adhoc - adhoc_c6006876.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.anthropic.com/v1
depth: render
effort: medium
image_horizon: 2
images: always
max_llm_calls: 40
max_output_tokens: 16000
max_speed_frac: 0.25
model: claude-opus-5
pre_check: null
prior_learnings: null
prior_learnings_sha256: null
replan_interval: null
speed: null
temperature: null
transcript_echo: false
wire: messages
wire_capture: true
seed: 0
max steps: 900
duration: 511.5 s
total steps: 377

operator

scenes

trials

errored

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a

Trial 0 transcript

Run video

step 0

system

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

user

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

Raw transcript

system

user

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

step 0

assistant

agent noteTop view shows a short dark pen cap left of centre and a longer pen just right of centre. Moving the right arm to hover ~15 cm above my estimate of the pen to inspect it with the wrist camera.

move_to

right_x0.3300right_y0.2900right_z0.1500right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.7929, 0.6014, -0.3805, -0.0219, -0.0246, 0.9993, -0.0185, 0.7906, 0.6086, -0.3763, -0.0208, -0.0151, 0.9994] state[eef_state]: left_x=0.2943 left_y=0.0015 left_z=0.179 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9993 right_x=0.2956 right_y=0.0018 right_z=0.1838 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.4855, -1.5248, 10.4821, 1.7656, -0.0464, 0.0708, -0.0855, -0.759, -1.1692, 9.894, 1.7558, -0.0317, -0.0366, -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": 0.33, "right_y": 0.29, "right_z": 0.15, "right_gripper": 1}, "note": "Top view shows a short dark pen cap left of centre and a longer pen just right of centre. Moving the right arm to hover ~15 cm above my estimate of the pen to inspect it with the wrist camera."})

tool

executing move_to over 25 steps (2.5s)

step 25

assistant

agent noteRight wrist view shows the pen lying just right of the jaw column near the bottom of frame. Shifting ~2.5 cm to the arm's right and a bit further out, and dropping to 4 cm above the table to line up the grasp.

move_to

right_x0.3400right_y0.2620right_z0.0400

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.7994, 0.6029, -0.3809, -0.0216, -0.0254, 0.9993, 0.9928, 1.689, 1.1114, -0.3019, 0.7559, 0.6464, 0.9994] state[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1778 left_yaw=0.0008 left_pitch=-0.0053 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3257 right_y=0.284 right_z=0.1378 right_yaw=0.0338 right_pitch=-0.0372 right_roll=-0.0364 right_gripper=0.9994 state[joint_eff]: [-0.1436, -1.7573, 6.9675, 1.7167, -0.0513, -0.0659, -0.0171, 0.5128, -8.212, 8.2256, 1.2625, 0.6471, 0.2076, -0.0708] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.34, "right_y": 0.262, "right_z": 0.04}, "note": "Right wrist view shows the pen lying just right of the jaw column near the bottom of frame. Shifting ~2.5 cm to the arm's right and a bit further out, and dropping to 4 cm above the table to line up the grasp."})

tool

executing move_to over 7 steps (0.7s)

step 32

assistant

agent noteThe pen sits diagonally up-and-right of the jaws in the wrist view, i.e. further out and to the arm's right than the fingertips. Moving 6 cm forward and 3.5 cm right to bring it under the jaw column.

move_to

right_x0.3900right_y0.2250right_z0.0500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3809, -0.0219, -0.0254, 0.9993, 0.9295, 1.8366, 0.8673, 0.083, 0.7055, 0.5869, 0.9994] state[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1775 left_yaw=0.0011 left_pitch=-0.0065 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3323 right_y=0.2596 right_z=0.0403 right_yaw=0.0349 right_pitch=-0.0737 right_roll=-0.0672 right_gripper=0.9994 state[joint_eff]: [-0.1573, -1.3744, 7.0906, 1.7216, -0.0659, -0.0806, -0.0171, -0.6906, -7.9932, 5.4906, 1.4188, 0.4225, -0.1636, -0.0122] camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.39, "right_y": 0.225, "right_z": 0.05}, "note": "The pen sits diagonally up-and-right of the jaws in the wrist view, i.e. further out and to the arm's right than the fingertips. Moving 6 cm forward and 3.5 cm right to bring it under the jaw column."})

tool

executing move_to over 5 steps (0.5s)

step 37

assistant

agent notePen now lies just below-left of the jaw column, oriented ~45° in the wrist view. Nudging out/left to centre it and yawing the tool +45° so the jaws close perpendicular to the pen shaft.

move_to

right_x0.4080right_y0.2360right_z0.0500right_yaw0.7850

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3809, -0.0216, -0.0254, 0.9992, 0.741, 1.8565, 0.8742, 0.141, 0.5934, 0.4404, 0.9994] state[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1775 left_yaw=0.0008 left_pitch=-0.0065 left_roll=-0.0005 left_gripper=0.9992 right_x=0.3776 right_y=0.2164 right_z=0.0335 right_yaw=0.0056 right_pitch=-0.1104 right_roll=-0.0927 right_gripper=0.9994 state[joint_eff]: [-0.3214, -1.265, 7.5419, 1.7167, -0.0366, -0.0562, -0.0171, -0.335, -9.4564, 7.6239, 1.619, 0.2369, 0.0073, -0.0171] camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.408, "right_y": 0.236, "right_z": 0.05, "right_yaw": 0.785}, "note": "Pen now lies just below-left of the jaw column, oriented ~45\u00b0 in the wrist view. Nudging out/left to centre it and yawing the tool +45\u00b0 so the jaws close perpendicular to the pen shaft."})

tool

executing move_to over 5 steps (0.5s)

step 42

assistant

agent noteThe arm undershot the sideways move (y 0.207 vs 0.236) and the pen is still left of the jaws in the wrist view; re-commanding a larger left shift and the full 45° yaw.

move_to

right_x0.4080right_y0.2500right_z0.0500right_yaw0.7850

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8059, 0.5976, -0.382, -0.0216, -0.0257, 0.9992, 0.4507, 1.8339, 0.8474, 0.244, -0.0299, -0.1371, 0.9993] state[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1733 left_yaw=0.001 left_pitch=-0.0183 left_roll=-0.0006 left_gripper=0.9992 right_x=0.4063 right_y=0.2065 right_z=0.029 right_yaw=0.5432 right_pitch=-0.1858 right_roll=-0.0817 right_gripper=0.9993 state[joint_eff]: [-0.1436, -1.6889, 7.5009, 1.7411, -0.0806, -0.0513, -0.0122, -0.3214, -7.8974, 7.9385, 1.7118, -0.1001, -0.0513, -0.0171] camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.408, "right_y": 0.25, "right_z": 0.05, "right_yaw": 0.785}, "note": "The arm undershot the sideways move (y 0.207 vs 0.236) and the pen is still left of the jaws in the wrist view; re-commanding a larger left shift and the full 45\u00b0 yaw."})

tool

executing move_to over 4 steps (0.4s)

step 46

assistant

agent notePen now runs vertically right between the open jaws in the wrist view. Descending to table level with a 6 mm lateral tweak before closing.

move_to

right_y0.2560right_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]: [-0.02, 0.807, 0.5972, -0.3817, -0.0216, -0.0254, 0.9992, 0.4702, 1.8469, 0.9554, 0.1303, -0.1745, -0.2749, 0.9994] state[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1729 left_yaw=0.0008 left_pitch=-0.0194 left_roll=-0.0002 left_gripper=0.9992 right_x=0.4029 right_y=0.2432 right_z=0.0449 right_yaw=0.7616 right_pitch=-0.1906 right_roll=-0.0824 right_gripper=0.9994 state[joint_eff]: [-0.1436, -1.3744, 7.0632, 1.7363, -0.0415, -0.0317, -0.0073, -0.0342, -7.5966, 7.9658, 1.6044, -0.0904, -0.022, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": 0.256, "right_z": 0.0}, "note": "Pen now runs vertically right between the open jaws in the wrist view. Descending to table level with a 6 mm lateral tweak before closing."})

tool

executing move_to over 3 steps (0.3s)

step 49

assistant

agent noteThe arm did not actually descend last move (z still 0.048); re-commanding a descent to table level over the pen.

move_to

right_z-0.0100

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8078, 0.5953, -0.3813, -0.0216, -0.0254, 0.9992, 0.4728, 1.8511, 0.9798, 0.1036, -0.1848, -0.2855, 0.9994] state[eef_state]: left_x=0.2944 left_y=0.0015 left_z=0.1719 left_yaw=0.0008 left_pitch=-0.0217 left_roll=-0.0002 left_gripper=0.9992 right_x=0.4039 right_y=0.2471 right_z=0.0477 right_yaw=0.7791 right_pitch=-0.1951 right_roll=-0.0815 right_gripper=0.9994 state[joint_eff]: [-0.3487, -1.347, 7.2274, 1.6972, -0.0464, -0.0757, -0.0073, -0.1162, -8.3487, 7.4598, 1.536, -0.188, -0.0952, -0.0122] camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": -0.01}, "note": "The arm did not actually descend last move (z still 0.048); re-commanding a descent to table level over the pen."})

tool

executing move_to over 4 steps (0.4s)

step 53

assistant

agent noteThe arm is stuck at z=0.048 and won't descend at this reach; pulling in 2 cm along the pen's own axis (so the jaws stay over the shaft) while commanding table level.

move_to

right_x0.3900right_y0.2330right_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]: [-0.02, 0.8078, 0.5953, -0.3813, -0.0216, -0.0254, 0.9993, 0.4728, 1.8515, 0.9798, 0.1036, -0.1848, -0.2855, 0.9994] state[eef_state]: left_x=0.2944 left_y=0.0015 left_z=0.1719 left_yaw=0.0008 left_pitch=-0.0217 left_roll=-0.0002 left_gripper=0.9993 right_x=0.4039 right_y=0.2471 right_z=0.0476 right_yaw=0.7791 right_pitch=-0.1954 right_roll=-0.0814 right_gripper=0.9994 state[joint_eff]: [0.0068, -1.1966, 7.2684, 1.6825, -0.0073, -0.0611, -0.0073, -0.1162, -8.3897, 7.5145, 1.6093, -0.1538, -0.0708, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.39, "right_y": 0.233, "right_z": 0.0}, "note": "The arm is stuck at z=0.048 and won't descend at this reach; pulling in 2 cm along the pen's own axis (so the jaws stay over the shaft) while commanding table level."})

tool

executing move_to over 4 steps (0.4s)

step 57

assistant

agent noteDescent is blocked (joints frozen), which suggests the fingertips are already at the table; the pen shaft sits centred between the jaws in the wrist view, so I'll close the gripper and check the settled reading.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8082, 0.5953, -0.3813, -0.0219, -0.0254, 0.9992, 0.4728, 1.8526, 0.9798, 0.104, -0.1844, -0.2855, 0.9994] state[eef_state]: left_x=0.2944 left_y=0.0016 left_z=0.1718 left_yaw=0.0011 left_pitch=-0.0221 left_roll=0.0 left_gripper=0.9992 right_x=0.4039 right_y=0.247 right_z=0.0471 right_yaw=0.7789 right_pitch=-0.1962 right_roll=-0.0814 right_gripper=0.9994 state[joint_eff]: [-0.3624, -1.1829, 7.0496, 1.6825, -0.0659, -0.0562, -0.0171, -0.2803, -8.2393, 7.4598, 1.5214, -0.1197, -0.0952, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0}, "note": "Descent is blocked (joints frozen), which suggests the fingertips are already at the table; the pen shaft sits centred between the jaws in the wrist view, so I'll close the gripper and check the settled reading."})

tool

executing move_to over 10 steps (1.0s)

step 67

assistant

agent noteThe close came up empty (gripper 0.012) and the pen tip is just beyond the jaw tips in the wrist view, so the pen is a little further out than the fingertips. Reopening and advancing 2 cm outward along the pen axis for a second attempt.

move_to

right_gripper1.0000right_x0.4180right_y0.2610

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8078, 0.5953, -0.3813, -0.0216, -0.0254, 0.9993, 0.4728, 1.8534, 0.9787, 0.1032, -0.1844, -0.2932, 0.0116] state[eef_state]: left_x=0.2944 left_y=0.0015 left_z=0.1719 left_yaw=0.0008 left_pitch=-0.0217 left_roll=-0.0002 left_gripper=0.9993 right_x=0.4034 right_y=0.2468 right_z=0.0462 right_yaw=0.7831 right_pitch=-0.1991 right_roll=-0.0862 right_gripper=0.0116 state[joint_eff]: [0.0205, -1.2786, 7.2137, 1.7363, -0.0708, -0.0757, -0.0073, -0.0752, -9.2239, 6.106, 1.6142, -0.0659, 0.105, 0.989] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 1, "right_x": 0.418, "right_y": 0.261}, "note": "The close came up empty (gripper 0.012) and the pen tip is just beyond the jaw tips in the wrist view, so the pen is a little further out than the fingertips. Reopening and advancing 2 cm outward along the pen axis for a second attempt."})

tool

executing move_to over 10 steps (1.0s)

step 77

assistant

agent noteThe pen shaft is now clearly between the open jaws at the bottom of the right wrist view. Closing to grasp it.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8082, 0.5953, -0.3813, -0.0219, -0.0254, 0.9992, 0.4854, 1.9057, 1.0409, 0.078, -0.1833, -0.2962, 0.9951] state[eef_state]: left_x=0.2944 left_y=0.0016 left_z=0.1718 left_yaw=0.0011 left_pitch=-0.0221 left_roll=0.0 left_gripper=0.9992 right_x=0.411 right_y=0.2573 right_z=0.0414 right_yaw=0.7974 right_pitch=-0.214 right_roll=-0.0845 right_gripper=0.9951 state[joint_eff]: [-0.0479, -1.1692, 7.3641, 1.7558, -0.0855, -0.0317, -0.0171, 0.2393, -8.4308, 8.3897, 1.5946, 0.0024, 0.1294, -0.0855] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]

assistant

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

tool

executing move_to over 10 steps (1.0s)

step 87

assistant

agent noteSecond close was also empty, and I suspect the dark line I was aiming at is the gripper's camera cable rather than the pen. Retracting the right arm high and to the side for an unobstructed top view.

move_to

right_x0.3000right_y0.1000right_z0.2500right_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]: [-0.02, 0.8082, 0.5953, -0.3813, -0.0219, -0.0254, 0.9992, 0.4862, 1.9072, 1.0393, 0.0738, -0.1844, -0.3008, 0.0115] state[eef_state]: left_x=0.2944 left_y=0.0016 left_z=0.1718 left_yaw=0.0011 left_pitch=-0.0221 left_roll=0.0 left_gripper=0.9992 right_x=0.4095 right_y=0.2571 right_z=0.0394 right_yaw=0.8021 right_pitch=-0.2208 right_roll=-0.0848 right_gripper=0.0115 state[joint_eff]: [0.0068, -1.306, 7.0496, 1.7216, -0.0562, -0.0366, -0.0122, -0.0615, -9.7983, 5.9829, 1.6142, -0.0659, 0.022, 0.9011] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.3, "right_y": 0.1, "right_z": 0.25, "right_yaw": 0, "right_gripper": 1}, "note": "Second close was also empty, and I suspect the dark line I was aiming at is the gripper's camera cable rather than the pen. Retracting the right arm high and to the side for an unobstructed top view."})

tool

executing move_to over 14 steps (1.4s)

step 101

assistant

agent noteWith the right arm out of the way I can see the pen lying alone on the table left of centre (the long dark line was the wrist-camera cable). Parking the right arm and bringing the left arm to hover 15 cm above the pen, yawed 45° so the jaws close across its shaft.

move_to

right_x0.2000right_y0.0500right_z0.2000left_x0.3430left_y-0.1330left_z0.1500left_yaw0.7850

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8127, 0.5934, -0.3817, -0.0216, -0.0257, 0.9992, 0.5262, 1.1973, 1.1755, -0.8257, 0.3454, 0.2497, 0.9961] state[eef_state]: left_x=0.2944 left_y=0.0015 left_z=0.1696 left_yaw=0.001 left_pitch=-0.029 left_roll=-0.0004 left_gripper=0.9992 right_x=0.3104 right_y=0.1153 right_z=0.2355 right_yaw=0.0842 right_pitch=-0.2267 right_roll=-0.0845 right_gripper=0.9961 state[joint_eff]: [-0.1299, -1.5932, 7.1863, 1.7411, -0.0464, -0.0708, -0.0073, 0.4718, -5.3949, 8.5402, 1.4237, 0.3394, 0.0904, -0.1587] camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.2, "right_y": 0.05, "right_z": 0.2, "left_x": 0.343, "left_y": -0.133, "left_z": 0.15, "left_yaw": 0.785}, "note": "With the right arm out of the way I can see the pen lying alone on the table left of centre (the long dark line was the wrist-camera cable). Parking the right arm and bringing the left arm to hover 15 cm above the pen, yawed 45\u00b0 so the jaws close across its shaft."})

tool

executing move_to over 12 steps (1.2s)

step 113

assistant

agent noteThe left wrist view shows a small stubby dark object (the pen cap) just beyond the jaws, while the pen itself is the light-coloured stick further right in the top view. Descending the left arm to 5 cm over the cap and easing 2 cm forward.

move_to

left_x0.3700left_y-0.1370left_z0.0500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7799, 1.8065, 1.3441, -0.9939, -0.9215, -1.4208, 0.9992, 0.5179, 0.6846, 0.844, -0.9985, 0.3351, 0.2485, 0.9964] state[eef_state]: left_x=0.3487 left_y=-0.142 left_z=0.1376 left_yaw=0.6897 left_pitch=-0.0726 left_roll=0.0135 left_gripper=0.9992 right_x=0.2061 right_y=0.0547 right_z=0.201 right_yaw=0.0857 right_pitch=-0.2224 right_roll=-0.0746 right_gripper=0.9964 state[joint_eff]: [-0.2667, -9.4427, 7.1179, -0.0757, -0.9695, -0.0171, -0.0122, -0.3761, -0.212, 6.7077, 1.5702, 0.1587, -0.1343, 0.0269] camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.37, "left_y": -0.137, "left_z": 0.05}, "note": "The left wrist view shows a small stubby dark object (the pen cap) just beyond the jaws, while the pen itself is the light-coloured stick further right in the top view. Descending the left arm to 5 cm over the cap and easing 2 cm forward."})

tool

executing move_to over 6 steps (0.6s)

step 119

assistant

agent noteThe cap sits vertically between the open jaws in the left wrist view, just 1 cm right of the jaw centre. Nudging right and descending to table level to grasp it.

move_to

left_x0.3670left_y-0.1410left_z0.0050

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7322, 1.9438, 1.1824, -0.6815, -0.907, -1.3647, 0.9992, 0.5171, 0.6922, 0.8413, -1.0145, 0.3355, 0.2462, 0.9964] state[eef_state]: left_x=0.3614 left_y=-0.1329 left_z=0.0549 left_yaw=0.704 left_pitch=-0.0865 left_roll=0.0432 left_gripper=0.9992 right_x=0.2041 right_y=0.0533 right_z=0.196 right_yaw=0.0832 right_pitch=-0.2463 right_roll=-0.0879 right_gripper=0.9964 state[joint_eff]: [0.6359, -8.9231, 5.2308, 0.4908, -0.5201, 0.149, -0.0122, -0.0479, -0.3077, 6.4752, 1.5751, 0.0806, -0.0171, -0.0073] camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.367, "left_y": -0.141, "left_z": 0.005}, "note": "The cap sits vertically between the open jaws in the left wrist view, just 1 cm right of the jaw centre. Nudging right and descending to table level to grasp it."})

tool

executing move_to over 4 steps (0.4s)

step 123

assistant

agent noteLeft arm is down at table level with the cap between the jaws; closing to grasp the cap.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7334, 2.0663, 1.1648, -0.5606, -0.9043, -1.367, 0.9992, 0.5167, 0.6933, 0.8413, -1.0183, 0.3355, 0.2462, 0.9964] state[eef_state]: left_x=0.3657 left_y=-0.1378 left_z=0.0113 left_yaw=0.7055 left_pitch=-0.0916 left_roll=0.06 left_gripper=0.9992 right_x=0.2036 right_y=0.0529 right_z=0.1952 right_yaw=0.0823 right_pitch=-0.2508 right_roll=-0.09 right_gripper=0.9964 state[joint_eff]: [-0.6085, -9.6615, 4.6564, 0.486, -0.486, -0.0366, -0.0122, -0.3487, 0.2667, 6.2427, 1.4042, 0.0708, -0.0415, -0.0122] camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0}, "note": "Left arm is down at table level with the cap between the jaws; closing to grasp the cap."})

tool

executing move_to over 10 steps (1.0s)

step 133

assistant

agent noteGripper settled at 0.043, borderline; lifting the left arm 11 cm to check in the top view whether the cap came with it.

move_to

left_z0.1200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7334, 2.083, 1.1599, -0.5331, -0.9138, -1.3781, 0.0429, 0.5167, 0.6941, 0.8413, -1.0183, 0.3359, 0.2462, 0.9964] state[eef_state]: left_x=0.3674 left_y=-0.1379 left_z=0.0063 left_yaw=0.7121 left_pitch=-0.0811 left_roll=0.0468 left_gripper=0.0429 right_x=0.2037 right_y=0.0529 right_z=0.1951 right_yaw=0.0819 right_pitch=-0.2514 right_roll=-0.0906 right_gripper=0.9964 state[joint_eff]: [-0.4444, -9.8393, 4.9846, 0.5543, -0.4567, 0.0415, 1.0525, -0.1709, 0.212, 6.2427, 1.409, 0.1148, -0.0269, -0.0073] camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.12}, "note": "Gripper settled at 0.043, borderline; lifting the left arm 11 cm to check in the top view whether the cap came with it."})

tool

executing move_to over 8 steps (0.8s)

step 141

assistant

agent noteThe cap appears to be held in the left jaws (it vanished from the table and a bulge shows at the jaw tip). Now bringing the right arm over the pen, yawed so the jaws close across the pen's mostly side-to-side orientation.

move_to

right_x0.3600right_y0.2940right_z0.1500right_yaw-1.3400right_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]: [-0.7353, 1.9293, 1.3369, -0.8818, -0.9043, -1.3872, 0.0421, 0.5167, 0.6941, 0.8413, -1.0183, 0.3355, 0.2462, 0.9965] state[eef_state]: left_x=0.3674 left_y=-0.1402 left_z=0.0939 left_yaw=0.7156 left_pitch=-0.0924 left_roll=0.0562 left_gripper=0.0421 right_x=0.2036 right_y=0.0529 right_z=0.1951 right_yaw=0.0822 right_pitch=-0.2515 right_roll=-0.0903 right_gripper=0.9965 state[joint_eff]: [-0.0479, -12.465, 8.1709, 0.315, -0.6081, 0.0611, -0.0904, -0.294, 0.3077, 6.2427, 1.4042, 0.0757, -0.0366, -0.0073] camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.36, "right_y": 0.294, "right_z": 0.15, "right_yaw": -1.34, "right_gripper": 1}, "note": "The cap appears to be held in the left jaws (it vanished from the table and a bulge shows at the jaw tip). Now bringing the right arm over the pen, yawed so the jaws close across the pen's mostly side-to-side orientation."})

tool

executing move_to over 21 steps (2.1s)

step 162

assistant

agent noteThe left arm drifted toward the centre and is crowding the right arm (which undershot its target). Parking the left arm out to its own side, still holding the cap, before retrying the pen grasp.

move_to

left_x0.2500left_y-0.2800left_z0.2000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5232, 2.0048, 1.3125, -0.8806, -0.8864, -1.3884, 0.0421, 0.8524, 2.1426, 1.9491, -1.7012, 0.6273, 2.0399, 0.9987] state[eef_state]: left_x=0.3797 left_y=-0.0569 left_z=0.0597 left_yaw=0.9378 left_pitch=-0.1214 left_roll=0.152 left_gripper=0.0421 right_x=0.3036 right_y=0.1952 right_z=0.1441 right_yaw=-1.1114 right_pitch=-0.317 right_roll=-0.0345 right_gripper=0.9987 state[joint_eff]: [-17.3607, -15.4325, 7.159, 0.2662, -0.6764, -0.0317, -0.0171, -10.9607, 6.5983, 6.0786, 0.9353, 0.4518, 0.3736, -0.1538] camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.25, "left_y": -0.28, "left_z": 0.2}, "note": "The left arm drifted toward the centre and is crowding the right arm (which undershot its target). Parking the left arm out to its own side, still holding the cap, before retrying the pen grasp."})

tool

executing move_to over 20 steps (2.0s)

step 182

assistant

agent noteThe two arms are jammed against each other in the middle (left shoulder effort -21). Lifting the left arm up and back to break contact before separating them further.

move_to

left_x0.2200left_y-0.1800left_z0.3000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7471, 2.0331, 1.6363, -1.7004, -0.7696, -2.0212, 0.042, 0.6689, 2.1105, 1.7302, -1.702, 0.6125, 2.0075, 0.9987] state[eef_state]: left_x=0.297 left_y=-0.1026 left_z=0.139 left_yaw=1.1585 left_pitch=-0.113 left_roll=0.2005 left_gripper=0.042 right_x=0.2961 right_y=0.1092 right_z=0.1164 right_yaw=-1.3355 right_pitch=-0.2562 right_roll=-0.2418 right_gripper=0.9987 state[joint_eff]: [-21.4359, -2.7009, 5.6274, 0.6374, -0.3101, -0.1734, -0.0171, 12.4923, -12.5744, 9.388, 0.6129, 0.4908, -0.0659, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). 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": 0.22, "left_y": -0.18, "left_z": 0.3}, "note": "The two arms are jammed against each other in the middle (left shoulder effort -21). Lifting the left arm up and back to break contact before separating them further."})

tool

executing move_to over 11 steps (1.1s)

step 193

assistant

agent noteLeft arm is still pinned at x=0.27 with high shoulder effort; trying a pure vertical lift plus unwinding the yaw to free it from the right arm.

move_to

left_z0.3500left_yaw0.4000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7315, 1.8439, 1.3716, -1.5597, -0.762, -1.9644, 0.042, 0.6418, 2.0956, 1.5726, -1.5799, 0.6014, 1.9739, 0.9987] state[eef_state]: left_x=0.2686 left_y=-0.0724 left_z=0.1313 left_yaw=1.1396 left_pitch=-0.1459 left_roll=0.184 left_gripper=0.042 right_x=0.2858 right_y=0.0933 right_z=0.0845 right_yaw=-1.3564 right_pitch=-0.2608 right_roll=-0.2892 right_gripper=0.9987 state[joint_eff]: [0.1983, -10.0855, 4.588, -0.5885, -0.6374, 0.0855, -0.0073, -0.2256, -12.2462, 5.6957, -0.5495, 0.486, -0.105, -0.0122] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.35, "left_yaw": 0.4}, "note": "Left arm is still pinned at x=0.27 with high shoulder effort; trying a pure vertical lift plus unwinding the yaw to free it from the right arm."})

tool

executing move_to over 15 steps (1.5s)

step 208

assistant

agent noteLeft arm is free of the right arm now (effort dropped). Moving it out to its own side and unwinding yaw so the top camera can see the table again.

move_to

left_x0.2500left_y-0.2500left_z0.2500left_yaw0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7399, 1.6318, 1.4067, -1.5585, -0.8082, -1.6646, 0.042, 0.6411, 2.0956, 1.5665, -1.5776, 0.5964, 1.9743, 0.9987] state[eef_state]: left_x=0.2713 left_y=-0.0699 left_z=0.1918 left_yaw=0.9113 left_pitch=-0.1789 left_roll=0.154 left_gripper=0.042 right_x=0.2843 right_y=0.0928 right_z=0.083 right_yaw=-1.3613 right_pitch=-0.263 right_roll=-0.2944 right_gripper=0.9987 state[joint_eff]: [-0.1983, -6.4889, 5.5453, -0.2125, -0.7643, 0.188, -0.0122, -0.1299, -10.0855, 4.3692, -0.6374, 0.2857, -0.0415, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). 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": 0.25, "left_y": -0.25, "left_z": 0.25, "left_yaw": 0}, "note": "Left arm is free of the right arm now (effort dropped). Moving it out to its own side and unwinding yaw so the top camera can see the table again."})

tool

executing move_to over 17 steps (1.7s)

step 225

assistant

agent noteThe left wrist view shows both the cap and the pen still lying on the table ahead, so the earlier grasp was empty. Parking the right arm back and high to clear the top-camera view of the objects.

move_to

right_x0.2000right_y-0.0500right_z0.3000right_yaw0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.1496, 1.6119, 1.5562, -1.3048, -0.7765, -1.0389, 0.042, 0.6411, 2.0956, 1.562, -1.5631, 0.5896, 1.9739, 0.9987] state[eef_state]: left_x=0.2469 left_y=-0.2396 left_z=0.2304 left_yaw=0.0708 left_pitch=-0.2132 left_roll=0.179 left_gripper=0.042 right_x=0.2846 right_y=0.0943 right_z=0.0802 right_yaw=-1.3627 right_pitch=-0.2726 right_roll=-0.2879 right_gripper=0.9987 state[joint_eff]: [-0.4991, -8.4444, 8.8684, 0.7106, -0.4811, 0.2662, -0.0122, -0.1846, -10.1675, 4.6838, -0.7399, 0.315, -0.0708, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.2, "right_y": -0.05, "right_z": 0.3, "right_yaw": 0}, "note": "The left wrist view shows both the cap and the pen still lying on the table ahead, so the earlier grasp was empty. Parking the right arm back and high to clear the top-camera view of the objects."})

tool

executing move_to over 15 steps (1.5s)

step 240

assistant

agent noteTop view now clearly shows the pen lying diagonally at about right_x 0.34, right_y 0.25. Sending the right arm to hover over it with the jaws yawed across the shaft, and tucking the left arm further out to its side.

move_to

right_x0.3430right_y0.2510right_z0.1200right_yaw-1.3200right_gripper1.0000left_x0.2000left_y-0.3500left_z0.2500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.1522, 1.6131, 1.5532, -1.2957, -0.7696, -1.0382, 0.042, -0.1993, 0.8448, 1.2858, -1.285, 0.1608, -0.1402, 0.9987] state[eef_state]: left_x=0.2462 left_y=-0.2421 left_z=0.2288 left_yaw=0.0648 left_pitch=-0.2179 left_roll=0.1724 left_gripper=0.042 right_x=0.1943 right_y=-0.0644 right_z=0.2857 right_yaw=-0.2721 right_pitch=-0.2886 right_roll=-0.2227 right_gripper=0.9987 state[joint_eff]: [0.1299, -7.1179, 6.2838, 0.6325, -0.525, -0.0464, -0.0122, 0.4444, 1.0462, 6.5573, 1.3455, 0.1197, -0.1245, -0.0171] camera 'top_cam' (step 240): [image omitted: streamed camera frame] camera 'left_cam' (step 240): [image omitted: streamed camera frame] camera 'right_cam' (step 240): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.343, "right_y": 0.251, "right_z": 0.12, "right_yaw": -1.32, "right_gripper": 1, "left_x": 0.2, "left_y": -0.35, "left_z": 0.25}, "note": "Top view now clearly shows the pen lying diagonally at about right_x 0.34, right_y 0.25. Sending the right arm to hover over it with the jaws yawed across the shaft, and tucking the left arm further out to its side."})

tool

executing move_to over 27 steps (2.7s)

step 267

assistant

agent noteRight wrist view shows the pen running vertically about 3.5 cm left of the jaw centre and reaching the bottom edge, so the radial distance is right. Sliding sideways onto the shaft and descending to table level.

move_to

right_x0.3570right_y0.1750right_z0.0200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.2285, 1.9942, 1.9213, -1.7008, -0.7284, -1.3159, 0.042, 0.7223, 2.1983, 1.8614, -1.5806, 0.5648, 1.9915, 0.999] state[eef_state]: left_x=0.227 left_y=-0.2761 left_z=0.1972 left_yaw=0.2502 left_pitch=-0.3096 left_roll=0.3921 left_gripper=0.042 right_x=0.3237 right_y=0.164 right_z=0.0954 right_yaw=-1.2505 right_pitch=-0.3643 right_roll=-0.1131 right_gripper=0.999 state[joint_eff]: [-9.347, -10.2222, 13.9556, 1.2186, -1.0476, 0.1832, -0.0073, 3.2068, 0.5128, 5.2718, -0.2955, 0.3297, 0.2515, -0.1197] camera 'top_cam' (step 267): [image omitted: streamed camera frame] camera 'left_cam' (step 267): [image omitted: streamed camera frame] camera 'right_cam' (step 267): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.357, "right_y": 0.175, "right_z": 0.02}, "note": "Right wrist view shows the pen running vertically about 3.5 cm left of the jaw centre and reaching the bottom edge, so the radial distance is right. Sliding sideways onto the shaft and descending to table level."})

tool

executing move_to over 5 steps (0.5s)

step 272

assistant

agent noteThe right arm keeps stalling at z≈0.06 and its tool has drifted to pitch -0.38 (tilted back), which likely makes the wrist hit before the fingertips. Commanding pitch back to 0 and a descent to table level.

move_to

right_pitch0.0000right_z0.0100right_y0.1850

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.1542, 1.9728, 1.7622, -1.6382, -0.7132, -1.2819, 0.042, 0.7399, 2.3409, 1.9823, -1.5604, 0.5407, 2.0312, 0.9988] state[eef_state]: left_x=0.2382 left_y=-0.2437 left_z=0.1668 left_yaw=0.3355 left_pitch=-0.3388 left_roll=0.4928 left_gripper=0.042 right_x=0.3384 right_y=0.1906 right_z=0.0638 right_yaw=-1.2677 right_pitch=-0.3823 right_roll=-0.099 right_gripper=0.9988 state[joint_eff]: [-3.6308, -12.1915, 6.2154, 0.4664, -0.6374, 0.0513, -0.0122, 1.9897, -10.5915, 6.5573, -0.3932, 0.3883, -0.0122, -0.0317] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 272): [image omitted: streamed camera frame] camera 'left_cam' (step 272): [image omitted: streamed camera frame] camera 'right_cam' (step 272): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_pitch": 0, "right_z": 0.01, "right_y": 0.185}, "note": "The right arm keeps stalling at z\u22480.06 and its tool has drifted to pitch -0.38 (tilted back), which likely makes the wrist hit before the fingertips. Commanding pitch back to 0 and a descent to table level."})

tool

executing move_to over 13 steps (1.3s)

step 285

assistant

agent noteRight arm is now down at z=0.03 with the tool upright and something dark sits between the jaws at the bottom of its wrist view; closing to try the pen grasp.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.0935, 1.9854, 1.6638, -1.6108, -0.6994, -1.2629, 0.042, 0.6834, 2.4851, 1.945, -1.512, 0.8097, 2.0537, 0.9987] state[eef_state]: left_x=0.2442 left_y=-0.2169 left_z=0.1414 left_yaw=0.4213 left_pitch=-0.363 left_roll=0.5934 left_gripper=0.042 right_x=0.3739 right_y=0.1441 right_z=0.0288 right_yaw=-1.2344 right_pitch=-0.1031 right_roll=-0.1118 right_gripper=0.9987 state[joint_eff]: [-3.7402, -12.547, 7.2137, 0.0269, -0.5983, 0.0024, -0.0122, -1.6615, -7.2137, 4.0821, -0.5104, 0.6129, 0.3883, -0.0269] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 285): [image omitted: streamed camera frame] camera 'left_cam' (step 285): [image omitted: streamed camera frame] camera 'right_cam' (step 285): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0}, "note": "Right arm is now down at z=0.03 with the tool upright and something dark sits between the jaws at the bottom of its wrist view; closing to try the pen grasp."})

tool

executing move_to over 10 steps (1.0s)

step 295

assistant

agent noteBoth closes came up empty and the objects are hidden under the arms. Pulling both arms back to their own sides and high up to get a clean top-camera view of where the pen and cap actually are.

move_to

left_x0.1800left_y-0.3000left_z0.3000left_yaw0.0000left_gripper1.0000right_x0.1800right_y-0.0500right_z0.3000right_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]: [-1.0843, 1.9854, 1.6238, -1.578, -0.6987, -1.2552, 0.042, 0.6811, 2.4874, 1.9423, -1.5108, 0.7887, 2.0438, 0.0113] state[eef_state]: left_x=0.245 left_y=-0.2125 left_z=0.1318 left_yaw=0.4299 left_pitch=-0.3665 left_roll=0.6062 left_gripper=0.042 right_x=0.3711 right_y=0.1441 right_z=0.0251 right_yaw=-1.2423 right_pitch=-0.1198 right_roll=-0.1297 right_gripper=0.0113 state[joint_eff]: [-0.0752, -10.5231, 5.1761, -0.3443, -0.4371, 0.0415, -0.0073, -0.1846, -12.9983, 5.0803, -0.5348, 0.5153, 0.105, 0.9792] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 295): [image omitted: streamed camera frame] camera 'left_cam' (step 295): [image omitted: streamed camera frame] camera 'right_cam' (step 295): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.18, "left_y": -0.3, "left_z": 0.3, "left_yaw": 0, "left_gripper": 1, "right_x": 0.18, "right_y": -0.05, "right_z": 0.3, "right_yaw": 0, "right_gripper": 1}, "note": "Both closes came up empty and the objects are hidden under the arms. Pulling both arms back to their own sides and high up to get a clean top-camera view of where the pen and cap actually are."})

tool

executing move_to over 18 steps (1.8s)

step 313

assistant

agent noteThe left wrist camera shows a small dark object (the cap) straight ahead on the jaw column, well out in front. Advancing the left arm 10 cm toward it and levelling the tool.

move_to

left_x0.3300left_y-0.2550left_z0.1200left_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]: [-1.2137, 1.8614, 1.7256, -1.5795, -0.7326, -0.8856, 0.9974, -0.3073, 0.6968, 1.195, -1.2102, 0.0246, -0.1822, 0.9967] state[eef_state]: left_x=0.225 left_y=-0.2547 left_z=0.1921 left_yaw=0.0277 left_pitch=-0.4077 left_roll=0.6191 left_gripper=0.9974 right_x=0.1818 right_y=-0.0585 right_z=0.2902 right_yaw=-0.2383 right_pitch=-0.1609 right_roll=-0.155 right_gripper=0.9967 state[joint_eff]: [-0.3897, -11.5214, 8.2393, 0.0806, -0.8034, 0.2955, -0.0073, 1.5795, 3.0427, 5.135, 1.4286, 0.3346, -0.0317, -0.0122] camera 'top_cam' (step 313): [image omitted: streamed camera frame] camera 'left_cam' (step 313): [image omitted: streamed camera frame] camera 'right_cam' (step 313): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.33, "left_y": -0.255, "left_z": 0.12, "left_pitch": 0}, "note": "The left wrist camera shows a small dark object (the cap) straight ahead on the jaw column, well out in front. Advancing the left arm 10 cm toward it and levelling the tool."})

tool

executing move_to over 14 steps (1.4s)

step 327

assistant

agent noteThe left arm is barely tracking and its wrist has drifted to roll 0.62; commanding a clean upright tool orientation plus a small forward step to get it back into a sane configuration.

move_to

left_roll0.0000left_pitch0.0000left_yaw0.0000left_x0.3000left_z0.1500left_y-0.2500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.1805, 1.8587, 1.7329, -1.5585, -0.7788, -0.8581, 0.9979, -0.3107, 0.7021, 1.1946, -1.2446, 0.0082, -0.2043, 0.9978] state[eef_state]: left_x=0.241 left_y=-0.2503 left_z=0.1996 left_yaw=0.0364 left_pitch=-0.3629 left_roll=0.6225 left_gripper=0.9979 right_x=0.178 right_y=-0.0549 right_z=0.2828 right_yaw=-0.2151 right_pitch=-0.2016 right_roll=-0.1572 right_gripper=0.9978 state[joint_eff]: [-0.3487, -7.8291, 7.4325, 0.1245, -0.8083, 0.0073, 0.0415, 0.2393, 0.7863, 5.2991, 1.9316, 0.1441, 0.1978, 0.1099] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 327): [image omitted: streamed camera frame] camera 'left_cam' (step 327): [image omitted: streamed camera frame] camera 'right_cam' (step 327): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_roll": 0, "left_pitch": 0, "left_yaw": 0, "left_x": 0.3, "left_z": 0.15, "left_y": -0.25}, "note": "The left arm is barely tracking and its wrist has drifted to roll 0.62; commanding a clean upright tool orientation plus a small forward step to get it back into a sane configuration."})

tool

executing move_to over 13 steps (1.3s)

step 340

assistant

agent noteLeft arm is finally in a clean pose and its wrist view clearly shows the cap (small dark piece, left of the jaws) and the pen (light stick, right). Moving over the cap at ~9 cm height.

move_to

left_x0.3650left_y-0.1500left_z0.0900

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.047, 1.5581, 1.0088, -0.5095, -0.8165, -0.7906, 0.998, -0.3119, 0.7044, 1.1908, -1.2488, 0.0032, -0.2066, 0.998] state[eef_state]: left_x=0.2899 left_y=-0.2373 left_z=0.1328 left_yaw=0.0147 left_pitch=-0.0723 left_roll=0.1073 left_gripper=0.998 right_x=0.1778 right_y=-0.0542 right_z=0.2803 right_yaw=-0.2105 right_pitch=-0.2117 right_roll=-0.1544 right_gripper=0.998 state[joint_eff]: [0.2393, -8.6906, 6.7487, 1.3455, -0.4127, 0.022, -0.0073, -0.1026, 1.0872, 5.9829, 1.6532, -0.0073, -0.022, 0.0024] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 340): [image omitted: streamed camera frame] camera 'left_cam' (step 340): [image omitted: streamed camera frame] camera 'right_cam' (step 340): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.365, "left_y": -0.15, "left_z": 0.09}, "note": "Left arm is finally in a clean pose and its wrist view clearly shows the cap (small dark piece, left of the jaws) and the pen (light stick, right). Moving over the cap at ~9 cm height."})

tool

executing move_to over 8 steps (0.8s)

step 348

assistant

agent noteCap is centred on the jaw column in the left wrist view but a couple of cm beyond the fingertips; advancing 2 cm and descending to table level.

move_to

left_x0.3750left_z0.0050

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6617, 1.5387, 0.7597, -0.0925, -0.6098, -0.4427, 0.998, -0.3119, 0.7052, 1.1904, -1.2495, 0.0032, -0.2096, 0.998] state[eef_state]: left_x=0.3534 left_y=-0.1425 left_z=0.0821 left_yaw=0.0694 left_pitch=-0.1128 left_roll=0.1291 left_gripper=0.998 right_x=0.1778 right_y=-0.0542 right_z=0.2799 right_yaw=-0.2088 right_pitch=-0.2138 right_roll=-0.1564 right_gripper=0.998 state[joint_eff]: [0.1846, -6.0513, 6.0923, 1.5946, -0.149, 0.1343, -0.0122, -0.0889, 1.0462, 5.4632, 1.5604, -0.0122, -0.0073, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 348): [image omitted: streamed camera frame] camera 'left_cam' (step 348): [image omitted: streamed camera frame] camera 'right_cam' (step 348): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.375, "left_z": 0.005}, "note": "Cap is centred on the jaw column in the left wrist view but a couple of cm beyond the fingertips; advancing 2 cm and descending to table level."})

tool

executing move_to over 5 steps (0.5s)

step 353

assistant

agent noteAt table level the cap still sits a few cm beyond the fingertips in the wrist view; sliding 3.4 cm further out so the cap lies between the jaws.

move_to

left_x0.4000left_y-0.1350

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6231, 1.8008, 0.6895, 0.2169, -0.5808, -0.4202, 0.998, -0.3119, 0.7067, 1.1896, -1.2499, 0.0032, -0.2131, 0.998] state[eef_state]: left_x=0.3664 left_y=-0.1395 left_z=0.0064 left_yaw=0.0771 left_pitch=-0.1465 left_roll=0.1446 left_gripper=0.998 right_x=0.178 right_y=-0.0542 right_z=0.2793 right_yaw=-0.2069 right_pitch=-0.2168 right_roll=-0.1586 right_gripper=0.998 state[joint_eff]: [0.4171, -5.9419, 4.7111, 0.8767, -0.1929, 0.1734, -0.0122, -0.0615, 0.9778, 5.3402, 1.5751, -0.0562, -0.0366, -0.0122] camera 'top_cam' (step 353): [image omitted: streamed camera frame] camera 'left_cam' (step 353): [image omitted: streamed camera frame] camera 'right_cam' (step 353): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.4, "left_y": -0.135}, "note": "At table level the cap still sits a few cm beyond the fingertips in the wrist view; sliding 3.4 cm further out so the cap lies between the jaws."})

tool

executing move_to over 3 steps (0.3s)

step 356

assistant

agent noteThe cap now reaches down between the jaws in the left wrist view; closing the gripper on it.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6212, 1.8263, 0.6888, 0.2844, -0.5873, -0.4171, 0.998, -0.3119, 0.7067, 1.1885, -1.2491, 0.0006, -0.2134, 0.998] state[eef_state]: left_x=0.3736 left_y=-0.1427 left_z=0.0068 left_yaw=0.0786 left_pitch=-0.112 left_roll=0.124 left_gripper=0.998 right_x=0.1783 right_y=-0.0538 right_z=0.279 right_yaw=-0.2044 right_pitch=-0.217 right_roll=-0.157 right_gripper=0.998 state[joint_eff]: [0.0479, -7.159, 4.6154, 1.4872, -0.232, 0.1245, -0.0122, -0.3487, 1.0735, 5.4906, 1.5604, 0.0171, -0.0366, -0.0073] camera 'top_cam' (step 356): [image omitted: streamed camera frame] camera 'left_cam' (step 356): [image omitted: streamed camera frame] camera 'right_cam' (step 356): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0}, "note": "The cap now reaches down between the jaws in the left wrist view; closing the gripper on it."})

tool

executing move_to over 10 steps (1.0s)

step 366

assistant

agent noteClose was empty again — the cap is still just beyond the fingertips. Reopening, lifting 1 cm off the table so the fingers don't drag, and pushing 3 cm further out over the cap.

move_to

left_x0.4050left_z0.0120left_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]: [-0.622, 1.8309, 0.6888, 0.2787, -0.5869, -0.4171, 0.0102, -0.3119, 0.7067, 1.1885, -1.2491, -0.0002, -0.2134, 0.998] state[eef_state]: left_x=0.3724 left_y=-0.1422 left_z=0.0043 left_yaw=0.0783 left_pitch=-0.1201 left_roll=0.1304 left_gripper=0.0102 right_x=0.1783 right_y=-0.0537 right_z=0.279 right_yaw=-0.2037 right_pitch=-0.2169 right_roll=-0.1564 right_gripper=0.998 state[joint_eff]: [-0.1299, -8.1573, 4.7521, 1.4628, -0.2857, -0.0269, 0.735, -0.1846, 1.0735, 5.2718, 1.5653, -0.0317, -0.0122, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 366): [image omitted: streamed camera frame] camera 'left_cam' (step 366): [image omitted: streamed camera frame] camera 'right_cam' (step 366): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.405, "left_z": 0.012, "left_gripper": 1}, "note": "Close was empty again \u2014 the cap is still just beyond the fingertips. Reopening, lifting 1 cm off the table so the fingers don't drag, and pushing 3 cm further out over the cap."})

tool

executing move_to over 10 steps (1.0s)

step 376

assistant

agent noteOut of budget with neither object secured. The pen is still on the table (top view, ~right_x 0.34 / right_y 0.25) but the cap is no longer visible anywhere in the three camera views — it was most likely knocked out of the workspace during the early failed grasps. Both grippers are empty, so the cap cannot be fitted to the pen.

give_up

hindsightKey traps on this rig/scene: (1) Each wrist camera has a thick black CABLE hanging in its own view and a long dark cable lies across the table; I spent five calls trying to grasp what turned out to be a cable. Identify objects in the TOP view first and confirm their count, and remember the closed jaws themselves appear as a large black wedge at the bottom of the wrist image that is easily mistaken for a dark object. (2) Useful top_cam mapping I derived and verified: image_x ≈ 184 − 211·right_y, image_y ≈ 213 − 300·right_x (left_y = right_y − 0.65). That's ~2.1 px/cm across and ~3 px/cm in depth in the working region. (3) Objects sitting on the jaw column at image row 120–190 in a wrist view are still 3–6 cm BEYOND the fingertips; you must advance a lot more than the "2–3 cm" rule suggests. (4) The arms stall often: if pitch/roll have drifted (e.g. pitch −0.4, roll 0.6) the IK refuses to descend below z≈0.05 and undershoots XY by 5–10 cm. Explicitly command pitch=0 and roll=0 to restore tracking — that fixed both stalls I hit. (5) The idle arm really does drift into the working arm; parking targets are often not reached, and two arms within ~20 cm show shoulder efforts of −10 to −21 and block each other. Move one at a time and park the idle arm far out on its own side (left_y ≤ −0.3 / right_y ≤ −0.05). (6) Empty-close reading is 0.010–0.043; 0.043 is still empty, don't trust it as a grasp.

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5694, 1.8721, 0.7742, 0.2497, -0.5667, -0.3843, 0.9948, -0.3119, 0.7067, 1.1851, -1.2491, 0.0002, -0.2134, 0.998] state[eef_state]: left_x=0.397 left_y=-0.1372 left_z=0.0091 left_yaw=0.0974 left_pitch=-0.1204 left_roll=0.1343 left_gripper=0.9948 right_x=0.1783 right_y=-0.0537 right_z=0.2777 right_yaw=-0.204 right_pitch=-0.2204 right_roll=-0.1563 right_gripper=0.998 state[joint_eff]: [0.4034, -7.4188, 7.3915, 1.326, -0.0415, 0.1441, 0.0317, -0.0342, 1.0735, 5.5453, 1.5897, -0.0122, -0.0513, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 376): [image omitted: streamed camera frame] camera 'left_cam' (step 376): [image omitted: streamed camera frame] camera 'right_cam' (step 376): [image omitted: streamed camera frame]

assistant

give_up({"reason": "Out of budget with neither object secured. The pen is still on the table (top view, ~right_x 0.34 / right_y 0.25) but the cap is no longer visible anywhere in the three camera views \u2014 it was most likely knocked out of the workspace during the early failed grasps. Both grippers are empty, so the cap cannot be fitted to the pen.", "hindsight": "Key traps on this rig/scene: (1) Each wrist camera has a thick black CABLE hanging in its own view and a long dark cable lies across the table; I spent five calls trying to grasp what turned out to be a cable. Identify objects in the TOP view first and confirm their count, and remember the closed jaws themselves appear as a large black wedge at the bottom of the wrist image that is easily mistaken for a dark object. (2) Useful top_cam mapping I derived and verified: image_x \u2248 184 \u2212 211\u00b7right_y, image_y \u2248 213 \u2212 300\u00b7right_x (left_y = right_y \u2212 0.65). That's ~2.1 px/cm across and ~3 px/cm in depth in the working region. (3) Objects sitting on the jaw column at image row 120\u2013190 in a wrist view are still 3\u20136 cm BEYOND the fingertips; you must advance a lot more than the \"2\u20133 cm\" rule suggests. (4) The arms stall often: if pitch/roll have drifted (e.g. pitch \u22120.4, roll 0.6) the IK refuses to descend below z\u22480.05 and undershoots XY by 5\u201310 cm. Explicitly command pitch=0 and roll=0 to restore tracking \u2014 that fixed both stalls I hit. (5) The idle arm really does drift into the working arm; parking targets are often not reached, and two arms within ~20 cm show shoulder efforts of \u221210 to \u221221 and block each other. Move one at a time and park the idle arm far out on its own side (left_y \u2264 \u22120.3 / right_y \u2264 \u22120.05). (6) Empty-close reading is 0.010\u20130.043; 0.043 is still empty, don't trust it as a grasp."})

tool

give_up: Out of budget with neither object secured. The pen is still on the table (top view, ~right_x 0.34 / right_y 0.25) but the cap is no longer visible anywhere in the three camera views — it was most likely knocked out of the workspace during the early failed grasps. Both grippers are empty, so the cap cannot be fitted to the pen.

Trial 0 Wire

Tools (trial initial)

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

System (trial initial)

[
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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 · 13.26 s

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6014, -0.3805, -0.0219, -0.0246, 0.9993, -0.0185, 0.7906, 0.6086, -0.3763, -0.0208, -0.0151, 0.9994]\nstate[eef_state]: left_x=0.2943 left_y=0.0015 left_z=0.179 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9993 right_x=0.2956 right_y=0.0018 right_z=0.1838 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4855, -1.5248, 10.4821, 1.7656, -0.0464, 0.0708, -0.0855, -0.759, -1.1692, 9.894, 1.7558, -0.0317, -0.0366, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3409947389ec7ee6f989a85bc84202111b3b80ea8438eaca5cbefc9efde9979",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c91c7d6beee49a81ace05f37d0c69a89d624e4139b1218e401ea7ec7363b29a",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
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    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
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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 · 17.25 s

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

message 1 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6014, -0.3805, -0.0219, -0.0246, 0.9993, -0.0185, 0.7906, 0.6086, -0.3763, -0.0208, -0.0151, 0.9994]\nstate[eef_state]: left_x=0.2943 left_y=0.0015 left_z=0.179 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9993 right_x=0.2956 right_y=0.0018 right_z=0.1838 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4855, -1.5248, 10.4821, 1.7656, -0.0464, 0.0708, -0.0855, -0.759, -1.1692, 9.894, 1.7558, -0.0317, -0.0366, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3409947389ec7ee6f989a85bc84202111b3b80ea8438eaca5cbefc9efde9979",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c91c7d6beee49a81ace05f37d0c69a89d624e4139b1218e401ea7ec7363b29a",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
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    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
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        "data": "$blob:a4ab4c04bb0356c47243e43f8559c4c3effea8928cf601b5298193a73068c874",
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[blob elided: media budget]

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  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RNhbLYZ8gqshHWNDS9df6S",
      "input": {
        "note": "Top view shows a short dark pen cap left of centre and a longer pen just right of centre. Moving the right arm to hover ~15 cm above my estimate of the pen to inspect it with the wrist camera.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.33,
          "right_y": 0.29,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 25 steps (2.5s)",
      "tool_use_id": "toolu_01RNhbLYZ8gqshHWNDS9df6S",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7994, 0.6029, -0.3809, -0.0216, -0.0254, 0.9993, 0.9928, 1.689, 1.1114, -0.3019, 0.7559, 0.6464, 0.9994]\nstate[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1778 left_yaw=0.0008 left_pitch=-0.0053 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3257 right_y=0.284 right_z=0.1378 right_yaw=0.0338 right_pitch=-0.0372 right_roll=-0.0364 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -1.7573, 6.9675, 1.7167, -0.0513, -0.0659, -0.0171, 0.5128, -8.212, 8.2256, 1.2625, 0.6471, 0.2076, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea6100754d79807580f9d226cd0d5595b9a6dabdef19da6fb9fc2e6cbe35efb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec2cdf9739d76cc7aaab6c9754870f147343c778df456691a79b7fbc5805f6e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:21e2e7e4b9248c849f0c9497faf13e99b5a465b762178a24165a4deea3cb2a1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /messages · status 200 · 17.58 s

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

message 1 changed as sent

message 4 changed as sent

message 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, 0.6014, -0.3805, -0.0219, -0.0246, 0.9993, -0.0185, 0.7906, 0.6086, -0.3763, -0.0208, -0.0151, 0.9994]\nstate[eef_state]: left_x=0.2943 left_y=0.0015 left_z=0.179 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9993 right_x=0.2956 right_y=0.0018 right_z=0.1838 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4855, -1.5248, 10.4821, 1.7656, -0.0464, 0.0708, -0.0855, -0.759, -1.1692, 9.894, 1.7558, -0.0317, -0.0366, -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]: [-0.02, 0.7994, 0.6029, -0.3809, -0.0216, -0.0254, 0.9993, 0.9928, 1.689, 1.1114, -0.3019, 0.7559, 0.6464, 0.9994]\nstate[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1778 left_yaw=0.0008 left_pitch=-0.0053 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3257 right_y=0.284 right_z=0.1378 right_yaw=0.0338 right_pitch=-0.0372 right_roll=-0.0364 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -1.7573, 6.9675, 1.7167, -0.0513, -0.0659, -0.0171, 0.5128, -8.212, 8.2256, 1.2625, 0.6471, 0.2076, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea6100754d79807580f9d226cd0d5595b9a6dabdef19da6fb9fc2e6cbe35efb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec2cdf9739d76cc7aaab6c9754870f147343c778df456691a79b7fbc5805f6e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21e2e7e4b9248c849f0c9497faf13e99b5a465b762178a24165a4deea3cb2a1c",
        "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_015zxsTPRFpVpQptPD6xc2kx",
      "input": {
        "note": "Right wrist view shows the pen lying just right of the jaw column near the bottom of frame. Shifting ~2.5 cm to the arm's right and a bit further out, and dropping to 4 cm above the table to line up the grasp.",
        "targets": {
          "right_x": 0.34,
          "right_y": 0.262,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_015zxsTPRFpVpQptPD6xc2kx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3809, -0.0219, -0.0254, 0.9993, 0.9295, 1.8366, 0.8673, 0.083, 0.7055, 0.5869, 0.9994]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1775 left_yaw=0.0011 left_pitch=-0.0065 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3323 right_y=0.2596 right_z=0.0403 right_yaw=0.0349 right_pitch=-0.0737 right_roll=-0.0672 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.3744, 7.0906, 1.7216, -0.0659, -0.0806, -0.0171, -0.6906, -7.9932, 5.4906, 1.4188, 0.4225, -0.1636, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a05451d21b963456f28acf5921d9ab91a9d349cfba047bd78c9385baab1e0d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f0fc04c1247acd9d9705cffec805e4896df92a573b40d029aaffe535aa1cd8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4f71cbef99efd819f6c99c3d5f5280c394a1ba30243e9ec81e0c24d598ee0b9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /messages · status 200 · 22.81 s

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

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6014, -0.3805, -0.0219, -0.0246, 0.9993, -0.0185, 0.7906, 0.6086, -0.3763, -0.0208, -0.0151, 0.9994]\nstate[eef_state]: left_x=0.2943 left_y=0.0015 left_z=0.179 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9993 right_x=0.2956 right_y=0.0018 right_z=0.1838 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4855, -1.5248, 10.4821, 1.7656, -0.0464, 0.0708, -0.0855, -0.759, -1.1692, 9.894, 1.7558, -0.0317, -0.0366, -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]: [-0.02, 0.7994, 0.6029, -0.3809, -0.0216, -0.0254, 0.9993, 0.9928, 1.689, 1.1114, -0.3019, 0.7559, 0.6464, 0.9994]\nstate[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1778 left_yaw=0.0008 left_pitch=-0.0053 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3257 right_y=0.284 right_z=0.1378 right_yaw=0.0338 right_pitch=-0.0372 right_roll=-0.0364 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -1.7573, 6.9675, 1.7167, -0.0513, -0.0659, -0.0171, 0.5128, -8.212, 8.2256, 1.2625, 0.6471, 0.2076, -0.0708]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3809, -0.0219, -0.0254, 0.9993, 0.9295, 1.8366, 0.8673, 0.083, 0.7055, 0.5869, 0.9994]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1775 left_yaw=0.0011 left_pitch=-0.0065 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3323 right_y=0.2596 right_z=0.0403 right_yaw=0.0349 right_pitch=-0.0737 right_roll=-0.0672 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.3744, 7.0906, 1.7216, -0.0659, -0.0806, -0.0171, -0.6906, -7.9932, 5.4906, 1.4188, 0.4225, -0.1636, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a05451d21b963456f28acf5921d9ab91a9d349cfba047bd78c9385baab1e0d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f0fc04c1247acd9d9705cffec805e4896df92a573b40d029aaffe535aa1cd8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f71cbef99efd819f6c99c3d5f5280c394a1ba30243e9ec81e0c24d598ee0b9a",
        "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_01UQ5yexcsQYDoreJMzKS6Pa",
      "input": {
        "note": "The pen sits diagonally up-and-right of the jaws in the wrist view, i.e. further out and to the arm's right than the fingertips. Moving 6 cm forward and 3.5 cm right to bring it under the jaw column.",
        "targets": {
          "right_x": 0.39,
          "right_y": 0.225,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01UQ5yexcsQYDoreJMzKS6Pa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3809, -0.0216, -0.0254, 0.9992, 0.741, 1.8565, 0.8742, 0.141, 0.5934, 0.4404, 0.9994]\nstate[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1775 left_yaw=0.0008 left_pitch=-0.0065 left_roll=-0.0005 left_gripper=0.9992 right_x=0.3776 right_y=0.2164 right_z=0.0335 right_yaw=0.0056 right_pitch=-0.1104 right_roll=-0.0927 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -1.265, 7.5419, 1.7167, -0.0366, -0.0562, -0.0171, -0.335, -9.4564, 7.6239, 1.619, 0.2369, 0.0073, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64c8233e0066e209d68e7cd2ff7a1ef73ec9d2b3922c11bb3e557351499f0f76",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:874a3c10f2721cb0a60e44c93797513352f0ca61be68750eb252d102f47e6794",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:741b05950d735749f0d267a0cc099db64e271aa2edbcf662c8f2e9d6f75d0648",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /messages · status 200 · 10.65 s

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

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7994, 0.6029, -0.3809, -0.0216, -0.0254, 0.9993, 0.9928, 1.689, 1.1114, -0.3019, 0.7559, 0.6464, 0.9994]\nstate[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1778 left_yaw=0.0008 left_pitch=-0.0053 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3257 right_y=0.284 right_z=0.1378 right_yaw=0.0338 right_pitch=-0.0372 right_roll=-0.0364 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -1.7573, 6.9675, 1.7167, -0.0513, -0.0659, -0.0171, 0.5128, -8.212, 8.2256, 1.2625, 0.6471, 0.2076, -0.0708]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3809, -0.0219, -0.0254, 0.9993, 0.9295, 1.8366, 0.8673, 0.083, 0.7055, 0.5869, 0.9994]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1775 left_yaw=0.0011 left_pitch=-0.0065 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3323 right_y=0.2596 right_z=0.0403 right_yaw=0.0349 right_pitch=-0.0737 right_roll=-0.0672 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.3744, 7.0906, 1.7216, -0.0659, -0.0806, -0.0171, -0.6906, -7.9932, 5.4906, 1.4188, 0.4225, -0.1636, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3809, -0.0216, -0.0254, 0.9992, 0.741, 1.8565, 0.8742, 0.141, 0.5934, 0.4404, 0.9994]\nstate[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1775 left_yaw=0.0008 left_pitch=-0.0065 left_roll=-0.0005 left_gripper=0.9992 right_x=0.3776 right_y=0.2164 right_z=0.0335 right_yaw=0.0056 right_pitch=-0.1104 right_roll=-0.0927 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -1.265, 7.5419, 1.7167, -0.0366, -0.0562, -0.0171, -0.335, -9.4564, 7.6239, 1.619, 0.2369, 0.0073, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64c8233e0066e209d68e7cd2ff7a1ef73ec9d2b3922c11bb3e557351499f0f76",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:874a3c10f2721cb0a60e44c93797513352f0ca61be68750eb252d102f47e6794",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:741b05950d735749f0d267a0cc099db64e271aa2edbcf662c8f2e9d6f75d0648",
        "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_01UYSTs8XC97m5CyAwwNG4Jf",
      "input": {
        "note": "Pen now lies just below-left of the jaw column, oriented ~45° in the wrist view. Nudging out/left to centre it and yawing the tool +45° so the jaws close perpendicular to the pen shaft.",
        "targets": {
          "right_x": 0.408,
          "right_y": 0.236,
          "right_yaw": 0.785,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01UYSTs8XC97m5CyAwwNG4Jf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8059, 0.5976, -0.382, -0.0216, -0.0257, 0.9992, 0.4507, 1.8339, 0.8474, 0.244, -0.0299, -0.1371, 0.9993]\nstate[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1733 left_yaw=0.001 left_pitch=-0.0183 left_roll=-0.0006 left_gripper=0.9992 right_x=0.4063 right_y=0.2065 right_z=0.029 right_yaw=0.5432 right_pitch=-0.1858 right_roll=-0.0817 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -1.6889, 7.5009, 1.7411, -0.0806, -0.0513, -0.0122, -0.3214, -7.8974, 7.9385, 1.7118, -0.1001, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e4310a2b6ef44dc3eb934bb1629e1a65035c6b7614cc91ef9014b3f3f33de52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11b4a97d649e42db710546c02cacd9c6253142b0e433196d958b92362090bafe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dc44f8fdc9b1feb1cb34d1162481f8cab2c7b5d2e46ad02d02423b14fac183da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /messages · status 200 · 11.02 s

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

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3809, -0.0219, -0.0254, 0.9993, 0.9295, 1.8366, 0.8673, 0.083, 0.7055, 0.5869, 0.9994]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1775 left_yaw=0.0011 left_pitch=-0.0065 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3323 right_y=0.2596 right_z=0.0403 right_yaw=0.0349 right_pitch=-0.0737 right_roll=-0.0672 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.3744, 7.0906, 1.7216, -0.0659, -0.0806, -0.0171, -0.6906, -7.9932, 5.4906, 1.4188, 0.4225, -0.1636, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3809, -0.0216, -0.0254, 0.9992, 0.741, 1.8565, 0.8742, 0.141, 0.5934, 0.4404, 0.9994]\nstate[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1775 left_yaw=0.0008 left_pitch=-0.0065 left_roll=-0.0005 left_gripper=0.9992 right_x=0.3776 right_y=0.2164 right_z=0.0335 right_yaw=0.0056 right_pitch=-0.1104 right_roll=-0.0927 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -1.265, 7.5419, 1.7167, -0.0366, -0.0562, -0.0171, -0.335, -9.4564, 7.6239, 1.619, 0.2369, 0.0073, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8059, 0.5976, -0.382, -0.0216, -0.0257, 0.9992, 0.4507, 1.8339, 0.8474, 0.244, -0.0299, -0.1371, 0.9993]\nstate[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1733 left_yaw=0.001 left_pitch=-0.0183 left_roll=-0.0006 left_gripper=0.9992 right_x=0.4063 right_y=0.2065 right_z=0.029 right_yaw=0.5432 right_pitch=-0.1858 right_roll=-0.0817 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -1.6889, 7.5009, 1.7411, -0.0806, -0.0513, -0.0122, -0.3214, -7.8974, 7.9385, 1.7118, -0.1001, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e4310a2b6ef44dc3eb934bb1629e1a65035c6b7614cc91ef9014b3f3f33de52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11b4a97d649e42db710546c02cacd9c6253142b0e433196d958b92362090bafe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc44f8fdc9b1feb1cb34d1162481f8cab2c7b5d2e46ad02d02423b14fac183da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS+wgKjgEIEhgCKkDTas34S9lXmuPsSo7mccKamCe9haf+cdvCxDLM7035Y+iAKlxGLALPfw32v/fhkCt4ORxYFjBy4jrhTpD97Sa1Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcXFzNUGEgw1XRiRaUGqmEqJU8EaDC72uS3whqPSYyNkpyIweCN46baPLO67AOQJCjIAHxB6BmBun4w5xVImgxZdbBeh03geKN2GpiYXib3toa9zKpkHyt/5oBre0oEC2R6m8t0QBi9T1ew4CSCMAsuKw1QqbuNIuAu/xoLRe7sAWvOUQJ5LVWTr0OP4TOVzfTWnMZn24AvUFKTf20oTGlT+kWg+15719EytuFj5KwsGyQKSA4BzX2t0jWFg1vFz459uXZybE9i3QR6THJBcq2RTSut+t9dIXsipm0/7tKXobcw7Hu6KJDBgOdxgvPjDXLdLEB7holjHFA9Ayw1aT4ZuA1fVrdBZd+gJIim69j8rkkyybyag3hB5TB9N44pnMjpoL9wO7FfWyiMcQQXIn/BX8Ah2/TTmwYVYMwuX0ESVI4PezJZwmxai0pQhik2ptHua6v1xHPlmnCRnYcQszcKga2I7IzXq2o1/HlpAdA4/c0yCExOb1+TzGn8SiuExpxFpnc11kG+vJemcjZPkyyFeeDEpqz+NU1eCliia8FPDt0VBaVK79OHJGLekB7bGGcM6Z2cjnHF8sQ7VhhHqxUGwjLtnuJiMw09z5CrqnBiLhlYKubV04fFfnX0I5VGf6mc/DAHx6QtfwcdFx820j2+CXOw+cjNs3geNovPszTtK49+Vq3/H5x1Nnz77dvQaDextDp0jR/XsCPSkDcmKSVRApFwkLnBIgMBl6Vj0b3/aiVMEASvkIgIZPxicIhYGMXapOD46yB5o84pFUi0vj89KcdoFHq/43sWXAK10KOxflWlvAESSwYZjCkt2/Jx+6gv63gKvcXfPzJdsTyI98ICVKkz1KEtmmy++KLUD5k69C9xYk2eG/i2sglgo8APicPsXgZBp6swuKIa70D4e1OW2HqMBcfYNlQp/rSa9FGZ5BwYTFb4lpW/Uj7Sd8ByJdktllSQo6RCGzzQ58ZzYp9lR1H4wRanDmU2oLQD6KdDsP5FRUFL8E5OsaQA6otOZVaoLLyKQKNjG8VRQzLRV9Ly4MHUl+StWedc3SSxbwyDDOGXJzO7/9wkTZM7VTtLyG/9AIQllfksQchpWCxo8nBpvSY/S8S4jlL5OEnZha7Y/is0IKutNHgwq3VFE12PAVlJyJdr00rmUv+OT3SmUrzH7AWD68dOdBQxI0VHVTVawNVg8RsCZEIGYIwxHYsOUTA2/rGSa1l/9CIjX3h2flfbTLCwHd3eYrgWS3xMA6PjKyFWGT3BSkNZpS3Cdvbq4Wnpr7rsUs+0FUn26qFu/EvCx05hpE7rU6Wdn2RtS35g+0wmhYJ3NtWfg2PBEKepIGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014yNVtqMqimJnngWMmgDoSk",
      "input": {
        "note": "The arm undershot the sideways move (y 0.207 vs 0.236) and the pen is still left of the jaws in the wrist view; re-commanding a larger left shift and the full 45° yaw.",
        "targets": {
          "right_x": 0.408,
          "right_y": 0.25,
          "right_yaw": 0.785,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_014yNVtqMqimJnngWMmgDoSk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.5972, -0.3817, -0.0216, -0.0254, 0.9992, 0.4702, 1.8469, 0.9554, 0.1303, -0.1745, -0.2749, 0.9994]\nstate[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1729 left_yaw=0.0008 left_pitch=-0.0194 left_roll=-0.0002 left_gripper=0.9992 right_x=0.4029 right_y=0.2432 right_z=0.0449 right_yaw=0.7616 right_pitch=-0.1906 right_roll=-0.0824 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -1.3744, 7.0632, 1.7363, -0.0415, -0.0317, -0.0073, -0.0342, -7.5966, 7.9658, 1.6044, -0.0904, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7943e80b00635f030e2a54138a0fc7e718065a0ad423c97c101876a051818d68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13c91033f4e2a48a3c60ebde4cb093016dfacbd34cc388294678f94fecb84cf7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:29a6ca4ed4642177335564c0e07bfb9942403758ce1a372c8f7c151db9067249",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /messages · status 200 · 7.58 s

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

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3809, -0.0216, -0.0254, 0.9992, 0.741, 1.8565, 0.8742, 0.141, 0.5934, 0.4404, 0.9994]\nstate[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1775 left_yaw=0.0008 left_pitch=-0.0065 left_roll=-0.0005 left_gripper=0.9992 right_x=0.3776 right_y=0.2164 right_z=0.0335 right_yaw=0.0056 right_pitch=-0.1104 right_roll=-0.0927 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -1.265, 7.5419, 1.7167, -0.0366, -0.0562, -0.0171, -0.335, -9.4564, 7.6239, 1.619, 0.2369, 0.0073, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8059, 0.5976, -0.382, -0.0216, -0.0257, 0.9992, 0.4507, 1.8339, 0.8474, 0.244, -0.0299, -0.1371, 0.9993]\nstate[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1733 left_yaw=0.001 left_pitch=-0.0183 left_roll=-0.0006 left_gripper=0.9992 right_x=0.4063 right_y=0.2065 right_z=0.029 right_yaw=0.5432 right_pitch=-0.1858 right_roll=-0.0817 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -1.6889, 7.5009, 1.7411, -0.0806, -0.0513, -0.0122, -0.3214, -7.8974, 7.9385, 1.7118, -0.1001, -0.0513, -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]: [-0.02, 0.807, 0.5972, -0.3817, -0.0216, -0.0254, 0.9992, 0.4702, 1.8469, 0.9554, 0.1303, -0.1745, -0.2749, 0.9994]\nstate[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1729 left_yaw=0.0008 left_pitch=-0.0194 left_roll=-0.0002 left_gripper=0.9992 right_x=0.4029 right_y=0.2432 right_z=0.0449 right_yaw=0.7616 right_pitch=-0.1906 right_roll=-0.0824 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -1.3744, 7.0632, 1.7363, -0.0415, -0.0317, -0.0073, -0.0342, -7.5966, 7.9658, 1.6044, -0.0904, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7943e80b00635f030e2a54138a0fc7e718065a0ad423c97c101876a051818d68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13c91033f4e2a48a3c60ebde4cb093016dfacbd34cc388294678f94fecb84cf7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29a6ca4ed4642177335564c0e07bfb9942403758ce1a372c8f7c151db9067249",
        "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_01WMiuRwdEZJFKrvbmNq9Tff",
      "input": {
        "note": "Pen now runs vertically right between the open jaws in the wrist view. Descending to table level with a 6 mm lateral tweak before closing.",
        "targets": {
          "right_y": 0.256,
          "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_01WMiuRwdEZJFKrvbmNq9Tff",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8078, 0.5953, -0.3813, -0.0216, -0.0254, 0.9992, 0.4728, 1.8511, 0.9798, 0.1036, -0.1848, -0.2855, 0.9994]\nstate[eef_state]: left_x=0.2944 left_y=0.0015 left_z=0.1719 left_yaw=0.0008 left_pitch=-0.0217 left_roll=-0.0002 left_gripper=0.9992 right_x=0.4039 right_y=0.2471 right_z=0.0477 right_yaw=0.7791 right_pitch=-0.1951 right_roll=-0.0815 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -1.347, 7.2274, 1.6972, -0.0464, -0.0757, -0.0073, -0.1162, -8.3487, 7.4598, 1.536, -0.188, -0.0952, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c11c04f77fe3fb5b0f9dd309d90ac943b92324dc6c31136c80486779f93fabf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a7cbc231cec8dcfcb0d73b7e98e132751d9167304a0ceab7dd9c3f49c90b568",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:45291bf8f7f69831bcbec884b98b9ce59ee6f8a1ef9ac0f39c1b600bc6588d04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /messages · status 200 · 15.56 s

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

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8059, 0.5976, -0.382, -0.0216, -0.0257, 0.9992, 0.4507, 1.8339, 0.8474, 0.244, -0.0299, -0.1371, 0.9993]\nstate[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1733 left_yaw=0.001 left_pitch=-0.0183 left_roll=-0.0006 left_gripper=0.9992 right_x=0.4063 right_y=0.2065 right_z=0.029 right_yaw=0.5432 right_pitch=-0.1858 right_roll=-0.0817 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -1.6889, 7.5009, 1.7411, -0.0806, -0.0513, -0.0122, -0.3214, -7.8974, 7.9385, 1.7118, -0.1001, -0.0513, -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]: [-0.02, 0.807, 0.5972, -0.3817, -0.0216, -0.0254, 0.9992, 0.4702, 1.8469, 0.9554, 0.1303, -0.1745, -0.2749, 0.9994]\nstate[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1729 left_yaw=0.0008 left_pitch=-0.0194 left_roll=-0.0002 left_gripper=0.9992 right_x=0.4029 right_y=0.2432 right_z=0.0449 right_yaw=0.7616 right_pitch=-0.1906 right_roll=-0.0824 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -1.3744, 7.0632, 1.7363, -0.0415, -0.0317, -0.0073, -0.0342, -7.5966, 7.9658, 1.6044, -0.0904, -0.022, -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 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]: [-0.02, 0.8078, 0.5953, -0.3813, -0.0216, -0.0254, 0.9992, 0.4728, 1.8511, 0.9798, 0.1036, -0.1848, -0.2855, 0.9994]\nstate[eef_state]: left_x=0.2944 left_y=0.0015 left_z=0.1719 left_yaw=0.0008 left_pitch=-0.0217 left_roll=-0.0002 left_gripper=0.9992 right_x=0.4039 right_y=0.2471 right_z=0.0477 right_yaw=0.7791 right_pitch=-0.1951 right_roll=-0.0815 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -1.347, 7.2274, 1.6972, -0.0464, -0.0757, -0.0073, -0.1162, -8.3487, 7.4598, 1.536, -0.188, -0.0952, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c11c04f77fe3fb5b0f9dd309d90ac943b92324dc6c31136c80486779f93fabf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a7cbc231cec8dcfcb0d73b7e98e132751d9167304a0ceab7dd9c3f49c90b568",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45291bf8f7f69831bcbec884b98b9ce59ee6f8a1ef9ac0f39c1b600bc6588d04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS0AcKjgEIEhgCKkBsO8I0pllc4vJeN4PloNgBTnfM2H+T4l3d6mHEmYR1ySQpvKO/h94GHVeB7lZrZa9GiQ9FKPJI2wtOK1uCHsi5Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdjFzNUGEgwyiXdjrliiZ2fvKIYaDNjLp6O46uzWR55yYSIwLjAdjOWBGud68nqqLsPEiTScJ3cZ07GYDHorvzFZnNO0tQN5oZQo9jt47B+RpBDDKu4FlhYlzXPfJ4jpTrH6EHaStgolVIg0TI2EKG+f/SV7jGlsiglPFsSKqxzRYtHvrhLdmrmHczSO2DJSBMnLBMz44+RgDlkQMRGAD51kZzykCaRKh0Gb8gTOPtIEkt6OAdUP4yL93uZfcKvCw2C25asEWCgWgUwKxA+VWSi0t2di9wRSM36OHjPo9sKaC822kNpd/jYaHEqQtJ5ejjB920glFVyZh2xnpME7cr7EvDBwh4Fb6+GKx0rGDhBd1/Cy9sgbKNPoyK1TYDQHCucfGBymFOPFdu9Mr7LmvPN+9XC11GVdhdWw1+LWkgEKtKL3OTX7NQtF41nVmcT0+JNsCdvOMrNnWS+gtk+ehC58mO6X+o+vkbLH8Nx7DsKna3qfYBExQzepzfIfvWSb8H7GkucgxVjKUlDLT1H+x+qHAYK0gKm2Uxq3gaJ1wHAf+Qj5nbYkFKJCrTouBUXK6OKXOi8ynCAGAVuzW2VtqV+OSLivtrZPFIJlqWs7q1wuHIUbQ5uxsGxWjpC0WAyx7i4NApdMEFCDLYUoTSF5DZ/HPhzIFQtHU2YLiKtmG1db4zMY0NDDUTl58nwkbrIYl3AIPzvn2xk3k80toIHCIjLu+m/GrlJ+ioTv+WmuwR9wRboXyhK2OPox+uJ+GljWz4x2KWU21q8MCaTt4mMmk8X/03+SWn+/nDFYOKjTIBeWGkOxJFhOot7XO9FbGkjoGyxF8I0T20V4EmWZ88Ac7Tv9zoTdKvOYJGR8FPwgiNPoF6a5fizdHAttAYrctRdLMQL5QdZo5Cd88C0JdcTHrHct4pRKeQp2YAe4cZIoDRoPEospMToOul+3aBgZFy+yHzXQVD4fJhribbKV91eCcv2dEtflY5mGX4imKD10DdxipYGLokaW+r4CHPoo2dVide/5yo8TWfDrN0wJfHNB4pWgkGmA03lgH8+0PSmETTLUjMhF6V5fqMcSJtxT84OwjnjK6rWyNK19SdkDvTXkKYQyw4JHGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0191iB2d4yUY7jEudu638eH7",
      "input": {
        "note": "The arm did not actually descend last move (z still 0.048); re-commanding a descent to table level over the pen.",
        "targets": {
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_0191iB2d4yUY7jEudu638eH7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8078, 0.5953, -0.3813, -0.0216, -0.0254, 0.9993, 0.4728, 1.8515, 0.9798, 0.1036, -0.1848, -0.2855, 0.9994]\nstate[eef_state]: left_x=0.2944 left_y=0.0015 left_z=0.1719 left_yaw=0.0008 left_pitch=-0.0217 left_roll=-0.0002 left_gripper=0.9993 right_x=0.4039 right_y=0.2471 right_z=0.0476 right_yaw=0.7791 right_pitch=-0.1954 right_roll=-0.0814 right_gripper=0.9994\nstate[joint_eff]: [0.0068, -1.1966, 7.2684, 1.6825, -0.0073, -0.0611, -0.0073, -0.1162, -8.3897, 7.5145, 1.6093, -0.1538, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16e86f2dda29d9f2835d4700a30dc3e58b1ca62641274c99d5baf4132553a700",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7f3be586ca2075d5094a1375c711c845966a149065e0a1f0826f5ff11c3adf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:752b7efd7306cdd14624bec3d81f16ee3ca3cac1ac7fbd2e9dff0b575bf01d3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /messages · status 200 · 15.96 s

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

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.5972, -0.3817, -0.0216, -0.0254, 0.9992, 0.4702, 1.8469, 0.9554, 0.1303, -0.1745, -0.2749, 0.9994]\nstate[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1729 left_yaw=0.0008 left_pitch=-0.0194 left_roll=-0.0002 left_gripper=0.9992 right_x=0.4029 right_y=0.2432 right_z=0.0449 right_yaw=0.7616 right_pitch=-0.1906 right_roll=-0.0824 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -1.3744, 7.0632, 1.7363, -0.0415, -0.0317, -0.0073, -0.0342, -7.5966, 7.9658, 1.6044, -0.0904, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.02, 0.8078, 0.5953, -0.3813, -0.0216, -0.0254, 0.9992, 0.4728, 1.8511, 0.9798, 0.1036, -0.1848, -0.2855, 0.9994]\nstate[eef_state]: left_x=0.2944 left_y=0.0015 left_z=0.1719 left_yaw=0.0008 left_pitch=-0.0217 left_roll=-0.0002 left_gripper=0.9992 right_x=0.4039 right_y=0.2471 right_z=0.0477 right_yaw=0.7791 right_pitch=-0.1951 right_roll=-0.0815 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -1.347, 7.2274, 1.6972, -0.0464, -0.0757, -0.0073, -0.1162, -8.3487, 7.4598, 1.536, -0.188, -0.0952, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8078, 0.5953, -0.3813, -0.0216, -0.0254, 0.9993, 0.4728, 1.8515, 0.9798, 0.1036, -0.1848, -0.2855, 0.9994]\nstate[eef_state]: left_x=0.2944 left_y=0.0015 left_z=0.1719 left_yaw=0.0008 left_pitch=-0.0217 left_roll=-0.0002 left_gripper=0.9993 right_x=0.4039 right_y=0.2471 right_z=0.0476 right_yaw=0.7791 right_pitch=-0.1954 right_roll=-0.0814 right_gripper=0.9994\nstate[joint_eff]: [0.0068, -1.1966, 7.2684, 1.6825, -0.0073, -0.0611, -0.0073, -0.1162, -8.3897, 7.5145, 1.6093, -0.1538, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16e86f2dda29d9f2835d4700a30dc3e58b1ca62641274c99d5baf4132553a700",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7f3be586ca2075d5094a1375c711c845966a149065e0a1f0826f5ff11c3adf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:752b7efd7306cdd14624bec3d81f16ee3ca3cac1ac7fbd2e9dff0b575bf01d3b",
        "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_01NvGon8NUXPTUgevUwHSoN6",
      "input": {
        "note": "The arm is stuck at z=0.048 and won't descend at this reach; pulling in 2 cm along the pen's own axis (so the jaws stay over the shaft) while commanding table level.",
        "targets": {
          "right_x": 0.39,
          "right_y": 0.233,
          "right_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_01NvGon8NUXPTUgevUwHSoN6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8082, 0.5953, -0.3813, -0.0219, -0.0254, 0.9992, 0.4728, 1.8526, 0.9798, 0.104, -0.1844, -0.2855, 0.9994]\nstate[eef_state]: left_x=0.2944 left_y=0.0016 left_z=0.1718 left_yaw=0.0011 left_pitch=-0.0221 left_roll=0.0 left_gripper=0.9992 right_x=0.4039 right_y=0.247 right_z=0.0471 right_yaw=0.7789 right_pitch=-0.1962 right_roll=-0.0814 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -1.1829, 7.0496, 1.6825, -0.0659, -0.0562, -0.0171, -0.2803, -8.2393, 7.4598, 1.5214, -0.1197, -0.0952, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cefd1361b2a054ab66766d3a3810171386fd7a679e9d54b139143c0c163f09f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5f4ddf08c8fc436a11a7fb79b4c4d40deea64a3b121ffedde9f94faae907ad7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a3484df980f6612b9756111652956a4717fa1453c480ab0b9742036e072b9dd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /messages · status 200 · 26.21 s

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

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8078, 0.5953, -0.3813, -0.0216, -0.0254, 0.9992, 0.4728, 1.8511, 0.9798, 0.1036, -0.1848, -0.2855, 0.9994]\nstate[eef_state]: left_x=0.2944 left_y=0.0015 left_z=0.1719 left_yaw=0.0008 left_pitch=-0.0217 left_roll=-0.0002 left_gripper=0.9992 right_x=0.4039 right_y=0.2471 right_z=0.0477 right_yaw=0.7791 right_pitch=-0.1951 right_roll=-0.0815 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -1.347, 7.2274, 1.6972, -0.0464, -0.0757, -0.0073, -0.1162, -8.3487, 7.4598, 1.536, -0.188, -0.0952, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8078, 0.5953, -0.3813, -0.0216, -0.0254, 0.9993, 0.4728, 1.8515, 0.9798, 0.1036, -0.1848, -0.2855, 0.9994]\nstate[eef_state]: left_x=0.2944 left_y=0.0015 left_z=0.1719 left_yaw=0.0008 left_pitch=-0.0217 left_roll=-0.0002 left_gripper=0.9993 right_x=0.4039 right_y=0.2471 right_z=0.0476 right_yaw=0.7791 right_pitch=-0.1954 right_roll=-0.0814 right_gripper=0.9994\nstate[joint_eff]: [0.0068, -1.1966, 7.2684, 1.6825, -0.0073, -0.0611, -0.0073, -0.1162, -8.3897, 7.5145, 1.6093, -0.1538, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.02, 0.8082, 0.5953, -0.3813, -0.0219, -0.0254, 0.9992, 0.4728, 1.8526, 0.9798, 0.104, -0.1844, -0.2855, 0.9994]\nstate[eef_state]: left_x=0.2944 left_y=0.0016 left_z=0.1718 left_yaw=0.0011 left_pitch=-0.0221 left_roll=0.0 left_gripper=0.9992 right_x=0.4039 right_y=0.247 right_z=0.0471 right_yaw=0.7789 right_pitch=-0.1962 right_roll=-0.0814 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -1.1829, 7.0496, 1.6825, -0.0659, -0.0562, -0.0171, -0.2803, -8.2393, 7.4598, 1.5214, -0.1197, -0.0952, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cefd1361b2a054ab66766d3a3810171386fd7a679e9d54b139143c0c163f09f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5f4ddf08c8fc436a11a7fb79b4c4d40deea64a3b121ffedde9f94faae907ad7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3484df980f6612b9756111652956a4717fa1453c480ab0b9742036e072b9dd3",
        "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_0121JkQB3ARdyKyFcQmAsC5W",
      "input": {
        "note": "Descent is blocked (joints frozen), which suggests the fingertips are already at the table; the pen shaft sits centred between the jaws in the wrist view, so I'll close the gripper and check the settled reading.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0121JkQB3ARdyKyFcQmAsC5W",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8078, 0.5953, -0.3813, -0.0216, -0.0254, 0.9993, 0.4728, 1.8534, 0.9787, 0.1032, -0.1844, -0.2932, 0.0116]\nstate[eef_state]: left_x=0.2944 left_y=0.0015 left_z=0.1719 left_yaw=0.0008 left_pitch=-0.0217 left_roll=-0.0002 left_gripper=0.9993 right_x=0.4034 right_y=0.2468 right_z=0.0462 right_yaw=0.7831 right_pitch=-0.1991 right_roll=-0.0862 right_gripper=0.0116\nstate[joint_eff]: [0.0205, -1.2786, 7.2137, 1.7363, -0.0708, -0.0757, -0.0073, -0.0752, -9.2239, 6.106, 1.6142, -0.0659, 0.105, 0.989]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9153fb1709ddb658c5b99381cc42b35ee1382d2a97354202dc0246483b616623",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e9dceefaccacdf6072d882735686575a961a9503dbcd379ce4b807162cf542b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dda8e8c7972e92d58159e5f0eb1725b9f9f5a023b732c7f53c65f4cd01b42f9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /messages · status 200 · 10.51 s

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

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8078, 0.5953, -0.3813, -0.0216, -0.0254, 0.9993, 0.4728, 1.8515, 0.9798, 0.1036, -0.1848, -0.2855, 0.9994]\nstate[eef_state]: left_x=0.2944 left_y=0.0015 left_z=0.1719 left_yaw=0.0008 left_pitch=-0.0217 left_roll=-0.0002 left_gripper=0.9993 right_x=0.4039 right_y=0.2471 right_z=0.0476 right_yaw=0.7791 right_pitch=-0.1954 right_roll=-0.0814 right_gripper=0.9994\nstate[joint_eff]: [0.0068, -1.1966, 7.2684, 1.6825, -0.0073, -0.0611, -0.0073, -0.1162, -8.3897, 7.5145, 1.6093, -0.1538, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.02, 0.8082, 0.5953, -0.3813, -0.0219, -0.0254, 0.9992, 0.4728, 1.8526, 0.9798, 0.104, -0.1844, -0.2855, 0.9994]\nstate[eef_state]: left_x=0.2944 left_y=0.0016 left_z=0.1718 left_yaw=0.0011 left_pitch=-0.0221 left_roll=0.0 left_gripper=0.9992 right_x=0.4039 right_y=0.247 right_z=0.0471 right_yaw=0.7789 right_pitch=-0.1962 right_roll=-0.0814 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -1.1829, 7.0496, 1.6825, -0.0659, -0.0562, -0.0171, -0.2803, -8.2393, 7.4598, 1.5214, -0.1197, -0.0952, -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 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]: [-0.02, 0.8078, 0.5953, -0.3813, -0.0216, -0.0254, 0.9993, 0.4728, 1.8534, 0.9787, 0.1032, -0.1844, -0.2932, 0.0116]\nstate[eef_state]: left_x=0.2944 left_y=0.0015 left_z=0.1719 left_yaw=0.0008 left_pitch=-0.0217 left_roll=-0.0002 left_gripper=0.9993 right_x=0.4034 right_y=0.2468 right_z=0.0462 right_yaw=0.7831 right_pitch=-0.1991 right_roll=-0.0862 right_gripper=0.0116\nstate[joint_eff]: [0.0205, -1.2786, 7.2137, 1.7363, -0.0708, -0.0757, -0.0073, -0.0752, -9.2239, 6.106, 1.6142, -0.0659, 0.105, 0.989]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9153fb1709ddb658c5b99381cc42b35ee1382d2a97354202dc0246483b616623",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e9dceefaccacdf6072d882735686575a961a9503dbcd379ce4b807162cf542b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dda8e8c7972e92d58159e5f0eb1725b9f9f5a023b732c7f53c65f4cd01b42f9b",
        "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_01U5UTNZ9xqpBvvSf82Knt9M",
      "input": {
        "note": "The close came up empty (gripper 0.012) and the pen tip is just beyond the jaw tips in the wrist view, so the pen is a little further out than the fingertips. Reopening and advancing 2 cm outward along the pen axis for a second attempt.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.418,
          "right_y": 0.261
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01U5UTNZ9xqpBvvSf82Knt9M",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8082, 0.5953, -0.3813, -0.0219, -0.0254, 0.9992, 0.4854, 1.9057, 1.0409, 0.078, -0.1833, -0.2962, 0.9951]\nstate[eef_state]: left_x=0.2944 left_y=0.0016 left_z=0.1718 left_yaw=0.0011 left_pitch=-0.0221 left_roll=0.0 left_gripper=0.9992 right_x=0.411 right_y=0.2573 right_z=0.0414 right_yaw=0.7974 right_pitch=-0.214 right_roll=-0.0845 right_gripper=0.9951\nstate[joint_eff]: [-0.0479, -1.1692, 7.3641, 1.7558, -0.0855, -0.0317, -0.0171, 0.2393, -8.4308, 8.3897, 1.5946, 0.0024, 0.1294, -0.0855]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c03a62d5a7acc9fe3a26c5be6879da7bf497ec7a8290b16cfa647b4360ccbe56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:252156920d50ced0d955c5727c2cdfbf1a77846904f8e71cf98a0bf0a7634cc3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4af1bccc84abac798c5d3d6cac8aab6b7b2c9a6ec0ea4386e812da608af5d0cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /messages · status 200 · 14 s

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

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8082, 0.5953, -0.3813, -0.0219, -0.0254, 0.9992, 0.4728, 1.8526, 0.9798, 0.104, -0.1844, -0.2855, 0.9994]\nstate[eef_state]: left_x=0.2944 left_y=0.0016 left_z=0.1718 left_yaw=0.0011 left_pitch=-0.0221 left_roll=0.0 left_gripper=0.9992 right_x=0.4039 right_y=0.247 right_z=0.0471 right_yaw=0.7789 right_pitch=-0.1962 right_roll=-0.0814 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -1.1829, 7.0496, 1.6825, -0.0659, -0.0562, -0.0171, -0.2803, -8.2393, 7.4598, 1.5214, -0.1197, -0.0952, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.02, 0.8078, 0.5953, -0.3813, -0.0216, -0.0254, 0.9993, 0.4728, 1.8534, 0.9787, 0.1032, -0.1844, -0.2932, 0.0116]\nstate[eef_state]: left_x=0.2944 left_y=0.0015 left_z=0.1719 left_yaw=0.0008 left_pitch=-0.0217 left_roll=-0.0002 left_gripper=0.9993 right_x=0.4034 right_y=0.2468 right_z=0.0462 right_yaw=0.7831 right_pitch=-0.1991 right_roll=-0.0862 right_gripper=0.0116\nstate[joint_eff]: [0.0205, -1.2786, 7.2137, 1.7363, -0.0708, -0.0757, -0.0073, -0.0752, -9.2239, 6.106, 1.6142, -0.0659, 0.105, 0.989]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8082, 0.5953, -0.3813, -0.0219, -0.0254, 0.9992, 0.4854, 1.9057, 1.0409, 0.078, -0.1833, -0.2962, 0.9951]\nstate[eef_state]: left_x=0.2944 left_y=0.0016 left_z=0.1718 left_yaw=0.0011 left_pitch=-0.0221 left_roll=0.0 left_gripper=0.9992 right_x=0.411 right_y=0.2573 right_z=0.0414 right_yaw=0.7974 right_pitch=-0.214 right_roll=-0.0845 right_gripper=0.9951\nstate[joint_eff]: [-0.0479, -1.1692, 7.3641, 1.7558, -0.0855, -0.0317, -0.0171, 0.2393, -8.4308, 8.3897, 1.5946, 0.0024, 0.1294, -0.0855]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c03a62d5a7acc9fe3a26c5be6879da7bf497ec7a8290b16cfa647b4360ccbe56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:252156920d50ced0d955c5727c2cdfbf1a77846904f8e71cf98a0bf0a7634cc3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4af1bccc84abac798c5d3d6cac8aab6b7b2c9a6ec0ea4386e812da608af5d0cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISzAoKjgEIEhgCKkAWy/QftxP//28hr4OAz6D1ui7njWS060TSfriHEJngdU3V4UQCanu61nL5x7aYce7c5DifRyLdy+v3MlUXRGJ0Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZ/GzNUGEgwLLPD1sgSk6samTu0aDPpSiMAfxN7FfokWSCIwSqWpnTaMF3vdtP5z27eamuLn8bKBDJJRjeI4BnYQ7XL7Rmqsy42HxwLgDu89RAIAKuoIhqi+QvjRfZd9Wu9hW7Mcu9UJ/Cys5MJ8//rKEtmayahkH75Poqhc486Rk4m+gCsGO+tiiYNyyVnGJ4jT/g07yrJWQexWjr2DCS+jcQqwx9uBdOLk/l3sVycre6C0m78OwwqigMI/Ay6H4Q0ARjEjKNPy/HPsW1wmdQ6WeFa6IRM8wqWXRgr9+hTDS+557NriD0908i0bk7cy8Em3w38EaHADKBJClQ669jhj+xKOHGpPOv1PPIgt0Kz362T6NAzRrWmFTjGUfw/3OK/GC1ubwiFc52Dl3Fzykcp1jN5mLR3gMTn0kG/nrT+GX8nme4Dl31e8INPgIjbwBEOf8CKwQLCpVLY/rh0h68ciAvVHzPd6grX6cUAi2sUJ+1pUdsJW4AI6YuCeBXuWWUhEV8+cKcbej1ZJhhpWFRoO7A1S1JtS5QWRxLcE3tldfDPdKgT7CQMZKLGS9IBsX/FdlNr/Jc34AimOhkciSbjQHt1/Rl9SfA58nhmZXjOTXt6j+sRfgfUZLt8DSZzkJeBK/VXanrAv/nCpLzKEFYB4HvsOPyRI7J9uQLNa8/UuuJ+gEAjZFEsa3TUVpO3aCDuqdkq/s3sXk7fCgc1nresrHnC2DOsfKfogUf4SFYl5weohoMGMOVMuGNA0vx80/dV3mqGWrmlBC51kS9sI4l6q6kfalN5zzdQsirmAnSdB3N5e7nNjQbsVZxYXlO9GgpZa5c/I5BSskPOa3ndtG5LiAA0DNxhZgo20w2NLSfRZEmgOhQV6xHmU9SYiSWzKjc/hzL44N40i80qCppGs9i8qOrACTdJy9qXs6BFlL5/f3+9Y10DEUQL5QTOWaHQtELyM2O9rzOujQbuKy4znKrP7S09O1MXvzmgjDQ05ZR1zOJf5xGQgcql7tRGw87AGrwBgjAEEF6PSqeG+9uhMXzNGwwLjeOjaz4PGRlLhF28CKRE7aqSlEpxSUFdgp3J3imkKmevKPDo/TJbVWJ4apz9gkufcK5u6B2SjHxwwyFUwJWeyTSA/+xjpVo/aijv0tz5UjyUPuRZnHEt2gwFJx9RZbqKGJEadEiuqcHtN4XzuYTf9DC4unfiaSRD3alqyOooyAM56vqT3i+mFsBN57snUF2AnfEMQajNYxrxLrrKNa2bZH6gy1q0Y+tg2YL32leT5UqPJEIiBc+frMK3qNtlnVhCiMVn3V0c/DH/Gj/owCnoT2zd07erHTBAcX/e1ha7GxUTvzkudQGzSTp5DhzU7HlKU6OwIM1J2QGrCvAPstOF9NaJlw5yGDW4k78zARN/vwUc/5eT7k9MD4uv+ZN/c5S99qYrddkz1ayLTEckoOBU1izaGgIvtGGDj2KMW6lpYnB0u4UHFj+H1ftkP+J5P98/USgx7t4PjowoZNvB3rBLjXXFUjXsslC69Kg8KCWuJxAqG0Q/DLbVfpvk/NaVGRkXI21FCRrlNWsMGovCA19pXKSdEzLJbcCEeTkTicVmctaFQ7RBBcgxzeghEkToYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DKey4XfYVFp3EgTjct1PAJ",
      "input": {
        "note": "The pen shaft is now clearly between the open jaws at the bottom of the right wrist view. Closing to grasp it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01DKey4XfYVFp3EgTjct1PAJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8082, 0.5953, -0.3813, -0.0219, -0.0254, 0.9992, 0.4862, 1.9072, 1.0393, 0.0738, -0.1844, -0.3008, 0.0115]\nstate[eef_state]: left_x=0.2944 left_y=0.0016 left_z=0.1718 left_yaw=0.0011 left_pitch=-0.0221 left_roll=0.0 left_gripper=0.9992 right_x=0.4095 right_y=0.2571 right_z=0.0394 right_yaw=0.8021 right_pitch=-0.2208 right_roll=-0.0848 right_gripper=0.0115\nstate[joint_eff]: [0.0068, -1.306, 7.0496, 1.7216, -0.0562, -0.0366, -0.0122, -0.0615, -9.7983, 5.9829, 1.6142, -0.0659, 0.022, 0.9011]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d709fff2689a613ef1d8478ff8e21fb3f159e8baea0803b2591b02c1d46fdd3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2ef19a2c3999d72517e5f2092e48c76d52ea9fa56c26fe1d23f7e45a2965adf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b222779b944407a735f04079bd3ed0c1f8bd2da04bf718a89289791ea92fea2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /messages · status 200 · 36.06 s

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

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8078, 0.5953, -0.3813, -0.0216, -0.0254, 0.9993, 0.4728, 1.8534, 0.9787, 0.1032, -0.1844, -0.2932, 0.0116]\nstate[eef_state]: left_x=0.2944 left_y=0.0015 left_z=0.1719 left_yaw=0.0008 left_pitch=-0.0217 left_roll=-0.0002 left_gripper=0.9993 right_x=0.4034 right_y=0.2468 right_z=0.0462 right_yaw=0.7831 right_pitch=-0.1991 right_roll=-0.0862 right_gripper=0.0116\nstate[joint_eff]: [0.0205, -1.2786, 7.2137, 1.7363, -0.0708, -0.0757, -0.0073, -0.0752, -9.2239, 6.106, 1.6142, -0.0659, 0.105, 0.989]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8082, 0.5953, -0.3813, -0.0219, -0.0254, 0.9992, 0.4854, 1.9057, 1.0409, 0.078, -0.1833, -0.2962, 0.9951]\nstate[eef_state]: left_x=0.2944 left_y=0.0016 left_z=0.1718 left_yaw=0.0011 left_pitch=-0.0221 left_roll=0.0 left_gripper=0.9992 right_x=0.411 right_y=0.2573 right_z=0.0414 right_yaw=0.7974 right_pitch=-0.214 right_roll=-0.0845 right_gripper=0.9951\nstate[joint_eff]: [-0.0479, -1.1692, 7.3641, 1.7558, -0.0855, -0.0317, -0.0171, 0.2393, -8.4308, 8.3897, 1.5946, 0.0024, 0.1294, -0.0855]\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 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]: [-0.02, 0.8082, 0.5953, -0.3813, -0.0219, -0.0254, 0.9992, 0.4862, 1.9072, 1.0393, 0.0738, -0.1844, -0.3008, 0.0115]\nstate[eef_state]: left_x=0.2944 left_y=0.0016 left_z=0.1718 left_yaw=0.0011 left_pitch=-0.0221 left_roll=0.0 left_gripper=0.9992 right_x=0.4095 right_y=0.2571 right_z=0.0394 right_yaw=0.8021 right_pitch=-0.2208 right_roll=-0.0848 right_gripper=0.0115\nstate[joint_eff]: [0.0068, -1.306, 7.0496, 1.7216, -0.0562, -0.0366, -0.0122, -0.0615, -9.7983, 5.9829, 1.6142, -0.0659, 0.022, 0.9011]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d709fff2689a613ef1d8478ff8e21fb3f159e8baea0803b2591b02c1d46fdd3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2ef19a2c3999d72517e5f2092e48c76d52ea9fa56c26fe1d23f7e45a2965adf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b222779b944407a735f04079bd3ed0c1f8bd2da04bf718a89289791ea92fea2d",
        "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_014eznTBS9D6Js1oVht4QFCk",
      "input": {
        "note": "Second close was also empty, and I suspect the dark line I was aiming at is the gripper's camera cable rather than the pen. Retracting the right arm high and to the side for an unobstructed top view.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.3,
          "right_y": 0.1,
          "right_yaw": 0,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_014eznTBS9D6Js1oVht4QFCk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8127, 0.5934, -0.3817, -0.0216, -0.0257, 0.9992, 0.5262, 1.1973, 1.1755, -0.8257, 0.3454, 0.2497, 0.9961]\nstate[eef_state]: left_x=0.2944 left_y=0.0015 left_z=0.1696 left_yaw=0.001 left_pitch=-0.029 left_roll=-0.0004 left_gripper=0.9992 right_x=0.3104 right_y=0.1153 right_z=0.2355 right_yaw=0.0842 right_pitch=-0.2267 right_roll=-0.0845 right_gripper=0.9961\nstate[joint_eff]: [-0.1299, -1.5932, 7.1863, 1.7411, -0.0464, -0.0708, -0.0073, 0.4718, -5.3949, 8.5402, 1.4237, 0.3394, 0.0904, -0.1587]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b3833b3f534256fd50e7cd120844100d13202f8e27e51ee727a7d14d16370f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9e54db9aaa09cfa53d47dcccc1caa8f563fc6422b8efb0705cfaaba30b0b910",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d5a2c6ffc1d54f933ec89cc035785af2c5bd0dd7e7ca5b12431af941f779e98e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /messages · status 200 · 19.37 s

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

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8082, 0.5953, -0.3813, -0.0219, -0.0254, 0.9992, 0.4854, 1.9057, 1.0409, 0.078, -0.1833, -0.2962, 0.9951]\nstate[eef_state]: left_x=0.2944 left_y=0.0016 left_z=0.1718 left_yaw=0.0011 left_pitch=-0.0221 left_roll=0.0 left_gripper=0.9992 right_x=0.411 right_y=0.2573 right_z=0.0414 right_yaw=0.7974 right_pitch=-0.214 right_roll=-0.0845 right_gripper=0.9951\nstate[joint_eff]: [-0.0479, -1.1692, 7.3641, 1.7558, -0.0855, -0.0317, -0.0171, 0.2393, -8.4308, 8.3897, 1.5946, 0.0024, 0.1294, -0.0855]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.02, 0.8082, 0.5953, -0.3813, -0.0219, -0.0254, 0.9992, 0.4862, 1.9072, 1.0393, 0.0738, -0.1844, -0.3008, 0.0115]\nstate[eef_state]: left_x=0.2944 left_y=0.0016 left_z=0.1718 left_yaw=0.0011 left_pitch=-0.0221 left_roll=0.0 left_gripper=0.9992 right_x=0.4095 right_y=0.2571 right_z=0.0394 right_yaw=0.8021 right_pitch=-0.2208 right_roll=-0.0848 right_gripper=0.0115\nstate[joint_eff]: [0.0068, -1.306, 7.0496, 1.7216, -0.0562, -0.0366, -0.0122, -0.0615, -9.7983, 5.9829, 1.6142, -0.0659, 0.022, 0.9011]\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 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]: [-0.02, 0.8127, 0.5934, -0.3817, -0.0216, -0.0257, 0.9992, 0.5262, 1.1973, 1.1755, -0.8257, 0.3454, 0.2497, 0.9961]\nstate[eef_state]: left_x=0.2944 left_y=0.0015 left_z=0.1696 left_yaw=0.001 left_pitch=-0.029 left_roll=-0.0004 left_gripper=0.9992 right_x=0.3104 right_y=0.1153 right_z=0.2355 right_yaw=0.0842 right_pitch=-0.2267 right_roll=-0.0845 right_gripper=0.9961\nstate[joint_eff]: [-0.1299, -1.5932, 7.1863, 1.7411, -0.0464, -0.0708, -0.0073, 0.4718, -5.3949, 8.5402, 1.4237, 0.3394, 0.0904, -0.1587]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b3833b3f534256fd50e7cd120844100d13202f8e27e51ee727a7d14d16370f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9e54db9aaa09cfa53d47dcccc1caa8f563fc6422b8efb0705cfaaba30b0b910",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5a2c6ffc1d54f933ec89cc035785af2c5bd0dd7e7ca5b12431af941f779e98e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISgiwKjgEIEhgCKkAIECkrPmb3lsb8TzhEd+iKHljnxdzmeQpjZW2gMSmbccsiseT1lGowi8g73ZXUr48We68nZzjDKjjgI4NUJWm6Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdLGzNUGEgz5poiN7UijEyuASJ8aDDJqox4IgBxODtWaUCIwUtjQLuKto9+MtFv2eeQXcBfhgAoM4WUEQf7yTRgDe/TwvfcJkvIV15xaBdv70yTxKqAqEUxVShzQ0UJNZOUK0Dbzo8Oi+FYnl/zfhMgKCI2L0jL2KxG/wdypWPhdu84eGT+Aue9koSn4ag46W7A8jNkz5C0MFzIHJ3juNrAj2KXG1eB2yPUqtgjoXycbYnDAdpbedROO4JP/RrowtxzBb+W+Ht7ONKwKINqX2lNAxK+m0DuLZ+F0RTYi87ErpALVZ+nqCe3mUBNu73il4Gr5A7EYkxY9373GUF4Wf6R0TbXHyH/3yEQ3P9L12xKheD3l805e2vWJ1i6qZFGCSZVuxlbTp1cOo9FGkmv9KdRkY2715ULSPYHaSWaUuglN/oRgar5Lo05Whj4AcgneZmvcNYCy3gTubzWyHxs13MLFH1dVum4y8W0/akYBa4RlDGtKr7jXOwdCBybFckvy3WdRFqijO5numj425Qcb2ECGxZKHcLXG+Pe9MSKZnLbhtcSGnaot0Ml0554V2e5zt7ldUuYKaed2oBAIPPZL3s2cLzzkkQT56ZNfGlJdjhaTBzXV+OIoM2ezhNe1IrRoHIZmOlp5INKmHtHYAGjUgJun6xsMEyF5dByL9KsONm+odLUatXQPEO1uCWjHepfMP8ZxU7CT2GCpSnZF5sf07lWuIELW0ikyTcRTflu3DPFskwak9tJ3bZ5jJBRpLCtTpIuNODeL0fTN2GmYkWFpY4bdFtnkBVtqSOy1AbfkD1iTjkjX7Mg3t3MQ7Vo2dkLlzznAg/Y14ulOlDhPC9ziPxXdZa8kMqI04moaGce4QGuYfK8UR30d9EM2itf6uWIn1LwEw6dzJXYKX02xul7z9wJM5mDcLAl5LqKdP32Zb3EiyGw3CL6XFBgGz+GzwAbYO0EYWL7CCzw3J+W6/uv0yb3ajujebV0SxgWDLB1SUrL/2DeDnbBZgyVr+kFKUTtCbPfQRn6gjI+uVFbHJvDRNh7SsFkdOYd0iC0qiT8PAeEspGSBbsBuDTd+yLP3Cmuqh4tvuKs0NcTQDx9N6Sd3jRvnd0w2p5RJhmLVjlqYs5zFLrZ8IjAxrbfzy/K6wE7/uoOYiUOXSgCiSWcnDoSFPuHuH/9wRrlS2IPF76Z2JNYKkZ8+vZZIELpqbjoGgSFDBwGPiQufkzLRkPsOuoWFVeN+8pEEuIhMoKwoCoMdT1vBF2wfvoUUpPbyK7aRhUTjbBnu0fvh/rRPa0MD2O3GOVrYeJIZRun3827xa/g0neuNQTlHVRiCG0EdzhuCrIyo4FbmmyZZDE2hpt2PENc6F7/+zjnZsswIyzNedBstBbxZ5C8yClKeIOJ0LkuGuv2/DgxF/tSUtcJ5XkWckTzD/yRoMSpK93BdA2+1OkAa3kLIFCIZ5+f4kUNrji+y6IVVQ8umWqbTSVEYZrQGQzYm3F/N3rOpVAbWDLQGqK7xNszaZG7yVx55pNIiNZSSEJZBBOhK5sjy4d+AIzHwn6O0siKJQ/q1Qu2dT7jWM6IqK0uWBXNiEknab+32mM4M3D8BWsDxYgB/l6o+i9Vq2Dmcbz86chJYYXZ7NeSIpNzZCbOZhYcNxh7S+S3HogX7BSa0hOvbVJn91BgDnf2pk/vyVFr+6GkF0QZTyrvFVyWYs1ZK4yjF9AeOvVSPuiACr513MhUw5Fke6u8MexoPTW9fpKYU4Vdc0a+P0Tk9zU2mZG/gDWGHSxik+veUkjSchRce9WEqV9XNQ/y1FJZpbsY8b/NrBSJpwFtvnvyMgarnfTjgKyCakIazud0IdlM3a3Eeca7xhLYu3M8lDq2JGU1xfbU7Qy1hgOkIIIp06CjXQpNW+yWmpckPkg0RlEjuFGGt1VYETbjpQM+rRl58dA218PqaLOZqZcjapwyTHZs/DH/8jnWsLqGTPd65dxFE7DoVzRoWt2rLbsB32hZ1mLQoOcXWe/rPU3Aj8ijm/115SCaiAD7MAq7pszvpiHdjJxIGDl3SpoRIbYr0sA/nS5Q/Z1yOy5PwSadrfr0bqnPc9EL7NG0Vksd+kHxNLVBJdl4kRPy9/xUSHCTx/E7g0oyFUiXjNWaS2blunuNP7RbojzLY6d3sOdsVvYLtuGGw1tkY0DSaTPaAHmXNtOjsK8d5lNqewnwgzYLceeMgTRZA2/vd1R3h3WC180D5OMEcg7XoimG4v4cvsByCbWvHjH9jKKIW6oTuPf7wXNmqwesilph9r5g1USVY1vsxBIcGyOMeR7am2a0RusNypQV3E4G+luH/DO0SlAQwuJ4WNe+1Dn8wBzLz+2qHTyxFn1NHUQzW7EalVbgYnUqh/EUnm8h0Q3GuCdRI9RudbsoPJWPVg5WamXOxVC6PB038uUKZUzqjSgBK3FCId0TsQK1Da1o0t0g0OX3AZhaC4FNDuv1qwSp8yybybG155a3e0R5VzN23iu3T0+eSyCxf04BdRsJsMW+eilXQqvdaOiXcz2O0ewFUKmQwAjVB/rJZoJWpCmTSOItVGxAj4pgXP6flgbTqqwLiGstNCbssdkqm09pS7mxiPJsSD+HJ1KKY27zRCIEBMUit+0kDidL+gGKaVyZpgHj6zq+zOZVKqHXaMHBtsiuP5ivvVL9iFGWqVjClYAsarTC99cnVaZGD0OjceggvIz+alF5GCPELHL9f7atHkXkhj5d21ZY6QY6I5gtL7LFzlRT+AeP3Fx2pPdoMHSFWNjSW4BstmIJi1bshHzZV61C1nDHLYE6J/xINUVFmM8o8rxWdXOAf9fxpb/Y463spd9CVm9xhb4FEsRpoFMWfoejl5web53illJcekTqjiGCmxJbiebXnPzFmb/1ssG7EajMzt88uJj7jofXApvCPHd3v0P93tU5Cr2sLJ0RUNrRqKSxiXZgIUZh+shUoCilH4A31A9Bc1B3SG2aWWhC/FMBY5b4HYgy5TzNqRw84Stkxi6///VOk+LfYYfI47sSEP5j6t0QdHT6mC2X6+8UsMPnxcmkqD5pr8xiOvy5v+oL0tDYvkNE4zIZcl5QtwM4xNtDslXgY2vWpoTlCaR9GdqwmphfHszfvmbj/vM9jiHqC62o1hTluPWc2lhOc7+vbXKlD2U3mrfiZwHtIeXpRJBsExrb1p3xd/WKwe8rT4KCxj1Tk38Q6YdEQ2CNwLQYHLta51XK0oTJbA2dJT5UIAbv6NrSusVUdbNxhjTIbp9P0OS+uPq9h9lOQKJxKUAWRyYHWqs4B7GH2eliTiyusDEynVEvUyPcKbYYx94SyW/WeFDWn4gO+7oUQ7tHFYWYlzD23GfZqNOr2qkKAH2gwGi+c7uWNmJLsU5ie7zWz/agz8mVPMqMFfB2PU8SsLcNFAr+VU+Lpwx9aZP9UsTgWVyraU2eZCL/+rOxwcaFAIXgC5qN9s5PlxhtyQdulB8/giWb+5YTbDSzwK6mrytmS+geVB/0w5iHoFG75o2qpzoqlTyYzzVsJoGxr0z1nvESi444t8XLdTXNkTQwAniMn7IAOW8YkiqB+wlk3IHY2AfbaW3dswzl/X70JOR4SEUK7HctzzaVtNfVf0sMcpxU5Qea7Zh90DhML9zj1bVS/znN5z5BmT4XTRPWAlBCcXMX6UWSVtCp9VyMxnjR8qghKg2N97cVTjYpujZQZjtBFzH/hxnHC6CjCODqyDax/KBFOoUXnw6wfGn6rE+WGTIsrj6NTwyxlOTKaT3DiBowEYJTOmh7Gkw+kPG4jVSipKl3B5rx/eJFzIBvzhXXO56WY7H3cOfVwiw10rJdHwwk2V9ccqlbVgkU91Ph8wuZ3fos/4u7HI4X6An5unTsbZc2aSy+uJIh/k6X8fviVqfGgea5SMpC5r8LMr3Tzy4KiAEln5bAgzIDUP2AOb39FJWfy5Tm6xpTYCBdn2P/h5IRchuYTLPF6nWa4cjZ/6jQtFcdT53Z6WLmQQZDA68Cg6+lXfMQrDr6MrlaZeSZKqc3qRBwldoPYXuQfM1lthBGDBzf6TrZpOEnWKnFDhecYwMwfxSIlTzbvh/srXoJphvRXTXjNUZEXprYkHo09wu1RdFyuwI1JQzJPaq/z1lUS5yaJrrgzTnCZn1CimcUc/eP69fuBQ31PrbbWetwFqHgnCZq+MfJX4l0ur6EagOoLTQmquHqQZD6JdLCUSM1amzKZiaww+P7pvXpN6+nPuzLBA7MXVxIbnhdWbxfJ8bwj6JfdBjuRIwXOKKBK+sexA/X+qnMqJrga9crJYRjT4DScwYxlZgUmblDd9V/L6zrS6ijcwYIdqlUeIFUNurK0vIm9TZPR5u/zMQHumJaw9xAMSkDgzuGz0xGmY/e9q8s0Iyy0MReoTULxDjqhOXo7ugFTHSimDpHixmrkSMkIQmCi9YTRYaGf0cK8TvD1yoRTmCq86papdSrQlQHzkXEBZX5qIkeEIGP79xVE2FDPlIaNc+Ty3OeoTKrVBLyBbPVMKAC6luMgHKbGj4valwF6v8hsGhrnQJsPSPAHejDgMmL7nwUVj38EvcBnpuycO+4Dn5b1mZwD7gkZ6iM1G2qC9R4IbOyLjg6RoiHnn1fvwX7gM3PZ7vIpkTzYSaA9BLauHveX1vZkSSwxmYcmu5uB7IDytX1UJ/7LD8aMf3lI/VVBpLF/NwFoPt31abd/5CrT9FySSBYifMSss7lIujtUSeBRhZiq7R+rDSke6kDNOxz5tO+UJmtimnVjfzGoK/zSrEtahyYXs+57q8WcxKjzPeouIAIoUTcj0JzU36tssspYFx74/97qaW33A8VkOZ8Sd4xIgFimDD9NmOvRG1ihzTSa2TvIAf0ZH8ZQIKpGlniYGRrOfWErtLprY3DBr3MoseaOYjt12BQ8y8NfAMg9xILSq2U7nqWdp7CJPzHe2+aZml0rvkoME9oYvHEzoNjCWQ9WP7dVVsPXLn2zVyJaF/nBx6/QVPSzZoT9AvxbgipYdIgghDJd1Axj3aTyWBINFOxd40PepQ4YkCSJkLKjdbR/H0wVP28xLpGzoPrXd42LymkEWKeGkA4Wnq87auJe6WPx8fdNZVfX/SGTfDg1urWWY52yBhahbMlb7AdIXQ1Ec8zfJTIRBq6fEn/QfnKU3pgj769Qrbg9rK/3GKGQrrRJJv8/04UWrS4K3xVAAkbY2hgpWaiP01VZNjZkmKug+H2rrAZZcic/ugUoCWGQyh5EdPnMCfpiLbULQpMycmF4qSL1Mfji+kJ2+SC0iJR89RwsvEvqTsIkZaluCmOJpQaxN9TujKZNawaDtAYbOcY+v1fePTMA/0OwbmuywtDn+gDOego/LfmtDySWqrnuGApMf+LYaN2vRAO6DDULOIGD2Evos81Ul9OJBLGOcHZiZq3rC35+jzShwR8aFORJayk5OviGFXL2CdDF3gdDRqHPmxAIS8DlhznZupnJrW1eNrFFCsz4pA1rIOYPAq9+du1+0L8WczTxcgTyNT4vEJUFRhcYqM7+ff8Sdwph2fukt4YhS5gkAArrEerULLoXbG1i6tU2HJzHBhD1hueKtLF6/HlqBWCc2/aQ7tZo0XI/ZetXf0ZnfNolqt/lHK98CueWyUsdbPDoh3JH48Fsmz1tgHOhXqfYOqn+Qs3BKY7rOSNjEwrOLVJiKsoFwQfdBGstsPxuoDE2EhpDvTZujCn44UGypKdqyYh1Ub0wq2e8WMKOaKVMC+Pcd8+73wVulEo8HPsqzbfV2SQ6FhPcaddXgCqK+fqNBjdQYiVR2gTQG/lRrIBr9SdwMw+wkhIWfv+zridQ3a7m8+nsR+q2mYNaDi+3Tpsa0hkZBry5ZoYODm10OkJFUdYFToXhYJwNlR6krG+pMl9pMkOH16QzyzOcJFgxu2QMziXO22bwZgQEp2EcxV75vDjzjCz0jk3OxcE1LsWgA7zpou1VjRdQdmBBNXeEVqp0JZymyWADDJckjnPv1/iaQuEqD8zixCxv8aH3yJN2mKEatlRD99V+tJ70+PBeJxdwXbCme+hHSY6yO/2uzii6o2cccE+GenJUkp4PBH8qPUjNSujSPU2YAZ4KK2aBe0Ka7rwO3WMeDaI50zbpEuCr4nHRWyRqvLZ4+SuifQthOIsTzJRc0LKqfpCYx1Mv0Xeo6KSRlUfF/LUG6LQETjlnTsHdIsGjdYamMMhG+3MLcn2x6lDCQNO0QoPj508Yl5SHAcjdESlChoZVRwdRrRmLnpqHwbC72vCjl1SOLdUYOsex/mC1bfVoi5z6vcYnfYIwghq2ntpzbouonIowOqztWIBf7fPsBtSr8Y+OGgxH/qHvAq679TuovfDP5r3eAOAVvOakvSUxrRIJ0z0AAEpOWOgUT7dbIw2ovB7lqVp8dBjG0axrdxqoGsESihPdqi5nV2i/n3UCc/YecqtlAbgenIt611nwA/aXC0mrJUhn0EfHiTRiUclsMLoWHNXTVyOkb018bPwwatB6/gaj+/lETNlMJq/+GA8kkZTAz+Ck8VY4R3D5YnYwXmfNSEAGMpvZcMlU28D9E0vDRunFUybIWYEfo+j9sRRt9RbS9kHC0c0KZIDzO42Pltun60vUBw+44eqJiw/nq+BQgXSweYszKNAFpaF2E41Q52IQOfKOl0yELMGxiNif+Ap+FVzWjk2GcAxyxFLGFrXmAAzOBOHAOuds2ZmL4m+859RPWfAXh4p2+M0Iw9LKWDLIs1e5wB85FdxbtFgd2V1f2dOjKQkuGkyq1RkOluA+U34BTl78u8NP8OwshW5HX9FvnZCsz4NsVrv4C77cdzE0H9UCcI/jAsSW9WKSJbD8cVI/53EnthRijXzKKKoUs0PbGAThVbMQ2Z+MROxWoXexIvenM93iTKgvmdWZLg6Vy9nwWSAofMcOARaaovRePwKrfUD+gxsxhy8YwR20wUZiiNsuW47GFvtL/UKPYYhTrp3nPqhBYshE1D33Vip216BqFatvstKT1H7hiX+uDbVtSMRdM0OiYToK5g6jbJzNO0Vme9cn69b1VoQUKjKcTAeCdLRqDhwbpUHnoxne5KhfkdXtjaHjUVOskbmFaAojimzcMa6FYamh9uRq1FNvJcLlezsoGr/zyD6DyAiLWR2BMpeTBuSuQCmKdgjhY2QVRMLetbAI7eVCCbVB4V13GqUHqjl2rjs2akZSsN3/jFJuPm9IBTegmrfobwiQraQNMK3acRemmpth5r8Nbnw3mpdP/tckkZ+trAWoXfrzGysvfGYzXgs7SibyCj0wd0xGILiaqOKqeRjVU0lyt33S0EXqDuGRCgvyHhmnbdcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TMdAqDp229NQgz7oD6nKm8",
      "input": {
        "note": "With the right arm out of the way I can see the pen lying alone on the table left of centre (the long dark line was the wrist-camera cable). Parking the right arm and bringing the left arm to hover 15 cm above the pen, yawed 45° so the jaws close across its shaft.",
        "targets": {
          "left_x": 0.343,
          "left_y": -0.133,
          "left_yaw": 0.785,
          "left_z": 0.15,
          "right_x": 0.2,
          "right_y": 0.05,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01TMdAqDp229NQgz7oD6nKm8",
      "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]: [-0.7799, 1.8065, 1.3441, -0.9939, -0.9215, -1.4208, 0.9992, 0.5179, 0.6846, 0.844, -0.9985, 0.3351, 0.2485, 0.9964]\nstate[eef_state]: left_x=0.3487 left_y=-0.142 left_z=0.1376 left_yaw=0.6897 left_pitch=-0.0726 left_roll=0.0135 left_gripper=0.9992 right_x=0.2061 right_y=0.0547 right_z=0.201 right_yaw=0.0857 right_pitch=-0.2224 right_roll=-0.0746 right_gripper=0.9964\nstate[joint_eff]: [-0.2667, -9.4427, 7.1179, -0.0757, -0.9695, -0.0171, -0.0122, -0.3761, -0.212, 6.7077, 1.5702, 0.1587, -0.1343, 0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd6ab26d7aba1c137eb502d580dff711d51d387786a4dbd34d3e2501c9eec93c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b759ab76a5ff5f9db9e18e25a4fc9cfa25bf98b12e78dd2433059217e49ea81a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fe46c091600a45141a3a8fad37a8304a078b2427a19929772e485060bf6d45f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /messages · status 200 · 7.081 s

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

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8082, 0.5953, -0.3813, -0.0219, -0.0254, 0.9992, 0.4862, 1.9072, 1.0393, 0.0738, -0.1844, -0.3008, 0.0115]\nstate[eef_state]: left_x=0.2944 left_y=0.0016 left_z=0.1718 left_yaw=0.0011 left_pitch=-0.0221 left_roll=0.0 left_gripper=0.9992 right_x=0.4095 right_y=0.2571 right_z=0.0394 right_yaw=0.8021 right_pitch=-0.2208 right_roll=-0.0848 right_gripper=0.0115\nstate[joint_eff]: [0.0068, -1.306, 7.0496, 1.7216, -0.0562, -0.0366, -0.0122, -0.0615, -9.7983, 5.9829, 1.6142, -0.0659, 0.022, 0.9011]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.02, 0.8127, 0.5934, -0.3817, -0.0216, -0.0257, 0.9992, 0.5262, 1.1973, 1.1755, -0.8257, 0.3454, 0.2497, 0.9961]\nstate[eef_state]: left_x=0.2944 left_y=0.0015 left_z=0.1696 left_yaw=0.001 left_pitch=-0.029 left_roll=-0.0004 left_gripper=0.9992 right_x=0.3104 right_y=0.1153 right_z=0.2355 right_yaw=0.0842 right_pitch=-0.2267 right_roll=-0.0845 right_gripper=0.9961\nstate[joint_eff]: [-0.1299, -1.5932, 7.1863, 1.7411, -0.0464, -0.0708, -0.0073, 0.4718, -5.3949, 8.5402, 1.4237, 0.3394, 0.0904, -0.1587]",
      "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]: [-0.7799, 1.8065, 1.3441, -0.9939, -0.9215, -1.4208, 0.9992, 0.5179, 0.6846, 0.844, -0.9985, 0.3351, 0.2485, 0.9964]\nstate[eef_state]: left_x=0.3487 left_y=-0.142 left_z=0.1376 left_yaw=0.6897 left_pitch=-0.0726 left_roll=0.0135 left_gripper=0.9992 right_x=0.2061 right_y=0.0547 right_z=0.201 right_yaw=0.0857 right_pitch=-0.2224 right_roll=-0.0746 right_gripper=0.9964\nstate[joint_eff]: [-0.2667, -9.4427, 7.1179, -0.0757, -0.9695, -0.0171, -0.0122, -0.3761, -0.212, 6.7077, 1.5702, 0.1587, -0.1343, 0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd6ab26d7aba1c137eb502d580dff711d51d387786a4dbd34d3e2501c9eec93c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b759ab76a5ff5f9db9e18e25a4fc9cfa25bf98b12e78dd2433059217e49ea81a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe46c091600a45141a3a8fad37a8304a078b2427a19929772e485060bf6d45f3",
        "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_01EgxB8Hh7u2wVfYjJAv3JVK",
      "input": {
        "note": "The left wrist view shows a small stubby dark object (the pen cap) just beyond the jaws, while the pen itself is the light-coloured stick further right in the top view. Descending the left arm to 5 cm over the cap and easing 2 cm forward.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.137,
          "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_01EgxB8Hh7u2wVfYjJAv3JVK",
      "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]: [-0.7322, 1.9438, 1.1824, -0.6815, -0.907, -1.3647, 0.9992, 0.5171, 0.6922, 0.8413, -1.0145, 0.3355, 0.2462, 0.9964]\nstate[eef_state]: left_x=0.3614 left_y=-0.1329 left_z=0.0549 left_yaw=0.704 left_pitch=-0.0865 left_roll=0.0432 left_gripper=0.9992 right_x=0.2041 right_y=0.0533 right_z=0.196 right_yaw=0.0832 right_pitch=-0.2463 right_roll=-0.0879 right_gripper=0.9964\nstate[joint_eff]: [0.6359, -8.9231, 5.2308, 0.4908, -0.5201, 0.149, -0.0122, -0.0479, -0.3077, 6.4752, 1.5751, 0.0806, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e92051b364540b3dd24e4f172e4ab4dc8b46cf406cac173056f79b897b7c9b06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0933e01084c9b7d5852e8120e6802c68cb50ed87ff5fa23ec243e965e24140bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:99fb9482baa901c412c53eafe9624dccdef730c6aeed7512a17879482ff4f55e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /messages · status 200 · 5.269 s

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

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8127, 0.5934, -0.3817, -0.0216, -0.0257, 0.9992, 0.5262, 1.1973, 1.1755, -0.8257, 0.3454, 0.2497, 0.9961]\nstate[eef_state]: left_x=0.2944 left_y=0.0015 left_z=0.1696 left_yaw=0.001 left_pitch=-0.029 left_roll=-0.0004 left_gripper=0.9992 right_x=0.3104 right_y=0.1153 right_z=0.2355 right_yaw=0.0842 right_pitch=-0.2267 right_roll=-0.0845 right_gripper=0.9961\nstate[joint_eff]: [-0.1299, -1.5932, 7.1863, 1.7411, -0.0464, -0.0708, -0.0073, 0.4718, -5.3949, 8.5402, 1.4237, 0.3394, 0.0904, -0.1587]",
      "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]: [-0.7799, 1.8065, 1.3441, -0.9939, -0.9215, -1.4208, 0.9992, 0.5179, 0.6846, 0.844, -0.9985, 0.3351, 0.2485, 0.9964]\nstate[eef_state]: left_x=0.3487 left_y=-0.142 left_z=0.1376 left_yaw=0.6897 left_pitch=-0.0726 left_roll=0.0135 left_gripper=0.9992 right_x=0.2061 right_y=0.0547 right_z=0.201 right_yaw=0.0857 right_pitch=-0.2224 right_roll=-0.0746 right_gripper=0.9964\nstate[joint_eff]: [-0.2667, -9.4427, 7.1179, -0.0757, -0.9695, -0.0171, -0.0122, -0.3761, -0.212, 6.7077, 1.5702, 0.1587, -0.1343, 0.0269]",
      "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]: [-0.7322, 1.9438, 1.1824, -0.6815, -0.907, -1.3647, 0.9992, 0.5171, 0.6922, 0.8413, -1.0145, 0.3355, 0.2462, 0.9964]\nstate[eef_state]: left_x=0.3614 left_y=-0.1329 left_z=0.0549 left_yaw=0.704 left_pitch=-0.0865 left_roll=0.0432 left_gripper=0.9992 right_x=0.2041 right_y=0.0533 right_z=0.196 right_yaw=0.0832 right_pitch=-0.2463 right_roll=-0.0879 right_gripper=0.9964\nstate[joint_eff]: [0.6359, -8.9231, 5.2308, 0.4908, -0.5201, 0.149, -0.0122, -0.0479, -0.3077, 6.4752, 1.5751, 0.0806, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e92051b364540b3dd24e4f172e4ab4dc8b46cf406cac173056f79b897b7c9b06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0933e01084c9b7d5852e8120e6802c68cb50ed87ff5fa23ec243e965e24140bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99fb9482baa901c412c53eafe9624dccdef730c6aeed7512a17879482ff4f55e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS9AYKjgEIEhgCKkDdB96T9EEY75fwHVch51Na/SDUlgxocA7cJ2jKbTbBEww2oV6w2CbT8sAkzClcRfHXpqUroRMMbxczE8nrlQejMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe/GzNUGEgztKj9OxNIfcIHMvOoaDHNv8LC5xFlEob5ZkSIwheX9/Oxwv5htlCEHAX2AGuU1o/w2Avwvq0U7OEd3NeyQmizXrHhd8szCcKX5mzKQKpIFHSiB0OWKA6n/7c0363a8zBLthA8N52t+0CzvujpSwFLdV1ozkaJ2SlOCDTdZMN2++7KWSYzaM+my0ZVY7qxh66gbEB0I8NsV7ys03wNITP7Qbp5Zz9ITJ15nzZz9ap/rH3rNBDpQKAyUbrf+qcIEA8CzmQRr6EHZL7xJw2VgabNE3hXxWPx7HLAJ5SFg5JUzsLZYPSSVNL0mqImJnBQspvaa7sp4oC/gspW6R7bhwEM42fgg4w04Drlmlzr4wYDoSVaPzGkokxiCr3W/hNyd8uqybV8x7v/SQtHraqxrBderb/SRjZUmVk1fl4HrOetj1u3qS6ZLlolU/CWir6zycK4UynavLDJKU/w+cgCsQN4u08t/H2eRu9T+j/oQrQjErMa4DMdT2walZoQhL1K8PDinpALYvPRPeTnu8KQ1ZZ+aaZpp8K+B1tJSp+IY7DMvJVjnTR67D07/SNON2K4SbqmhWzUTAdCj08CoQq7PyX0YGpGcO7dpQFp7BnXWcLe11wQ8Ozp9Y3Kf7ASqryThnTNnUZdPPjoFZIUuSpsnBJFu6mJTbYBey0+oSTNfeqIP6FCaN/xWsk2nWBWA956npqCuyGUnszX7yb+Z0jQl7P396pHCG0/8A1RoO5m/VzWWMxdj3TdKHIYS1QoqZ9Ul4RmyFMzVoWQn9oytYLYBd/XLh/1yNWvg592ogBvgiVAg17b5maMxTi3/MQvb8NBcH3YdhQ2iV6k8Moz8C966WKLPIYaMJjiCus4J9SePmBD7qGOu6VihILU152BLuX8WbC2ftvBf+DWjoIq+dQVpp66k+RJluK6UxTRIob0bWIo1LytvVX3HqKvgFBOd2Edj/IEUSp5SegemNMQAUNpLLLMwoRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KnQgxZ195pgJzit9EPEV55",
      "input": {
        "note": "The cap sits vertically between the open jaws in the left wrist view, just 1 cm right of the jaw centre. Nudging right and descending to table level to grasp it.",
        "targets": {
          "left_x": 0.367,
          "left_y": -0.141,
          "left_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01KnQgxZ195pgJzit9EPEV55",
      "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]: [-0.7334, 2.0663, 1.1648, -0.5606, -0.9043, -1.367, 0.9992, 0.5167, 0.6933, 0.8413, -1.0183, 0.3355, 0.2462, 0.9964]\nstate[eef_state]: left_x=0.3657 left_y=-0.1378 left_z=0.0113 left_yaw=0.7055 left_pitch=-0.0916 left_roll=0.06 left_gripper=0.9992 right_x=0.2036 right_y=0.0529 right_z=0.1952 right_yaw=0.0823 right_pitch=-0.2508 right_roll=-0.09 right_gripper=0.9964\nstate[joint_eff]: [-0.6085, -9.6615, 4.6564, 0.486, -0.486, -0.0366, -0.0122, -0.3487, 0.2667, 6.2427, 1.4042, 0.0708, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:634d9b4ef6163ef9795fe434d56339f572c405f2e7ad6f3dd327325d0bd2da73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e74b2e1dca5cc453c17d5f7d9aaeab5a102c3f602ffbebe0d3d190590837444",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0f32f8b5189fc7bdf9075be4605db294bf54cc90340030a34327e2677ec948a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /messages · status 200 · 4.474 s

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

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7799, 1.8065, 1.3441, -0.9939, -0.9215, -1.4208, 0.9992, 0.5179, 0.6846, 0.844, -0.9985, 0.3351, 0.2485, 0.9964]\nstate[eef_state]: left_x=0.3487 left_y=-0.142 left_z=0.1376 left_yaw=0.6897 left_pitch=-0.0726 left_roll=0.0135 left_gripper=0.9992 right_x=0.2061 right_y=0.0547 right_z=0.201 right_yaw=0.0857 right_pitch=-0.2224 right_roll=-0.0746 right_gripper=0.9964\nstate[joint_eff]: [-0.2667, -9.4427, 7.1179, -0.0757, -0.9695, -0.0171, -0.0122, -0.3761, -0.212, 6.7077, 1.5702, 0.1587, -0.1343, 0.0269]",
      "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]: [-0.7322, 1.9438, 1.1824, -0.6815, -0.907, -1.3647, 0.9992, 0.5171, 0.6922, 0.8413, -1.0145, 0.3355, 0.2462, 0.9964]\nstate[eef_state]: left_x=0.3614 left_y=-0.1329 left_z=0.0549 left_yaw=0.704 left_pitch=-0.0865 left_roll=0.0432 left_gripper=0.9992 right_x=0.2041 right_y=0.0533 right_z=0.196 right_yaw=0.0832 right_pitch=-0.2463 right_roll=-0.0879 right_gripper=0.9964\nstate[joint_eff]: [0.6359, -8.9231, 5.2308, 0.4908, -0.5201, 0.149, -0.0122, -0.0479, -0.3077, 6.4752, 1.5751, 0.0806, -0.0171, -0.0073]",
      "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]: [-0.7334, 2.0663, 1.1648, -0.5606, -0.9043, -1.367, 0.9992, 0.5167, 0.6933, 0.8413, -1.0183, 0.3355, 0.2462, 0.9964]\nstate[eef_state]: left_x=0.3657 left_y=-0.1378 left_z=0.0113 left_yaw=0.7055 left_pitch=-0.0916 left_roll=0.06 left_gripper=0.9992 right_x=0.2036 right_y=0.0529 right_z=0.1952 right_yaw=0.0823 right_pitch=-0.2508 right_roll=-0.09 right_gripper=0.9964\nstate[joint_eff]: [-0.6085, -9.6615, 4.6564, 0.486, -0.486, -0.0366, -0.0122, -0.3487, 0.2667, 6.2427, 1.4042, 0.0708, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:634d9b4ef6163ef9795fe434d56339f572c405f2e7ad6f3dd327325d0bd2da73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e74b2e1dca5cc453c17d5f7d9aaeab5a102c3f602ffbebe0d3d190590837444",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f32f8b5189fc7bdf9075be4605db294bf54cc90340030a34327e2677ec948a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISuwQKjgEIEhgCKkAtTCTieG+LYA2Y82ts6Nktp53qCK6qfpjwcsNT4eWzupmHs33OSOBWI6daw1Uvm6Um3S+7k/lI964cFpinOANzMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfXGzNUGEgyn++1ZVpG17Rv48wUaDLNMUoGC3PhMsJ1saCIwUTUnIuFNV+RVvU6xptnqasg2Y1KyBmpeCPWC2NyZiBMY4yNZu7RotblEwYd06muPKtkCUOm3L+XTwUV2Y0IP0Ker0aYuBGJmfYbkQPIwE/Qxjn5YcE3VILywcy0IRmRBEptyfY2BMTXyEkjJfzh4zjlLjme3n2ZmNz7rHyLZEWJIDuIEprhE1l8Km3u7BXF7MZPNiJgaQ+4KFEXyheEwXF7aUIE6p0kyF8BNT6CNj56bLwzDLjQc6XKl8Diryq3wxHrCmVdJ5WiYSJipwrQXudokx4a1nyRk8LHXm+l8ywySlUrqSKqAL+snXcsvAGU75boK/LzFEZdPI0ID30uKRVTK35HmNMuZ3WEBjsedCC7z+s7Dd/aLwnHAPVsCS8LGMgM0j8/YJ/isFB04MH1WcYGL0vX9l3MXEVfyi49UHgPEkvUUoG9Lcq8wUjHPgy/UEdXNnDR3NlLbzeDvxQS181O1nxK7cikkFsIpScyEIM0p4uBNY741i5U+Ha4mdfBRrEDlOJOqYdgi8KN6GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EsoopEQozhvujj5onsafm8",
      "input": {
        "note": "Left arm is down at table level with the cap between the jaws; closing to grasp the cap.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01EsoopEQozhvujj5onsafm8",
      "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]: [-0.7334, 2.083, 1.1599, -0.5331, -0.9138, -1.3781, 0.0429, 0.5167, 0.6941, 0.8413, -1.0183, 0.3359, 0.2462, 0.9964]\nstate[eef_state]: left_x=0.3674 left_y=-0.1379 left_z=0.0063 left_yaw=0.7121 left_pitch=-0.0811 left_roll=0.0468 left_gripper=0.0429 right_x=0.2037 right_y=0.0529 right_z=0.1951 right_yaw=0.0819 right_pitch=-0.2514 right_roll=-0.0906 right_gripper=0.9964\nstate[joint_eff]: [-0.4444, -9.8393, 4.9846, 0.5543, -0.4567, 0.0415, 1.0525, -0.1709, 0.212, 6.2427, 1.409, 0.1148, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b11f44e49bedd8a0e479db29f92471d7d2a687e5a87512b4a96e7072df747f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:084954344650022bb59ffbf0c59144c5bd42ed76713660d3db836afdeb9695f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e8d6d38ac4bb3037f3b64fce06c29dc4850e2e8b5fcf0327bc88de0170c62ce9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /messages · status 200 · 18.12 s

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

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7322, 1.9438, 1.1824, -0.6815, -0.907, -1.3647, 0.9992, 0.5171, 0.6922, 0.8413, -1.0145, 0.3355, 0.2462, 0.9964]\nstate[eef_state]: left_x=0.3614 left_y=-0.1329 left_z=0.0549 left_yaw=0.704 left_pitch=-0.0865 left_roll=0.0432 left_gripper=0.9992 right_x=0.2041 right_y=0.0533 right_z=0.196 right_yaw=0.0832 right_pitch=-0.2463 right_roll=-0.0879 right_gripper=0.9964\nstate[joint_eff]: [0.6359, -8.9231, 5.2308, 0.4908, -0.5201, 0.149, -0.0122, -0.0479, -0.3077, 6.4752, 1.5751, 0.0806, -0.0171, -0.0073]",
      "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]: [-0.7334, 2.0663, 1.1648, -0.5606, -0.9043, -1.367, 0.9992, 0.5167, 0.6933, 0.8413, -1.0183, 0.3355, 0.2462, 0.9964]\nstate[eef_state]: left_x=0.3657 left_y=-0.1378 left_z=0.0113 left_yaw=0.7055 left_pitch=-0.0916 left_roll=0.06 left_gripper=0.9992 right_x=0.2036 right_y=0.0529 right_z=0.1952 right_yaw=0.0823 right_pitch=-0.2508 right_roll=-0.09 right_gripper=0.9964\nstate[joint_eff]: [-0.6085, -9.6615, 4.6564, 0.486, -0.486, -0.0366, -0.0122, -0.3487, 0.2667, 6.2427, 1.4042, 0.0708, -0.0415, -0.0122]",
      "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]: [-0.7334, 2.083, 1.1599, -0.5331, -0.9138, -1.3781, 0.0429, 0.5167, 0.6941, 0.8413, -1.0183, 0.3359, 0.2462, 0.9964]\nstate[eef_state]: left_x=0.3674 left_y=-0.1379 left_z=0.0063 left_yaw=0.7121 left_pitch=-0.0811 left_roll=0.0468 left_gripper=0.0429 right_x=0.2037 right_y=0.0529 right_z=0.1951 right_yaw=0.0819 right_pitch=-0.2514 right_roll=-0.0906 right_gripper=0.9964\nstate[joint_eff]: [-0.4444, -9.8393, 4.9846, 0.5543, -0.4567, 0.0415, 1.0525, -0.1709, 0.212, 6.2427, 1.409, 0.1148, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b11f44e49bedd8a0e479db29f92471d7d2a687e5a87512b4a96e7072df747f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:084954344650022bb59ffbf0c59144c5bd42ed76713660d3db836afdeb9695f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8d6d38ac4bb3037f3b64fce06c29dc4850e2e8b5fcf0327bc88de0170c62ce9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISpwQKjgEIEhgCKkCVZhcPW6MlU4/zIKMlHMF8HaO0ZU3SLtyf7lCQYPwms5TesA9PP9hneFXLGqzGcAMkpUVKIRi2mtJp6Xy3tjxqMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfrGzNUGEgxC44de6rRvoLw+h2oaDGqX4eJStRrZbCyoEiIwG3Ba1WtaCwkc0CksavEu6wrhnBa+ZV4582wSE2vDdw0EV+DqN11IzZMDtgI+cC9wKsUCO5PS49fJMJlPlVzVe9jwd1b7zslnACbv/CsShwuMzadQG6Mmxx34Gq9/HtqwgD/E8HOOadqd4EuFYShNv1m86rzBWnnL1RjpfC/emhTYWesgx7Y8FBOSURI4LWL6pyW3D6yjH0kCoJitIGKclXFvFW+CGVKxesco6ye8I970els9+EnOWYb3Itc6wWQWA9jiSezquiY3oa0e/tdc4qX9h0ykcE1W6sBLMnf26LIqjL8cgGvEUYPsSGFma/qYHpky8Gy0QsYtOdvHTzbXujWqpQOAZdnRjccuQ3L2x5h8UuGDvqjiuRvOZP4kG896y4RxhNEX/00vImNW0411/0BovD2YpIrNPOJsNZDrYZCB1li87ufSKMkN8UkmbA3zfmZZRKnROapdJispoK6bCuuA+y7r1uZOTe8q/YKz9a+OLySWQ1R0zhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BbrWsLMDoevyFCdb1Uoc8T",
      "input": {
        "note": "Gripper settled at 0.043, borderline; lifting the left arm 11 cm to check in the top view whether the cap came with it.",
        "targets": {
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01BbrWsLMDoevyFCdb1Uoc8T",
      "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]: [-0.7353, 1.9293, 1.3369, -0.8818, -0.9043, -1.3872, 0.0421, 0.5167, 0.6941, 0.8413, -1.0183, 0.3355, 0.2462, 0.9965]\nstate[eef_state]: left_x=0.3674 left_y=-0.1402 left_z=0.0939 left_yaw=0.7156 left_pitch=-0.0924 left_roll=0.0562 left_gripper=0.0421 right_x=0.2036 right_y=0.0529 right_z=0.1951 right_yaw=0.0822 right_pitch=-0.2515 right_roll=-0.0903 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -12.465, 8.1709, 0.315, -0.6081, 0.0611, -0.0904, -0.294, 0.3077, 6.2427, 1.4042, 0.0757, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c99a1859415174b0bb24fea20172f2485e1baeda92ddef6cb602cd315809a07b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66baf717dbdfb4e1ce5cc9b3bfb116f82e43cc2f7726f9c6884f3b788b4d6288",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b356d761c12a4d6236cd8410129089278fd1ad562cd660051d76311030911725",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /messages · status 200 · 9.043 s

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

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7334, 2.0663, 1.1648, -0.5606, -0.9043, -1.367, 0.9992, 0.5167, 0.6933, 0.8413, -1.0183, 0.3355, 0.2462, 0.9964]\nstate[eef_state]: left_x=0.3657 left_y=-0.1378 left_z=0.0113 left_yaw=0.7055 left_pitch=-0.0916 left_roll=0.06 left_gripper=0.9992 right_x=0.2036 right_y=0.0529 right_z=0.1952 right_yaw=0.0823 right_pitch=-0.2508 right_roll=-0.09 right_gripper=0.9964\nstate[joint_eff]: [-0.6085, -9.6615, 4.6564, 0.486, -0.486, -0.0366, -0.0122, -0.3487, 0.2667, 6.2427, 1.4042, 0.0708, -0.0415, -0.0122]",
      "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]: [-0.7334, 2.083, 1.1599, -0.5331, -0.9138, -1.3781, 0.0429, 0.5167, 0.6941, 0.8413, -1.0183, 0.3359, 0.2462, 0.9964]\nstate[eef_state]: left_x=0.3674 left_y=-0.1379 left_z=0.0063 left_yaw=0.7121 left_pitch=-0.0811 left_roll=0.0468 left_gripper=0.0429 right_x=0.2037 right_y=0.0529 right_z=0.1951 right_yaw=0.0819 right_pitch=-0.2514 right_roll=-0.0906 right_gripper=0.9964\nstate[joint_eff]: [-0.4444, -9.8393, 4.9846, 0.5543, -0.4567, 0.0415, 1.0525, -0.1709, 0.212, 6.2427, 1.409, 0.1148, -0.0269, -0.0073]",
      "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]: [-0.7353, 1.9293, 1.3369, -0.8818, -0.9043, -1.3872, 0.0421, 0.5167, 0.6941, 0.8413, -1.0183, 0.3355, 0.2462, 0.9965]\nstate[eef_state]: left_x=0.3674 left_y=-0.1402 left_z=0.0939 left_yaw=0.7156 left_pitch=-0.0924 left_roll=0.0562 left_gripper=0.0421 right_x=0.2036 right_y=0.0529 right_z=0.1951 right_yaw=0.0822 right_pitch=-0.2515 right_roll=-0.0903 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -12.465, 8.1709, 0.315, -0.6081, 0.0611, -0.0904, -0.294, 0.3077, 6.2427, 1.4042, 0.0757, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c99a1859415174b0bb24fea20172f2485e1baeda92ddef6cb602cd315809a07b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66baf717dbdfb4e1ce5cc9b3bfb116f82e43cc2f7726f9c6884f3b788b4d6288",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b356d761c12a4d6236cd8410129089278fd1ad562cd660051d76311030911725",
        "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_011EBXdYoYpAj1ytaW5qCMRT",
      "input": {
        "note": "The cap appears to be held in the left jaws (it vanished from the table and a bulge shows at the jaw tip). Now bringing the right arm over the pen, yawed so the jaws close across the pen's mostly side-to-side orientation.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.36,
          "right_y": 0.294,
          "right_yaw": -1.34,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_011EBXdYoYpAj1ytaW5qCMRT",
      "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]: [-0.5232, 2.0048, 1.3125, -0.8806, -0.8864, -1.3884, 0.0421, 0.8524, 2.1426, 1.9491, -1.7012, 0.6273, 2.0399, 0.9987]\nstate[eef_state]: left_x=0.3797 left_y=-0.0569 left_z=0.0597 left_yaw=0.9378 left_pitch=-0.1214 left_roll=0.152 left_gripper=0.0421 right_x=0.3036 right_y=0.1952 right_z=0.1441 right_yaw=-1.1114 right_pitch=-0.317 right_roll=-0.0345 right_gripper=0.9987\nstate[joint_eff]: [-17.3607, -15.4325, 7.159, 0.2662, -0.6764, -0.0317, -0.0171, -10.9607, 6.5983, 6.0786, 0.9353, 0.4518, 0.3736, -0.1538]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:709c203b3a1cb2f1109060dd64ff14f37cb844ad9886042ca067fd3348c938ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:575e0fceb6c7f38b580102b4b0fb8120b256f3316b896d12f6a5a6f905d21e70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:57a9dbc4881df57a5cb4aac0232cb6b3857281fe85be9b6604bcf626ddabcceb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /messages · status 200 · 7.12 s

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

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7334, 2.083, 1.1599, -0.5331, -0.9138, -1.3781, 0.0429, 0.5167, 0.6941, 0.8413, -1.0183, 0.3359, 0.2462, 0.9964]\nstate[eef_state]: left_x=0.3674 left_y=-0.1379 left_z=0.0063 left_yaw=0.7121 left_pitch=-0.0811 left_roll=0.0468 left_gripper=0.0429 right_x=0.2037 right_y=0.0529 right_z=0.1951 right_yaw=0.0819 right_pitch=-0.2514 right_roll=-0.0906 right_gripper=0.9964\nstate[joint_eff]: [-0.4444, -9.8393, 4.9846, 0.5543, -0.4567, 0.0415, 1.0525, -0.1709, 0.212, 6.2427, 1.409, 0.1148, -0.0269, -0.0073]",
      "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]: [-0.7353, 1.9293, 1.3369, -0.8818, -0.9043, -1.3872, 0.0421, 0.5167, 0.6941, 0.8413, -1.0183, 0.3355, 0.2462, 0.9965]\nstate[eef_state]: left_x=0.3674 left_y=-0.1402 left_z=0.0939 left_yaw=0.7156 left_pitch=-0.0924 left_roll=0.0562 left_gripper=0.0421 right_x=0.2036 right_y=0.0529 right_z=0.1951 right_yaw=0.0822 right_pitch=-0.2515 right_roll=-0.0903 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -12.465, 8.1709, 0.315, -0.6081, 0.0611, -0.0904, -0.294, 0.3077, 6.2427, 1.4042, 0.0757, -0.0366, -0.0073]",
      "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]: [-0.5232, 2.0048, 1.3125, -0.8806, -0.8864, -1.3884, 0.0421, 0.8524, 2.1426, 1.9491, -1.7012, 0.6273, 2.0399, 0.9987]\nstate[eef_state]: left_x=0.3797 left_y=-0.0569 left_z=0.0597 left_yaw=0.9378 left_pitch=-0.1214 left_roll=0.152 left_gripper=0.0421 right_x=0.3036 right_y=0.1952 right_z=0.1441 right_yaw=-1.1114 right_pitch=-0.317 right_roll=-0.0345 right_gripper=0.9987\nstate[joint_eff]: [-17.3607, -15.4325, 7.159, 0.2662, -0.6764, -0.0317, -0.0171, -10.9607, 6.5983, 6.0786, 0.9353, 0.4518, 0.3736, -0.1538]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:709c203b3a1cb2f1109060dd64ff14f37cb844ad9886042ca067fd3348c938ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:575e0fceb6c7f38b580102b4b0fb8120b256f3316b896d12f6a5a6f905d21e70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57a9dbc4881df57a5cb4aac0232cb6b3857281fe85be9b6604bcf626ddabcceb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISigoKjgEIEhgCKkBDjN5/uto7T2uN4UZ6TOKp99vLOOaC4d7gKhhkV+PTZM6U+f1GzE05OJIezK8zxiPbqzX12Kdzz76/bfWtSADTMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZjHzNUGEgxhs6feawuU+swkUAMaDAM0MSiJDFkC70zMKCIwxvUqQ052yakHN1SAyhM4aHCoqOcHeo5bX2alBPqoBWHAAXkqCCl7Nh91FTvnDi55KqgIiLzb9fJLo//UW29amVhRtZaVSaqzaA/YOCxbhya29vEBgVTGihse/0jJiYLah2WH+HVfNVnUvtSEBFDPTYtjHTaV8kU8J32eIiAi0koT8X9PkqQd01mDwA0UufkZHJevk0612IrP8sASYRFEINIAyX9aG1va46pheiI2oeRiHWK5/6+zSkNnMFRDOs7wTGORMbj897h0WYzdAyOe+0N4W4O9fOYdEQiflAlKEymi3JYtNBDZu/eGwey9e39aNHaP4TEXkp25KAgnNV6V/ZC5gnRPkdlxYCEdZP+CoONalaTru4Yf0Iq2PaAneBmpWWKutQ6Dy0uzx7yBNCdvSHmrFOvJrr1fdPfMaU+5jZ/whGbaUfobHQw4K+OXnwF8+bG6IsjbYe7QprSm6mHZMiWOafBiqoWnLtpVkLErwDlCUCuc65TH4IRuZ5Fgg5c1a9mUsMLtR2cUFL0Sj2K3BdcUc5+ceCqiJwRK1nN40l8aqllP57DPxuMWvgsCAvmb4QZZEbmIoy2yEeHeWdPPOIpyGyxSytKHfacgXgkzO2PyKtjRDzhOkSPoYh479e7P/ucLI5j5f3dN+oRFDIBZJ8HkQscS6VOb2vKuDm7TMz1vrbmuURb8GeC2Px/xARB+pHz3QLbJ0F8T0FsFg7D4DbcszY2eI1wpabOq9lnaV0nDkSAySpgLfuKzzo/pqACP3oOI5R2H7wTWX6P/iZdl8MxWO6FXyC5+zELYFQ1CtE5L2Q5c9SOak0I91vNPx5W16X3M/1L5EI12OKoQT/qhr/PzKFtWS5KqxKYQQOLLvfx7DXJWhzsYYxbZEWSDC7X/OXxG9G617exfViK3le0s57FQCgUD8EYdoFH+FRd6rYwMaHVN4XpySkUr5NNb10DfIEjqkdSQtvvtoW8pW6WYDtFowXYaLdsVIjNrZhYlO31hZY1M8OHEqJbktb1aeRlfntFHEqdOswW7+LcOzQRW53fpC7ig2pTkTVCsXE7uxeHCPOj8adaVhGR3Uk5Ll0nUJxHgDlamSNkG6kF34lrQ0CO39bbQHZt/GvefC8FamMyh0Wu9ApxK/War1OBdaIdan3VfGiwb7VUxz4uIy26pbNOlWhJQ9ytoLin2mKSQ9hcju+K1x4HFlg7g6navigdZhWOLSrBe38m5OvGjKrOCARSLgvMs6p/NoGLhD8AS5JXjjJjNXtyRuoY08N6p2Xq19oxstcxB4tVe1qSzkiXylpkFSxXzKfQg9PEpadn6PK8eLpIXxA8hZmtKzBdxierqgsnRNISWf8E+lhABFFeKEoz+glnqmQI715en/lb9DINdBw+2ULaSR5dWz74l5zv1yWFDZZKnoeCTX3eFxg/CfBRDz62jVVUOdE4JXs4FoXyAkkUlLcYds8iTMQe1bAbELCLy6e20W05PS/YYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RFHujc3WTuM8gswb2BPGEu",
      "input": {
        "note": "The left arm drifted toward the centre and is crowding the right arm (which undershot its target). Parking the left arm out to its own side, still holding the cap, before retrying the pen grasp.",
        "targets": {
          "left_x": 0.25,
          "left_y": -0.28,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01RFHujc3WTuM8gswb2BPGEu",
      "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]: [-0.7471, 2.0331, 1.6363, -1.7004, -0.7696, -2.0212, 0.042, 0.6689, 2.1105, 1.7302, -1.702, 0.6125, 2.0075, 0.9987]\nstate[eef_state]: left_x=0.297 left_y=-0.1026 left_z=0.139 left_yaw=1.1585 left_pitch=-0.113 left_roll=0.2005 left_gripper=0.042 right_x=0.2961 right_y=0.1092 right_z=0.1164 right_yaw=-1.3355 right_pitch=-0.2562 right_roll=-0.2418 right_gripper=0.9987\nstate[joint_eff]: [-21.4359, -2.7009, 5.6274, 0.6374, -0.3101, -0.1734, -0.0171, 12.4923, -12.5744, 9.388, 0.6129, 0.4908, -0.0659, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:479534161046c20c13e4dffc1e0c431cf9e5a67711b36c12e16f875a0cacff18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a437eeae01c103cbb8a2991ba72f2802367db2d13b34a7fd31b2925cda1ca0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5c0c24137a9d0f2710d66bdfc6e4b1a6976034b39b007710fba0db07f1dab71d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /messages · status 200 · 7.805 s

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

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7353, 1.9293, 1.3369, -0.8818, -0.9043, -1.3872, 0.0421, 0.5167, 0.6941, 0.8413, -1.0183, 0.3355, 0.2462, 0.9965]\nstate[eef_state]: left_x=0.3674 left_y=-0.1402 left_z=0.0939 left_yaw=0.7156 left_pitch=-0.0924 left_roll=0.0562 left_gripper=0.0421 right_x=0.2036 right_y=0.0529 right_z=0.1951 right_yaw=0.0822 right_pitch=-0.2515 right_roll=-0.0903 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -12.465, 8.1709, 0.315, -0.6081, 0.0611, -0.0904, -0.294, 0.3077, 6.2427, 1.4042, 0.0757, -0.0366, -0.0073]",
      "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]: [-0.5232, 2.0048, 1.3125, -0.8806, -0.8864, -1.3884, 0.0421, 0.8524, 2.1426, 1.9491, -1.7012, 0.6273, 2.0399, 0.9987]\nstate[eef_state]: left_x=0.3797 left_y=-0.0569 left_z=0.0597 left_yaw=0.9378 left_pitch=-0.1214 left_roll=0.152 left_gripper=0.0421 right_x=0.3036 right_y=0.1952 right_z=0.1441 right_yaw=-1.1114 right_pitch=-0.317 right_roll=-0.0345 right_gripper=0.9987\nstate[joint_eff]: [-17.3607, -15.4325, 7.159, 0.2662, -0.6764, -0.0317, -0.0171, -10.9607, 6.5983, 6.0786, 0.9353, 0.4518, 0.3736, -0.1538]",
      "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]: [-0.7471, 2.0331, 1.6363, -1.7004, -0.7696, -2.0212, 0.042, 0.6689, 2.1105, 1.7302, -1.702, 0.6125, 2.0075, 0.9987]\nstate[eef_state]: left_x=0.297 left_y=-0.1026 left_z=0.139 left_yaw=1.1585 left_pitch=-0.113 left_roll=0.2005 left_gripper=0.042 right_x=0.2961 right_y=0.1092 right_z=0.1164 right_yaw=-1.3355 right_pitch=-0.2562 right_roll=-0.2418 right_gripper=0.9987\nstate[joint_eff]: [-21.4359, -2.7009, 5.6274, 0.6374, -0.3101, -0.1734, -0.0171, 12.4923, -12.5744, 9.388, 0.6129, 0.4908, -0.0659, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:479534161046c20c13e4dffc1e0c431cf9e5a67711b36c12e16f875a0cacff18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a437eeae01c103cbb8a2991ba72f2802367db2d13b34a7fd31b2925cda1ca0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c0c24137a9d0f2710d66bdfc6e4b1a6976034b39b007710fba0db07f1dab71d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISyAcKjgEIEhgCKkDtowMrqdAPybDd1XmOb7vB5Kx2npFIlnXewJ5AAAt3u/XK7PRAyHUcZuMETLkXBSea1QI9u8uZ4dVsgDNhwyTWMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaHHzNUGEgxijgZI3pbMo4Raw7saDKfq407vDCu3l6z/tCIwNvglgMv6o5n9FcUDpx/y/TOudV9vRzvPS3c43ozbDjJjkxlZQ/m1RnwBJYFXOVJwKuYFyCzPK0BnhCFlFlEe/YbSGQYZC2R1WwSx0HTCcrNrVFUdVTnuULJRUc/yI37aoQp4pNpVmhH9cb9s6aX7SiYiTctm5jqi9Gykn7o9+uPLAc2g3VBVUGRr+YXUI84ZRQfD4WjfxKpU0f05HInK61JSoAwqKhVw34Snq+oF6Q1gQGlll7LVj6fXTQDsYoqaTqBs9x1L3QV/xcp/odycpRqAajm912dTaSpB9t2CwLEG8N7AaiK1weYIXZ0EwbKADO6e4ynWmPT+N7m4wmQm6fi/SNGP/oyAQ+/cUxsVX8CUYkwhIDTtihh5Ej7szriE6KI9gJkPGFyCSNO1Sd07AS7IpHV/Kv7WrZfaraLKZFZ6/u8DhVGYWmDTvWRWcRyCxbQEz1cXRKS3oj+DPrjoti2M+aARYc0aUfgPZFibhggDxUEYOIxvU1ZcK8F6bApiBat7txAAFuSZkkDmF5UdFXzQ0NUAtorA2OhWX8h3DAQOegI/FSwHceqJUtjqXRNk79XHk83LBJ2ixfxPDWwUfjpSIf5hmJ+k8hadC6LpYCHtg2TsCufu5h3wiwL2Yk57FFPGXmTJWrXecqF3NPLaeQQCaiVGFHF445DZR/QIkw9zsSdGijg1j+f/E+lTV3uYmA8fF5X4f/QqGFd98MxiE2lwBgBInvlBGo5vTqujV5wPn0s+CVW3H9NYolD+xEnMItw+g0zsKxQv+77McnBR63Qb6UkjJTO+KdBnkhCG1ljHrZosuRxIryraFE+fTk3WY/f3fOmN6pA8XMX7sILlkZEZP11V/6I+Nj4DbrIJi6azgdrNRaXXxc/yjEfUeOHdA1uVl0NRlBav6Str48sL23zElwvY4hvlg3yBRSlJvSq1uzNli5JqTbuWBd27uEWo9GxaJQUqKsxODVUqHZ10qiokAGYeCu43dHF6faZFlqvoL7ZhMgaDQi/VyOa2Ijd2CM9vU3Sy9MKe2Qho6OD/5CjmiHOFK0HsCxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011hrqJnZsicSzvzPhgaSwZY",
      "input": {
        "note": "The two arms are jammed against each other in the middle (left shoulder effort -21). Lifting the left arm up and back to break contact before separating them further.",
        "targets": {
          "left_x": 0.22,
          "left_y": -0.18,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_011hrqJnZsicSzvzPhgaSwZY",
      "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]: [-0.7315, 1.8439, 1.3716, -1.5597, -0.762, -1.9644, 0.042, 0.6418, 2.0956, 1.5726, -1.5799, 0.6014, 1.9739, 0.9987]\nstate[eef_state]: left_x=0.2686 left_y=-0.0724 left_z=0.1313 left_yaw=1.1396 left_pitch=-0.1459 left_roll=0.184 left_gripper=0.042 right_x=0.2858 right_y=0.0933 right_z=0.0845 right_yaw=-1.3564 right_pitch=-0.2608 right_roll=-0.2892 right_gripper=0.9987\nstate[joint_eff]: [0.1983, -10.0855, 4.588, -0.5885, -0.6374, 0.0855, -0.0073, -0.2256, -12.2462, 5.6957, -0.5495, 0.486, -0.105, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15e6cafe29dc8224040024776b018ddc5c6a82cf1e9dfd312f25afa17f1de721",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71ea9510be8e1f3466929ff9b0107b5499a14e8a9f52326cd9342c1df8a56189",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:398e01928c8492cffb585f2286f522e6695e616d8fcc23bd3adeae2447c3eed1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /messages · status 200 · 6.946 s

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

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5232, 2.0048, 1.3125, -0.8806, -0.8864, -1.3884, 0.0421, 0.8524, 2.1426, 1.9491, -1.7012, 0.6273, 2.0399, 0.9987]\nstate[eef_state]: left_x=0.3797 left_y=-0.0569 left_z=0.0597 left_yaw=0.9378 left_pitch=-0.1214 left_roll=0.152 left_gripper=0.0421 right_x=0.3036 right_y=0.1952 right_z=0.1441 right_yaw=-1.1114 right_pitch=-0.317 right_roll=-0.0345 right_gripper=0.9987\nstate[joint_eff]: [-17.3607, -15.4325, 7.159, 0.2662, -0.6764, -0.0317, -0.0171, -10.9607, 6.5983, 6.0786, 0.9353, 0.4518, 0.3736, -0.1538]",
      "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]: [-0.7471, 2.0331, 1.6363, -1.7004, -0.7696, -2.0212, 0.042, 0.6689, 2.1105, 1.7302, -1.702, 0.6125, 2.0075, 0.9987]\nstate[eef_state]: left_x=0.297 left_y=-0.1026 left_z=0.139 left_yaw=1.1585 left_pitch=-0.113 left_roll=0.2005 left_gripper=0.042 right_x=0.2961 right_y=0.1092 right_z=0.1164 right_yaw=-1.3355 right_pitch=-0.2562 right_roll=-0.2418 right_gripper=0.9987\nstate[joint_eff]: [-21.4359, -2.7009, 5.6274, 0.6374, -0.3101, -0.1734, -0.0171, 12.4923, -12.5744, 9.388, 0.6129, 0.4908, -0.0659, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.7315, 1.8439, 1.3716, -1.5597, -0.762, -1.9644, 0.042, 0.6418, 2.0956, 1.5726, -1.5799, 0.6014, 1.9739, 0.9987]\nstate[eef_state]: left_x=0.2686 left_y=-0.0724 left_z=0.1313 left_yaw=1.1396 left_pitch=-0.1459 left_roll=0.184 left_gripper=0.042 right_x=0.2858 right_y=0.0933 right_z=0.0845 right_yaw=-1.3564 right_pitch=-0.2608 right_roll=-0.2892 right_gripper=0.9987\nstate[joint_eff]: [0.1983, -10.0855, 4.588, -0.5885, -0.6374, 0.0855, -0.0073, -0.2256, -12.2462, 5.6957, -0.5495, 0.486, -0.105, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15e6cafe29dc8224040024776b018ddc5c6a82cf1e9dfd312f25afa17f1de721",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71ea9510be8e1f3466929ff9b0107b5499a14e8a9f52326cd9342c1df8a56189",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:398e01928c8492cffb585f2286f522e6695e616d8fcc23bd3adeae2447c3eed1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISogcKjgEIEhgCKkC0OzWyVgXQXwRt5YGQnCCb26tvjufIDj9ZCiSKaTREwcebzfras+Co9Pqi0caAhBqLPjM1ELQnT+lKFk0apNjnMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAarHzNUGEgxXyIcepVhfZswWr8gaDHrjDoc3DNG1NvM9YSIwXKHUsQ9I/GKidruRLi6RUzmM2Y03V6eGwx4GLDPFODDH9NFbru7hyFdq4UB6NsGMKsAFnZW0zNW7yG7hM7WgJM2pmh6srOm9Hb9QOLGZNyfAvSR5pne7GyHLujZpQPFW9jcNda0xxd9oCQWGI0WV3vgyCgU+ZBXxIddLJjSp578kNFHOqdcs5rWqv+PxP0Pj8rFt54VpKwst2trY4TYgVxFn00ULzcKHoji1LWebs8K4dDXmerq+mT1TcU4SSnBcH9jMr0owTM3IVrQXrQsJL6M0YFYBIgvvnCrRvl0KsYVUtxKBPo7Pm97gSkVdJ88Bw/mfi0j5u5nV96Y3/a347vjb9BW7t1X4nIZmS1Ua7z/VGORQ3dgOfEFdmRRgQNpjb3sJeRjuFgkctGuJUoEXF6W4KFNLEzD8TxZiuK6sygFnk1bpJhGyiE/vHD66rBETr2Gm/rSb8L+mjgQEJt2Xf8+gR49Zpi5Qmed0TEVubnvMBkOSAwd8w/tf94KQiEOnJRFMLUkSoXwDD+cpQ8DjXUNSiCIP2hnxU7gGn3elS10R6g9zx8MEJvB3xdfgbDLEHbuMatfO2eUUo3OSsYXdML2DZI+DSxI8C09NEoHJVF6fHj0JdN1X2BBkKEoPM5Ywks8RHvr0+u3/xvtCyNNs6h4dYn6ZB/PjbrnYkTVAheK74JdRfUIOlcN63SkBdiyF8Z1pWm7HT8Oimwxw/UDl5sBCcYfb+dBNy5+B1cu+nKFfnQmtPoofZpBLBYE7ZzaLicStEFy776Bbtj8kxlJF6bGVzNIgzZEM7oj1AVEGKsTwhPusPLADtCKE/yhzA0eJr78lRGjiu/AwqirKj+7mSDgFyz5hpY9qZgjMvgy6/bZdx3DVCr9mgXrvPJgqi2qRekMcxtcwrUZ3HPH9jwrelxpDp9zbKhVdk480eXnFeM+Vkz2G+faFrXJQ+KPKfq42nwv/HoPv0LALd//oTCUoOzddtwpmK9WOYkgS7qdKk7sK5BEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017mtWm93XDdrCGs9P86hXUz",
      "input": {
        "note": "Left arm is still pinned at x=0.27 with high shoulder effort; trying a pure vertical lift plus unwinding the yaw to free it from the right arm.",
        "targets": {
          "left_yaw": 0.4,
          "left_z": 0.35
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_017mtWm93XDdrCGs9P86hXUz",
      "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]: [-0.7399, 1.6318, 1.4067, -1.5585, -0.8082, -1.6646, 0.042, 0.6411, 2.0956, 1.5665, -1.5776, 0.5964, 1.9743, 0.9987]\nstate[eef_state]: left_x=0.2713 left_y=-0.0699 left_z=0.1918 left_yaw=0.9113 left_pitch=-0.1789 left_roll=0.154 left_gripper=0.042 right_x=0.2843 right_y=0.0928 right_z=0.083 right_yaw=-1.3613 right_pitch=-0.263 right_roll=-0.2944 right_gripper=0.9987\nstate[joint_eff]: [-0.1983, -6.4889, 5.5453, -0.2125, -0.7643, 0.188, -0.0122, -0.1299, -10.0855, 4.3692, -0.6374, 0.2857, -0.0415, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f1f2159650e5bdf67e991b9b5b857df9c6b66183d0fd69b9eff1eb814fc2071",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5f16632f9b620693dc2e6e23fa06dd65116f2cd5a6875ebbac2cbe1c0b4776a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dc7d05b914ccf4c6cb4bccfe0720c92a22c6ad3c552f5c6a10dc95c776221d72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /messages · status 200 · 10.91 s

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

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7471, 2.0331, 1.6363, -1.7004, -0.7696, -2.0212, 0.042, 0.6689, 2.1105, 1.7302, -1.702, 0.6125, 2.0075, 0.9987]\nstate[eef_state]: left_x=0.297 left_y=-0.1026 left_z=0.139 left_yaw=1.1585 left_pitch=-0.113 left_roll=0.2005 left_gripper=0.042 right_x=0.2961 right_y=0.1092 right_z=0.1164 right_yaw=-1.3355 right_pitch=-0.2562 right_roll=-0.2418 right_gripper=0.9987\nstate[joint_eff]: [-21.4359, -2.7009, 5.6274, 0.6374, -0.3101, -0.1734, -0.0171, 12.4923, -12.5744, 9.388, 0.6129, 0.4908, -0.0659, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.7315, 1.8439, 1.3716, -1.5597, -0.762, -1.9644, 0.042, 0.6418, 2.0956, 1.5726, -1.5799, 0.6014, 1.9739, 0.9987]\nstate[eef_state]: left_x=0.2686 left_y=-0.0724 left_z=0.1313 left_yaw=1.1396 left_pitch=-0.1459 left_roll=0.184 left_gripper=0.042 right_x=0.2858 right_y=0.0933 right_z=0.0845 right_yaw=-1.3564 right_pitch=-0.2608 right_roll=-0.2892 right_gripper=0.9987\nstate[joint_eff]: [0.1983, -10.0855, 4.588, -0.5885, -0.6374, 0.0855, -0.0073, -0.2256, -12.2462, 5.6957, -0.5495, 0.486, -0.105, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.7399, 1.6318, 1.4067, -1.5585, -0.8082, -1.6646, 0.042, 0.6411, 2.0956, 1.5665, -1.5776, 0.5964, 1.9743, 0.9987]\nstate[eef_state]: left_x=0.2713 left_y=-0.0699 left_z=0.1918 left_yaw=0.9113 left_pitch=-0.1789 left_roll=0.154 left_gripper=0.042 right_x=0.2843 right_y=0.0928 right_z=0.083 right_yaw=-1.3613 right_pitch=-0.263 right_roll=-0.2944 right_gripper=0.9987\nstate[joint_eff]: [-0.1983, -6.4889, 5.5453, -0.2125, -0.7643, 0.188, -0.0122, -0.1299, -10.0855, 4.3692, -0.6374, 0.2857, -0.0415, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f1f2159650e5bdf67e991b9b5b857df9c6b66183d0fd69b9eff1eb814fc2071",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5f16632f9b620693dc2e6e23fa06dd65116f2cd5a6875ebbac2cbe1c0b4776a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc7d05b914ccf4c6cb4bccfe0720c92a22c6ad3c552f5c6a10dc95c776221d72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISjwcKjgEIEhgCKkATyL571PJqXeGp7FuiNEROh1RLUfQ3aczJ21glNG46OHZJSuFYDHfpCKEVsofXNSsLqgBVupipxgiiXKWQbxb7Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbLHzNUGEgxxX2Qayp+MwASoCAoaDI1aziVsPieRL7+bHSIwTvCxwzT+N2EWdgLlJ810fVoKy9seOi/zVJ9Zr9joQgCas2yTdsakHDEDcrRc1EFnKq0FAlta9i/Mp7DcLXb5pyoRhA3oWNlIGfzm76Y5asxcZigPlkzXLp8YL/GAjVLVl0OXVsWdFUK/ScqhrhZpNSw5dQuubs9mXkVxUoPNTS5hs9OED965mefLioXyryZukLy59OGxd1xdc87fwa9obHkYno95XnTUsWtXA65vgrhxA0+46a23I/IKicpzOSlldyCxZQ6uveAWXsZO357pX3JcdCRVHvhrXBgMWHVaOOJjxKzM22fUGYn08v+Hh4Vu4GxHM1KwF+POd7IzNqUakucCyvMd3t8EJ3ezGuWvj08gbg4bxNzQnOJOIbIP+6Y3M9wndZd82cMCdyc925/5I6kCCBhc+08qDVh57HMLpGIQ92gMXa/OkEVX71zx9MXrKEJpV5T+14l2G6ljH+uagkZ8DceVns2VGsweTHZpmsa677NQFe69TY1UV/vAh8XSP0rawgsWoGsxyFB9qDLVmja0Pbxlw6nuTmzqjKx+YeJiyHnW36JiruuiVrC85q1RksOjB83aftpv/7b1zAeb+SArsGksEqDjWT+DkyssXod0TPECf9eKngrr+F66KvsMAMakwBisi1PzhuNpSZSzOSODJI0XGRr7+BDyXLQQr4FGNXkdTXg2Z4szN9HSLIrpC41wxDgi9ZSb6AyZifaWWXJqHkb1N36149qvGWk9yc7AlmybknQpNUd2Wd1+wI3HPMexuF29VUYToIj0B0LB6CTA7xGplhqUyErGEweg23qJEgJ1WvlCikV8LniPQhxnqByfBcHHdEdVHjIQ0rtRBgf9hYghoo7u5xboWAXGOzb0uLuVg9FjhzUxAEfthX7shnj54kO0oPtbQ4qWYo7tpYXiCm9xdnLH7QBhLAWv19DuS7ug2K+8sGpFLf1MA1wa7797CUlqAkqZVVFUnxoZ7RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016M1XaWJSuQdUD2eo47YC5Z",
      "input": {
        "note": "Left arm is free of the right arm now (effort dropped). Moving it out to its own side and unwinding yaw so the top camera can see the table again.",
        "targets": {
          "left_x": 0.25,
          "left_y": -0.25,
          "left_yaw": 0,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_016M1XaWJSuQdUD2eo47YC5Z",
      "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]: [-1.1496, 1.6119, 1.5562, -1.3048, -0.7765, -1.0389, 0.042, 0.6411, 2.0956, 1.562, -1.5631, 0.5896, 1.9739, 0.9987]\nstate[eef_state]: left_x=0.2469 left_y=-0.2396 left_z=0.2304 left_yaw=0.0708 left_pitch=-0.2132 left_roll=0.179 left_gripper=0.042 right_x=0.2846 right_y=0.0943 right_z=0.0802 right_yaw=-1.3627 right_pitch=-0.2726 right_roll=-0.2879 right_gripper=0.9987\nstate[joint_eff]: [-0.4991, -8.4444, 8.8684, 0.7106, -0.4811, 0.2662, -0.0122, -0.1846, -10.1675, 4.6838, -0.7399, 0.315, -0.0708, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9988482ccf79733f59afc33f3ba8bc2ed861ead69c055a01bc4f278c4b895774",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57015ecae6c9a83883196a504614ce86937436b710d527d050af41dc6e93dd46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a71d2312c6c84749626a1d1a44a8b31516b55c6f6151949b386c1e64d3201ddc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /messages · status 200 · 12.25 s

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

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7315, 1.8439, 1.3716, -1.5597, -0.762, -1.9644, 0.042, 0.6418, 2.0956, 1.5726, -1.5799, 0.6014, 1.9739, 0.9987]\nstate[eef_state]: left_x=0.2686 left_y=-0.0724 left_z=0.1313 left_yaw=1.1396 left_pitch=-0.1459 left_roll=0.184 left_gripper=0.042 right_x=0.2858 right_y=0.0933 right_z=0.0845 right_yaw=-1.3564 right_pitch=-0.2608 right_roll=-0.2892 right_gripper=0.9987\nstate[joint_eff]: [0.1983, -10.0855, 4.588, -0.5885, -0.6374, 0.0855, -0.0073, -0.2256, -12.2462, 5.6957, -0.5495, 0.486, -0.105, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.7399, 1.6318, 1.4067, -1.5585, -0.8082, -1.6646, 0.042, 0.6411, 2.0956, 1.5665, -1.5776, 0.5964, 1.9743, 0.9987]\nstate[eef_state]: left_x=0.2713 left_y=-0.0699 left_z=0.1918 left_yaw=0.9113 left_pitch=-0.1789 left_roll=0.154 left_gripper=0.042 right_x=0.2843 right_y=0.0928 right_z=0.083 right_yaw=-1.3613 right_pitch=-0.263 right_roll=-0.2944 right_gripper=0.9987\nstate[joint_eff]: [-0.1983, -6.4889, 5.5453, -0.2125, -0.7643, 0.188, -0.0122, -0.1299, -10.0855, 4.3692, -0.6374, 0.2857, -0.0415, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-1.1496, 1.6119, 1.5562, -1.3048, -0.7765, -1.0389, 0.042, 0.6411, 2.0956, 1.562, -1.5631, 0.5896, 1.9739, 0.9987]\nstate[eef_state]: left_x=0.2469 left_y=-0.2396 left_z=0.2304 left_yaw=0.0708 left_pitch=-0.2132 left_roll=0.179 left_gripper=0.042 right_x=0.2846 right_y=0.0943 right_z=0.0802 right_yaw=-1.3627 right_pitch=-0.2726 right_roll=-0.2879 right_gripper=0.9987\nstate[joint_eff]: [-0.4991, -8.4444, 8.8684, 0.7106, -0.4811, 0.2662, -0.0122, -0.1846, -10.1675, 4.6838, -0.7399, 0.315, -0.0708, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9988482ccf79733f59afc33f3ba8bc2ed861ead69c055a01bc4f278c4b895774",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57015ecae6c9a83883196a504614ce86937436b710d527d050af41dc6e93dd46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a71d2312c6c84749626a1d1a44a8b31516b55c6f6151949b386c1e64d3201ddc",
        "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_01Mcdf28FAxJfcqQqqHcDkfX",
      "input": {
        "note": "The left wrist view shows both the cap and the pen still lying on the table ahead, so the earlier grasp was empty. Parking the right arm back and high to clear the top-camera view of the objects.",
        "targets": {
          "right_x": 0.2,
          "right_y": -0.05,
          "right_yaw": 0,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01Mcdf28FAxJfcqQqqHcDkfX",
      "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]: [-1.1522, 1.6131, 1.5532, -1.2957, -0.7696, -1.0382, 0.042, -0.1993, 0.8448, 1.2858, -1.285, 0.1608, -0.1402, 0.9987]\nstate[eef_state]: left_x=0.2462 left_y=-0.2421 left_z=0.2288 left_yaw=0.0648 left_pitch=-0.2179 left_roll=0.1724 left_gripper=0.042 right_x=0.1943 right_y=-0.0644 right_z=0.2857 right_yaw=-0.2721 right_pitch=-0.2886 right_roll=-0.2227 right_gripper=0.9987\nstate[joint_eff]: [0.1299, -7.1179, 6.2838, 0.6325, -0.525, -0.0464, -0.0122, 0.4444, 1.0462, 6.5573, 1.3455, 0.1197, -0.1245, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d8751e3641c309b3b3dc9f0daf9c5eadfaf3d7c955578a37d297698a2a94b2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:025645c721da37ddd2e958619ccff0ccd2a78c124cb7177d15d9941c1f8597ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6614eaed36716d722a892e90b559d350bb53e6f907be33ad0cc7d8849ba76f65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /messages · status 200 · 21.6 s

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

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7399, 1.6318, 1.4067, -1.5585, -0.8082, -1.6646, 0.042, 0.6411, 2.0956, 1.5665, -1.5776, 0.5964, 1.9743, 0.9987]\nstate[eef_state]: left_x=0.2713 left_y=-0.0699 left_z=0.1918 left_yaw=0.9113 left_pitch=-0.1789 left_roll=0.154 left_gripper=0.042 right_x=0.2843 right_y=0.0928 right_z=0.083 right_yaw=-1.3613 right_pitch=-0.263 right_roll=-0.2944 right_gripper=0.9987\nstate[joint_eff]: [-0.1983, -6.4889, 5.5453, -0.2125, -0.7643, 0.188, -0.0122, -0.1299, -10.0855, 4.3692, -0.6374, 0.2857, -0.0415, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-1.1496, 1.6119, 1.5562, -1.3048, -0.7765, -1.0389, 0.042, 0.6411, 2.0956, 1.562, -1.5631, 0.5896, 1.9739, 0.9987]\nstate[eef_state]: left_x=0.2469 left_y=-0.2396 left_z=0.2304 left_yaw=0.0708 left_pitch=-0.2132 left_roll=0.179 left_gripper=0.042 right_x=0.2846 right_y=0.0943 right_z=0.0802 right_yaw=-1.3627 right_pitch=-0.2726 right_roll=-0.2879 right_gripper=0.9987\nstate[joint_eff]: [-0.4991, -8.4444, 8.8684, 0.7106, -0.4811, 0.2662, -0.0122, -0.1846, -10.1675, 4.6838, -0.7399, 0.315, -0.0708, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-1.1522, 1.6131, 1.5532, -1.2957, -0.7696, -1.0382, 0.042, -0.1993, 0.8448, 1.2858, -1.285, 0.1608, -0.1402, 0.9987]\nstate[eef_state]: left_x=0.2462 left_y=-0.2421 left_z=0.2288 left_yaw=0.0648 left_pitch=-0.2179 left_roll=0.1724 left_gripper=0.042 right_x=0.1943 right_y=-0.0644 right_z=0.2857 right_yaw=-0.2721 right_pitch=-0.2886 right_roll=-0.2227 right_gripper=0.9987\nstate[joint_eff]: [0.1299, -7.1179, 6.2838, 0.6325, -0.525, -0.0464, -0.0122, 0.4444, 1.0462, 6.5573, 1.3455, 0.1197, -0.1245, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d8751e3641c309b3b3dc9f0daf9c5eadfaf3d7c955578a37d297698a2a94b2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:025645c721da37ddd2e958619ccff0ccd2a78c124cb7177d15d9941c1f8597ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6614eaed36716d722a892e90b559d350bb53e6f907be33ad0cc7d8849ba76f65",
        "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_01JAz8E7X9dYkPf88Rg84jDy",
      "input": {
        "note": "Top view now clearly shows the pen lying diagonally at about right_x 0.34, right_y 0.25. Sending the right arm to hover over it with the jaws yawed across the shaft, and tucking the left arm further out to its side.",
        "targets": {
          "left_x": 0.2,
          "left_y": -0.35,
          "left_z": 0.25,
          "right_gripper": 1,
          "right_x": 0.343,
          "right_y": 0.251,
          "right_yaw": -1.32,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 27 steps (2.7s)",
      "tool_use_id": "toolu_01JAz8E7X9dYkPf88Rg84jDy",
      "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]: [-1.2285, 1.9942, 1.9213, -1.7008, -0.7284, -1.3159, 0.042, 0.7223, 2.1983, 1.8614, -1.5806, 0.5648, 1.9915, 0.999]\nstate[eef_state]: left_x=0.227 left_y=-0.2761 left_z=0.1972 left_yaw=0.2502 left_pitch=-0.3096 left_roll=0.3921 left_gripper=0.042 right_x=0.3237 right_y=0.164 right_z=0.0954 right_yaw=-1.2505 right_pitch=-0.3643 right_roll=-0.1131 right_gripper=0.999\nstate[joint_eff]: [-9.347, -10.2222, 13.9556, 1.2186, -1.0476, 0.1832, -0.0073, 3.2068, 0.5128, 5.2718, -0.2955, 0.3297, 0.2515, -0.1197]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab780ce0af9df3b2c91789cf5e4d85530f83a369b0deab9ee3eadcdbe4b9a87b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b769df903b53bd3c38233a9270a3093c21a1b83e65ca98605227d4b90f90371",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e9ea9927929557a6abbe96a33a164cf3496aca7ff7813d06748c94cce01f23f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /messages · status 200 · 8.573 s

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

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.1496, 1.6119, 1.5562, -1.3048, -0.7765, -1.0389, 0.042, 0.6411, 2.0956, 1.562, -1.5631, 0.5896, 1.9739, 0.9987]\nstate[eef_state]: left_x=0.2469 left_y=-0.2396 left_z=0.2304 left_yaw=0.0708 left_pitch=-0.2132 left_roll=0.179 left_gripper=0.042 right_x=0.2846 right_y=0.0943 right_z=0.0802 right_yaw=-1.3627 right_pitch=-0.2726 right_roll=-0.2879 right_gripper=0.9987\nstate[joint_eff]: [-0.4991, -8.4444, 8.8684, 0.7106, -0.4811, 0.2662, -0.0122, -0.1846, -10.1675, 4.6838, -0.7399, 0.315, -0.0708, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-1.1522, 1.6131, 1.5532, -1.2957, -0.7696, -1.0382, 0.042, -0.1993, 0.8448, 1.2858, -1.285, 0.1608, -0.1402, 0.9987]\nstate[eef_state]: left_x=0.2462 left_y=-0.2421 left_z=0.2288 left_yaw=0.0648 left_pitch=-0.2179 left_roll=0.1724 left_gripper=0.042 right_x=0.1943 right_y=-0.0644 right_z=0.2857 right_yaw=-0.2721 right_pitch=-0.2886 right_roll=-0.2227 right_gripper=0.9987\nstate[joint_eff]: [0.1299, -7.1179, 6.2838, 0.6325, -0.525, -0.0464, -0.0122, 0.4444, 1.0462, 6.5573, 1.3455, 0.1197, -0.1245, -0.0171]",
      "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]: [-1.2285, 1.9942, 1.9213, -1.7008, -0.7284, -1.3159, 0.042, 0.7223, 2.1983, 1.8614, -1.5806, 0.5648, 1.9915, 0.999]\nstate[eef_state]: left_x=0.227 left_y=-0.2761 left_z=0.1972 left_yaw=0.2502 left_pitch=-0.3096 left_roll=0.3921 left_gripper=0.042 right_x=0.3237 right_y=0.164 right_z=0.0954 right_yaw=-1.2505 right_pitch=-0.3643 right_roll=-0.1131 right_gripper=0.999\nstate[joint_eff]: [-9.347, -10.2222, 13.9556, 1.2186, -1.0476, 0.1832, -0.0073, 3.2068, 0.5128, 5.2718, -0.2955, 0.3297, 0.2515, -0.1197]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab780ce0af9df3b2c91789cf5e4d85530f83a369b0deab9ee3eadcdbe4b9a87b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b769df903b53bd3c38233a9270a3093c21a1b83e65ca98605227d4b90f90371",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9ea9927929557a6abbe96a33a164cf3496aca7ff7813d06748c94cce01f23f0",
        "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_01XGJxZCjC9vCLZ6CuPbKLTy",
      "input": {
        "note": "Right wrist view shows the pen running vertically about 3.5 cm left of the jaw centre and reaching the bottom edge, so the radial distance is right. Sliding sideways onto the shaft and descending to table level.",
        "targets": {
          "right_x": 0.357,
          "right_y": 0.175,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01XGJxZCjC9vCLZ6CuPbKLTy",
      "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]: [-1.1542, 1.9728, 1.7622, -1.6382, -0.7132, -1.2819, 0.042, 0.7399, 2.3409, 1.9823, -1.5604, 0.5407, 2.0312, 0.9988]\nstate[eef_state]: left_x=0.2382 left_y=-0.2437 left_z=0.1668 left_yaw=0.3355 left_pitch=-0.3388 left_roll=0.4928 left_gripper=0.042 right_x=0.3384 right_y=0.1906 right_z=0.0638 right_yaw=-1.2677 right_pitch=-0.3823 right_roll=-0.099 right_gripper=0.9988\nstate[joint_eff]: [-3.6308, -12.1915, 6.2154, 0.4664, -0.6374, 0.0513, -0.0122, 1.9897, -10.5915, 6.5573, -0.3932, 0.3883, -0.0122, -0.0317]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fcba9ae937d563de32412f68ce1009521d8b66840aa3c4faad1a90ca901d1cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69daec73823e09d4bd8def43634fdd75ea7caac66a0842fd03d876c9418ae73d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8d2db0a56a6e7d59a73f379c8079e3aad91318834d043b653032ad791e08ec8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /messages · status 200 · 5.925 s

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

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.1522, 1.6131, 1.5532, -1.2957, -0.7696, -1.0382, 0.042, -0.1993, 0.8448, 1.2858, -1.285, 0.1608, -0.1402, 0.9987]\nstate[eef_state]: left_x=0.2462 left_y=-0.2421 left_z=0.2288 left_yaw=0.0648 left_pitch=-0.2179 left_roll=0.1724 left_gripper=0.042 right_x=0.1943 right_y=-0.0644 right_z=0.2857 right_yaw=-0.2721 right_pitch=-0.2886 right_roll=-0.2227 right_gripper=0.9987\nstate[joint_eff]: [0.1299, -7.1179, 6.2838, 0.6325, -0.525, -0.0464, -0.0122, 0.4444, 1.0462, 6.5573, 1.3455, 0.1197, -0.1245, -0.0171]",
      "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]: [-1.2285, 1.9942, 1.9213, -1.7008, -0.7284, -1.3159, 0.042, 0.7223, 2.1983, 1.8614, -1.5806, 0.5648, 1.9915, 0.999]\nstate[eef_state]: left_x=0.227 left_y=-0.2761 left_z=0.1972 left_yaw=0.2502 left_pitch=-0.3096 left_roll=0.3921 left_gripper=0.042 right_x=0.3237 right_y=0.164 right_z=0.0954 right_yaw=-1.2505 right_pitch=-0.3643 right_roll=-0.1131 right_gripper=0.999\nstate[joint_eff]: [-9.347, -10.2222, 13.9556, 1.2186, -1.0476, 0.1832, -0.0073, 3.2068, 0.5128, 5.2718, -0.2955, 0.3297, 0.2515, -0.1197]",
      "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]: [-1.1542, 1.9728, 1.7622, -1.6382, -0.7132, -1.2819, 0.042, 0.7399, 2.3409, 1.9823, -1.5604, 0.5407, 2.0312, 0.9988]\nstate[eef_state]: left_x=0.2382 left_y=-0.2437 left_z=0.1668 left_yaw=0.3355 left_pitch=-0.3388 left_roll=0.4928 left_gripper=0.042 right_x=0.3384 right_y=0.1906 right_z=0.0638 right_yaw=-1.2677 right_pitch=-0.3823 right_roll=-0.099 right_gripper=0.9988\nstate[joint_eff]: [-3.6308, -12.1915, 6.2154, 0.4664, -0.6374, 0.0513, -0.0122, 1.9897, -10.5915, 6.5573, -0.3932, 0.3883, -0.0122, -0.0317]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fcba9ae937d563de32412f68ce1009521d8b66840aa3c4faad1a90ca901d1cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69daec73823e09d4bd8def43634fdd75ea7caac66a0842fd03d876c9418ae73d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d2db0a56a6e7d59a73f379c8079e3aad91318834d043b653032ad791e08ec8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS7gcKjgEIEhgCKkBkjWa50NAmCvrPlt1nxbEUb4Vq8ueVn5BL7VT/qgqEfNtJkcN4EbTjDq7lFiuMNc+0CG68C4IrNGSbr6lt4i8aMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe3HzNUGEgxu6CqUapViLRIBZtkaDMu1++bRJdEoWCbffCIwLbnhTIG8bkPdPVHCuBtgdHqK16AaBFc+cnIEqEtxdp3uo7Pk7HG+f7oCHUtFUBCJKowG+oa8Z9kK7aiu/tKZBXNo/mhmEDao8LqrkyxOokyEfBSrinJ9JvbCLvaW/wHOQ1PHVxUfjLVojbviiBi7jBZVb2D5I4dq3VKr0UIz/L6laO7LHjA0BwcIFmyj0SsD4ugGQzkZKXjXAQJwSaqAFtvyWhyH+Sf1BSUrvgImnrHyCeDVGUzCpsvF25lAtkja79zFc5jQnwmYJVFmZCA1EpbNqNtdrCPzX7oZfcx5ot+q99rmdqNh+2eAyNioruxIZPdBY2mzzZt4FmMDhpwNmr+7HwuO1BQEjr2G/it/je16UFtl55BoZ3sT0PHv1NSN7goO43Hi9TtbL+aS1mDCbbBx1OExgopRzet5FxP8NG4ZH/gcKRTvOpaudE9+GG4eE3pTk0N3HE4F6ojala7gzXdoyfIZdBLHrMogl0LnHzC4I7zRi1zvXObcaMfNW7wTkrt61+homFpobfzVaNiCiABzA9R3pIzaJj7LbXUBnZakdsIq5aHwrkEiI+gjJJHuRzeJ0YAWO5TwtNseOHNlD8vT2ANGIS59x17qe8tdKywx4ngsiJvjmoRT31hhyOUHvNo+u9UmjAy2y0Ts1T1ZAXqIWT6bsNqxK61NsDYZHXjDl6YrAF55CctCEHDDsKEG5sd2UopFHA7+KrRgoqz2R7Mopy3YTMSbrrxz5O6gBhP6M1VZtpfnqN1KlGv5YLksgbK3qig23Z4dSHvIlGA/8ujeYarfMzTMPtHxDnUZzKy8hCO56bDulHfFBvXREdkk89qt0Rjjvg5bUtZvuQYnlkoP+vdtaKprsvPvPhhEEWvQNhqLo+XoUoptko53mgrbEnQW+agPsBhhrzDoO1053J2atxLqHMiT16RP6+ONGfBBQR/xKF8HchsBfMdarU0qp9MSXENwj9BrLgbUNHogrtvmDF1+O0BbUEcVR+h22EcmuNqsHlRB/+UWFN9Uk+cEpMTjLckAWuun/oH1nb1ESUvuyOt2s1f8axCoRcmWo4V4+6T1wimKtSR9gMddwwO56eCVj/J2m/5IHQHriI0UGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018D9KJs6G33W8yQiAVwEHp8",
      "input": {
        "note": "The right arm keeps stalling at z≈0.06 and its tool has drifted to pitch -0.38 (tilted back), which likely makes the wrist hit before the fingertips. Commanding pitch back to 0 and a descent to table level.",
        "targets": {
          "right_pitch": 0,
          "right_y": 0.185,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_018D9KJs6G33W8yQiAVwEHp8",
      "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]: [-1.0935, 1.9854, 1.6638, -1.6108, -0.6994, -1.2629, 0.042, 0.6834, 2.4851, 1.945, -1.512, 0.8097, 2.0537, 0.9987]\nstate[eef_state]: left_x=0.2442 left_y=-0.2169 left_z=0.1414 left_yaw=0.4213 left_pitch=-0.363 left_roll=0.5934 left_gripper=0.042 right_x=0.3739 right_y=0.1441 right_z=0.0288 right_yaw=-1.2344 right_pitch=-0.1031 right_roll=-0.1118 right_gripper=0.9987\nstate[joint_eff]: [-3.7402, -12.547, 7.2137, 0.0269, -0.5983, 0.0024, -0.0122, -1.6615, -7.2137, 4.0821, -0.5104, 0.6129, 0.3883, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be5a20de507876d9997bd5f1ef192dd315453e1ef2317847fd4ce94c7bc2153c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1107c576e4a9e52deaa3df9f89ef752fda4d3d538ee392610241c292d25dd40b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:41ebd2c40952392eb2c8c2b955b78757e8d4b22bfc8830feee2155e45c1cda02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /messages · status 200 · 10.44 s

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

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.2285, 1.9942, 1.9213, -1.7008, -0.7284, -1.3159, 0.042, 0.7223, 2.1983, 1.8614, -1.5806, 0.5648, 1.9915, 0.999]\nstate[eef_state]: left_x=0.227 left_y=-0.2761 left_z=0.1972 left_yaw=0.2502 left_pitch=-0.3096 left_roll=0.3921 left_gripper=0.042 right_x=0.3237 right_y=0.164 right_z=0.0954 right_yaw=-1.2505 right_pitch=-0.3643 right_roll=-0.1131 right_gripper=0.999\nstate[joint_eff]: [-9.347, -10.2222, 13.9556, 1.2186, -1.0476, 0.1832, -0.0073, 3.2068, 0.5128, 5.2718, -0.2955, 0.3297, 0.2515, -0.1197]",
      "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]: [-1.1542, 1.9728, 1.7622, -1.6382, -0.7132, -1.2819, 0.042, 0.7399, 2.3409, 1.9823, -1.5604, 0.5407, 2.0312, 0.9988]\nstate[eef_state]: left_x=0.2382 left_y=-0.2437 left_z=0.1668 left_yaw=0.3355 left_pitch=-0.3388 left_roll=0.4928 left_gripper=0.042 right_x=0.3384 right_y=0.1906 right_z=0.0638 right_yaw=-1.2677 right_pitch=-0.3823 right_roll=-0.099 right_gripper=0.9988\nstate[joint_eff]: [-3.6308, -12.1915, 6.2154, 0.4664, -0.6374, 0.0513, -0.0122, 1.9897, -10.5915, 6.5573, -0.3932, 0.3883, -0.0122, -0.0317]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-1.0935, 1.9854, 1.6638, -1.6108, -0.6994, -1.2629, 0.042, 0.6834, 2.4851, 1.945, -1.512, 0.8097, 2.0537, 0.9987]\nstate[eef_state]: left_x=0.2442 left_y=-0.2169 left_z=0.1414 left_yaw=0.4213 left_pitch=-0.363 left_roll=0.5934 left_gripper=0.042 right_x=0.3739 right_y=0.1441 right_z=0.0288 right_yaw=-1.2344 right_pitch=-0.1031 right_roll=-0.1118 right_gripper=0.9987\nstate[joint_eff]: [-3.7402, -12.547, 7.2137, 0.0269, -0.5983, 0.0024, -0.0122, -1.6615, -7.2137, 4.0821, -0.5104, 0.6129, 0.3883, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be5a20de507876d9997bd5f1ef192dd315453e1ef2317847fd4ce94c7bc2153c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1107c576e4a9e52deaa3df9f89ef752fda4d3d538ee392610241c292d25dd40b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41ebd2c40952392eb2c8c2b955b78757e8d4b22bfc8830feee2155e45c1cda02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISkAYKjgEIEhgCKkDJHR9yKlpjXpcggKyU8/LhIYs+wcv5XkIgTH9k9HY6+duCqdMbuakSIHr1KmeP03jIFQgy17H4SSV+Mo81bDOaMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfXHzNUGEgw9f1ExYGy4DJQivbsaDHYiz6pMBmd/gOZK0iIw7Xh329ks/5+WK35ejnW5V8mo2D4eEIvirPWzW/l7eZE0AGYXTPzcgHIScb+2FbDmKq4EjQJtFwzADejY8/NJ8/dyK9fSFzMrndQten0eIsLX851IONbJXeCNjPJDrQN6QwrjgcK2SSjj78gODcoyIIjbX6qYZVGFdm6gpGSw45o89dRhlBoT92fmDihmgKz/uLE5FiQO7UmOZtnhHbXrh9bW4pTWyAoG+nSqWvU3ckeKhGMIRrDoAuH9Dnd9R92e1wirabfPUe1Gu8a83zBYBVWKtdOEg2ow0MTSNRIgZ2B7AXS+U64NeeMMP4ag/u5Nmv3kM2XVK96q0ngtNqpJe9LPekSuV2VMeabEr9ogl1+Za+XDtffd8nSoJiFIPq3CGM+rm7vAi+S4ZgtypaD4UCEsdgLQaLaixX/ZgA0wGVcocBonzr2hHp+nZtw2tEpaRC2W1izcgX+VlkOZT7u1baVfl5Bb88FaKaaeUGlPyeziRxepj2z74PwfeSP9pGYn1p2CBeVTEmGBGJ+4nwSLFkrHjKqSxfDo8KjprjMNXjmi7eiYkbfambzDmC2P/YGxMtvLwPCy6z7HNzppmR5CRtNwYnYlgpbHwVGWEsm6dQD+PVNGOIERZalaR+2NHeLAYQxUzNkKu3nONa7Go41peeWjYs9jh3IyOU4+DDmqApQhyiT7tXBHHL/YMSOKJTH9pOheAglT+tDWYsI1xNM1PzjaMuqRYiFehwPSUY6Dj2t9w5TNQZGaMrMVhswfxE7PBBFV19+gKDaDQ2LRrLPz66fqrABMY76heU0Narzda6o/GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Nkxjwk3oaPiV8Nh2RT455q",
      "input": {
        "note": "Right arm is now down at z=0.03 with the tool upright and something dark sits between the jaws at the bottom of its wrist view; closing to try the pen grasp.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Nkxjwk3oaPiV8Nh2RT455q",
      "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]: [-1.0843, 1.9854, 1.6238, -1.578, -0.6987, -1.2552, 0.042, 0.6811, 2.4874, 1.9423, -1.5108, 0.7887, 2.0438, 0.0113]\nstate[eef_state]: left_x=0.245 left_y=-0.2125 left_z=0.1318 left_yaw=0.4299 left_pitch=-0.3665 left_roll=0.6062 left_gripper=0.042 right_x=0.3711 right_y=0.1441 right_z=0.0251 right_yaw=-1.2423 right_pitch=-0.1198 right_roll=-0.1297 right_gripper=0.0113\nstate[joint_eff]: [-0.0752, -10.5231, 5.1761, -0.3443, -0.4371, 0.0415, -0.0073, -0.1846, -12.9983, 5.0803, -0.5348, 0.5153, 0.105, 0.9792]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf8c39a9f2886794f5767d849dccaefb65a3242a74cd6635f4f8439db59444bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:475648343ac90c619a2ecbd661bb1aa0f229738785e351892236614a138830f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:838d293819bbfcf5c6f75d8e91418478748758b3c03ef0a257cd5059333bb882",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /messages · status 200 · 13.07 s

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

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.1542, 1.9728, 1.7622, -1.6382, -0.7132, -1.2819, 0.042, 0.7399, 2.3409, 1.9823, -1.5604, 0.5407, 2.0312, 0.9988]\nstate[eef_state]: left_x=0.2382 left_y=-0.2437 left_z=0.1668 left_yaw=0.3355 left_pitch=-0.3388 left_roll=0.4928 left_gripper=0.042 right_x=0.3384 right_y=0.1906 right_z=0.0638 right_yaw=-1.2677 right_pitch=-0.3823 right_roll=-0.099 right_gripper=0.9988\nstate[joint_eff]: [-3.6308, -12.1915, 6.2154, 0.4664, -0.6374, 0.0513, -0.0122, 1.9897, -10.5915, 6.5573, -0.3932, 0.3883, -0.0122, -0.0317]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-1.0935, 1.9854, 1.6638, -1.6108, -0.6994, -1.2629, 0.042, 0.6834, 2.4851, 1.945, -1.512, 0.8097, 2.0537, 0.9987]\nstate[eef_state]: left_x=0.2442 left_y=-0.2169 left_z=0.1414 left_yaw=0.4213 left_pitch=-0.363 left_roll=0.5934 left_gripper=0.042 right_x=0.3739 right_y=0.1441 right_z=0.0288 right_yaw=-1.2344 right_pitch=-0.1031 right_roll=-0.1118 right_gripper=0.9987\nstate[joint_eff]: [-3.7402, -12.547, 7.2137, 0.0269, -0.5983, 0.0024, -0.0122, -1.6615, -7.2137, 4.0821, -0.5104, 0.6129, 0.3883, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0843, 1.9854, 1.6238, -1.578, -0.6987, -1.2552, 0.042, 0.6811, 2.4874, 1.9423, -1.5108, 0.7887, 2.0438, 0.0113]\nstate[eef_state]: left_x=0.245 left_y=-0.2125 left_z=0.1318 left_yaw=0.4299 left_pitch=-0.3665 left_roll=0.6062 left_gripper=0.042 right_x=0.3711 right_y=0.1441 right_z=0.0251 right_yaw=-1.2423 right_pitch=-0.1198 right_roll=-0.1297 right_gripper=0.0113\nstate[joint_eff]: [-0.0752, -10.5231, 5.1761, -0.3443, -0.4371, 0.0415, -0.0073, -0.1846, -12.9983, 5.0803, -0.5348, 0.5153, 0.105, 0.9792]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf8c39a9f2886794f5767d849dccaefb65a3242a74cd6635f4f8439db59444bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:475648343ac90c619a2ecbd661bb1aa0f229738785e351892236614a138830f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:838d293819bbfcf5c6f75d8e91418478748758b3c03ef0a257cd5059333bb882",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIShAoKjgEIEhgCKkD+WIYBKDQBgsPoIaB2XyopVW8OkfWtOBrT8wG/1qgEeA4JD7OxDgOJy2HFhviTs7JStuJR6v6oUkEF6XErpbqEMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYDIzNUGEgz08VY4SDn8/lOrVSEaDAaxV+1glbSbBV7ceiIwsaHb6qyCGbRKef44OPgPnoRpT9BBbRwWXINM3plrKFOqq69mcMHho4P+lTFE+eMXKqIIkhVj24KROmZzMl5PIuVnOIemSV1vmypjIgT1Kmbhar8eu+v0KW8+VVT24cvYTMPEBQ5HIJjK1CGVz+BtqdiLvLMx2Hw4v5Wsj6nIgIFG4ygzXLhPmngr5dEypjzWEYDwllrJIwlrE9iSY8x/O/XtGwAqC8YoGNHjN2EwLS9eKfuZxY8HU7po/ydAQZSxiorZUmT2hncjnCx2S5IqPqTMljYxYHxefEhVXL8WMDQcRDgB+HDdeeQOIzNPlYqko1E5JdTIh9VLI709jOS+b5nKZc62E6gxQFClgIBzijWTFuqkhOlL3Rwn9OEiBOyHQ4v0hsi2f+in+l4YvoAjGISYoNJelfKt8WXaz0qB+Za1HFH4z3I5em87pzooQ8W58yU/YigE+DueLcnSn4Z7yt1FjkHWFSyHb4KuTCotcDldwDHeo5utmPVr64Y6yI0012Ua+KO2RJSFQ9yJf9FAp08564TkBZLy8h8sRfFsewESvT18i/cVHazfqsynY6u0CPr/Bs2l2KHZSkVIqKBGDKEA9+ucqV8Zw1Q5DBoBd1XcAGtrmtJVbLy+1CyJx7q12C2UnxgRZg9sN1Y8kAXmIHxHZbmnX9QHY/goCO8wSAx7nmJGk3FtAp4vXm102R/mECRd7hxW1VC3Qlpll6uroPze5RBFEaqWgJruSAo2y2gK7LgTBsPZDpr0gN6FGY+y/391xg2WwPeBFWvL0V8wOkbB5LYp2drY22j6OB06UpJLp5/CpbZpYWxV1fb+f3siVxEtB0aIXvE7mEkCIjos2dfmEUhryFaQvm2gg9LavTxSiFt2ujZ27QunMtA6BPQdFXYRmFJT44qnLRD+CYqZCPSAaNNqkN2d7xcV5n8rv4YxUkz8cI11as9/LLUk6/9tevEVBp7QAYp/2ERrWZBm4Ek7NwzycQ7Gc+1Y6BdFDYvXLnm/ZjUoKxsXYYbtRmExT1xQ6/x2J/+g1wi4+P1qCA0tPGGne0pWQQbr4e3PDs/zx/D9OvTCBm/UMxZ2H9s3jgauf13zaXF47rhkVI62+0MF1WF0/+F2pRULsIOQQTkrasi2WDALCfr82GDQ0a971HzWvWSsv3Tlk/s7zba2LCbonfZMaSPZN3vKxmV32DusTlYA7DagUEyVqfPFMO4MOx4P6Saeb+LKrxNU3NVjcm7aSZBgooXshd42/fE9Su6DfxEM8FsoAt3HErAimSMCk3+oAVqt6S48cq3kW1hLi1WiNbp8vW1Dc2oHVC0G3Y0KqjoDlq6+Lb5eJkb0voABxobCnAePXPwlnHjtG7hGF0oltvr4yNMFjmVZFIkp0n0HDQSSb16ZBowAteJG1ar7lsYEVqNRmVaooOvdZ/jmsFYeYzefJK/2TzAjQyODeeuD+YwSItlpzB2oH0q5pbCoNP+UmkkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019YvR7ixc5fu4wtNyv1FsfG",
      "input": {
        "note": "Both closes came up empty and the objects are hidden under the arms. Pulling both arms back to their own sides and high up to get a clean top-camera view of where the pen and cap actually are.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.18,
          "left_y": -0.3,
          "left_yaw": 0,
          "left_z": 0.3,
          "right_gripper": 1,
          "right_x": 0.18,
          "right_y": -0.05,
          "right_yaw": 0,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_019YvR7ixc5fu4wtNyv1FsfG",
      "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]: [-1.2137, 1.8614, 1.7256, -1.5795, -0.7326, -0.8856, 0.9974, -0.3073, 0.6968, 1.195, -1.2102, 0.0246, -0.1822, 0.9967]\nstate[eef_state]: left_x=0.225 left_y=-0.2547 left_z=0.1921 left_yaw=0.0277 left_pitch=-0.4077 left_roll=0.6191 left_gripper=0.9974 right_x=0.1818 right_y=-0.0585 right_z=0.2902 right_yaw=-0.2383 right_pitch=-0.1609 right_roll=-0.155 right_gripper=0.9967\nstate[joint_eff]: [-0.3897, -11.5214, 8.2393, 0.0806, -0.8034, 0.2955, -0.0073, 1.5795, 3.0427, 5.135, 1.4286, 0.3346, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 313):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8dfa6b3ae24c3da58b4ffd2917d93171e0eb8c4f94164e9dbe2d43900580707b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 313):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:975477a97301960e2bec925bd39bf3e88a5749bf0f4fdb8962f3d5b1c6ae9af4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 313):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cf13834dbc7c6d4934d83a8333abdb592977484fb01c2ce5531d93414891d138",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /messages · status 200 · 6.579 s

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

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0935, 1.9854, 1.6638, -1.6108, -0.6994, -1.2629, 0.042, 0.6834, 2.4851, 1.945, -1.512, 0.8097, 2.0537, 0.9987]\nstate[eef_state]: left_x=0.2442 left_y=-0.2169 left_z=0.1414 left_yaw=0.4213 left_pitch=-0.363 left_roll=0.5934 left_gripper=0.042 right_x=0.3739 right_y=0.1441 right_z=0.0288 right_yaw=-1.2344 right_pitch=-0.1031 right_roll=-0.1118 right_gripper=0.9987\nstate[joint_eff]: [-3.7402, -12.547, 7.2137, 0.0269, -0.5983, 0.0024, -0.0122, -1.6615, -7.2137, 4.0821, -0.5104, 0.6129, 0.3883, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0843, 1.9854, 1.6238, -1.578, -0.6987, -1.2552, 0.042, 0.6811, 2.4874, 1.9423, -1.5108, 0.7887, 2.0438, 0.0113]\nstate[eef_state]: left_x=0.245 left_y=-0.2125 left_z=0.1318 left_yaw=0.4299 left_pitch=-0.3665 left_roll=0.6062 left_gripper=0.042 right_x=0.3711 right_y=0.1441 right_z=0.0251 right_yaw=-1.2423 right_pitch=-0.1198 right_roll=-0.1297 right_gripper=0.0113\nstate[joint_eff]: [-0.0752, -10.5231, 5.1761, -0.3443, -0.4371, 0.0415, -0.0073, -0.1846, -12.9983, 5.0803, -0.5348, 0.5153, 0.105, 0.9792]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-1.2137, 1.8614, 1.7256, -1.5795, -0.7326, -0.8856, 0.9974, -0.3073, 0.6968, 1.195, -1.2102, 0.0246, -0.1822, 0.9967]\nstate[eef_state]: left_x=0.225 left_y=-0.2547 left_z=0.1921 left_yaw=0.0277 left_pitch=-0.4077 left_roll=0.6191 left_gripper=0.9974 right_x=0.1818 right_y=-0.0585 right_z=0.2902 right_yaw=-0.2383 right_pitch=-0.1609 right_roll=-0.155 right_gripper=0.9967\nstate[joint_eff]: [-0.3897, -11.5214, 8.2393, 0.0806, -0.8034, 0.2955, -0.0073, 1.5795, 3.0427, 5.135, 1.4286, 0.3346, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 313):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8dfa6b3ae24c3da58b4ffd2917d93171e0eb8c4f94164e9dbe2d43900580707b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 313):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:975477a97301960e2bec925bd39bf3e88a5749bf0f4fdb8962f3d5b1c6ae9af4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 313):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf13834dbc7c6d4934d83a8333abdb592977484fb01c2ce5531d93414891d138",
        "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_01Kvd95RB6oHonZi3RPeqF75",
      "input": {
        "note": "The left wrist camera shows a small dark object (the cap) straight ahead on the jaw column, well out in front. Advancing the left arm 10 cm toward it and levelling the tool.",
        "targets": {
          "left_pitch": 0,
          "left_x": 0.33,
          "left_y": -0.255,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01Kvd95RB6oHonZi3RPeqF75",
      "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]: [-1.1805, 1.8587, 1.7329, -1.5585, -0.7788, -0.8581, 0.9979, -0.3107, 0.7021, 1.1946, -1.2446, 0.0082, -0.2043, 0.9978]\nstate[eef_state]: left_x=0.241 left_y=-0.2503 left_z=0.1996 left_yaw=0.0364 left_pitch=-0.3629 left_roll=0.6225 left_gripper=0.9979 right_x=0.178 right_y=-0.0549 right_z=0.2828 right_yaw=-0.2151 right_pitch=-0.2016 right_roll=-0.1572 right_gripper=0.9978\nstate[joint_eff]: [-0.3487, -7.8291, 7.4325, 0.1245, -0.8083, 0.0073, 0.0415, 0.2393, 0.7863, 5.2991, 1.9316, 0.1441, 0.1978, 0.1099]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4ceb7c3875f4d20c8433301a03e65920249234b7d9b3dc93b081d7f8d70e1c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d742057884d73ed5fa960f4e5f04c0ca2dcba821393766fa800da38bc2f4c17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:401a4e2d984bce05cab64f081cdcda73ee42580550692961f1bf7d91913727fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /messages · status 200 · 22.27 s

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

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0843, 1.9854, 1.6238, -1.578, -0.6987, -1.2552, 0.042, 0.6811, 2.4874, 1.9423, -1.5108, 0.7887, 2.0438, 0.0113]\nstate[eef_state]: left_x=0.245 left_y=-0.2125 left_z=0.1318 left_yaw=0.4299 left_pitch=-0.3665 left_roll=0.6062 left_gripper=0.042 right_x=0.3711 right_y=0.1441 right_z=0.0251 right_yaw=-1.2423 right_pitch=-0.1198 right_roll=-0.1297 right_gripper=0.0113\nstate[joint_eff]: [-0.0752, -10.5231, 5.1761, -0.3443, -0.4371, 0.0415, -0.0073, -0.1846, -12.9983, 5.0803, -0.5348, 0.5153, 0.105, 0.9792]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-1.2137, 1.8614, 1.7256, -1.5795, -0.7326, -0.8856, 0.9974, -0.3073, 0.6968, 1.195, -1.2102, 0.0246, -0.1822, 0.9967]\nstate[eef_state]: left_x=0.225 left_y=-0.2547 left_z=0.1921 left_yaw=0.0277 left_pitch=-0.4077 left_roll=0.6191 left_gripper=0.9974 right_x=0.1818 right_y=-0.0585 right_z=0.2902 right_yaw=-0.2383 right_pitch=-0.1609 right_roll=-0.155 right_gripper=0.9967\nstate[joint_eff]: [-0.3897, -11.5214, 8.2393, 0.0806, -0.8034, 0.2955, -0.0073, 1.5795, 3.0427, 5.135, 1.4286, 0.3346, -0.0317, -0.0122]",
      "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]: [-1.1805, 1.8587, 1.7329, -1.5585, -0.7788, -0.8581, 0.9979, -0.3107, 0.7021, 1.1946, -1.2446, 0.0082, -0.2043, 0.9978]\nstate[eef_state]: left_x=0.241 left_y=-0.2503 left_z=0.1996 left_yaw=0.0364 left_pitch=-0.3629 left_roll=0.6225 left_gripper=0.9979 right_x=0.178 right_y=-0.0549 right_z=0.2828 right_yaw=-0.2151 right_pitch=-0.2016 right_roll=-0.1572 right_gripper=0.9978\nstate[joint_eff]: [-0.3487, -7.8291, 7.4325, 0.1245, -0.8083, 0.0073, 0.0415, 0.2393, 0.7863, 5.2991, 1.9316, 0.1441, 0.1978, 0.1099]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4ceb7c3875f4d20c8433301a03e65920249234b7d9b3dc93b081d7f8d70e1c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d742057884d73ed5fa960f4e5f04c0ca2dcba821393766fa800da38bc2f4c17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:401a4e2d984bce05cab64f081cdcda73ee42580550692961f1bf7d91913727fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISwQYKjgEIEhgCKkDV9mVdDBm2zEnKAJx6vqxRFCfBVRrU4W3ZLFSIteIaOwlN1NM7KgYxG5CDDHZZqakfMtjL36BlbQQFCjl279m6Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZfIzNUGEgwhGFiYzukMf1hbl34aDHbRGRIa0+1SChTBYSIw3W1PBFJwvAe8bCZJCAkCZ9zkrnzTie9pDsjRe3NNedGagFQwusHX2HBtyr3uaESXKt8EAJyz0CaWCEElci9lzcfUdvPBL+X/62iTjRODSvlTemepuPbg+daxiDlwDISJcr0p0ByXFoGuDlKS+ljbo3FKZIRlheTvGNDhaU1sPilkb69w2lksQqBq6g0+FjQYAH2cO1pcLNdpo4zR3yIQGHMMB8tHuosI1H0z8nvBMr0po0m4hP5/Ojik2xGVoc4oEJwaqwiOnVs5sa72u2xYlElABafCf9RTO7VoLaRQznVaSW750ABXZ4+YBIraEE3mvnJfjzDI8TH0K6QEe8mc3afMQBg1zJ02uF+Kc/BSjHKJ/cf6/qi5D1zC2XeBa0Ehz8nGefjdlijPNhDLQSiotRLw+bElaO09hzo+xBkn+C3T18TDYnoi3ab5deYzg5GzGKVEfMp1XDlXThILC2fxzBreU5OQbuuWNgHzpEIrXOdNk+g4PZlewEs0DeEaJL/MzMaSgSu4G3sXUKAHYN1QmKOtrq/23E3OxeDpWuKARV+tD9Zj6ve2ojMD8pHdcQSM9Qm8p4zXx9uiuBZeNLI/RWFVCrVM4ghLWuK5Iu4qQi05y16Tyl0zOQDHa/rDlBKmANU1JAR/82WvQoR5PnZpjBBJAdlca3/xzP/z1T+oQmcVk7LKwb5fvKz5TT2JsGS0TvIx2wyJQI2LzjaNtNx7rDwQqPOckOgkuat+eokAqPcKfFDJCctF4LXQbygNOPf36FiQdFddb8vCgPpFbpHnFGXV7YyKbeEapYzRARfTv49hxzYB47MtSQvtB+ZcODjzX/IVLIqVP5fJ0RZsEsrlvl8UruY6e01xSinGCg54osX8GxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011Pib25dceZjnA89TF27NxH",
      "input": {
        "note": "The left arm is barely tracking and its wrist has drifted to roll 0.62; commanding a clean upright tool orientation plus a small forward step to get it back into a sane configuration.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.3,
          "left_y": -0.25,
          "left_yaw": 0,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_011Pib25dceZjnA89TF27NxH",
      "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]: [-1.047, 1.5581, 1.0088, -0.5095, -0.8165, -0.7906, 0.998, -0.3119, 0.7044, 1.1908, -1.2488, 0.0032, -0.2066, 0.998]\nstate[eef_state]: left_x=0.2899 left_y=-0.2373 left_z=0.1328 left_yaw=0.0147 left_pitch=-0.0723 left_roll=0.1073 left_gripper=0.998 right_x=0.1778 right_y=-0.0542 right_z=0.2803 right_yaw=-0.2105 right_pitch=-0.2117 right_roll=-0.1544 right_gripper=0.998\nstate[joint_eff]: [0.2393, -8.6906, 6.7487, 1.3455, -0.4127, 0.022, -0.0073, -0.1026, 1.0872, 5.9829, 1.6532, -0.0073, -0.022, 0.0024]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40f09c6de1c09c83d779ae1f01c807679aadd90edcc2f43bad887f33e5c59417",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e186ddbdeb4800339c9295174ac2b5c1932af88b548f0158658f5b1451a87bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:495e246e76641643b3d8acb45fd8f3c5ba408d39b3d17ba579b2632c4f4c3499",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /messages · status 200 · 4.647 s

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

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.2137, 1.8614, 1.7256, -1.5795, -0.7326, -0.8856, 0.9974, -0.3073, 0.6968, 1.195, -1.2102, 0.0246, -0.1822, 0.9967]\nstate[eef_state]: left_x=0.225 left_y=-0.2547 left_z=0.1921 left_yaw=0.0277 left_pitch=-0.4077 left_roll=0.6191 left_gripper=0.9974 right_x=0.1818 right_y=-0.0585 right_z=0.2902 right_yaw=-0.2383 right_pitch=-0.1609 right_roll=-0.155 right_gripper=0.9967\nstate[joint_eff]: [-0.3897, -11.5214, 8.2393, 0.0806, -0.8034, 0.2955, -0.0073, 1.5795, 3.0427, 5.135, 1.4286, 0.3346, -0.0317, -0.0122]",
      "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]: [-1.1805, 1.8587, 1.7329, -1.5585, -0.7788, -0.8581, 0.9979, -0.3107, 0.7021, 1.1946, -1.2446, 0.0082, -0.2043, 0.9978]\nstate[eef_state]: left_x=0.241 left_y=-0.2503 left_z=0.1996 left_yaw=0.0364 left_pitch=-0.3629 left_roll=0.6225 left_gripper=0.9979 right_x=0.178 right_y=-0.0549 right_z=0.2828 right_yaw=-0.2151 right_pitch=-0.2016 right_roll=-0.1572 right_gripper=0.9978\nstate[joint_eff]: [-0.3487, -7.8291, 7.4325, 0.1245, -0.8083, 0.0073, 0.0415, 0.2393, 0.7863, 5.2991, 1.9316, 0.1441, 0.1978, 0.1099]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-1.047, 1.5581, 1.0088, -0.5095, -0.8165, -0.7906, 0.998, -0.3119, 0.7044, 1.1908, -1.2488, 0.0032, -0.2066, 0.998]\nstate[eef_state]: left_x=0.2899 left_y=-0.2373 left_z=0.1328 left_yaw=0.0147 left_pitch=-0.0723 left_roll=0.1073 left_gripper=0.998 right_x=0.1778 right_y=-0.0542 right_z=0.2803 right_yaw=-0.2105 right_pitch=-0.2117 right_roll=-0.1544 right_gripper=0.998\nstate[joint_eff]: [0.2393, -8.6906, 6.7487, 1.3455, -0.4127, 0.022, -0.0073, -0.1026, 1.0872, 5.9829, 1.6532, -0.0073, -0.022, 0.0024]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40f09c6de1c09c83d779ae1f01c807679aadd90edcc2f43bad887f33e5c59417",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e186ddbdeb4800339c9295174ac2b5c1932af88b548f0158658f5b1451a87bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:495e246e76641643b3d8acb45fd8f3c5ba408d39b3d17ba579b2632c4f4c3499",
        "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_013wevVNFwR2jFyr3XqJRrqT",
      "input": {
        "note": "Left arm is finally in a clean pose and its wrist view clearly shows the cap (small dark piece, left of the jaws) and the pen (light stick, right). Moving over the cap at ~9 cm height.",
        "targets": {
          "left_x": 0.365,
          "left_y": -0.15,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_013wevVNFwR2jFyr3XqJRrqT",
      "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]: [-0.6617, 1.5387, 0.7597, -0.0925, -0.6098, -0.4427, 0.998, -0.3119, 0.7052, 1.1904, -1.2495, 0.0032, -0.2096, 0.998]\nstate[eef_state]: left_x=0.3534 left_y=-0.1425 left_z=0.0821 left_yaw=0.0694 left_pitch=-0.1128 left_roll=0.1291 left_gripper=0.998 right_x=0.1778 right_y=-0.0542 right_z=0.2799 right_yaw=-0.2088 right_pitch=-0.2138 right_roll=-0.1564 right_gripper=0.998\nstate[joint_eff]: [0.1846, -6.0513, 6.0923, 1.5946, -0.149, 0.1343, -0.0122, -0.0889, 1.0462, 5.4632, 1.5604, -0.0122, -0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 348):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4be20f97720410062532b0541843d21ce14d193d78ef8789fc1f8decd303422c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 348):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ccf22803b2ac8b8db716be2639b2a24885143abd226dac2e195c09eb62fb017",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 348):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:47e0083a8bf8ea2288502ddfb5019f6dde168d5c36a649a62aea724ab18552c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /messages · status 200 · 14.21 s

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

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.1805, 1.8587, 1.7329, -1.5585, -0.7788, -0.8581, 0.9979, -0.3107, 0.7021, 1.1946, -1.2446, 0.0082, -0.2043, 0.9978]\nstate[eef_state]: left_x=0.241 left_y=-0.2503 left_z=0.1996 left_yaw=0.0364 left_pitch=-0.3629 left_roll=0.6225 left_gripper=0.9979 right_x=0.178 right_y=-0.0549 right_z=0.2828 right_yaw=-0.2151 right_pitch=-0.2016 right_roll=-0.1572 right_gripper=0.9978\nstate[joint_eff]: [-0.3487, -7.8291, 7.4325, 0.1245, -0.8083, 0.0073, 0.0415, 0.2393, 0.7863, 5.2991, 1.9316, 0.1441, 0.1978, 0.1099]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-1.047, 1.5581, 1.0088, -0.5095, -0.8165, -0.7906, 0.998, -0.3119, 0.7044, 1.1908, -1.2488, 0.0032, -0.2066, 0.998]\nstate[eef_state]: left_x=0.2899 left_y=-0.2373 left_z=0.1328 left_yaw=0.0147 left_pitch=-0.0723 left_roll=0.1073 left_gripper=0.998 right_x=0.1778 right_y=-0.0542 right_z=0.2803 right_yaw=-0.2105 right_pitch=-0.2117 right_roll=-0.1544 right_gripper=0.998\nstate[joint_eff]: [0.2393, -8.6906, 6.7487, 1.3455, -0.4127, 0.022, -0.0073, -0.1026, 1.0872, 5.9829, 1.6532, -0.0073, -0.022, 0.0024]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.6617, 1.5387, 0.7597, -0.0925, -0.6098, -0.4427, 0.998, -0.3119, 0.7052, 1.1904, -1.2495, 0.0032, -0.2096, 0.998]\nstate[eef_state]: left_x=0.3534 left_y=-0.1425 left_z=0.0821 left_yaw=0.0694 left_pitch=-0.1128 left_roll=0.1291 left_gripper=0.998 right_x=0.1778 right_y=-0.0542 right_z=0.2799 right_yaw=-0.2088 right_pitch=-0.2138 right_roll=-0.1564 right_gripper=0.998\nstate[joint_eff]: [0.1846, -6.0513, 6.0923, 1.5946, -0.149, 0.1343, -0.0122, -0.0889, 1.0462, 5.4632, 1.5604, -0.0122, -0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 348):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4be20f97720410062532b0541843d21ce14d193d78ef8789fc1f8decd303422c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 348):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ccf22803b2ac8b8db716be2639b2a24885143abd226dac2e195c09eb62fb017",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 348):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47e0083a8bf8ea2288502ddfb5019f6dde168d5c36a649a62aea724ab18552c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISnwQKjgEIEhgCKkBhduJEi9LH7LtgFMngq2Ub9XealQ0l4cpqL+EHsKGoqDvwg1VB1Wjqa0YQnXba/iH/uSBGOBOjG/yJj95OniwVMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbTIzNUGEgyJMWGtmdsZaZsFXA8aDCpfS5fYdgr81GYnhSIwLuaOod30wWP/h9MT0jQ1yV8BC9BUu1qDR1mhIAxNcEZPBMR0PpB836FwQYLRmgk2Kr0C1aoP7ZfusnYbKiWYv2AiIqNPcuODkOB5JNVvU6qGFdSm2rm4ymr1Eo946MEwp2xfGAhcOX7pDzNxSivnzGjy8IDvZpqv+fztZqj2XRdn//z8UTdwPQWtbZCFzM3qXy6TP67jhXtSnQeMujNhnVhZ4h5i+QtSrYpq9WJcXPBwfobOy6/5N3XIA3gDXNGS4xLRF3jXD7l6XOpw8DBMu1BzpXE0eBUWRZHZnm/I+Vh8dmEy+eXZ7fS3O82GSScqHkFWo/2VIoxgSm3bNvbTIGnWpkywfY/GOXwWuIEmBCg6fZ+tnGA2ouhN2+69Bh3abauF0J+WbkscwNT6wWaH7L0Fq/7YRb7c9/mcKhfUHxtqDKAqM9R69piMtZMgqJOp+c7PDE+ZVILvZr9K3Vm4uDIl/q5QPaVrCgmMqfVqR74YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LL6Fq8xNGuPfFfmx4g77fv",
      "input": {
        "note": "Cap is centred on the jaw column in the left wrist view but a couple of cm beyond the fingertips; advancing 2 cm and descending to table level.",
        "targets": {
          "left_x": 0.375,
          "left_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01LL6Fq8xNGuPfFfmx4g77fv",
      "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]: [-0.6231, 1.8008, 0.6895, 0.2169, -0.5808, -0.4202, 0.998, -0.3119, 0.7067, 1.1896, -1.2499, 0.0032, -0.2131, 0.998]\nstate[eef_state]: left_x=0.3664 left_y=-0.1395 left_z=0.0064 left_yaw=0.0771 left_pitch=-0.1465 left_roll=0.1446 left_gripper=0.998 right_x=0.178 right_y=-0.0542 right_z=0.2793 right_yaw=-0.2069 right_pitch=-0.2168 right_roll=-0.1586 right_gripper=0.998\nstate[joint_eff]: [0.4171, -5.9419, 4.7111, 0.8767, -0.1929, 0.1734, -0.0122, -0.0615, 0.9778, 5.3402, 1.5751, -0.0562, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 353):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d69149279cfec351860c4a4e85493b7d0d1391119fdfe6e7cc421f401dcf1594",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 353):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e83a2885103908d891dcd2d139a19c62c90b8e6e47a305fe30ef27aaf0b8bea1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 353):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e6cc3e0374181600de161d05b7e9c032868c61bf660bd943a378a1a0ae6bcaa3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /messages · status 200 · 6.051 s

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

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.047, 1.5581, 1.0088, -0.5095, -0.8165, -0.7906, 0.998, -0.3119, 0.7044, 1.1908, -1.2488, 0.0032, -0.2066, 0.998]\nstate[eef_state]: left_x=0.2899 left_y=-0.2373 left_z=0.1328 left_yaw=0.0147 left_pitch=-0.0723 left_roll=0.1073 left_gripper=0.998 right_x=0.1778 right_y=-0.0542 right_z=0.2803 right_yaw=-0.2105 right_pitch=-0.2117 right_roll=-0.1544 right_gripper=0.998\nstate[joint_eff]: [0.2393, -8.6906, 6.7487, 1.3455, -0.4127, 0.022, -0.0073, -0.1026, 1.0872, 5.9829, 1.6532, -0.0073, -0.022, 0.0024]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.6617, 1.5387, 0.7597, -0.0925, -0.6098, -0.4427, 0.998, -0.3119, 0.7052, 1.1904, -1.2495, 0.0032, -0.2096, 0.998]\nstate[eef_state]: left_x=0.3534 left_y=-0.1425 left_z=0.0821 left_yaw=0.0694 left_pitch=-0.1128 left_roll=0.1291 left_gripper=0.998 right_x=0.1778 right_y=-0.0542 right_z=0.2799 right_yaw=-0.2088 right_pitch=-0.2138 right_roll=-0.1564 right_gripper=0.998\nstate[joint_eff]: [0.1846, -6.0513, 6.0923, 1.5946, -0.149, 0.1343, -0.0122, -0.0889, 1.0462, 5.4632, 1.5604, -0.0122, -0.0073, -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 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]: [-0.6231, 1.8008, 0.6895, 0.2169, -0.5808, -0.4202, 0.998, -0.3119, 0.7067, 1.1896, -1.2499, 0.0032, -0.2131, 0.998]\nstate[eef_state]: left_x=0.3664 left_y=-0.1395 left_z=0.0064 left_yaw=0.0771 left_pitch=-0.1465 left_roll=0.1446 left_gripper=0.998 right_x=0.178 right_y=-0.0542 right_z=0.2793 right_yaw=-0.2069 right_pitch=-0.2168 right_roll=-0.1586 right_gripper=0.998\nstate[joint_eff]: [0.4171, -5.9419, 4.7111, 0.8767, -0.1929, 0.1734, -0.0122, -0.0615, 0.9778, 5.3402, 1.5751, -0.0562, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 353):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d69149279cfec351860c4a4e85493b7d0d1391119fdfe6e7cc421f401dcf1594",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 353):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e83a2885103908d891dcd2d139a19c62c90b8e6e47a305fe30ef27aaf0b8bea1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 353):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6cc3e0374181600de161d05b7e9c032868c61bf660bd943a378a1a0ae6bcaa3",
        "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_01EDqP85HWPtnA34BmqNJ34q",
      "input": {
        "note": "At table level the cap still sits a few cm beyond the fingertips in the wrist view; sliding 3.4 cm further out so the cap lies between the jaws.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.135
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01EDqP85HWPtnA34BmqNJ34q",
      "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]: [-0.6212, 1.8263, 0.6888, 0.2844, -0.5873, -0.4171, 0.998, -0.3119, 0.7067, 1.1885, -1.2491, 0.0006, -0.2134, 0.998]\nstate[eef_state]: left_x=0.3736 left_y=-0.1427 left_z=0.0068 left_yaw=0.0786 left_pitch=-0.112 left_roll=0.124 left_gripper=0.998 right_x=0.1783 right_y=-0.0538 right_z=0.279 right_yaw=-0.2044 right_pitch=-0.217 right_roll=-0.157 right_gripper=0.998\nstate[joint_eff]: [0.0479, -7.159, 4.6154, 1.4872, -0.232, 0.1245, -0.0122, -0.3487, 1.0735, 5.4906, 1.5604, 0.0171, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 356):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97d49acc397e728718f49151b5d764174f66ac8dd658624a1ea9c6873cebf1d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 356):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20184462d8202bb7251993c3e86d15c277d04860a80f1549b840e6899d36dae7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 356):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a58eead33dccef85ea46b1ce830dd12503579b9864ae30d8df7a0cd9f11f7093",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /messages · status 200 · 12.53 s

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

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6617, 1.5387, 0.7597, -0.0925, -0.6098, -0.4427, 0.998, -0.3119, 0.7052, 1.1904, -1.2495, 0.0032, -0.2096, 0.998]\nstate[eef_state]: left_x=0.3534 left_y=-0.1425 left_z=0.0821 left_yaw=0.0694 left_pitch=-0.1128 left_roll=0.1291 left_gripper=0.998 right_x=0.1778 right_y=-0.0542 right_z=0.2799 right_yaw=-0.2088 right_pitch=-0.2138 right_roll=-0.1564 right_gripper=0.998\nstate[joint_eff]: [0.1846, -6.0513, 6.0923, 1.5946, -0.149, 0.1343, -0.0122, -0.0889, 1.0462, 5.4632, 1.5604, -0.0122, -0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6231, 1.8008, 0.6895, 0.2169, -0.5808, -0.4202, 0.998, -0.3119, 0.7067, 1.1896, -1.2499, 0.0032, -0.2131, 0.998]\nstate[eef_state]: left_x=0.3664 left_y=-0.1395 left_z=0.0064 left_yaw=0.0771 left_pitch=-0.1465 left_roll=0.1446 left_gripper=0.998 right_x=0.178 right_y=-0.0542 right_z=0.2793 right_yaw=-0.2069 right_pitch=-0.2168 right_roll=-0.1586 right_gripper=0.998\nstate[joint_eff]: [0.4171, -5.9419, 4.7111, 0.8767, -0.1929, 0.1734, -0.0122, -0.0615, 0.9778, 5.3402, 1.5751, -0.0562, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6212, 1.8263, 0.6888, 0.2844, -0.5873, -0.4171, 0.998, -0.3119, 0.7067, 1.1885, -1.2491, 0.0006, -0.2134, 0.998]\nstate[eef_state]: left_x=0.3736 left_y=-0.1427 left_z=0.0068 left_yaw=0.0786 left_pitch=-0.112 left_roll=0.124 left_gripper=0.998 right_x=0.1783 right_y=-0.0538 right_z=0.279 right_yaw=-0.2044 right_pitch=-0.217 right_roll=-0.157 right_gripper=0.998\nstate[joint_eff]: [0.0479, -7.159, 4.6154, 1.4872, -0.232, 0.1245, -0.0122, -0.3487, 1.0735, 5.4906, 1.5604, 0.0171, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 356):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97d49acc397e728718f49151b5d764174f66ac8dd658624a1ea9c6873cebf1d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 356):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20184462d8202bb7251993c3e86d15c277d04860a80f1549b840e6899d36dae7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 356):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a58eead33dccef85ea46b1ce830dd12503579b9864ae30d8df7a0cd9f11f7093",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS2wUKjgEIEhgCKkCBP6YHVqbu4WlpURXTZBzobGkjb42IbI8y7mmgXWOec6d3ZYX+dF+QF12uw+2NkhVwaY1iHd97bYMPqDoZ013hMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcnIzNUGEgwHIzY/hhnehbbAxrMaDNpBMc8zaekh9fuKtiIwEj6Y8M1wHJAo6d0z43y5j+yt7nV5ZyTjOB0rAXeZI9RVSMOXoO/ZaA3lwiS2tAYuKvkDhd2px3gB4rFlSGY36mz3TL1QpUOqw9IIuI82ENLBNYR4dNMT2/BGbK6wYKkaKPQVGtZrAwYNYeNvJaGmyisdl9iz9tbF6JDpDRjJ0ggz/KJozeMu7jDKEg5bVO+Sm0Uo789qdNRsfBzbkTXzLMT+a665duVqwhuPRvC6DpGixeCZ9YkJDnSCHPP56rzBhY1XbiAIw8RJeF9RWTqz2Qm9W+b/q2PYnbGmR+fYrDQAXVUO22bSJdqMzLzX+6ls0z1q1giu1BMarIWHbPH9D4YwslmuuMRlwkD2MCxizQyuajKzGDl8y9jxJXwX/mANW0+0sDp4zMbe6k+mf+exc4pkbEjv0PnzkD1ynyfuO1agyI+VjS8Bn+bzG1LpcE2RVNl6mgNkvuzgDcdB/JPJ/o5FjAEMIfSq9svv+PPah+2lPNs2namN//eJh3t/HSrwYz2hnyB0f0ozbYe3peCuskTtgB4iijLE5740o/XGU36raoZ6FdPWpaZIs3tYV8SujkD77gEpFBf/kn785f9xaWwRpwwQgdBFpg8F9nJOzmCy0kg6X3M+hBYlB8CDdmOBxP1XcPgHiVdPOGMm+dbAQRea4ikRywzYrLk/OsnYgkF7UkcF9uJUhf9xMXPcuKsSwyphhi9Z1UOVT42VsBGVIt8Ix6H0R5fFfELadBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BW1Maagxk5kMkbNpTotnri",
      "input": {
        "note": "The cap now reaches down between the jaws in the left wrist view; closing the gripper on it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01BW1Maagxk5kMkbNpTotnri",
      "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]: [-0.622, 1.8309, 0.6888, 0.2787, -0.5869, -0.4171, 0.0102, -0.3119, 0.7067, 1.1885, -1.2491, -0.0002, -0.2134, 0.998]\nstate[eef_state]: left_x=0.3724 left_y=-0.1422 left_z=0.0043 left_yaw=0.0783 left_pitch=-0.1201 left_roll=0.1304 left_gripper=0.0102 right_x=0.1783 right_y=-0.0537 right_z=0.279 right_yaw=-0.2037 right_pitch=-0.2169 right_roll=-0.1564 right_gripper=0.998\nstate[joint_eff]: [-0.1299, -8.1573, 4.7521, 1.4628, -0.2857, -0.0269, 0.735, -0.1846, 1.0735, 5.2718, 1.5653, -0.0317, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 366):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e4aab7720e9120be93f77e57ae8fe5d9fd291ad974b4ef19aa4bf79588ccf9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 366):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7af3b175da4ef3be05f5eab2d4263fec1280e0f6250f1dd6b9018b1c88efa07d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 366):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e758f45532e5eb8789eb30c249f2a8ac4d0e6c28f312209f90f965be1fc119c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /messages · status 200 · 15.65 s

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

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6231, 1.8008, 0.6895, 0.2169, -0.5808, -0.4202, 0.998, -0.3119, 0.7067, 1.1896, -1.2499, 0.0032, -0.2131, 0.998]\nstate[eef_state]: left_x=0.3664 left_y=-0.1395 left_z=0.0064 left_yaw=0.0771 left_pitch=-0.1465 left_roll=0.1446 left_gripper=0.998 right_x=0.178 right_y=-0.0542 right_z=0.2793 right_yaw=-0.2069 right_pitch=-0.2168 right_roll=-0.1586 right_gripper=0.998\nstate[joint_eff]: [0.4171, -5.9419, 4.7111, 0.8767, -0.1929, 0.1734, -0.0122, -0.0615, 0.9778, 5.3402, 1.5751, -0.0562, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6212, 1.8263, 0.6888, 0.2844, -0.5873, -0.4171, 0.998, -0.3119, 0.7067, 1.1885, -1.2491, 0.0006, -0.2134, 0.998]\nstate[eef_state]: left_x=0.3736 left_y=-0.1427 left_z=0.0068 left_yaw=0.0786 left_pitch=-0.112 left_roll=0.124 left_gripper=0.998 right_x=0.1783 right_y=-0.0538 right_z=0.279 right_yaw=-0.2044 right_pitch=-0.217 right_roll=-0.157 right_gripper=0.998\nstate[joint_eff]: [0.0479, -7.159, 4.6154, 1.4872, -0.232, 0.1245, -0.0122, -0.3487, 1.0735, 5.4906, 1.5604, 0.0171, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.622, 1.8309, 0.6888, 0.2787, -0.5869, -0.4171, 0.0102, -0.3119, 0.7067, 1.1885, -1.2491, -0.0002, -0.2134, 0.998]\nstate[eef_state]: left_x=0.3724 left_y=-0.1422 left_z=0.0043 left_yaw=0.0783 left_pitch=-0.1201 left_roll=0.1304 left_gripper=0.0102 right_x=0.1783 right_y=-0.0537 right_z=0.279 right_yaw=-0.2037 right_pitch=-0.2169 right_roll=-0.1564 right_gripper=0.998\nstate[joint_eff]: [-0.1299, -8.1573, 4.7521, 1.4628, -0.2857, -0.0269, 0.735, -0.1846, 1.0735, 5.2718, 1.5653, -0.0317, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 366):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e4aab7720e9120be93f77e57ae8fe5d9fd291ad974b4ef19aa4bf79588ccf9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 366):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7af3b175da4ef3be05f5eab2d4263fec1280e0f6250f1dd6b9018b1c88efa07d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 366):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e758f45532e5eb8789eb30c249f2a8ac4d0e6c28f312209f90f965be1fc119c2",
        "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_0127qEY1DTycyDviBth5ktdn",
      "input": {
        "note": "Close was empty again — the cap is still just beyond the fingertips. Reopening, lifting 1 cm off the table so the fingers don't drag, and pushing 3 cm further out over the cap.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.405,
          "left_z": 0.012
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0127qEY1DTycyDviBth5ktdn",
      "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]: [-0.5694, 1.8721, 0.7742, 0.2497, -0.5667, -0.3843, 0.9948, -0.3119, 0.7067, 1.1851, -1.2491, 0.0002, -0.2134, 0.998]\nstate[eef_state]: left_x=0.397 left_y=-0.1372 left_z=0.0091 left_yaw=0.0974 left_pitch=-0.1204 left_roll=0.1343 left_gripper=0.9948 right_x=0.1783 right_y=-0.0537 right_z=0.2777 right_yaw=-0.204 right_pitch=-0.2204 right_roll=-0.1563 right_gripper=0.998\nstate[joint_eff]: [0.4034, -7.4188, 7.3915, 1.326, -0.0415, 0.1441, 0.0317, -0.0342, 1.0735, 5.5453, 1.5897, -0.0122, -0.0513, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 376):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15ce3464d32886664361bfa588c22ab35ba31f02bd3f4dd563bbf54569e943c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 376):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1cda511139080645db37759e92ab6142b2f05d550b7249834de474ebd6810f57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 376):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:701ccce27ead1a00fda918c8bb9bec99e5539acb319616a7a89b5bfe2efccddf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]