.2274, 6.0513, 1.8144, -0.0513, -0.0415, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a220de30b6e04d2fe3543b4e9f371479d40ce48441783f9e6b883a8714e0fc72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:063d9a7937689a12d51b479ec1f16c3bde72b9b43f16e852fc7b142ad9cefc1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e02655541a9210bf15b9b06e4fa556c54c5c498eae5d2901cd75be835905c9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzgoKEAgSGAI4AUIIdGhpbmtpbmcSDLnfr1Ye0113dNkJsRoMAJNFGv0nQ0IWwMpKIjB85KH/O0SJRCycPhuKHCCPLSbjnuE32s1eym4vsimHBAGMlizqc6Tjx7alc47LO9Yq6wlt9Ty00P+xFwnUmtkKWqQNaOR98MZbgmyyWuWf3cvy2peEmOhsUsgleV4FcWAjcB/aR4VzDTgAN84MA0FMsmzNi4hld3gCrfzM9uaIJJWVwfU3QW7Fn+z6WHNlEu7AhPKXw8szzt7wku1AqEjW4dJNFRyElEB7fJrNP3TZevE2aZ0UTC3xHVzt8IK2bU+nnlQ2doIze+vDnXmnQWqqMtTLjc7UVd/8fC8BZLD9fwJ2/Ah8kf9E9SBXpAi8fuCe9ZqgkuiOAALq46UuvxWi1ZFpsQxErutZ4nfSLyS+TeV7qEoFF8f6QfecTrVDGV8ED8zpSQJ72HoBby8FTgTnm8VAr0jWHcrY88cP7luNp+1U5svQrw+s3vaBUX3m/TCDQcw6tMIHTIXdceU40hhry/wakCylJFlqdYPZreWleJmv2B+XLgJo1hlAiKIpYqu+F1BINO5kzKk8V5tUFvuNfvS18hdQc5S6n4+GZzZMtpkarrwg3d2z0XCnlQkD+OTdvhPV89hiwQvYHEAaGUEKE0oQqLlLDpRqr9ayx3gSvGyhIoW9vRx3q8kOc9YkNRwsY/yjWbz0nXKI1S+cQF7mX5Y/Y0kMNiofBJPJY/mIwCaOahVCap21JG+zxs0MIir6y9a1ijFH6Mw4LwnrF0Fx0iwn48CIwaJMffG4z6gbzM6TMLNbFq1VrLUTw9Qx+cBmq/a8b5GYxCBfNLIIF+8igcTgU/Ya44qbFGcTM06/BJhXKud10BnWpTVUQDQ+LM9Yin0FgJssnlMOe0vB+Nhf5M/eXbWRQ/ly0H9cMjxDfnhYFCyaoPHa/ugZkjtRt537y7M6W6R6kBEBInvbE9OTMd18SOy6P07+K1l/p4K25ntX/I5gggkGXachXqo+JLDpI6Q0ZeSrKCMq1aSpNWEJaBe8gUZOaE/ZO2K3axX5Hh3h9d02N2/sDymoWCNOF6MYyiUSRnZE5yrAUWEf+TTiR8S0c9A6SVUHGtADXnddbul0mQuqQO3gF5J62cGjNwCHiFy54laShVPluQYS9A9XQq0xISKw1UT0xIDIN69FYFYdgdgrYxx2VNNIX2HHJBjLS9sdrwaSk3/vMSgydc7klvGpIAnV7UyX7Dlyy90ENcyXb+h5OX016hTsbfvzQ68V+R0/9+vgEYJa1yFCnfsf+zhVm+QX79/7c9JhagFlsHwRUkBf0UoeqCMGMHHvzk+G0usjUr+itiSRK3aiY9/a1yuoobWKOHgp6CP1/NqLQS2vWDHO8qn05GI8dPD99THhN9y/sdgHOtSKcA1uqNfaHkDDE33DAXy0odqXW8uDFexci60sOBEmYijjed2xiSdwPu9pOi+10JPIXsUESkYw/TE8v76EO5CNbdOFhYlRQQA2t8vjvTsgoXGt3WY3Gyfjzs1PResAPYtSyYaOtqLBjhUZ82mhG+qgLwPJxN73rwsdtkJhGMAjcfRcP7gD78kWAMdeyg5mSdH8wAsPCbI/tKctcfbIDrjPMWxxI03WleqvhXvFWjrY9GftqEaUNSTXueXZxQzCNR+NCm9/IA882yJrvy43UJ57D8MSf7SThnbzJ9L8QSWSzDtcLtV2/8I+c/4PK/C7PumETXkGxod3AvPtxRDcalVO/noPZ7oC9kKR0HbokwqYdnX5qkhjXWCyF9cHufQbtcij/NzF/xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01G6pV7tsh8XB4QGCfivgpvA",
      "input": {
        "note": "The left wrist camera shows the cap lined up with the jaws, but about 3 cm to the tool's left and close to the fingertips. I'm shifting over and lowering to the table to grasp it.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.16,
          "left_yaw": -0.6,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01G6pV7tsh8XB4QGCfivgpvA",
      "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]: [-0.2947, 1.8523, 0.6853, 0.4347, 0.2173, 0.1616, 0.9997, 0.4847, 1.7058, 0.7643, 0.2852, -0.1619, -0.1249, 0.046]\nstate[eef_state]: left_x=0.3969 left_y=-0.1565 left_z=0.0019 left_yaw=-0.5695 left_pitch=-0.1418 left_roll=-0.0245 left_gripper=0.9997 right_x=0.3761 right_y=0.2343 right_z=0.0619 right_yaw=0.6773 right_pitch=-0.0893 right_roll=-0.0035 right_gripper=0.046\nstate[joint_eff]: [0.212, -6.5162, 3.9863, 1.0183, 0.1978, 0.0952, -0.0171, -0.2803, -7.7333, 5.8598, 1.6825, -0.0904, -0.0562, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc5d8a02d01bb2e7ad8815abacce8176b25446b60218e8a5810ef6286b13eb04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:beca09c73fbc02a06b8383fcdad3e7dae7c0ffca1995dc295f422982441fb6b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:84a8338085c3f66c0c07c0b38b011272c3b378dd12d47850c4cf96f0673c5b71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 32.4 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6037, -0.3809, -0.0196, -0.0109, 0.9998, 0.4847, 1.7119, 0.7666, 0.3077, -0.1619, -0.1249, 0.0403]\nstate[eef_state]: left_x=0.2955 left_y=0.0011 left_z=0.1761 left_yaw=-0.0001 left_pitch=-0.0145 left_roll=0.0004 left_gripper=0.9998 right_x=0.3795 right_y=0.236 right_z=0.0646 right_yaw=0.677 right_pitch=-0.071 right_roll=-0.0071 right_gripper=0.0403\nstate[joint_eff]: [-0.1162, -1.4017, 7.0496, 1.707, -0.0464, -0.0366, -0.0122, -0.3487, -9.3333, 7.9248, 1.619, -0.0659, -0.0024, 1.0379]",
      "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]: [-0.4049, 1.5143, 0.8726, -0.0372, 0.1177, 0.0727, 0.9998, 0.4847, 1.7058, 0.765, 0.2913, -0.1616, -0.1249, 0.046]\nstate[eef_state]: left_x=0.387 left_y=-0.1846 left_z=0.123 left_yaw=-0.5464 left_pitch=-0.1037 left_roll=-0.0187 left_gripper=0.9998 right_x=0.3772 right_y=0.2348 right_z=0.0633 right_yaw=0.6768 right_pitch=-0.0826 right_roll=-0.005 right_gripper=0.046\nstate[joint_eff]: [-0.335, -7.2274, 9.6615, 2.0391, 0.315, 0.188, -0.0171, -0.2393, -7.2274, 6.0513, 1.8144, -0.0513, -0.0415, 1.033]",
      "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]: [-0.2947, 1.8523, 0.6853, 0.4347, 0.2173, 0.1616, 0.9997, 0.4847, 1.7058, 0.7643, 0.2852, -0.1619, -0.1249, 0.046]\nstate[eef_state]: left_x=0.3969 left_y=-0.1565 left_z=0.0019 left_yaw=-0.5695 left_pitch=-0.1418 left_roll=-0.0245 left_gripper=0.9997 right_x=0.3761 right_y=0.2343 right_z=0.0619 right_yaw=0.6773 right_pitch=-0.0893 right_roll=-0.0035 right_gripper=0.046\nstate[joint_eff]: [0.212, -6.5162, 3.9863, 1.0183, 0.1978, 0.0952, -0.0171, -0.2803, -7.7333, 5.8598, 1.6825, -0.0904, -0.0562, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc5d8a02d01bb2e7ad8815abacce8176b25446b60218e8a5810ef6286b13eb04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:beca09c73fbc02a06b8383fcdad3e7dae7c0ffca1995dc295f422982441fb6b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84a8338085c3f66c0c07c0b38b011272c3b378dd12d47850c4cf96f0673c5b71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSvgcKEAgSGAI4AUIIdGhpbmtpbmcSDBzwFt+x5tAPoO2QgBoM1I5nj7Hfby+FJPsyIjC+GeicqrGHzOwxs083F0Tp14vWrULJs4nIZRGKqT/v6O8db5Neo1VChda9xsGITGoq2wa+0fbbMNg4jOAJtjhOyxEJn7dcltYQb82R+UOydk6pblNT5MULE1J9xoEftyx9aXQmA+gJu4xEzjxDiSSr4hJ147WtuO/bcQhMVZ7jh76exwoHVDXf/hCXfmCDjvtvXvGJQuo18t2jHH7pE7MDtad5sQA+iB2om0+2sR89TEiEIt4eHoWV3wtdWzffoO/GU8ujE8FuGCMeCzbqYVc3NSUCUhlMV5G1qaVzeQzhucTmTES3jb9uty6omd3k+iUL4slAE3Vy5rpnmRM7hgAF9SG8mgC1Ac/pw14e8pKoVGNmZqxu57vdosPeMgjnLTdK6GjHp5MuhwLFwP/WWyOBTpP9lqiuRAoK0KIaISNLN+5BYt/dOWfGmkrBZvWW2dXv7JTqy0cgNeOVtRWV497kEZKkGGl3hUTQth6UvHDpLNnlswafZ76XJrpCazVcfuCOjRZZGB42rGIqe+o9AX8ueclZDBSG5oTfGTQ9DGmG7S0+zAfvqijtNiL37p7LkHSBYkaHvcJpnPYxkKjkwOosUQOURIQ2FwI888nVk+bUJZN31i6I0jjmn+zq50bUzIhfaHmJbBHHT7gZukk8HNQvsW6b02LM6SsLLXcpdmNayb1xJlW6/tl3w7SY1buJXVgDDHzw2ifrNsKNuIO4iCEycZ4VJGaJTTvO3zXS3eDo1obZyi6cgciXTl1zFkUwBgQZ7A0RCPNW/VqHnsBfD0USjER2z7ZMoCMP5tDxPmR1CMdInIA5MNoTc5Ddwj3flN3Y7eZNjqFZACKFwZRNzae/K12NS3TcgTKmK6XW+527duolcmrqe9hDG+WoSjyLR/dDTLsQVXlDrvttkysp94U6dof4JKnbJZAwHl8gFNqT9JZPuxNOjYVd64FsqmuYBdbLSxoPjTZtIEok202oLdrZ0rW17LImk+y2nwFYcS8Zwr5IkfhWC1bP0dWZ9gEgi1wlT/0CP3F+PifdUBqKjdLPWpNPoH87ZMZbn8Ag1oAUAMkfnW/Xm6XMAB1RE7EmVABFysg1K7953cnfvVIkQB10DC2q8MEO7/nUeWx14GKY/vijDLw96gWpada/N+zyz7zYIDsj8IP++Yc4YM6RZLdd+fW67CjdKKlRnbgFDWjnZJ8+rtBAWOhiRfEwmlCfGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01X2pp6rwqxAQEf8uxyT83QT",
      "input": {
        "note": "The cap is now between the left jaws at table level, a little left of centre. Closing the gripper to grab it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01X2pp6rwqxAQEf8uxyT83QT",
      "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]: [-0.2913, 1.866, 0.6796, 0.4782, 0.2153, 0.1596, 0.0474, 0.4847, 1.7058, 0.7643, 0.2836, -0.1619, -0.1249, 0.046]\nstate[eef_state]: left_x=0.4008 left_y=-0.1558 left_z=0.0023 left_yaw=-0.5626 left_pitch=-0.119 left_roll=-0.0182 left_gripper=0.0474 right_x=0.3759 right_y=0.2342 right_z=0.0616 right_yaw=0.6773 right_pitch=-0.0908 right_roll=-0.0032 right_gripper=0.046\nstate[joint_eff]: [-0.2256, -9.1009, 5.1897, 1.199, 0.1392, 0.0171, 1.116, -0.3214, -7.5419, 5.7778, 1.6337, -0.1148, -0.0806, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:493406a56db46bbcbc9f7417f1b98ed45745599415792fe1d9fcc1c0c33d7fc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85f8b3fb972b6c25cb675664aea625815e87d0f123311602640da9e6d43cb281",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:28a476c0b58bc42c96267f5ccd2af08f206e545000d550e252650e799649c337",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 5.674 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4049, 1.5143, 0.8726, -0.0372, 0.1177, 0.0727, 0.9998, 0.4847, 1.7058, 0.765, 0.2913, -0.1616, -0.1249, 0.046]\nstate[eef_state]: left_x=0.387 left_y=-0.1846 left_z=0.123 left_yaw=-0.5464 left_pitch=-0.1037 left_roll=-0.0187 left_gripper=0.9998 right_x=0.3772 right_y=0.2348 right_z=0.0633 right_yaw=0.6768 right_pitch=-0.0826 right_roll=-0.005 right_gripper=0.046\nstate[joint_eff]: [-0.335, -7.2274, 9.6615, 2.0391, 0.315, 0.188, -0.0171, -0.2393, -7.2274, 6.0513, 1.8144, -0.0513, -0.0415, 1.033]",
      "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]: [-0.2947, 1.8523, 0.6853, 0.4347, 0.2173, 0.1616, 0.9997, 0.4847, 1.7058, 0.7643, 0.2852, -0.1619, -0.1249, 0.046]\nstate[eef_state]: left_x=0.3969 left_y=-0.1565 left_z=0.0019 left_yaw=-0.5695 left_pitch=-0.1418 left_roll=-0.0245 left_gripper=0.9997 right_x=0.3761 right_y=0.2343 right_z=0.0619 right_yaw=0.6773 right_pitch=-0.0893 right_roll=-0.0035 right_gripper=0.046\nstate[joint_eff]: [0.212, -6.5162, 3.9863, 1.0183, 0.1978, 0.0952, -0.0171, -0.2803, -7.7333, 5.8598, 1.6825, -0.0904, -0.0562, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.2913, 1.866, 0.6796, 0.4782, 0.2153, 0.1596, 0.0474, 0.4847, 1.7058, 0.7643, 0.2836, -0.1619, -0.1249, 0.046]\nstate[eef_state]: left_x=0.4008 left_y=-0.1558 left_z=0.0023 left_yaw=-0.5626 left_pitch=-0.119 left_roll=-0.0182 left_gripper=0.0474 right_x=0.3759 right_y=0.2342 right_z=0.0616 right_yaw=0.6773 right_pitch=-0.0908 right_roll=-0.0032 right_gripper=0.046\nstate[joint_eff]: [-0.2256, -9.1009, 5.1897, 1.199, 0.1392, 0.0171, 1.116, -0.3214, -7.5419, 5.7778, 1.6337, -0.1148, -0.0806, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:493406a56db46bbcbc9f7417f1b98ed45745599415792fe1d9fcc1c0c33d7fc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85f8b3fb972b6c25cb675664aea625815e87d0f123311602640da9e6d43cb281",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28a476c0b58bc42c96267f5ccd2af08f206e545000d550e252650e799649c337",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MkCeVhQ3uHa9vx47YA3tQt",
      "input": {
        "note": "The left gripper closed on the cap (reading 0.047, so something is in the jaws). Lifting it to confirm the cap comes with it.",
        "targets": {
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01MkCeVhQ3uHa9vx47YA3tQt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2913, 1.5768, 0.8486, -0.004, 0.2142, 0.1581, 0.0528, 0.4847, 1.7084, 0.7605, 0.276, -0.1619, -0.1249, 0.046]\nstate[eef_state]: left_x=0.3973 left_y=-0.1546 left_z=0.0956 left_yaw=-0.5617 left_pitch=-0.1424 left_roll=-0.0252 left_gripper=0.0528 right_x=0.3737 right_y=0.233 right_z=0.0575 right_yaw=0.6776 right_pitch=-0.1047 right_roll=-0.0005 right_gripper=0.046\nstate[joint_eff]: [-0.1573, -9.0462, 9.5111, 1.6874, 0.0366, -0.0171, 1.0281, -0.335, -7.7333, 6.2291, 1.707, -0.1294, -0.0562, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92a01bf4fb7a89879cda45bfb4f1b021c0f6ee2686a43e245e2170c6b76654a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c8a98bd57bf209918d88d25a8cdb4b964ec274d841246c3cabec716aa569ec7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:966ef7ed0bc8fe75bc9d83f56ee6b1d849c1c34383441b7c6dfa9fede7b313fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 8.157 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2947, 1.8523, 0.6853, 0.4347, 0.2173, 0.1616, 0.9997, 0.4847, 1.7058, 0.7643, 0.2852, -0.1619, -0.1249, 0.046]\nstate[eef_state]: left_x=0.3969 left_y=-0.1565 left_z=0.0019 left_yaw=-0.5695 left_pitch=-0.1418 left_roll=-0.0245 left_gripper=0.9997 right_x=0.3761 right_y=0.2343 right_z=0.0619 right_yaw=0.6773 right_pitch=-0.0893 right_roll=-0.0035 right_gripper=0.046\nstate[joint_eff]: [0.212, -6.5162, 3.9863, 1.0183, 0.1978, 0.0952, -0.0171, -0.2803, -7.7333, 5.8598, 1.6825, -0.0904, -0.0562, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.2913, 1.866, 0.6796, 0.4782, 0.2153, 0.1596, 0.0474, 0.4847, 1.7058, 0.7643, 0.2836, -0.1619, -0.1249, 0.046]\nstate[eef_state]: left_x=0.4008 left_y=-0.1558 left_z=0.0023 left_yaw=-0.5626 left_pitch=-0.119 left_roll=-0.0182 left_gripper=0.0474 right_x=0.3759 right_y=0.2342 right_z=0.0616 right_yaw=0.6773 right_pitch=-0.0908 right_roll=-0.0032 right_gripper=0.046\nstate[joint_eff]: [-0.2256, -9.1009, 5.1897, 1.199, 0.1392, 0.0171, 1.116, -0.3214, -7.5419, 5.7778, 1.6337, -0.1148, -0.0806, 1.0281]\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 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]: [-0.2913, 1.5768, 0.8486, -0.004, 0.2142, 0.1581, 0.0528, 0.4847, 1.7084, 0.7605, 0.276, -0.1619, -0.1249, 0.046]\nstate[eef_state]: left_x=0.3973 left_y=-0.1546 left_z=0.0956 left_yaw=-0.5617 left_pitch=-0.1424 left_roll=-0.0252 left_gripper=0.0528 right_x=0.3737 right_y=0.233 right_z=0.0575 right_yaw=0.6776 right_pitch=-0.1047 right_roll=-0.0005 right_gripper=0.046\nstate[joint_eff]: [-0.1573, -9.0462, 9.5111, 1.6874, 0.0366, -0.0171, 1.0281, -0.335, -7.7333, 6.2291, 1.707, -0.1294, -0.0562, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92a01bf4fb7a89879cda45bfb4f1b021c0f6ee2686a43e245e2170c6b76654a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c8a98bd57bf209918d88d25a8cdb4b964ec274d841246c3cabec716aa569ec7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:966ef7ed0bc8fe75bc9d83f56ee6b1d849c1c34383441b7c6dfa9fede7b313fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShAoKEAgSGAI4AUIIdGhpbmtpbmcSDAnp2c9B4SujolNr9RoMytvn4/F6C2dXqxaoIjCMdwp85XS6E7zd4xanwAd0PxdQQd+J4SlRlwMxxfvGjBp7bqZW+3GJTiwLmQNZ8RoqoQkRL/BmQl8nM7+d2HvmHEPhDAsMtovYITJBNuzzP0sJ/481AQQ7iVkCO8RSXoFNm6UYnhKNd8hqi2BXNBMNBOvA044hR2Nv7LHd+gOnkGtTLUc3eLHjvFUM/+OYJmOrr+s5cgm0MOTAWrXU4xbJleWfquaKZ0QMgMzaiDNSkUXuYnK/7rn9Kug67L+pfBRiyPvMpIf6kWAqd5c0IpJbWJ5kGKtLmOK0cRts7FBfDikRq2mf5etioYeeqIn8xoh5pgJN5JBqUU0PUOE1ek4SSxfibDRS0RnEuwzxIbnWNDMfzg+e8ZtzyX8CiSSU9nuxUnqH1FPi5zkPr8S/HjumI0rsn1dDV3nFnaPPOpmgXLTgQx+itHcfeTCKZbvz7M9J2TJ6+p8DbDBRuyG+KJMwjix/dbFoSGbDipvrGRmHoGJyz2xCfPcCDw5bf3WncXW4LVQL8fickI3FDIB8t4fS6LjZOjvw/U3MeKa4eIg58mVaNiSwx32z6RFX8cdPVnZJb82diDEUmFl2DbL3C4ywvPeVYE7QdCzz2eyoAe2LzrMjp0e72m/eKTa32y798eflHlzIRCUYOC7YGmWlbCQ/L/AD0Ut/hjTC5914v1p+a1re2nspIyg91rNBXmII8j5u4wm1A3gP6Q7RUIrIWwG6NEQiWkNSSBB3T2fx0Q2QpzodU83XSF4uyiJhpDQEp/5yXAQSuT0zWvQDGMZgVfszCfWBEsuG9cH4l0sg6OzaTytZA19DmmjXfQa5QzA3xdpAiy4DskKPCWAe6TzWtb6sqMBLQK32SDq7kxfj4qKmSEWqbiM3NwASL501i3zy9VsJywpcIpap+w7qjcqOy5OdBTf9dTNVxCLsOoggdBqj10xptmPz3E3ar6mE4IO01c0U/6iEXYG7rM0wsxDE61iCs3TgRMGPR4TK198vM4pHRK75PbTgWnpHp5o9NLmfNqt0khPuQCPRIlsvsZWklJuLVWcm2orne/kR46GbV9V1JxE+a/gM9cPzUm0AQvaVqMxCsSrQ6XR/VPTMGkLeE5T4iX0lDCMYKLG9ViC/6IFEENfGOIXR70/L1mZw88SP8mBGYBzn4pAMBToA5PKT8zujPkdIAkpiYWLF5Um+OVFsMq+4M+YG4xqfqezroIRYrzQAVwGxYBf+kCMmSIwCXkfYjbaN4tv+WZCl/KlAkzCWCZtcyrVx3+qVt16LRsibRF2yhFUnjOZ9PlAHdIxkMKQUrT/R5kLNlOawLyTTKYlVfnzdYxNC8W/+/LmfwzonwpFVSfHL405zJO7h8r9l9jGA144Mwqq/9PPrWx20DYnHnIY6mLFNJiA2jJA4jc0KWQBpaV9aIvxkOUynYV8X4CfOnZ0FUqiCm8NPzotDk0NQbtZ/95LN+ZfdaiF40/cwYX+qugx6bu0RXy5Yoi5Pz3OcFV7aiHXvQc1alU3P+RMLlvJC9gkpKpixx/FpuXwqZCetjuEtm97S9dTQ7F9P6VOWNn9PhXBuFbyNzNwdoVleGb4qKHk3BzEJhHNKESlIEuDwqFce6O1hTSlTL+aKwSVn8p6FvC8g7/WCR48pCuPWRjtyLXYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MUZZEyXR1XURcoipGEwZPu",
      "input": {
        "note": "Both the pen (right arm) and the cap (left arm) are held and the table is clear. I'm lining the pen up to point straight forward (+x) on the line where the two will meet.",
        "targets": {
          "right_x": 0.28,
          "right_y": 0.39,
          "right_yaw": 0.0,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01MUZZEyXR1XURcoipGEwZPu",
      "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]: [-0.2913, 1.5753, 0.8505, -0.0185, 0.2142, 0.1581, 0.0579, 1.1988, 1.9873, 1.5932, -0.6388, 0.7494, 0.873, 0.046]\nstate[eef_state]: left_x=0.3956 left_y=-0.154 left_z=0.0944 left_yaw=-0.5621 left_pitch=-0.1531 left_roll=-0.0281 left_gripper=0.0579 right_x=0.2826 right_y=0.4031 right_z=0.1437 right_yaw=0.1083 right_pitch=-0.1232 right_roll=0.0141 right_gripper=0.046\nstate[joint_eff]: [-0.294, -6.9538, 6.3795, 1.6972, 0.0366, -0.0659, 1.0232, 0.335, -10.7692, 7.3504, 0.7204, 0.6764, 0.2076, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0488fc6676c16f0c7c4a94d6974ef7e2e94ff7d4320ec807d923acafd36ef065",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c87eaf77dc272a67c8321fa27646c9147569a2613faeb6ac80f4e96d8176d35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e6db57f0620dbbc71ae6d86eec12b55952a0c173bef1550aebd5999aa87a9fd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 10 attempt 0 · /messages · status 200 · 6.735 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2913, 1.866, 0.6796, 0.4782, 0.2153, 0.1596, 0.0474, 0.4847, 1.7058, 0.7643, 0.2836, -0.1619, -0.1249, 0.046]\nstate[eef_state]: left_x=0.4008 left_y=-0.1558 left_z=0.0023 left_yaw=-0.5626 left_pitch=-0.119 left_roll=-0.0182 left_gripper=0.0474 right_x=0.3759 right_y=0.2342 right_z=0.0616 right_yaw=0.6773 right_pitch=-0.0908 right_roll=-0.0032 right_gripper=0.046\nstate[joint_eff]: [-0.2256, -9.1009, 5.1897, 1.199, 0.1392, 0.0171, 1.116, -0.3214, -7.5419, 5.7778, 1.6337, -0.1148, -0.0806, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.2913, 1.5768, 0.8486, -0.004, 0.2142, 0.1581, 0.0528, 0.4847, 1.7084, 0.7605, 0.276, -0.1619, -0.1249, 0.046]\nstate[eef_state]: left_x=0.3973 left_y=-0.1546 left_z=0.0956 left_yaw=-0.5617 left_pitch=-0.1424 left_roll=-0.0252 left_gripper=0.0528 right_x=0.3737 right_y=0.233 right_z=0.0575 right_yaw=0.6776 right_pitch=-0.1047 right_roll=-0.0005 right_gripper=0.046\nstate[joint_eff]: [-0.1573, -9.0462, 9.5111, 1.6874, 0.0366, -0.0171, 1.0281, -0.335, -7.7333, 6.2291, 1.707, -0.1294, -0.0562, 1.033]",
      "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]: [-0.2913, 1.5753, 0.8505, -0.0185, 0.2142, 0.1581, 0.0579, 1.1988, 1.9873, 1.5932, -0.6388, 0.7494, 0.873, 0.046]\nstate[eef_state]: left_x=0.3956 left_y=-0.154 left_z=0.0944 left_yaw=-0.5621 left_pitch=-0.1531 left_roll=-0.0281 left_gripper=0.0579 right_x=0.2826 right_y=0.4031 right_z=0.1437 right_yaw=0.1083 right_pitch=-0.1232 right_roll=0.0141 right_gripper=0.046\nstate[joint_eff]: [-0.294, -6.9538, 6.3795, 1.6972, 0.0366, -0.0659, 1.0232, 0.335, -10.7692, 7.3504, 0.7204, 0.6764, 0.2076, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0488fc6676c16f0c7c4a94d6974ef7e2e94ff7d4320ec807d923acafd36ef065",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c87eaf77dc272a67c8321fa27646c9147569a2613faeb6ac80f4e96d8176d35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6db57f0620dbbc71ae6d86eec12b55952a0c173bef1550aebd5999aa87a9fd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015rLL1WqtRiHXrdkvRJ9FPF",
      "input": {
        "note": "The pen now points forward, held by the right arm just left of the table centre. I'm bringing the cap high and in front of the pen on the same line, turned to yaw 0, and staying above the pen to avoid hitting it.",
        "targets": {
          "left_x": 0.47,
          "left_y": -0.25,
          "left_yaw": 0.0,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_015rLL1WqtRiHXrdkvRJ9FPF",
      "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]: [-0.6407, 1.9415, 1.7752, -0.5999, -0.3676, -0.4068, 0.0579, 1.1919, 1.972, 1.5723, -0.6449, 0.7418, 0.878, 0.0499]\nstate[eef_state]: left_x=0.4702 left_y=-0.267 left_z=0.2139 left_yaw=-0.1123 left_pitch=-0.1351 left_roll=-0.0585 left_gripper=0.0579 right_x=0.2824 right_y=0.3964 right_z=0.1419 right_yaw=0.1017 right_pitch=-0.1346 right_roll=0.0105 right_gripper=0.0499\nstate[joint_eff]: [0.1436, -11.6718, 7.5829, 0.906, -0.3883, 0.0024, 1.0281, 0.1299, -10.4957, 6.7761, 1.1941, 0.3834, -0.0171, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d7bc9f5d32fab14a251df8828b1d3a5a9472e52180a71d32645f73904202600",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88cad843cfe17a4091be1e8ffee0aea0b6971125ae4b648c8998a3a0677599f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:674dfda6bae62f518912c2e1430e788b7889a9ba2f0f8e78611a94784a6a3486",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /messages · status 200 · 9.125 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2913, 1.5768, 0.8486, -0.004, 0.2142, 0.1581, 0.0528, 0.4847, 1.7084, 0.7605, 0.276, -0.1619, -0.1249, 0.046]\nstate[eef_state]: left_x=0.3973 left_y=-0.1546 left_z=0.0956 left_yaw=-0.5617 left_pitch=-0.1424 left_roll=-0.0252 left_gripper=0.0528 right_x=0.3737 right_y=0.233 right_z=0.0575 right_yaw=0.6776 right_pitch=-0.1047 right_roll=-0.0005 right_gripper=0.046\nstate[joint_eff]: [-0.1573, -9.0462, 9.5111, 1.6874, 0.0366, -0.0171, 1.0281, -0.335, -7.7333, 6.2291, 1.707, -0.1294, -0.0562, 1.033]",
      "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]: [-0.2913, 1.5753, 0.8505, -0.0185, 0.2142, 0.1581, 0.0579, 1.1988, 1.9873, 1.5932, -0.6388, 0.7494, 0.873, 0.046]\nstate[eef_state]: left_x=0.3956 left_y=-0.154 left_z=0.0944 left_yaw=-0.5621 left_pitch=-0.1531 left_roll=-0.0281 left_gripper=0.0579 right_x=0.2826 right_y=0.4031 right_z=0.1437 right_yaw=0.1083 right_pitch=-0.1232 right_roll=0.0141 right_gripper=0.046\nstate[joint_eff]: [-0.294, -6.9538, 6.3795, 1.6972, 0.0366, -0.0659, 1.0232, 0.335, -10.7692, 7.3504, 0.7204, 0.6764, 0.2076, 1.0281]",
      "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]: [-0.6407, 1.9415, 1.7752, -0.5999, -0.3676, -0.4068, 0.0579, 1.1919, 1.972, 1.5723, -0.6449, 0.7418, 0.878, 0.0499]\nstate[eef_state]: left_x=0.4702 left_y=-0.267 left_z=0.2139 left_yaw=-0.1123 left_pitch=-0.1351 left_roll=-0.0585 left_gripper=0.0579 right_x=0.2824 right_y=0.3964 right_z=0.1419 right_yaw=0.1017 right_pitch=-0.1346 right_roll=0.0105 right_gripper=0.0499\nstate[joint_eff]: [0.1436, -11.6718, 7.5829, 0.906, -0.3883, 0.0024, 1.0281, 0.1299, -10.4957, 6.7761, 1.1941, 0.3834, -0.0171, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d7bc9f5d32fab14a251df8828b1d3a5a9472e52180a71d32645f73904202600",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88cad843cfe17a4091be1e8ffee0aea0b6971125ae4b648c8998a3a0677599f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:674dfda6bae62f518912c2e1430e788b7889a9ba2f0f8e78611a94784a6a3486",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQStwsKEAgSGAI4AUIIdGhpbmtpbmcSDATkhmrwU6rw5b2FwRoMl1vRXEZ2wiS338J+IjCwmsBm2BuV8HYnpPSgaseRzu70FAWtwKpMh7hSskA0763+zzLh6T4+EubIDxAtfjYq1AojJVCsejcK4ik4AEn9AlQYWRPEeHjswGuydowkngCJWczJkCz2W8zDhS122uPjtWjERnWlmqv3itLtLLZzwCDaXFzJ/LkthfX8QGd2c2zurtb9Y1kJ17+e1PwQ+O5y3HIzSIagOWeys5oDpWLB8HS1ubmnzyYI9lGZg/dT6AdwH62/ghbNoew+UBLABP+DYbKk+roxqHiI4spyqYW2Yk3mmGDrtukM3WcPl8BgCLD02RL6SWIHl9eSAbcFisx/r34pwIDS2K4Yq8E2/OMXET3FJFE+kNZDNcBiJ3GeuXFMYxC3SqvpmWvlPPYI6hwbKfCw8Y9MaXNII5e4u6vv+w0awp6rECRCy7medBV9yMk01M5SUBpVWKFMx4ZVp8m9LrYo0vWWxKNDDKjp3g+dSKTJb1lW07tKFSDb53ZAwVl133U+zEXcToFzDrMBBhf5/oo4T4Qc7kWab1DvKUf+iWTpEltEi9eJpq3+Cv1poDjld+ctzqCJVvT6q7ob6Q2ld483tNRPy4RWqI3PAfSyHv5kswfo4KoZQUGOzuRzQRK1//wg9u+1o9Q6ocaWwc9tYtCtggWfn1idjWAYU4Oq8qjJgZaFdRtLNcvCVhjN9NXjwnErZNIHuLJ1IOcmOTVzBPsYt+PWi/8BkrKVUl7KAzdBK/Qs1U15dSC9EOe5i3iS9SswkdYewdeCc8ZLQgMTkI18smSpxv0czKNNumgxFlz4VGTfckdJDxoG7g+fVduQVUJscl/B97DMm59vLNhzYaCFxd2rwr+w5qw8QQ6l0UyezZXB/zcD46g5e4bv8jdezgavH2fplOCpQa6IW5y4UxwOD6OE0b8sx3pHHzMtodv1xTpNNz9W8M3fNuz9oPdhM7XTvybhO/wu+cHMi5btmTExTnrNGjPkzAkWSnAVp87QYcfBVTbQx8nIQs0AjunpXGB/Q5pvqb7eHhIqi8WCkHJbf4KN8xkZzIU1fuUnNj7vTL3XFJ4XSTbLu1kE/I7JNb04hji2eoQQql5Ut9vP7uGxYBJ29Oxy1ImPCGJE6IV9Vc//RakabS/S//+I1ABWxh+iteCK7ZXeY16uOP8TM3GeRn1oQUF8KyKwk6PqgUiDdjAoVNk2onBfdlXsUkUeNSlBXR3piS+pSv7nP0wF9CKHkX/idb8tv8FKkdq1lKI37ZqvHGJBIDDMD5Zo6o9/fzjYnY6sGyP5bFXov65agvpb2Ye/WusEyVBmpQC8If7i1CpqOmH/HILnVgiYio0nFjGdNrNkigYioToYpb7fTPAUMBNhWZEf9a/HCG48JVRfgIesJNgAwSfoe2V9trjrkEK6h8BHPKSfm4C1c1EsoON3wqfpv0Y5+6rw/Gb54dIUVP7psX/2iqVsAun9HaXuFWEHj9XL4d6Cbjwz/pvFcMhtnlC7JCPQAdOYSnA4PaHRd1y/cFZlIgoW9o7AFm/c7SGhGfPdZFsrom+hpOJ+CA7AqHSOJTnkYAg6dMu98dFvDdSk3hvXfSgv7N8Uqh7xXDGwK72/t1SBT0OsQRqa9cBm9q8NZ5SswkSgIOPbJPenFYQx48MS0l3/p1TuHlZAPGafUPRrxkt10lI18LE7Vw1ni9KB0KcSINUNrkOHUaw8TZ9N/YjrnjTS457rFSNF94d8LMbcUbzAtOtNznV+do9utN5jsWkO1wJacx71P2LtsRsAF6pxlmvKMyfCWK/+U3CIb/WvaB8Cz+D0NQYZKprjJjZS7K8P7+S2MeQyRea3QOGgRwSNJC2y/K2U5eAa0+9jLNEPUdsCMyc2VP6afmqS2eccyY7AqupWrs6P+JBw9XS0jxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013iVgLzStyhsBVnatZDWKKC",
      "input": {
        "note": "The cap is now in front of and above the pen tip. Both yaws are about 0.1 rad off, so I'm correcting them and lowering the cap to the pen's height.",
        "targets": {
          "left_yaw": 0.1,
          "left_z": 0.155,
          "right_yaw": -0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_013iVgLzStyhsBVnatZDWKKC",
      "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]: [-0.6891, 2.0247, 1.6924, -0.569, -0.4973, -0.5659, 0.0622, 1.2072, 2.1098, 1.7767, -0.8673, 0.786, 1.0641, 0.0508]\nstate[eef_state]: left_x=0.4624 left_y=-0.2672 left_z=0.1495 left_yaw=0.0398 left_pitch=-0.1908 left_roll=-0.0192 left_gripper=0.0622 right_x=0.2832 right_y=0.4028 right_z=0.1336 right_yaw=-0.0258 right_pitch=-0.1621 right_roll=-0.0067 right_gripper=0.0508\nstate[joint_eff]: [-0.2667, -11.6991, 7.2821, 1.6679, -0.5299, -0.0952, 1.033, 0.8274, -11.6718, 8.3624, 0.8181, 0.7106, 0.1978, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c202c44c0ed51c7423996d9bf385a24e6cb400feacffe428a3ee40b679a5b29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a797869a89ae5a7f164ffed29be596f365fdf5a68183ec9788ce86f1650ae08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0ae27397f82ab572fac3401be41d0989323c39c5c0a2d77b646c8236ff2b5d16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /messages · status 200 · 6.487 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2913, 1.5753, 0.8505, -0.0185, 0.2142, 0.1581, 0.0579, 1.1988, 1.9873, 1.5932, -0.6388, 0.7494, 0.873, 0.046]\nstate[eef_state]: left_x=0.3956 left_y=-0.154 left_z=0.0944 left_yaw=-0.5621 left_pitch=-0.1531 left_roll=-0.0281 left_gripper=0.0579 right_x=0.2826 right_y=0.4031 right_z=0.1437 right_yaw=0.1083 right_pitch=-0.1232 right_roll=0.0141 right_gripper=0.046\nstate[joint_eff]: [-0.294, -6.9538, 6.3795, 1.6972, 0.0366, -0.0659, 1.0232, 0.335, -10.7692, 7.3504, 0.7204, 0.6764, 0.2076, 1.0281]",
      "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]: [-0.6407, 1.9415, 1.7752, -0.5999, -0.3676, -0.4068, 0.0579, 1.1919, 1.972, 1.5723, -0.6449, 0.7418, 0.878, 0.0499]\nstate[eef_state]: left_x=0.4702 left_y=-0.267 left_z=0.2139 left_yaw=-0.1123 left_pitch=-0.1351 left_roll=-0.0585 left_gripper=0.0579 right_x=0.2824 right_y=0.3964 right_z=0.1419 right_yaw=0.1017 right_pitch=-0.1346 right_roll=0.0105 right_gripper=0.0499\nstate[joint_eff]: [0.1436, -11.6718, 7.5829, 0.906, -0.3883, 0.0024, 1.0281, 0.1299, -10.4957, 6.7761, 1.1941, 0.3834, -0.0171, 1.033]",
      "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]: [-0.6891, 2.0247, 1.6924, -0.569, -0.4973, -0.5659, 0.0622, 1.2072, 2.1098, 1.7767, -0.8673, 0.786, 1.0641, 0.0508]\nstate[eef_state]: left_x=0.4624 left_y=-0.2672 left_z=0.1495 left_yaw=0.0398 left_pitch=-0.1908 left_roll=-0.0192 left_gripper=0.0622 right_x=0.2832 right_y=0.4028 right_z=0.1336 right_yaw=-0.0258 right_pitch=-0.1621 right_roll=-0.0067 right_gripper=0.0508\nstate[joint_eff]: [-0.2667, -11.6991, 7.2821, 1.6679, -0.5299, -0.0952, 1.033, 0.8274, -11.6718, 8.3624, 0.8181, 0.7106, 0.1978, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c202c44c0ed51c7423996d9bf385a24e6cb400feacffe428a3ee40b679a5b29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a797869a89ae5a7f164ffed29be596f365fdf5a68183ec9788ce86f1650ae08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ae27397f82ab572fac3401be41d0989323c39c5c0a2d77b646c8236ff2b5d16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AA8FgFpiUUYY3BAeLrGxjj",
      "input": {
        "note": "Both tools are now close to yaw 0 and the pen points forward toward the cap. The cap sits about 1.5 cm higher than the pen, so I'm lowering it to match and easing it back toward the pen tip.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.25,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01AA8FgFpiUUYY3BAeLrGxjj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6983, 2.0487, 1.6825, -0.5339, -0.5438, -0.6212, 0.0622, 1.2064, 2.122, 1.7748, -0.9047, 0.7979, 1.1137, 0.0541]\nstate[eef_state]: left_x=0.4664 left_y=-0.2675 left_z=0.1415 left_yaw=0.0944 left_pitch=-0.1654 left_roll=-0.0344 left_gripper=0.0622 right_x=0.2822 right_y=0.395 right_z=0.1265 right_yaw=-0.0658 right_pitch=-0.1678 right_roll=-0.0221 right_gripper=0.0541\nstate[joint_eff]: [-0.0752, -12.7385, 7.2547, 1.4921, -0.3736, -0.0464, 1.0379, -0.1983, -13.4906, 5.7504, 0.9109, 0.4127, -0.1148, 0.9353]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60c2000054409a7660daa9d7caa632c9ad61eb249765abe6250fb29ac399f0ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34fc712281454961f6f478af25f929eed2b57be0f80fcd5fae494289d072739b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b3a0b739b224917e2d8e2ceb1c82d2583ba48ed21e02f4f2ab0dfd88338f01cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 5.209 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6407, 1.9415, 1.7752, -0.5999, -0.3676, -0.4068, 0.0579, 1.1919, 1.972, 1.5723, -0.6449, 0.7418, 0.878, 0.0499]\nstate[eef_state]: left_x=0.4702 left_y=-0.267 left_z=0.2139 left_yaw=-0.1123 left_pitch=-0.1351 left_roll=-0.0585 left_gripper=0.0579 right_x=0.2824 right_y=0.3964 right_z=0.1419 right_yaw=0.1017 right_pitch=-0.1346 right_roll=0.0105 right_gripper=0.0499\nstate[joint_eff]: [0.1436, -11.6718, 7.5829, 0.906, -0.3883, 0.0024, 1.0281, 0.1299, -10.4957, 6.7761, 1.1941, 0.3834, -0.0171, 1.033]",
      "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]: [-0.6891, 2.0247, 1.6924, -0.569, -0.4973, -0.5659, 0.0622, 1.2072, 2.1098, 1.7767, -0.8673, 0.786, 1.0641, 0.0508]\nstate[eef_state]: left_x=0.4624 left_y=-0.2672 left_z=0.1495 left_yaw=0.0398 left_pitch=-0.1908 left_roll=-0.0192 left_gripper=0.0622 right_x=0.2832 right_y=0.4028 right_z=0.1336 right_yaw=-0.0258 right_pitch=-0.1621 right_roll=-0.0067 right_gripper=0.0508\nstate[joint_eff]: [-0.2667, -11.6991, 7.2821, 1.6679, -0.5299, -0.0952, 1.033, 0.8274, -11.6718, 8.3624, 0.8181, 0.7106, 0.1978, 1.0379]",
      "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]: [-0.6983, 2.0487, 1.6825, -0.5339, -0.5438, -0.6212, 0.0622, 1.2064, 2.122, 1.7748, -0.9047, 0.7979, 1.1137, 0.0541]\nstate[eef_state]: left_x=0.4664 left_y=-0.2675 left_z=0.1415 left_yaw=0.0944 left_pitch=-0.1654 left_roll=-0.0344 left_gripper=0.0622 right_x=0.2822 right_y=0.395 right_z=0.1265 right_yaw=-0.0658 right_pitch=-0.1678 right_roll=-0.0221 right_gripper=0.0541\nstate[joint_eff]: [-0.0752, -12.7385, 7.2547, 1.4921, -0.3736, -0.0464, 1.0379, -0.1983, -13.4906, 5.7504, 0.9109, 0.4127, -0.1148, 0.9353]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60c2000054409a7660daa9d7caa632c9ad61eb249765abe6250fb29ac399f0ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34fc712281454961f6f478af25f929eed2b57be0f80fcd5fae494289d072739b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3a0b739b224917e2d8e2ceb1c82d2583ba48ed21e02f4f2ab0dfd88338f01cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSyAsKEAgSGAI4AUIIdGhpbmtpbmcSDMCpl9KFaUNancW4tRoMg3wk8jg+UeEm2IwgIjBFQxHbhH7uQDLmuLtZrq2mpIfePCeoo+J04RRRCK95qkl5yhmzboX8Y7rLJLXrOA0q5QpXRvJoQmKR8txsDoE9ao9hv69RfwMqCwH1yE5CVfYqj2b3a36fVydUZc/1P98CpaaZuvE9Ks9r14iGFb7o6N542OJRuNpPHHaoQSDhxBTVt9/rd9IL8nhRjv/qJqkVfSDKc0efdMHEUeYnOQ9uzhxdU8mhG1DAOWZTnb0bYaWfu04yH5wHGG8c59K6YfHz9tCupGF58QfcvTViIk7rvmk2JowVBpl/VK+WwiXzLaFd9MkK5Uv4HYzIW3uEKm4Z4ILrNTDVtzqCO7J3GKYcDgYd7G1Ea4Rnx3XPl0RtvB7R8l7u1a7sNFr2SZUZJYrxQIC8ljrBJ7HUszEWhlbygAmf0ZOl1ED8xUXSw+KJp97y3i/MesqMrZXeX5Dii/tqnUqRtiYtae4ong+Iqimtr5rYihH+MErQza/wdCOOf4p+7pYurSBpzl83fBEsmb/OfVv4TwloTLpPKq3dvA2wMboZLr5E4W7O6VBSujUjdeAQNplYfq6y5eYOjqah5M6C6myZyGWOqvlft7lQXmeWQVtp5AhD6YYWb/vMP25OcLuOIN9AZZF6uQrya1GVnI9z2Q757Z+OHBYyeHqEejrL3RLKH6BkfBZ/akIxiLNBglPyx7HXCLvrQIgGSz9vh4xTWQ0BSLe9ccwmgd/Jaxqz7c3eHTueeWJhuf6rAwN0c+I5/I90rjW5Io0uAcAfs2mXhKLrNjxzbzknlF0Hw5yOICvgbmM2SeYTCrbS6aAn2IMhB9U/IPwqup8uUi23Id3NMEXgf33j1DFEnNpCS9z8gTAkRXpOpuWvNus70bgDvNSDvLnSn+G5/+UIYmmCtSwyV7Y+r427UpzZPx+M4Grc5REsqzfzZBgCE21JK37Uj59pis8xQ8RH5a5ZbrmqTF/OQk4FPBUzttOE9asgCuVCjYQ12igaRDiiFNvBow9b+zVMLcb0vaXMLEERWfPBE8IlRTXwCHddUmb4cgBy9F5rSDS0L5s1cEn50/6e6jxuc3WKabMpA3IfUiWKF0Zlpo3gcVZnUWLL2UL12CZ4WcWS5gxcXglGPeQcv01uvGjYyNN0YJvxxROdjA3Ibyj7GKzynwTfRDp9byE6vJsAT1pbSg91sHU8NjQfxRGLAqBCVkwu5lbbcCMswlruotG5IvSrzKQXXfDPN6EckCcZ1bkuENDcLZ1zQ1WBjd6SAq/AQXEazJrral/9pKDA7bnArpMD6t4YIbp1FMSHrbhBoiaovGL3bgOTjhXmyhXaqfjUbxoF+nOVlLm9QvT1w86JpLqVqzcNBSIHcckpbfcfyLea9J+hCh4ZYyF/IGD6fktJTd4PumXRgurajL7VhUo+f0s/dC64bQGK7T99Wh0xeCNE5mNyA5klV1BjeGZx1fJGfWfsRZZs7RTVK0K67jfHfOiMEmxfjR1j0/1puGKFfjbqglgOVVcvPNrjRjBk/ZH+Wy7e22TO1zHidp6x1hg3aWSOtstlJtLlUwW3yKqsnNa5Gv+lbSKMck9lgpgRSEXuNUZ5IZCFHxH//se4MpTqOqFyg62MIW6cPQ92w0kxuvX2JDV8pvBViXygU5txX7MmYIzdWLDF3OLBe8j7xNB6JTJA5xDqToh22tI2p4H+9hYvuORwH6EFsJJg6D7yddsCiLRAmWLd3Vj8Tc5zEEYdeGJ7WiS5EQ8OSDb3JyFg1CqKV1yd6Kfx9pp7srKv0bbX9DNvhl6J74QgwT4UMhz8vhX37a6w95vCstGq1zEGtIXyMgG+KQKYBidCZLoUyhkGIm6vhOVATuUkwp+9Vx79/k9cKBrz5ezmosd+1cOccNgcGvoECAtAS4Sx7lMCg3o5SKkRW1KYE9THGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QCdxyL3pbcgG6yG2XAn3t8",
      "input": {
        "note": "The left arm didn't move back as commanded (still at x≈0.466). I'm trying a smaller step back toward the pen to see whether it's a tracking issue or contact.",
        "targets": {
          "left_x": 0.45,
          "left_y": -0.255,
          "left_yaw": 0.08,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01QCdxyL3pbcgG6yG2XAn3t8",
      "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]: [-0.6983, 2.0487, 1.6825, -0.5339, -0.5438, -0.6212, 0.0622, 1.206, 2.122, 1.7592, -0.8845, 0.7776, 1.084, 0.0557]\nstate[eef_state]: left_x=0.4664 left_y=-0.2675 left_z=0.1415 left_yaw=0.0944 left_pitch=-0.1654 left_roll=-0.0344 left_gripper=0.0622 right_x=0.2804 right_y=0.3969 right_z=0.1204 right_yaw=-0.042 right_pitch=-0.1848 right_roll=-0.0342 right_gripper=0.0557\nstate[joint_eff]: [0.1573, -12.8479, 7.2684, 1.4676, -0.3736, -0.0464, 1.0379, -0.0479, -11.7812, 7.4051, 0.6227, 0.525, 0.0317, 0.9353]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65a78184704ef279580735622b36b8088c7501164d70317e84cb5cca62b93dde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad97a7557517474afd843a609d9176aabc5bc8a5bd5a6ca1d48872853ca3239d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e2ceb2bb4e2b12bbf6e258a9102259aeb0cef4431efef6c33e09d35ae0f60c25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 5.888 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6891, 2.0247, 1.6924, -0.569, -0.4973, -0.5659, 0.0622, 1.2072, 2.1098, 1.7767, -0.8673, 0.786, 1.0641, 0.0508]\nstate[eef_state]: left_x=0.4624 left_y=-0.2672 left_z=0.1495 left_yaw=0.0398 left_pitch=-0.1908 left_roll=-0.0192 left_gripper=0.0622 right_x=0.2832 right_y=0.4028 right_z=0.1336 right_yaw=-0.0258 right_pitch=-0.1621 right_roll=-0.0067 right_gripper=0.0508\nstate[joint_eff]: [-0.2667, -11.6991, 7.2821, 1.6679, -0.5299, -0.0952, 1.033, 0.8274, -11.6718, 8.3624, 0.8181, 0.7106, 0.1978, 1.0379]",
      "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]: [-0.6983, 2.0487, 1.6825, -0.5339, -0.5438, -0.6212, 0.0622, 1.2064, 2.122, 1.7748, -0.9047, 0.7979, 1.1137, 0.0541]\nstate[eef_state]: left_x=0.4664 left_y=-0.2675 left_z=0.1415 left_yaw=0.0944 left_pitch=-0.1654 left_roll=-0.0344 left_gripper=0.0622 right_x=0.2822 right_y=0.395 right_z=0.1265 right_yaw=-0.0658 right_pitch=-0.1678 right_roll=-0.0221 right_gripper=0.0541\nstate[joint_eff]: [-0.0752, -12.7385, 7.2547, 1.4921, -0.3736, -0.0464, 1.0379, -0.1983, -13.4906, 5.7504, 0.9109, 0.4127, -0.1148, 0.9353]",
      "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]: [-0.6983, 2.0487, 1.6825, -0.5339, -0.5438, -0.6212, 0.0622, 1.206, 2.122, 1.7592, -0.8845, 0.7776, 1.084, 0.0557]\nstate[eef_state]: left_x=0.4664 left_y=-0.2675 left_z=0.1415 left_yaw=0.0944 left_pitch=-0.1654 left_roll=-0.0344 left_gripper=0.0622 right_x=0.2804 right_y=0.3969 right_z=0.1204 right_yaw=-0.042 right_pitch=-0.1848 right_roll=-0.0342 right_gripper=0.0557\nstate[joint_eff]: [0.1573, -12.8479, 7.2684, 1.4676, -0.3736, -0.0464, 1.0379, -0.0479, -11.7812, 7.4051, 0.6227, 0.525, 0.0317, 0.9353]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65a78184704ef279580735622b36b8088c7501164d70317e84cb5cca62b93dde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad97a7557517474afd843a609d9176aabc5bc8a5bd5a6ca1d48872853ca3239d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2ceb2bb4e2b12bbf6e258a9102259aeb0cef4431efef6c33e09d35ae0f60c25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSyggKEAgSGAI4AUIIdGhpbmtpbmcSDEW3NuxQfiLCgRJGLRoMbf+giWZ/9DkuhZaXIjCaBz7FPHph2z90o2XKfuB1jbkl0mOu1Nrq1FD4HMTFuLBo4GYPIvEiHxtRZ7wKdgkq5wcACfHLbMIVIhNy668uupAP+3b70hymo+MUZfQOlmx/0tAeKE0A2cQw5k+3gqE7xnV58lnFPw/hprkTJtowjjQcOfuWaaJHwbvB3S5njnmalRo/lQNmhG+96olBtccQ72fesZJZmEkZfeWEwBv86TyBGRci+Y6+6PeRnOWLru0cpyzQnlXnVVxCgCp+lMLqplKT3TRAsOZ5H3oQy0XFaJBcBrBLVQyQcZdnBNJJ/EgoMz1xYpvRYp6uF1nIoZ36Q60p6QW8qElk9xrd9Grhdp52gUWgJNInSyptS7kRxgUfMoIMJKLksaQeM3Ds0c+gwrJD1USRixvAyGk2HFHaNwx7VvLtK90Gkms4/4d8BkQdFGEKsnxUWpFcV3sIN7pH7JTY4YYckTkeI3e69UrZ73QWZ8qBc+JkTe0wg0O09qB2sImrgswfBQCtEa1niusHKfR7CUAmKTMLJkRG4WpMucMk/ZONRQkY7ZpRfjlEJItT0QYtNDqZN1CM9iEZlmtUn+6ftWkv6PeQ14cJne739DTMcrsIzhr30r1dryDJMHQjkXgtCsFvS8/fRr7MrTKpxjVprgC7hAmBPQyl2RAg93/MrZ+Blc3/f0rihI1v6JBXvO74uSVsIbmuo+pA9/86QV5YIT5/s4+9FHAE06RR5CCjcJgVTNu0nvBj+Z1HRTg8ZWxQVW7JIFIigeds359L0tutLykwrgPl54cFH4CQxmZutrpbp4nNAFw2zf5ce8IHdWvZV520ea8Dyn+FckRF9gl+YEJyovoJN7XtQwwccgAl7eTStnPuDCc7EdysDiEzi9IVkHXNRclv5v7LK3VxAmmNOHy6jGi2SBazhrJWVsx4qVfZJZTLwaAf21UEArUEpt5DhToI3VF90kyxfg2quTkX7Ywf1Ga3UuXQp5S8aK8Ty+ckvGPdlflXULx8ffdyhB9ZrLQ0n6h16Slf0N1fyMPybPzPOqC5Pt6pjtg/iUNnMz2l9ApGGuRFSdGeMtF7uTStiJ4oXZomoFyCAesCWO7rY0tSflX+RvwbV3n0KUN+WcBiph04uxGNS8yImWkRpLJ+2Kpt69ufm3muH67q31vjB9Pj7/GdDdqoOUjfIueMAJ0xHLe8Xf35jBMqNPGZ8JN4NzJ7t7S5eFtFAz1ddFKpE5u8x2SoLjIPjVIlOCfjnUWVwcI/MYzHbmVjfDPdT4ZCjlUc+7Das+aWvkdz50BR88Ce9GsfnnqEU6Lu2r4Bwf77PgMeV4NvLdRMJw+VHZq7ULAIYJjlQaD68B4av62zFgu2uo9cmwI+/tlqRCnwR4BHdk9ngHvByvXaUTaBH23wBF6peLkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BMjKRm4f4qjFi94M3aJoc8",
      "input": {
        "note": "The left arm is holding still and ignoring small targets, maybe because the IK is stuck in an awkward wrist pose. I'm sending a clearly different target (higher, yaw 0) to see if it responds.",
        "targets": {
          "left_x": 0.46,
          "left_y": -0.24,
          "left_yaw": 0.0,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01BMjKRm4f4qjFi94M3aJoc8",
      "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]: [-0.6983, 2.0487, 1.6825, -0.5343, -0.5438, -0.6212, 0.0622, 1.206, 2.122, 1.7592, -0.8837, 0.7727, 1.0882, 0.0586]\nstate[eef_state]: left_x=0.4664 left_y=-0.2674 left_z=0.1415 left_yaw=0.0945 left_pitch=-0.1657 left_roll=-0.0341 left_gripper=0.0622 right_x=0.2799 right_y=0.3974 right_z=0.1199 right_yaw=-0.0423 right_pitch=-0.189 right_roll=-0.0288 right_gripper=0.0586\nstate[joint_eff]: [0.0068, -12.7248, 7.4462, 1.4725, -0.359, -0.0415, 1.033, -0.1983, -11.4803, 6.2154, 0.7497, 0.3834, -0.0855, 0.6081]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:690a183be49ede68f781d8d09cd7628def9751e284f6dc19cc55da36b5fae611",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bde29d19ddf77b120a41cd0821d08e5bc9e3f753eecbf6d170ef967800b3c802",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1fb4cc2d51854bfaf1732a698d8088478fa490c90fbcbc13d6c5fb6794ae373c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 4.336 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6983, 2.0487, 1.6825, -0.5339, -0.5438, -0.6212, 0.0622, 1.2064, 2.122, 1.7748, -0.9047, 0.7979, 1.1137, 0.0541]\nstate[eef_state]: left_x=0.4664 left_y=-0.2675 left_z=0.1415 left_yaw=0.0944 left_pitch=-0.1654 left_roll=-0.0344 left_gripper=0.0622 right_x=0.2822 right_y=0.395 right_z=0.1265 right_yaw=-0.0658 right_pitch=-0.1678 right_roll=-0.0221 right_gripper=0.0541\nstate[joint_eff]: [-0.0752, -12.7385, 7.2547, 1.4921, -0.3736, -0.0464, 1.0379, -0.1983, -13.4906, 5.7504, 0.9109, 0.4127, -0.1148, 0.9353]",
      "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]: [-0.6983, 2.0487, 1.6825, -0.5339, -0.5438, -0.6212, 0.0622, 1.206, 2.122, 1.7592, -0.8845, 0.7776, 1.084, 0.0557]\nstate[eef_state]: left_x=0.4664 left_y=-0.2675 left_z=0.1415 left_yaw=0.0944 left_pitch=-0.1654 left_roll=-0.0344 left_gripper=0.0622 right_x=0.2804 right_y=0.3969 right_z=0.1204 right_yaw=-0.042 right_pitch=-0.1848 right_roll=-0.0342 right_gripper=0.0557\nstate[joint_eff]: [0.1573, -12.8479, 7.2684, 1.4676, -0.3736, -0.0464, 1.0379, -0.0479, -11.7812, 7.4051, 0.6227, 0.525, 0.0317, 0.9353]",
      "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]: [-0.6983, 2.0487, 1.6825, -0.5343, -0.5438, -0.6212, 0.0622, 1.206, 2.122, 1.7592, -0.8837, 0.7727, 1.0882, 0.0586]\nstate[eef_state]: left_x=0.4664 left_y=-0.2674 left_z=0.1415 left_yaw=0.0945 left_pitch=-0.1657 left_roll=-0.0341 left_gripper=0.0622 right_x=0.2799 right_y=0.3974 right_z=0.1199 right_yaw=-0.0423 right_pitch=-0.189 right_roll=-0.0288 right_gripper=0.0586\nstate[joint_eff]: [0.0068, -12.7248, 7.4462, 1.4725, -0.359, -0.0415, 1.033, -0.1983, -11.4803, 6.2154, 0.7497, 0.3834, -0.0855, 0.6081]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:690a183be49ede68f781d8d09cd7628def9751e284f6dc19cc55da36b5fae611",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bde29d19ddf77b120a41cd0821d08e5bc9e3f753eecbf6d170ef967800b3c802",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1fb4cc2d51854bfaf1732a698d8088478fa490c90fbcbc13d6c5fb6794ae373c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSggoKEAgSGAI4AUIIdGhpbmtpbmcSDHP07hHlmSi1RZ6SHhoMPhOrFd1TMBfjM+q5IjBlk2eoSbvyjbAYUyBzru/C9XPRqneCWTnozAXiNg7hBRzk8rbi3hExgZWLdhsVh/IqnwmAX9RIVntXaZ9OBRY4q08VaLw0LkLIkdbzVvGAHp/yEAIXJLWSK9OSwnIfeqO44j0rXQqwR++hB/WUjJrxN0dbwq/mAhDCHfdvxb63fvYmlQPTHdvTHhWvF4wgPvgzmoO99dgSpX+VSLd4esWWQgcDFEXg1SZgT+H7drPsp/Mve88kOH1Yixu1RtGDvZ4pG5knWkEaUMNM1wluuBzHORxmobpnbPDtm6+6FinAHIusK9m/kaboMtGrRmsMOFTO2MUrUCKSvVuCDtGNVOXwiuuwMNfOEpKAR4737n3cWe5KdgY71LJAhGA9GsPgEZwMngr3oxrJv/bMqHhm7qWgoYJX198ZML5OcGy1zBfCASa5e6h98QHH93bX/n6oMKUSLotRy8WzvjulfqmjM/9IVYJdwSFg4oDN2gpRu0GwpcDbR6FcQ8DbRt0YObjdgffFAFfGrnnwreMg8eRdDFb/HUirJFbozt6xG+68qAdNHOKqLjykxVh7HLJiepmnk5C6IP0mgFwUfyxEx2pEhTSL+fcr/j30hrx+NXn5AQSl+qsyGPWV8iQ+x1KiV6iIV2apS5UKejhfwUeqfU/LCz9kRpaTmREVqmU79XfjWLUrcNyuuibYtnXrdX2AJtLOugdBfQ99WG7I96ylW9VHgnMhrDG9c/A3bcj9UliJ7jPjA72y+vSQkfPNG9ZYc7cH0gcxFsjLeYFPG7TUL+Coi4mDfgcgqxnc1Fjhg4R8cVbeq8lr8Oi3BxGFb0x1N3RYGHWx17Su2bBD3rPBpFWkLxjIQv4C/5AxW7vLlfU5nFVriVyF5uhxo5FkcPC4NA0W1GAo7lyqLPeR3RxDi1J8LUGRMbM6PgNzb+/F8ku+GVPW1oXP9xFFQlNHI87cOjHVG2MTjHn9yDK5U5QaIMxG9GNSskrHZZwijeIZtgEcf1a9KBL5KhRpOP70JMryfwkjHxBd7qlmoBkRys+EXRuV5fwf237o+y5zymzrsB/XDE9dst98hZhDQ3tZ0fCk8aXgc43tK8HOikrApkNWbkA/+Xt26TDwrZwGPjIOS5L/YIQOfuD2ld5AcTJjn2WTcTtXLTQle/1wbLeJ1toLtYlIH+1BDMCNZ8bejRdHHk3UWSAqCHZZW62HdnUUpQ6OLvWYkvIr4Q+fgNaInLsWlKTQTxNpwasbXCkQ1/wZyG1k8Mq1x1DiA+ucnAa7wdKPQ3karcgYXAFDM+J35JUVTVRNtEwJMdYan5CRBs/3MnbGzIJ7NLyL/Wai7Xk4Knt3DITTo2UJHlFJKQP0F+E0awdDpfFvDsbzb5dqQRCJ+36Wl1Nzv4vlRCOSa1GgI3+LwrAhyNiId9nxXk5Noerv3IMvYARWBFkA1IzJB/fq0oF6xi+v54SmfOPkpAxB0rc0B6XecV8J7yNhSvkXF6I0FO3vwyTQeDN8ub5fEMN9S2/9OFyMtgxV0qNCjSYken2PyhG2z2AzSm47WAM3go2017mOkRvmsCUlqkwAzYb3xP10mRQ1M6ncQQlPOEG6gekfi5WDD8OSfrh/4rDDnSPMYKHmNrkKCS7QwcHuh5tL/l3TP1vGrh0LGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SoEY6aqZyTSmjUUcUP8B2D",
      "input": {
        "note": "The left arm is frozen, and in the overhead view the two arms cross near the centre, so they may be touching or blocked by a proximity guard. I'm moving the right arm (with the pen) back toward its own side to separate them.",
        "targets": {
          "right_x": 0.28,
          "right_y": 0.28,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01SoEY6aqZyTSmjUUcUP8B2D",
      "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]: [-0.6983, 2.0491, 1.6825, -0.5377, -0.5434, -0.6212, 0.0622, 1.0897, 1.7119, 1.2697, -0.7486, 0.7136, 0.9478, 0.0613]\nstate[eef_state]: left_x=0.4659 left_y=-0.2671 left_z=0.1408 left_yaw=0.0947 left_pitch=-0.1686 left_roll=-0.0316 left_gripper=0.0622 right_x=0.275 right_y=0.2847 right_z=0.1338 right_yaw=-0.0474 right_pitch=-0.2218 right_roll=-0.0587 right_gripper=0.0613\nstate[joint_eff]: [-0.212, -11.535, 6.6393, 1.3602, -0.2808, -0.0415, 1.033, -0.4308, -9.9214, 6.5709, 1.1209, 0.4615, -0.1197, 0.6178]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bac03c91c5c8dbdaa375daf4810ad7d01d57b8fed80ccaca9536eaef7e5c25e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72df39d33ec973dfb1d09506342fc0e3c5b39ae79597b2776263a2e91d771dc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:66e85ccdd088a7831f7d8f17adb83aeb11614105573fb430efa16c7d9b105002",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 10.83 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6983, 2.0487, 1.6825, -0.5339, -0.5438, -0.6212, 0.0622, 1.206, 2.122, 1.7592, -0.8845, 0.7776, 1.084, 0.0557]\nstate[eef_state]: left_x=0.4664 left_y=-0.2675 left_z=0.1415 left_yaw=0.0944 left_pitch=-0.1654 left_roll=-0.0344 left_gripper=0.0622 right_x=0.2804 right_y=0.3969 right_z=0.1204 right_yaw=-0.042 right_pitch=-0.1848 right_roll=-0.0342 right_gripper=0.0557\nstate[joint_eff]: [0.1573, -12.8479, 7.2684, 1.4676, -0.3736, -0.0464, 1.0379, -0.0479, -11.7812, 7.4051, 0.6227, 0.525, 0.0317, 0.9353]",
      "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]: [-0.6983, 2.0487, 1.6825, -0.5343, -0.5438, -0.6212, 0.0622, 1.206, 2.122, 1.7592, -0.8837, 0.7727, 1.0882, 0.0586]\nstate[eef_state]: left_x=0.4664 left_y=-0.2674 left_z=0.1415 left_yaw=0.0945 left_pitch=-0.1657 left_roll=-0.0341 left_gripper=0.0622 right_x=0.2799 right_y=0.3974 right_z=0.1199 right_yaw=-0.0423 right_pitch=-0.189 right_roll=-0.0288 right_gripper=0.0586\nstate[joint_eff]: [0.0068, -12.7248, 7.4462, 1.4725, -0.359, -0.0415, 1.033, -0.1983, -11.4803, 6.2154, 0.7497, 0.3834, -0.0855, 0.6081]",
      "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]: [-0.6983, 2.0491, 1.6825, -0.5377, -0.5434, -0.6212, 0.0622, 1.0897, 1.7119, 1.2697, -0.7486, 0.7136, 0.9478, 0.0613]\nstate[eef_state]: left_x=0.4659 left_y=-0.2671 left_z=0.1408 left_yaw=0.0947 left_pitch=-0.1686 left_roll=-0.0316 left_gripper=0.0622 right_x=0.275 right_y=0.2847 right_z=0.1338 right_yaw=-0.0474 right_pitch=-0.2218 right_roll=-0.0587 right_gripper=0.0613\nstate[joint_eff]: [-0.212, -11.535, 6.6393, 1.3602, -0.2808, -0.0415, 1.033, -0.4308, -9.9214, 6.5709, 1.1209, 0.4615, -0.1197, 0.6178]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bac03c91c5c8dbdaa375daf4810ad7d01d57b8fed80ccaca9536eaef7e5c25e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72df39d33ec973dfb1d09506342fc0e3c5b39ae79597b2776263a2e91d771dc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66e85ccdd088a7831f7d8f17adb83aeb11614105573fb430efa16c7d9b105002",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjggKEAgSGAI4AUIIdGhpbmtpbmcSDOZw7zC6qkh37M1YChoMmarGMQWG0cuC78RLIjDfjaVf3T8nN40doNoeCoWXxX5D+2KcmLGHl3hUR/xoAwGkq4+GH68FWGOSaL7A37Mqqwc/XviNlDAi/SOCEJclexacduFLnGUpTV5foZmYd/F/4bFec9IWcZLZJPXtfHUPiJFpR/5e5pw3EYaOXVtjtAyBNUASWhkxeTQLrS7jbwbWFcXqU2xACpARLJcgRZ2tf6ph9XgkdZUl2DdraeFEPx0MUsTMDdlKlzDRjaqRRrBVR8aQq7aMW8wYOjuwMdzenpZZaBfmiHdEou0rHfn2YIkoph4IEbP58MmaTRMZk4nuL4n6K2K8vYpIRfiGE7Z01kMxe+HL1HHj8ALPW23aCEwDBYiBvx7gDb6ATx7K0+pUkRqnmMKtqzdyBUCgVwObS3j7zgHBR6DMhhPp73AA7vaIKnADfVedQP2myOtN8g5coVc82xSCKJZ1KKe9Z7B8P78AKU8D6rKqfF+oa34OYd1bjYXU8OxfwcSdAxt59D/81Ec1MdnFBd6CgWWY7EgHmgKuiaptTQe8mygCt98jPLXMByeNBw/CTxAGyk3+F/vnKNN2agW31P4w9v1U9y5DWG5kCXtz4vGebt70+6ohoNfyYWHIJ4Y/f4s8StYDY0oAM0OntuBfX+yxsCHq3pJ2MMPLxczUn65oqSpdeSwQsXnlYqMWvu6N2xzyl/2uSezl8/CUfvb71FwG22FjYgvpXTvBWERoYdAAtgjqW5dXtNSgdJGlRwp9uUUYoi5NyzSnVwFtO0faeQgz2j37ozFUSj7SYwMwOMpzB5j4tI2N7NrEQPoczgZBq7K6yVsFdPmC4uYpaxwMBT7N5NhRKNZvm1z+Fj42tjbgyClX+XlmhFqBb1BYOfUEC0B/pas51dtL9/IcVV2pmBISEe/2yuHQ1Na9KMwR09HYiQFlXn54mPkIjtM+Ool5c4D5OQ+9POw0Y0ZURA2jLkQKgv3YTBaMNc8mTHuzHy3kwxIt7mXRbSkyTEWzZCPOo6jab4TDobxNhcA8r6/eJ/yDy/ETJ8Sd81DE7gVKsH/2O1KdbX4NdL4LuAlx234iDz0yJk1PoZipM8cxUm8ip3oEhXbdblaumgPINo3/Ytd1yrpTxgTQEivrOAPeL1d2nFb2LJ8lUqCoXW2/iryD498WMdyjZZ1GySQ1ewHnWuWPZcs88yPdWaFK4PNjW5Ftuh6pwBbAhFfvTmFJNv3Zki6NdJR5Hl0pHTNEWP9S4Jqu4NWRTAJxHE6Qz090bHgj6aJlfYw+nim29+8kKeqlo1HDhmFobDrwfij29/5efhkv+R7TYSxl0W22tSVwUClLztzhZY4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Dr27sipvdF7229HSk33NoN",
      "input": {
        "note": "The arms are separated now. Trying the left arm again: raising it and pulling it slightly back to see whether it tracks.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.25,
          "left_yaw": 0.0,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Dr27sipvdF7229HSk33NoN",
      "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]: [-0.7082, 1.8908, 1.5879, -0.6136, -0.5087, -0.5823, 0.0622, 1.095, 1.6997, 1.2629, -0.7483, 0.7006, 0.9337, 0.0638]\nstate[eef_state]: left_x=0.4315 left_y=-0.2515 left_z=0.1689 left_yaw=0.0401 left_pitch=-0.1961 left_roll=-0.014 left_gripper=0.0622 right_x=0.2714 right_y=0.2859 right_z=0.1346 right_yaw=-0.0271 right_pitch=-0.2306 right_roll=-0.0584 right_gripper=0.0638\nstate[joint_eff]: [-0.8547, -13.5453, 6.9675, 1.4725, -0.2418, 0.1343, 1.0379, -0.335, -6.6393, 6.7624, 0.9499, 0.4518, 0.0952, 0.5983]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85a33071e9eb9ad55ab41535fdb58bb3ac9c4ca4bbbfb32c712ddffdc4b7148e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:452efd9afca6f036d73d26be0c1893a4e69fbbae9b2d8098543078b44f6e2176",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:55c655cec526956d4aafa2cb85f68cf9c71e02c8f398abc1306fef9c3fb9a123",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 7.537 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6983, 2.0487, 1.6825, -0.5343, -0.5438, -0.6212, 0.0622, 1.206, 2.122, 1.7592, -0.8837, 0.7727, 1.0882, 0.0586]\nstate[eef_state]: left_x=0.4664 left_y=-0.2674 left_z=0.1415 left_yaw=0.0945 left_pitch=-0.1657 left_roll=-0.0341 left_gripper=0.0622 right_x=0.2799 right_y=0.3974 right_z=0.1199 right_yaw=-0.0423 right_pitch=-0.189 right_roll=-0.0288 right_gripper=0.0586\nstate[joint_eff]: [0.0068, -12.7248, 7.4462, 1.4725, -0.359, -0.0415, 1.033, -0.1983, -11.4803, 6.2154, 0.7497, 0.3834, -0.0855, 0.6081]",
      "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]: [-0.6983, 2.0491, 1.6825, -0.5377, -0.5434, -0.6212, 0.0622, 1.0897, 1.7119, 1.2697, -0.7486, 0.7136, 0.9478, 0.0613]\nstate[eef_state]: left_x=0.4659 left_y=-0.2671 left_z=0.1408 left_yaw=0.0947 left_pitch=-0.1686 left_roll=-0.0316 left_gripper=0.0622 right_x=0.275 right_y=0.2847 right_z=0.1338 right_yaw=-0.0474 right_pitch=-0.2218 right_roll=-0.0587 right_gripper=0.0613\nstate[joint_eff]: [-0.212, -11.535, 6.6393, 1.3602, -0.2808, -0.0415, 1.033, -0.4308, -9.9214, 6.5709, 1.1209, 0.4615, -0.1197, 0.6178]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7082, 1.8908, 1.5879, -0.6136, -0.5087, -0.5823, 0.0622, 1.095, 1.6997, 1.2629, -0.7483, 0.7006, 0.9337, 0.0638]\nstate[eef_state]: left_x=0.4315 left_y=-0.2515 left_z=0.1689 left_yaw=0.0401 left_pitch=-0.1961 left_roll=-0.014 left_gripper=0.0622 right_x=0.2714 right_y=0.2859 right_z=0.1346 right_yaw=-0.0271 right_pitch=-0.2306 right_roll=-0.0584 right_gripper=0.0638\nstate[joint_eff]: [-0.8547, -13.5453, 6.9675, 1.4725, -0.2418, 0.1343, 1.0379, -0.335, -6.6393, 6.7624, 0.9499, 0.4518, 0.0952, 0.5983]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85a33071e9eb9ad55ab41535fdb58bb3ac9c4ca4bbbfb32c712ddffdc4b7148e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:452efd9afca6f036d73d26be0c1893a4e69fbbae9b2d8098543078b44f6e2176",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55c655cec526956d4aafa2cb85f68cf9c71e02c8f398abc1306fef9c3fb9a123",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XgLBQMuCx2pi97ZVF4Gtsp",
      "input": {
        "note": "The left arm responds again. The pen is pointing forward from the right gripper, just right of centre; I'm putting the cap directly in front of the pen tip on the same line.",
        "targets": {
          "left_x": 0.47,
          "left_y": -0.36,
          "left_yaw": 0.0,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01XgLBQMuCx2pi97ZVF4Gtsp",
      "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]: [-0.8078, 2.3341, 2.2135, -0.833, -0.5327, -0.6525, 0.0622, 1.0935, 1.7035, 1.2575, -0.7498, 0.6941, 0.9329, 0.0653]\nstate[eef_state]: left_x=0.4694 left_y=-0.3559 left_z=0.1518 left_yaw=0.0016 left_pitch=-0.2094 left_roll=-0.0248 left_gripper=0.0622 right_x=0.2705 right_y=0.2848 right_z=0.1307 right_yaw=-0.0275 right_pitch=-0.2407 right_roll=-0.0662 right_gripper=0.0653\nstate[joint_eff]: [-0.6085, -13.7504, 8.841, 0.9792, -0.3541, 0.0317, 1.033, 0.0068, -8.4444, 7.0085, 0.8474, 0.4127, -0.0171, 0.7204]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65e2c78dece3066248921d270fb0bc9c593d9e6846da97d2b84684cb5c70661d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a30f5e0f1d8e22c11fc56630d338110b5413827393512133a67732ca78bc43c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bd1d0f240e380d94bf5f5772f458f8e0c7e0af9736199c1cc471f4243a111e4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /messages · status 200 · 6.631 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6983, 2.0491, 1.6825, -0.5377, -0.5434, -0.6212, 0.0622, 1.0897, 1.7119, 1.2697, -0.7486, 0.7136, 0.9478, 0.0613]\nstate[eef_state]: left_x=0.4659 left_y=-0.2671 left_z=0.1408 left_yaw=0.0947 left_pitch=-0.1686 left_roll=-0.0316 left_gripper=0.0622 right_x=0.275 right_y=0.2847 right_z=0.1338 right_yaw=-0.0474 right_pitch=-0.2218 right_roll=-0.0587 right_gripper=0.0613\nstate[joint_eff]: [-0.212, -11.535, 6.6393, 1.3602, -0.2808, -0.0415, 1.033, -0.4308, -9.9214, 6.5709, 1.1209, 0.4615, -0.1197, 0.6178]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7082, 1.8908, 1.5879, -0.6136, -0.5087, -0.5823, 0.0622, 1.095, 1.6997, 1.2629, -0.7483, 0.7006, 0.9337, 0.0638]\nstate[eef_state]: left_x=0.4315 left_y=-0.2515 left_z=0.1689 left_yaw=0.0401 left_pitch=-0.1961 left_roll=-0.014 left_gripper=0.0622 right_x=0.2714 right_y=0.2859 right_z=0.1346 right_yaw=-0.0271 right_pitch=-0.2306 right_roll=-0.0584 right_gripper=0.0638\nstate[joint_eff]: [-0.8547, -13.5453, 6.9675, 1.4725, -0.2418, 0.1343, 1.0379, -0.335, -6.6393, 6.7624, 0.9499, 0.4518, 0.0952, 0.5983]",
      "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]: [-0.8078, 2.3341, 2.2135, -0.833, -0.5327, -0.6525, 0.0622, 1.0935, 1.7035, 1.2575, -0.7498, 0.6941, 0.9329, 0.0653]\nstate[eef_state]: left_x=0.4694 left_y=-0.3559 left_z=0.1518 left_yaw=0.0016 left_pitch=-0.2094 left_roll=-0.0248 left_gripper=0.0622 right_x=0.2705 right_y=0.2848 right_z=0.1307 right_yaw=-0.0275 right_pitch=-0.2407 right_roll=-0.0662 right_gripper=0.0653\nstate[joint_eff]: [-0.6085, -13.7504, 8.841, 0.9792, -0.3541, 0.0317, 1.033, 0.0068, -8.4444, 7.0085, 0.8474, 0.4127, -0.0171, 0.7204]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65e2c78dece3066248921d270fb0bc9c593d9e6846da97d2b84684cb5c70661d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a30f5e0f1d8e22c11fc56630d338110b5413827393512133a67732ca78bc43c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd1d0f240e380d94bf5f5772f458f8e0c7e0af9736199c1cc471f4243a111e4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NLuG582Q6BJPDG7gx3ySeS",
      "input": {
        "note": "The cap is about 20 cm in front of the pen grip, with a lateral offset of about 1 cm and sitting 2 cm higher. I'm lowering it and shifting it sideways to line up with the pen's axis.",
        "targets": {
          "left_y": -0.365,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 1 steps (0.1s)",
      "tool_use_id": "toolu_01NLuG582Q6BJPDG7gx3ySeS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8124, 2.3611, 2.2395, -0.8589, -0.54, -0.6537, 0.0658, 1.0935, 1.7035, 1.2575, -0.7509, 0.6937, 0.9325, 0.0662]\nstate[eef_state]: left_x=0.4684 left_y=-0.3571 left_z=0.1436 left_yaw=0.007 left_pitch=-0.2236 left_roll=-0.0012 left_gripper=0.0658 right_x=0.2703 right_y=0.2846 right_z=0.1306 right_yaw=-0.0274 right_pitch=-0.2415 right_roll=-0.0673 right_gripper=0.0662\nstate[joint_eff]: [-0.4171, -14.3111, 9.388, 1.1258, -0.3541, 0.0415, 1.033, -0.0889, -8.3487, 6.8718, 0.8864, 0.3443, -0.0562, 0.5543]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfbf342657be42751f4179f89e24e087984479c4d5f7195470ae511fdab3b72d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:701b6c0f54e118cabd19e0dd27222092e1668b410872277cee186d05f7bf09b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:be3e2745adfcbda1851b2d6ecc243e7a7096c789b5d204aeab9d6309b611140c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /messages · status 200 · 12.14 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7082, 1.8908, 1.5879, -0.6136, -0.5087, -0.5823, 0.0622, 1.095, 1.6997, 1.2629, -0.7483, 0.7006, 0.9337, 0.0638]\nstate[eef_state]: left_x=0.4315 left_y=-0.2515 left_z=0.1689 left_yaw=0.0401 left_pitch=-0.1961 left_roll=-0.014 left_gripper=0.0622 right_x=0.2714 right_y=0.2859 right_z=0.1346 right_yaw=-0.0271 right_pitch=-0.2306 right_roll=-0.0584 right_gripper=0.0638\nstate[joint_eff]: [-0.8547, -13.5453, 6.9675, 1.4725, -0.2418, 0.1343, 1.0379, -0.335, -6.6393, 6.7624, 0.9499, 0.4518, 0.0952, 0.5983]",
      "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]: [-0.8078, 2.3341, 2.2135, -0.833, -0.5327, -0.6525, 0.0622, 1.0935, 1.7035, 1.2575, -0.7498, 0.6941, 0.9329, 0.0653]\nstate[eef_state]: left_x=0.4694 left_y=-0.3559 left_z=0.1518 left_yaw=0.0016 left_pitch=-0.2094 left_roll=-0.0248 left_gripper=0.0622 right_x=0.2705 right_y=0.2848 right_z=0.1307 right_yaw=-0.0275 right_pitch=-0.2407 right_roll=-0.0662 right_gripper=0.0653\nstate[joint_eff]: [-0.6085, -13.7504, 8.841, 0.9792, -0.3541, 0.0317, 1.033, 0.0068, -8.4444, 7.0085, 0.8474, 0.4127, -0.0171, 0.7204]\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]: [-0.8124, 2.3611, 2.2395, -0.8589, -0.54, -0.6537, 0.0658, 1.0935, 1.7035, 1.2575, -0.7509, 0.6937, 0.9325, 0.0662]\nstate[eef_state]: left_x=0.4684 left_y=-0.3571 left_z=0.1436 left_yaw=0.007 left_pitch=-0.2236 left_roll=-0.0012 left_gripper=0.0658 right_x=0.2703 right_y=0.2846 right_z=0.1306 right_yaw=-0.0274 right_pitch=-0.2415 right_roll=-0.0673 right_gripper=0.0662\nstate[joint_eff]: [-0.4171, -14.3111, 9.388, 1.1258, -0.3541, 0.0415, 1.033, -0.0889, -8.3487, 6.8718, 0.8864, 0.3443, -0.0562, 0.5543]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfbf342657be42751f4179f89e24e087984479c4d5f7195470ae511fdab3b72d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:701b6c0f54e118cabd19e0dd27222092e1668b410872277cee186d05f7bf09b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be3e2745adfcbda1851b2d6ecc243e7a7096c789b5d204aeab9d6309b611140c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0woKEAgSGAI4AUIIdGhpbmtpbmcSDPJtLHxoEV+IvPc7NRoMuaD1xg+LHtI0IKjXIjCn87inIy08vEj0qx85y3lgqQFg/Op5+iCODw1AfBSDtaAtnzZSdNXRZKxkWP7Ns1Yq8AnjMfLUc7a35VVNj14MpzfoKF2vXbC0Fc0Rr6xHsFrUOkk+5mNjRBGybs2HOXPmmecKVYpAPmH/IJUcG+cu/XmQ84fc39WztvXC8sY2ivbqDosCyyhKGfp9X96OQ60SAlrw74rpqtzjuSjjy98MxU4hhh1FIFK8GdO60gI4hwAuXeD1jcSSsQSjxGIb7uFiQ1OEoa4e8h32+aKGtN2PRbCmIxVUUge+C7oT8uflbtrVm0QBwSqiHtKfipbouYjx0HJIOoClFsD8DvpiV7XIuoRcF9TONKMKGiSAp/sgK+VgOZ/zPGXmSGt3c1jQd9xBk5uXTMBpk/vOzndUIWpcjdA6QfNFCqg/fdVkJKUHkdQz2B0wgz869uSiiU/a+ug7Tp3zqKeFtXrnWzzqylFudqb6DCM4Bjh+uKSqr07NUpcbVEn5CdGXTZNRiKk1flgwUxDFgA7DCFiFAVNGlC4bvVENqHU1Ikb9Wg4qd9tFy7/PO8ecNbARGVIBPapD3Srv81OcTmZ+DlfKpnGAIop3Aob0tdP7skYMj//BdHd6n4hcXIRRsiebO2/8VenPvMN1mpS3LYTtdi4mP7tTOcpz4+pHRAa1b4p4OUQKvn+w3k1KuRcLUTIWaYMg38XWd1MYtBwTeLEZM8pQRmMcac5qDiOnqRYiJ+avKNGPEeqmWaXcuz4I47K6XfjmL2xOmJ1gn5lO9wApWMqcZ9W4sRNF62DeU/IsHyclYHoNCAGHR4Pot5vkBR9m9nw9Ef53DR65zz1xHnO8tdBGR7onfg495bSfG4zaH7B1/uBzULEr/ibStsZICTCPW+ga77m6k95DXf8CezbKwbbye79iELHb4lWb8S2SX9LoxLmf9KiUnFNLPPNvY2P7OVOBr9aBRBl4NKhn2GDN79o6oKV1/QCDILeZVTkAcvGaEztT33Sg4mghPNM67YtO5l/82MxXvwMPCmvQerUljkY5n5uRLeREq8EQc+YCkwomUk0NkbqFG40GIEUuxCZIAPnugIWjAhrtP0udvV0tR/pdTyQH/j8jy4ZIBSE5TNdrgNJ/5AyO+JfbOmiNiwebjLpzokP7MaeD+wBPfkjjtbrGEThlixRvzMcpGhAnYPiYWvZb95YeHeyI7ljtY5w4gEglQk7ylyspICXt5vNTgswAxdCMHCPKXBgDQOWkcFnfQrd863V8him0kGLb7pEXVr4uqTGS8n8TVVRLlx4ddyrhIPO9JXXtl1xuRP5hwMztLV70qpZ48PLuJPthLREmCZm+9CLyKaEiQVfO5Rl3/1X2gvF+yV/PDPGDE/dO0NMcqHDyOrXbHJEw+YpAcXpxV7C/nEmoW56KLOs0KGHGKGB1b10p6cj7u9+S/cKQCBCFvvwm+7PxpX/PDrz4flePY2iG5EogJmvMZsExzn1ES6ld0GZ5t1/0Ona6NQSkQ5roOWvx63UBbddB2+0uCy9O8bf0KUaxw/PJAdc9f8ZZdvo7BpQ009KWzI4Qg5H/HXIQOvPhBh+HRH+jwFUZegBD7lCNUamPNHruLzQOm7LZ7knrB1b8zE7LbN4XjBaXiJsuILQAe77SY3E7vUlmgWKhXlA4Oy3R7dg/fVDtzuvLQl83zUSo9bu94n/8azvysVr27fDZ8FeHyGtXEUZ8gUkZ0eo63ZpaKEIEkzw/NUitoInCZpIzX9WyRR67GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Rqknm8QJfiq6dprLyfL7SY",
      "input": {
        "note": "The left arm is near an awkward limit, so I'll hold the cap still and move the pen instead. I'm matching the pen to the cap's lateral position and height and pushing it forward toward the cap.",
        "targets": {
          "right_x": 0.32,
          "right_y": 0.292,
          "right_yaw": 0.0,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Rqknm8QJfiq6dprLyfL7SY",
      "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]: [-0.8078, 2.36, 2.2265, -0.8501, -0.5396, -0.6571, 0.0658, 0.997, 1.7927, 1.3636, -0.8116, 0.6399, 0.8085, 0.0684]\nstate[eef_state]: left_x=0.4697 left_y=-0.3547 left_z=0.1404 left_yaw=0.0137 left_pitch=-0.2259 left_roll=-0.0016 left_gripper=0.0658 right_x=0.2997 right_y=0.2759 right_z=0.1219 right_yaw=-0.0418 right_pitch=-0.3132 right_roll=-0.1695 right_gripper=0.0684\nstate[joint_eff]: [-0.6496, -13.7094, 7.8427, 1.116, -0.2906, 0.0024, 1.0037, -0.8137, -11.1385, 11.5214, 1.3455, 0.2759, -0.0073, 0.5348]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23d9241acd9e09e7548e3a00fc099903ad94e979f8e568ef7de8920d7f5946d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25b8e6e6163bc51b8de32e250eff024da180f2027d2cd03a15a9ae798b3f4667",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9a3d366308032a17e43b22e8773daa5691dfb0d86736465f24412f265f15a259",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 4.041 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8078, 2.3341, 2.2135, -0.833, -0.5327, -0.6525, 0.0622, 1.0935, 1.7035, 1.2575, -0.7498, 0.6941, 0.9329, 0.0653]\nstate[eef_state]: left_x=0.4694 left_y=-0.3559 left_z=0.1518 left_yaw=0.0016 left_pitch=-0.2094 left_roll=-0.0248 left_gripper=0.0622 right_x=0.2705 right_y=0.2848 right_z=0.1307 right_yaw=-0.0275 right_pitch=-0.2407 right_roll=-0.0662 right_gripper=0.0653\nstate[joint_eff]: [-0.6085, -13.7504, 8.841, 0.9792, -0.3541, 0.0317, 1.033, 0.0068, -8.4444, 7.0085, 0.8474, 0.4127, -0.0171, 0.7204]\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]: [-0.8124, 2.3611, 2.2395, -0.8589, -0.54, -0.6537, 0.0658, 1.0935, 1.7035, 1.2575, -0.7509, 0.6937, 0.9325, 0.0662]\nstate[eef_state]: left_x=0.4684 left_y=-0.3571 left_z=0.1436 left_yaw=0.007 left_pitch=-0.2236 left_roll=-0.0012 left_gripper=0.0658 right_x=0.2703 right_y=0.2846 right_z=0.1306 right_yaw=-0.0274 right_pitch=-0.2415 right_roll=-0.0673 right_gripper=0.0662\nstate[joint_eff]: [-0.4171, -14.3111, 9.388, 1.1258, -0.3541, 0.0415, 1.033, -0.0889, -8.3487, 6.8718, 0.8864, 0.3443, -0.0562, 0.5543]",
      "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]: [-0.8078, 2.36, 2.2265, -0.8501, -0.5396, -0.6571, 0.0658, 0.997, 1.7927, 1.3636, -0.8116, 0.6399, 0.8085, 0.0684]\nstate[eef_state]: left_x=0.4697 left_y=-0.3547 left_z=0.1404 left_yaw=0.0137 left_pitch=-0.2259 left_roll=-0.0016 left_gripper=0.0658 right_x=0.2997 right_y=0.2759 right_z=0.1219 right_yaw=-0.0418 right_pitch=-0.3132 right_roll=-0.1695 right_gripper=0.0684\nstate[joint_eff]: [-0.6496, -13.7094, 7.8427, 1.116, -0.2906, 0.0024, 1.0037, -0.8137, -11.1385, 11.5214, 1.3455, 0.2759, -0.0073, 0.5348]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23d9241acd9e09e7548e3a00fc099903ad94e979f8e568ef7de8920d7f5946d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25b8e6e6163bc51b8de32e250eff024da180f2027d2cd03a15a9ae798b3f4667",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a3d366308032a17e43b22e8773daa5691dfb0d86736465f24412f265f15a259",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LHkeTCfq517wPg9sJXH7Q1",
      "input": {
        "note": "The right arm stalled short of its target, and in the overhead view the two arms' links overlap, so the approach from the front makes them collide. I'm backing the right arm away first so I can set up a side-to-side approach instead.",
        "targets": {
          "right_x": 0.26,
          "right_y": 0.2,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01LHkeTCfq517wPg9sJXH7Q1",
      "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]: [-0.8112, 2.3611, 2.225, -0.8505, -0.5362, -0.6575, 0.0658, 0.9741, 1.486, 1.1572, -0.9035, 0.609, 0.7731, 0.0676]\nstate[eef_state]: left_x=0.468 left_y=-0.3566 left_z=0.1389 left_yaw=0.0087 left_pitch=-0.2301 left_roll=-0.0016 left_gripper=0.0658 right_x=0.2605 right_y=0.2101 right_z=0.1501 right_yaw=-0.0274 right_pitch=-0.3365 right_roll=-0.1697 right_gripper=0.0676\nstate[joint_eff]: [0.1436, -13.9145, 6.653, 1.1941, -0.3346, -0.0366, 1.0037, -0.7179, -6.9265, 6.3111, 0.9988, 0.5201, -0.0708, 0.315]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88d8f9d43beb66d564832ecbdbfe535d32c8945250a940f6fd9e59721b32730d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a9ee21191a595951fd5c0a537d57c828e4533c2ede462b6a018e8693e6dac90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:586e6b64f1ca5bf36443576a1a84431833e9175d92118026b91bb0b1384c17f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /messages · status 200 · 5.529 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8124, 2.3611, 2.2395, -0.8589, -0.54, -0.6537, 0.0658, 1.0935, 1.7035, 1.2575, -0.7509, 0.6937, 0.9325, 0.0662]\nstate[eef_state]: left_x=0.4684 left_y=-0.3571 left_z=0.1436 left_yaw=0.007 left_pitch=-0.2236 left_roll=-0.0012 left_gripper=0.0658 right_x=0.2703 right_y=0.2846 right_z=0.1306 right_yaw=-0.0274 right_pitch=-0.2415 right_roll=-0.0673 right_gripper=0.0662\nstate[joint_eff]: [-0.4171, -14.3111, 9.388, 1.1258, -0.3541, 0.0415, 1.033, -0.0889, -8.3487, 6.8718, 0.8864, 0.3443, -0.0562, 0.5543]",
      "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]: [-0.8078, 2.36, 2.2265, -0.8501, -0.5396, -0.6571, 0.0658, 0.997, 1.7927, 1.3636, -0.8116, 0.6399, 0.8085, 0.0684]\nstate[eef_state]: left_x=0.4697 left_y=-0.3547 left_z=0.1404 left_yaw=0.0137 left_pitch=-0.2259 left_roll=-0.0016 left_gripper=0.0658 right_x=0.2997 right_y=0.2759 right_z=0.1219 right_yaw=-0.0418 right_pitch=-0.3132 right_roll=-0.1695 right_gripper=0.0684\nstate[joint_eff]: [-0.6496, -13.7094, 7.8427, 1.116, -0.2906, 0.0024, 1.0037, -0.8137, -11.1385, 11.5214, 1.3455, 0.2759, -0.0073, 0.5348]",
      "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]: [-0.8112, 2.3611, 2.225, -0.8505, -0.5362, -0.6575, 0.0658, 0.9741, 1.486, 1.1572, -0.9035, 0.609, 0.7731, 0.0676]\nstate[eef_state]: left_x=0.468 left_y=-0.3566 left_z=0.1389 left_yaw=0.0087 left_pitch=-0.2301 left_roll=-0.0016 left_gripper=0.0658 right_x=0.2605 right_y=0.2101 right_z=0.1501 right_yaw=-0.0274 right_pitch=-0.3365 right_roll=-0.1697 right_gripper=0.0676\nstate[joint_eff]: [0.1436, -13.9145, 6.653, 1.1941, -0.3346, -0.0366, 1.0037, -0.7179, -6.9265, 6.3111, 0.9988, 0.5201, -0.0708, 0.315]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88d8f9d43beb66d564832ecbdbfe535d32c8945250a940f6fd9e59721b32730d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a9ee21191a595951fd5c0a537d57c828e4533c2ede462b6a018e8693e6dac90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:586e6b64f1ca5bf36443576a1a84431833e9175d92118026b91bb0b1384c17f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSmAcKEAgSGAI4AUIIdGhpbmtpbmcSDH6afRsx4WygaAmCtRoMuudHbx5KuIpJjuyLIjDdTO2FdlON9nmvQeRioAgWtClaEn4YfNTFlCt3k+frXec3idP052eKIB5LORon/EcqtQZYuo/tjfhpxVJChq87hjB7t3hwxAGA4NVWkcjrPGapsLJ2aWVQW+UF1HoxZ/k8tppZxDKEJub2ViZfmK9oINYIjaJnSzHwOEMFAEtBXkIYYSfoKexyE9hchbcVFlTVqSWYqk36gM5MnnrOkxfbZ0lzgxpSgD4mE4N+hvhZOj8nwk7RFJJsekNAdDu3ixzjEsSyKJDmU/Y85bW7ZX54gpzIBqHDtoB5BgQV5BBYHVDNNQM2o49/vL62BiYfH9Pm3k50F4uu1sPLDOgPNUw3eblntHVMGuflmd9YJBnA8ZVbx0F7Q4VaJ1Ow6j4gcSMa0sqgpBzbfKFRh8SP8F1PVkje1mdLgBtRdpQlNiTTwn5ob9IW6RNwqg6y0TI18W2sgXOsSOgG4999FgGx+fEh+7l5j+WcGQFMqZJlfcqd/AyRtL64Teb/fCICbySUENDSW9l5N7U6y0p2lVnMsYSDJ55L1W5bu+XCfJFVGeJN9oSBDTx3YVgtmv2wlwnTI0IA3k4q3VugAGjyq8lrKu6solr5krnBLJT7rpoSlkFhYUWENjGPTmzy4Yg52da99HvlC8wkbo9FhC2LK+Os8Ef7giTxD0QyaqHnf+IsuPHhyxm96THFVe7AQUWzquJ2iY0ySUNfuuxYuVJyzV0+M9r+FSh73idIAjwcsxAxx7iLNvUSuUyWN0XDHAi91ghlqniWS6GxtopDJbJ/G0qgNXaFqfXlsaeJHlklx4KNIa14hnyyM/DTP8t+0qurPtLtHykYJntB0I3CImnj5B91VFBEPpFD6giMSbRtLiKpJwP/8iePgWzjVKb8z6SnDn79O1gfxqlU8PF3mPleMrXjEHnnAd5pDdaF0f7qBmHHi6OXwsbHIESwuSqIl957yx9HCGiGBOEG8k2X3lLYUbIx+RvB71UHQAwjR1+ohcUbFV0mY9C/zgptEMXaPSQ6IDJgwIB2DTN9F5TS6AVjh/swah9AGgZqOcTnBFNd+d5K0e+ib+6A4GQ9jmCXW4i8hUnhlDxZOirttpkaTqWg6Lxc77X4cA0iOqnesagvvRq7n2ZMMPH29d8j5Ti0r7V+ixX3RnoZoXBDUlEyKBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GJuV6HVUadQc6tYsdA7NXu",
      "input": {
        "note": "The arms are apart now. I'm bringing the cap back toward the left side of centre and turning it 90° so its axis runs side to side and its open end faces the right arm.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.2,
          "left_yaw": 1.57,
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01GJuV6HVUadQc6tYsdA7NXu",
      "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]: [-0.5049, 2.2742, 1.8965, -1.5513, -0.6727, -2.0613, 0.0658, 0.9764, 1.4845, 1.1496, -0.9169, 0.5823, 0.7696, 0.0678]\nstate[eef_state]: left_x=0.3765 left_y=-0.0782 left_z=0.084 left_yaw=1.4497 left_pitch=-0.2529 left_roll=0.0334 left_gripper=0.0658 right_x=0.2548 right_y=0.2098 right_z=0.1447 right_yaw=-0.0155 right_pitch=-0.3685 right_roll=-0.1747 right_gripper=0.0678\nstate[joint_eff]: [0.1162, -15.1453, 5.1624, -0.4664, -0.4518, -0.2173, 1.0183, -0.335, -6.0103, 6.8171, 0.9841, 0.5153, -0.0024, 0.6911]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:400c4e669eefd42324741fca47325de42a9a503305aee12014796e5adb0d7131",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bf5736225b10d1538de86262935674d0749e27626d5bf8e1f1b9654a3195836",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:10d30a65caaf125012792f27aff105a0d3a82c265904b2fd76730eee836411b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 9.993 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8078, 2.36, 2.2265, -0.8501, -0.5396, -0.6571, 0.0658, 0.997, 1.7927, 1.3636, -0.8116, 0.6399, 0.8085, 0.0684]\nstate[eef_state]: left_x=0.4697 left_y=-0.3547 left_z=0.1404 left_yaw=0.0137 left_pitch=-0.2259 left_roll=-0.0016 left_gripper=0.0658 right_x=0.2997 right_y=0.2759 right_z=0.1219 right_yaw=-0.0418 right_pitch=-0.3132 right_roll=-0.1695 right_gripper=0.0684\nstate[joint_eff]: [-0.6496, -13.7094, 7.8427, 1.116, -0.2906, 0.0024, 1.0037, -0.8137, -11.1385, 11.5214, 1.3455, 0.2759, -0.0073, 0.5348]",
      "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]: [-0.8112, 2.3611, 2.225, -0.8505, -0.5362, -0.6575, 0.0658, 0.9741, 1.486, 1.1572, -0.9035, 0.609, 0.7731, 0.0676]\nstate[eef_state]: left_x=0.468 left_y=-0.3566 left_z=0.1389 left_yaw=0.0087 left_pitch=-0.2301 left_roll=-0.0016 left_gripper=0.0658 right_x=0.2605 right_y=0.2101 right_z=0.1501 right_yaw=-0.0274 right_pitch=-0.3365 right_roll=-0.1697 right_gripper=0.0676\nstate[joint_eff]: [0.1436, -13.9145, 6.653, 1.1941, -0.3346, -0.0366, 1.0037, -0.7179, -6.9265, 6.3111, 0.9988, 0.5201, -0.0708, 0.315]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5049, 2.2742, 1.8965, -1.5513, -0.6727, -2.0613, 0.0658, 0.9764, 1.4845, 1.1496, -0.9169, 0.5823, 0.7696, 0.0678]\nstate[eef_state]: left_x=0.3765 left_y=-0.0782 left_z=0.084 left_yaw=1.4497 left_pitch=-0.2529 left_roll=0.0334 left_gripper=0.0658 right_x=0.2548 right_y=0.2098 right_z=0.1447 right_yaw=-0.0155 right_pitch=-0.3685 right_roll=-0.1747 right_gripper=0.0678\nstate[joint_eff]: [0.1162, -15.1453, 5.1624, -0.4664, -0.4518, -0.2173, 1.0183, -0.335, -6.0103, 6.8171, 0.9841, 0.5153, -0.0024, 0.6911]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:400c4e669eefd42324741fca47325de42a9a503305aee12014796e5adb0d7131",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bf5736225b10d1538de86262935674d0749e27626d5bf8e1f1b9654a3195836",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10d30a65caaf125012792f27aff105a0d3a82c265904b2fd76730eee836411b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSswgKEAgSGAI4AUIIdGhpbmtpbmcSDDlKlmVWSMZV89Is8hoMdVweUsEBU61U9+TaIjCYoYPCNVKfqiamOjoUGZK8HCmebC3zbNPvKxeEc3dCjFRC/a+OCb3flHeUgtx86CAq0AcpanNJExkVzfpNkLTDdfv35jL4cHhCnt/372nJ9XrRibz6SAkdjGjCUhxvemq+YdZTiSo4UujP0+wEHwPU/I339MaYvQ3kUv5X7IitxSL+q5pr8wcrpCERWRB2JFXoDBWch18F9GgGk2tOXnqYRDjGfTklFKRgcDRacpeKAhkUdOGDGcOX7mD6VvnAI8BqDIis9HZSTBpJkRowxRsUjSiUTh5C1f/7oywJ1szfysoDL5pTi7QLrzEU5BUt5B5ADi60gBGJMGatauQHXdvOk9gpAU5Ka4VG1u9ni9UNSgPGiva2XGegsA7LOnLFraxx+Uuc9Ftu2yoGV0mfZ6ny5jpOC7LXZmUTBtkwlnxTwLUt1Ek2PkOa6wH36XN1rMvqBMF0T5x6eljgmvUKa9moKQHnWDTdwI1oPjABCGgvbxtRUXPkqu+IK4AInnG+yTea6dgtoOcfnBZMKz6wFJ3KuLTZlR1l24ffpEqsoV20MWg8QvzWMQ1hrA3SlWVFtYOq5OJHBawimam8VFfNfIwVrRuWdkjl4MDDG/aJTdZNdJ5IuwBiIQjNYsssSTkA79FSqUP/yVY7VWQRC6P2VpxHEoV2YJJaDoF0XHnOMCgEWzws9/X3Hk7W2yvrPEzvSbzzJfHQ585Wwt8mMJp1CwSL98i4kAHOsIXjdd1NtxaXu0fssF86h3LUXG9zz+qSTQLXct99D85zF3g+3zEWqGnbUQU7QY5hic/4QHhJ5QFVfH2hGK1uIW2WAyka6lBs6InsAzvMDtkhECzQRXFya5jIp7edRXzrpSiMMVpomGIQPr2eTCp+7MnVwy3cg+WwDdMJ/30zv1qHAdAwEx2oW2dC0mHBmDF2PwAFvGwa8FuAsZpLTT1KTi+AljKL60mqglPk5nj4BMkMTcpSu8ZAnFCETJwlh2lf25iRWGOWTurI0zJbi1m722VGP20qtk+12DxXiBHNZDdiXzNvz8KgXG45Mp0qjIXkw2tHD7XUVhcVqz2tyJnKx01NOpR4nbKbNUgvs7MdUHPgls5d/lXZ1u23O4BKdS+v/UPhqf7go444R9DdYqLHau+aFqyAFRK90owL5FaK87roGxzvkRLUtn4Ao6R+ozpFsWG1uvL4/pQTdfne8OEmI/PHNrMvFc3aWDMS6VdGt2uQy7Bnck1bMae17TDb61NbCq1Gr+4WUVEJf34sufPN8q8J5uwLwbxlPmkzgdp29Gj64pEC+9Q64JL7xHI+loKFZzntfXGMqGzXcd6RPjzPxwfk4XCXngN5tCZ5VBw6rbEctEpqwyrwDUNmV/1AGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TXCsEMGgJvbGrSmhW2mVRh",
      "input": {
        "note": "The left arm ended up 12 cm short in y and 9 cm low after the big yaw turn. Sending a slightly adjusted target to finish the move now that the rotation is done.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.19,
          "left_yaw": 1.57,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01TXCsEMGgJvbGrSmhW2mVRh",
      "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]: [-0.4767, 2.2101, 1.8236, -1.5566, -0.6388, -2.0865, 0.0658, 0.9764, 1.4845, 1.1496, -0.9112, 0.5732, 0.7696, 0.0699]\nstate[eef_state]: left_x=0.3607 left_y=-0.0637 left_z=0.09 left_yaw=1.511 left_pitch=-0.2761 left_roll=0.0422 left_gripper=0.0658 right_x=0.2545 right_y=0.2118 right_z=0.1442 right_yaw=-0.0089 right_pitch=-0.3726 right_roll=-0.1645 right_gripper=0.0699\nstate[joint_eff]: [0.6632, -13.9009, 4.6701, -0.5934, -0.3492, -0.149, 1.0183, -0.1299, -6.0923, 6.2427, 0.7643, 0.4029, -0.0317, 0.4469]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:005f672a837f5821a41f9f4448a6f8e81de2b3e889c544ff7a6480b1625bef3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0573bb36e0c3a24426560fd672660d261fbed518208b99f6c1238ec3399a265",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2e9aaf34a409514715ba116539b2c9eb1e35ef87e6825f0a15afc4c49bcfc8b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /messages · status 200 · 10.08 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8112, 2.3611, 2.225, -0.8505, -0.5362, -0.6575, 0.0658, 0.9741, 1.486, 1.1572, -0.9035, 0.609, 0.7731, 0.0676]\nstate[eef_state]: left_x=0.468 left_y=-0.3566 left_z=0.1389 left_yaw=0.0087 left_pitch=-0.2301 left_roll=-0.0016 left_gripper=0.0658 right_x=0.2605 right_y=0.2101 right_z=0.1501 right_yaw=-0.0274 right_pitch=-0.3365 right_roll=-0.1697 right_gripper=0.0676\nstate[joint_eff]: [0.1436, -13.9145, 6.653, 1.1941, -0.3346, -0.0366, 1.0037, -0.7179, -6.9265, 6.3111, 0.9988, 0.5201, -0.0708, 0.315]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5049, 2.2742, 1.8965, -1.5513, -0.6727, -2.0613, 0.0658, 0.9764, 1.4845, 1.1496, -0.9169, 0.5823, 0.7696, 0.0678]\nstate[eef_state]: left_x=0.3765 left_y=-0.0782 left_z=0.084 left_yaw=1.4497 left_pitch=-0.2529 left_roll=0.0334 left_gripper=0.0658 right_x=0.2548 right_y=0.2098 right_z=0.1447 right_yaw=-0.0155 right_pitch=-0.3685 right_roll=-0.1747 right_gripper=0.0678\nstate[joint_eff]: [0.1162, -15.1453, 5.1624, -0.4664, -0.4518, -0.2173, 1.0183, -0.335, -6.0103, 6.8171, 0.9841, 0.5153, -0.0024, 0.6911]",
      "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]: [-0.4767, 2.2101, 1.8236, -1.5566, -0.6388, -2.0865, 0.0658, 0.9764, 1.4845, 1.1496, -0.9112, 0.5732, 0.7696, 0.0699]\nstate[eef_state]: left_x=0.3607 left_y=-0.0637 left_z=0.09 left_yaw=1.511 left_pitch=-0.2761 left_roll=0.0422 left_gripper=0.0658 right_x=0.2545 right_y=0.2118 right_z=0.1442 right_yaw=-0.0089 right_pitch=-0.3726 right_roll=-0.1645 right_gripper=0.0699\nstate[joint_eff]: [0.6632, -13.9009, 4.6701, -0.5934, -0.3492, -0.149, 1.0183, -0.1299, -6.0923, 6.2427, 0.7643, 0.4029, -0.0317, 0.4469]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:005f672a837f5821a41f9f4448a6f8e81de2b3e889c544ff7a6480b1625bef3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0573bb36e0c3a24426560fd672660d261fbed518208b99f6c1238ec3399a265",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e9aaf34a409514715ba116539b2c9eb1e35ef87e6825f0a15afc4c49bcfc8b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BidDVikz1ytoweajdLQ3rh",
      "input": {
        "note": "The left arm won't reach the target at yaw 1.57; it stalls low and short, probably at a wrist limit. I'm easing the yaw back to 1.0 so the pen and cap can meet on a diagonal instead.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.2,
          "left_yaw": 1.0,
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01BidDVikz1ytoweajdLQ3rh",
      "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]: [-0.688, 2.2471, 2.0937, -1.5635, -0.6804, -1.7756, 0.0658, 0.9768, 1.4845, 1.1458, -0.91, 0.5663, 0.7696, 0.0696]\nstate[eef_state]: left_x=0.3866 left_y=-0.1693 left_z=0.1348 left_yaw=1.044 left_pitch=-0.3079 left_roll=0.0146 left_gripper=0.0658 right_x=0.2533 right_y=0.2121 right_z=0.1425 right_yaw=-0.0058 right_pitch=-0.3795 right_roll=-0.163 right_gripper=0.0696\nstate[joint_eff]: [-0.759, -10.3726, 7.9795, -0.0806, -0.6716, 0.1734, 1.0085, -0.0342, -5.9829, 6.5573, 0.8083, 0.3199, -0.0269, 0.6813]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed1c42b652767c77ae5690c3df666f794b9db554dfe9f06c35d94ea11326b15a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36ee1bf8d38db5f8d0bba50dfdebb92809c6903af700b793616a2d71e9b7b4d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d1fd453a816a46293ab6e7ff616acdac1b87d43ab96cd6f97e99187b71a47f0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /messages · status 200 · 34.41 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5049, 2.2742, 1.8965, -1.5513, -0.6727, -2.0613, 0.0658, 0.9764, 1.4845, 1.1496, -0.9169, 0.5823, 0.7696, 0.0678]\nstate[eef_state]: left_x=0.3765 left_y=-0.0782 left_z=0.084 left_yaw=1.4497 left_pitch=-0.2529 left_roll=0.0334 left_gripper=0.0658 right_x=0.2548 right_y=0.2098 right_z=0.1447 right_yaw=-0.0155 right_pitch=-0.3685 right_roll=-0.1747 right_gripper=0.0678\nstate[joint_eff]: [0.1162, -15.1453, 5.1624, -0.4664, -0.4518, -0.2173, 1.0183, -0.335, -6.0103, 6.8171, 0.9841, 0.5153, -0.0024, 0.6911]",
      "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]: [-0.4767, 2.2101, 1.8236, -1.5566, -0.6388, -2.0865, 0.0658, 0.9764, 1.4845, 1.1496, -0.9112, 0.5732, 0.7696, 0.0699]\nstate[eef_state]: left_x=0.3607 left_y=-0.0637 left_z=0.09 left_yaw=1.511 left_pitch=-0.2761 left_roll=0.0422 left_gripper=0.0658 right_x=0.2545 right_y=0.2118 right_z=0.1442 right_yaw=-0.0089 right_pitch=-0.3726 right_roll=-0.1645 right_gripper=0.0699\nstate[joint_eff]: [0.6632, -13.9009, 4.6701, -0.5934, -0.3492, -0.149, 1.0183, -0.1299, -6.0923, 6.2427, 0.7643, 0.4029, -0.0317, 0.4469]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.688, 2.2471, 2.0937, -1.5635, -0.6804, -1.7756, 0.0658, 0.9768, 1.4845, 1.1458, -0.91, 0.5663, 0.7696, 0.0696]\nstate[eef_state]: left_x=0.3866 left_y=-0.1693 left_z=0.1348 left_yaw=1.044 left_pitch=-0.3079 left_roll=0.0146 left_gripper=0.0658 right_x=0.2533 right_y=0.2121 right_z=0.1425 right_yaw=-0.0058 right_pitch=-0.3795 right_roll=-0.163 right_gripper=0.0696\nstate[joint_eff]: [-0.759, -10.3726, 7.9795, -0.0806, -0.6716, 0.1734, 1.0085, -0.0342, -5.9829, 6.5573, 0.8083, 0.3199, -0.0269, 0.6813]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed1c42b652767c77ae5690c3df666f794b9db554dfe9f06c35d94ea11326b15a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36ee1bf8d38db5f8d0bba50dfdebb92809c6903af700b793616a2d71e9b7b4d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1fd453a816a46293ab6e7ff616acdac1b87d43ab96cd6f97e99187b71a47f0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4BAKEAgSGAI4AUIIdGhpbmtpbmcSDHbdG+UrQQIjWgcH4xoMRb04uCuilxAC0CX0IjAFNxqjJiOzIfZRYEkxxeNmh8dmSOZ/oLxvJT+ARPEeNJtkUuvAAt6F1O+TZefJy6Eq/Q/s0bZff1EBCulPjztaSDFNTPA2bI7TbdyRZ1tFp0Gm+wcXfjyX/pjczmOfpcAVM0jpx3jGPQnyE5LS3hQfF0lz6Cr+pEmGPg9Ny0Xqz+TLgvg0KU3toQmP1I7AizSYPKQOYWxGxgk4np7MUmNCS7gN5sMFzbbrOQ3Td8yOHXvfpJ/DzhVs5BVL3jKqK1lYRdkcCDytohSMWPZW0HCHq0fHCPpBrRgyOhP80xU9owAue6EU3pnXElFwjvWgdPFoOSdL9F2v0BPEoU5pPbb38M035XIo2EL6otzAq/EWui9B/ggGakXsEok4txJC2M1mprTUXFo6eqUJszggEloiU/juOo+qAZGj0GISCGVnk8Nk5NykvCLw6hhuQZDFNiT38Cn2cfTo2paphxn8L6bFleYLR4UVsLiQV+/M+g5IG9QLQDPjcnvK7uSM6kyKIEw4x2EdR2g2tQB4MBxE9JBFwpUNpI74c+HZ11upTX05puaaCsxtUtGFYYiyIy2vKLrRJ0wGkd/xMVC1wofO6AyqscShbX+Y5P6AkV9RumHP+OcQmXxhp8QxOFO4PAreo8H0PdU2kUDysqJGrB5Q+h7CTItluKbpVaj97X3/lpwxmMF8LopBZiCYol9c0prn9xDE7Ge0RSZwz+WX0s9C4baQ11lUoIqR1m0/7tg2JfYNtRlwlaQx7p11ORwT87zkR/0xSwGuYjsf+eD17t7I/GnX0xT3lGuH6rL/f7qXVXK9OgGCx3o6z7hPgmKViKdqFY9wSH8l0y72TNifaWMVii7rKKd1m/CHrEFaFCEji0/DaTbbvg7Zw0wtr1ilU//oynxpoTxCltkpY7nwfUSdQqWHcPotdtezQfM6y8+n/w21KglkpG+y/28rhb+Mppt7TkddvOwWroEoHoRowFa0xY3M9N2Uc+mAZQw0FThTpQ2Hpc6Tgmh3RDwrN0rDzo5r5X2scr4CBio1HrlUvWqxAbD8dFyA2OcSODGtM9bV1uzXV3eiX9hYVzffMXDql4tlDa7uBgPFlZCckuqr5bIKrlxBXilenvgsuscGelxTD0TVY/FsmFAw0AcYUFuZPia/gZIHV5ha3lyysz6PHWxN6FKM1Zkq4Jj6+6Y8tyuGu2oDTy6mF1qvv9/8ocWFN1OspcxYlZzvjTMtdKcN4gu7xUnz5Xd+rtl1rE6VsPq1YmchLURaDWr7lm/g6hl1Q5C+8IUZZwA5tyMWH+8bEW2N+VR8xPQTAlurxFyfzdxUz2HyGDKEgC9RcTsD4gck2FdJ39kE2Otot+tKg6EDn0NRCjAl7PfscRgJ9ByGkpOcLsqtYBD41Bq3T35ylXYaKpfGABBz6+7GCJOPZAI/D4QzsRIoVhQ912ImpZNCJvPs7c3MSPKwXHc2H3UBUpJNdQZycoXwTVhIrvq7keEqxdEuKtgVBxOsUUG1XDP+RAwpNvTX5+ZC9Bt/FHZ3KI+r71fi4BVRcA1HWJ+pAYdx4fu5msG/09XmklyVyi8OLIKZfFmc0qykotjZGmaTq6q3AKftQYfT2s3kC/8xZiq0fpbtZiWtMoM8NzqRKZF5szX8MaO/VQ/sf/ke29o+RtHBVjzOwBMtlGWVfUh4+hn52y5W4RusffgsYCGcgiAnKaYS0IglbkbvAJ46IR3prI6J1+pvDFQarIBKX5l9fgaqBMe0MHhPAQr9fLdkf2LXO6s25QLv/xnm0+jG4+ejo0JeSmrahwV4oN/AaOhPYBvfKAblit2EDVOOxAwI/GyDQL6PWCi4khPEuHXZjA/dRoebJnKLh18DVddLY2W3VF8KlZFxwrJxpQHy3b2UO0tObAMPNqR3OiqA25ZE7d711Z9ZSO/3NcoyMD61DL4ZjNAptX42QHQrUfNnL7MgtXpthbL1CTVj6IeP292X7X4ZfDNCmZLwwzBUl4HdLoSQKtC1ngvZ4tgmKYAgqnSPhbteTda5PhTgYF7Fu8zDvfWyqId/G071lZQ6ZuLYzWIIEXHc7z+pCfOFbeWG8YYWHnjNdMX10JHN7aUzNao305sQJa10q6AyUmEbBXK7jWOPGjf/gf0IKj1sco1/0ie/oryNqr16XyyOZwlhz0tME5x1f436X/5I4hCz47t7unC59ybE9hZx/pPtDAc4fNOKHSMTzO+csmy8/cEz19bSmX+Rf2kSi+mAl7usv3OwrLzR3T+pRprKtIO3l88jFkI+khRKDM59UHyzX4B8oczXRrgzFprkkokrcHN673hsPLrEHClvMp8RulyvPEM/jNvMpNGNN+F3P2CsXq45XTPzuD3ylYFwKrFPsHZhcv9ORzc+cKFoZfx7jOpIfcH4KfQ+l33YWXcGLncOjar8Lp/xLGnKNuglxoHORa8LYXgb3RKdhGxVDRi73qQWPsaPe6mBxwUi0qC5kVrDtCsG1wrjQHwejIulMkG0tkjcSvA8Xj6JAMUW1yZIYuywlR6+mtnp0NXadlsDnoTs4eZ2ew8U22vaDCxC7TDW7Ue0YO5cf+UGjsq94FZJqVxfSSj74dneCjA+9F5kGcSI9V/DQSg06CuAB5FtuJchDqhTZGfaGk9STHhuJpwAfi+hRSdTpfP/3le9mRD0NzNFGGH6BJagWIhFxoDOvMIIis5FkraHb7ZrpIXvLHATonlF+E5y61cHLgNxRCBv1AMb1uN4paMuAy6crSGhhD/oc26KBSU2Tsps4BQ39mkm/QKG2tpRgtndzb/AtFcJiSSMbhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018RZvcH6U9wHHqTXqFcX9oJ",
      "input": {
        "note": "The cap is held steady at yaw 1.04, its axis running diagonally forward-left. I'm turning the pen to the same yaw and placing it so the pen tip sits on that axis, about 3 cm short of the cap's open end.",
        "targets": {
          "right_x": 0.312,
          "right_y": 0.352,
          "right_yaw": 1.04,
          "right_z": 0.143
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_018RZvcH6U9wHHqTXqFcX9oJ",
      "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]: [-0.6308, 2.2471, 2.0922, -1.5578, -0.7086, -1.7748, 0.0658, 0.8108, 1.7283, 1.3441, -0.6811, 0.0422, -0.1963, 0.0712]\nstate[eef_state]: left_x=0.399 left_y=-0.1446 left_z=0.1375 left_yaw=1.0941 left_pitch=-0.281 left_roll=0.0062 left_gripper=0.0658 right_x=0.2993 right_y=0.3093 right_z=0.1209 right_yaw=0.8752 right_pitch=-0.5158 right_roll=-0.1586 right_gripper=0.0712\nstate[joint_eff]: [-5.2171, -11.7949, 5.6547, -0.0366, -0.0659, -0.022, 1.0085, 0.7179, -5.8872, 10.7009, 2.4347, -0.442, -0.3785, 0.5739]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9ae0c1e7a27035cd5ea8a02603d6375046c973b1ef6b94194f2c4eaa8e9950a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29e0cfb8cf02eea6281b45ab9dee46e2076f8afdda4e03b41b084193f5b9c269",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:02aaa5e304e5e1bab717fb73825bc218c54bced8a57c82a2e514aecf53348508",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 25 attempt 0 · /messages · status 200 · 27.9 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4767, 2.2101, 1.8236, -1.5566, -0.6388, -2.0865, 0.0658, 0.9764, 1.4845, 1.1496, -0.9112, 0.5732, 0.7696, 0.0699]\nstate[eef_state]: left_x=0.3607 left_y=-0.0637 left_z=0.09 left_yaw=1.511 left_pitch=-0.2761 left_roll=0.0422 left_gripper=0.0658 right_x=0.2545 right_y=0.2118 right_z=0.1442 right_yaw=-0.0089 right_pitch=-0.3726 right_roll=-0.1645 right_gripper=0.0699\nstate[joint_eff]: [0.6632, -13.9009, 4.6701, -0.5934, -0.3492, -0.149, 1.0183, -0.1299, -6.0923, 6.2427, 0.7643, 0.4029, -0.0317, 0.4469]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.688, 2.2471, 2.0937, -1.5635, -0.6804, -1.7756, 0.0658, 0.9768, 1.4845, 1.1458, -0.91, 0.5663, 0.7696, 0.0696]\nstate[eef_state]: left_x=0.3866 left_y=-0.1693 left_z=0.1348 left_yaw=1.044 left_pitch=-0.3079 left_roll=0.0146 left_gripper=0.0658 right_x=0.2533 right_y=0.2121 right_z=0.1425 right_yaw=-0.0058 right_pitch=-0.3795 right_roll=-0.163 right_gripper=0.0696\nstate[joint_eff]: [-0.759, -10.3726, 7.9795, -0.0806, -0.6716, 0.1734, 1.0085, -0.0342, -5.9829, 6.5573, 0.8083, 0.3199, -0.0269, 0.6813]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.6308, 2.2471, 2.0922, -1.5578, -0.7086, -1.7748, 0.0658, 0.8108, 1.7283, 1.3441, -0.6811, 0.0422, -0.1963, 0.0712]\nstate[eef_state]: left_x=0.399 left_y=-0.1446 left_z=0.1375 left_yaw=1.0941 left_pitch=-0.281 left_roll=0.0062 left_gripper=0.0658 right_x=0.2993 right_y=0.3093 right_z=0.1209 right_yaw=0.8752 right_pitch=-0.5158 right_roll=-0.1586 right_gripper=0.0712\nstate[joint_eff]: [-5.2171, -11.7949, 5.6547, -0.0366, -0.0659, -0.022, 1.0085, 0.7179, -5.8872, 10.7009, 2.4347, -0.442, -0.3785, 0.5739]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9ae0c1e7a27035cd5ea8a02603d6375046c973b1ef6b94194f2c4eaa8e9950a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29e0cfb8cf02eea6281b45ab9dee46e2076f8afdda4e03b41b084193f5b9c269",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02aaa5e304e5e1bab717fb73825bc218c54bced8a57c82a2e514aecf53348508",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FJXB4Rq6bUPihybt3VDTnA",
      "input": {
        "note": "The two gripper housings bumped together near the centre (the right arm stopped short and pushed the left arm). The pen tip is still well short of the cap. I'm backing the right arm off slightly to clear the contact.",
        "targets": {
          "right_x": 0.27,
          "right_y": 0.29,
          "right_yaw": 1.04,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01FJXB4Rq6bUPihybt3VDTnA",
      "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]: [-0.6277, 2.2471, 2.0895, -1.5608, -0.7067, -1.7748, 0.0658, 0.8074, 1.676, 1.3136, -0.7143, -0.0044, -0.2787, 0.0736]\nstate[eef_state]: left_x=0.3983 left_y=-0.1429 left_z=0.1367 left_yaw=1.0992 left_pitch=-0.282 left_roll=0.0124 left_gripper=0.0658 right_x=0.2838 right_y=0.3029 right_z=0.1267 right_yaw=0.968 right_pitch=-0.5286 right_roll=-0.1554 right_gripper=0.0736\nstate[joint_eff]: [-0.212, -11.9316, 5.7915, -0.0562, -0.5153, -0.022, 1.0134, 0.0889, -9.8803, 6.735, 1.0818, -0.0904, -0.1441, 0.2515]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5cd983f6061a0b307272eebadea5681dcdb0a80007233256eae7d1648def45d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e38596a4cea918a814042acf657b3e4f750a00b95c4ba41be70db454038be21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:12cc1cd152f33fa571f46b4ed737faecce8b782f87529171febaa80ca1a43ad6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 7.684 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.688, 2.2471, 2.0937, -1.5635, -0.6804, -1.7756, 0.0658, 0.9768, 1.4845, 1.1458, -0.91, 0.5663, 0.7696, 0.0696]\nstate[eef_state]: left_x=0.3866 left_y=-0.1693 left_z=0.1348 left_yaw=1.044 left_pitch=-0.3079 left_roll=0.0146 left_gripper=0.0658 right_x=0.2533 right_y=0.2121 right_z=0.1425 right_yaw=-0.0058 right_pitch=-0.3795 right_roll=-0.163 right_gripper=0.0696\nstate[joint_eff]: [-0.759, -10.3726, 7.9795, -0.0806, -0.6716, 0.1734, 1.0085, -0.0342, -5.9829, 6.5573, 0.8083, 0.3199, -0.0269, 0.6813]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.6308, 2.2471, 2.0922, -1.5578, -0.7086, -1.7748, 0.0658, 0.8108, 1.7283, 1.3441, -0.6811, 0.0422, -0.1963, 0.0712]\nstate[eef_state]: left_x=0.399 left_y=-0.1446 left_z=0.1375 left_yaw=1.0941 left_pitch=-0.281 left_roll=0.0062 left_gripper=0.0658 right_x=0.2993 right_y=0.3093 right_z=0.1209 right_yaw=0.8752 right_pitch=-0.5158 right_roll=-0.1586 right_gripper=0.0712\nstate[joint_eff]: [-5.2171, -11.7949, 5.6547, -0.0366, -0.0659, -0.022, 1.0085, 0.7179, -5.8872, 10.7009, 2.4347, -0.442, -0.3785, 0.5739]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.6277, 2.2471, 2.0895, -1.5608, -0.7067, -1.7748, 0.0658, 0.8074, 1.676, 1.3136, -0.7143, -0.0044, -0.2787, 0.0736]\nstate[eef_state]: left_x=0.3983 left_y=-0.1429 left_z=0.1367 left_yaw=1.0992 left_pitch=-0.282 left_roll=0.0124 left_gripper=0.0658 right_x=0.2838 right_y=0.3029 right_z=0.1267 right_yaw=0.968 right_pitch=-0.5286 right_roll=-0.1554 right_gripper=0.0736\nstate[joint_eff]: [-0.212, -11.9316, 5.7915, -0.0562, -0.5153, -0.022, 1.0134, 0.0889, -9.8803, 6.735, 1.0818, -0.0904, -0.1441, 0.2515]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5cd983f6061a0b307272eebadea5681dcdb0a80007233256eae7d1648def45d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e38596a4cea918a814042acf657b3e4f750a00b95c4ba41be70db454038be21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12cc1cd152f33fa571f46b4ed737faecce8b782f87529171febaa80ca1a43ad6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KESRCU7uKZYyASEJFetcWD",
      "input": {
        "note": "The pen and cap are coaxial, but the two gripper housings collide about 22 cm apart, before the pen reaches the cap. I'm rolling the two wrists in opposite directions so the housings splay to opposite sides of the shared axis.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": -0.8,
          "right_pitch": 0.0,
          "right_roll": 0.8
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01KESRCU7uKZYyASEJFetcWD",
      "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]: [-0.73, 1.94, 1.3037, -0.6666, -1.1004, -2.0666, 0.0658, 0.5072, 1.5883, 0.7364, 0.1589, -0.7601, 0.3599, 0.0763]\nstate[eef_state]: left_x=0.3962 left_y=-0.1385 left_z=0.1162 left_yaw=1.1003 left_pitch=-0.0266 left_roll=-0.6985 left_gripper=0.0658 right_x=0.2745 right_y=0.2959 right_z=0.1047 right_yaw=0.9677 right_pitch=-0.1023 right_roll=0.7538 right_gripper=0.0763\nstate[joint_eff]: [-1.2239, -12.7248, 5.641, 0.6178, -0.8181, 0.0024, 1.0037, -1.0462, -6.147, 6.6803, 2.0244, -0.2662, 0.2515, 0.2662]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:423594832bc7945cce9d41cf57cf717c99acb90c81015fd4afaa9b2244eeff40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62cc8daf15f512e980e05c7dce62096a5b62cc493c23113377cc2a0c3cddb34d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b916e4843db1025bb4305c54c25d5be181e3705cff15248ef9f7b191fb0f2f2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /messages · status 200 · 22.54 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6308, 2.2471, 2.0922, -1.5578, -0.7086, -1.7748, 0.0658, 0.8108, 1.7283, 1.3441, -0.6811, 0.0422, -0.1963, 0.0712]\nstate[eef_state]: left_x=0.399 left_y=-0.1446 left_z=0.1375 left_yaw=1.0941 left_pitch=-0.281 left_roll=0.0062 left_gripper=0.0658 right_x=0.2993 right_y=0.3093 right_z=0.1209 right_yaw=0.8752 right_pitch=-0.5158 right_roll=-0.1586 right_gripper=0.0712\nstate[joint_eff]: [-5.2171, -11.7949, 5.6547, -0.0366, -0.0659, -0.022, 1.0085, 0.7179, -5.8872, 10.7009, 2.4347, -0.442, -0.3785, 0.5739]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.6277, 2.2471, 2.0895, -1.5608, -0.7067, -1.7748, 0.0658, 0.8074, 1.676, 1.3136, -0.7143, -0.0044, -0.2787, 0.0736]\nstate[eef_state]: left_x=0.3983 left_y=-0.1429 left_z=0.1367 left_yaw=1.0992 left_pitch=-0.282 left_roll=0.0124 left_gripper=0.0658 right_x=0.2838 right_y=0.3029 right_z=0.1267 right_yaw=0.968 right_pitch=-0.5286 right_roll=-0.1554 right_gripper=0.0736\nstate[joint_eff]: [-0.212, -11.9316, 5.7915, -0.0562, -0.5153, -0.022, 1.0134, 0.0889, -9.8803, 6.735, 1.0818, -0.0904, -0.1441, 0.2515]\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 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]: [-0.73, 1.94, 1.3037, -0.6666, -1.1004, -2.0666, 0.0658, 0.5072, 1.5883, 0.7364, 0.1589, -0.7601, 0.3599, 0.0763]\nstate[eef_state]: left_x=0.3962 left_y=-0.1385 left_z=0.1162 left_yaw=1.1003 left_pitch=-0.0266 left_roll=-0.6985 left_gripper=0.0658 right_x=0.2745 right_y=0.2959 right_z=0.1047 right_yaw=0.9677 right_pitch=-0.1023 right_roll=0.7538 right_gripper=0.0763\nstate[joint_eff]: [-1.2239, -12.7248, 5.641, 0.6178, -0.8181, 0.0024, 1.0037, -1.0462, -6.147, 6.6803, 2.0244, -0.2662, 0.2515, 0.2662]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:423594832bc7945cce9d41cf57cf717c99acb90c81015fd4afaa9b2244eeff40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62cc8daf15f512e980e05c7dce62096a5b62cc493c23113377cc2a0c3cddb34d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b916e4843db1025bb4305c54c25d5be181e3705cff15248ef9f7b191fb0f2f2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019jArya8gwM1tjfmSnwU779",
      "input": {
        "note": "With the wrists rolled apart, the right wrist camera now shows the left gripper off to one side, clear of the pen axis. I'm advancing the pen about 5 cm along its axis toward the cap.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.8,
          "right_x": 0.302,
          "right_y": 0.337,
          "right_yaw": 1.04,
          "right_z": 0.125
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_019jArya8gwM1tjfmSnwU779",
      "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]: [-0.6823, 1.9312, 1.2892, -0.6422, -1.0958, -2.0674, 0.0658, 0.5255, 1.7283, 0.8379, 0.2367, -0.8509, 0.3916, 0.0784]\nstate[eef_state]: left_x=0.4023 left_y=-0.1198 left_z=0.1158 left_yaw=1.1465 left_pitch=-0.0359 left_roll=-0.7161 left_gripper=0.0658 right_x=0.2866 right_y=0.3239 right_z=0.1068 right_yaw=1.0478 right_pitch=-0.053 right_roll=0.8112 right_gripper=0.0784\nstate[joint_eff]: [-4.3282, -9.0462, 6.8855, 0.5104, -0.5641, -0.0317, 1.0134, 0.8547, -6.7761, 10.1265, 1.8584, -0.1685, 0.3053, 0.2173]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c072d9055132da8549a94dddd5005bf324033391a5925338cb41eb91dcd8478",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1dfe3385ffe8d0e40be229a8e584100a6379677c899e8fc14caf14b862a9050",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:175360a4e2ae6bc63710185c120f58d4ffaafff820db9fb6c896e23e404220c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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