adhoc - adhoc_a28b56df.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.anthropic.com/v1
depth: render
effort: medium
image_horizon: 2
images: always
max_llm_calls: 40
max_output_tokens: 16000
max_speed_frac: 0.25
model: claude-opus-5-5
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: 325.3 s
total steps: 242

operator

scenes

trials

errored

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a

Trial 0 transcript

Run video

step 0

system

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

user

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

Raw transcript

system

user

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

step 0

assistant

agent notePen lies diagonally centre-right of table, cap is a small dark item left of centre. Moving right arm above the pen (jaws turned perpendicular to it) and left arm above the cap.

move_to

right_x0.3900right_y0.2500right_z0.1200right_yaw0.7850left_x0.3900left_y-0.1800left_z0.1200left_yaw-0.7850

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.7929, 0.6022, -0.3801, -0.0219, -0.0246, 0.9994, -0.0189, 0.7906, 0.6094, -0.3763, -0.0261, -0.0147, 0.9994] state[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1794 left_yaw=-0.0001 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9994 right_x=0.2957 right_y=0.0026 right_z=0.1842 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.4034, -1.5658, 10.4821, 1.7949, -0.0269, 0.0904, -0.0757, -0.6906, -1.2376, 9.7709, 1.7656, 0.0073, -0.0122, -0.0708] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.39, "right_y": 0.25, "right_z": 0.12, "right_yaw": 0.785, "left_x": 0.39, "left_y": -0.18, "left_z": 0.12, "left_yaw": -0.785}, "note": "Pen lies diagonally centre-right of table, cap is a small dark item left of centre. Moving right arm above the pen (jaws turned perpendicular to it) and left arm above the cap."})

tool

executing move_to over 21 steps (2.1s)

step 21

assistant

agent noteRight wrist cam shows the pen running between the jaws just right of centre; left cam shows the cap slightly left of the jaw column near the bottom. Small lateral corrections and descending both to table level.

move_to

right_x0.3880right_y0.2300right_z0.0000left_x0.3970left_y-0.1440left_z0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2657, 1.5398, 0.7746, 0.049, 0.3759, 0.2394, 0.9993, 0.4461, 1.6299, 0.8589, 0.1287, -0.2634, -0.1715, 0.9994] state[eef_state]: left_x=0.3766 left_y=-0.166 left_z=0.0957 left_yaw=-0.7213 left_pitch=-0.0867 left_roll=-0.0475 left_gripper=0.9993 right_x=0.3809 right_y=0.2371 right_z=0.1039 right_yaw=0.7488 right_pitch=-0.0596 right_roll=0.015 right_gripper=0.9994 state[joint_eff]: [-0.7043, -6.612, 9.3197, 2.0195, 0.315, 0.2222, -0.0171, 0.335, -7.2, 8.6496, 1.9463, -0.105, -0.0659, -0.0122] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.388, "right_y": 0.23, "right_z": 0.0, "left_x": 0.397, "left_y": -0.144, "left_z": 0.0}, "note": "Right wrist cam shows the pen running between the jaws just right of centre; left cam shows the cap slightly left of the jaw column near the bottom. Small lateral corrections and descending both to table level."})

tool

executing move_to over 7 steps (0.7s)

step 28

assistant

agent noteAt table level: pen lies near the right jaw (its pointed tip visible ahead), cap lies near the left jaw of the left gripper. Shifting each gripper sideways to centre the object between the jaws.

move_to

right_x0.4040right_y0.2080right_z-0.0050left_x0.4060left_y-0.1280left_z-0.0050

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1829, 1.8561, 0.6903, 0.4, 0.4221, 0.2909, 0.9993, 0.421, 1.9232, 0.7315, 0.5167, -0.2859, -0.1936, 0.9994] state[eef_state]: left_x=0.3933 left_y=-0.1427 left_z=0.0037 left_yaw=-0.7057 left_pitch=-0.1146 left_roll=-0.058 left_gripper=0.9993 right_x=0.384 right_y=0.2304 right_z=0.0048 right_yaw=0.7549 right_pitch=-0.086 right_roll=0.0205 right_gripper=0.9994 state[joint_eff]: [0.3624, -6.1607, 4.4923, 1.0134, 0.1636, -0.1245, -0.0122, -0.7453, -6.5026, 3.8906, 1.3944, -0.188, 0.0513, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.404, "right_y": 0.208, "right_z": -0.005, "left_x": 0.406, "left_y": -0.128, "left_z": -0.005}, "note": "At table level: pen lies near the right jaw (its pointed tip visible ahead), cap lies near the left jaw of the left gripper. Shifting each gripper sideways to centre the object between the jaws."})

tool

executing move_to over 2 steps (0.2s)

step 30

assistant

agent noteCap is now roughly centred between the left jaws, so closing the left gripper. Pen is still right of centre in the right cam, so shifting the right gripper further to its right.

move_to

right_x0.4100right_y0.2050right_z0.0000left_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]: [-0.1535, 1.8893, 0.7036, 0.4461, 0.4446, 0.308, 0.9993, 0.3798, 1.9591, 0.7486, 0.5629, -0.3275, -0.2268, 0.9994] state[eef_state]: left_x=0.404 left_y=-0.1358 left_z=0.0037 left_yaw=-0.7021 left_pitch=-0.0837 left_roll=-0.0443 left_gripper=0.9993 right_x=0.3973 right_y=0.2236 right_z=0.0052 right_yaw=0.7651 right_pitch=-0.0507 right_roll=0.0078 right_gripper=0.9994 state[joint_eff]: [1.0325, -6.0376, 6.653, 1.1844, 0.0611, 0.0562, -0.0122, -1.812, -6.9538, 5.8598, 1.3846, -0.105, 0.0904, -0.0122] camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.41, "right_y": 0.205, "right_z": 0.0, "left_gripper": 0.0}, "note": "Cap is now roughly centred between the left jaws, so closing the left gripper. Pen is still right of centre in the right cam, so shifting the right gripper further to its right."})

tool

executing move_to over 10 steps (1.0s)

step 40

assistant

agent notePen is centred between the right jaws, so closing the right gripper. Left close came up empty (reading 0.01), so reopening the left gripper to look for the cap.

move_to

right_gripper0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1249, 1.8992, 0.7269, 0.4404, 0.4622, 0.3233, 0.0104, 0.3294, 1.9686, 0.7647, 0.5514, -0.3462, -0.252, 0.9994] state[eef_state]: left_x=0.4127 left_y=-0.1276 left_z=0.007 left_yaw=-0.6952 left_pitch=-0.0707 left_roll=-0.0381 left_gripper=0.0104 right_x=0.409 right_y=0.207 right_z=0.0049 right_yaw=0.7436 right_pitch=-0.0506 right_roll=-0.0005 right_gripper=0.9994 state[joint_eff]: [-0.4855, -6.7214, 5.0256, 1.2039, 0.3346, -0.0171, 0.569, -0.0068, -7.7333, 5.3265, 1.3407, -0.2515, -0.0855, -0.0171] camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.0, "left_gripper": 1.0}, "note": "Pen is centred between the right jaws, so closing the right gripper. Left close came up empty (reading 0.01), so reopening the left gripper to look for the cap."})

tool

executing move_to over 10 steps (1.0s)

step 50

assistant

agent noteLeft cam shows the cap was nudged ~7 cm ahead, lying roughly across the jaw axis; moving the left gripper over it and turning so the jaws straddle it. Also lifting the right arm to check it holds the pen.

move_to

left_x0.4670left_y-0.1720left_z0.0500left_yaw0.4000right_z0.0600

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1268, 1.9102, 0.728, 0.4492, 0.4561, 0.3164, 0.9947, 0.3294, 1.9686, 0.7647, 0.5579, -0.3496, -0.26, 0.0447] state[eef_state]: left_x=0.4135 left_y=-0.1275 left_z=0.0041 left_yaw=-0.6886 left_pitch=-0.074 left_roll=-0.0407 left_gripper=0.9947 right_x=0.4096 right_y=0.2078 right_z=0.0063 right_yaw=0.7505 right_pitch=-0.0438 right_roll=-0.0078 right_gripper=0.0447 state[joint_eff]: [0.1026, -9.4017, 4.6154, 1.4774, 0.1587, 0.022, -0.0415, -0.1299, -8.9915, 4.9299, 1.5604, -0.0464, 0.0659, 1.1258] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.467, "left_y": -0.172, "left_z": 0.05, "left_yaw": 0.4, "right_z": 0.06}, "note": "Left cam shows the cap was nudged ~7 cm ahead, lying roughly across the jaw axis; moving the left gripper over it and turning so the jaws straddle it. Also lifting the right arm to check it holds the pen."})

tool

executing move_to over 7 steps (0.7s)

step 57

assistant

agent noteCap now appears nearly aligned with the jaw gap in the left cam, a bit left and ahead of centre. Shifting left/forward and descending to table level to straddle it; right arm appears to be holding the pen.

move_to

left_x0.4900left_y-0.1680left_z0.0000left_yaw0.2000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5777, 2.0441, 1.2003, 0.062, -0.5457, -0.5827, 0.996, 0.3294, 1.8313, 0.7967, 0.3515, -0.3492, -0.2634, 0.0442] state[eef_state]: left_x=0.475 left_y=-0.196 left_z=0.0482 left_yaw=0.1765 left_pitch=-0.0772 left_roll=-0.0773 left_gripper=0.996 right_x=0.4032 right_y=0.2055 right_z=0.0383 right_yaw=0.7529 right_pitch=-0.0776 right_roll=0.0044 right_gripper=0.0442 state[joint_eff]: [-0.3487, -11.3983, 6.2564, 1.1209, -0.3736, -0.1099, 0.1245, -0.3761, -10.5641, 7.706, 1.7411, -0.188, 0.022, -0.0708] camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.49, "left_y": -0.168, "left_z": 0.0, "left_yaw": 0.2}, "note": "Cap now appears nearly aligned with the jaw gap in the left cam, a bit left and ahead of centre. Shifting left/forward and descending to table level to straddle it; right arm appears to be holding the pen."})

tool

executing move_to over 4 steps (0.4s)

step 61

assistant

agent noteCap is centred between the left jaws and runs down into the grasp zone; closing the left gripper.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5121, 2.1365, 1.1576, 0.1707, -0.572, -0.5911, 0.9961, 0.3294, 1.8252, 0.7975, 0.3275, -0.3492, -0.263, 0.0441] state[eef_state]: left_x=0.4837 left_y=-0.1581 left_z=0.0071 left_yaw=0.2676 left_pitch=-0.0833 left_roll=-0.0521 left_gripper=0.9961 right_x=0.4004 right_y=0.2046 right_z=0.0368 right_yaw=0.7533 right_pitch=-0.0932 right_roll=0.0117 right_gripper=0.0441 state[joint_eff]: [-0.1846, -8.8957, 4.7795, 1.3651, 0.0952, 0.2369, 0.0024, -0.1026, -7.9248, 5.3538, 1.8828, -0.2173, -0.0415, -0.022] camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0}, "note": "Cap is centred between the left jaws and runs down into the grasp zone; closing the left gripper."})

tool

executing move_to over 10 steps (1.0s)

step 71

assistant

agent noteBoth grippers closed with small readings (~0.045–0.05) and both wrist cams show a thin dark object running out of the jaws. Lifting both to confirm the pen and cap come up.

move_to

left_z0.1000right_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]: [-0.5072, 2.1441, 1.1526, 0.2012, -0.5785, -0.5991, 0.0505, 0.3294, 1.8252, 0.7975, 0.3214, -0.3492, -0.263, 0.0441] state[eef_state]: left_x=0.4866 left_y=-0.1558 left_z=0.0069 left_yaw=0.2807 left_pitch=-0.0676 left_roll=-0.0679 left_gripper=0.0505 right_x=0.3995 right_y=0.2042 right_z=0.0357 right_yaw=0.7536 right_pitch=-0.0988 right_roll=0.0143 right_gripper=0.0441 state[joint_eff]: [-0.5675, -11.7402, 5.8188, 1.1404, -0.1783, 0.0806, 1.1062, -0.0342, -8.4034, 5.3812, 1.663, -0.2076, -0.0366, -0.0122] camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.1, "right_z": 0.12}, "note": "Both grippers closed with small readings (~0.045\u20130.05) and both wrist cams show a thin dark object running out of the jaws. Lifting both to confirm the pen and cap come up."})

tool

executing move_to over 7 steps (0.7s)

step 78

assistant

agent noteBoth objects lifted with the jaws (nothing left on the table in the overhead view). Turning the arms so the pen tip (right) points left and the cap (left) points right, facing each other across the centre line with a gap of a few cm.

move_to

left_x0.3500left_y-0.2400left_z0.1500left_yaw-1.5700right_x0.3500right_y0.2500right_z0.1500right_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]: [-0.5072, 1.9915, 1.2469, -0.0803, -0.5755, -0.6044, 0.0585, 0.3294, 1.6566, 0.9306, 0.0074, -0.35, -0.2672, 0.0441] state[eef_state]: left_x=0.4827 left_y=-0.1541 left_z=0.0709 left_yaw=0.2834 left_pitch=-0.0937 left_roll=-0.049 left_gripper=0.0585 right_x=0.3988 right_y=0.2042 right_z=0.102 right_yaw=0.757 right_pitch=-0.1096 right_roll=0.0165 right_gripper=0.0441 state[joint_eff]: [-0.253, -12.9846, 8.9094, 1.4774, -0.2662, 0.0073, 1.033, -0.253, -9.4701, 8.4991, 1.6288, -0.149, 0.0269, -0.0171] camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.35, "left_y": -0.24, "left_z": 0.15, "left_yaw": -1.57, "right_x": 0.35, "right_y": 0.25, "right_z": 0.15, "right_yaw": 1.57}, "note": "Both objects lifted with the jaws (nothing left on the table in the overhead view). Turning the arms so the pen tip (right) points left and the cap (left) points right, facing each other across the centre line with a gap of a few cm."})

tool

executing move_to over 12 steps (1.2s)

step 90

assistant

agent noteWrist cams reveal the pen is still lying on the table near the centre (the thin point I saw before was the closed fingertips), so the right grasp missed. Moving the left arm (cap) aside and bringing the open right gripper over the pen, jaws across it.

move_to

left_y-0.1200left_x0.3300left_z0.1500right_x0.3500right_y0.2700right_z0.1000right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2832, 1.8404, 1.3987, -0.6472, 0.7479, 0.8425, 0.0643, 0.2897, 1.8542, 1.4364, -0.7265, -0.8051, -1.0191, 0.0441] state[eef_state]: left_x=0.3802 left_y=-0.2321 left_z=0.1392 left_yaw=-1.3626 left_pitch=-0.1369 left_roll=-0.0483 left_gripper=0.0643 right_x=0.3667 right_y=0.2459 right_z=0.1458 right_yaw=1.4766 right_pitch=-0.1254 right_roll=-0.0112 right_gripper=0.0441 state[joint_eff]: [-0.4444, -9.5385, 7.665, 0.8132, 0.7204, 0.1783, 1.0281, 0.335, -8.6496, 7.7197, 0.7155, -0.652, -0.0806, -0.0122] 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": {"left_y": -0.12, "left_x": 0.33, "left_z": 0.15, "right_x": 0.35, "right_y": 0.27, "right_z": 0.1, "right_yaw": 0.0, "right_gripper": 1.0}, "note": "Wrist cams reveal the pen is still lying on the table near the centre (the thin point I saw before was the closed fingertips), so the right grasp missed. Moving the left arm (cap) aside and bringing the open right gripper over the pen, jaws across it."})

tool

executing move_to over 10 steps (1.0s)

step 100

assistant

agent noteRight cam shows the pen running forward, a few cm to the right of the jaw column and slightly ahead. Shifting right and forward and lowering to near the table.

move_to

right_x0.3700right_y0.2400right_z0.0300right_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]: [0.0139, 1.7012, 1.2655, -0.9356, 0.8135, 1.1927, 0.0643, 0.8707, 1.7435, 1.0458, -0.1799, 0.4538, 0.4297, 0.9958] state[eef_state]: left_x=0.3413 left_y=-0.12 left_z=0.1373 left_yaw=-1.3248 left_pitch=-0.1694 left_roll=-0.0728 left_gripper=0.0643 right_x=0.3386 right_y=0.2874 right_z=0.0848 right_yaw=0.2377 right_pitch=-0.2062 right_roll=-0.0449 right_gripper=0.9958 state[joint_eff]: [0.2393, -10.1538, 6.0513, 0.5348, 0.7937, 0.2222, 1.0281, 0.3214, -9.4564, 7.788, 1.1258, 0.4957, 0.1636, -0.1734] camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.37, "right_y": 0.24, "right_z": 0.03, "right_yaw": 0.0}, "note": "Right cam shows the pen running forward, a few cm to the right of the jaw column and slightly ahead. Shifting right and forward and lowering to near the table."})

tool

executing move_to over 4 steps (0.4s)

step 104

assistant

agent notePen is visible diagonally, passing near the right jaw at a ~27° angle. Turning the gripper to line up with the pen, shifting ~3 cm right, and descending to table level.

move_to

right_y0.2100right_yaw0.4700right_z0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.0162, 1.6989, 1.2629, -0.9539, 0.8082, 1.2011, 0.0643, 0.7822, 1.8725, 0.9916, -0.1024, 0.5335, 0.543, 0.9965] state[eef_state]: left_x=0.3375 left_y=-0.1187 left_z=0.1359 left_yaw=-1.329 left_pitch=-0.1785 left_roll=-0.0838 left_gripper=0.0643 right_x=0.3614 right_y=0.2376 right_z=0.0285 right_yaw=0.0131 right_pitch=-0.243 right_roll=-0.0824 right_gripper=0.9965 state[joint_eff]: [-0.212, -7.0632, 6.2291, 0.735, 0.4371, -0.1148, 1.0281, 0.0068, -9.4017, 5.8462, 1.5556, 0.3199, 0.0806, 0.0513] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": 0.21, "right_yaw": 0.47, "right_z": 0.0}, "note": "Pen is visible diagonally, passing near the right jaw at a ~27\u00b0 angle. Turning the gripper to line up with the pen, shifting ~3 cm right, and descending to table level."})

tool

executing move_to over 3 steps (0.3s)

step 107

assistant

agent noteThe right arm stalled on the last move (no change in y or yaw), possibly an awkward wrist pose near the table. Raising a little while applying the sideways shift and rotation.

move_to

right_y0.2100right_yaw0.4500right_z0.0600right_x0.3600

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.0162, 1.6993, 1.2629, -0.9543, 0.7929, 1.1877, 0.0643, 0.7727, 1.8946, 0.9829, -0.0662, 0.5301, 0.543, 0.9965] state[eef_state]: left_x=0.3378 left_y=-0.1168 left_z=0.1339 left_yaw=-1.3185 left_pitch=-0.1938 left_roll=-0.091 left_gripper=0.0643 right_x=0.3647 right_y=0.2358 right_z=0.021 right_yaw=0.0069 right_pitch=-0.2412 right_roll=-0.0765 right_gripper=0.9965 state[joint_eff]: [-0.3077, -7.6923, 6.0376, 0.569, 0.5446, 0.105, 1.0281, -0.0752, -9.7983, 6.065, 1.4872, 0.3492, 0.0806, -0.0122] camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": 0.21, "right_yaw": 0.45, "right_z": 0.06, "right_x": 0.36}, "note": "The right arm stalled on the last move (no change in y or yaw), possibly an awkward wrist pose near the table. Raising a little while applying the sideways shift and rotation."})

tool

executing move_to over 3 steps (0.3s)

step 110

assistant

agent noteRight arm is not responding to small targets (joints unchanged). Commanding a clearly higher pose with explicit zero pitch/roll to get the IK out of whatever it is stuck on.

move_to

right_x0.3600right_y0.2200right_z0.1200right_yaw0.4000right_pitch0.0000right_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.0162, 1.6993, 1.2629, -0.9543, 0.7849, 1.1873, 0.0643, 0.7727, 1.8946, 0.9829, -0.0662, 0.5297, 0.543, 0.9965] state[eef_state]: left_x=0.3379 left_y=-0.1158 left_z=0.1329 left_yaw=-1.3165 left_pitch=-0.2015 left_roll=-0.0894 left_gripper=0.0643 right_x=0.3647 right_y=0.2359 right_z=0.0209 right_yaw=0.0072 right_pitch=-0.2414 right_roll=-0.0763 right_gripper=0.9965 state[joint_eff]: [-0.2667, -7.5556, 6.0786, 0.5397, 0.4371, -0.0171, 1.0281, -0.0889, -9.7983, 6.0376, 1.4872, 0.2955, 0.0855, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.36, "right_y": 0.22, "right_z": 0.12, "right_yaw": 0.4, "right_pitch": 0.0, "right_roll": 0.0}, "note": "Right arm is not responding to small targets (joints unchanged). Commanding a clearly higher pose with explicit zero pitch/roll to get the IK out of whatever it is stuck on."})

tool

executing move_to over 9 steps (0.9s)

step 119

assistant

agent noteRight arm is free again; the pen now runs nearly down the jaw column, tilted ~17°. Rotating slightly to align, nudging right ~1 cm and descending to the table.

move_to

right_x0.3660right_y0.2020right_z0.0000right_yaw0.6000right_pitch0.0000right_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.017, 1.702, 1.2625, -0.9535, 0.7666, 1.187, 0.0643, 0.6239, 1.5005, 0.7326, 0.1421, 0.244, 0.1856, 0.9965] state[eef_state]: left_x=0.3385 left_y=-0.1132 left_z=0.1298 left_yaw=-1.3118 left_pitch=-0.2196 left_roll=-0.0875 left_gripper=0.0643 right_x=0.3598 right_y=0.2109 right_z=0.107 right_yaw=0.3081 right_pitch=-0.0474 right_roll=0.0086 right_gripper=0.9965 state[joint_eff]: [-0.0889, -7.8291, 6.1607, 0.5543, 0.5592, -0.0317, 1.0232, -1.1009, -7.0085, 5.6684, 1.6337, 0.0952, -0.0806, -0.0073] approver: 1 step(s) modified (delta_clamped). 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": {"right_x": 0.366, "right_y": 0.202, "right_z": 0.0, "right_yaw": 0.6, "right_pitch": 0.0, "right_roll": 0.0}, "note": "Right arm is free again; the pen now runs nearly down the jaw column, tilted ~17\u00b0. Rotating slightly to align, nudging right ~1 cm and descending to the table."})

tool

executing move_to over 7 steps (0.7s)

step 126

assistant

agent notePen is now centred and aligned along the right jaw gap at table level; closing the right gripper.

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]: [0.017, 1.7027, 1.2613, -0.955, 0.7586, 1.187, 0.0643, 0.4477, 1.8664, 0.5316, 0.7341, -0.0765, -0.0566, 0.9965] state[eef_state]: left_x=0.3381 left_y=-0.1122 left_z=0.1282 left_yaw=-1.3107 left_pitch=-0.228 left_roll=-0.089 left_gripper=0.0643 right_x=0.3674 right_y=0.1954 right_z=0.0014 right_yaw=0.5315 right_pitch=-0.0413 right_roll=-0.0054 right_gripper=0.9965 state[joint_eff]: [-0.1983, -7.8564, 6.0513, 0.525, 0.4322, -0.0757, 1.0281, -0.6632, -6.0923, 3.0974, 1.0623, -0.3785, 0.1245, -0.0122] camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.0}, "note": "Pen is now centred and aligned along the right jaw gap at table level; closing the right gripper."})

tool

executing move_to over 10 steps (1.0s)

step 136

assistant

agent noteRight gripper closed on the pen (reading 0.052, pen seen running out of the jaws). Lifting 8 cm to confirm it comes up.

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]: [0.0174, 1.7027, 1.261, -0.9546, 0.7551, 1.187, 0.0643, 0.4408, 1.8801, 0.5282, 0.767, -0.0822, -0.0589, 0.0521] state[eef_state]: left_x=0.3382 left_y=-0.1116 left_z=0.1277 left_yaw=-1.3096 left_pitch=-0.2313 left_roll=-0.0882 left_gripper=0.0643 right_x=0.3698 right_y=0.1945 right_z=0.0016 right_yaw=0.5307 right_pitch=-0.0254 right_roll=-0.0055 right_gripper=0.0521 state[joint_eff]: [-0.1299, -7.665, 5.9829, 0.5446, 0.3883, -0.0366, 1.0281, 0.3624, -8.6359, 4.8342, 1.453, 0.0024, 0.0415, 1.4481] camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.08}, "note": "Right gripper closed on the pen (reading 0.052, pen seen running out of the jaws). Lifting 8 cm to confirm it comes up."})

tool

executing move_to over 6 steps (0.6s)

step 142

assistant

agent notePen is confirmed in the right gripper (it lifted with the jaws); the left gripper appears to hold the cap. Turning the arms to face each other at the same height with the pen tip pointing toward the cap, leaving a few cm gap.

move_to

right_x0.3500right_y0.2200right_z0.1500right_yaw1.5700right_pitch0.0000right_roll0.0000left_x0.3500left_y-0.2700left_z0.1500left_yaw-1.5700left_pitch0.0000left_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.017, 1.7027, 1.2602, -0.9543, 0.7391, 1.187, 0.0679, 0.44, 1.599, 0.6025, 0.4175, -0.0834, -0.0605, 0.0583] state[eef_state]: left_x=0.3383 left_y=-0.1097 left_z=0.1256 left_yaw=-1.3063 left_pitch=-0.2467 left_roll=-0.0846 left_gripper=0.0679 right_x=0.3696 right_y=0.1942 right_z=0.0683 right_yaw=0.5317 right_pitch=-0.0192 right_roll=-0.0067 right_gripper=0.0583 state[joint_eff]: [-0.3077, -7.8427, 5.9966, 0.6227, 0.4713, -0.0562, 1.0281, 0.0342, -7.8564, 7.8564, 1.8242, -0.0317, 0.0024, 1.0281] camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.35, "right_y": 0.22, "right_z": 0.15, "right_yaw": 1.57, "right_pitch": 0.0, "right_roll": 0.0, "left_x": 0.35, "left_y": -0.27, "left_z": 0.15, "left_yaw": -1.57, "left_pitch": 0.0, "left_roll": 0.0}, "note": "Pen is confirmed in the right gripper (it lifted with the jaws); the left gripper appears to hold the cap. Turning the arms to face each other at the same height with the pen tip pointing toward the cap, leaving a few cm gap."})

tool

executing move_to over 15 steps (1.5s)

step 157

assistant

agent notePen and cap face each other across the centre; left cam shows the pen tip ~3 cm to the cap's side (larger x) and slightly low relative to the left jaws, and readbacks show the left arm 1.6 cm lower. Aligning the left gripper's x and height with the pen axis.

move_to

left_x0.3750left_z0.1670left_yaw-1.5700

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3332, 1.8366, 1.3254, -0.6647, 0.8711, 0.9768, 0.0692, 0.1936, 1.8286, 1.3445, -0.6685, -0.9272, -1.108, 0.0638] state[eef_state]: left_x=0.3378 left_y=-0.2562 left_z=0.1297 left_yaw=-1.5507 left_pitch=-0.067 left_roll=-0.0684 left_gripper=0.0692 right_x=0.3681 right_y=0.2198 right_z=0.1456 right_yaw=1.481 right_pitch=-0.0231 right_roll=-0.0386 right_gripper=0.0638 state[joint_eff]: [-0.3487, -8.841, 9.6342, 1.2332, 0.6764, 0.0611, 1.033, -0.8957, -8.5538, 6.9675, 0.652, -0.8962, -0.0464, 1.033] camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.375, "left_z": 0.167, "left_yaw": -1.57}, "note": "Pen and cap face each other across the centre; left cam shows the pen tip ~3 cm to the cap's side (larger x) and slightly low relative to the left jaws, and readbacks show the left arm 1.6 cm lower. Aligning the left gripper's x and height with the pen axis."})

tool

executing move_to over 3 steps (0.3s)

step 160

assistant

agent noteBoth wrist cams show the pen tip lined up with the left jaws (cap) on the jaw column. Advancing the cap 3 cm onto the pen tip while holding the pen arm still.

move_to

left_y-0.2900right_x0.3614right_y0.2177right_z0.1400right_yaw1.5049

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3115, 1.9591, 1.5806, -0.8383, 0.8707, 1.0073, 0.0713, 0.1921, 1.845, 1.3468, -0.7193, -0.9253, -1.1534, 0.0686] state[eef_state]: left_x=0.3723 left_y=-0.258 left_z=0.1492 left_yaw=-1.5482 left_pitch=-0.08 left_roll=-0.0823 left_gripper=0.0713 right_x=0.3614 right_y=0.2177 right_z=0.1365 right_yaw=1.5049 right_pitch=-0.0424 right_roll=-0.0143 right_gripper=0.0686 state[joint_eff]: [0.3897, -10.947, 7.9658, 0.6569, 0.6081, 0.2808, 1.0134, -0.0752, -10.6051, 5.9145, 1.2088, -0.5495, 0.2662, 1.0134] 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_y": -0.29, "right_x": 0.3614, "right_y": 0.2177, "right_z": 0.14, "right_yaw": 1.5049}, "note": "Both wrist cams show the pen tip lined up with the left jaws (cap) on the jaw column. Advancing the cap 3 cm onto the pen tip while holding the pen arm still."})

tool

executing move_to over 3 steps (0.3s)

step 163

assistant

agent noteThe pen tip now reaches into the left jaws where the cap is held; the left arm stopped ~1 cm short, suggesting contact. Pressing another ~1.5 cm to seat the cap.

move_to

left_y-0.2980right_z0.1400right_x0.3638right_y0.2172right_yaw1.4949

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3683, 1.9842, 1.6012, -0.8284, 0.8413, 0.9474, 0.0724, 0.1921, 1.8446, 1.346, -0.7071, -0.9169, -1.1412, 0.0715] state[eef_state]: left_x=0.366 left_y=-0.2786 left_z=0.1422 left_yaw=-1.561 left_pitch=-0.1068 left_roll=-0.115 left_gripper=0.0724 right_x=0.3638 right_y=0.2172 right_z=0.136 right_yaw=1.4949 right_pitch=-0.0469 right_roll=-0.0177 right_gripper=0.0715 state[joint_eff]: [-0.1436, -10.7556, 6.4205, 1.1013, 0.4029, 0.0171, 0.9597, -0.3214, -9.5658, 6.9675, 0.6374, -0.5543, -0.188, 1.033] camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_y": -0.298, "right_z": 0.14, "right_x": 0.3638, "right_y": 0.2172, "right_yaw": 1.4949}, "note": "The pen tip now reaches into the left jaws where the cap is held; the left arm stopped ~1 cm short, suggesting contact. Pressing another ~1.5 cm to seat the cap."})

tool

executing move_to over 2 steps (0.2s)

step 165

assistant

agent noteLeft arm stopped short again with the pen running right into the left jaws, indicating the cap is pressed onto the pen tip. Releasing the cap so it stays on the pen held by the right arm.

move_to

left_gripper1.0000right_z0.1400right_x0.3609right_y0.2166right_yaw1.5033

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3862, 1.9858, 1.6005, -0.8001, 0.8276, 0.8989, 0.0741, 0.1921, 1.845, 1.346, -0.725, -0.9165, -1.1557, 0.0715] state[eef_state]: left_x=0.3666 left_y=-0.2856 left_z=0.1416 left_yaw=-1.5446 left_pitch=-0.1115 left_roll=-0.1239 left_gripper=0.0741 right_x=0.3609 right_y=0.2166 right_z=0.1347 right_yaw=1.5033 right_pitch=-0.052 right_roll=-0.012 right_gripper=0.0715 state[joint_eff]: [-0.5812, -10.0171, 7.3778, 0.8327, 0.5641, 0.1441, 0.7985, -0.3624, -9.5795, 7.0222, 0.8669, -0.4811, 0.1099, 1.033] camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 1.0, "right_z": 0.14, "right_x": 0.3609, "right_y": 0.2166, "right_yaw": 1.5033}, "note": "Left arm stopped short again with the pen running right into the left jaws, indicating the cap is pressed onto the pen tip. Releasing the cap so it stays on the pen held by the right arm."})

tool

executing move_to over 10 steps (1.0s)

step 175

assistant

agent noteOn release the cap dropped to the table (visible left of centre, near the viewer) and the pen tip is bare, so the cap wasn't seated. Moving the left gripper above the cap, jaws across it, to grasp it again; right arm keeps the pen.

move_to

left_x0.2900left_y-0.2300left_z0.0800left_yaw-0.6000left_pitch0.0000left_roll0.0000right_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]: [-0.3866, 1.9858, 1.6005, -0.812, 0.8188, 0.902, 0.9951, 0.1921, 1.845, 1.346, -0.7265, -0.9104, -1.1561, 0.0715] state[eef_state]: left_x=0.3654 left_y=-0.2842 left_z=0.1397 left_yaw=-1.5443 left_pitch=-0.1236 left_roll=-0.1292 left_gripper=0.9951 right_x=0.3611 right_y=0.216 right_z=0.1338 right_yaw=1.5014 right_pitch=-0.0579 right_roll=-0.0124 right_gripper=0.0715 state[joint_eff]: [-0.6632, -10.0991, 7.1043, 0.8864, 0.4713, 0.0757, -0.1441, -0.294, -9.6752, 7.3231, 0.5983, -0.5641, -0.0415, 1.0281] camera 'top_cam' (step 175): [image omitted: streamed camera frame] camera 'left_cam' (step 175): [image omitted: streamed camera frame] camera 'right_cam' (step 175): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.29, "left_y": -0.23, "left_z": 0.08, "left_yaw": -0.6, "left_pitch": 0.0, "left_roll": 0.0, "right_z": 0.15}, "note": "On release the cap dropped to the table (visible left of centre, near the viewer) and the pen tip is bare, so the cap wasn't seated. Moving the left gripper above the cap, jaws across it, to grasp it again; right arm keeps the pen."})

tool

executing move_to over 7 steps (0.7s)

step 182

assistant

agent noteThe right cam shows the cap lying right beside the left gripper's fingertips (hidden from the top view under the left gripper). Descending the open left gripper to table level around it.

move_to

left_x0.2700left_z-0.0050left_yaw-0.6000left_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]: [-0.6998, 1.396, 0.4744, 0.1764, 0.1028, 0.0605, 0.996, 0.1921, 1.8427, 1.364, -0.7692, -0.8986, -1.1568, 0.0715] state[eef_state]: left_x=0.2589 left_y=-0.237 left_z=0.0465 left_yaw=-0.8322 left_pitch=-0.1696 left_roll=-0.0183 left_gripper=0.996 right_x=0.3587 right_y=0.2142 right_z=0.1361 right_yaw=1.4992 right_pitch=-0.0745 right_roll=0.0059 right_gripper=0.0715 state[joint_eff]: [0.0479, -5.9009, 7.2, 2.0928, -0.2222, -0.0708, 0.0806, -0.1299, -10.0991, 8.759, 0.7253, -0.6032, -0.0073, 1.0281] camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.27, "left_z": -0.005, "left_yaw": -0.6, "left_pitch": 0.0}, "note": "The right cam shows the cap lying right beside the left gripper's fingertips (hidden from the top view under the left gripper). Descending the open left gripper to table level around it."})

tool

executing move_to over 6 steps (0.6s)

step 188

assistant

agent noteLeft gripper is at table level where the cap was seen beside/under its fingertips; closing to grasp 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]: [-0.8085, 1.7462, 0.3077, 0.831, -0.1535, -0.0982, 0.9961, 0.1921, 1.8431, 1.3655, -0.7746, -0.8921, -1.1568, 0.0715] state[eef_state]: left_x=0.27 left_y=-0.2384 left_z=-0.0025 left_yaw=-0.6378 left_pitch=-0.0288 left_roll=0.0151 left_gripper=0.9961 right_x=0.3586 right_y=0.2135 right_z=0.1352 right_yaw=1.4973 right_pitch=-0.0816 right_roll=0.0083 right_gripper=0.0715 state[joint_eff]: [-0.294, -4.5333, 2.0308, 0.9255, 0.2955, -0.5055, 0.0024, -0.253, -9.2923, 5.9419, 0.7643, -0.5495, -0.0269, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0}, "note": "Left gripper is at table level where the cap was seen beside/under its fingertips; closing to grasp it."})

tool

executing move_to over 10 steps (1.0s)

step 198

assistant

agent noteEmpty close. The right wrist cam shows the cap just beyond the left fingertips (~2–3 cm toward +x), lying diagonally. Opening, shifting over it and turning the jaws across its length.

move_to

left_gripper1.0000left_x0.2950left_y-0.2280left_z0.0300left_yaw0.6000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8112, 1.7527, 0.2966, 0.8608, -0.173, -0.104, 0.0077, 0.1921, 1.8431, 1.3655, -0.7746, -0.8909, -1.1568, 0.0715] state[eef_state]: left_x=0.2709 left_y=-0.2359 left_z=-0.0016 left_yaw=-0.6212 left_pitch=-0.0147 left_roll=0.019 left_gripper=0.0077 right_x=0.3587 right_y=0.2134 right_z=0.1351 right_yaw=1.4969 right_pitch=-0.0826 right_roll=0.0081 right_gripper=0.0715 state[joint_eff]: [0.2256, -6.3795, 4.3556, 1.409, 0.0904, 0.0415, 0.6032, -0.3214, -9.1145, 6.2017, 0.7741, -0.5104, -0.0611, 1.0281] camera 'top_cam' (step 198): [image omitted: streamed camera frame] camera 'left_cam' (step 198): [image omitted: streamed camera frame] camera 'right_cam' (step 198): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 1.0, "left_x": 0.295, "left_y": -0.228, "left_z": 0.03, "left_yaw": 0.6}, "note": "Empty close. The right wrist cam shows the cap just beyond the left fingertips (~2\u20133 cm toward +x), lying diagonally. Opening, shifting over it and turning the jaws across its length."})

tool

executing move_to over 10 steps (1.0s)

step 208

assistant

agent noteThe left arm ended ~5 cm right of its target; the overhead view shows the cap just left of the left jaws. Re-sending the position over the cap.

move_to

left_x0.3000left_y-0.2150left_z0.0300left_yaw0.6000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.0775, 2.1036, 1.2411, -0.524, -0.9432, -1.5108, 0.995, 0.1917, 1.8431, 1.3647, -0.7773, -0.8837, -1.1599, 0.0715] state[eef_state]: left_x=0.3141 left_y=-0.2748 left_z=0.0217 left_yaw=0.4395 left_pitch=-0.0493 left_roll=-0.1274 left_gripper=0.995 right_x=0.3586 right_y=0.2124 right_z=0.1337 right_yaw=1.4961 right_pitch=-0.0901 right_roll=0.0071 right_gripper=0.0715 state[joint_eff]: [0.5812, -10.7692, 5.3402, 0.0562, -0.8327, 0.0073, -0.1441, -0.3487, -9.1009, 6.1333, 0.696, -0.4957, 0.0073, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.3, "left_y": -0.215, "left_z": 0.03, "left_yaw": 0.6}, "note": "The left arm ended ~5 cm right of its target; the overhead view shows the cap just left of the left jaws. Re-sending the position over the cap."})

tool

executing move_to over 6 steps (0.6s)

step 214

assistant

agent noteLeft cam now shows the cap at the left edge, ~4 cm to the gripper's left and a bit ahead, lying roughly along the jaw gap direction. The arm keeps falling short in y near the table, so lifting slightly while shifting left.

move_to

left_x0.3130left_y-0.1950left_z0.0500left_yaw0.5000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.0672, 2.1044, 1.2049, -0.5873, -0.9421, -1.6012, 0.9961, 0.1921, 1.8431, 1.3647, -0.7757, -0.8829, -1.1599, 0.0715] state[eef_state]: left_x=0.3059 left_y=-0.2517 left_z=0.0116 left_yaw=0.5038 left_pitch=-0.0582 left_roll=-0.1004 left_gripper=0.9961 right_x=0.3588 right_y=0.2125 right_z=0.1337 right_yaw=1.496 right_pitch=-0.0904 right_roll=0.0054 right_gripper=0.0715 state[joint_eff]: [0.0889, -12.8479, 4.9162, 0.5739, -0.6032, 0.2271, 0.0904, -0.3077, -9.2513, 6.1333, 0.7937, -0.486, -0.0415, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.313, "left_y": -0.195, "left_z": 0.05, "left_yaw": 0.5}, "note": "Left cam now shows the cap at the left edge, ~4 cm to the gripper's left and a bit ahead, lying roughly along the jaw gap direction. The arm keeps falling short in y near the table, so lifting slightly while shifting left."})

tool

executing move_to over 6 steps (0.6s)

step 220

assistant

agent noteLeft arm is frozen (no joint change), the same IK stall the right arm had. Commanding a higher pose with explicit zero pitch/roll to free it, moving over the cap.

move_to

left_x0.3100left_y-0.2000left_z0.1200left_yaw0.4000left_pitch0.0000left_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.0676, 2.1044, 1.2049, -0.5854, -0.9417, -1.5932, 0.9961, 0.1921, 1.8431, 1.3647, -0.7769, -0.8822, -1.1599, 0.0715] state[eef_state]: left_x=0.3059 left_y=-0.2521 left_z=0.0116 left_yaw=0.4989 left_pitch=-0.0582 left_roll=-0.0958 left_gripper=0.9961 right_x=0.3587 right_y=0.2124 right_z=0.1336 right_yaw=1.4959 right_pitch=-0.0914 right_roll=0.0064 right_gripper=0.0715 state[joint_eff]: [-0.1709, -12.8752, 4.9299, 0.5201, -0.5739, 0.0904, -0.0073, -0.3214, -9.2239, 6.0786, 0.7643, -0.4811, -0.022, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.31, "left_y": -0.2, "left_z": 0.12, "left_yaw": 0.4, "left_pitch": 0.0, "left_roll": 0.0}, "note": "Left arm is frozen (no joint change), the same IK stall the right arm had. Commanding a higher pose with explicit zero pitch/roll to free it, moving over the cap."})

tool

executing move_to over 7 steps (0.7s)

step 227

assistant

agent noteLeft arm is free again; the left cam shows the cap aligned with the jaw gap but ~5 cm to the left and slightly ahead. Shifting left and lowering to just above the table.

move_to

left_x0.3060left_y-0.1600left_z0.0300left_yaw0.4300left_pitch0.0000left_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9981, 1.7546, 1.1091, -0.6743, -0.944, -1.3426, 0.9961, 0.1921, 1.8431, 1.3647, -0.7757, -0.8715, -1.1599, 0.0715] state[eef_state]: left_x=0.3092 left_y=-0.2089 left_z=0.104 left_yaw=0.4256 left_pitch=-0.0343 left_roll=-0.056 left_gripper=0.9961 right_x=0.3595 right_y=0.2113 right_z=0.1323 right_yaw=1.4922 right_pitch=-0.1009 right_roll=0.0025 right_gripper=0.0715 state[joint_eff]: [0.294, -9.1145, 5.6547, 0.5885, -0.8523, 0.188, -0.0073, -0.3214, -9.2786, 6.065, 0.8132, -0.5348, -0.0464, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.306, "left_y": -0.16, "left_z": 0.03, "left_yaw": 0.43, "left_pitch": 0.0, "left_roll": 0.0}, "note": "Left arm is free again; the left cam shows the cap aligned with the jaw gap but ~5 cm to the left and slightly ahead. Shifting left and lowering to just above the table."})

tool

executing move_to over 5 steps (0.5s)

step 232

assistant

agent noteCap is now centred on the jaw column and aligned with the jaw gap, slightly ahead of the fingertips. Advancing ~1.5 cm and descending to table level.

move_to

left_x0.3100left_y-0.1470left_z-0.0050left_pitch0.0000left_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9337, 1.7889, 0.799, -0.3584, -0.9531, -1.2469, 0.9961, 0.1917, 1.8431, 1.3647, -0.7757, -0.8646, -1.1599, 0.0715] state[eef_state]: left_x=0.2969 left_y=-0.1531 left_z=0.0299 left_yaw=0.4415 left_pitch=-0.0308 left_roll=0.0527 left_gripper=0.9961 right_x=0.3601 right_y=0.2104 right_z=0.1314 right_yaw=1.4895 right_pitch=-0.1072 right_roll=0.0008 right_gripper=0.0715 state[joint_eff]: [0.3077, -6.3658, 5.2034, 0.7302, -0.569, 0.1001, -0.0073, -0.294, -9.0462, 6.0923, 0.7595, -0.5495, -0.0415, 1.0281] camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.31, "left_y": -0.147, "left_z": -0.005, "left_pitch": 0.0, "left_roll": 0.0}, "note": "Cap is now centred on the jaw column and aligned with the jaw gap, slightly ahead of the fingertips. Advancing ~1.5 cm and descending to table level."})

tool

executing move_to over 3 steps (0.3s)

step 235

assistant

agent noteCap is centred between the left jaws but the arm stayed ~3 cm above the table. Commanding the descent to table level again.

move_to

left_z-0.0100left_x0.3100left_y-0.1550

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9298, 1.7973, 0.7784, -0.2493, -0.9543, -1.2282, 0.9961, 0.1921, 1.8431, 1.3647, -0.7757, -0.8642, -1.1595, 0.0715] state[eef_state]: left_x=0.3038 left_y=-0.1602 left_z=0.0278 left_yaw=0.4337 left_pitch=-0.0139 left_roll=-0.0101 left_gripper=0.9961 right_x=0.36 right_y=0.2105 right_z=0.1313 right_yaw=1.4896 right_pitch=-0.1076 right_roll=0.001 right_gripper=0.0715 state[joint_eff]: [-0.0479, -7.2137, 5.094, 0.823, -0.6129, 0.149, -0.0122, -0.3214, -9.1282, 6.0923, 0.7937, -0.4713, -0.0464, 1.0281] camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": -0.01, "left_x": 0.31, "left_y": -0.155}, "note": "Cap is centred between the left jaws but the arm stayed ~3 cm above the table. Commanding the descent to table level again."})

tool

executing move_to over 3 steps (0.3s)

step 238

assistant

agent noteLeft arm is stalled again 3 cm above the table with the cap centred below. Re-commanding the descent with explicit orientation to break the IK hold.

move_to

left_z-0.0100left_x0.3100left_y-0.1550left_yaw0.4500left_pitch0.0500left_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9298, 1.7973, 0.7784, -0.2493, -0.9543, -1.2285, 0.9961, 0.1921, 1.8431, 1.3647, -0.7753, -0.8639, -1.1595, 0.0715] state[eef_state]: left_x=0.3038 left_y=-0.1602 left_z=0.0278 left_yaw=0.4339 left_pitch=-0.0139 left_roll=-0.0104 left_gripper=0.9961 right_x=0.3601 right_y=0.2105 right_z=0.1313 right_yaw=1.4894 right_pitch=-0.1078 right_roll=0.0005 right_gripper=0.0715 state[joint_eff]: [-0.0068, -7.2137, 4.9026, 0.8425, -0.6618, 0.1636, -0.0073, -0.2393, -9.0872, 6.106, 0.8132, -0.442, -0.0317, 1.0281] camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": -0.01, "left_x": 0.31, "left_y": -0.155, "left_yaw": 0.45, "left_pitch": 0.05, "left_roll": 0.0}, "note": "Left arm is stalled again 3 cm above the table with the cap centred below. Re-commanding the descent with explicit orientation to break the IK hold."})

tool

executing move_to over 3 steps (0.3s)

step 241

assistant

agent noteI couldn't put the cap on the pen. The pen is held in the right gripper, but the cap isn't in either gripper. I did push the cap against the pen tip once, but it wasn't seated and fell off when I opened the left gripper. Picking it up again failed: one close came up empty, and now the left arm is stuck 3 cm above the cap and won't lower. I have too few calls left to grasp the cap, line it up and press it on.

give_up

hindsight- IK freeze: both arms sometimes stop dead, with joints unchanged and a readback frozen short of the target. This happened near the table (z < 0.03) after big yaw changes, when pitch and roll had drifted off zero (about 0.1–0.25 rad) and the wrist joints were near ±1 rad or more. Re-sending small targets does nothing. What freed it: raise z to about 0.10–0.12 and command pitch=0, roll=0 explicitly. Send pitch=0 and roll=0 with every move from the start to avoid this. - Don't mistake the fingertips for an object: when a gripper closes, its fingertips show in the wrist cam as a thin pointed rod on the jaw column. A settled reading of about 0.045–0.07 can still be empty or a poor grasp. My first pen grasp read 0.044 and was empty; I only found out after rotating. Check every grasp by lifting and looking in the other arm's wrist cam or the top cam. - Pen: lying flat it reads about 0.05–0.06 when held. Grasp it at yaw roughly perpendicular to its length, then fine-tune using the wrist cam: rotate until the pen runs straight down the image (a clockwise image tilt needs positive yaw) and shift until it sits on column 110 at the bottom. - The cap is small and thin. Held in the left gripper it read about 0.07, and it sat too shallow in the jaws to seat on the pen tip. Pushing the pen into it stopped the arm about 1 cm short, and opening the gripper dropped the cap. Next time, grasp the cap near its closed end so the open end sticks out forward. Check which end is open before grasping, e.g. from a pose looking along the cap. - Setup for putting the cap on: right yaw +1.57 (pen tip pointing left, +y) and left yaw -1.57, at x≈0.36, z≈0.14–0.15, grasp points about 15 cm apart. Each wrist cam then sees the other object on its jaw column, which made alignment easy. Hold the pen arm by re-commanding its pose, because it drifts down about 1 cm. - Top cam: across the table the scale was about 2.7 px/cm; the base spacing of 0.65 m spans about 175 px. My starting estimates from it were good to about 1–2 cm.

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9298, 1.7973, 0.7784, -0.2493, -0.9539, -1.2289, 0.9961, 0.1921, 1.8431, 1.3647, -0.7753, -0.8639, -1.1599, 0.0715] state[eef_state]: left_x=0.3038 left_y=-0.1602 left_z=0.0278 left_yaw=0.434 left_pitch=-0.0143 left_roll=-0.0108 left_gripper=0.9961 right_x=0.3601 right_y=0.2105 right_z=0.1313 right_yaw=1.4896 right_pitch=-0.1078 right_roll=0.0002 right_gripper=0.0715 state[joint_eff]: [-0.2256, -7.0222, 4.9026, 0.8523, -0.6374, 0.1783, -0.0073, -0.1846, -9.0872, 6.0923, 0.7839, -0.4567, -0.0415, 1.0281] camera 'top_cam' (step 241): [image omitted: streamed camera frame] camera 'left_cam' (step 241): [image omitted: streamed camera frame] camera 'right_cam' (step 241): [image omitted: streamed camera frame]

assistant

give_up({"reason": "I couldn't put the cap on the pen. The pen is held in the right gripper, but the cap isn't in either gripper. I did push the cap against the pen tip once, but it wasn't seated and fell off when I opened the left gripper. Picking it up again failed: one close came up empty, and now the left arm is stuck 3 cm above the cap and won't lower. I have too few calls left to grasp the cap, line it up and press it on.", "hindsight": "- IK freeze: both arms sometimes stop dead, with joints unchanged and a readback frozen short of the target. This happened near the table (z < 0.03) after big yaw changes, when pitch and roll had drifted off zero (about 0.1\u20130.25 rad) and the wrist joints were near \u00b11 rad or more. Re-sending small targets does nothing. What freed it: raise z to about 0.10\u20130.12 and command pitch=0, roll=0 explicitly. Send pitch=0 and roll=0 with every move from the start to avoid this.\n- Don't mistake the fingertips for an object: when a gripper closes, its fingertips show in the wrist cam as a thin pointed rod on the jaw column. A settled reading of about 0.045\u20130.07 can still be empty or a poor grasp. My first pen grasp read 0.044 and was empty; I only found out after rotating. Check every grasp by lifting and looking in the other arm's wrist cam or the top cam.\n- Pen: lying flat it reads about 0.05\u20130.06 when held. Grasp it at yaw roughly perpendicular to its length, then fine-tune using the wrist cam: rotate until the pen runs straight down the image (a clockwise image tilt needs positive yaw) and shift until it sits on column 110 at the bottom.\n- The cap is small and thin. Held in the left gripper it read about 0.07, and it sat too shallow in the jaws to seat on the pen tip. Pushing the pen into it stopped the arm about 1 cm short, and opening the gripper dropped the cap. Next time, grasp the cap near its closed end so the open end sticks out forward. Check which end is open before grasping, e.g. from a pose looking along the cap.\n- Setup for putting the cap on: right yaw +1.57 (pen tip pointing left, +y) and left yaw -1.57, at x\u22480.36, z\u22480.14\u20130.15, grasp points about 15 cm apart. Each wrist cam then sees the other object on its jaw column, which made alignment easy. Hold the pen arm by re-commanding its pose, because it drifts down about 1 cm.\n- Top cam: across the table the scale was about 2.7 px/cm; the base spacing of 0.65 m spans about 175 px. My starting estimates from it were good to about 1\u20132 cm."})

tool

give_up: I couldn't put the cap on the pen. The pen is held in the right gripper, but the cap isn't in either gripper. I did push the cap against the pen tip once, but it wasn't seated and fell off when I opened the left gripper. Picking it up again failed: one close came up empty, and now the left arm is stuck 3 cm above the cap and won't lower. I have too few calls left to grasp the cap, line it up and press it on.

Trial 0 Wire

Tools (trial initial)

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

System (trial initial)

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

call 0 attempt 0 · /messages · status 200 · 20.84 s

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6022, -0.3801, -0.0219, -0.0246, 0.9994, -0.0189, 0.7906, 0.6094, -0.3763, -0.0261, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1794 left_yaw=-0.0001 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9994 right_x=0.2957 right_y=0.0026 right_z=0.1842 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4034, -1.5658, 10.4821, 1.7949, -0.0269, 0.0904, -0.0757, -0.6906, -1.2376, 9.7709, 1.7656, 0.0073, -0.0122, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72926302085879b275f359a04c39d6435241b59485a8a397243aaebc5415f4e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f81470b2b757d9f678c154e5a3af6d369ab847a5ea1095164ce323f427a9befc",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
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    {
      "text": "camera 'right_cam' (step 0):",
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    {
      "cache_control": {
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      "source": {
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      "type": "image"
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  "role": "user"
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[blob elided: media budget]

call 1 attempt 0 · /messages · status 200 · 8.966 s

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

message 1 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6022, -0.3801, -0.0219, -0.0246, 0.9994, -0.0189, 0.7906, 0.6094, -0.3763, -0.0261, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1794 left_yaw=-0.0001 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9994 right_x=0.2957 right_y=0.0026 right_z=0.1842 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4034, -1.5658, 10.4821, 1.7949, -0.0269, 0.0904, -0.0757, -0.6906, -1.2376, 9.7709, 1.7656, 0.0073, -0.0122, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72926302085879b275f359a04c39d6435241b59485a8a397243aaebc5415f4e3",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
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    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f81470b2b757d9f678c154e5a3af6d369ab847a5ea1095164ce323f427a9befc",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
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    {
      "text": "camera 'right_cam' (step 0):",
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        "data": "$blob:c00131b308edcb5ec4efc7b5bf5008d152c816bec9d42124b745fb2bd95beee8",
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[blob elided: media budget]

{
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    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NfmNu51VHE3wgNHgzkKxqd",
      "input": {
        "note": "Pen lies diagonally centre-right of table, cap is a small dark item left of centre. Moving right arm above the pen (jaws turned perpendicular to it) and left arm above the cap.",
        "targets": {
          "left_x": 0.39,
          "left_y": -0.18,
          "left_yaw": -0.785,
          "left_z": 0.12,
          "right_x": 0.39,
          "right_y": 0.25,
          "right_yaw": 0.785,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_01NfmNu51VHE3wgNHgzkKxqd",
      "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]: [-0.2657, 1.5398, 0.7746, 0.049, 0.3759, 0.2394, 0.9993, 0.4461, 1.6299, 0.8589, 0.1287, -0.2634, -0.1715, 0.9994]\nstate[eef_state]: left_x=0.3766 left_y=-0.166 left_z=0.0957 left_yaw=-0.7213 left_pitch=-0.0867 left_roll=-0.0475 left_gripper=0.9993 right_x=0.3809 right_y=0.2371 right_z=0.1039 right_yaw=0.7488 right_pitch=-0.0596 right_roll=0.015 right_gripper=0.9994\nstate[joint_eff]: [-0.7043, -6.612, 9.3197, 2.0195, 0.315, 0.2222, -0.0171, 0.335, -7.2, 8.6496, 1.9463, -0.105, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8b6819a11c6b9238c505ba307d0d61711c9f2a2e67345598c75017641af69d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52d0809660ede0081a4b66031469b1fa39c51dfd89acff222534ff5c2035f945",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ffa2a0ada2b37a2767303e3de9c9588c9246301e63e6f752a7c82268f82055f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /messages · status 200 · 7.331 s

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

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6022, -0.3801, -0.0219, -0.0246, 0.9994, -0.0189, 0.7906, 0.6094, -0.3763, -0.0261, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1794 left_yaw=-0.0001 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9994 right_x=0.2957 right_y=0.0026 right_z=0.1842 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4034, -1.5658, 10.4821, 1.7949, -0.0269, 0.0904, -0.0757, -0.6906, -1.2376, 9.7709, 1.7656, 0.0073, -0.0122, -0.0708]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2657, 1.5398, 0.7746, 0.049, 0.3759, 0.2394, 0.9993, 0.4461, 1.6299, 0.8589, 0.1287, -0.2634, -0.1715, 0.9994]\nstate[eef_state]: left_x=0.3766 left_y=-0.166 left_z=0.0957 left_yaw=-0.7213 left_pitch=-0.0867 left_roll=-0.0475 left_gripper=0.9993 right_x=0.3809 right_y=0.2371 right_z=0.1039 right_yaw=0.7488 right_pitch=-0.0596 right_roll=0.015 right_gripper=0.9994\nstate[joint_eff]: [-0.7043, -6.612, 9.3197, 2.0195, 0.315, 0.2222, -0.0171, 0.335, -7.2, 8.6496, 1.9463, -0.105, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8b6819a11c6b9238c505ba307d0d61711c9f2a2e67345598c75017641af69d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52d0809660ede0081a4b66031469b1fa39c51dfd89acff222534ff5c2035f945",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffa2a0ada2b37a2767303e3de9c9588c9246301e63e6f752a7c82268f82055f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015sc6EuiADaMBUcEdHAWyay",
      "input": {
        "note": "Right wrist cam shows the pen running between the jaws just right of centre; left cam shows the cap slightly left of the jaw column near the bottom. Small lateral corrections and descending both to table level.",
        "targets": {
          "left_x": 0.397,
          "left_y": -0.144,
          "left_z": 0.0,
          "right_x": 0.388,
          "right_y": 0.23,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_015sc6EuiADaMBUcEdHAWyay",
      "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]: [-0.1829, 1.8561, 0.6903, 0.4, 0.4221, 0.2909, 0.9993, 0.421, 1.9232, 0.7315, 0.5167, -0.2859, -0.1936, 0.9994]\nstate[eef_state]: left_x=0.3933 left_y=-0.1427 left_z=0.0037 left_yaw=-0.7057 left_pitch=-0.1146 left_roll=-0.058 left_gripper=0.9993 right_x=0.384 right_y=0.2304 right_z=0.0048 right_yaw=0.7549 right_pitch=-0.086 right_roll=0.0205 right_gripper=0.9994\nstate[joint_eff]: [0.3624, -6.1607, 4.4923, 1.0134, 0.1636, -0.1245, -0.0122, -0.7453, -6.5026, 3.8906, 1.3944, -0.188, 0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7238db1b19c6a2cf35aa136895dd3a620f5e327b92b2650e70833a6ef98670d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf23650875224ee58adca4eb5c8d11071ec84b37cc26adad12b873cfebd88488",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:27583df405b187955eb8acbe92a5fa793d045c9184041376d728fa8f72d21cb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /messages · status 200 · 5.527 s

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

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6022, -0.3801, -0.0219, -0.0246, 0.9994, -0.0189, 0.7906, 0.6094, -0.3763, -0.0261, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1794 left_yaw=-0.0001 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9994 right_x=0.2957 right_y=0.0026 right_z=0.1842 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4034, -1.5658, 10.4821, 1.7949, -0.0269, 0.0904, -0.0757, -0.6906, -1.2376, 9.7709, 1.7656, 0.0073, -0.0122, -0.0708]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2657, 1.5398, 0.7746, 0.049, 0.3759, 0.2394, 0.9993, 0.4461, 1.6299, 0.8589, 0.1287, -0.2634, -0.1715, 0.9994]\nstate[eef_state]: left_x=0.3766 left_y=-0.166 left_z=0.0957 left_yaw=-0.7213 left_pitch=-0.0867 left_roll=-0.0475 left_gripper=0.9993 right_x=0.3809 right_y=0.2371 right_z=0.1039 right_yaw=0.7488 right_pitch=-0.0596 right_roll=0.015 right_gripper=0.9994\nstate[joint_eff]: [-0.7043, -6.612, 9.3197, 2.0195, 0.315, 0.2222, -0.0171, 0.335, -7.2, 8.6496, 1.9463, -0.105, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1829, 1.8561, 0.6903, 0.4, 0.4221, 0.2909, 0.9993, 0.421, 1.9232, 0.7315, 0.5167, -0.2859, -0.1936, 0.9994]\nstate[eef_state]: left_x=0.3933 left_y=-0.1427 left_z=0.0037 left_yaw=-0.7057 left_pitch=-0.1146 left_roll=-0.058 left_gripper=0.9993 right_x=0.384 right_y=0.2304 right_z=0.0048 right_yaw=0.7549 right_pitch=-0.086 right_roll=0.0205 right_gripper=0.9994\nstate[joint_eff]: [0.3624, -6.1607, 4.4923, 1.0134, 0.1636, -0.1245, -0.0122, -0.7453, -6.5026, 3.8906, 1.3944, -0.188, 0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7238db1b19c6a2cf35aa136895dd3a620f5e327b92b2650e70833a6ef98670d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf23650875224ee58adca4eb5c8d11071ec84b37cc26adad12b873cfebd88488",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27583df405b187955eb8acbe92a5fa793d045c9184041376d728fa8f72d21cb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013KgkZcJ1iU6BitiazPS9Qq",
      "input": {
        "note": "At table level: pen lies near the right jaw (its pointed tip visible ahead), cap lies near the left jaw of the left gripper. Shifting each gripper sideways to centre the object between the jaws.",
        "targets": {
          "left_x": 0.406,
          "left_y": -0.128,
          "left_z": -0.005,
          "right_x": 0.404,
          "right_y": 0.208,
          "right_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_013KgkZcJ1iU6BitiazPS9Qq",
      "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]: [-0.1535, 1.8893, 0.7036, 0.4461, 0.4446, 0.308, 0.9993, 0.3798, 1.9591, 0.7486, 0.5629, -0.3275, -0.2268, 0.9994]\nstate[eef_state]: left_x=0.404 left_y=-0.1358 left_z=0.0037 left_yaw=-0.7021 left_pitch=-0.0837 left_roll=-0.0443 left_gripper=0.9993 right_x=0.3973 right_y=0.2236 right_z=0.0052 right_yaw=0.7651 right_pitch=-0.0507 right_roll=0.0078 right_gripper=0.9994\nstate[joint_eff]: [1.0325, -6.0376, 6.653, 1.1844, 0.0611, 0.0562, -0.0122, -1.812, -6.9538, 5.8598, 1.3846, -0.105, 0.0904, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cdf7ff57a64e7ee1dc87cc6323abb2974a5a9cbde3d3d36e16c13e8861b8f093",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:108e7cd634cada1b504aad4245a1c2c4e0c6d03ef1990a4990e917d6825e9c76",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2869afd670958f12736a0a1a18311e6e42b65eaa6906a049f1af433aaaa1c7f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /messages · status 200 · 4.848 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]: [-0.2657, 1.5398, 0.7746, 0.049, 0.3759, 0.2394, 0.9993, 0.4461, 1.6299, 0.8589, 0.1287, -0.2634, -0.1715, 0.9994]\nstate[eef_state]: left_x=0.3766 left_y=-0.166 left_z=0.0957 left_yaw=-0.7213 left_pitch=-0.0867 left_roll=-0.0475 left_gripper=0.9993 right_x=0.3809 right_y=0.2371 right_z=0.1039 right_yaw=0.7488 right_pitch=-0.0596 right_roll=0.015 right_gripper=0.9994\nstate[joint_eff]: [-0.7043, -6.612, 9.3197, 2.0195, 0.315, 0.2222, -0.0171, 0.335, -7.2, 8.6496, 1.9463, -0.105, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1829, 1.8561, 0.6903, 0.4, 0.4221, 0.2909, 0.9993, 0.421, 1.9232, 0.7315, 0.5167, -0.2859, -0.1936, 0.9994]\nstate[eef_state]: left_x=0.3933 left_y=-0.1427 left_z=0.0037 left_yaw=-0.7057 left_pitch=-0.1146 left_roll=-0.058 left_gripper=0.9993 right_x=0.384 right_y=0.2304 right_z=0.0048 right_yaw=0.7549 right_pitch=-0.086 right_roll=0.0205 right_gripper=0.9994\nstate[joint_eff]: [0.3624, -6.1607, 4.4923, 1.0134, 0.1636, -0.1245, -0.0122, -0.7453, -6.5026, 3.8906, 1.3944, -0.188, 0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.1535, 1.8893, 0.7036, 0.4461, 0.4446, 0.308, 0.9993, 0.3798, 1.9591, 0.7486, 0.5629, -0.3275, -0.2268, 0.9994]\nstate[eef_state]: left_x=0.404 left_y=-0.1358 left_z=0.0037 left_yaw=-0.7021 left_pitch=-0.0837 left_roll=-0.0443 left_gripper=0.9993 right_x=0.3973 right_y=0.2236 right_z=0.0052 right_yaw=0.7651 right_pitch=-0.0507 right_roll=0.0078 right_gripper=0.9994\nstate[joint_eff]: [1.0325, -6.0376, 6.653, 1.1844, 0.0611, 0.0562, -0.0122, -1.812, -6.9538, 5.8598, 1.3846, -0.105, 0.0904, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cdf7ff57a64e7ee1dc87cc6323abb2974a5a9cbde3d3d36e16c13e8861b8f093",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:108e7cd634cada1b504aad4245a1c2c4e0c6d03ef1990a4990e917d6825e9c76",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2869afd670958f12736a0a1a18311e6e42b65eaa6906a049f1af433aaaa1c7f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSxAkKEAgSGAI4AUIIdGhpbmtpbmcSDMjAbVvT7OJ9DY9A/xoMyB6pII8Wl9fx9VTEIjAiOTME/Q9kSE9UP6T5srD9AJGf//mtGVOMFsDxxJRi2SdY1eZ71YmhiykWIvcXj/wq4QgRxjWl6vGea1M+NLMDwErji0lh19Hy3Fr2Xck7zB53KU1Twv4w/b7Y7Oi0zFJ855rHFvpkM5ZIdMK1Z1oJo5sQPdv1eZv6zqprYhpKwGmM/HDZhjNappR7An/oHkce46T7kFKbDxQ4FTyRQymBoIlPQtpQr+TjQUwYhf0EEAu4NJlMBVT7Fh5pQbsfZoOR+sqCs3lnqcX2u3VIxL6F4y8nzv7whU+oYctlcLSKVx8nmnhksCkSkH2ayPgSrq3pzYp6w3nUSa8shk/P1GTyCk8ESiKrUT+tidIuBv2SR4+xLhILeXAtMg5mV4G/JydOZsNx3kEO8dsepecvAOVU1kZcQRrZUtwi47R5vKKfj0x+n665R9Y/fsPGwguFzEkbvE8Yv3exvfayrg8ZdrRyqYNRVWUhyjZSsIxBgjFDeKah35c3cy/Jy+XbcO12B8A9vKj1LX8bYbDd/x8VXkxaqZwJ9LvHDyxlpsSdfGT/RJLftSJitg/7cLBXSm6bgDuS4szHFgrDrv60oQ7RUhPZrhkoYjootphOsbL07I2hKVZF8UNrhUr07YwntKdIe0TXcG/71Chsu6XQRTOE2/8TjO9FzRMsINHWc/ZavULne4ZPV9YjR4PfjafS3E0wnfdVwj3yFZyrsgC6ur0SgHpP9wcxW7JfYDTJuZ9OyrXdHYVUa8EXkRPFum/XJrvB9ho3aA0ttaHBRHPPvtsq4n9fc02DKHGJvG0ReBQlU7MZ4a4HW2eVnNXkJBzYKUE7dg36EGrJU7fTWYqhNQuoBCi8vUmAPreJFv+03X6PHg5E9iwzmpnADuskWaqhIKXpp5Xhu73dXYPQz4caX2jygN0REhTn5iUNK8emdbcvYYZHGZyKJh6dSSx/7c+NnYaaAaad1B1UQY23/FFzEEZQPzt8f4BceSuA1wiZgGuCR4KNf8dwhFpG6Mi9E2RdR8qm0zPBGuuD9aPD3t4mX/LToqUiK6NrQoXR7THYtv/z1GZvxP962sAkGJ+NQUts8qww6E9Cj5nTG/lCfS5LwjPcak/JNwiJPkqAuxC3noteTKa/rHvQdmbvKRslqd6lUz9Sl+D6r6g1qmDSEQOn7Nn+faJ3il+g5dMs36i9A7TuTzuUHCSaBq6pHXsiL+uLVfhVPeRtJhWaYtPNQKdwfiNB3ySlzh+orI9dNtXYBhvFOMn4C6SSYyGSr5z4iQKnaP3KspA4LP70rXyJWaqBRZh5/vAZSaFuM80PxVBWbkMnqJnV/4+y3sddiLIxgO3wVCpUHxgoCan23nGv9mrJm8uYF+yNnLkfn7FQsqke44brIzDDbuJnoYfQUjALrTp4f2/2qUspzwuChdmDImit6A+YvV36fUxvEXO6WHZ2MZ7iqoZoM9nzwvpneSgyWncFSxQDCGIwBp4wANXV+Z9HM6o5E0fLcKzXmDIs29RNAdJmy4IuuEPOF4z0I3YhumuGyJmrb1z6reIafSWbrED/cXJz91xSrIoMSRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VViBjCbqJsAeqWHDDf38oW",
      "input": {
        "note": "Cap is now roughly centred between the left jaws, so closing the left gripper. Pen is still right of centre in the right cam, so shifting the right gripper further to its right.",
        "targets": {
          "left_gripper": 0.0,
          "right_x": 0.41,
          "right_y": 0.205,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01VViBjCbqJsAeqWHDDf38oW",
      "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]: [-0.1249, 1.8992, 0.7269, 0.4404, 0.4622, 0.3233, 0.0104, 0.3294, 1.9686, 0.7647, 0.5514, -0.3462, -0.252, 0.9994]\nstate[eef_state]: left_x=0.4127 left_y=-0.1276 left_z=0.007 left_yaw=-0.6952 left_pitch=-0.0707 left_roll=-0.0381 left_gripper=0.0104 right_x=0.409 right_y=0.207 right_z=0.0049 right_yaw=0.7436 right_pitch=-0.0506 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.4855, -6.7214, 5.0256, 1.2039, 0.3346, -0.0171, 0.569, -0.0068, -7.7333, 5.3265, 1.3407, -0.2515, -0.0855, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7be6e822d7f16941c7e486da10cd2bd8512ad2c85969539b822fcd32e366e05e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4dd0191327c0cfb4af185c0232b2b497e90dc0bcf3866d8ca3a47efaf4c8b6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ff8e7749473f2b0c535bd20dd09a990c18e87ad175b3e0648c6b180d09b230eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /messages · status 200 · 11.69 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]: [-0.1829, 1.8561, 0.6903, 0.4, 0.4221, 0.2909, 0.9993, 0.421, 1.9232, 0.7315, 0.5167, -0.2859, -0.1936, 0.9994]\nstate[eef_state]: left_x=0.3933 left_y=-0.1427 left_z=0.0037 left_yaw=-0.7057 left_pitch=-0.1146 left_roll=-0.058 left_gripper=0.9993 right_x=0.384 right_y=0.2304 right_z=0.0048 right_yaw=0.7549 right_pitch=-0.086 right_roll=0.0205 right_gripper=0.9994\nstate[joint_eff]: [0.3624, -6.1607, 4.4923, 1.0134, 0.1636, -0.1245, -0.0122, -0.7453, -6.5026, 3.8906, 1.3944, -0.188, 0.0513, -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]: [-0.1535, 1.8893, 0.7036, 0.4461, 0.4446, 0.308, 0.9993, 0.3798, 1.9591, 0.7486, 0.5629, -0.3275, -0.2268, 0.9994]\nstate[eef_state]: left_x=0.404 left_y=-0.1358 left_z=0.0037 left_yaw=-0.7021 left_pitch=-0.0837 left_roll=-0.0443 left_gripper=0.9993 right_x=0.3973 right_y=0.2236 right_z=0.0052 right_yaw=0.7651 right_pitch=-0.0507 right_roll=0.0078 right_gripper=0.9994\nstate[joint_eff]: [1.0325, -6.0376, 6.653, 1.1844, 0.0611, 0.0562, -0.0122, -1.812, -6.9538, 5.8598, 1.3846, -0.105, 0.0904, -0.0122]",
      "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]: [-0.1249, 1.8992, 0.7269, 0.4404, 0.4622, 0.3233, 0.0104, 0.3294, 1.9686, 0.7647, 0.5514, -0.3462, -0.252, 0.9994]\nstate[eef_state]: left_x=0.4127 left_y=-0.1276 left_z=0.007 left_yaw=-0.6952 left_pitch=-0.0707 left_roll=-0.0381 left_gripper=0.0104 right_x=0.409 right_y=0.207 right_z=0.0049 right_yaw=0.7436 right_pitch=-0.0506 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.4855, -6.7214, 5.0256, 1.2039, 0.3346, -0.0171, 0.569, -0.0068, -7.7333, 5.3265, 1.3407, -0.2515, -0.0855, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7be6e822d7f16941c7e486da10cd2bd8512ad2c85969539b822fcd32e366e05e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4dd0191327c0cfb4af185c0232b2b497e90dc0bcf3866d8ca3a47efaf4c8b6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff8e7749473f2b0c535bd20dd09a990c18e87ad175b3e0648c6b180d09b230eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS5QgKEAgSGAI4AUIIdGhpbmtpbmcSDAyWEH3Muv0cIQNLDxoMhAjtEWagbNK+cJ6vIjCA+rJy15IGGVtGc8wGzZrfj0OqhJSa236jWdcOaHU+Ak98yRRQtDDtFoXrCzs/LoUqggjVJl176T7wiILcuB0oFpn6ywO6NWNSr4ts+4oeasX7HmSY4DRXdGqaItzcYqBop6YpUYGc9SaLNEGc+TsAkaEAk16K+QZn80KrRD0P/NsGG5dsfOyLoRoMHVprQujD/jZ0ba4C/HzV5ec38R53umwmF2g0e9GT9Iinto8+Cb/3vcuSSOnmYOzVTlx4CRFhGDy7VzqKNQLdTAQbHSpAE9VKUg5gPDGyvOnfq6M/gSOctRpH5GgmSBrp635R3BBP3TMAIVplMCAp4tXmAkkrinGzFAVKzb1jzIDTTEspZgmKqXDpoKmRZ+DAJ9tS1+qZrptRyq/++qN8YxghA2YxvdkWsR/CjHgemOiM4TWmCQDj485HR0Ja9Ju8+VDYH0CrM71zB8Ax2crra29kiUQm8a0X4+MTkckqUyEzQzuXyjecR3Cf0nPZ/1Jo27rSTElxeRuUiERsppsomaIRKE544JE/QTpK06x1dWgwog8qO5ekfsJf8LschhPpk4STbTG1aXEmgc+EEYJlDH6Nv1aS/vKZi/dEGM1Q6DfEAQvC7D4di2Ip5WZFPFkhNhkIPyxXk3DDdU623vgCQiglVGrGOb2uN3Bf3omAaRRAP4ivpVFnCqa7TU6MmWX2Y28KbHAir/jZYxNfxQVcaL6oGLWb8yW1i8FdAuIZor/EwqIQxG0fRsn/Ts7NeKEFxGdpH+CoXDS9K9eB1QPnnwZiwFfDJQEnTCoc3Vs4dKuJRh5bt2IX0ERmbMmtoBl8ApmKVvNteULYtkKqvg4tNFFYI9evSgkF+V1KE7GQwsIKLBZCmwNH60uSm3rjhBV1kycHjqYYY5wdPd46UeVyZDwYO+5xloO8i0D/py8Vyl+CMhogxLq1KrRVmNmg2MqrmUiolCvJe4wA0c49TOFfZ/nNNQKjUGxZH1y6JtCWYL0+W8PV0CJZwuMTEyGbghLkA2YIylDbCwhUOGUNpPbhx5pGS1RFvnHn6yuUQ1qjzs9iU2eTdhP3tx7CTKe0w6iotNINulXKeX6RCrw+xqeTVp5SQ56ohkxNY9U7zCtBuY4s2SVpTn3hRAl/6VxPELe0qtWt2h5MchmK6pM9PppZ9Ol+qUgHydXQH+kMQ6HWeiEpLDzX/WdV8KLTEJkxPqZHWfUoRVhHkwlnehVB0TDplLn2osAHAjA7FYIbdgT87jJOldL1n4XKta0v96M9D6bBi+DikUt5B+YQLXHlw7iTIG7l/dO/ZyD7Knk8ljLQrK8KW44H60Yei5896gSkj+gFQ2vXGLxIjrHGlEJsU/UxR7xERx0YzHnhIXG1AMdHKdvUyIiloF7Gb2dPBb2z3bnJFAqZjRGP9vpN0570LSJbGejKImecWjZajOEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017sb1EeWAWp5AigDnQrkx63",
      "input": {
        "note": "Pen is centred between the right jaws, so closing the right gripper. Left close came up empty (reading 0.01), so reopening the left gripper to look for the cap.",
        "targets": {
          "left_gripper": 1.0,
          "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_017sb1EeWAWp5AigDnQrkx63",
      "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]: [-0.1268, 1.9102, 0.728, 0.4492, 0.4561, 0.3164, 0.9947, 0.3294, 1.9686, 0.7647, 0.5579, -0.3496, -0.26, 0.0447]\nstate[eef_state]: left_x=0.4135 left_y=-0.1275 left_z=0.0041 left_yaw=-0.6886 left_pitch=-0.074 left_roll=-0.0407 left_gripper=0.9947 right_x=0.4096 right_y=0.2078 right_z=0.0063 right_yaw=0.7505 right_pitch=-0.0438 right_roll=-0.0078 right_gripper=0.0447\nstate[joint_eff]: [0.1026, -9.4017, 4.6154, 1.4774, 0.1587, 0.022, -0.0415, -0.1299, -8.9915, 4.9299, 1.5604, -0.0464, 0.0659, 1.1258]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af03ab70166decef0e0f4f5e5d7b1221a316c8de7466f89a4ed7d02b7fa80598",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23dd209f876b53eb454d541a90a748e1b14751ef1ba4294184dc5104b7e63630",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:91469feaf3f25f5532b3e93a28855b4c29b8d44410bfee6d9de93b834e5e9377",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /messages · status 200 · 9.088 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]: [-0.1535, 1.8893, 0.7036, 0.4461, 0.4446, 0.308, 0.9993, 0.3798, 1.9591, 0.7486, 0.5629, -0.3275, -0.2268, 0.9994]\nstate[eef_state]: left_x=0.404 left_y=-0.1358 left_z=0.0037 left_yaw=-0.7021 left_pitch=-0.0837 left_roll=-0.0443 left_gripper=0.9993 right_x=0.3973 right_y=0.2236 right_z=0.0052 right_yaw=0.7651 right_pitch=-0.0507 right_roll=0.0078 right_gripper=0.9994\nstate[joint_eff]: [1.0325, -6.0376, 6.653, 1.1844, 0.0611, 0.0562, -0.0122, -1.812, -6.9538, 5.8598, 1.3846, -0.105, 0.0904, -0.0122]",
      "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]: [-0.1249, 1.8992, 0.7269, 0.4404, 0.4622, 0.3233, 0.0104, 0.3294, 1.9686, 0.7647, 0.5514, -0.3462, -0.252, 0.9994]\nstate[eef_state]: left_x=0.4127 left_y=-0.1276 left_z=0.007 left_yaw=-0.6952 left_pitch=-0.0707 left_roll=-0.0381 left_gripper=0.0104 right_x=0.409 right_y=0.207 right_z=0.0049 right_yaw=0.7436 right_pitch=-0.0506 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.4855, -6.7214, 5.0256, 1.2039, 0.3346, -0.0171, 0.569, -0.0068, -7.7333, 5.3265, 1.3407, -0.2515, -0.0855, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1268, 1.9102, 0.728, 0.4492, 0.4561, 0.3164, 0.9947, 0.3294, 1.9686, 0.7647, 0.5579, -0.3496, -0.26, 0.0447]\nstate[eef_state]: left_x=0.4135 left_y=-0.1275 left_z=0.0041 left_yaw=-0.6886 left_pitch=-0.074 left_roll=-0.0407 left_gripper=0.9947 right_x=0.4096 right_y=0.2078 right_z=0.0063 right_yaw=0.7505 right_pitch=-0.0438 right_roll=-0.0078 right_gripper=0.0447\nstate[joint_eff]: [0.1026, -9.4017, 4.6154, 1.4774, 0.1587, 0.022, -0.0415, -0.1299, -8.9915, 4.9299, 1.5604, -0.0464, 0.0659, 1.1258]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af03ab70166decef0e0f4f5e5d7b1221a316c8de7466f89a4ed7d02b7fa80598",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23dd209f876b53eb454d541a90a748e1b14751ef1ba4294184dc5104b7e63630",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91469feaf3f25f5532b3e93a28855b4c29b8d44410bfee6d9de93b834e5e9377",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CkvcSwiRcaHsiZAzAffwmh",
      "input": {
        "note": "Left cam shows the cap was nudged ~7 cm ahead, lying roughly across the jaw axis; moving the left gripper over it and turning so the jaws straddle it. Also lifting the right arm to check it holds the pen.",
        "targets": {
          "left_x": 0.467,
          "left_y": -0.172,
          "left_yaw": 0.4,
          "left_z": 0.05,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01CkvcSwiRcaHsiZAzAffwmh",
      "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]: [-0.5777, 2.0441, 1.2003, 0.062, -0.5457, -0.5827, 0.996, 0.3294, 1.8313, 0.7967, 0.3515, -0.3492, -0.2634, 0.0442]\nstate[eef_state]: left_x=0.475 left_y=-0.196 left_z=0.0482 left_yaw=0.1765 left_pitch=-0.0772 left_roll=-0.0773 left_gripper=0.996 right_x=0.4032 right_y=0.2055 right_z=0.0383 right_yaw=0.7529 right_pitch=-0.0776 right_roll=0.0044 right_gripper=0.0442\nstate[joint_eff]: [-0.3487, -11.3983, 6.2564, 1.1209, -0.3736, -0.1099, 0.1245, -0.3761, -10.5641, 7.706, 1.7411, -0.188, 0.022, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6422b25daa41c7c6f1717b3021fabb6e9b5dcaf6350e15ce640b2b3d7c8d333",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e5a1087c6bf125a7862ca846cad38922f81627ed5061fbc556310ee11a71691",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2f2d18332bc69cfbd5b7224b21d3aac88f493ff08b4bba6e58b0781160da04e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /messages · status 200 · 3.882 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]: [-0.1249, 1.8992, 0.7269, 0.4404, 0.4622, 0.3233, 0.0104, 0.3294, 1.9686, 0.7647, 0.5514, -0.3462, -0.252, 0.9994]\nstate[eef_state]: left_x=0.4127 left_y=-0.1276 left_z=0.007 left_yaw=-0.6952 left_pitch=-0.0707 left_roll=-0.0381 left_gripper=0.0104 right_x=0.409 right_y=0.207 right_z=0.0049 right_yaw=0.7436 right_pitch=-0.0506 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.4855, -6.7214, 5.0256, 1.2039, 0.3346, -0.0171, 0.569, -0.0068, -7.7333, 5.3265, 1.3407, -0.2515, -0.0855, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1268, 1.9102, 0.728, 0.4492, 0.4561, 0.3164, 0.9947, 0.3294, 1.9686, 0.7647, 0.5579, -0.3496, -0.26, 0.0447]\nstate[eef_state]: left_x=0.4135 left_y=-0.1275 left_z=0.0041 left_yaw=-0.6886 left_pitch=-0.074 left_roll=-0.0407 left_gripper=0.9947 right_x=0.4096 right_y=0.2078 right_z=0.0063 right_yaw=0.7505 right_pitch=-0.0438 right_roll=-0.0078 right_gripper=0.0447\nstate[joint_eff]: [0.1026, -9.4017, 4.6154, 1.4774, 0.1587, 0.022, -0.0415, -0.1299, -8.9915, 4.9299, 1.5604, -0.0464, 0.0659, 1.1258]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.5777, 2.0441, 1.2003, 0.062, -0.5457, -0.5827, 0.996, 0.3294, 1.8313, 0.7967, 0.3515, -0.3492, -0.2634, 0.0442]\nstate[eef_state]: left_x=0.475 left_y=-0.196 left_z=0.0482 left_yaw=0.1765 left_pitch=-0.0772 left_roll=-0.0773 left_gripper=0.996 right_x=0.4032 right_y=0.2055 right_z=0.0383 right_yaw=0.7529 right_pitch=-0.0776 right_roll=0.0044 right_gripper=0.0442\nstate[joint_eff]: [-0.3487, -11.3983, 6.2564, 1.1209, -0.3736, -0.1099, 0.1245, -0.3761, -10.5641, 7.706, 1.7411, -0.188, 0.022, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6422b25daa41c7c6f1717b3021fabb6e9b5dcaf6350e15ce640b2b3d7c8d333",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e5a1087c6bf125a7862ca846cad38922f81627ed5061fbc556310ee11a71691",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f2d18332bc69cfbd5b7224b21d3aac88f493ff08b4bba6e58b0781160da04e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TaYFm7ZFEanYJQaBKqfRRL",
      "input": {
        "note": "Cap now appears nearly aligned with the jaw gap in the left cam, a bit left and ahead of centre. Shifting left/forward and descending to table level to straddle it; right arm appears to be holding the pen.",
        "targets": {
          "left_x": 0.49,
          "left_y": -0.168,
          "left_yaw": 0.2,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01TaYFm7ZFEanYJQaBKqfRRL",
      "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]: [-0.5121, 2.1365, 1.1576, 0.1707, -0.572, -0.5911, 0.9961, 0.3294, 1.8252, 0.7975, 0.3275, -0.3492, -0.263, 0.0441]\nstate[eef_state]: left_x=0.4837 left_y=-0.1581 left_z=0.0071 left_yaw=0.2676 left_pitch=-0.0833 left_roll=-0.0521 left_gripper=0.9961 right_x=0.4004 right_y=0.2046 right_z=0.0368 right_yaw=0.7533 right_pitch=-0.0932 right_roll=0.0117 right_gripper=0.0441\nstate[joint_eff]: [-0.1846, -8.8957, 4.7795, 1.3651, 0.0952, 0.2369, 0.0024, -0.1026, -7.9248, 5.3538, 1.8828, -0.2173, -0.0415, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28228cc2fe8b71a13e799db19bbe23e60266dc896523f05383b3aeec84d5d161",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ed5e4e10d06c49777446ad3a84ddc958677ace28c5eabeee280b42f850a9350",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5726995d074b6adff8af70c28b92bb01758372fda258c5620ebb24fc0fc00e8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /messages · status 200 · 6.61 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]: [-0.1268, 1.9102, 0.728, 0.4492, 0.4561, 0.3164, 0.9947, 0.3294, 1.9686, 0.7647, 0.5579, -0.3496, -0.26, 0.0447]\nstate[eef_state]: left_x=0.4135 left_y=-0.1275 left_z=0.0041 left_yaw=-0.6886 left_pitch=-0.074 left_roll=-0.0407 left_gripper=0.9947 right_x=0.4096 right_y=0.2078 right_z=0.0063 right_yaw=0.7505 right_pitch=-0.0438 right_roll=-0.0078 right_gripper=0.0447\nstate[joint_eff]: [0.1026, -9.4017, 4.6154, 1.4774, 0.1587, 0.022, -0.0415, -0.1299, -8.9915, 4.9299, 1.5604, -0.0464, 0.0659, 1.1258]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.5777, 2.0441, 1.2003, 0.062, -0.5457, -0.5827, 0.996, 0.3294, 1.8313, 0.7967, 0.3515, -0.3492, -0.2634, 0.0442]\nstate[eef_state]: left_x=0.475 left_y=-0.196 left_z=0.0482 left_yaw=0.1765 left_pitch=-0.0772 left_roll=-0.0773 left_gripper=0.996 right_x=0.4032 right_y=0.2055 right_z=0.0383 right_yaw=0.7529 right_pitch=-0.0776 right_roll=0.0044 right_gripper=0.0442\nstate[joint_eff]: [-0.3487, -11.3983, 6.2564, 1.1209, -0.3736, -0.1099, 0.1245, -0.3761, -10.5641, 7.706, 1.7411, -0.188, 0.022, -0.0708]",
      "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]: [-0.5121, 2.1365, 1.1576, 0.1707, -0.572, -0.5911, 0.9961, 0.3294, 1.8252, 0.7975, 0.3275, -0.3492, -0.263, 0.0441]\nstate[eef_state]: left_x=0.4837 left_y=-0.1581 left_z=0.0071 left_yaw=0.2676 left_pitch=-0.0833 left_roll=-0.0521 left_gripper=0.9961 right_x=0.4004 right_y=0.2046 right_z=0.0368 right_yaw=0.7533 right_pitch=-0.0932 right_roll=0.0117 right_gripper=0.0441\nstate[joint_eff]: [-0.1846, -8.8957, 4.7795, 1.3651, 0.0952, 0.2369, 0.0024, -0.1026, -7.9248, 5.3538, 1.8828, -0.2173, -0.0415, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28228cc2fe8b71a13e799db19bbe23e60266dc896523f05383b3aeec84d5d161",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ed5e4e10d06c49777446ad3a84ddc958677ace28c5eabeee280b42f850a9350",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5726995d074b6adff8af70c28b92bb01758372fda258c5620ebb24fc0fc00e8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQShAcKEAgSGAI4AUIIdGhpbmtpbmcSDM/oHVBucwLtYqk/OxoMxYeusVKJgifUN2K+IjAYFvN7k9UKTCXLJS+k3tn0WUuv7xaA9dkk0SYWi339E0gNpY9oEPtT63ogsp5lErwqoQZnFxiBUXIm8BxlVD0U8awiIUUlB2nBdecyQimcEP2mTv1G1Kztsc2DR8Ugd/kxbqGeveamZ0SvA5bknNN9/ZzZCccwr9ECrySHMONDFvwMyockODaokz7JV2cn1zWXAdkOZY/EuXhLraM+l2s54MSXhCdvau3tmd1n5eGSWBXguePW09ExWTUm0CkThfgrsOCKAJ7py+jfqwg5Coq5VvJs5J+DRxTKIfrPfu0sOiPlyI4+OLu1op+5O6H81rCzGwrSFUP/7/8HHPukfOQ4uti+2gNlg6A37LwcdAujf2qtPMobMkVwLC6c8Ppx+Qk7/qS9gOz5l/3t5daMuDzYADSPZeTY6qcHZGuJe8Cw9JV7je6O0Vi8TLw0cYyW2fnvwAKAAHFZvO3pTUujSkgoueQKGuJ8UqBxHuzRStGRoeR/AsYi3Tsjk6sZ8rWuvPqyzml2EwU1h5TDbp//EWx2CBU20m5N/ugcySc6Y7OpZ8HckuQg91nEO+wglVZjBiAZiQTDA2/KdDwA5An8rz9GwMxPclNYCDSKat0qIMpxZG9Sqt9WRcWwJdA3zX2bZfZkQqC1PamB94quHAijviDPP1uSozTk0IrihhgYNTheB4QWh66XhQSYWWJHmOwMxX9PU9mm3qe43lRAhAEG6Tj/v2vskb2lKx875GxId81i8uwwfNoMKLmu27wH3VErHjEMf7Hf2sTX7Lkdid6fb1IH2sUR53DcYBXPox41uWx78Z7lILiacc9hp6OX8gnpas9cMpqFjH/1pFWC+cJxl+PY7iq68ZDWlF49Ntkf9sgRXtzL2WwURvdyLwtV64kgnRYnqNYRAbtL4kPynSdedrCwhxF3J9vZii7pNkD5qiY0eT85LlDQmndW3qF4hN138q37dLEF5G8KquhDwkUOP7JLOIuvQKYWKBBTNI7oUQKV/fKWEaYx+RPM3XhEf1v/uc4FUvfpM7rixELplMcAKTW/2iVJ+VEYz0kzBwQtDsVNSN7jbkBV2oFYnjob1jMpjwzgrqs48c43DSfUt7LdCvkJ7dKo7E5eovAA7i/dXGCyHDCRH0cYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013ci1AaSBNpNNiWo1FTj8Xz",
      "input": {
        "note": "Cap is centred between the left jaws and runs down into the grasp zone; closing the left gripper.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_013ci1AaSBNpNNiWo1FTj8Xz",
      "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]: [-0.5072, 2.1441, 1.1526, 0.2012, -0.5785, -0.5991, 0.0505, 0.3294, 1.8252, 0.7975, 0.3214, -0.3492, -0.263, 0.0441]\nstate[eef_state]: left_x=0.4866 left_y=-0.1558 left_z=0.0069 left_yaw=0.2807 left_pitch=-0.0676 left_roll=-0.0679 left_gripper=0.0505 right_x=0.3995 right_y=0.2042 right_z=0.0357 right_yaw=0.7536 right_pitch=-0.0988 right_roll=0.0143 right_gripper=0.0441\nstate[joint_eff]: [-0.5675, -11.7402, 5.8188, 1.1404, -0.1783, 0.0806, 1.1062, -0.0342, -8.4034, 5.3812, 1.663, -0.2076, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d97ab2e1a95d5b4c05edde6cb8117c1a7c4f4b74ac07af33a65b9fdb3b1dfda1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:209d1b912a39b796d1962838511b6f0f2b9b93466611c2af16051ab3721fb449",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:40d834601c3e977be6f6d3f7e98d17ca105c5a8db4a7bfbbd6dbfa92a89ec1ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /messages · status 200 · 17.19 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]: [-0.5777, 2.0441, 1.2003, 0.062, -0.5457, -0.5827, 0.996, 0.3294, 1.8313, 0.7967, 0.3515, -0.3492, -0.2634, 0.0442]\nstate[eef_state]: left_x=0.475 left_y=-0.196 left_z=0.0482 left_yaw=0.1765 left_pitch=-0.0772 left_roll=-0.0773 left_gripper=0.996 right_x=0.4032 right_y=0.2055 right_z=0.0383 right_yaw=0.7529 right_pitch=-0.0776 right_roll=0.0044 right_gripper=0.0442\nstate[joint_eff]: [-0.3487, -11.3983, 6.2564, 1.1209, -0.3736, -0.1099, 0.1245, -0.3761, -10.5641, 7.706, 1.7411, -0.188, 0.022, -0.0708]",
      "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]: [-0.5121, 2.1365, 1.1576, 0.1707, -0.572, -0.5911, 0.9961, 0.3294, 1.8252, 0.7975, 0.3275, -0.3492, -0.263, 0.0441]\nstate[eef_state]: left_x=0.4837 left_y=-0.1581 left_z=0.0071 left_yaw=0.2676 left_pitch=-0.0833 left_roll=-0.0521 left_gripper=0.9961 right_x=0.4004 right_y=0.2046 right_z=0.0368 right_yaw=0.7533 right_pitch=-0.0932 right_roll=0.0117 right_gripper=0.0441\nstate[joint_eff]: [-0.1846, -8.8957, 4.7795, 1.3651, 0.0952, 0.2369, 0.0024, -0.1026, -7.9248, 5.3538, 1.8828, -0.2173, -0.0415, -0.022]",
      "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]: [-0.5072, 2.1441, 1.1526, 0.2012, -0.5785, -0.5991, 0.0505, 0.3294, 1.8252, 0.7975, 0.3214, -0.3492, -0.263, 0.0441]\nstate[eef_state]: left_x=0.4866 left_y=-0.1558 left_z=0.0069 left_yaw=0.2807 left_pitch=-0.0676 left_roll=-0.0679 left_gripper=0.0505 right_x=0.3995 right_y=0.2042 right_z=0.0357 right_yaw=0.7536 right_pitch=-0.0988 right_roll=0.0143 right_gripper=0.0441\nstate[joint_eff]: [-0.5675, -11.7402, 5.8188, 1.1404, -0.1783, 0.0806, 1.1062, -0.0342, -8.4034, 5.3812, 1.663, -0.2076, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d97ab2e1a95d5b4c05edde6cb8117c1a7c4f4b74ac07af33a65b9fdb3b1dfda1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:209d1b912a39b796d1962838511b6f0f2b9b93466611c2af16051ab3721fb449",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40d834601c3e977be6f6d3f7e98d17ca105c5a8db4a7bfbbd6dbfa92a89ec1ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSvgsKEAgSGAI4AUIIdGhpbmtpbmcSDGY9XUAdtHva0fGi4xoModiEHVU1qCgN7Y3fIjAxkF2PVVIrsPev1dEa3rlvEXi9kd0K5vNp92mgnWiMOx6Aor/9wSFBSeCEq/+mVQEq2wrzRGSAoXXaO/8VZZ6kk9ILFyH4UKVOkS7obSRwhFytSS4hgbvBbDrGfKwGl62lupLZHope90GXRjBWaoAxjzymWbwe+PKfcQ2af0nRfCvmJfmR+50mjk2upYQF28Jrx0O6F60wvHayr/f3Sy6jGwmwDoYY3BfRCObqpgomFUp7ce3Exb/WQENai/w1KacUrOVtpYqEokJySmQ/FOUAM9uH4UzGc5G6c3GcMjNCiURSrHazAaSitS4MFByIzCDsBQ7ZykXb0On3GqBlErd86ZuNky+OkXJ+G8kQjYX6d+xJZOFYQzHaDs87r2OSIiWNXLjwcxbp31VIan9bznB/xh1wsokDteNVBpCUo/xoLU5e+eRClVrTG7Kl+eYc/BHlC06+HXRJWVNq5Tabe/GSsNuAJVlOYAx+UhmR54raqMDyZ7TNSgqlLdPGg9gNbthpaog26mjUD++UBIPKUZ9AvxmDdFlEyiA8fkV20vasOHfb5Ur1EPy3l4z/3GsYHWw4pVWzyrTSN6ohEZa8ztvtAhLvSztijFCzaCr3hLBGbt/OFbf8tO2ONpK+GhWLQWHqy4Szec+vYjGZq3vMiLFhlFb4GEJtIqFdMsKxXpVqz2sa9ZQxitpleTSoJNfQHT6mB/STRc4tW7PUYJB1VhFhsU45VSpA2W+l5LF7lMivUEV3lZxSkMPtb/wPHzRzJInbheWN/yQluEQ+P0HsB2Ng1TfRBGG7VGVevd7y6jARzPdISlD42h+2jmUP/s2kpCC2nH1wyI0xYYTQWInsWYu3jUZakCKnX+dd0pr+3tt0sxblzYZKipvNSU5jyeUvRHOyRYRmxOmpoTGVREfwvErLDgVicQ4PrPRBVjuotBTFSEfBorH6Ez1y5DA4Zfo5XO0j+DfJj3O2aKWsgfXXbeoUDop3QP230DSfT3nFcaCtsg4qrNjm+no4hmD8xamkADhLhD+V7j7emfjHieK1oUXwL5EMj5Si7eQbXW0FJ7IiagbV6BaoQg9ZGNxc/93/eUh/qSi/pk2B6UedBuHthNlJtS0cK951nHw6JDKRVMB8y3b3fdFQR0Fr8Rqqarwh4AQiMSj+iX0Q/J/2Qib5q7YBctuSdJ9XZU4KT+fm3BQMUZ4CTPJ16JgLGpfeCN1akYx8DJaHYoYmAz1EekUeUE286zAj8Gg4veZk4X7aP77skiN9sLyXHPV6VOPwCQNtMhMhTepfy1E1SCb/fxWkiCEbrLHh1aFs14et0uKCzThTiVG294VG5xFQEN2D7nOL33fZ1rwm0bPJ0YzttoTWjf7uZyFQ+E4wUL+QVYSMT+jAsgjFFqL6LeHJYgTal5fZOwaWvP4ymAtxdNLCoOczBudeuLOhRUFABzSbLaXVM3KPKzZbHYcJf9ziOsttjD23KoQymeiXc6E1Agq4q8N0PsBJHoMcDURz3k2iun0wMm5b79baUGuMNJvozJe3/HvfMyHm/fYavSVP8G5uQALHpAy2jxxgI64rJ/0ElPcKMrmAUMlsn2jBp7bKcQ5OORfru+xM4DIBcLWyqpAKnR77Xg02TKvJOf2886AhtPX6PyTD4ON2OiYUQ/ckDKqdgNRbK1x5e6uggOPDxSJScfmTV6cZ3BS/K5hAjSuYef1kXLupjXDtyy/mLSlVA593l+zmDI6TOMsACXU00q80/YxZSNPjse8skrs/4TpyGv9z6fV2BSJe++RKhLphtbqcPH3LGqwJTgT6fQG65KNyLmErl2s0NH7AwiE6wGDp8eHkm5jUo5pcq2liL4YWq+Ee4/Aq4uo9h1XsOHupD1mdSLwcJ0+UBpvFyg/8R4kKP2v74FIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015YUS6tDURFR7wuByJimoQG",
      "input": {
        "note": "Both grippers closed with small readings (~0.045–0.05) and both wrist cams show a thin dark object running out of the jaws. Lifting both to confirm the pen and cap come up.",
        "targets": {
          "left_z": 0.1,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_015YUS6tDURFR7wuByJimoQG",
      "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]: [-0.5072, 1.9915, 1.2469, -0.0803, -0.5755, -0.6044, 0.0585, 0.3294, 1.6566, 0.9306, 0.0074, -0.35, -0.2672, 0.0441]\nstate[eef_state]: left_x=0.4827 left_y=-0.1541 left_z=0.0709 left_yaw=0.2834 left_pitch=-0.0937 left_roll=-0.049 left_gripper=0.0585 right_x=0.3988 right_y=0.2042 right_z=0.102 right_yaw=0.757 right_pitch=-0.1096 right_roll=0.0165 right_gripper=0.0441\nstate[joint_eff]: [-0.253, -12.9846, 8.9094, 1.4774, -0.2662, 0.0073, 1.033, -0.253, -9.4701, 8.4991, 1.6288, -0.149, 0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e439dff8f963c2b27e8787695561f27b8eec21aa50111533fb847999e9b58754",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12b5572d571478f31bb3a827a53cf5885fecf37716f74f4aa193448954fcb7e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:82da8ed639f972af2008c3f986f8287dcefb56124e1528764a2066621e9118df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /messages · status 200 · 14.64 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]: [-0.5121, 2.1365, 1.1576, 0.1707, -0.572, -0.5911, 0.9961, 0.3294, 1.8252, 0.7975, 0.3275, -0.3492, -0.263, 0.0441]\nstate[eef_state]: left_x=0.4837 left_y=-0.1581 left_z=0.0071 left_yaw=0.2676 left_pitch=-0.0833 left_roll=-0.0521 left_gripper=0.9961 right_x=0.4004 right_y=0.2046 right_z=0.0368 right_yaw=0.7533 right_pitch=-0.0932 right_roll=0.0117 right_gripper=0.0441\nstate[joint_eff]: [-0.1846, -8.8957, 4.7795, 1.3651, 0.0952, 0.2369, 0.0024, -0.1026, -7.9248, 5.3538, 1.8828, -0.2173, -0.0415, -0.022]",
      "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]: [-0.5072, 2.1441, 1.1526, 0.2012, -0.5785, -0.5991, 0.0505, 0.3294, 1.8252, 0.7975, 0.3214, -0.3492, -0.263, 0.0441]\nstate[eef_state]: left_x=0.4866 left_y=-0.1558 left_z=0.0069 left_yaw=0.2807 left_pitch=-0.0676 left_roll=-0.0679 left_gripper=0.0505 right_x=0.3995 right_y=0.2042 right_z=0.0357 right_yaw=0.7536 right_pitch=-0.0988 right_roll=0.0143 right_gripper=0.0441\nstate[joint_eff]: [-0.5675, -11.7402, 5.8188, 1.1404, -0.1783, 0.0806, 1.1062, -0.0342, -8.4034, 5.3812, 1.663, -0.2076, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5072, 1.9915, 1.2469, -0.0803, -0.5755, -0.6044, 0.0585, 0.3294, 1.6566, 0.9306, 0.0074, -0.35, -0.2672, 0.0441]\nstate[eef_state]: left_x=0.4827 left_y=-0.1541 left_z=0.0709 left_yaw=0.2834 left_pitch=-0.0937 left_roll=-0.049 left_gripper=0.0585 right_x=0.3988 right_y=0.2042 right_z=0.102 right_yaw=0.757 right_pitch=-0.1096 right_roll=0.0165 right_gripper=0.0441\nstate[joint_eff]: [-0.253, -12.9846, 8.9094, 1.4774, -0.2662, 0.0073, 1.033, -0.253, -9.4701, 8.4991, 1.6288, -0.149, 0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e439dff8f963c2b27e8787695561f27b8eec21aa50111533fb847999e9b58754",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12b5572d571478f31bb3a827a53cf5885fecf37716f74f4aa193448954fcb7e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82da8ed639f972af2008c3f986f8287dcefb56124e1528764a2066621e9118df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSrh4KEAgSGAI4AUIIdGhpbmtpbmcSDFORAY6RwnYPfFQzNhoMwx/WUiL1Nhs/SRTcIjDp42b/KWvfN+6ZOH65K2ZJURfu3dg0Ezxmd3orzBG03TWJBLZXMi2YnHa1UybwiNAqyx0jG2w/9zlB2k+XG+OxazwUiDNseHVIayXqZU984uFrXBN52ohzWo6YD7hUFyn9rUuvO9Olx7bkeRcRwDOgj90IgFPexvPMarSKFqnk5hjhdNFmeo3UDnkQl2SUh1Ht5Xu4d21kj7/yBNlaqQvhzwEvzSAcrPGYoHBhVL/2kUj7VTaWkufPJQ/WhMIvq3rX45+dfwKtJFEK7yKZg0DiUjxD8X+pk9Vc/lpAx5uXN3N7WT8zBIw5BOCuMSng6YJ+F09ANX7dMqIa6BNPYAFM0WOzjgV1xVWuT3kFqF6XtxfHgLOBem81IKhVBEaPb7LYMOYBjdxayI73YEfXq9XK/DCZKpDis9ZqafdGAgFQSEMh8ElH9Vl4p0Q/kIxCwmfvSg/rXjjGSJicNIBX/smbbnP5/BFwO1NcS0kZRHxwDMpCj7bSfU4dj9bk4LxQgjDYrwhj3wQqjo8uQsVqSnXULij6nKJ3OHUd7vua9x0a/UNfpU6mB/pAYePJD7Cgdn4Gk0FezehAySaSmY3drMJ8cX7QbZoPg7pCAcvcn9BXzEYbbv08gPljsLv4Uce6eKNETdZeFkLnnzCUJJbfYA4d2derUh6yfJnrMQO7v8eSmc956AOUlFJIG2EN48x9vmAurPoKPQ56ShCB6uQUExtu+/yQsAgA9tXPxZiTdczykBrondmwyGMoN/OHvkd/oonyrt3Ah2pqn3suuk69UMWJyna5ysgNCU6fU23iymA07hBwTtY5KKOMe3HzDkHbdLNhHqZQeZQz3YnVzgQ4ZkGcfG5KSIQB8jJ+Q9c23d+PvwLLjrEkbIMuK/Vppq6aJrgNiivmwmYvA7RZO6JU/VZfhTr9Dd386wil1d+8w865E/dtR5mGm3LbI9Nvw6cBHImMWhQ9Uj7AeWZcRNnnpvALPI1AmYfIaPmPCiz/kbv47t7MUmExSMmOAUbFKuXNk5TOxuVTrOaYa+eWp0B3xQ3qVbonIdzGv7psnBVPmR1hy9YDKcZfVT6uF1ooZzFl3z96Ec/0Vjy1XRRlg6laQaQVaZgMYH1SrJ0kYjGo79sQIDOwaApixyJ2fWDMSpND4KUfkCZtu380WBskKHTuRzsj6t9BighLnNchjERen8nNnJhoQevTMRHyvsLCy//BuKOI75dpJYpeQE5BKnbiSwnNOq+l8jlr8W4K3Wd1yHAqOU+o5kfVV0Z+yQ1QtgzVXcg/7JYoPYQw4dXWHVPUQ5x1ESCEaVCiEVqfrhAqbzSnNF9qzfX5T/64FtRN6z9gSajlAPS7CtjkqPXxPwfn7ZTUTAjSg5prsFca6gZFcMlUJw4fEveHme7Rm2QJwYM1Wiu3JvDKa8qhX205Gi/YXMiUh5mVP3egZfSTc4phCXrmySX47GMEYAajIeV2Ebk8L3z6x2Jvm/MW0UOvUAle+zs7awGqEOsQxgVtlv3HoghOYp0r07O2witTSBi4NtlR+PHblQBPs/liD+9yX7QjFw5B6aSOC/XAzpPIeS1aX+ZWbz7cd0RkYdy2w8Vyg71FCukeSXxHvdHDuq3kSTGMZIYbPATA1ovKpZSbEeSq+3d7tA+4Txj0r2BB8EJh9imeTwMliHVrXtl+DnVYsKHKe1ws39CQd6XVElXcu5N+XSDTVxRLTy+IykQeAsWkoi28L7X0uHbDfws9DqEGlckHAmEUu5ofriWlwBIyIiwyDVEiGlyCtceCLnk61XQsHm67S95ef66NqZ6QT1rcikwk7mxwCwNIjwFPvSVVoG9lLeM90/SBxsY3hcxsJSlYxosi9InDFNC2oHnKFDMrIu8ilh5q04kOdPc9Xzthh5eebDCAb/K98MdFOAq/Az1evqLt67GnWVnAwBYVa84xFf5m04OXsuKHVw+DhngMvzFdset35YxzNhmwB2Z36v1zc6bVVNwxTcI0QEDpyWtlU6Om5Ahqg+bRx5ZHOP9j7oGRanm762WTV3wHjmbMB5ngbMalw+2oa2fPn8k0rjJf2V6rCZvPzrExEDJu0tRSgOgeDLJXmyI5SsPrOHWiwhXuUp2cFryYg6lZ4ghVdstt8UQMHNtSuyI+XdCjkwOrDizDTGuv6arqY/bOU/BuUVTpJ/gbIq0lVQmTM0YElkUnqmfEudpx46GzhvVLdtlZEJJEa+NdU09/9pYZnW5KIHl4ysz6+p1BiHW8eMvS9lG3xEXV1pJ2VoKK4NN99iIx0sF3197bwugxsXteeX3BgB7I1i8si0vdrc7JXeYdhX9sw4xAptmJZJTxPCd/v9GSHvCeP+XIJgiY/Ct+dUgXP7ecT9TxJRoTyiwhUitxJW0j6Kxb+FdulJX41STN3iLYVs193L8jFAAS5twGjBdGYzhD/zEh5I105n9gwt59kMSQyAiDiq8kGeY9FvEnSNOakz1/Movn2P3iBG6GNOTPsCmvXTotMNLxvMKh3nuRGudilfL3aq1apIRjXQWAXNYc5/NroWFiAX4mCxPxD7ChOB1HhoTkM4XvQBW7aIF7U8zklB+ORrGElyRgowjidziC3pJcBcbcVsJdAdFy5sUgBIWhK9Zi9FaqolahMdgzBHjAXcXpZoxaOdNgMSHkywmdKTUqoikHYkpgeZQHchHPc+NXiNHt8tYt++T8c+rhILadvszI2PZz2NSiX6ev/PwQVeMvVoQ2N6sRS/YUGgIZ3tHAovOLPAlwld+hJVa265XPnAEgcktDz3R+SYmQZIZzofmvS8NQI3WGnmcAXx6q8ZkdhQEf5GyazANKrTNKQIOh3Z9WEWqUh8KuGnXexTxEn3zf5J4R20p84Z0SmKZrcCtbbiyzWIxG3nvIl1RtQHd9IzrtRYvOZ79yjyBeB68xHYwvH/b31yaoyFS64j8lg+1kpeJWl3qLHtTf2DL9cVwZUwFXbMEl27SQQHZ0M1PMB4Hm2OJXWvyP5EcAFdHusda8pjEEaUqwDoqqpxxB9gSYBB0p6lyVoofT2nyicurbHVeYGMTfgOEdFXLZ+ZTBH1bmveOYGWYPEmxpYo0Fm58NbSa9dY7fZULi7L+OQy7GFWUVv8COqA2udcgUGIq1qd4wUNWRmS0lg/ZoJSFqQ2izaaWzIXnYvNXFB7kqqwM5D0hvK9qe9jLQx98syx/De2Z6/soGU0uXT3wYCdsAucL/Kg54bMHItEx1Dydgw+28VPp0owJsL73t2e1neeOT5CJPdEPgo16FvdOrW2Wlm6f2ZuDCT8soELJql3eKN1/3+pH8Omh0jmcgLh/Xpg04NxFK7PalswkYr7PsCUqOIZr4JZNU+wNtqMrNJfTDTUT0So5ihEylvrCPxuioj3eg7mu4UXV5jl7m2B6/6ZXQn/ga0RSS4R+ZlXoqu7oBIEvhF7XGNZHWrZR+NhEdg3cD3GH49ZUTMqZf9FoXJpafQzRaU0mM3a240p26IwbJDROBQVZ/TVj164wSKB2iDz4YbiGUE9gU/r8oPMygLTrBr11wkqdEKV4quz6IQlvK+Yq5YeSv9j5kc4uvqQejxPz6bcz2wtTkdXOrYyuzdlZoifJ+txmTu6KxuqEsL4eLKAhNk2cPWb89whrS+lcT3CIuAAJwQI69pKpJlMGaUurbIOfFSebBwPHE51/fKilP5lhi7f/lBhe1ipoVYGoO2Iez0YflU+M1R5NRsH1l245Pb7NQ21DTfEMwmS9Vi6lraz+0tVt1LdoSoOT01xMh5eZIWufmwoaB2/L2FpwKpgo6zgnMJySz8MB6yq/KIQEqoBHU+Vr2mnRcm8R1gBZVoJtfWbTCsB/z/SIs6XKPxk5RfNgfqhY+VwaecTuu6Zc3C1XxjuNaqIdIv8WVUBC3hUbKoiiHXvMPclwPzI3GDfAKZkLowZ+kriEDQJTKgS8ZaR2MpR9wYYXgw6LlO/l1ZxTYlV+lhr+o7nD3pxYLhPHyIoVaf6v9ojiz6zTbApBGaE2hFhAP8PrUHUxfwKHCHcPwIdPGrcoJBxnQtIQcqs/xppCwkdIv56VwnlQWm+dqzq9M5vsJ7p1T7bn0CY6gLr8w1bvoweOrPKpgwAHghzmGP1IQ3OrtbHjupK799ROs7kP5VZ9TgLw02z31gS6O2JUebac1mJ031q6gUg1rPTXqGOnO2DXXtHC6IGliXQN6oyT22JglwW+GuQiiXCv1149NScfYDL8IkeJAvMdOKsjv1lcpN/NNPGVVaxbQbhzc2Cf28LP8trbRjEol2xMFvGvJQYsrbyInPVZVGi+kg/u/mTqy6FEBOYwTbyiRuQtArwlndkisq1CUpbuzzjNiT6cuP3H+rAayVCjv5eNbfmLYEiNrsRKvX7Ib993mLBqBA//Z0EKZ7G4zcK/4BCaHc4gXGmq7ktllXrrkGWyFKIc4SN4TSMP6XjBBC/MeR6tYCce0ScdGfbGurEF0yaTRO1gLsK3dxNGIagdjzMecgycmZelXGWV/VoNdvoHG1MxzWLK/dMA42/hc+tUYEQfUTj6e2JaJJeCKIBu9/zhvdXLScV6Kls1k7nJHC/TBenloSOMdgUrMAphLpqIG/jfDknZHrHT7d0PoBOeeOzcCUM6Jz/dM2bKMcoKZaj8JQkifv3evQ7veqI0d0mDO5+8XYSJnSJCP7wJG3bf59hqBmLtYlVFvhY9mHaNj+S9rS+Mg35jnniaNZjxbn8WU7tHGNLxCr8JA0trGPLwyQEQMhTknc9VXXrGzsNTr9BXAHhpeBH1ierkH+msNRZj6FA/CWJrWuuFmqkwyE/9f+vR0JCQJ0PUqDu11bC4Mf30ZKF4Ad9Uh0VNEwtF6872Uyi5Hddf3ctLMZDFwbIdFhvuLZFsytBUy59XLOodHb4Dg3wPnqsOrtPi+Ngi2lw6e97tBL0/WxuSKe/be/KRT6LfW3v7dvA9fFpwkImT8kT932YG+Z3FlwvDuvVEdrEqkJIcHFquAtVPZ5uhzw4KuMS05zFfqjdOd0kwZSVLnfBE3M1Agsm8xbic/ZgaYwJ8JGPASTSpVaWFzNbQCP/MpyErIs3pS33eSYq1MmOkzjp/PsLcUUQ2yPdHFPamwcyFwwpPB3hrVAx77t1S6GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M32u1XBCmhxspcVkMTXBqo",
      "input": {
        "note": "Both objects lifted with the jaws (nothing left on the table in the overhead view). Turning the arms so the pen tip (right) points left and the cap (left) points right, facing each other across the centre line with a gap of a few cm.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.24,
          "left_yaw": -1.57,
          "left_z": 0.15,
          "right_x": 0.35,
          "right_y": 0.25,
          "right_yaw": 1.57,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01M32u1XBCmhxspcVkMTXBqo",
      "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]: [-0.2832, 1.8404, 1.3987, -0.6472, 0.7479, 0.8425, 0.0643, 0.2897, 1.8542, 1.4364, -0.7265, -0.8051, -1.0191, 0.0441]\nstate[eef_state]: left_x=0.3802 left_y=-0.2321 left_z=0.1392 left_yaw=-1.3626 left_pitch=-0.1369 left_roll=-0.0483 left_gripper=0.0643 right_x=0.3667 right_y=0.2459 right_z=0.1458 right_yaw=1.4766 right_pitch=-0.1254 right_roll=-0.0112 right_gripper=0.0441\nstate[joint_eff]: [-0.4444, -9.5385, 7.665, 0.8132, 0.7204, 0.1783, 1.0281, 0.335, -8.6496, 7.7197, 0.7155, -0.652, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:945a6ad9e4381120ae95f327638f003e69ba90408f69e415752f8a88a6175f69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb96c4a6a9bd248fcc578ba5444d6598fb0e284a3eb8a5b2e4360181f707f10b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b36730488976f24753a98f592a3bd13d1207be4af322c221b631ec366fe94a55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /messages · status 200 · 9.465 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]: [-0.5072, 2.1441, 1.1526, 0.2012, -0.5785, -0.5991, 0.0505, 0.3294, 1.8252, 0.7975, 0.3214, -0.3492, -0.263, 0.0441]\nstate[eef_state]: left_x=0.4866 left_y=-0.1558 left_z=0.0069 left_yaw=0.2807 left_pitch=-0.0676 left_roll=-0.0679 left_gripper=0.0505 right_x=0.3995 right_y=0.2042 right_z=0.0357 right_yaw=0.7536 right_pitch=-0.0988 right_roll=0.0143 right_gripper=0.0441\nstate[joint_eff]: [-0.5675, -11.7402, 5.8188, 1.1404, -0.1783, 0.0806, 1.1062, -0.0342, -8.4034, 5.3812, 1.663, -0.2076, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5072, 1.9915, 1.2469, -0.0803, -0.5755, -0.6044, 0.0585, 0.3294, 1.6566, 0.9306, 0.0074, -0.35, -0.2672, 0.0441]\nstate[eef_state]: left_x=0.4827 left_y=-0.1541 left_z=0.0709 left_yaw=0.2834 left_pitch=-0.0937 left_roll=-0.049 left_gripper=0.0585 right_x=0.3988 right_y=0.2042 right_z=0.102 right_yaw=0.757 right_pitch=-0.1096 right_roll=0.0165 right_gripper=0.0441\nstate[joint_eff]: [-0.253, -12.9846, 8.9094, 1.4774, -0.2662, 0.0073, 1.033, -0.253, -9.4701, 8.4991, 1.6288, -0.149, 0.0269, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2832, 1.8404, 1.3987, -0.6472, 0.7479, 0.8425, 0.0643, 0.2897, 1.8542, 1.4364, -0.7265, -0.8051, -1.0191, 0.0441]\nstate[eef_state]: left_x=0.3802 left_y=-0.2321 left_z=0.1392 left_yaw=-1.3626 left_pitch=-0.1369 left_roll=-0.0483 left_gripper=0.0643 right_x=0.3667 right_y=0.2459 right_z=0.1458 right_yaw=1.4766 right_pitch=-0.1254 right_roll=-0.0112 right_gripper=0.0441\nstate[joint_eff]: [-0.4444, -9.5385, 7.665, 0.8132, 0.7204, 0.1783, 1.0281, 0.335, -8.6496, 7.7197, 0.7155, -0.652, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:945a6ad9e4381120ae95f327638f003e69ba90408f69e415752f8a88a6175f69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb96c4a6a9bd248fcc578ba5444d6598fb0e284a3eb8a5b2e4360181f707f10b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b36730488976f24753a98f592a3bd13d1207be4af322c221b631ec366fe94a55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015w6gXmvFq8gJFPt6b5r7Uj",
      "input": {
        "note": "Wrist cams reveal the pen is still lying on the table near the centre (the thin point I saw before was the closed fingertips), so the right grasp missed. Moving the left arm (cap) aside and bringing the open right gripper over the pen, jaws across it.",
        "targets": {
          "left_x": 0.33,
          "left_y": -0.12,
          "left_z": 0.15,
          "right_gripper": 1.0,
          "right_x": 0.35,
          "right_y": 0.27,
          "right_yaw": 0.0,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015w6gXmvFq8gJFPt6b5r7Uj",
      "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]: [0.0139, 1.7012, 1.2655, -0.9356, 0.8135, 1.1927, 0.0643, 0.8707, 1.7435, 1.0458, -0.1799, 0.4538, 0.4297, 0.9958]\nstate[eef_state]: left_x=0.3413 left_y=-0.12 left_z=0.1373 left_yaw=-1.3248 left_pitch=-0.1694 left_roll=-0.0728 left_gripper=0.0643 right_x=0.3386 right_y=0.2874 right_z=0.0848 right_yaw=0.2377 right_pitch=-0.2062 right_roll=-0.0449 right_gripper=0.9958\nstate[joint_eff]: [0.2393, -10.1538, 6.0513, 0.5348, 0.7937, 0.2222, 1.0281, 0.3214, -9.4564, 7.788, 1.1258, 0.4957, 0.1636, -0.1734]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a05ec69583fd907ea1caa6b0bfdabaf624b4ccc4d7cdbe390b53e2d1bc9ea84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f95e9ebfb276e706f5008a00f866c14c283896cb762cef7d155000a1017696b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:83f749775c0234046495fe4dd3ca9ee31172e8da603799c99ea165a915e503b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /messages · status 200 · 6.857 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]: [-0.5072, 1.9915, 1.2469, -0.0803, -0.5755, -0.6044, 0.0585, 0.3294, 1.6566, 0.9306, 0.0074, -0.35, -0.2672, 0.0441]\nstate[eef_state]: left_x=0.4827 left_y=-0.1541 left_z=0.0709 left_yaw=0.2834 left_pitch=-0.0937 left_roll=-0.049 left_gripper=0.0585 right_x=0.3988 right_y=0.2042 right_z=0.102 right_yaw=0.757 right_pitch=-0.1096 right_roll=0.0165 right_gripper=0.0441\nstate[joint_eff]: [-0.253, -12.9846, 8.9094, 1.4774, -0.2662, 0.0073, 1.033, -0.253, -9.4701, 8.4991, 1.6288, -0.149, 0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2832, 1.8404, 1.3987, -0.6472, 0.7479, 0.8425, 0.0643, 0.2897, 1.8542, 1.4364, -0.7265, -0.8051, -1.0191, 0.0441]\nstate[eef_state]: left_x=0.3802 left_y=-0.2321 left_z=0.1392 left_yaw=-1.3626 left_pitch=-0.1369 left_roll=-0.0483 left_gripper=0.0643 right_x=0.3667 right_y=0.2459 right_z=0.1458 right_yaw=1.4766 right_pitch=-0.1254 right_roll=-0.0112 right_gripper=0.0441\nstate[joint_eff]: [-0.4444, -9.5385, 7.665, 0.8132, 0.7204, 0.1783, 1.0281, 0.335, -8.6496, 7.7197, 0.7155, -0.652, -0.0806, -0.0122]",
      "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]: [0.0139, 1.7012, 1.2655, -0.9356, 0.8135, 1.1927, 0.0643, 0.8707, 1.7435, 1.0458, -0.1799, 0.4538, 0.4297, 0.9958]\nstate[eef_state]: left_x=0.3413 left_y=-0.12 left_z=0.1373 left_yaw=-1.3248 left_pitch=-0.1694 left_roll=-0.0728 left_gripper=0.0643 right_x=0.3386 right_y=0.2874 right_z=0.0848 right_yaw=0.2377 right_pitch=-0.2062 right_roll=-0.0449 right_gripper=0.9958\nstate[joint_eff]: [0.2393, -10.1538, 6.0513, 0.5348, 0.7937, 0.2222, 1.0281, 0.3214, -9.4564, 7.788, 1.1258, 0.4957, 0.1636, -0.1734]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a05ec69583fd907ea1caa6b0bfdabaf624b4ccc4d7cdbe390b53e2d1bc9ea84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f95e9ebfb276e706f5008a00f866c14c283896cb762cef7d155000a1017696b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83f749775c0234046495fe4dd3ca9ee31172e8da603799c99ea165a915e503b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014187b2V5ryc7CvH2aVt3Be",
      "input": {
        "note": "Right cam shows the pen running forward, a few cm to the right of the jaw column and slightly ahead. Shifting right and forward and lowering to near the table.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.24,
          "right_yaw": 0.0,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_014187b2V5ryc7CvH2aVt3Be",
      "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]: [0.0162, 1.6989, 1.2629, -0.9539, 0.8082, 1.2011, 0.0643, 0.7822, 1.8725, 0.9916, -0.1024, 0.5335, 0.543, 0.9965]\nstate[eef_state]: left_x=0.3375 left_y=-0.1187 left_z=0.1359 left_yaw=-1.329 left_pitch=-0.1785 left_roll=-0.0838 left_gripper=0.0643 right_x=0.3614 right_y=0.2376 right_z=0.0285 right_yaw=0.0131 right_pitch=-0.243 right_roll=-0.0824 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -7.0632, 6.2291, 0.735, 0.4371, -0.1148, 1.0281, 0.0068, -9.4017, 5.8462, 1.5556, 0.3199, 0.0806, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd6008214530d1f0b1efb482e3e3a1af5918fc7c2a6ed75e7c24fec63895368d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:341f99b605f9a720c8e99bb6305f28f47ce01792e7b42e98208e5db3db0001d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:15e178ae6f623344d92b89647e5576acb0277d7ecfab874ec7b4d6eff002af1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /messages · status 200 · 5.194 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]: [-0.2832, 1.8404, 1.3987, -0.6472, 0.7479, 0.8425, 0.0643, 0.2897, 1.8542, 1.4364, -0.7265, -0.8051, -1.0191, 0.0441]\nstate[eef_state]: left_x=0.3802 left_y=-0.2321 left_z=0.1392 left_yaw=-1.3626 left_pitch=-0.1369 left_roll=-0.0483 left_gripper=0.0643 right_x=0.3667 right_y=0.2459 right_z=0.1458 right_yaw=1.4766 right_pitch=-0.1254 right_roll=-0.0112 right_gripper=0.0441\nstate[joint_eff]: [-0.4444, -9.5385, 7.665, 0.8132, 0.7204, 0.1783, 1.0281, 0.335, -8.6496, 7.7197, 0.7155, -0.652, -0.0806, -0.0122]",
      "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]: [0.0139, 1.7012, 1.2655, -0.9356, 0.8135, 1.1927, 0.0643, 0.8707, 1.7435, 1.0458, -0.1799, 0.4538, 0.4297, 0.9958]\nstate[eef_state]: left_x=0.3413 left_y=-0.12 left_z=0.1373 left_yaw=-1.3248 left_pitch=-0.1694 left_roll=-0.0728 left_gripper=0.0643 right_x=0.3386 right_y=0.2874 right_z=0.0848 right_yaw=0.2377 right_pitch=-0.2062 right_roll=-0.0449 right_gripper=0.9958\nstate[joint_eff]: [0.2393, -10.1538, 6.0513, 0.5348, 0.7937, 0.2222, 1.0281, 0.3214, -9.4564, 7.788, 1.1258, 0.4957, 0.1636, -0.1734]",
      "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]: [0.0162, 1.6989, 1.2629, -0.9539, 0.8082, 1.2011, 0.0643, 0.7822, 1.8725, 0.9916, -0.1024, 0.5335, 0.543, 0.9965]\nstate[eef_state]: left_x=0.3375 left_y=-0.1187 left_z=0.1359 left_yaw=-1.329 left_pitch=-0.1785 left_roll=-0.0838 left_gripper=0.0643 right_x=0.3614 right_y=0.2376 right_z=0.0285 right_yaw=0.0131 right_pitch=-0.243 right_roll=-0.0824 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -7.0632, 6.2291, 0.735, 0.4371, -0.1148, 1.0281, 0.0068, -9.4017, 5.8462, 1.5556, 0.3199, 0.0806, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd6008214530d1f0b1efb482e3e3a1af5918fc7c2a6ed75e7c24fec63895368d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:341f99b605f9a720c8e99bb6305f28f47ce01792e7b42e98208e5db3db0001d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15e178ae6f623344d92b89647e5576acb0277d7ecfab874ec7b4d6eff002af1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KPHxEkUJbviLMNqd1SAjs8",
      "input": {
        "note": "Pen is visible diagonally, passing near the right jaw at a ~27° angle. Turning the gripper to line up with the pen, shifting ~3 cm right, and descending to table level.",
        "targets": {
          "right_y": 0.21,
          "right_yaw": 0.47,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01KPHxEkUJbviLMNqd1SAjs8",
      "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]: [0.0162, 1.6993, 1.2629, -0.9543, 0.7929, 1.1877, 0.0643, 0.7727, 1.8946, 0.9829, -0.0662, 0.5301, 0.543, 0.9965]\nstate[eef_state]: left_x=0.3378 left_y=-0.1168 left_z=0.1339 left_yaw=-1.3185 left_pitch=-0.1938 left_roll=-0.091 left_gripper=0.0643 right_x=0.3647 right_y=0.2358 right_z=0.021 right_yaw=0.0069 right_pitch=-0.2412 right_roll=-0.0765 right_gripper=0.9965\nstate[joint_eff]: [-0.3077, -7.6923, 6.0376, 0.569, 0.5446, 0.105, 1.0281, -0.0752, -9.7983, 6.065, 1.4872, 0.3492, 0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6012ec6a91f9f0fa034cac1b9d225939825d4054881cdc0399ca9a42343f7e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73523622b507a6173cd9173ad2fa35eb55e0f44d7e0e6560f8098986f9a0273b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c104d72e0657c8c3dccadf5aca67ae3a31edb72e2264c7bf6f4de44d74c288f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /messages · status 200 · 5.765 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]: [0.0139, 1.7012, 1.2655, -0.9356, 0.8135, 1.1927, 0.0643, 0.8707, 1.7435, 1.0458, -0.1799, 0.4538, 0.4297, 0.9958]\nstate[eef_state]: left_x=0.3413 left_y=-0.12 left_z=0.1373 left_yaw=-1.3248 left_pitch=-0.1694 left_roll=-0.0728 left_gripper=0.0643 right_x=0.3386 right_y=0.2874 right_z=0.0848 right_yaw=0.2377 right_pitch=-0.2062 right_roll=-0.0449 right_gripper=0.9958\nstate[joint_eff]: [0.2393, -10.1538, 6.0513, 0.5348, 0.7937, 0.2222, 1.0281, 0.3214, -9.4564, 7.788, 1.1258, 0.4957, 0.1636, -0.1734]",
      "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]: [0.0162, 1.6989, 1.2629, -0.9539, 0.8082, 1.2011, 0.0643, 0.7822, 1.8725, 0.9916, -0.1024, 0.5335, 0.543, 0.9965]\nstate[eef_state]: left_x=0.3375 left_y=-0.1187 left_z=0.1359 left_yaw=-1.329 left_pitch=-0.1785 left_roll=-0.0838 left_gripper=0.0643 right_x=0.3614 right_y=0.2376 right_z=0.0285 right_yaw=0.0131 right_pitch=-0.243 right_roll=-0.0824 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -7.0632, 6.2291, 0.735, 0.4371, -0.1148, 1.0281, 0.0068, -9.4017, 5.8462, 1.5556, 0.3199, 0.0806, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0162, 1.6993, 1.2629, -0.9543, 0.7929, 1.1877, 0.0643, 0.7727, 1.8946, 0.9829, -0.0662, 0.5301, 0.543, 0.9965]\nstate[eef_state]: left_x=0.3378 left_y=-0.1168 left_z=0.1339 left_yaw=-1.3185 left_pitch=-0.1938 left_roll=-0.091 left_gripper=0.0643 right_x=0.3647 right_y=0.2358 right_z=0.021 right_yaw=0.0069 right_pitch=-0.2412 right_roll=-0.0765 right_gripper=0.9965\nstate[joint_eff]: [-0.3077, -7.6923, 6.0376, 0.569, 0.5446, 0.105, 1.0281, -0.0752, -9.7983, 6.065, 1.4872, 0.3492, 0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6012ec6a91f9f0fa034cac1b9d225939825d4054881cdc0399ca9a42343f7e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73523622b507a6173cd9173ad2fa35eb55e0f44d7e0e6560f8098986f9a0273b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c104d72e0657c8c3dccadf5aca67ae3a31edb72e2264c7bf6f4de44d74c288f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSywgKEAgSGAI4AUIIdGhpbmtpbmcSDI666Oui3fnnNlS0VRoMLCKXyp3tDObkeT6eIjAc45HnJHFMt/mRbsifOf5uO887cRP766Ns3hcfAFO1hzkciA083f/9kdDdlbvBn5Aq6AfNq1ZahWGUGou2q21ogBWBsQVOlooUbF90e7kAZIMESLZUPIRjVwZNnuZjcZP/JH9Hzlnihn6I2ltICNvJI/IGK8ENT/KznWeCpAxm1KelXMktOyqPNSSXZTvk37b26qrHw5ydPIp0iBWs3KAseR0eg1ggBY7+fKHR+4C6sRROnxiJllXUncDEZckZJG9cXuX0cC7/e861IQgac2Dd8tb/gYjRaH8tgo4QN+W9uFTxBvTsXVOq7V8EnHyXSLL3eic5td9n95y5LoIuRBJaWlzV+DtW0++Da33izYO7TG8a/SMEsYDGES7MNsWfI6TFSqNj+wmpp/+6+tSG2Hcpmam8A6eALAZt4CB4Ok66wrhXDgPOTArwSJvEajadALbc1WxRL5Pv8RuHFhte11VV4c1U5esGkzsS3CgB2Mg7vcjxceC1ynO4lqMO97WMtxFzd2HDCYNJ6JSbFcRupfOCKlvHdakeoiIPx5LH6xtGbBCQTTXem/2O0NKzWCoxTQZZSG9R/HJVQoS1pKxtBVRf+3g79wuh2lXhlMZcMZn2l5N/bOGcNeItuK7oh/dj5nbfPXMHA+GsLAWsGto7lKK0qryX3UdkTwMGm7Tc1pFA73gBJnWYrUnjqZkYRWVev2ZFKpPHQ4zA5w/OUfPZafc4H0RsJKyZWZqAT4BuHMVed47Wk/y/GKm7PCdgGrrYem5vni4/oVYz/Xe5neIOK7b0YXM60J5bOmT4w+5qbBLcAAqoSk8AnI+TsDo+28H4rICtiUo1NMUtw5FROFzbVQpIwLWYDD1Zb4NA2LRd/AdxjiRc5xul3TgtlTzkC6V2MB4J+oqNr7rfNtYxPBJgl/FCTNFMftcRg6DBVMG5oN/F5j0+Aq/TTZ4iahwYLdQvkQpn0vqVR3Lr0t3z/o7FJ1y+K6IWMtjXPLGu/bf72Jtih0SrA4VClwQURx/B19YhGMb62nMPqN92U2664uLe9aVekTP2Buvck/eegmGHYrl++2e19uwp6Dfza0bGLwCaKjOXZF9EFa3lmDEidxwtCBzg7HtV/La6qQJCwe7LRJt7FYTlLWeexnk/VPGknkcZg7mnYy02vm8lcAXqKOSFUTLraFIP1o7juHf/7knksdOeEsuRDn2raHaoQy8FMQWTcjwlqm2/0ILCPJG9Tm6P+EDRPH7kujRgIkc6TB/IpKF4Ke3RA/FdTs0i5VnrnVnatoL0nXgxZK3zTTwUiMWxW415yDtYP7SgnxzCDhEj0ycrnO/D0SWuLwDfFvPBCRlA+r8JC/Z8SZb4qoolKJMOr2+mZF0ls2xxbtOvO0yQfvCXl/bSMmSB1pbB9GODGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01315Pgce14Fvmyhnzdf5at8",
      "input": {
        "note": "The right arm stalled on the last move (no change in y or yaw), possibly an awkward wrist pose near the table. Raising a little while applying the sideways shift and rotation.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.21,
          "right_yaw": 0.45,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01315Pgce14Fvmyhnzdf5at8",
      "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]: [0.0162, 1.6993, 1.2629, -0.9543, 0.7849, 1.1873, 0.0643, 0.7727, 1.8946, 0.9829, -0.0662, 0.5297, 0.543, 0.9965]\nstate[eef_state]: left_x=0.3379 left_y=-0.1158 left_z=0.1329 left_yaw=-1.3165 left_pitch=-0.2015 left_roll=-0.0894 left_gripper=0.0643 right_x=0.3647 right_y=0.2359 right_z=0.0209 right_yaw=0.0072 right_pitch=-0.2414 right_roll=-0.0763 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -7.5556, 6.0786, 0.5397, 0.4371, -0.0171, 1.0281, -0.0889, -9.7983, 6.0376, 1.4872, 0.2955, 0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18cb78b376c31b4fec0673f931ba9b04291d96fc845e9a97ec059c19b5f66339",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbef6b7c13fe0a7e7149834f9c3cbc89f5d87f3079fe5e819e28946b98b5dcb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:17109289f71b12fe068c5f6dbb334b78ce884fe1eea3aed63aec1df73ab83992",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /messages · status 200 · 6.818 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]: [0.0162, 1.6989, 1.2629, -0.9539, 0.8082, 1.2011, 0.0643, 0.7822, 1.8725, 0.9916, -0.1024, 0.5335, 0.543, 0.9965]\nstate[eef_state]: left_x=0.3375 left_y=-0.1187 left_z=0.1359 left_yaw=-1.329 left_pitch=-0.1785 left_roll=-0.0838 left_gripper=0.0643 right_x=0.3614 right_y=0.2376 right_z=0.0285 right_yaw=0.0131 right_pitch=-0.243 right_roll=-0.0824 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -7.0632, 6.2291, 0.735, 0.4371, -0.1148, 1.0281, 0.0068, -9.4017, 5.8462, 1.5556, 0.3199, 0.0806, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0162, 1.6993, 1.2629, -0.9543, 0.7929, 1.1877, 0.0643, 0.7727, 1.8946, 0.9829, -0.0662, 0.5301, 0.543, 0.9965]\nstate[eef_state]: left_x=0.3378 left_y=-0.1168 left_z=0.1339 left_yaw=-1.3185 left_pitch=-0.1938 left_roll=-0.091 left_gripper=0.0643 right_x=0.3647 right_y=0.2358 right_z=0.021 right_yaw=0.0069 right_pitch=-0.2412 right_roll=-0.0765 right_gripper=0.9965\nstate[joint_eff]: [-0.3077, -7.6923, 6.0376, 0.569, 0.5446, 0.105, 1.0281, -0.0752, -9.7983, 6.065, 1.4872, 0.3492, 0.0806, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0162, 1.6993, 1.2629, -0.9543, 0.7849, 1.1873, 0.0643, 0.7727, 1.8946, 0.9829, -0.0662, 0.5297, 0.543, 0.9965]\nstate[eef_state]: left_x=0.3379 left_y=-0.1158 left_z=0.1329 left_yaw=-1.3165 left_pitch=-0.2015 left_roll=-0.0894 left_gripper=0.0643 right_x=0.3647 right_y=0.2359 right_z=0.0209 right_yaw=0.0072 right_pitch=-0.2414 right_roll=-0.0763 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -7.5556, 6.0786, 0.5397, 0.4371, -0.0171, 1.0281, -0.0889, -9.7983, 6.0376, 1.4872, 0.2955, 0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18cb78b376c31b4fec0673f931ba9b04291d96fc845e9a97ec059c19b5f66339",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbef6b7c13fe0a7e7149834f9c3cbc89f5d87f3079fe5e819e28946b98b5dcb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17109289f71b12fe068c5f6dbb334b78ce884fe1eea3aed63aec1df73ab83992",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS4wgKEAgSGAI4AUIIdGhpbmtpbmcSDMmaLL/cBjvFwU6jhxoMR29DAhbd/fLxbccYIjC3SP+v5W0v6sSw7uop/XzCHm7wi9Jw3fr2xFXouiEFI7CcNIlHw2aqcik/Be/KDJwqgAidOluybeUC6js1utlGnF/c6Ao3KVUAhtWrbhtHAFcVPDygOqN/Bu40oKyv2sX4g6BGUGkGRLqXyAEQJUjg7pn09PihabIZdG0PqGZVL4uEUWiHRcfrTibGtQr4R2f2wIRjm8AFv7BHSF6valvWc52V56dAJVOW7adGJpOnvUusZUxJuRK/qTcLQDNjbo34KNzH7ViYpvlGMLxo95Zet+ayoD7WYEL7mEz/kVCCau2NBT92qNmipce8zWt6SK43wp9NfmkvufqLDj5yj4FE27T/ge0oDsigyxISLhmRBLHbDhLlzx2X2QU/UKGjDYP50vhmkrohfs9bUZBNURJvZKkAXnZlkHLa6kPcHXTflNoKSDjDa1LOzIAD5PRmZoiV62wRzVpJd0G4njmfQpdBncPUZuVtBnzcZs38MFyl69XhxFqrhIFfHNOYQJ4phXOXxLT+A+E8qWvKApEh/ZBNMIiZ+wE9qH7rYw03UqTDM4DGJnJ4obAwFkAYvvjYaCCO/uc5egQ7JXi+hpqAAWmzCPocvZerVGnMEqAvIECL97NhOYRxeqy/oiwID34kA04dOwXzVIZAfTQChUUR+na57YM/oxpfyt1Vi6+SNlWFXixswBtIVpBFLWBBYx0VJ+NY3JZD3vNbKlYTUyhUeNxKgYFCSzodn5yfNhasJX6Isc10jOsiSF3SkQ+AIDo+wvQEZ4E9qtNWjLSmgv+BqLH/OfzYRV94foiOrnWhTNs15uiQDl9lLIoWklm3HVmJVFe1nYglBtDwoIb08H/HSPRcXVShYYPdvGv2mz5pdoefwiwBDZcSNYxZ2nX7gCn8jIhpH4Ny9rptXc9ipHCKlTbGcy3VtN56o5NtgPFiT+J14qbP8FmWv55c/lg6nmuBs7MjY5rAR4nY6kQV8vDbBtFmcYaNNoP/1gHlF4CCsgI/WGC7XtXs+CEaAlAjGenzC6DkEYzJzYOM2qPRM99e7rYAkHQ6ki+hGsKMBoDRQA3ty+GRE0pO8b51cdNAexCa9ur4ULQYObzhAqMhYFcMca37ODj6MTmK4Qu9RrGNhq42Dft1UEPAW5Oc+29IPq1SaHv7D+H+U68FEcJuSwUZ0yu0OsLeAwK/CE+pm2aiRpXXDOXUQJxajAiKZo1Cm7vqhRKRT6j2J9bYI9j0jhgd30gIMMoK8eYIODea6ezTS0TK0C2VK/v92d1AIsVJUzuIKAMrxmxR2riA3L3Ppn7VM4zkIGux/7UBStCLHRyIYHsBMyxI4yfUkuGG9LnrX6NnCDLrbA5Vo5myHTsoWGmprBr6dKO5F05Fuc+Wz7UiEEzhaBK2CmQ59JOFGK8IcPZiI2RXesxr4pjHWcdWYdwz0cFDDIyjGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018MBtkY3Wk86fkdWtdLKYsx",
      "input": {
        "note": "Right arm is not responding to small targets (joints unchanged). Commanding a clearly higher pose with explicit zero pitch/roll to get the IK out of whatever it is stuck on.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.36,
          "right_y": 0.22,
          "right_yaw": 0.4,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_018MBtkY3Wk86fkdWtdLKYsx",
      "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]: [0.017, 1.702, 1.2625, -0.9535, 0.7666, 1.187, 0.0643, 0.6239, 1.5005, 0.7326, 0.1421, 0.244, 0.1856, 0.9965]\nstate[eef_state]: left_x=0.3385 left_y=-0.1132 left_z=0.1298 left_yaw=-1.3118 left_pitch=-0.2196 left_roll=-0.0875 left_gripper=0.0643 right_x=0.3598 right_y=0.2109 right_z=0.107 right_yaw=0.3081 right_pitch=-0.0474 right_roll=0.0086 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -7.8291, 6.1607, 0.5543, 0.5592, -0.0317, 1.0232, -1.1009, -7.0085, 5.6684, 1.6337, 0.0952, -0.0806, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e62bb514fe6225433cccd1f6e373017023855ea61ff909c815efe036d38f74ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e6999cf82f75e01fedc67b62e4e27626a8bf5be178092201e9f4127f0b66ab7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2bcbfba34a521edb5d8aa387cf2307821a5d4c6553a451fdbdc7b073004c1ccf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /messages · status 200 · 3.368 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]: [0.0162, 1.6993, 1.2629, -0.9543, 0.7929, 1.1877, 0.0643, 0.7727, 1.8946, 0.9829, -0.0662, 0.5301, 0.543, 0.9965]\nstate[eef_state]: left_x=0.3378 left_y=-0.1168 left_z=0.1339 left_yaw=-1.3185 left_pitch=-0.1938 left_roll=-0.091 left_gripper=0.0643 right_x=0.3647 right_y=0.2358 right_z=0.021 right_yaw=0.0069 right_pitch=-0.2412 right_roll=-0.0765 right_gripper=0.9965\nstate[joint_eff]: [-0.3077, -7.6923, 6.0376, 0.569, 0.5446, 0.105, 1.0281, -0.0752, -9.7983, 6.065, 1.4872, 0.3492, 0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0162, 1.6993, 1.2629, -0.9543, 0.7849, 1.1873, 0.0643, 0.7727, 1.8946, 0.9829, -0.0662, 0.5297, 0.543, 0.9965]\nstate[eef_state]: left_x=0.3379 left_y=-0.1158 left_z=0.1329 left_yaw=-1.3165 left_pitch=-0.2015 left_roll=-0.0894 left_gripper=0.0643 right_x=0.3647 right_y=0.2359 right_z=0.0209 right_yaw=0.0072 right_pitch=-0.2414 right_roll=-0.0763 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -7.5556, 6.0786, 0.5397, 0.4371, -0.0171, 1.0281, -0.0889, -9.7983, 6.0376, 1.4872, 0.2955, 0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [0.017, 1.702, 1.2625, -0.9535, 0.7666, 1.187, 0.0643, 0.6239, 1.5005, 0.7326, 0.1421, 0.244, 0.1856, 0.9965]\nstate[eef_state]: left_x=0.3385 left_y=-0.1132 left_z=0.1298 left_yaw=-1.3118 left_pitch=-0.2196 left_roll=-0.0875 left_gripper=0.0643 right_x=0.3598 right_y=0.2109 right_z=0.107 right_yaw=0.3081 right_pitch=-0.0474 right_roll=0.0086 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -7.8291, 6.1607, 0.5543, 0.5592, -0.0317, 1.0232, -1.1009, -7.0085, 5.6684, 1.6337, 0.0952, -0.0806, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e62bb514fe6225433cccd1f6e373017023855ea61ff909c815efe036d38f74ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e6999cf82f75e01fedc67b62e4e27626a8bf5be178092201e9f4127f0b66ab7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2bcbfba34a521edb5d8aa387cf2307821a5d4c6553a451fdbdc7b073004c1ccf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSnwsKEAgSGAI4AUIIdGhpbmtpbmcSDMGR2OIRhBH5V40kaBoM23tNmDXaB+4+KrlWIjBe4RSTQ6godkrsLcXhbUVBuEOu0MlezUkLJKALcq+6Pfh7XAnRxd/k6VkJ24ixdg8qvAqRraDGSdUBfL0w55NoTINrjDvd78tPDOQohW0ZNvJek67JQk+9s7BsdY4FrluhVCzePwh08NGl88dBlzUbat2Xz7PjpkCSJeKnZG/hYKfwbZEYxjYWlzlG4URc8caSQ5pktW0/LO8fDvqyS5Zjbm3WoYOBScS2y0CNOOKhg5EjeqrVElypt/xOoRe1OeSmHogvFExc0ITyvv2/3WW1wo0CES2i06YgDmBxdo5PnzESJKDjCtIl8Fxaw6WU07hmDffdljn7WNnoIUwUEpPycJY2nvDlfP1s+oUwqGTE1ZspM6e6noLN8MYZ/l1aqmH2UMQSFlbuxPUQTnOHSeTZlII8iJbC1yLtgmmS/FgegLowf47POjtW9De1Nwg8lDBVOcYklLWK9+2oP6MHaf7LX/gouYHEghsRZb9Xq2WY8E4YW0XCPZyGKpek7jVxCaMpty1JCebTLpScP40cFsB1VZy8+T2QpD+3z1n53witPxzItLtccAkipYhNN9Dq3ZgbvTPDxkK0+egN3fWU0907vAhTln3r58NDNnEERLIJyR1f1XzZa7eYOCBF/IiFqh7PlPELhcMI7VP1cMoLrb1kNC9VXmkybiNM2d0RFM8S3J3lNWyAV6BJ2y1KmQXL3ABo6VcEacdIR/8DIXtJJTRa2KMimVEvDtEaJj+m/vxyRPOqxK6gWU82UlQ+MWtMGT+bWuzR9fURMwBmH//Ze2JCdVNYhDo4pjAfbHOnuJquCTvpvXSD9K2HcAN/uA2EyimtwwIGbMZn7+XRHb3cVgCB+B+aUZZVh6LeYAdXXszrmAETV0VRERwFlqupT275n4afw1LKvrok8Ay1HJRx1tfUQMv94c/GiXVi6TCcD8HUuKOuIcMQAcIhnBJ9VqMFTcOCXfiSIdKCFUBA+CiNA0APcD89hOcC/SrhzkjzDYYE9xQmYPZbISQ8Ad/3FygUe+HkZe6WbjS5UcBRLGs3nU5eCImkz1UIKmLIJTfsXklAKI8o0ZePri6u+U6kBHHK5B8oEpwy7FgQEHybkVRo+CXFbQ6WP1g/H92+wiFLQNxTQ1Qw9MAXStZJ+GRWOIFEt+pGRMDiMVFqRvpLfZkIGaIo6Slj9a42xJ0E0u9Hvs2yh21g3aBa3Z/nhKeu1FsKsVyQRAtOn72mOMzt9Fh5mLFRnnkZjCxnmIZ9wCcCq7GSbz1xTTQvJWWjS7jDgpnhmgfbJYWtdpWOS0eZ0uLaJF2vwBUH1wLJosTG9/icLdivmLqQcWCF8tYjoUrX2BMyqJSA1aZ7sUE4AUwcAkfcIZ7c7q4IcwgB0WkCbeDfNn/8bHUwS5EmOpgrCMpaa2q9AF2UZYOGPVnrADEme6PTIRrtiNjZPajzKmAmLgd/6DBgKhdl5tYR1sDNCkG3Ftj7ZY2UupTZTxuV0Bise3/xyXUxbnUmGsgC6O46ojkUxAasJLe3cueSV4eN+wzt/57my1OUgtnF+v2nmM5C+T8hZhJcqIHu0Df7xy++iIs325F4hm6aFKQylWndmqkXUOgz+0nzTVnWtwWg9jFUFB76pQs94eENerdoBThR5KuqtRsUqMpYqP/XZyJTQuQkJzirRzpbFW6Jmb08xK2xCrDIJ/bN+6aEBhwG1c+AHtie9jlCZIHX5AScHgoTgvrsiD4JIVd2AD90iHpaD95pjW2tU/ZjpdfQGfOdySf0L7GA2dw/kUqeWjg1lkxpJSyXVasXplBFHGuL4rFBgO+K3oGQZDcEMVJ2jNCfJajnM4jvXu/+OviPfkZQcCLaztuLNTKUWxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01459KoY9iaSCsyq3EsJ4WVd",
      "input": {
        "note": "Right arm is free again; the pen now runs nearly down the jaw column, tilted ~17°. Rotating slightly to align, nudging right ~1 cm and descending to the table.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.366,
          "right_y": 0.202,
          "right_yaw": 0.6,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01459KoY9iaSCsyq3EsJ4WVd",
      "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]: [0.017, 1.7027, 1.2613, -0.955, 0.7586, 1.187, 0.0643, 0.4477, 1.8664, 0.5316, 0.7341, -0.0765, -0.0566, 0.9965]\nstate[eef_state]: left_x=0.3381 left_y=-0.1122 left_z=0.1282 left_yaw=-1.3107 left_pitch=-0.228 left_roll=-0.089 left_gripper=0.0643 right_x=0.3674 right_y=0.1954 right_z=0.0014 right_yaw=0.5315 right_pitch=-0.0413 right_roll=-0.0054 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -7.8564, 6.0513, 0.525, 0.4322, -0.0757, 1.0281, -0.6632, -6.0923, 3.0974, 1.0623, -0.3785, 0.1245, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e750ea8a28e6fb954ada05db6f9baf4e49c79b82b53d25f60600415b0a6a0be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0064e5b0c20622375ea79427e3d6c2018d3031c06738ef40f1ae3bbd56b0ebe8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1f7ee3624bd1b5997404741b57968e5a8d73b125ef0c525c3eb1fa1affbd5b73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /messages · status 200 · 7.265 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]: [0.0162, 1.6993, 1.2629, -0.9543, 0.7849, 1.1873, 0.0643, 0.7727, 1.8946, 0.9829, -0.0662, 0.5297, 0.543, 0.9965]\nstate[eef_state]: left_x=0.3379 left_y=-0.1158 left_z=0.1329 left_yaw=-1.3165 left_pitch=-0.2015 left_roll=-0.0894 left_gripper=0.0643 right_x=0.3647 right_y=0.2359 right_z=0.0209 right_yaw=0.0072 right_pitch=-0.2414 right_roll=-0.0763 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -7.5556, 6.0786, 0.5397, 0.4371, -0.0171, 1.0281, -0.0889, -9.7983, 6.0376, 1.4872, 0.2955, 0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.017, 1.702, 1.2625, -0.9535, 0.7666, 1.187, 0.0643, 0.6239, 1.5005, 0.7326, 0.1421, 0.244, 0.1856, 0.9965]\nstate[eef_state]: left_x=0.3385 left_y=-0.1132 left_z=0.1298 left_yaw=-1.3118 left_pitch=-0.2196 left_roll=-0.0875 left_gripper=0.0643 right_x=0.3598 right_y=0.2109 right_z=0.107 right_yaw=0.3081 right_pitch=-0.0474 right_roll=0.0086 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -7.8291, 6.1607, 0.5543, 0.5592, -0.0317, 1.0232, -1.1009, -7.0085, 5.6684, 1.6337, 0.0952, -0.0806, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [0.017, 1.7027, 1.2613, -0.955, 0.7586, 1.187, 0.0643, 0.4477, 1.8664, 0.5316, 0.7341, -0.0765, -0.0566, 0.9965]\nstate[eef_state]: left_x=0.3381 left_y=-0.1122 left_z=0.1282 left_yaw=-1.3107 left_pitch=-0.228 left_roll=-0.089 left_gripper=0.0643 right_x=0.3674 right_y=0.1954 right_z=0.0014 right_yaw=0.5315 right_pitch=-0.0413 right_roll=-0.0054 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -7.8564, 6.0513, 0.525, 0.4322, -0.0757, 1.0281, -0.6632, -6.0923, 3.0974, 1.0623, -0.3785, 0.1245, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e750ea8a28e6fb954ada05db6f9baf4e49c79b82b53d25f60600415b0a6a0be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0064e5b0c20622375ea79427e3d6c2018d3031c06738ef40f1ae3bbd56b0ebe8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f7ee3624bd1b5997404741b57968e5a8d73b125ef0c525c3eb1fa1affbd5b73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS6AYKEAgSGAI4AUIIdGhpbmtpbmcSDFUFGEoQz5Qj6u666xoMUZhRbfuDT/UmFFKBIjB4Xb1FebK5zZmrMCufwRFjMJPpywZlZJeHz6n7jE8QWlaePWIL8mmCdEZjO3GO8QEqhQYaPP35CYTtf1gdMzTrzgwB6v0BgkaEWOHdFfI9GDBEZt4chAbHFoO7oFtpeSQ2aA/XEktiEyiLl1YushdqOaOJovYDhVlUF4pURTfEJ/Olz/drfHkAODpVkPqckPvaIuQPi8WWNuSSrhdKqPVvWBxHT9U57E8hEa2ClEJUtPkAnJ1ZSxCQvGt0UFSshYNFAuP+5HBEAELLSmV2XPD48QEopq+uA+y6CBpHns1YH+IyckrpwTmMccBS0bIeT2T5ZVE1HDxzu9TBKCirTo4H3jzTo43VtGv3aFvS9cUgDlTcjflFPPkqFgtCoSMDwXyxny2IZq/2j1osbnZ6mvFnsnDkm6DnFqbJoSKp9VjdfvGSe6IGu3LVwBEUW/ekt3mcyVXFew7FLD7hAZX8G+dQgyP4g6PTwTiBAV8h80wq4IDRmlM6xxe/nUBM6zV5G9lN1wPzXgQ4moUS+vT8Sj1Re9nTSFOFnfXOwR9Coe+Wca5EwBNXwIFtiT1rFzh9qff8U4TskVWT+8Y6eEzzY4+e+N2KDQV9jBzvQgB5etT/tzZS2rela3olGO9UFYUUg1lls4wa6w6DIrSdfUB3aFdpwt3byQlsE1jvMnotBVdpCN0CqArVXVXRL05NDPcMtO7PabYnYP4YljIeecj1a5pQRN2KfyeHLx5oyhzuXfwWPZppBLRCK/haTJ+qEDih1ufHvhLENgzulMoXIqe0YH5PjghhqinIWI/yX5RV0V+saOFGDv04AVm+mpU682Iv0cubJVDxA4ZSW2YDpietfjy27/q44oDySTWaMoFUypOlicFriVydsWPv32KJ00dhrPKl22y+qSQGjGkypy7ywlQR12GO/rYJLI0pFZ/XREp5Q7WPHqpCzQRzVWIdKA1hVEExfolft04sYDoACfcp7AAuHOnwO5Uxzk5Sn/Ffi8c8viUw7vPTeqqJUElQdBfW2BcAyYQp/f7CbX71AufDMTZFHxTwPLHQF0irRKX7ignzigYPP0HfOT8a/raGti5d4qtwuMmDVmksgxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011ZJg8d6ijZuFt6VgpGGdeD",
      "input": {
        "note": "Pen is now centred and aligned along the right jaw gap at table level; closing the right gripper.",
        "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_011ZJg8d6ijZuFt6VgpGGdeD",
      "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]: [0.0174, 1.7027, 1.261, -0.9546, 0.7551, 1.187, 0.0643, 0.4408, 1.8801, 0.5282, 0.767, -0.0822, -0.0589, 0.0521]\nstate[eef_state]: left_x=0.3382 left_y=-0.1116 left_z=0.1277 left_yaw=-1.3096 left_pitch=-0.2313 left_roll=-0.0882 left_gripper=0.0643 right_x=0.3698 right_y=0.1945 right_z=0.0016 right_yaw=0.5307 right_pitch=-0.0254 right_roll=-0.0055 right_gripper=0.0521\nstate[joint_eff]: [-0.1299, -7.665, 5.9829, 0.5446, 0.3883, -0.0366, 1.0281, 0.3624, -8.6359, 4.8342, 1.453, 0.0024, 0.0415, 1.4481]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3de2507cb1a9ad5afb355eeeef186fdc8fae0e34fd035516f8c9cf21b733630",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91f0fdfc52638aacdcf454e39e37332294486d21840ff2b1d9e56437a6e952b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fc1e656f1cb401bd4d8fd55bb9d7ca467c7e8ad5fa2080fd0aac161e0ae276ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /messages · status 200 · 12.69 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]: [0.017, 1.702, 1.2625, -0.9535, 0.7666, 1.187, 0.0643, 0.6239, 1.5005, 0.7326, 0.1421, 0.244, 0.1856, 0.9965]\nstate[eef_state]: left_x=0.3385 left_y=-0.1132 left_z=0.1298 left_yaw=-1.3118 left_pitch=-0.2196 left_roll=-0.0875 left_gripper=0.0643 right_x=0.3598 right_y=0.2109 right_z=0.107 right_yaw=0.3081 right_pitch=-0.0474 right_roll=0.0086 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -7.8291, 6.1607, 0.5543, 0.5592, -0.0317, 1.0232, -1.1009, -7.0085, 5.6684, 1.6337, 0.0952, -0.0806, -0.0073]\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]: [0.017, 1.7027, 1.2613, -0.955, 0.7586, 1.187, 0.0643, 0.4477, 1.8664, 0.5316, 0.7341, -0.0765, -0.0566, 0.9965]\nstate[eef_state]: left_x=0.3381 left_y=-0.1122 left_z=0.1282 left_yaw=-1.3107 left_pitch=-0.228 left_roll=-0.089 left_gripper=0.0643 right_x=0.3674 right_y=0.1954 right_z=0.0014 right_yaw=0.5315 right_pitch=-0.0413 right_roll=-0.0054 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -7.8564, 6.0513, 0.525, 0.4322, -0.0757, 1.0281, -0.6632, -6.0923, 3.0974, 1.0623, -0.3785, 0.1245, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0174, 1.7027, 1.261, -0.9546, 0.7551, 1.187, 0.0643, 0.4408, 1.8801, 0.5282, 0.767, -0.0822, -0.0589, 0.0521]\nstate[eef_state]: left_x=0.3382 left_y=-0.1116 left_z=0.1277 left_yaw=-1.3096 left_pitch=-0.2313 left_roll=-0.0882 left_gripper=0.0643 right_x=0.3698 right_y=0.1945 right_z=0.0016 right_yaw=0.5307 right_pitch=-0.0254 right_roll=-0.0055 right_gripper=0.0521\nstate[joint_eff]: [-0.1299, -7.665, 5.9829, 0.5446, 0.3883, -0.0366, 1.0281, 0.3624, -8.6359, 4.8342, 1.453, 0.0024, 0.0415, 1.4481]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3de2507cb1a9ad5afb355eeeef186fdc8fae0e34fd035516f8c9cf21b733630",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91f0fdfc52638aacdcf454e39e37332294486d21840ff2b1d9e56437a6e952b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc1e656f1cb401bd4d8fd55bb9d7ca467c7e8ad5fa2080fd0aac161e0ae276ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0166FQywNXwzJSECcLG4knLS",
      "input": {
        "note": "Right gripper closed on the pen (reading 0.052, pen seen running out of the jaws). Lifting 8 cm to confirm it comes up.",
        "targets": {
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_0166FQywNXwzJSECcLG4knLS",
      "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]: [0.017, 1.7027, 1.2602, -0.9543, 0.7391, 1.187, 0.0679, 0.44, 1.599, 0.6025, 0.4175, -0.0834, -0.0605, 0.0583]\nstate[eef_state]: left_x=0.3383 left_y=-0.1097 left_z=0.1256 left_yaw=-1.3063 left_pitch=-0.2467 left_roll=-0.0846 left_gripper=0.0679 right_x=0.3696 right_y=0.1942 right_z=0.0683 right_yaw=0.5317 right_pitch=-0.0192 right_roll=-0.0067 right_gripper=0.0583\nstate[joint_eff]: [-0.3077, -7.8427, 5.9966, 0.6227, 0.4713, -0.0562, 1.0281, 0.0342, -7.8564, 7.8564, 1.8242, -0.0317, 0.0024, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49a14d0ed5a86c08b8db1319296bc1aa9630d90afa82e673c2b2d7211bd009ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:364edc91a80e23f59f8a4f73d780dbba80972d526551840d229c70358ec25b67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8a13c800704b8991890f4d7beff8a3af2904e123a7ca9756342a95d4f5c35cf4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /messages · status 200 · 13.38 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]: [0.017, 1.7027, 1.2613, -0.955, 0.7586, 1.187, 0.0643, 0.4477, 1.8664, 0.5316, 0.7341, -0.0765, -0.0566, 0.9965]\nstate[eef_state]: left_x=0.3381 left_y=-0.1122 left_z=0.1282 left_yaw=-1.3107 left_pitch=-0.228 left_roll=-0.089 left_gripper=0.0643 right_x=0.3674 right_y=0.1954 right_z=0.0014 right_yaw=0.5315 right_pitch=-0.0413 right_roll=-0.0054 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -7.8564, 6.0513, 0.525, 0.4322, -0.0757, 1.0281, -0.6632, -6.0923, 3.0974, 1.0623, -0.3785, 0.1245, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0174, 1.7027, 1.261, -0.9546, 0.7551, 1.187, 0.0643, 0.4408, 1.8801, 0.5282, 0.767, -0.0822, -0.0589, 0.0521]\nstate[eef_state]: left_x=0.3382 left_y=-0.1116 left_z=0.1277 left_yaw=-1.3096 left_pitch=-0.2313 left_roll=-0.0882 left_gripper=0.0643 right_x=0.3698 right_y=0.1945 right_z=0.0016 right_yaw=0.5307 right_pitch=-0.0254 right_roll=-0.0055 right_gripper=0.0521\nstate[joint_eff]: [-0.1299, -7.665, 5.9829, 0.5446, 0.3883, -0.0366, 1.0281, 0.3624, -8.6359, 4.8342, 1.453, 0.0024, 0.0415, 1.4481]",
      "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]: [0.017, 1.7027, 1.2602, -0.9543, 0.7391, 1.187, 0.0679, 0.44, 1.599, 0.6025, 0.4175, -0.0834, -0.0605, 0.0583]\nstate[eef_state]: left_x=0.3383 left_y=-0.1097 left_z=0.1256 left_yaw=-1.3063 left_pitch=-0.2467 left_roll=-0.0846 left_gripper=0.0679 right_x=0.3696 right_y=0.1942 right_z=0.0683 right_yaw=0.5317 right_pitch=-0.0192 right_roll=-0.0067 right_gripper=0.0583\nstate[joint_eff]: [-0.3077, -7.8427, 5.9966, 0.6227, 0.4713, -0.0562, 1.0281, 0.0342, -7.8564, 7.8564, 1.8242, -0.0317, 0.0024, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49a14d0ed5a86c08b8db1319296bc1aa9630d90afa82e673c2b2d7211bd009ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:364edc91a80e23f59f8a4f73d780dbba80972d526551840d229c70358ec25b67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a13c800704b8991890f4d7beff8a3af2904e123a7ca9756342a95d4f5c35cf4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UzgM5QgzV8hmJRxcokMT6p",
      "input": {
        "note": "Pen is confirmed in the right gripper (it lifted with the jaws); the left gripper appears to hold the cap. Turning the arms to face each other at the same height with the pen tip pointing toward the cap, leaving a few cm gap.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.35,
          "left_y": -0.27,
          "left_yaw": -1.57,
          "left_z": 0.15,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.35,
          "right_y": 0.22,
          "right_yaw": 1.57,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01UzgM5QgzV8hmJRxcokMT6p",
      "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]: [-0.3332, 1.8366, 1.3254, -0.6647, 0.8711, 0.9768, 0.0692, 0.1936, 1.8286, 1.3445, -0.6685, -0.9272, -1.108, 0.0638]\nstate[eef_state]: left_x=0.3378 left_y=-0.2562 left_z=0.1297 left_yaw=-1.5507 left_pitch=-0.067 left_roll=-0.0684 left_gripper=0.0692 right_x=0.3681 right_y=0.2198 right_z=0.1456 right_yaw=1.481 right_pitch=-0.0231 right_roll=-0.0386 right_gripper=0.0638\nstate[joint_eff]: [-0.3487, -8.841, 9.6342, 1.2332, 0.6764, 0.0611, 1.033, -0.8957, -8.5538, 6.9675, 0.652, -0.8962, -0.0464, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eea92a54e57b300d718cd3259f8ec394991e3adda4773c2c9f19527b48ffce59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63915f65d2f9c30bfb77c4dbef61dcb608ab21525324cc793030884e6e954318",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b73eb31680701f3170c811387241b800b5b11e2a42c65fabba202570e5c3dd12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /messages · status 200 · 7.554 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]: [0.0174, 1.7027, 1.261, -0.9546, 0.7551, 1.187, 0.0643, 0.4408, 1.8801, 0.5282, 0.767, -0.0822, -0.0589, 0.0521]\nstate[eef_state]: left_x=0.3382 left_y=-0.1116 left_z=0.1277 left_yaw=-1.3096 left_pitch=-0.2313 left_roll=-0.0882 left_gripper=0.0643 right_x=0.3698 right_y=0.1945 right_z=0.0016 right_yaw=0.5307 right_pitch=-0.0254 right_roll=-0.0055 right_gripper=0.0521\nstate[joint_eff]: [-0.1299, -7.665, 5.9829, 0.5446, 0.3883, -0.0366, 1.0281, 0.3624, -8.6359, 4.8342, 1.453, 0.0024, 0.0415, 1.4481]",
      "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]: [0.017, 1.7027, 1.2602, -0.9543, 0.7391, 1.187, 0.0679, 0.44, 1.599, 0.6025, 0.4175, -0.0834, -0.0605, 0.0583]\nstate[eef_state]: left_x=0.3383 left_y=-0.1097 left_z=0.1256 left_yaw=-1.3063 left_pitch=-0.2467 left_roll=-0.0846 left_gripper=0.0679 right_x=0.3696 right_y=0.1942 right_z=0.0683 right_yaw=0.5317 right_pitch=-0.0192 right_roll=-0.0067 right_gripper=0.0583\nstate[joint_eff]: [-0.3077, -7.8427, 5.9966, 0.6227, 0.4713, -0.0562, 1.0281, 0.0342, -7.8564, 7.8564, 1.8242, -0.0317, 0.0024, 1.0281]",
      "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]: [-0.3332, 1.8366, 1.3254, -0.6647, 0.8711, 0.9768, 0.0692, 0.1936, 1.8286, 1.3445, -0.6685, -0.9272, -1.108, 0.0638]\nstate[eef_state]: left_x=0.3378 left_y=-0.2562 left_z=0.1297 left_yaw=-1.5507 left_pitch=-0.067 left_roll=-0.0684 left_gripper=0.0692 right_x=0.3681 right_y=0.2198 right_z=0.1456 right_yaw=1.481 right_pitch=-0.0231 right_roll=-0.0386 right_gripper=0.0638\nstate[joint_eff]: [-0.3487, -8.841, 9.6342, 1.2332, 0.6764, 0.0611, 1.033, -0.8957, -8.5538, 6.9675, 0.652, -0.8962, -0.0464, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eea92a54e57b300d718cd3259f8ec394991e3adda4773c2c9f19527b48ffce59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63915f65d2f9c30bfb77c4dbef61dcb608ab21525324cc793030884e6e954318",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b73eb31680701f3170c811387241b800b5b11e2a42c65fabba202570e5c3dd12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017aq7PKC7xm9oYXMfmZHkkM",
      "input": {
        "note": "Pen and cap face each other across the centre; left cam shows the pen tip ~3 cm to the cap's side (larger x) and slightly low relative to the left jaws, and readbacks show the left arm 1.6 cm lower. Aligning the left gripper's x and height with the pen axis.",
        "targets": {
          "left_x": 0.375,
          "left_yaw": -1.57,
          "left_z": 0.167
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_017aq7PKC7xm9oYXMfmZHkkM",
      "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]: [-0.3115, 1.9591, 1.5806, -0.8383, 0.8707, 1.0073, 0.0713, 0.1921, 1.845, 1.3468, -0.7193, -0.9253, -1.1534, 0.0686]\nstate[eef_state]: left_x=0.3723 left_y=-0.258 left_z=0.1492 left_yaw=-1.5482 left_pitch=-0.08 left_roll=-0.0823 left_gripper=0.0713 right_x=0.3614 right_y=0.2177 right_z=0.1365 right_yaw=1.5049 right_pitch=-0.0424 right_roll=-0.0143 right_gripper=0.0686\nstate[joint_eff]: [0.3897, -10.947, 7.9658, 0.6569, 0.6081, 0.2808, 1.0134, -0.0752, -10.6051, 5.9145, 1.2088, -0.5495, 0.2662, 1.0134]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:360d0faffb2e9365db65378cbbf67199764e9fdb819bdebc74b985f69e918570",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46be733e4f7a4bf486bfe73df932deae50f32bb9955c232e9fdead09a35f224b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d32f22e277324638b0afd52ebc32b25dc02c2dd606c769d2b821ffce35b93da5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /messages · status 200 · 5.657 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]: [0.017, 1.7027, 1.2602, -0.9543, 0.7391, 1.187, 0.0679, 0.44, 1.599, 0.6025, 0.4175, -0.0834, -0.0605, 0.0583]\nstate[eef_state]: left_x=0.3383 left_y=-0.1097 left_z=0.1256 left_yaw=-1.3063 left_pitch=-0.2467 left_roll=-0.0846 left_gripper=0.0679 right_x=0.3696 right_y=0.1942 right_z=0.0683 right_yaw=0.5317 right_pitch=-0.0192 right_roll=-0.0067 right_gripper=0.0583\nstate[joint_eff]: [-0.3077, -7.8427, 5.9966, 0.6227, 0.4713, -0.0562, 1.0281, 0.0342, -7.8564, 7.8564, 1.8242, -0.0317, 0.0024, 1.0281]",
      "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]: [-0.3332, 1.8366, 1.3254, -0.6647, 0.8711, 0.9768, 0.0692, 0.1936, 1.8286, 1.3445, -0.6685, -0.9272, -1.108, 0.0638]\nstate[eef_state]: left_x=0.3378 left_y=-0.2562 left_z=0.1297 left_yaw=-1.5507 left_pitch=-0.067 left_roll=-0.0684 left_gripper=0.0692 right_x=0.3681 right_y=0.2198 right_z=0.1456 right_yaw=1.481 right_pitch=-0.0231 right_roll=-0.0386 right_gripper=0.0638\nstate[joint_eff]: [-0.3487, -8.841, 9.6342, 1.2332, 0.6764, 0.0611, 1.033, -0.8957, -8.5538, 6.9675, 0.652, -0.8962, -0.0464, 1.033]",
      "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]: [-0.3115, 1.9591, 1.5806, -0.8383, 0.8707, 1.0073, 0.0713, 0.1921, 1.845, 1.3468, -0.7193, -0.9253, -1.1534, 0.0686]\nstate[eef_state]: left_x=0.3723 left_y=-0.258 left_z=0.1492 left_yaw=-1.5482 left_pitch=-0.08 left_roll=-0.0823 left_gripper=0.0713 right_x=0.3614 right_y=0.2177 right_z=0.1365 right_yaw=1.5049 right_pitch=-0.0424 right_roll=-0.0143 right_gripper=0.0686\nstate[joint_eff]: [0.3897, -10.947, 7.9658, 0.6569, 0.6081, 0.2808, 1.0134, -0.0752, -10.6051, 5.9145, 1.2088, -0.5495, 0.2662, 1.0134]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:360d0faffb2e9365db65378cbbf67199764e9fdb819bdebc74b985f69e918570",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46be733e4f7a4bf486bfe73df932deae50f32bb9955c232e9fdead09a35f224b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d32f22e277324638b0afd52ebc32b25dc02c2dd606c769d2b821ffce35b93da5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KKJ11D9HS5CdEyvVnhyUo7",
      "input": {
        "note": "Both wrist cams show the pen tip lined up with the left jaws (cap) on the jaw column. Advancing the cap 3 cm onto the pen tip while holding the pen arm still.",
        "targets": {
          "left_y": -0.29,
          "right_x": 0.3614,
          "right_y": 0.2177,
          "right_yaw": 1.5049,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01KKJ11D9HS5CdEyvVnhyUo7",
      "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]: [-0.3683, 1.9842, 1.6012, -0.8284, 0.8413, 0.9474, 0.0724, 0.1921, 1.8446, 1.346, -0.7071, -0.9169, -1.1412, 0.0715]\nstate[eef_state]: left_x=0.366 left_y=-0.2786 left_z=0.1422 left_yaw=-1.561 left_pitch=-0.1068 left_roll=-0.115 left_gripper=0.0724 right_x=0.3638 right_y=0.2172 right_z=0.136 right_yaw=1.4949 right_pitch=-0.0469 right_roll=-0.0177 right_gripper=0.0715\nstate[joint_eff]: [-0.1436, -10.7556, 6.4205, 1.1013, 0.4029, 0.0171, 0.9597, -0.3214, -9.5658, 6.9675, 0.6374, -0.5543, -0.188, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:395c8843ad752323500ec2f98d9125d6e86e8c8f872bfaea892ec290df92e279",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c32b6f66251caa9a36504bb48950a76cd31d68b7282b3aee29c18c1817689b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:42b62d63a6fc69b0cf9f032d29c6c5c02155166fd93bcf92c9f28c508f2c2e44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /messages · status 200 · 5.609 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]: [-0.3332, 1.8366, 1.3254, -0.6647, 0.8711, 0.9768, 0.0692, 0.1936, 1.8286, 1.3445, -0.6685, -0.9272, -1.108, 0.0638]\nstate[eef_state]: left_x=0.3378 left_y=-0.2562 left_z=0.1297 left_yaw=-1.5507 left_pitch=-0.067 left_roll=-0.0684 left_gripper=0.0692 right_x=0.3681 right_y=0.2198 right_z=0.1456 right_yaw=1.481 right_pitch=-0.0231 right_roll=-0.0386 right_gripper=0.0638\nstate[joint_eff]: [-0.3487, -8.841, 9.6342, 1.2332, 0.6764, 0.0611, 1.033, -0.8957, -8.5538, 6.9675, 0.652, -0.8962, -0.0464, 1.033]",
      "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]: [-0.3115, 1.9591, 1.5806, -0.8383, 0.8707, 1.0073, 0.0713, 0.1921, 1.845, 1.3468, -0.7193, -0.9253, -1.1534, 0.0686]\nstate[eef_state]: left_x=0.3723 left_y=-0.258 left_z=0.1492 left_yaw=-1.5482 left_pitch=-0.08 left_roll=-0.0823 left_gripper=0.0713 right_x=0.3614 right_y=0.2177 right_z=0.1365 right_yaw=1.5049 right_pitch=-0.0424 right_roll=-0.0143 right_gripper=0.0686\nstate[joint_eff]: [0.3897, -10.947, 7.9658, 0.6569, 0.6081, 0.2808, 1.0134, -0.0752, -10.6051, 5.9145, 1.2088, -0.5495, 0.2662, 1.0134]\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]: [-0.3683, 1.9842, 1.6012, -0.8284, 0.8413, 0.9474, 0.0724, 0.1921, 1.8446, 1.346, -0.7071, -0.9169, -1.1412, 0.0715]\nstate[eef_state]: left_x=0.366 left_y=-0.2786 left_z=0.1422 left_yaw=-1.561 left_pitch=-0.1068 left_roll=-0.115 left_gripper=0.0724 right_x=0.3638 right_y=0.2172 right_z=0.136 right_yaw=1.4949 right_pitch=-0.0469 right_roll=-0.0177 right_gripper=0.0715\nstate[joint_eff]: [-0.1436, -10.7556, 6.4205, 1.1013, 0.4029, 0.0171, 0.9597, -0.3214, -9.5658, 6.9675, 0.6374, -0.5543, -0.188, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:395c8843ad752323500ec2f98d9125d6e86e8c8f872bfaea892ec290df92e279",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c32b6f66251caa9a36504bb48950a76cd31d68b7282b3aee29c18c1817689b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42b62d63a6fc69b0cf9f032d29c6c5c02155166fd93bcf92c9f28c508f2c2e44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSyAkKEAgSGAI4AUIIdGhpbmtpbmcSDDuA9PefvUDoO1CsHhoM3cbje88mjlGEBp9rIjCB65yDoJgZA57TB3n8WMxb97lQsL5/sDAwVyMsYUMYG2hJXr7KOqBv/JcocnYuFK4q5QgKo11ChSfN2bgYfMj8NYa33hVVy357shl2El64P6cxkF8pHB2AI5rMBkjHFbq74YgG23kZl/uGOxAzfWwZwKDnHZxubFS2J/yVqfEwW3uUyhwBhkYcPCoohzpGmsjizc7tYMKveS47U6eLgkdo7OL0iysI9/U+L5WpUfNLy4FLgDLTtiWtOKvJPA/rf8Zph6dMaHWvPNpE5nZKJ3CifKjnF8dU5CRQ0pKE4Z/b0RJAgx7o+u240bQhfYuFA/o3VK7eEuXK9fX4oWOnaEmjYMNotCT2bLQh5BInozcvYRrp/oUf5kLR2hhtTwhXo6FMb4LNo5pPImBaWfhpDgaLbXHz+29CjNlMhD7rVNtIid97XbZclSGpzsaUE8W+fcMaLTv27RC8qHKXw6zxJTZCPIn0M5VM3G5NoMT3IaPxsbHy4UNtcZjerpYUO8ZkzWBBhZ8pik9pxKFaV0XplQca4Mfs6t+4QzseHL/nRk52SNXqbpVeP/E7LDLpGKHN/ymkHIcsrgkBTD/TuB7RiLb6uxmh0d55l2BZIIIUx6+eA/ulaVk0rqVe0Mq11PwSs0Vy8rReqMGeSQOE6Pbfjv6Av3/+ICxgLgXAQUnRQLNxBFiwHnSUptrcC9b0sjD5J4w07KxhYRZ74bBgGbIMxqEiSSsMAfOQzkgl29iEt1WWTeX6dhn8UFqwTQZgUX1/2g3sHcYvWogCUVhtiDTr82vfHnbZEVGs3Ut4ACxSxhjNhIoZeLFlW7frSQcKNLz7G3Uuf8+5mRdICC1TYJgvGZIe+VPA6C0FalXQV5iDaDMjBnJMiG+ORlxxWPHXBsOUzsExrK31kKTiW1NESSqC27WHbKaYoJbKtz0yr5vhU61EgMlu6pKcjIgVj6K+gd6JiKfY6FjQhEoa51D5njfsJYnsg3PLXm5AFrmIkYRgPlgsvBiFezkas7FUUVigNSkMyjQ0sb/GNgO3VGghnNcQlrvCHT4Ug0H956cO2rb65DSuxV4o1cjesT6M5l6nFolnnnxnm8IlfuAiMeExfytvjleoOYmMu4DNrkF5ZxXH5lIiExEaxr4HgOCCrVxvrJDf2DQzAjZY8EmvHwcP8YOQ9ZtTjlw/zVm0KixlJUnYxSEJPFDmrn+V5LLqMcqs4xTypPCHSPNfvo7scpemJ0toF4lLBDqmOfPgfppHSYj0DY8a1A1lq83CgWDVAyGd3i9TR3ttwVXvuaT8XGdGO+RUP/UsqVWEc7W1UjDE4J/I/gGbaH5PW8CQI7LM/dcqrooCogldyzPmkRiqkl4kr3hPZfioNPTKzWBvaJh98uSIaFPHMsc+7aEAavhGoh5kz3JoAf8oZZZF3aIjkEQnF9RzaAXC9hpMKTBiDvCzkW5YhNaLQ4GrPtSOyv5dydKgydGGk+jZEZMgeSkKV0KczLs5iyAH1owr4QrpY4lxubd7IeG0vjyxE/U9SBANgYkgUPZmwPWPTyaepve074swGbdRaSahvwLUw2qg7oYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UbUpvKa7Dx3D1pfx3G2RC2",
      "input": {
        "note": "The pen tip now reaches into the left jaws where the cap is held; the left arm stopped ~1 cm short, suggesting contact. Pressing another ~1.5 cm to seat the cap.",
        "targets": {
          "left_y": -0.298,
          "right_x": 0.3638,
          "right_y": 0.2172,
          "right_yaw": 1.4949,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01UbUpvKa7Dx3D1pfx3G2RC2",
      "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]: [-0.3862, 1.9858, 1.6005, -0.8001, 0.8276, 0.8989, 0.0741, 0.1921, 1.845, 1.346, -0.725, -0.9165, -1.1557, 0.0715]\nstate[eef_state]: left_x=0.3666 left_y=-0.2856 left_z=0.1416 left_yaw=-1.5446 left_pitch=-0.1115 left_roll=-0.1239 left_gripper=0.0741 right_x=0.3609 right_y=0.2166 right_z=0.1347 right_yaw=1.5033 right_pitch=-0.052 right_roll=-0.012 right_gripper=0.0715\nstate[joint_eff]: [-0.5812, -10.0171, 7.3778, 0.8327, 0.5641, 0.1441, 0.7985, -0.3624, -9.5795, 7.0222, 0.8669, -0.4811, 0.1099, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2586a7d33c95591743665a89f253fa0f9220e2bbda6568c28cc1d8e61b19820",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca312feededa9031d4e7b5c241acec03303972d7669bbef6e3275f00681f6f48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4191ca79bd71c07ba1ad42acb613f882ce6bb209adf5f5e9d40f66d91c400d5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /messages · status 200 · 13.06 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]: [-0.3115, 1.9591, 1.5806, -0.8383, 0.8707, 1.0073, 0.0713, 0.1921, 1.845, 1.3468, -0.7193, -0.9253, -1.1534, 0.0686]\nstate[eef_state]: left_x=0.3723 left_y=-0.258 left_z=0.1492 left_yaw=-1.5482 left_pitch=-0.08 left_roll=-0.0823 left_gripper=0.0713 right_x=0.3614 right_y=0.2177 right_z=0.1365 right_yaw=1.5049 right_pitch=-0.0424 right_roll=-0.0143 right_gripper=0.0686\nstate[joint_eff]: [0.3897, -10.947, 7.9658, 0.6569, 0.6081, 0.2808, 1.0134, -0.0752, -10.6051, 5.9145, 1.2088, -0.5495, 0.2662, 1.0134]\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]: [-0.3683, 1.9842, 1.6012, -0.8284, 0.8413, 0.9474, 0.0724, 0.1921, 1.8446, 1.346, -0.7071, -0.9169, -1.1412, 0.0715]\nstate[eef_state]: left_x=0.366 left_y=-0.2786 left_z=0.1422 left_yaw=-1.561 left_pitch=-0.1068 left_roll=-0.115 left_gripper=0.0724 right_x=0.3638 right_y=0.2172 right_z=0.136 right_yaw=1.4949 right_pitch=-0.0469 right_roll=-0.0177 right_gripper=0.0715\nstate[joint_eff]: [-0.1436, -10.7556, 6.4205, 1.1013, 0.4029, 0.0171, 0.9597, -0.3214, -9.5658, 6.9675, 0.6374, -0.5543, -0.188, 1.033]",
      "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]: [-0.3862, 1.9858, 1.6005, -0.8001, 0.8276, 0.8989, 0.0741, 0.1921, 1.845, 1.346, -0.725, -0.9165, -1.1557, 0.0715]\nstate[eef_state]: left_x=0.3666 left_y=-0.2856 left_z=0.1416 left_yaw=-1.5446 left_pitch=-0.1115 left_roll=-0.1239 left_gripper=0.0741 right_x=0.3609 right_y=0.2166 right_z=0.1347 right_yaw=1.5033 right_pitch=-0.052 right_roll=-0.012 right_gripper=0.0715\nstate[joint_eff]: [-0.5812, -10.0171, 7.3778, 0.8327, 0.5641, 0.1441, 0.7985, -0.3624, -9.5795, 7.0222, 0.8669, -0.4811, 0.1099, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2586a7d33c95591743665a89f253fa0f9220e2bbda6568c28cc1d8e61b19820",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca312feededa9031d4e7b5c241acec03303972d7669bbef6e3275f00681f6f48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4191ca79bd71c07ba1ad42acb613f882ce6bb209adf5f5e9d40f66d91c400d5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSowoKEAgSGAI4AUIIdGhpbmtpbmcSDAbCP2h9AuFIuJi1vRoMXJHkDonHNeOCLQm8IjBuEGdPOSpvleKbu8t7yH/r4Xj05CrbNHD9VDIe3IyYis/4rYTekrfq2OO/mvIzL64qwAmdjl0vQWGY6TbF1OEOkXNZUnFW4MB3GG8VWyHJ8Zdk4XeuR9YzW90bO1v0U13Jh+n1g3gbHHmSBzJSfpaZcmH0IIBk3ZPsYJctmJKubFNya7oHuaruhdA+01dWpGPqiYL/y8BOmpPDU/8qhXqDkv52Yj8AASria5Vcq9L5TbLu1nwxJF2F536Jw53WH5UvI8OeAhqzlyCAy5LeFgvIbElwNVKjwO7HuLGzM8qoQ8v6Xs2Fu+pPjrn3OC2cty2jFThxck+WQZv+/hYngPP9Zqtx4gvxnypsFG5RSJdPxGS6fFHVyzOxYZ5neQmHKfFMWTBYNPOBBazVR3H9Nq2dtsV9dL73IMsyijt5nZJT7YyEEUMIc17+l/f2rYfNiddIemkgjUxE2YOAEQBXTBPtcfEFyziPtyJfOZyhfNDtJYxCC4BpToGPQXwnWB+qghzL5FQZZRdD/ynP5Vp/w8Ba+aOD3hzeA1uXOM8uubmrCvGRcPGqLgRZT1kDegwV7I6enysS8tQBv8zJeuKw6Ljbw7u0ZNJRqKd4cZLKPexHSGiBJ3hGcUMwcSvRitIn+tWbYOq97bF1G+GZnHi+pl0CwLosQjAI7OhwgOiKV6SZZZ765TKIZy7oztBkA4TTmrbO72uaw032a+cLMpCI2hqhSRBPscaWSKsRwq6tKWDmmUuN3f9xgP8pKb93tUlTbyQB+uK+3hGZZqYvAPGbCIYEk1u+/qy70XL1D4DH14BnGXQvJruS+P4Z+ykcbT54ezdkE2w2GFC1+cA/xSYNX8TWLLTRWtfbVO7WoUDyWSnFJ1H16fizgR2fY66CsLpo4hPMzL7ET92jgwrcQ7VnZTUzCSWI7ukdWZQR3s5I+fuFzdVhdWNH4+kgiCxhr/ywBfIKgZOx7MxqmOMKfo1ye9xHWvGFqHLSAqgcuH0HH2F3rKCtzfGQV5vZmjXuCvsqVp1r855UZ1FIpwCh0FGA5taXdslbFTRwRnHlkDoL0SrZwaDK1yONeW4UCPlsuYO+wLyOAT1A6w2CCQRwNxtQH7ThExdWfJ4ktMjf/3md5v/1/fd/HWMAX53U0WFA81u935bMwHljj26/03OwD3gEaVMljdEDBzsA+MM+8I9hnMuA7yZaN3DQi3BmfYouDGf5wOZ0Tqzy/D4xzpO144EZBQMrFRzjVZNnEx6Q9gwW9T6dcGZYOuxvAkOJmcfwvXC8zMo/IOu6mNSq0S5z6Nv9ugki+U4i6qLvl5Y0leR2VIYkRS53WR44cDB3rUlxznR6NeyzmtSyTYEHKvvt0W3BNNo54+JFhEUcjKQ7PX8VWIO1W6+2KlqI2Ce/3LBc1RrI5citWOjGDvzmMDT/jch/xteJI0PbR98sWLqXLbXl0rRPQsC5r0gwlhpTkpFoA+xYoDoVqIxnnIJ5zgzaYvkMIk5Qwnp5WCXWRwTBHyVaHIo24OM0se3sh3AlhVNIaNHiS6Zz8X1oEsEUOauw0/rhEIsXk2TI85hpnZOMnLfF5wroCcnXr7ZTylOIZIwH/aKgSzZcpVlrR/ltnW2e+05a3yN7cUMsm3heBINyfX92G68Zc+rLJgnXQYBaSxKBwZc2ZeJSCZZCO1ySX+DqpEPOZmYx5n/4GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HKUsuNEUeckWo5A2UhzA2c",
      "input": {
        "note": "Left arm stopped short again with the pen running right into the left jaws, indicating the cap is pressed onto the pen tip. Releasing the cap so it stays on the pen held by the right arm.",
        "targets": {
          "left_gripper": 1.0,
          "right_x": 0.3609,
          "right_y": 0.2166,
          "right_yaw": 1.5033,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01HKUsuNEUeckWo5A2UhzA2c",
      "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]: [-0.3866, 1.9858, 1.6005, -0.812, 0.8188, 0.902, 0.9951, 0.1921, 1.845, 1.346, -0.7265, -0.9104, -1.1561, 0.0715]\nstate[eef_state]: left_x=0.3654 left_y=-0.2842 left_z=0.1397 left_yaw=-1.5443 left_pitch=-0.1236 left_roll=-0.1292 left_gripper=0.9951 right_x=0.3611 right_y=0.216 right_z=0.1338 right_yaw=1.5014 right_pitch=-0.0579 right_roll=-0.0124 right_gripper=0.0715\nstate[joint_eff]: [-0.6632, -10.0991, 7.1043, 0.8864, 0.4713, 0.0757, -0.1441, -0.294, -9.6752, 7.3231, 0.5983, -0.5641, -0.0415, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ad669303c3523a6365c43eb227113b0bc16ec5c38da8e7906c9adbf7330328d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0d4a876e2b91349af73fe840fe3354e2c77e06b63f8a007c2f3ed84d0798435",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:08627491b98e145e53e8ca15d1c389d876e542b98d98f1ee40e4e3682732cf78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /messages · status 200 · 7.564 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]: [-0.3683, 1.9842, 1.6012, -0.8284, 0.8413, 0.9474, 0.0724, 0.1921, 1.8446, 1.346, -0.7071, -0.9169, -1.1412, 0.0715]\nstate[eef_state]: left_x=0.366 left_y=-0.2786 left_z=0.1422 left_yaw=-1.561 left_pitch=-0.1068 left_roll=-0.115 left_gripper=0.0724 right_x=0.3638 right_y=0.2172 right_z=0.136 right_yaw=1.4949 right_pitch=-0.0469 right_roll=-0.0177 right_gripper=0.0715\nstate[joint_eff]: [-0.1436, -10.7556, 6.4205, 1.1013, 0.4029, 0.0171, 0.9597, -0.3214, -9.5658, 6.9675, 0.6374, -0.5543, -0.188, 1.033]",
      "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]: [-0.3862, 1.9858, 1.6005, -0.8001, 0.8276, 0.8989, 0.0741, 0.1921, 1.845, 1.346, -0.725, -0.9165, -1.1557, 0.0715]\nstate[eef_state]: left_x=0.3666 left_y=-0.2856 left_z=0.1416 left_yaw=-1.5446 left_pitch=-0.1115 left_roll=-0.1239 left_gripper=0.0741 right_x=0.3609 right_y=0.2166 right_z=0.1347 right_yaw=1.5033 right_pitch=-0.052 right_roll=-0.012 right_gripper=0.0715\nstate[joint_eff]: [-0.5812, -10.0171, 7.3778, 0.8327, 0.5641, 0.1441, 0.7985, -0.3624, -9.5795, 7.0222, 0.8669, -0.4811, 0.1099, 1.033]",
      "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]: [-0.3866, 1.9858, 1.6005, -0.812, 0.8188, 0.902, 0.9951, 0.1921, 1.845, 1.346, -0.7265, -0.9104, -1.1561, 0.0715]\nstate[eef_state]: left_x=0.3654 left_y=-0.2842 left_z=0.1397 left_yaw=-1.5443 left_pitch=-0.1236 left_roll=-0.1292 left_gripper=0.9951 right_x=0.3611 right_y=0.216 right_z=0.1338 right_yaw=1.5014 right_pitch=-0.0579 right_roll=-0.0124 right_gripper=0.0715\nstate[joint_eff]: [-0.6632, -10.0991, 7.1043, 0.8864, 0.4713, 0.0757, -0.1441, -0.294, -9.6752, 7.3231, 0.5983, -0.5641, -0.0415, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ad669303c3523a6365c43eb227113b0bc16ec5c38da8e7906c9adbf7330328d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0d4a876e2b91349af73fe840fe3354e2c77e06b63f8a007c2f3ed84d0798435",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08627491b98e145e53e8ca15d1c389d876e542b98d98f1ee40e4e3682732cf78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Er4YVypbgTaxsK4HurmCpj",
      "input": {
        "note": "On release the cap dropped to the table (visible left of centre, near the viewer) and the pen tip is bare, so the cap wasn't seated. Moving the left gripper above the cap, jaws across it, to grasp it again; right arm keeps the pen.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.29,
          "left_y": -0.23,
          "left_yaw": -0.6,
          "left_z": 0.08,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Er4YVypbgTaxsK4HurmCpj",
      "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]: [-0.6998, 1.396, 0.4744, 0.1764, 0.1028, 0.0605, 0.996, 0.1921, 1.8427, 1.364, -0.7692, -0.8986, -1.1568, 0.0715]\nstate[eef_state]: left_x=0.2589 left_y=-0.237 left_z=0.0465 left_yaw=-0.8322 left_pitch=-0.1696 left_roll=-0.0183 left_gripper=0.996 right_x=0.3587 right_y=0.2142 right_z=0.1361 right_yaw=1.4992 right_pitch=-0.0745 right_roll=0.0059 right_gripper=0.0715\nstate[joint_eff]: [0.0479, -5.9009, 7.2, 2.0928, -0.2222, -0.0708, 0.0806, -0.1299, -10.0991, 8.759, 0.7253, -0.6032, -0.0073, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f07642339ba9b98451cc45fd365a1692f080a5b0f0fba06a4beb2748be2ad52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2bb6ba41e0b67b1c87c012302c0b966899032a805ee647e6c5adcaabe07e910f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:81def673290b752dc9c96be9994dd8f119497dbe3c29bc97e4d883fc1004ccd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /messages · status 200 · 4.057 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]: [-0.3862, 1.9858, 1.6005, -0.8001, 0.8276, 0.8989, 0.0741, 0.1921, 1.845, 1.346, -0.725, -0.9165, -1.1557, 0.0715]\nstate[eef_state]: left_x=0.3666 left_y=-0.2856 left_z=0.1416 left_yaw=-1.5446 left_pitch=-0.1115 left_roll=-0.1239 left_gripper=0.0741 right_x=0.3609 right_y=0.2166 right_z=0.1347 right_yaw=1.5033 right_pitch=-0.052 right_roll=-0.012 right_gripper=0.0715\nstate[joint_eff]: [-0.5812, -10.0171, 7.3778, 0.8327, 0.5641, 0.1441, 0.7985, -0.3624, -9.5795, 7.0222, 0.8669, -0.4811, 0.1099, 1.033]",
      "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]: [-0.3866, 1.9858, 1.6005, -0.812, 0.8188, 0.902, 0.9951, 0.1921, 1.845, 1.346, -0.7265, -0.9104, -1.1561, 0.0715]\nstate[eef_state]: left_x=0.3654 left_y=-0.2842 left_z=0.1397 left_yaw=-1.5443 left_pitch=-0.1236 left_roll=-0.1292 left_gripper=0.9951 right_x=0.3611 right_y=0.216 right_z=0.1338 right_yaw=1.5014 right_pitch=-0.0579 right_roll=-0.0124 right_gripper=0.0715\nstate[joint_eff]: [-0.6632, -10.0991, 7.1043, 0.8864, 0.4713, 0.0757, -0.1441, -0.294, -9.6752, 7.3231, 0.5983, -0.5641, -0.0415, 1.0281]",
      "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]: [-0.6998, 1.396, 0.4744, 0.1764, 0.1028, 0.0605, 0.996, 0.1921, 1.8427, 1.364, -0.7692, -0.8986, -1.1568, 0.0715]\nstate[eef_state]: left_x=0.2589 left_y=-0.237 left_z=0.0465 left_yaw=-0.8322 left_pitch=-0.1696 left_roll=-0.0183 left_gripper=0.996 right_x=0.3587 right_y=0.2142 right_z=0.1361 right_yaw=1.4992 right_pitch=-0.0745 right_roll=0.0059 right_gripper=0.0715\nstate[joint_eff]: [0.0479, -5.9009, 7.2, 2.0928, -0.2222, -0.0708, 0.0806, -0.1299, -10.0991, 8.759, 0.7253, -0.6032, -0.0073, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f07642339ba9b98451cc45fd365a1692f080a5b0f0fba06a4beb2748be2ad52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2bb6ba41e0b67b1c87c012302c0b966899032a805ee647e6c5adcaabe07e910f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81def673290b752dc9c96be9994dd8f119497dbe3c29bc97e4d883fc1004ccd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013HAuxn9qCiYki6wggrEcPY",
      "input": {
        "note": "The right cam shows the cap lying right beside the left gripper's fingertips (hidden from the top view under the left gripper). Descending the open left gripper to table level around it.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.27,
          "left_yaw": -0.6,
          "left_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_013HAuxn9qCiYki6wggrEcPY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8085, 1.7462, 0.3077, 0.831, -0.1535, -0.0982, 0.9961, 0.1921, 1.8431, 1.3655, -0.7746, -0.8921, -1.1568, 0.0715]\nstate[eef_state]: left_x=0.27 left_y=-0.2384 left_z=-0.0025 left_yaw=-0.6378 left_pitch=-0.0288 left_roll=0.0151 left_gripper=0.9961 right_x=0.3586 right_y=0.2135 right_z=0.1352 right_yaw=1.4973 right_pitch=-0.0816 right_roll=0.0083 right_gripper=0.0715\nstate[joint_eff]: [-0.294, -4.5333, 2.0308, 0.9255, 0.2955, -0.5055, 0.0024, -0.253, -9.2923, 5.9419, 0.7643, -0.5495, -0.0269, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f1aeabda4f1c00ff9ad13f0e54e8b8cff663f6716c23aaf1cf8654d2f1d61df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:355d5ba579c7041b8fa7166f0fa0fcf74133597b0aacf0000ea366cbc242ef59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:63ef2bf69e6d1d55ab46dffacfa98e5ec99e026398210d43031ebb59ad5ff7ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /messages · status 200 · 9.784 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]: [-0.3866, 1.9858, 1.6005, -0.812, 0.8188, 0.902, 0.9951, 0.1921, 1.845, 1.346, -0.7265, -0.9104, -1.1561, 0.0715]\nstate[eef_state]: left_x=0.3654 left_y=-0.2842 left_z=0.1397 left_yaw=-1.5443 left_pitch=-0.1236 left_roll=-0.1292 left_gripper=0.9951 right_x=0.3611 right_y=0.216 right_z=0.1338 right_yaw=1.5014 right_pitch=-0.0579 right_roll=-0.0124 right_gripper=0.0715\nstate[joint_eff]: [-0.6632, -10.0991, 7.1043, 0.8864, 0.4713, 0.0757, -0.1441, -0.294, -9.6752, 7.3231, 0.5983, -0.5641, -0.0415, 1.0281]",
      "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]: [-0.6998, 1.396, 0.4744, 0.1764, 0.1028, 0.0605, 0.996, 0.1921, 1.8427, 1.364, -0.7692, -0.8986, -1.1568, 0.0715]\nstate[eef_state]: left_x=0.2589 left_y=-0.237 left_z=0.0465 left_yaw=-0.8322 left_pitch=-0.1696 left_roll=-0.0183 left_gripper=0.996 right_x=0.3587 right_y=0.2142 right_z=0.1361 right_yaw=1.4992 right_pitch=-0.0745 right_roll=0.0059 right_gripper=0.0715\nstate[joint_eff]: [0.0479, -5.9009, 7.2, 2.0928, -0.2222, -0.0708, 0.0806, -0.1299, -10.0991, 8.759, 0.7253, -0.6032, -0.0073, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8085, 1.7462, 0.3077, 0.831, -0.1535, -0.0982, 0.9961, 0.1921, 1.8431, 1.3655, -0.7746, -0.8921, -1.1568, 0.0715]\nstate[eef_state]: left_x=0.27 left_y=-0.2384 left_z=-0.0025 left_yaw=-0.6378 left_pitch=-0.0288 left_roll=0.0151 left_gripper=0.9961 right_x=0.3586 right_y=0.2135 right_z=0.1352 right_yaw=1.4973 right_pitch=-0.0816 right_roll=0.0083 right_gripper=0.0715\nstate[joint_eff]: [-0.294, -4.5333, 2.0308, 0.9255, 0.2955, -0.5055, 0.0024, -0.253, -9.2923, 5.9419, 0.7643, -0.5495, -0.0269, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f1aeabda4f1c00ff9ad13f0e54e8b8cff663f6716c23aaf1cf8654d2f1d61df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:355d5ba579c7041b8fa7166f0fa0fcf74133597b0aacf0000ea366cbc242ef59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63ef2bf69e6d1d55ab46dffacfa98e5ec99e026398210d43031ebb59ad5ff7ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSkQgKEAgSGAI4AUIIdGhpbmtpbmcSDD3M+EAAUDkhiAyuqBoME0hMhYPSa+YOnBOWIjDxBinl26C4KCjrVIEjJ7xu1EOVToUsu/DaGAgYR+uKPpDfkRAA99WcCbP61DCWc5IqrgdUU0CEo3XAiMLCL0zEqpKjht8bCgyC2245vEV8MHdEVcXHj34I1+BV0ZAS0qG6O1z73cD+mi6nG4UorsTDyJJYU/cWEtUD+X4N5jQ/RldntqXvAtVxXzYgU5o2qqTyGUGey63T0HRAtHzBPxRaiuUaRQ8AgesMQ88je4r9f+uf299a1BXNdHjCYhddnT5GQuxz0PcI/OdWhFTDpEHgv8EhEVx9PpV5cd96shXckJU702lVcb7EXF9lDYCjyx7lWxp7Y7Vc26TZYoKCcZg1WDN5Wh/x67SVosLCNKriAzSpTbkxBfrO5phXk+97RtLahvWU35wkwgP0VEOBq5WnJPNIzVDKnKOJ+XJUeofvzNg4quLEoEYh3Ic0CaOPJqq2b5F7zKgxI75XjBRjNU0KFjSZ5/y6uSpdPc/8j44FLNAz/ikoZMkZTGmkJkJrpmye9vsBPGsh1iGATkaoR18AnjbVoU+nxZkZCdigb3k58DHraTrOOB1gvOPVdQqhR5lGHQAHZnqQL/43O3MzVunID6jvyRZTPT3wpTwj4ySGFgewSXRSo5r1QYX8AXa3zDS7B7MDl7jNEb4WG7g9GyH0OwL18iLH562XdbopxxgZMiC5SdnuV7DPv0JWItlMn/sUhNlD7NixqWNQ1d3ojku9EDH19QIDr1aICYfUHB4gmfmr2MY4LvKFBjcjyeIMZAeELjA9arhbiI79UFHtog7lVzdIgt/57w9lVnTxrNgugaGCrj8XqDF6BXcTyOwDnokvlw87IwzorBoOHMTSQfkZVAbCLk28mT2wfriCH0TC/FyrGhUGor9zpo8m0T8/Uk08x+Qm6jziNBC/WqlTDmiSbScUg51rNAW1etM5X5NK73YxcCKu5O5FtHGlYhfVBnayjHy4/RGVXO+UvSm8MJcdH5RhQOksF56MLsS/KV9NAQqguorhmR5+BytrkvGjmm8fk7aK+2C1p1d4oPDaXsRCF4VIXc+aUtvH0UG3xQwlBQYsMcDIM2A8jPOVGl5TRVvjSTbuLiNW2PwIL0rrT/Z05cIS50gqhGfvOx4kulLWeUVSKhLnKddhWyzr49JEJQmLFlt5LOrPqNV2FHXQf/pWE27ek4ZGIDDz1GMFtcGjAU8pxEw9EKgjiK5gIjR8tgxTEhtaHA9F3pNGy6RV6dNj8KaxADzvTa4chKe1ZqArymofm9BJgOPM6XrW5TDWnD01O108bmc/Jqnt5qnlfeV5UUmMFtyyoDH93QrYuyDpupYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Dmjk9okVZiZZZHMaA9vWSz",
      "input": {
        "note": "Left gripper is at table level where the cap was seen beside/under its fingertips; closing to grasp 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_01Dmjk9okVZiZZZHMaA9vWSz",
      "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, 1.7527, 0.2966, 0.8608, -0.173, -0.104, 0.0077, 0.1921, 1.8431, 1.3655, -0.7746, -0.8909, -1.1568, 0.0715]\nstate[eef_state]: left_x=0.2709 left_y=-0.2359 left_z=-0.0016 left_yaw=-0.6212 left_pitch=-0.0147 left_roll=0.019 left_gripper=0.0077 right_x=0.3587 right_y=0.2134 right_z=0.1351 right_yaw=1.4969 right_pitch=-0.0826 right_roll=0.0081 right_gripper=0.0715\nstate[joint_eff]: [0.2256, -6.3795, 4.3556, 1.409, 0.0904, 0.0415, 0.6032, -0.3214, -9.1145, 6.2017, 0.7741, -0.5104, -0.0611, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81a02fc2dde1cc8880d4e01f2522d947d69b6607518e516bd367b064a2970f6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93c3b6d92d36042c5eb98fe2c8adebab0041a9ddcfe079c69848541778d138c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8ca1ae70307628f26549ca562f74520e613d701abd881f83ac90ad6bebfc327e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /messages · status 200 · 8.202 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]: [-0.6998, 1.396, 0.4744, 0.1764, 0.1028, 0.0605, 0.996, 0.1921, 1.8427, 1.364, -0.7692, -0.8986, -1.1568, 0.0715]\nstate[eef_state]: left_x=0.2589 left_y=-0.237 left_z=0.0465 left_yaw=-0.8322 left_pitch=-0.1696 left_roll=-0.0183 left_gripper=0.996 right_x=0.3587 right_y=0.2142 right_z=0.1361 right_yaw=1.4992 right_pitch=-0.0745 right_roll=0.0059 right_gripper=0.0715\nstate[joint_eff]: [0.0479, -5.9009, 7.2, 2.0928, -0.2222, -0.0708, 0.0806, -0.1299, -10.0991, 8.759, 0.7253, -0.6032, -0.0073, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8085, 1.7462, 0.3077, 0.831, -0.1535, -0.0982, 0.9961, 0.1921, 1.8431, 1.3655, -0.7746, -0.8921, -1.1568, 0.0715]\nstate[eef_state]: left_x=0.27 left_y=-0.2384 left_z=-0.0025 left_yaw=-0.6378 left_pitch=-0.0288 left_roll=0.0151 left_gripper=0.9961 right_x=0.3586 right_y=0.2135 right_z=0.1352 right_yaw=1.4973 right_pitch=-0.0816 right_roll=0.0083 right_gripper=0.0715\nstate[joint_eff]: [-0.294, -4.5333, 2.0308, 0.9255, 0.2955, -0.5055, 0.0024, -0.253, -9.2923, 5.9419, 0.7643, -0.5495, -0.0269, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8112, 1.7527, 0.2966, 0.8608, -0.173, -0.104, 0.0077, 0.1921, 1.8431, 1.3655, -0.7746, -0.8909, -1.1568, 0.0715]\nstate[eef_state]: left_x=0.2709 left_y=-0.2359 left_z=-0.0016 left_yaw=-0.6212 left_pitch=-0.0147 left_roll=0.019 left_gripper=0.0077 right_x=0.3587 right_y=0.2134 right_z=0.1351 right_yaw=1.4969 right_pitch=-0.0826 right_roll=0.0081 right_gripper=0.0715\nstate[joint_eff]: [0.2256, -6.3795, 4.3556, 1.409, 0.0904, 0.0415, 0.6032, -0.3214, -9.1145, 6.2017, 0.7741, -0.5104, -0.0611, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81a02fc2dde1cc8880d4e01f2522d947d69b6607518e516bd367b064a2970f6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93c3b6d92d36042c5eb98fe2c8adebab0041a9ddcfe079c69848541778d138c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ca1ae70307628f26549ca562f74520e613d701abd881f83ac90ad6bebfc327e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014MRQTV3FExTPiARAWvcHiW",
      "input": {
        "note": "Empty close. The right wrist cam shows the cap just beyond the left fingertips (~2–3 cm toward +x), lying diagonally. Opening, shifting over it and turning the jaws across its length.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.295,
          "left_y": -0.228,
          "left_yaw": 0.6,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_014MRQTV3FExTPiARAWvcHiW",
      "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]: [-1.0775, 2.1036, 1.2411, -0.524, -0.9432, -1.5108, 0.995, 0.1917, 1.8431, 1.3647, -0.7773, -0.8837, -1.1599, 0.0715]\nstate[eef_state]: left_x=0.3141 left_y=-0.2748 left_z=0.0217 left_yaw=0.4395 left_pitch=-0.0493 left_roll=-0.1274 left_gripper=0.995 right_x=0.3586 right_y=0.2124 right_z=0.1337 right_yaw=1.4961 right_pitch=-0.0901 right_roll=0.0071 right_gripper=0.0715\nstate[joint_eff]: [0.5812, -10.7692, 5.3402, 0.0562, -0.8327, 0.0073, -0.1441, -0.3487, -9.1009, 6.1333, 0.696, -0.4957, 0.0073, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16a8bc4c38642f03798ca380bc661d43df84ad3f18d904bb06e2c3a9fd594e9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb8959763a4d40a348c534d9cfb2797ff1f95fdac2ad9d94d54b541892d06e64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fe76920cb566249510f7043ae84978b85cc0e437ca0e9e3e8fa635a6872b54c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /messages · status 200 · 7.149 s

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

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8085, 1.7462, 0.3077, 0.831, -0.1535, -0.0982, 0.9961, 0.1921, 1.8431, 1.3655, -0.7746, -0.8921, -1.1568, 0.0715]\nstate[eef_state]: left_x=0.27 left_y=-0.2384 left_z=-0.0025 left_yaw=-0.6378 left_pitch=-0.0288 left_roll=0.0151 left_gripper=0.9961 right_x=0.3586 right_y=0.2135 right_z=0.1352 right_yaw=1.4973 right_pitch=-0.0816 right_roll=0.0083 right_gripper=0.0715\nstate[joint_eff]: [-0.294, -4.5333, 2.0308, 0.9255, 0.2955, -0.5055, 0.0024, -0.253, -9.2923, 5.9419, 0.7643, -0.5495, -0.0269, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8112, 1.7527, 0.2966, 0.8608, -0.173, -0.104, 0.0077, 0.1921, 1.8431, 1.3655, -0.7746, -0.8909, -1.1568, 0.0715]\nstate[eef_state]: left_x=0.2709 left_y=-0.2359 left_z=-0.0016 left_yaw=-0.6212 left_pitch=-0.0147 left_roll=0.019 left_gripper=0.0077 right_x=0.3587 right_y=0.2134 right_z=0.1351 right_yaw=1.4969 right_pitch=-0.0826 right_roll=0.0081 right_gripper=0.0715\nstate[joint_eff]: [0.2256, -6.3795, 4.3556, 1.409, 0.0904, 0.0415, 0.6032, -0.3214, -9.1145, 6.2017, 0.7741, -0.5104, -0.0611, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0775, 2.1036, 1.2411, -0.524, -0.9432, -1.5108, 0.995, 0.1917, 1.8431, 1.3647, -0.7773, -0.8837, -1.1599, 0.0715]\nstate[eef_state]: left_x=0.3141 left_y=-0.2748 left_z=0.0217 left_yaw=0.4395 left_pitch=-0.0493 left_roll=-0.1274 left_gripper=0.995 right_x=0.3586 right_y=0.2124 right_z=0.1337 right_yaw=1.4961 right_pitch=-0.0901 right_roll=0.0071 right_gripper=0.0715\nstate[joint_eff]: [0.5812, -10.7692, 5.3402, 0.0562, -0.8327, 0.0073, -0.1441, -0.3487, -9.1009, 6.1333, 0.696, -0.4957, 0.0073, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16a8bc4c38642f03798ca380bc661d43df84ad3f18d904bb06e2c3a9fd594e9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb8959763a4d40a348c534d9cfb2797ff1f95fdac2ad9d94d54b541892d06e64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe76920cb566249510f7043ae84978b85cc0e437ca0e9e3e8fa635a6872b54c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01668UDigMkHeFkcxXVVkXJ8",
      "input": {
        "note": "The left arm ended ~5 cm right of its target; the overhead view shows the cap just left of the left jaws. Re-sending the position over the cap.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.215,
          "left_yaw": 0.6,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01668UDigMkHeFkcxXVVkXJ8",
      "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]: [-1.0672, 2.1044, 1.2049, -0.5873, -0.9421, -1.6012, 0.9961, 0.1921, 1.8431, 1.3647, -0.7757, -0.8829, -1.1599, 0.0715]\nstate[eef_state]: left_x=0.3059 left_y=-0.2517 left_z=0.0116 left_yaw=0.5038 left_pitch=-0.0582 left_roll=-0.1004 left_gripper=0.9961 right_x=0.3588 right_y=0.2125 right_z=0.1337 right_yaw=1.496 right_pitch=-0.0904 right_roll=0.0054 right_gripper=0.0715\nstate[joint_eff]: [0.0889, -12.8479, 4.9162, 0.5739, -0.6032, 0.2271, 0.0904, -0.3077, -9.2513, 6.1333, 0.7937, -0.486, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44257445898345662364919dd4b1d22e58878b98a8774b10b907224c31bc5fa4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5692502a9c8d5625feaa20c9957d6fdda7387d7e2e865184d2cb90e2883d0f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6aebe6c99d9697747be87b99409ceb1cab37d0e265060e28212d908710d02668",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /messages · status 200 · 5.341 s

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

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8112, 1.7527, 0.2966, 0.8608, -0.173, -0.104, 0.0077, 0.1921, 1.8431, 1.3655, -0.7746, -0.8909, -1.1568, 0.0715]\nstate[eef_state]: left_x=0.2709 left_y=-0.2359 left_z=-0.0016 left_yaw=-0.6212 left_pitch=-0.0147 left_roll=0.019 left_gripper=0.0077 right_x=0.3587 right_y=0.2134 right_z=0.1351 right_yaw=1.4969 right_pitch=-0.0826 right_roll=0.0081 right_gripper=0.0715\nstate[joint_eff]: [0.2256, -6.3795, 4.3556, 1.409, 0.0904, 0.0415, 0.6032, -0.3214, -9.1145, 6.2017, 0.7741, -0.5104, -0.0611, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0775, 2.1036, 1.2411, -0.524, -0.9432, -1.5108, 0.995, 0.1917, 1.8431, 1.3647, -0.7773, -0.8837, -1.1599, 0.0715]\nstate[eef_state]: left_x=0.3141 left_y=-0.2748 left_z=0.0217 left_yaw=0.4395 left_pitch=-0.0493 left_roll=-0.1274 left_gripper=0.995 right_x=0.3586 right_y=0.2124 right_z=0.1337 right_yaw=1.4961 right_pitch=-0.0901 right_roll=0.0071 right_gripper=0.0715\nstate[joint_eff]: [0.5812, -10.7692, 5.3402, 0.0562, -0.8327, 0.0073, -0.1441, -0.3487, -9.1009, 6.1333, 0.696, -0.4957, 0.0073, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0672, 2.1044, 1.2049, -0.5873, -0.9421, -1.6012, 0.9961, 0.1921, 1.8431, 1.3647, -0.7757, -0.8829, -1.1599, 0.0715]\nstate[eef_state]: left_x=0.3059 left_y=-0.2517 left_z=0.0116 left_yaw=0.5038 left_pitch=-0.0582 left_roll=-0.1004 left_gripper=0.9961 right_x=0.3588 right_y=0.2125 right_z=0.1337 right_yaw=1.496 right_pitch=-0.0904 right_roll=0.0054 right_gripper=0.0715\nstate[joint_eff]: [0.0889, -12.8479, 4.9162, 0.5739, -0.6032, 0.2271, 0.0904, -0.3077, -9.2513, 6.1333, 0.7937, -0.486, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44257445898345662364919dd4b1d22e58878b98a8774b10b907224c31bc5fa4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5692502a9c8d5625feaa20c9957d6fdda7387d7e2e865184d2cb90e2883d0f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6aebe6c99d9697747be87b99409ceb1cab37d0e265060e28212d908710d02668",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RDqriZmYbvPvsZvjXNTfCN",
      "input": {
        "note": "Left cam now shows the cap at the left edge, ~4 cm to the gripper's left and a bit ahead, lying roughly along the jaw gap direction. The arm keeps falling short in y near the table, so lifting slightly while shifting left.",
        "targets": {
          "left_x": 0.313,
          "left_y": -0.195,
          "left_yaw": 0.5,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01RDqriZmYbvPvsZvjXNTfCN",
      "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]: [-1.0676, 2.1044, 1.2049, -0.5854, -0.9417, -1.5932, 0.9961, 0.1921, 1.8431, 1.3647, -0.7769, -0.8822, -1.1599, 0.0715]\nstate[eef_state]: left_x=0.3059 left_y=-0.2521 left_z=0.0116 left_yaw=0.4989 left_pitch=-0.0582 left_roll=-0.0958 left_gripper=0.9961 right_x=0.3587 right_y=0.2124 right_z=0.1336 right_yaw=1.4959 right_pitch=-0.0914 right_roll=0.0064 right_gripper=0.0715\nstate[joint_eff]: [-0.1709, -12.8752, 4.9299, 0.5201, -0.5739, 0.0904, -0.0073, -0.3214, -9.2239, 6.0786, 0.7643, -0.4811, -0.022, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5afef74e9e39cf6d15aa9278b6a35e7350b1c9e1610b6ec57134cac37d55ed1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0569360fbecc17c99d9e1ed362262872bb1d0b3f58fca83c3cd6935e543e5835",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5ada9aacade2af00ed006253fa49388a9d549b16fedeb0fc395563e00b1dd1f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /messages · status 200 · 8.962 s

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

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0775, 2.1036, 1.2411, -0.524, -0.9432, -1.5108, 0.995, 0.1917, 1.8431, 1.3647, -0.7773, -0.8837, -1.1599, 0.0715]\nstate[eef_state]: left_x=0.3141 left_y=-0.2748 left_z=0.0217 left_yaw=0.4395 left_pitch=-0.0493 left_roll=-0.1274 left_gripper=0.995 right_x=0.3586 right_y=0.2124 right_z=0.1337 right_yaw=1.4961 right_pitch=-0.0901 right_roll=0.0071 right_gripper=0.0715\nstate[joint_eff]: [0.5812, -10.7692, 5.3402, 0.0562, -0.8327, 0.0073, -0.1441, -0.3487, -9.1009, 6.1333, 0.696, -0.4957, 0.0073, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0672, 2.1044, 1.2049, -0.5873, -0.9421, -1.6012, 0.9961, 0.1921, 1.8431, 1.3647, -0.7757, -0.8829, -1.1599, 0.0715]\nstate[eef_state]: left_x=0.3059 left_y=-0.2517 left_z=0.0116 left_yaw=0.5038 left_pitch=-0.0582 left_roll=-0.1004 left_gripper=0.9961 right_x=0.3588 right_y=0.2125 right_z=0.1337 right_yaw=1.496 right_pitch=-0.0904 right_roll=0.0054 right_gripper=0.0715\nstate[joint_eff]: [0.0889, -12.8479, 4.9162, 0.5739, -0.6032, 0.2271, 0.0904, -0.3077, -9.2513, 6.1333, 0.7937, -0.486, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0676, 2.1044, 1.2049, -0.5854, -0.9417, -1.5932, 0.9961, 0.1921, 1.8431, 1.3647, -0.7769, -0.8822, -1.1599, 0.0715]\nstate[eef_state]: left_x=0.3059 left_y=-0.2521 left_z=0.0116 left_yaw=0.4989 left_pitch=-0.0582 left_roll=-0.0958 left_gripper=0.9961 right_x=0.3587 right_y=0.2124 right_z=0.1336 right_yaw=1.4959 right_pitch=-0.0914 right_roll=0.0064 right_gripper=0.0715\nstate[joint_eff]: [-0.1709, -12.8752, 4.9299, 0.5201, -0.5739, 0.0904, -0.0073, -0.3214, -9.2239, 6.0786, 0.7643, -0.4811, -0.022, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5afef74e9e39cf6d15aa9278b6a35e7350b1c9e1610b6ec57134cac37d55ed1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0569360fbecc17c99d9e1ed362262872bb1d0b3f58fca83c3cd6935e543e5835",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ada9aacade2af00ed006253fa49388a9d549b16fedeb0fc395563e00b1dd1f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSkQgKEAgSGAI4AUIIdGhpbmtpbmcSDFNZgV5jJroB5W58SxoM3dmwRvKbopUMYOG7IjBFCHhPRWIcwnBE4wCnMrV+iCJCTKiJ+fs30hojJfN2XyOpXWSsHRm0WSc/T6bBBH0qrgdPRNhn/2V5Ws1h+FQ/xiuVk9BpvIcuxdlsbzHYAnsoypZ05WCNoJngAOwTVCh38fWuJ5Z1few/2eeKaMUbSGtkQkl8HB1xVm295STwpCkNuu4jgIhrwmK0Z2tUmtc46kuktf57Umkb3egs7rqTHnig0W/c23MjEDcqb/hc9xsMIkMpMqdr9Q6VtUpCUq4qq+Y1IPyYS51ZZmBxNs65HjKQQbVpAQNjAcTWbzsM289Me8rtgEBd6lXQImuCqoKryUBqKnAemqSDzCJ484g7+YJIbdDwhUjA5NijmjNYe++0wExGSYj5sj8fC49amCCYmcRJw/sfSW4miBn1ec2zU715yKQSw6lcDk/evlOwLfdrhpPyjlxlZ3Lk3BKOs3RnSpPIQLL0ebY/5eb6f3wGuSOk1syGmOHw7rTS54EeU09OivQI8nVvNTLXDieW8sl5r5pGxcz0bBk6Y2j2M8Wu6bMKX+Tfx8JJDRuCtUyecIZ+B2yDblFCfar4lEna9B6NXS5MaQnEv208LzI8Jwjx1y9GZqk4tLDXHlXuVFxQl8ay3TIFe+8jOM07ZttQmeoqbvWQMNztzib/0m+Z/Apjs4w48uMFoYebwRSkE0eyvHgtd8x/ic879lAvJXt7s/UO6gJ2Zdq+Hf1JjGJCsdrqIMYYn9ED0ThsEy5qulE+LUsjiDplcmIn29t5j/7EWV1EQsI9PPmJ6SK/Bn0g0Z7e4q7dI+OObAm/+ttuCZFs9cjv8NPJTPj8fN4GuHtCOo/iKzU03of9F89LOAQkC2GNwJOgSQkDqPBjLZlkqlpRk8HGOxgMHa/H6ZPRUo81krd/EYcNxMU03MV8B2Jcj9D8KadBLYZ1Yqb8OgJM/pI1QZZsaacCoI7tJYhwI5uR11P7zpYl8BTU2sVLBdHcXZNFFB8CcJQDsq0OraV+J7r0NH354NxVYL1nZhUq15qThp+kScbfPz6iELAA5kWMwWKJNbxk6IFX6Yl4+b15q0MeUHFvqi+fZO/AU21oA+FenvWqsLXl4+clfTczNUX69uwSiO2A7pejdzlS2tkkxnlz12VNzH91p9vuoRPW/rNGedWuJ9M9lenCJYWKu/wAQKXaqriTsi7/8S3i6gEw7kppzRHauvOfGXCniO1bJFkVeaUB8odvgo3xZi2Y730BPkzddQXN463uiIeEGLqJihht6gXtTL/BgOoeuO7E6tMW2D8hyvGGop1Ki/vgFDMc+takfMwLG+M3Na7z1ohf3BpcJBwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019YKkTmnZdHSjnyUo3NLFLq",
      "input": {
        "note": "Left arm is frozen (no joint change), the same IK stall the right arm had. Commanding a higher pose with explicit zero pitch/roll to free it, moving over the cap.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.31,
          "left_y": -0.2,
          "left_yaw": 0.4,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_019YKkTmnZdHSjnyUo3NLFLq",
      "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]: [-0.9981, 1.7546, 1.1091, -0.6743, -0.944, -1.3426, 0.9961, 0.1921, 1.8431, 1.3647, -0.7757, -0.8715, -1.1599, 0.0715]\nstate[eef_state]: left_x=0.3092 left_y=-0.2089 left_z=0.104 left_yaw=0.4256 left_pitch=-0.0343 left_roll=-0.056 left_gripper=0.9961 right_x=0.3595 right_y=0.2113 right_z=0.1323 right_yaw=1.4922 right_pitch=-0.1009 right_roll=0.0025 right_gripper=0.0715\nstate[joint_eff]: [0.294, -9.1145, 5.6547, 0.5885, -0.8523, 0.188, -0.0073, -0.3214, -9.2786, 6.065, 0.8132, -0.5348, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0e80408aa62ceba71436574ffc0d9c9fe54c058565b2fbf83deee069bdc6b89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef6c9af6ca96c485882496fed871b2aa5fd4f8614aa94f63c4a73ef78184cb60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ec208f64e0adb471b38cfcee11d290af1e8ad120747f6e15495aeed7b95d1032",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /messages · status 200 · 5.382 s

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

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0672, 2.1044, 1.2049, -0.5873, -0.9421, -1.6012, 0.9961, 0.1921, 1.8431, 1.3647, -0.7757, -0.8829, -1.1599, 0.0715]\nstate[eef_state]: left_x=0.3059 left_y=-0.2517 left_z=0.0116 left_yaw=0.5038 left_pitch=-0.0582 left_roll=-0.1004 left_gripper=0.9961 right_x=0.3588 right_y=0.2125 right_z=0.1337 right_yaw=1.496 right_pitch=-0.0904 right_roll=0.0054 right_gripper=0.0715\nstate[joint_eff]: [0.0889, -12.8479, 4.9162, 0.5739, -0.6032, 0.2271, 0.0904, -0.3077, -9.2513, 6.1333, 0.7937, -0.486, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0676, 2.1044, 1.2049, -0.5854, -0.9417, -1.5932, 0.9961, 0.1921, 1.8431, 1.3647, -0.7769, -0.8822, -1.1599, 0.0715]\nstate[eef_state]: left_x=0.3059 left_y=-0.2521 left_z=0.0116 left_yaw=0.4989 left_pitch=-0.0582 left_roll=-0.0958 left_gripper=0.9961 right_x=0.3587 right_y=0.2124 right_z=0.1336 right_yaw=1.4959 right_pitch=-0.0914 right_roll=0.0064 right_gripper=0.0715\nstate[joint_eff]: [-0.1709, -12.8752, 4.9299, 0.5201, -0.5739, 0.0904, -0.0073, -0.3214, -9.2239, 6.0786, 0.7643, -0.4811, -0.022, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9981, 1.7546, 1.1091, -0.6743, -0.944, -1.3426, 0.9961, 0.1921, 1.8431, 1.3647, -0.7757, -0.8715, -1.1599, 0.0715]\nstate[eef_state]: left_x=0.3092 left_y=-0.2089 left_z=0.104 left_yaw=0.4256 left_pitch=-0.0343 left_roll=-0.056 left_gripper=0.9961 right_x=0.3595 right_y=0.2113 right_z=0.1323 right_yaw=1.4922 right_pitch=-0.1009 right_roll=0.0025 right_gripper=0.0715\nstate[joint_eff]: [0.294, -9.1145, 5.6547, 0.5885, -0.8523, 0.188, -0.0073, -0.3214, -9.2786, 6.065, 0.8132, -0.5348, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0e80408aa62ceba71436574ffc0d9c9fe54c058565b2fbf83deee069bdc6b89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef6c9af6ca96c485882496fed871b2aa5fd4f8614aa94f63c4a73ef78184cb60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec208f64e0adb471b38cfcee11d290af1e8ad120747f6e15495aeed7b95d1032",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LrkT3dJsHzUa18J3fRNUpN",
      "input": {
        "note": "Left arm is free again; the left cam shows the cap aligned with the jaw gap but ~5 cm to the left and slightly ahead. Shifting left and lowering to just above the table.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.306,
          "left_y": -0.16,
          "left_yaw": 0.43,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01LrkT3dJsHzUa18J3fRNUpN",
      "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]: [-0.9337, 1.7889, 0.799, -0.3584, -0.9531, -1.2469, 0.9961, 0.1917, 1.8431, 1.3647, -0.7757, -0.8646, -1.1599, 0.0715]\nstate[eef_state]: left_x=0.2969 left_y=-0.1531 left_z=0.0299 left_yaw=0.4415 left_pitch=-0.0308 left_roll=0.0527 left_gripper=0.9961 right_x=0.3601 right_y=0.2104 right_z=0.1314 right_yaw=1.4895 right_pitch=-0.1072 right_roll=0.0008 right_gripper=0.0715\nstate[joint_eff]: [0.3077, -6.3658, 5.2034, 0.7302, -0.569, 0.1001, -0.0073, -0.294, -9.0462, 6.0923, 0.7595, -0.5495, -0.0415, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae011d6c0d0fe8058e751291196d84821f08d3dfe8b65607cbc771e1537ad698",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4cccf022692b0de8048a47a0e2ab55868dc258df4820038ec78e1e927ea0e7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:92f534a83795e7f3dc322e2dc55c340684e1539c1ec5d0d33467efc51cad2d02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /messages · status 200 · 4.59 s

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

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0676, 2.1044, 1.2049, -0.5854, -0.9417, -1.5932, 0.9961, 0.1921, 1.8431, 1.3647, -0.7769, -0.8822, -1.1599, 0.0715]\nstate[eef_state]: left_x=0.3059 left_y=-0.2521 left_z=0.0116 left_yaw=0.4989 left_pitch=-0.0582 left_roll=-0.0958 left_gripper=0.9961 right_x=0.3587 right_y=0.2124 right_z=0.1336 right_yaw=1.4959 right_pitch=-0.0914 right_roll=0.0064 right_gripper=0.0715\nstate[joint_eff]: [-0.1709, -12.8752, 4.9299, 0.5201, -0.5739, 0.0904, -0.0073, -0.3214, -9.2239, 6.0786, 0.7643, -0.4811, -0.022, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9981, 1.7546, 1.1091, -0.6743, -0.944, -1.3426, 0.9961, 0.1921, 1.8431, 1.3647, -0.7757, -0.8715, -1.1599, 0.0715]\nstate[eef_state]: left_x=0.3092 left_y=-0.2089 left_z=0.104 left_yaw=0.4256 left_pitch=-0.0343 left_roll=-0.056 left_gripper=0.9961 right_x=0.3595 right_y=0.2113 right_z=0.1323 right_yaw=1.4922 right_pitch=-0.1009 right_roll=0.0025 right_gripper=0.0715\nstate[joint_eff]: [0.294, -9.1145, 5.6547, 0.5885, -0.8523, 0.188, -0.0073, -0.3214, -9.2786, 6.065, 0.8132, -0.5348, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9337, 1.7889, 0.799, -0.3584, -0.9531, -1.2469, 0.9961, 0.1917, 1.8431, 1.3647, -0.7757, -0.8646, -1.1599, 0.0715]\nstate[eef_state]: left_x=0.2969 left_y=-0.1531 left_z=0.0299 left_yaw=0.4415 left_pitch=-0.0308 left_roll=0.0527 left_gripper=0.9961 right_x=0.3601 right_y=0.2104 right_z=0.1314 right_yaw=1.4895 right_pitch=-0.1072 right_roll=0.0008 right_gripper=0.0715\nstate[joint_eff]: [0.3077, -6.3658, 5.2034, 0.7302, -0.569, 0.1001, -0.0073, -0.294, -9.0462, 6.0923, 0.7595, -0.5495, -0.0415, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae011d6c0d0fe8058e751291196d84821f08d3dfe8b65607cbc771e1537ad698",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4cccf022692b0de8048a47a0e2ab55868dc258df4820038ec78e1e927ea0e7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92f534a83795e7f3dc322e2dc55c340684e1539c1ec5d0d33467efc51cad2d02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSpwkKEAgSGAI4AUIIdGhpbmtpbmcSDJN5498znzxG+0DwyhoMkObwnCNQOqqZsrVIIjBqz7Bc8Z3o/TM4AXUxORkhe3V1jQTriDNDNt3nD8TTPyxlYJMSz0JEWfaqPICUIicqxAizJs4zbRYKGuCyr5qVS+hwLFFkraOiLqw+V2DgcxgNhM4osHoMSyOL9uG78dd5ue8wi2j5NECN+UOYEWw8yqIfTQCMUywBLoGOK89J2zrCtISzDjsc/CvmrxXfviuQERfHZZDyiUM4b1+Ly2rBguGF/97cXNnRCwXdZJhKelDQk6Y2FXFidOORax/vjoyQ+mkjLXQon0/UGB6hcSOU60dmiFi6E8gQuut7BoYCEHj0sohBeTAQho7Of+QgBJC/B0pEsKCT7+hr2zvoC6tCMLocVuj94yv4oQuhjMcMenelPY5HNzETdhs2Hh1wG58Te6P/nniZbgTM7KQDq1wu3ZcmuzIJBe5PZIK7r/QcJd9nZDguB21XCI4PJ2JQMgJKi7U20EfIEsH65e1BYKE74xxEeES3Zx+dwwyMzZJPhk775N5AsKUIXjme4fHzX3V8gidvVL6JKcfuA2o3pwWywMcld1iJiWyvsTWME1kp2GO5aYJJuLmniYVm19TkVqD02K3KTHyUK/PqI6rI+YrUJfTqlJPHMcS4F4UkMtiy5lQf9IykLos5NWHYvFvLAcn/hTnkivk/lVm5ZbOcHFO4Er2jzZhs9UO1S+/KlR9or+/BNFw/LzzWcIj5wsdPiHdR3dHZHYq/gZML4LX7rWeIfqGo4a8dMC8WqVdxz7uQX/RMt8iedJswAG67gn5DQaECk2eFN2uVsPbC5iyGl73ajfjLwW+6d8wO/HM9sTkQ0gK1cbby4iLQnWqYymMnw8J+tdgwKop0XlO9ebWXSQp9b4ki7Y6riz2iAqjNu63gyzwQooUPdJA6HZ15LK4lHqaJrEcCjySNcMiMi1p/Q5/EiFCH08YbMbgx9Yg9/tVey9N9pi2Ao51kdBynnMUXs4TDYP0wovExrgfJMU4WanmNMUw1D1pwlA7fXhfKvnU8S9lbOdbOYhyF4/JBeVPF5wcdp2Wtp9f3rbASeR0hNufJKPK3sXBgr7RYaMxqtq7CwYuYb9ny5beE9VEiPGV8olZB3G+VC3YuuMWkvB6VsSe0bzep+0sI+R3TMNvTEFsde4nfHcnw0ciOQ1w9kTHheuLXrX1LqpmpkOUHMHYKM6Ub1im6HZBz2NFXwJ+y0VbzuRWeiwiZlLJtibLQxrjmdiGAXfCzzQvh6LEKeuRKKpP2k/+crMf2seonLEjSelz07M+u5B///A0zOe5U5xnIBgflxJC4/Coqea1+y7Lu8YpvzezuNQOMHFemIQjVZVewCmgtLwb2ocyg3igNrpP1v7UKLgBz+eqWgXCCYAEeg3hq7vIqBx7ibDmAGQh560L1H13uXJVO4VBfnKfwAf/bzGGGaFry8VIedvObGGrmlwFt59go1UyGpA/ku4CrOSpI43wkn8IUHcVganJcSJsdEVg6GHO4tjUSmaSK+fQMgpL5wgVATpp7fvAhN6mmn256Y3Ki4m8E6lAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014zdqYRcNjFw8EkffhEE2CA",
      "input": {
        "note": "Cap is now centred on the jaw column and aligned with the jaw gap, slightly ahead of the fingertips. Advancing ~1.5 cm and descending to table level.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.31,
          "left_y": -0.147,
          "left_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_014zdqYRcNjFw8EkffhEE2CA",
      "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]: [-0.9298, 1.7973, 0.7784, -0.2493, -0.9543, -1.2282, 0.9961, 0.1921, 1.8431, 1.3647, -0.7757, -0.8642, -1.1595, 0.0715]\nstate[eef_state]: left_x=0.3038 left_y=-0.1602 left_z=0.0278 left_yaw=0.4337 left_pitch=-0.0139 left_roll=-0.0101 left_gripper=0.9961 right_x=0.36 right_y=0.2105 right_z=0.1313 right_yaw=1.4896 right_pitch=-0.1076 right_roll=0.001 right_gripper=0.0715\nstate[joint_eff]: [-0.0479, -7.2137, 5.094, 0.823, -0.6129, 0.149, -0.0122, -0.3214, -9.1282, 6.0923, 0.7937, -0.4713, -0.0464, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2dff4a88bd4431889d6dc3c123d46fd9d2e9a38250a2bae4b92f71fcff4287ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d952ea619b558446e52cb866b9ce43a0fb02cfe1015cb561874aca37a4c64e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e1654847983054b9955a10a2492c524d656e140c04bfdea8fc14d6dcfac92b7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /messages · status 200 · 6.395 s

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

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9981, 1.7546, 1.1091, -0.6743, -0.944, -1.3426, 0.9961, 0.1921, 1.8431, 1.3647, -0.7757, -0.8715, -1.1599, 0.0715]\nstate[eef_state]: left_x=0.3092 left_y=-0.2089 left_z=0.104 left_yaw=0.4256 left_pitch=-0.0343 left_roll=-0.056 left_gripper=0.9961 right_x=0.3595 right_y=0.2113 right_z=0.1323 right_yaw=1.4922 right_pitch=-0.1009 right_roll=0.0025 right_gripper=0.0715\nstate[joint_eff]: [0.294, -9.1145, 5.6547, 0.5885, -0.8523, 0.188, -0.0073, -0.3214, -9.2786, 6.065, 0.8132, -0.5348, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9337, 1.7889, 0.799, -0.3584, -0.9531, -1.2469, 0.9961, 0.1917, 1.8431, 1.3647, -0.7757, -0.8646, -1.1599, 0.0715]\nstate[eef_state]: left_x=0.2969 left_y=-0.1531 left_z=0.0299 left_yaw=0.4415 left_pitch=-0.0308 left_roll=0.0527 left_gripper=0.9961 right_x=0.3601 right_y=0.2104 right_z=0.1314 right_yaw=1.4895 right_pitch=-0.1072 right_roll=0.0008 right_gripper=0.0715\nstate[joint_eff]: [0.3077, -6.3658, 5.2034, 0.7302, -0.569, 0.1001, -0.0073, -0.294, -9.0462, 6.0923, 0.7595, -0.5495, -0.0415, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9298, 1.7973, 0.7784, -0.2493, -0.9543, -1.2282, 0.9961, 0.1921, 1.8431, 1.3647, -0.7757, -0.8642, -1.1595, 0.0715]\nstate[eef_state]: left_x=0.3038 left_y=-0.1602 left_z=0.0278 left_yaw=0.4337 left_pitch=-0.0139 left_roll=-0.0101 left_gripper=0.9961 right_x=0.36 right_y=0.2105 right_z=0.1313 right_yaw=1.4896 right_pitch=-0.1076 right_roll=0.001 right_gripper=0.0715\nstate[joint_eff]: [-0.0479, -7.2137, 5.094, 0.823, -0.6129, 0.149, -0.0122, -0.3214, -9.1282, 6.0923, 0.7937, -0.4713, -0.0464, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2dff4a88bd4431889d6dc3c123d46fd9d2e9a38250a2bae4b92f71fcff4287ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d952ea619b558446e52cb866b9ce43a0fb02cfe1015cb561874aca37a4c64e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1654847983054b9955a10a2492c524d656e140c04bfdea8fc14d6dcfac92b7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSpAcKEAgSGAI4AUIIdGhpbmtpbmcSDEJJodvcbL2eXqvQ0RoMz2HwOkkzwcZTtPYiIjBvKDI1vTcbV7tGcJeQ/yYDp2POv/OlDWFYGxRCYFV5S75YfPdvskl/ALMGMZiE3z0qwQZHAmIUy3DrURUXb5SVbulSnzFLvAUjhxRdo/BhFVG8gdby8nijA4ardkQSt3nPTwyFkJIcU26Fbtf+XLPZYwACZOnqbddJs0aMsGUxcKmIyiUeOeDNonf6wZApToyePfGS4cV71jur1GUn3i0SaTmacTKvSNbNmx7Nk3e8+EO8p1qHcOZ8IYpqPIe/U/M3TNz+/Noj2WelVOBTL3lLjKGbhHhabGUhLt8XNSiWmxEa4NmAmsvacvFgP9r8BfsRWJSRGHHCdtyFXg5hj+3abVge7Y+qePw3aBXbFX6sCy5q1niSmqDJPuE7tczr3SRP9ZO++nj/5sktiJ+ihOXISVU91nt6DPMWa4ODUoKOtkBggwvECSznRyr43fhKzL8Cof5OIBTQP5pFAOqaF3wpweHNHqH6J5Xd4J+Na3Qm9GypXBV4nB8HPhrTgLbnixuIcrXg9ATWMMLnuvjXTHB7v2Fl+qWOaJluYsDJApo9i6gJX3rAifYSTm0oMOxMu+L8TqNccrnidXENfqF351bwncea2EwoZ6CX9X4lDJ2q4Zr5uvHwSJOKgXNnlwpZcKANZxKCsuOyr7gNLDB52lqd/qxMktupY6YjlgPMtHgjSuy9aGkV25kMuBDT4oFUs0dslcHK6MwZ4Rbq03BB5FpSV/SGuY5oCrF21IMXOWlLxmLkpVMCvY0R8Fl2AI3HVGMoz59LolRXOUbxW6qLE+pQHHJx4rX+wFfY4bLv30lGJWToGkT/eMoXRX46tZGC6x09XLBwVYVTQkkAviDkcDc2PqHPA03Ixm4XXbJGJ0INxsKUCVj9IvNyQFlLrOtzCn4RPJ3nQlzMq0gO4OYkEhSsIxPhN4DtN4j65bimSFWun8cbg/U3S3iYtwjqauyAyWU03oK6OWUpF196hiQz10SagC852CIss5Yud6yareJYjxlmedntBqufyKTXUY2OUz6CNkWBHAwVfHimo+l6aujiQosYEBve7SnKogl8EWIt0r4YIPvKGf844ztZs+zJvNvR74niI86oh6no9ndrXwyAo18k2A4p665MOVNM5gh06YyMiVt+F6P90Usy8WLXeGxEeC4WVAgB6u+RS9hHC9Br7ERj9RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AoSaXGcrLghwfMFgi3bF9c",
      "input": {
        "note": "Cap is centred between the left jaws but the arm stayed ~3 cm above the table. Commanding the descent to table level again.",
        "targets": {
          "left_x": 0.31,
          "left_y": -0.155,
          "left_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01AoSaXGcrLghwfMFgi3bF9c",
      "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]: [-0.9298, 1.7973, 0.7784, -0.2493, -0.9543, -1.2285, 0.9961, 0.1921, 1.8431, 1.3647, -0.7753, -0.8639, -1.1595, 0.0715]\nstate[eef_state]: left_x=0.3038 left_y=-0.1602 left_z=0.0278 left_yaw=0.4339 left_pitch=-0.0139 left_roll=-0.0104 left_gripper=0.9961 right_x=0.3601 right_y=0.2105 right_z=0.1313 right_yaw=1.4894 right_pitch=-0.1078 right_roll=0.0005 right_gripper=0.0715\nstate[joint_eff]: [-0.0068, -7.2137, 4.9026, 0.8425, -0.6618, 0.1636, -0.0073, -0.2393, -9.0872, 6.106, 0.8132, -0.442, -0.0317, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:777c3ce69dd7a7713fef3ddad6a5088f47eed4f60879bfd95baf73901f4265e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b84298a805a98080cbdfe9ddc8e872be32085798880f932694a597a20267186",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5d35b24f6e2972327210ad213d3497c4a6cc756dfd55c0802904dd11ddedc38f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /messages · status 200 · 14.96 s

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

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9337, 1.7889, 0.799, -0.3584, -0.9531, -1.2469, 0.9961, 0.1917, 1.8431, 1.3647, -0.7757, -0.8646, -1.1599, 0.0715]\nstate[eef_state]: left_x=0.2969 left_y=-0.1531 left_z=0.0299 left_yaw=0.4415 left_pitch=-0.0308 left_roll=0.0527 left_gripper=0.9961 right_x=0.3601 right_y=0.2104 right_z=0.1314 right_yaw=1.4895 right_pitch=-0.1072 right_roll=0.0008 right_gripper=0.0715\nstate[joint_eff]: [0.3077, -6.3658, 5.2034, 0.7302, -0.569, 0.1001, -0.0073, -0.294, -9.0462, 6.0923, 0.7595, -0.5495, -0.0415, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9298, 1.7973, 0.7784, -0.2493, -0.9543, -1.2282, 0.9961, 0.1921, 1.8431, 1.3647, -0.7757, -0.8642, -1.1595, 0.0715]\nstate[eef_state]: left_x=0.3038 left_y=-0.1602 left_z=0.0278 left_yaw=0.4337 left_pitch=-0.0139 left_roll=-0.0101 left_gripper=0.9961 right_x=0.36 right_y=0.2105 right_z=0.1313 right_yaw=1.4896 right_pitch=-0.1076 right_roll=0.001 right_gripper=0.0715\nstate[joint_eff]: [-0.0479, -7.2137, 5.094, 0.823, -0.6129, 0.149, -0.0122, -0.3214, -9.1282, 6.0923, 0.7937, -0.4713, -0.0464, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9298, 1.7973, 0.7784, -0.2493, -0.9543, -1.2285, 0.9961, 0.1921, 1.8431, 1.3647, -0.7753, -0.8639, -1.1595, 0.0715]\nstate[eef_state]: left_x=0.3038 left_y=-0.1602 left_z=0.0278 left_yaw=0.4339 left_pitch=-0.0139 left_roll=-0.0104 left_gripper=0.9961 right_x=0.3601 right_y=0.2105 right_z=0.1313 right_yaw=1.4894 right_pitch=-0.1078 right_roll=0.0005 right_gripper=0.0715\nstate[joint_eff]: [-0.0068, -7.2137, 4.9026, 0.8425, -0.6618, 0.1636, -0.0073, -0.2393, -9.0872, 6.106, 0.8132, -0.442, -0.0317, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:777c3ce69dd7a7713fef3ddad6a5088f47eed4f60879bfd95baf73901f4265e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b84298a805a98080cbdfe9ddc8e872be32085798880f932694a597a20267186",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d35b24f6e2972327210ad213d3497c4a6cc756dfd55c0802904dd11ddedc38f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSpgsKEAgSGAI4AUIIdGhpbmtpbmcSDNXZAHZYWKTW/t/duBoM/VNp4BaBmEumZm7zIjCDndn0WR7xIm3V/mSLlkWcxEpzJhQkv6cKFdihOc8T7bUj0350sbVWZXXeY33MSGsqwwppdaheRfY4FJiIsHXIeO3fneED0G0id9iEZ4wasOyzKnN/qb/7cUISfCOTBJMhdqkU/KcNAOxLMVvrRxh0JVVlrc6zTNX7758dZ5pr17CG03mtstLhrBAi1HQLp4uK9fzpJwj0eRbTa3Y0Y8Pau5Q2+13Aw3QnCMthLXBCS7nK1aiW5Zqs9bfehULFbysm9Ix+1KUQ0/HI1W4tAFTN3k6BSDl3KvRYoUGlcw3hOpxgMXiZDzaq/DhBudepD3ZSSapJdGvDBloQD28B3sSaMI239R2/PwsP0l1HPXjJfcrlB+PRBWea32i0iOJCGOu+W6yyPtQqbo5c1TE8KTH+5SILSLH7/Qq/R04PFCoUCHXpPchZ4k5xNjAc6wEvR2lLA+VTrtf3cVj0rEUK7G15oqRoGycL6N+uHqVoji8IVNviaxvVdkW/edqrZZ3Y2WJfF1M+QW0mAO4j+tNM7yUTR2zyBeHP5jlZwDRZQzqX0H8vYq6oxGfzDpWARte+A90ERckqLVwtd+uUvKKmvoa7A9m11d45w96MsoeQjRKqG/S96RxdTgmcQWfZrTk/wfgK429MVQdf6yOL+SdGxQThHhlG0mKDS37ZTFuW7ItbEfa5t0ORhKDVtjuQXrRTFsWl23lpx88yIb7Xon8A2cnc1W4+CzEzzHsCcbOORSH1ivynxNBfuWZeiFjLnhtUX15aCFC/msZtxD8yXUXO+2WAITEyFp9ugFivC+NIpcqO96E09tE0MLIfd76yZgmBJDlPEFD8CR1BxRcGK3wpjUAm4+VxyW8lxIlh5X0q2R/TvWht/9RvPQ2Z/v9KDq0UxKsu0le1P8rY9aTJiOWVO9Auy4ZkAVZDU4JASVGg1XV3Z5c/QVPuTgNK414jDCMcb2EJbbP9qfFxWL7dBw2GHWMFSWxp+CAd94MYDE5vo+I9Kzu/0eM8LCdcPdzT3q9zlJHudW3b8WP60VJXLmRcR8DUIwvgScvlddJ1TITfPLej+lUacBozSrRae9gEEBMnyt5lZ02+21cvoy5+P9SnNRP/AFycSFFDoq65vnxkbDHk2BQHs9fn8l6xYdV6FfXRl+QqxI38z4Vl+NRLd/ecPQXSikggd3SNuy8OFw5PonLZVBI76q0vBcVje+xB5s4wm/+aLwXryGomP/XkFJSr8lIfEAlB3n/16eCzNtXgJwIwUQnVGi3Xkq2D9RijgAP3F/8gofUznojTMc606J0xCM8w2OsGDxPQOlTKJ2oVFitQa+Cmk8sLZdGJD/pRaNtyfTQHTPSYCylAyzUHHE8J0X1qLBHjXxE0tXq6XWFlJQt353w5Ufr6sdGk8O2DZaJKJhWDY1kc4y7Wq1v8oPqpwrX4NvCY2QQA3/GhJyxguQzljUIW9f6nCpDkkhSLKnHKUOdFEY3yXxuXnsp9BsCcnCrGdnyMAKrL/yvs66iZsybVltpqdygbrWKfayQcs4+eqswAhtjSaO7FcFSdaNTBfR6z76imLjA8TpDHLN/Gy6xEWvoLgFfkT0PUJcd5QMS6N7UPJvwpQVeIK9rPdIe8toLRaqNVV2Cs26tyNVHQcQb85nVokLh41mpgyDX9X+6UHIefsSbyJI9XY2FqyTqODwI01xHWzHEoMFHr42bZjt+2+H7tmDAtU5UJvQFYKb6XhN0wAy9X4iaK+2BUFTP3XKaQS90g4v+3pxk8GOT7GkGJVWj2d71AR1Id87v3xnKItKR+oz/rlU2vsi3DfV/0yFIhoIv7r5PD4u7WcHN6PVBrYgiG48PFq6ZRMRjn4qi4X8kbr/UW9kIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01X5pHWd2e1sHUejt7TrcjTP",
      "input": {
        "note": "Left arm is stalled again 3 cm above the table with the cap centred below. Re-commanding the descent with explicit orientation to break the IK hold.",
        "targets": {
          "left_pitch": 0.05,
          "left_roll": 0.0,
          "left_x": 0.31,
          "left_y": -0.155,
          "left_yaw": 0.45,
          "left_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01X5pHWd2e1sHUejt7TrcjTP",
      "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]: [-0.9298, 1.7973, 0.7784, -0.2493, -0.9539, -1.2289, 0.9961, 0.1921, 1.8431, 1.3647, -0.7753, -0.8639, -1.1599, 0.0715]\nstate[eef_state]: left_x=0.3038 left_y=-0.1602 left_z=0.0278 left_yaw=0.434 left_pitch=-0.0143 left_roll=-0.0108 left_gripper=0.9961 right_x=0.3601 right_y=0.2105 right_z=0.1313 right_yaw=1.4896 right_pitch=-0.1078 right_roll=0.0002 right_gripper=0.0715\nstate[joint_eff]: [-0.2256, -7.0222, 4.9026, 0.8523, -0.6374, 0.1783, -0.0073, -0.1846, -9.0872, 6.0923, 0.7839, -0.4567, -0.0415, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f448a2a8bfb4c42a8de6c861025c068ced9243d073f2ce43db06d247406c4bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:486c304b4e44eb5c9d117816a8b13cfa6dd08267230259f413d948648b044bee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f9c0f89edd1dad1327d6cf6f7ba7d71d2ddcc53f17908cc099efeba6f8763586",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]