adhoc

completed
2026-09-22T20:42:00.191492+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
222.9 s
total steps
201
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent notePen lies on the table ahead-left of the right arm, cap is further left (reachable by left arm). Moving the right arm above the pen with jaws yawed to be across it.
move_to
right_x0.4000right_y0.2300right_z0.1500right_yaw0.3000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.7933, 0.6022, -0.3801, -0.02, -0.0116, 0.9993, -0.0185, 0.791, 0.6098, -0.3759, -0.0227, -0.0227, 0.9991] state[eef_state]: left_x=0.2945 left_y=0.0011 left_z=0.1793 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2958 right_y=0.0021 right_z=0.1843 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.4991, -1.5385, 10.4684, 1.7851, -0.0757, -0.0611, -0.0806, -0.7453, -1.2786, 9.7436, 1.746, -0.0171, 0.0611, -0.105] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.23, "right_z": 0.15, "right_yaw": 0.3, "right_gripper": 1.0}, "note": "Pen lies on the table ahead-left of the right arm, cap is further left (reachable by left arm). Moving the right arm above the pen with jaws yawed to be across it."})
tool
executing move_to over 19 steps (1.9s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteRight wrist cam shows pen almost aligned with jaw column, tip pointing forward, slightly right of centre. Shifting ~1.5 cm right and a bit back (to hold the rear half, leaving the tip free) and descending to table.
move_to
right_x0.3750right_y0.2050right_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]: [-0.02, 0.7982, 0.6029, -0.3813, -0.02, -0.0113, 0.9993, 0.6033, 1.5684, 0.9215, -0.0006, 0.2359, 0.1352, 0.9991] state[eef_state]: left_x=0.2948 left_y=0.0012 left_z=0.178 left_yaw=0.0002 left_pitch=-0.0053 left_roll=0.0004 left_gripper=0.9993 right_x=0.387 right_y=0.2209 right_z=0.1305 right_yaw=0.3188 right_pitch=-0.0698 right_roll=-0.0259 right_gripper=0.9991 state[joint_eff]: [-0.1983, -1.6205, 6.9812, 1.7021, -0.0269, -0.0757, -0.0171, 0.2667, -7.2274, 9.0598, 1.9316, 0.2759, 0.1538, -0.105] camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.375, "right_y": 0.205, "right_z": 0.005}, "note": "Right wrist cam shows pen almost aligned with jaw column, tip pointing forward, slightly right of centre. Shifting ~1.5 cm right and a bit back (to hold the rear half, leaving the tip free) and descending to table."})
tool
executing move_to over 9 steps (0.9s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteAt table height the pen appears under the right jaw finger, ~3.5 cm to the right of centre. Lifting slightly and shifting right to centre it between the jaws.
move_to
right_y0.1700right_z0.0300
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.7994, 0.6029, -0.3805, -0.02, -0.0113, 0.9993, 0.5877, 1.8465, 0.6277, 0.5247, 0.2199, 0.1272, 0.999] state[eef_state]: left_x=0.2949 left_y=0.0012 left_z=0.1779 left_yaw=0.0002 left_pitch=-0.0057 left_roll=0.0004 left_gripper=0.9993 right_x=0.3682 right_y=0.2033 right_z=0.0018 right_yaw=0.3197 right_pitch=-0.1173 right_roll=-0.0354 right_gripper=0.999 state[joint_eff]: [-0.3624, -1.347, 7.0359, 1.7167, -0.0415, -0.0659, -0.0171, -0.5949, -6.5026, 4.4786, 1.1209, 0.1392, -0.0366, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.17, "right_z": 0.03}, "note": "At table height the pen appears under the right jaw finger, ~3.5 cm to the right of centre. Lifting slightly and shifting right to centre it between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent notePen appears diagonal in the right wrist view (yaw misaligned) and still toward the right jaw. Rotating the tool CCW to align with the pen and shifting a bit more right.
move_to
right_yaw0.6500right_y0.1550
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8032, 0.6029, -0.3809, -0.02, -0.0113, 0.9993, 0.5022, 1.7256, 0.5877, 0.4618, 0.1623, 0.0845, 0.9991] state[eef_state]: left_x=0.2951 left_y=0.0012 left_z=0.1768 left_yaw=0.0002 left_pitch=-0.0099 left_roll=0.0005 left_gripper=0.9993 right_x=0.3702 right_y=0.1748 right_z=0.0228 right_yaw=0.3061 right_pitch=-0.1087 right_roll=-0.0293 right_gripper=0.9991 state[joint_eff]: [-0.3487, -1.1829, 7.1316, 1.7118, -0.0757, -0.0806, -0.0122, -0.1299, -7.6786, 5.2444, 1.6337, -0.0317, -0.0269, -0.0073] camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_yaw": 0.65, "right_y": 0.155}, "note": "Pen appears diagonal in the right wrist view (yaw misaligned) and still toward the right jaw. Rotating the tool CCW to align with the pen and shifting a bit more right."})
tool
executing move_to over 3 steps (0.3s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteYaw only reached 0.37; pen still passes right of the jaw centre near the bottom. Completing the yaw and shifting ~2 cm further right before descending.
move_to
right_yaw0.6500right_y0.1400right_z0.0200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8051, 0.6029, -0.3809, -0.02, -0.0113, 0.9993, 0.4229, 1.6974, 0.5659, 0.4389, 0.0479, -0.0074, 0.999] state[eef_state]: left_x=0.2953 left_y=0.0012 left_z=0.1762 left_yaw=0.0002 left_pitch=-0.0118 left_roll=0.0006 left_gripper=0.9993 right_x=0.3683 right_y=0.1604 right_z=0.0204 right_yaw=0.3729 right_pitch=-0.1347 right_roll=-0.0311 right_gripper=0.999 state[joint_eff]: [-0.1846, -1.0598, 7.2, 1.7265, -0.0757, -0.0464, -0.0171, 0.253, -5.2855, 5.094, 2.0342, -0.0904, -0.1148, -0.0122] camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_yaw": 0.65, "right_y": 0.14, "right_z": 0.02}, "note": "Yaw only reached 0.37; pen still passes right of the jaw centre near the bottom. Completing the yaw and shifting ~2 cm further right before descending."})
tool
executing move_to over 2 steps (0.2s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe arm barely moved at low height; lifting to 8 cm while shifting right and finishing the yaw so the pen lines up between the jaws.
move_to
right_z0.0800right_y0.1400right_yaw0.6000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.807, 0.6029, -0.3809, -0.0196, -0.0113, 0.9993, 0.4194, 1.6974, 0.5636, 0.4572, 0.017, -0.0349, 0.999] state[eef_state]: left_x=0.2954 left_y=0.0011 left_z=0.1757 left_yaw=-0.0001 left_pitch=-0.0137 left_roll=0.0004 left_gripper=0.9993 right_x=0.3686 right_y=0.165 right_z=0.023 right_yaw=0.4106 right_pitch=-0.1195 right_roll=-0.0324 right_gripper=0.999 state[joint_eff]: [-0.1299, -1.4701, 7.0222, 1.7265, -0.0269, -0.0562, -0.0171, 0.1573, -5.4496, 5.094, 1.8632, -0.1441, -0.0757, -0.0073] camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.08, "right_y": 0.14, "right_yaw": 0.6}, "note": "The arm barely moved at low height; lifting to 8 cm while shifting right and finishing the yaw so the pen lines up between the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteRight arm did not respond to the last command; trying a pure lift to see if it's an IK stall.
move_to
right_z0.1000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.807, 0.6029, -0.3809, -0.02, -0.0113, 0.9993, 0.4191, 1.6974, 0.5636, 0.4576, 0.017, -0.0345, 0.999] state[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1757 left_yaw=0.0002 left_pitch=-0.0137 left_roll=0.0006 left_gripper=0.9993 right_x=0.3687 right_y=0.1649 right_z=0.0231 right_yaw=0.4101 right_pitch=-0.1191 right_roll=-0.0321 right_gripper=0.999 state[joint_eff]: [-0.1573, -1.3333, 7.0906, 1.707, -0.0806, -0.0562, -0.0171, 0.1026, -5.8188, 5.094, 1.8681, -0.1001, -0.0366, -0.0073] camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.1}, "note": "Right arm did not respond to the last command; trying a pure lift to see if it's an IK stall."})
tool
executing move_to over 5 steps (0.5s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteLift worked. Pen still slightly right of jaw centre and a bit tilted; shifting ~2 cm right and yawing a little more.
move_to
right_y0.1500right_yaw0.5500
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, 0.8089, 0.6029, -0.3813, -0.0196, -0.0113, 0.9993, 0.4194, 1.5055, 0.6743, 0.218, 0.0162, -0.036, 0.9991] state[eef_state]: left_x=0.2954 left_y=0.0011 left_z=0.1751 left_yaw=-0.0001 left_pitch=-0.016 left_roll=0.0004 left_gripper=0.9993 right_x=0.3779 right_y=0.1693 right_z=0.0931 right_yaw=0.412 right_pitch=-0.0562 right_roll=-0.0323 right_gripper=0.9991 state[joint_eff]: [-0.0889, -1.265, 7.159, 1.7118, -0.0464, -0.0708, -0.0171, 0.1436, -5.7778, 6.9402, 1.4042, 0.0269, -0.0513, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.15, "right_yaw": 0.55}, "note": "Lift worked. Pen still slightly right of jaw centre and a bit tilted; shifting ~2 cm right and yawing a little more."})
tool
executing move_to over 2 steps (0.2s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent notePen runs nearly along the jaw column, slightly right at the bottom. Small right shift and descending to table level to grasp.
move_to
right_y0.1450right_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, 0.8089, 0.6029, -0.3809, -0.02, -0.0113, 0.9993, 0.3378, 1.4666, 0.6853, 0.1371, -0.0967, -0.1104, 0.9991] state[eef_state]: left_x=0.2955 left_y=0.0012 left_z=0.1752 left_yaw=0.0002 left_pitch=-0.0156 left_roll=0.0006 left_gripper=0.9993 right_x=0.3757 right_y=0.1539 right_z=0.0971 right_yaw=0.4659 right_pitch=-0.0836 right_roll=-0.0244 right_gripper=0.9991 state[joint_eff]: [-0.2803, -1.3333, 7.0222, 1.7656, -0.0464, -0.0513, -0.0073, -0.5949, -4.5197, 5.8051, 1.8095, -0.1001, -0.0611, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.145, "right_z": 0.0}, "note": "Pen runs nearly along the jaw column, slightly right at the bottom. Small right shift and descending to table level to grasp."})
tool
executing move_to over 7 steps (0.7s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteThe descent didn't happen (still at 8.7 cm); pen is well centred and aligned now, so descending straight down to grasp.
move_to
right_z-0.0050
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8089, 0.6029, -0.3809, -0.02, -0.0109, 0.9993, 0.2752, 1.4845, 0.6586, 0.1696, -0.207, -0.1955, 0.9991] state[eef_state]: left_x=0.2955 left_y=0.0012 left_z=0.1752 left_yaw=-0.0 left_pitch=-0.0156 left_roll=0.001 left_gripper=0.9993 right_x=0.3741 right_y=0.1471 right_z=0.0875 right_yaw=0.5419 right_pitch=-0.083 right_roll=-0.0248 right_gripper=0.9991 state[joint_eff]: [-0.0205, -1.3333, 7.2274, 1.7118, -0.0659, -0.0562, -0.0073, -0.1983, -5.7778, 6.653, 1.8974, -0.1929, -0.1197, -0.0171] camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": -0.005}, "note": "The descent didn't happen (still at 8.7 cm); pen is well centred and aligned now, so descending straight down to grasp."})
tool
executing move_to over 6 steps (0.6s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
Pen centred between jaws at table level. Closing.
agent noteRight gripper is at table level with the pen centred between the jaws; 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, 0.8108, 0.6029, -0.382, -0.02, -0.0109, 0.9993, 0.2752, 1.7744, 0.5293, 0.5163, -0.21, -0.2161, 0.9988] state[eef_state]: left_x=0.2955 left_y=0.0012 left_z=0.1744 left_yaw=-0.0 left_pitch=-0.0187 left_roll=0.001 left_gripper=0.9993 right_x=0.3642 right_y=0.1448 right_z=-0.004 right_yaw=0.5578 right_pitch=-0.1523 right_roll=-0.0193 right_gripper=0.9988 state[joint_eff]: [-0.0889, -1.7162, 7.0496, 1.6728, -0.0806, -0.0366, -0.0073, -0.1162, -6.5983, 4.6564, -2.1465, 0.022, 0.3101, -0.0366] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
Pen centred between jaws at table level. Closing.
move_to({"targets": {"right_gripper": 0.0}, "note": "Right gripper is at table level with the pen centred between the jaws; closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteGripper settled at 0.045 and the wrist view shows the pen running straight out from the jaws, tip forward — looks grasped. Lifting to verify.
move_to
right_z0.1200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8146, 0.6025, -0.3817, -0.02, -0.0113, 0.9993, 0.2752, 1.784, 0.5262, 0.5652, -0.2184, -0.2176, 0.0446] state[eef_state]: left_x=0.2957 left_y=0.0012 left_z=0.1733 left_yaw=0.0002 left_pitch=-0.0225 left_roll=0.0008 left_gripper=0.9993 right_x=0.3689 right_y=0.1477 right_z=0.0007 right_yaw=0.5643 right_pitch=-0.116 right_roll=-0.0255 right_gripper=0.0446 state[joint_eff]: [-0.1026, -1.5385, 7.3368, 1.746, -0.0659, -0.0562, -0.0073, -0.335, -7.8154, 5.0256, 1.1404, -0.0366, 0.022, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.12}, "note": "Gripper settled at 0.045 and the wrist view shows the pen running straight out from the jaws, tip forward \u2014 looks grasped. Lifting to verify."})
tool
executing move_to over 8 steps (0.8s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent notePen is lifted in the right gripper (confirmed in both views). Now moving the left arm above the pen cap, which lies ~30 cm to its right and slightly forward.
move_to
left_x0.3800left_y-0.2800left_z0.1200left_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, 0.8192, 0.6025, -0.3817, -0.02, -0.0113, 0.9993, 0.2752, 1.4353, 0.7231, 0.0185, -0.2184, -0.2184, 0.0475] state[eef_state]: left_x=0.296 left_y=0.0012 left_z=0.172 left_yaw=0.0002 left_pitch=-0.0271 left_roll=0.0009 left_gripper=0.9993 right_x=0.3693 right_y=0.1478 right_z=0.104 right_yaw=0.5648 right_pitch=-0.1171 right_roll=-0.0258 right_gripper=0.0475 state[joint_eff]: [-0.2256, -1.7573, 7.2274, 1.6923, -0.0366, -0.0513, -0.0122, -0.1026, -7.3231, 8.8821, 1.6874, -0.1245, -0.0122, 1.033] camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.28, "left_z": 0.12, "left_gripper": 1.0}, "note": "Pen is lifted in the right gripper (confirmed in both views). Now moving the left arm above the pen cap, which lies ~30 cm to its right and slightly forward."})
tool
executing move_to over 25 steps (2.5s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteLeft wrist view shows the cap well to the left of the jaw column (overshot to the right by ~7 cm per top view). Shifting left and slightly forward over it.
move_to
left_x0.3900left_y-0.2050left_z0.1000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.878, 1.8053, 1.1343, -0.1932, -0.6773, -0.6025, 0.9993, 0.2752, 1.4353, 0.7177, -0.0002, -0.2184, -0.2184, 0.052] state[eef_state]: left_x=0.3725 left_y=-0.2698 left_z=0.1056 left_yaw=-0.0057 left_pitch=-0.0636 left_roll=0.0236 left_gripper=0.9993 right_x=0.3651 right_y=0.1466 right_z=0.0983 right_yaw=0.5656 right_pitch=-0.1402 right_roll=-0.0189 right_gripper=0.052 state[joint_eff]: [-0.4034, -8.8547, 9.1282, 1.3748, -0.4713, 0.0904, -0.0806, -0.2256, -5.8598, 6.8034, 1.7216, -0.1392, -0.0659, 1.033] camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.39, "left_y": -0.205, "left_z": 0.1}, "note": "Left wrist view shows the cap well to the left of the jaw column (overshot to the right by ~7 cm per top view). Shifting left and slightly forward over it."})
tool
executing move_to over 6 steps (0.6s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent noteCap is still left of the jaw column and a few cm ahead of the fingertips. Shifting ~2 cm left and ~2.5 cm forward.
move_to
left_x0.4100left_y-0.1850left_z0.0800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.72, 1.7245, 0.9619, -0.0814, -0.585, -0.49, 0.9993, 0.2752, 1.4353, 0.7177, -0.0051, -0.2184, -0.218, 0.052] state[eef_state]: left_x=0.3851 left_y=-0.2032 left_z=0.0847 left_yaw=0.0253 left_pitch=-0.1026 left_roll=0.0504 left_gripper=0.9993 right_x=0.3643 right_y=0.1464 right_z=0.0974 right_yaw=0.5656 right_pitch=-0.1449 right_roll=-0.0171 right_gripper=0.052 state[joint_eff]: [0.294, -10.3453, 6.106, 1.6581, -0.1197, 0.1245, -0.0171, -0.212, -5.6821, 6.3795, 1.6679, -0.1343, -0.0806, 1.0281] camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": -0.185, "left_z": 0.08}, "note": "Cap is still left of the jaw column and a few cm ahead of the fingertips. Shifting ~2 cm left and ~2.5 cm forward."})
tool
executing move_to over 2 steps (0.2s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent noteOnly partly moved; cap still left of centre and ahead. Continuing left/forward and lowering a bit.
move_to
left_x0.4150left_y-0.1800left_z0.0600
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6697, 1.7344, 0.9527, -0.0509, -0.5476, -0.4534, 0.9993, 0.2752, 1.4353, 0.7177, -0.009, -0.2184, -0.218, 0.052] state[eef_state]: left_x=0.3948 left_y=-0.1907 left_z=0.0792 left_yaw=0.0277 left_pitch=-0.1134 left_roll=0.0504 left_gripper=0.9993 right_x=0.3637 right_y=0.1462 right_z=0.0967 right_yaw=0.5658 right_pitch=-0.1486 right_roll=-0.016 right_gripper=0.052 state[joint_eff]: [1.2513, -7.0085, 8.3761, 1.5897, -0.1441, 0.1245, -0.0122, -0.3077, -5.6547, 6.3795, 1.5946, -0.1294, -0.0122, 1.0281] camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.415, "left_y": -0.18, "left_z": 0.06}, "note": "Only partly moved; cap still left of centre and ahead. Continuing left/forward and lowering a bit."})
tool
executing move_to over 2 steps (0.2s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteCap is now nearly on the jaw column, a bit ahead of the fingertips. Nudging forward and descending to table level.
move_to
left_x0.4250left_y-0.1720left_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]: [-0.6193, 1.7821, 0.9516, -0.0025, -0.5266, -0.4309, 0.9993, 0.2752, 1.4353, 0.7174, -0.0158, -0.2184, -0.218, 0.052] state[eef_state]: left_x=0.4077 left_y=-0.1772 left_z=0.065 left_yaw=0.0503 left_pitch=-0.1242 left_roll=0.056 left_gripper=0.9993 right_x=0.3625 right_y=0.1459 right_z=0.0953 right_yaw=0.5661 right_pitch=-0.1555 right_roll=-0.0139 right_gripper=0.052 state[joint_eff]: [0.8957, -7.0906, 5.8325, 1.5751, -0.2418, 0.2027, -0.0073, -0.3214, -5.8188, 6.3795, 1.6093, -0.1148, -0.0464, 1.0281] 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": 0.425, "left_y": -0.172, "left_z": 0.0}, "note": "Cap is now nearly on the jaw column, a bit ahead of the fingertips. Nudging forward and descending to table level."})
tool
executing move_to over 5 steps (0.5s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent noteLeft arm stalled at 5 cm; cap is roughly centred. Trying a pure vertical descent.
move_to
left_z-0.0050
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6071, 1.8114, 0.9474, 0.02, -0.5156, -0.4168, 0.9993, 0.2752, 1.4353, 0.7174, -0.0158, -0.2184, -0.218, 0.052] state[eef_state]: left_x=0.4101 left_y=-0.1745 left_z=0.054 left_yaw=0.0475 left_pitch=-0.1385 left_roll=0.0672 left_gripper=0.9993 right_x=0.3625 right_y=0.1459 right_z=0.0953 right_yaw=0.5661 right_pitch=-0.1555 right_roll=-0.0139 right_gripper=0.052 state[joint_eff]: [-0.1983, -8.8, 6.0103, 1.7265, -0.1441, 0.0904, -0.0073, -0.294, -5.8462, 6.5026, 1.5897, -0.1245, -0.0415, 1.0281] camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": -0.005}, "note": "Left arm stalled at 5 cm; cap is roughly centred. Trying a pure vertical descent."})
tool
executing move_to over 4 steps (0.4s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteLeft arm seems at its shoulder limit at this reach (~0.45 m radial) and won't descend. Pitching the tool forward to extend reach down to the cap.
move_to
left_pitch0.4000left_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]: [-0.6071, 1.8114, 0.947, 0.0204, -0.5152, -0.4168, 0.9993, 0.2752, 1.4353, 0.7155, -0.0189, -0.2184, -0.218, 0.052] state[eef_state]: left_x=0.4101 left_y=-0.1745 left_z=0.0539 left_yaw=0.0472 left_pitch=-0.1387 left_roll=0.067 left_gripper=0.9993 right_x=0.3616 right_y=0.1456 right_z=0.094 right_yaw=0.5663 right_pitch=-0.1603 right_roll=-0.0125 right_gripper=0.052 state[joint_eff]: [-0.0342, -8.8, 6.2427, 1.707, -0.1197, 0.0757, -0.0122, -0.335, -5.8051, 6.5436, 1.5897, -0.1538, -0.0415, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_pitch": 0.4, "left_z": 0.0}, "note": "Left arm seems at its shoulder limit at this reach (~0.45 m radial) and won't descend. Pitching the tool forward to extend reach down to the cap."})
tool
executing move_to over 18 steps (1.8s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
right_cam
camera right_cam step 140
assistant
agent notePitching worked; the gripper is near the table and the cap is just ahead of the jaws, ~2 cm to the left. Shifting left and slightly forward, pressing to table level.
move_to
left_y-0.1580left_x0.4200left_z-0.0050
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6838, 2.3188, 0.6624, 1.4288, -0.7475, -0.1543, 0.9991, 0.2752, 1.4353, 0.7136, -0.0193, -0.2184, -0.218, 0.052] state[eef_state]: left_x=0.4139 left_y=-0.1778 left_z=0.0115 left_yaw=0.0727 left_pitch=0.4049 left_roll=0.0021 left_gripper=0.9991 right_x=0.361 right_y=0.1454 right_z=0.0932 right_yaw=0.5665 right_pitch=-0.1625 right_roll=-0.0118 right_gripper=0.052 state[joint_eff]: [-0.4718, -6.9675, 2.4957, 0.8718, -0.1294, 0.2711, -0.0464, -0.335, -5.8325, 6.4752, 1.5263, -0.1392, -0.0464, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.158, "left_x": 0.42, "left_z": -0.005}, "note": "Pitching worked; the gripper is near the table and the cap is just ahead of the jaws, ~2 cm to the left. Shifting left and slightly forward, pressing to table level."})
tool
executing move_to over 2 steps (0.2s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteArm moves in small increments near its reach limit. Cap still ~2 cm left of the jaw centre; continuing the shift and pitching a bit more to gain reach.
move_to
left_y-0.1550left_x0.4250left_z-0.0100left_pitch0.5500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6563, 2.3604, 0.6628, 1.5288, -0.7219, -0.1284, 0.9991, 0.2752, 1.4353, 0.7136, -0.0193, -0.2184, -0.218, 0.052] state[eef_state]: left_x=0.4189 left_y=-0.1708 left_z=0.0135 left_yaw=0.0794 left_pitch=0.4447 left_roll=-0.0176 left_gripper=0.9991 right_x=0.361 right_y=0.1454 right_z=0.0932 right_yaw=0.5665 right_pitch=-0.1625 right_roll=-0.0118 right_gripper=0.052 state[joint_eff]: [1.4154, -6.7487, 1.9761, 0.9597, -0.022, -0.0904, -0.0171, -0.3624, -5.6, 6.3658, 1.5311, -0.1392, -0.0611, 1.0281] camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.155, "left_x": 0.425, "left_z": -0.01, "left_pitch": 0.55}, "note": "Arm moves in small increments near its reach limit. Cap still ~2 cm left of the jaw centre; continuing the shift and pitching a bit more to gain reach."})
tool
executing move_to over 4 steps (0.4s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteThe cap is now between the jaw tips but ~2.4 cm left of centre. Shifting left by that amount and pressing down to table level.
move_to
left_y-0.1520left_x0.4400left_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]: [-0.6273, 2.4195, 0.7776, 1.5642, -0.7052, -0.0841, 0.999, 0.2752, 1.4353, 0.7124, -0.02, -0.2184, -0.218, 0.0556] state[eef_state]: left_x=0.4456 left_y=-0.1773 left_z=0.0223 left_yaw=0.0971 left_pitch=0.5118 left_roll=-0.0381 left_gripper=0.999 right_x=0.3605 right_y=0.1453 right_z=0.0926 right_yaw=0.5665 right_pitch=-0.1643 right_roll=-0.0113 right_gripper=0.0556 state[joint_eff]: [0.9368, -8.0752, 4.4786, 1.8535, 0.1197, 0.1538, -0.0171, -0.3761, -5.8188, 6.4752, 1.5507, -0.1685, -0.0415, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.152, "left_x": 0.44, "left_z": -0.01}, "note": "The cap is now between the jaw tips but ~2.4 cm left of centre. Shifting left by that amount and pressing down to table level."})
tool
executing move_to over 3 steps (0.3s)
step 149
top_cam
camera top_cam step 149
left_cam
camera left_cam step 149
right_cam
camera right_cam step 149
assistant
agent noteCap is now nearly under the jaws, slightly left; the gripper is still 2 cm above the table. Pulling back slightly to x=0.44 (the arm overshot to 0.454) and trying to press down.
move_to
left_y-0.1620left_x0.4400left_z-0.0150
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5972, 2.4397, 0.799, 1.5757, -0.6899, -0.0792, 0.999, 0.2752, 1.4353, 0.712, -0.0227, -0.218, -0.218, 0.0556] state[eef_state]: left_x=0.4543 left_y=-0.1687 left_z=0.0207 left_yaw=0.1141 left_pitch=0.5207 left_roll=-0.0429 left_gripper=0.999 right_x=0.36 right_y=0.1451 right_z=0.0919 right_yaw=0.5664 right_pitch=-0.1673 right_roll=-0.0106 right_gripper=0.0556 state[joint_eff]: [1.1556, -7.8017, 3.9316, 1.4823, 0.2418, -0.3004, -0.0122, -0.3077, -5.5863, 6.4068, 1.5507, -0.0708, -0.0415, 1.0281] camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.162, "left_x": 0.44, "left_z": -0.015}, "note": "Cap is now nearly under the jaws, slightly left; the gripper is still 2 cm above the table. Pulling back slightly to x=0.44 (the arm overshot to 0.454) and trying to press down."})
tool
executing move_to over 3 steps (0.3s)
step 152
top_cam
camera top_cam step 152
left_cam
camera left_cam step 152
right_cam
camera right_cam step 152
assistant
agent noteLeft arm won't go lower (possibly resting on the cap or at its limit); the cap is roughly under the jaws. Attempting a close.
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]: [-0.5888, 2.4432, 0.8013, 1.5845, -0.68, -0.0803, 0.9991, 0.2752, 1.4353, 0.712, -0.0227, -0.2184, -0.218, 0.0562] state[eef_state]: left_x=0.4562 left_y=-0.1668 left_z=0.0215 left_yaw=0.1164 left_pitch=0.526 left_roll=-0.0505 left_gripper=0.9991 right_x=0.36 right_y=0.1452 right_z=0.0919 right_yaw=0.5667 right_pitch=-0.1672 right_roll=-0.0104 right_gripper=0.0562 state[joint_eff]: [0.4991, -7.9795, 3.3983, 1.6532, 0.1587, -0.1001, -0.0122, -0.1026, -5.7915, 6.3521, 1.5409, -0.1587, -0.0513, 1.0281] camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Left arm won't go lower (possibly resting on the cap or at its limit); the cap is roughly under the jaws. Attempting a close."})
tool
executing move_to over 10 steps (1.0s)
step 162
top_cam
camera top_cam step 162
left_cam
camera left_cam step 162
assistant
agent noteEmpty close: the left arm can't get low enough at this reach to grip the cap. Plan: lift over the cap, go beyond it, then drag it back toward the base with the closed jaws so it can be grasped closer in.
move_to
left_z0.0500left_x0.4900
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5896, 2.4424, 0.8013, 1.5841, -0.6811, -0.0872, 0.0086, 0.2752, 1.4357, 0.7109, -0.0296, -0.2184, -0.218, 0.0562] state[eef_state]: left_x=0.4561 left_y=-0.167 left_z=0.0218 left_yaw=0.1212 left_pitch=0.5262 left_roll=-0.0587 left_gripper=0.0086 right_x=0.3586 right_y=0.1448 right_z=0.0901 right_yaw=0.5671 right_pitch=-0.1752 right_roll=-0.0079 right_gripper=0.0562 state[joint_eff]: [-0.2667, -10.7966, 2.9333, 1.5653, -0.0464, 0.0366, 0.6178, -0.0342, -5.8735, 6.4068, 1.6239, -0.1392, -0.0317, 1.0281] approver: 1 step(s) modified (delta_clamped). 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_z": 0.05, "left_x": 0.49}, "note": "Empty close: the left arm can't get low enough at this reach to grip the cap. Plan: lift over the cap, go beyond it, then drag it back toward the base with the closed jaws so it can be grasped closer in."})
tool
executing move_to over 3 steps (0.3s)
step 165
assistant
agent noteGripper is now beyond the cap (cap visible in top view just base-side of the jaws). Dragging back toward the base at table level to rake the cap into easier reach.
move_to
left_x0.3600left_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]: [-0.5514, 2.4069, 0.8635, 1.4754, -0.6655, -0.0879, 0.0107, 0.2752, 1.4357, 0.7109, -0.0307, -0.2184, -0.218, 0.0562] state[eef_state]: left_x=0.4776 left_y=-0.1615 left_z=0.0318 left_yaw=0.1406 left_pitch=0.5171 left_roll=-0.0522 left_gripper=0.0107 right_x=0.3584 right_y=0.1447 right_z=0.0899 right_yaw=0.5672 right_pitch=-0.1763 right_roll=-0.0076 right_gripper=0.0562 state[joint_eff]: [0.3077, -13.7915, 4.6017, 1.6972, 0.2125, 0.0073, 0.2173, 0.0889, -5.6137, 6.3385, 1.5263, -0.1441, -0.0708, 1.0281] camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_z": 0.0}, "note": "Gripper is now beyond the cap (cap visible in top view just base-side of the jaws). Dragging back toward the base at table level to rake the cap into easier reach."})
tool
executing move_to over 10 steps (1.0s)
step 175
assistant
agent noteThe rake passed over the cap; it now shows in the left wrist view just ahead and left of the jaws. Opening and moving onto it with max forward pitch to get as low as possible.
move_to
left_x0.4300left_y-0.1680left_z-0.0100left_pitch0.6000left_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]: [-0.8036, 2.3272, 0.6044, 1.56, -0.8871, -0.136, 0.0129, 0.2752, 1.4361, 0.7101, -0.0429, -0.2184, -0.2184, 0.0562] state[eef_state]: left_x=0.3809 left_y=-0.1925 left_z=0.0236 left_yaw=0.0927 left_pitch=0.4686 left_roll=-0.0102 left_gripper=0.0129 right_x=0.3562 right_y=0.1441 right_z=0.0873 right_yaw=0.5681 right_pitch=-0.1891 right_roll=-0.004 right_gripper=0.0562 state[joint_eff]: [-0.335, -10.988, 2.0581, 1.7705, -0.1685, -0.1294, 0.2125, -0.1436, -5.8188, 6.3795, 1.7167, -0.1148, -0.0708, 1.0281] camera 'top_cam' (step 175): [image omitted: streamed camera frame] camera 'left_cam' (step 175): [image omitted: streamed camera frame] camera 'right_cam' (step 175): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.168, "left_z": -0.01, "left_pitch": 0.6, "left_gripper": 1.0}, "note": "The rake passed over the cap; it now shows in the left wrist view just ahead and left of the jaws. Opening and moving onto it with max forward pitch to get as low as possible."})
tool
executing move_to over 10 steps (1.0s)
step 185
assistant
agent noteCap is out of the wrist view (under/behind the open jaws) but the arm overshot to x=0.46 and sits 2.7 cm up. Commanding a shorter x and lower z so the jaws come down around the cap.
move_to
left_x0.4000left_z-0.0200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6525, 2.4748, 0.8944, 1.5639, -0.7795, -0.0372, 0.9948, 0.2752, 1.4361, 0.709, -0.0463, -0.2184, -0.218, 0.0562] state[eef_state]: left_x=0.4598 left_y=-0.1906 left_z=0.0268 left_yaw=0.1402 left_pitch=0.5592 left_roll=-0.0294 left_gripper=0.9948 right_x=0.3554 right_y=0.1438 right_z=0.0863 right_yaw=0.5681 right_pitch=-0.1935 right_roll=-0.0023 right_gripper=0.0562 state[joint_eff]: [0.5675, -9.2376, 4.2188, 1.7411, 0.1783, 0.1978, -0.0317, -0.1983, -5.7778, 6.4205, 1.5263, -0.1245, -0.0171, 1.0232] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_z": -0.02}, "note": "Cap is out of the wrist view (under/behind the open jaws) but the arm overshot to x=0.46 and sits 2.7 cm up. Commanding a shorter x and lower z so the jaws come down around the cap."})
tool
executing move_to over 5 steps (0.5s)
step 190
assistant
agent noteThe arm won't descend below ~2.8 cm here and the cap is hidden under the jaws; trying one close in case the tilted fingertips reach 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]: [-0.7624, 2.4825, 0.8967, 1.5848, -0.8703, -0.0593, 0.996, 0.2752, 1.4372, 0.7082, -0.0456, -0.2184, -0.218, 0.0562] state[eef_state]: left_x=0.4351 left_y=-0.2238 left_z=0.0279 left_yaw=0.1423 left_pitch=0.5696 left_roll=-0.0689 left_gripper=0.996 right_x=0.3552 right_y=0.1438 right_z=0.0857 right_yaw=0.5682 right_pitch=-0.1946 right_roll=-0.002 right_gripper=0.0562 state[joint_eff]: [-0.8, -8.1162, 1.6068, 1.4579, -0.2369, -0.0562, 0.105, -0.0615, -5.8325, 6.3658, 1.5751, -0.1636, -0.0269, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The arm won't descend below ~2.8 cm here and the cap is hidden under the jaws; trying one close in case the tilted fingertips reach it."})
tool
executing move_to over 10 steps (1.0s)
step 200
assistant
agent noteI couldn't finish the task. The right arm picked up the pen and is holding it at about 9 cm height, but the left arm couldn't grasp the cap. The cap sits at about left_x 0.43–0.45, left_y −0.17 to −0.19, roughly 0.47 m out from the left base. At that reach the left arm won't bring the grasp point lower than about 2–3 cm above the table, even with the tool pitched fully forward, so both closes came up empty. I also tried dragging the cap closer with the closed jaws, but they passed over it. The right arm can't reach the cap either: it's at about right_y 0.48, beyond the right arm's y limit of 0.4. With too few calls left to fit a grasp and the cap-on-pen step, I'm stopping here. If someone moves the cap about 8 cm closer to the left base, it should be graspable.
give_up
hindsight- **Left-arm reach limit:** at pitch 0 the left arm couldn't get below z≈0.054 at about 0.445 m radial distance from its base (x 0.41, y −0.17); the shoulder joint stalled around 1.8 rad. Pitching forward (0.4–0.6) got it down to z≈0.01 at x≈0.41, but at x>0.43 it stops at z≈0.02–0.03. In practice, table-level grasps only work within about 0.42 m radial of the base, not the 0.49 m the facts sheet gives. - **Readback overshoot when pitched:** with pitch 0.5, the x readback often came out 1.5–3 cm beyond the command, and y drifted by 2–3 cm. - **Many moves ended early:** moves often stopped after 2–5 steps well short of the target, with no approver message. Re-sending, or sending only z, sometimes helped. When a move stalls at low z, lift first. - **Yaw tracks slowly:** it lags the command by a lot. - **Top-cam scale:** in this rig the start grippers (y=0) show up near the image edges, x≈15 on the left and ≈205 on the right, at about 2–3 px/cm. The pen at image x≈135 turned out to be at right_y≈0.15, x≈0.37. The cap at image (75,97) was at left_y≈−0.18, x≈0.44, farther out than it looked. - **Next time:** before committing, check whether the object is within about 0.42 m radial of the arm's base. If not, sweep it closer early with the gripper open, fingertips beyond the object and a low z, or ask the operator to move it. Save calls for the mating step. Grasping the pen with the right arm (open, align the wrist-cam column, press to z≈0, close) worked, and a settled reading of 0.045–0.055 meant the pen was held.
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7795, 2.4825, 0.8963, 1.5848, -0.9096, -0.0769, 0.0088, 0.2752, 1.4372, 0.7082, -0.0452, -0.2184, -0.218, 0.0562] state[eef_state]: left_x=0.4304 left_y=-0.2243 left_z=0.0279 left_yaw=0.1755 left_pitch=0.5687 left_roll=-0.0893 left_gripper=0.0088 right_x=0.3553 right_y=0.1438 right_z=0.0858 right_yaw=0.5682 right_pitch=-0.1942 right_roll=-0.0021 right_gripper=0.0562 state[joint_eff]: [-0.4171, -7.9932, 1.6889, 1.453, -0.0708, 0.0366, 0.652, -0.1436, -5.7778, 6.3111, 1.5409, -0.1636, -0.0513, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I couldn't finish the task. The right arm picked up the pen and is holding it at about 9 cm height, but the left arm couldn't grasp the cap. The cap sits at about left_x 0.43\u20130.45, left_y \u22120.17 to \u22120.19, roughly 0.47 m out from the left base. At that reach the left arm won't bring the grasp point lower than about 2\u20133 cm above the table, even with the tool pitched fully forward, so both closes came up empty. I also tried dragging the cap closer with the closed jaws, but they passed over it. The right arm can't reach the cap either: it's at about right_y 0.48, beyond the right arm's y limit of 0.4. With too few calls left to fit a grasp and the cap-on-pen step, I'm stopping here. If someone moves the cap about 8 cm closer to the left base, it should be graspable.", "hindsight": "- **Left-arm reach limit:** at pitch 0 the left arm couldn't get below z\u22480.054 at about 0.445 m radial distance from its base (x 0.41, y \u22120.17); the shoulder joint stalled around 1.8 rad. Pitching forward (0.4\u20130.6) got it down to z\u22480.01 at x\u22480.41, but at x>0.43 it stops at z\u22480.02\u20130.03. In practice, table-level grasps only work within about 0.42 m radial of the base, not the 0.49 m the facts sheet gives.\n- **Readback overshoot when pitched:** with pitch 0.5, the x readback often came out 1.5\u20133 cm beyond the command, and y drifted by 2\u20133 cm.\n- **Many moves ended early:** moves often stopped after 2\u20135 steps well short of the target, with no approver message. Re-sending, or sending only z, sometimes helped. When a move stalls at low z, lift first.\n- **Yaw tracks slowly:** it lags the command by a lot.\n- **Top-cam scale:** in this rig the start grippers (y=0) show up near the image edges, x\u224815 on the left and \u2248205 on the right, at about 2\u20133 px/cm. The pen at image x\u2248135 turned out to be at right_y\u22480.15, x\u22480.37. The cap at image (75,97) was at left_y\u2248\u22120.18, x\u22480.44, farther out than it looked.\n- **Next time:** before committing, check whether the object is within about 0.42 m radial of the arm's base. If not, sweep it closer early with the gripper open, fingertips beyond the object and a low z, or ask the operator to move it. Save calls for the mating step. Grasping the pen with the right arm (open, align the wrist-cam column, press to z\u22480, close) worked, and a settled reading of 0.045\u20130.055 meant the pen was held."})
tool
give_up: I couldn't finish the task. The right arm picked up the pen and is holding it at about 9 cm height, but the left arm couldn't grasp the cap. The cap sits at about left_x 0.43–0.45, left_y −0.17 to −0.19, roughly 0.47 m out from the left base. At that reach the left arm won't bring the grasp point lower than about 2–3 cm above the table, even with the tool pitched fully forward, so both closes came up empty. I also tried dragging the cap closer with the closed jaws, but they passed over it. The right arm can't reach the cap either: it's at about right_y 0.48, beyond the right arm's y limit of 0.4. With too few calls left to fit a grasp and the cap-on-pen step, I'm stopping here. If someone moves the cap about 8 cm closer to the left base, it should be graspable.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 16.42 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Pick up the pen and the pen cap, then put the cap on the pen.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7933, 0.6022, -0.3801, -0.02, -0.0116, 0.9993, -0.0185, 0.791, 0.6098, -0.3759, -0.0227, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0011 left_z=0.1793 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2958 right_y=0.0021 right_z=0.1843 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4991, -1.5385, 10.4684, 1.7851, -0.0757, -0.0611, -0.0806, -0.7453, -1.2786, 9.7436, 1.746, -0.0171, 0.0611, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12705b95b32947bbfd4d7376c1e77ec28711d5ddca604e3ec6c3073dab943edf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98bcbe1d6bc663fd9dc19a0416a0c487ba15b5f7329d3257610281c6f8044293",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0d89ed569d668130cae48772646487e0c028ac0321b04f689d1941559c4ad681",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 7.072 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7933, 0.6022, -0.3801, -0.02, -0.0116, 0.9993, -0.0185, 0.791, 0.6098, -0.3759, -0.0227, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0011 left_z=0.1793 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2958 right_y=0.0021 right_z=0.1843 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4991, -1.5385, 10.4684, 1.7851, -0.0757, -0.0611, -0.0806, -0.7453, -1.2786, 9.7436, 1.746, -0.0171, 0.0611, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12705b95b32947bbfd4d7376c1e77ec28711d5ddca604e3ec6c3073dab943edf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98bcbe1d6bc663fd9dc19a0416a0c487ba15b5f7329d3257610281c6f8044293",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d89ed569d668130cae48772646487e0c028ac0321b04f689d1941559c4ad681",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WPcuvuj26VAd1U2PKEmZYm",
      "input": {
        "note": "Pen lies on the table ahead-left of the right arm, cap is further left (reachable by left arm). Moving the right arm above the pen with jaws yawed to be across it.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.4,
          "right_y": 0.23,
          "right_yaw": 0.3,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01WPcuvuj26VAd1U2PKEmZYm",
      "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, 0.7982, 0.6029, -0.3813, -0.02, -0.0113, 0.9993, 0.6033, 1.5684, 0.9215, -0.0006, 0.2359, 0.1352, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=0.0012 left_z=0.178 left_yaw=0.0002 left_pitch=-0.0053 left_roll=0.0004 left_gripper=0.9993 right_x=0.387 right_y=0.2209 right_z=0.1305 right_yaw=0.3188 right_pitch=-0.0698 right_roll=-0.0259 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.6205, 6.9812, 1.7021, -0.0269, -0.0757, -0.0171, 0.2667, -7.2274, 9.0598, 1.9316, 0.2759, 0.1538, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8063a2aab0dcc4008c4c4ba908610d1e6f3f20a5757234a2d98662a676670f7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2211544f2321c814eca8a24a6d8de3e3a9336d67768ddbadd4e29e3ce2584656",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:35d98e7f122966cac0703d57e9ed4f8c0c9767981bb4dcd82b8c61ca6e1c05d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 9.285 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7933, 0.6022, -0.3801, -0.02, -0.0116, 0.9993, -0.0185, 0.791, 0.6098, -0.3759, -0.0227, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0011 left_z=0.1793 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2958 right_y=0.0021 right_z=0.1843 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4991, -1.5385, 10.4684, 1.7851, -0.0757, -0.0611, -0.0806, -0.7453, -1.2786, 9.7436, 1.746, -0.0171, 0.0611, -0.105]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7982, 0.6029, -0.3813, -0.02, -0.0113, 0.9993, 0.6033, 1.5684, 0.9215, -0.0006, 0.2359, 0.1352, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=0.0012 left_z=0.178 left_yaw=0.0002 left_pitch=-0.0053 left_roll=0.0004 left_gripper=0.9993 right_x=0.387 right_y=0.2209 right_z=0.1305 right_yaw=0.3188 right_pitch=-0.0698 right_roll=-0.0259 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.6205, 6.9812, 1.7021, -0.0269, -0.0757, -0.0171, 0.2667, -7.2274, 9.0598, 1.9316, 0.2759, 0.1538, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8063a2aab0dcc4008c4c4ba908610d1e6f3f20a5757234a2d98662a676670f7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2211544f2321c814eca8a24a6d8de3e3a9336d67768ddbadd4e29e3ce2584656",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35d98e7f122966cac0703d57e9ed4f8c0c9767981bb4dcd82b8c61ca6e1c05d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSygsKEAgSGAI4AUIIdGhpbmtpbmcSDHS05HcXk6OKItA0DhoMDSHceEQFC1ZTkGzrIjA7PEhzps3EL8MOxWzVWtfQAOP6/9tcoojC2k/bd/yrMMEvbY8lAm01jm5hfl+lWcIq5wrq0Nya/zuy/EFHyTqibMyOkJ4Sto8yXfwrwk4NInSlXgjXG9ByqfJ5bJI+otxFBkJIPMNxRTZ/zhFLhI2KaqlNGbrtxBzsFQoSmbx4BeSuQInIC0yv4vkryppeliDqMIwpGVeWNPMFxlCWp5zAg2wb2NxDQuuJr7+Jg/fykHds44DxcPoK1LLZ+/lzTBjFvjL0tPXaetsHM2lwbhO5PvvPOeZjQhVm0osgVd+ANvuzjgEirFVz9AfONd5THJXXvOPNaAe1tmyRGKo/K5SscDeQdAB25Q+oa4guCmVq9HwDMi+iHQT+Zozw5qQ/+9CsRZYrU3laQgwcWxMiInvpeM/MXbxz/p6Y3+kSlrrKQ/5+9r4Jg9fH3keyWj4KTXUMOfC1n75tFAcEUEXKSV+TB5EZCbh8dmrdbq37tWJIHZdAsu7gsd+Ok0hlYfkWyXKq9BlFQbE3RjAgxvB+7XeeLCukuroVBYaE8fTYtyl2SLBzd11uC07bJUVDn53vlDHvLAJAOE80gy8+5MokJup+PDNh+LeTx5gVmIDL8U9mUu/ZlVVVEPg3jtIMsIADctZlicIj1Os3pl/Lxd0Iuug+HheIzqeXAcmtbJu5dVtTOejdt0aAw+Vu3dYueZVdXwFCTRlzDhGraVfLPlxwcWAgWrPPipVGZx1VQpDIw64HLw9PCWViNb12s2E8G4DpGd6ENIMHj4FlIni/dnPp+T2Zm+PHj0y2NDsJyuHFfmuAufcSbB8MsjtERv/jAviLQhZzS6SH82R2D+OMRba9KHwnjY8A8w+X8zKuJMsZkC35rlZLNEoXkR2a7Vdc2Z1PnFNUt7iuJ6yvFDDH8fXXDUkhKGXPT+EOo7FqefRP8mkZyNcCADXECZfhwy6TZvYQuHqKhzECEdaHixsQJLLaTdyBT8looF8GzSGlnn8DzRhzi3PQJU1+2mrBlL1lo/NCJ76pbn2cYNkRr887269iIMsCscbM4VgmoUYshYwzXTEoguq56YVp0iJ0bYu94zxcEqHtpbvkMGbXh7yOYztDAvmEIGWe+98t16d1/eMPzkfJpradnJ6Wurzh/dSHPXzCqgGtxPonAiJ8z6Qx51kv+EcvHtuMW9D60dYvdigev3KfSZP+WIVTbiV+dw7a4krPLhEVTx0oqs2cnBCKUy6FTYdpVMK6M80z+j+pYwSjrDiQD/Igzyo22WS2R2dpkxaDOlymuE/ynPwAPAF+97iFC3fOr3zwzGkf+NvQiVJ4dqUa1NejI71ev8UFyP5iAEM+c7f6cQZpwL+NGxIGWT4Vit97+iNv/CQ0v10GCT92kz2kXEgRR+x/uuAwNVWymMRpBAjGA85HqJXxybliopbU7vwblNJ+JfKCjknND1vAVOaDfsIVYfMR8GJ7US4EKrLV5g1rbsMBQIy1jn7py4aJ1MZd4LQDGrja0s5v+Oo4zZP8H8LZshesKp3CN45bgCInOV9GJhWyH2qEGWawReQ5YdpzPNlclAbv+x0+5p0vLDjQ12WDLdBCdjRtAzBVcP8DVpAKZeSO8zGMkBACG9Y1IugfxYitDzI9g0vWeJfRnMP+E1NbxFHX2NXjR0Nvmckv3DudglqxpeltkjjX2bKo7iJuN9SgH97xwRCZmCuUwCqVsumtYXGhb4632st2EX3SprJAcPVT3QmecSMjB8rTookn8pq8asS6OxMwDaWL0004RADqKcDG1JB4nERWnASBuBSz8s2xvhA5UtnOTNdFT2Q5MKIu1ujBibPCfGP5MMfP7FDRs8ydE2KZG0iJYtYZT0ZR8pxzMQAwUYbhXJtOHmTY+5Bcpb8GrQEEbdfOwsVK+to7f/gHIHqijxsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Nfyk3NRwq9xjzomkBb1auw",
      "input": {
        "note": "Right wrist cam shows pen almost aligned with jaw column, tip pointing forward, slightly right of centre. Shifting ~1.5 cm right and a bit back (to hold the rear half, leaving the tip free) and descending to table.",
        "targets": {
          "right_x": 0.375,
          "right_y": 0.205,
          "right_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01Nfyk3NRwq9xjzomkBb1auw",
      "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, -0.3805, -0.02, -0.0113, 0.9993, 0.5877, 1.8465, 0.6277, 0.5247, 0.2199, 0.1272, 0.999]\nstate[eef_state]: left_x=0.2949 left_y=0.0012 left_z=0.1779 left_yaw=0.0002 left_pitch=-0.0057 left_roll=0.0004 left_gripper=0.9993 right_x=0.3682 right_y=0.2033 right_z=0.0018 right_yaw=0.3197 right_pitch=-0.1173 right_roll=-0.0354 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -1.347, 7.0359, 1.7167, -0.0415, -0.0659, -0.0171, -0.5949, -6.5026, 4.4786, 1.1209, 0.1392, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab6678117e502e4207df3c595162a98f28803d576b45c773b83f56d2dd579790",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7418acf4108073964f84ca6faae6767b4685e1827f4c049615cdd42c4804d1e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ff28a63b94e7cce8e32d046942d4cdd72d89c1f6fcae40ec7535125879100afe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 7.541 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7933, 0.6022, -0.3801, -0.02, -0.0116, 0.9993, -0.0185, 0.791, 0.6098, -0.3759, -0.0227, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0011 left_z=0.1793 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2958 right_y=0.0021 right_z=0.1843 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4991, -1.5385, 10.4684, 1.7851, -0.0757, -0.0611, -0.0806, -0.7453, -1.2786, 9.7436, 1.746, -0.0171, 0.0611, -0.105]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7982, 0.6029, -0.3813, -0.02, -0.0113, 0.9993, 0.6033, 1.5684, 0.9215, -0.0006, 0.2359, 0.1352, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=0.0012 left_z=0.178 left_yaw=0.0002 left_pitch=-0.0053 left_roll=0.0004 left_gripper=0.9993 right_x=0.387 right_y=0.2209 right_z=0.1305 right_yaw=0.3188 right_pitch=-0.0698 right_roll=-0.0259 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.6205, 6.9812, 1.7021, -0.0269, -0.0757, -0.0171, 0.2667, -7.2274, 9.0598, 1.9316, 0.2759, 0.1538, -0.105]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7994, 0.6029, -0.3805, -0.02, -0.0113, 0.9993, 0.5877, 1.8465, 0.6277, 0.5247, 0.2199, 0.1272, 0.999]\nstate[eef_state]: left_x=0.2949 left_y=0.0012 left_z=0.1779 left_yaw=0.0002 left_pitch=-0.0057 left_roll=0.0004 left_gripper=0.9993 right_x=0.3682 right_y=0.2033 right_z=0.0018 right_yaw=0.3197 right_pitch=-0.1173 right_roll=-0.0354 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -1.347, 7.0359, 1.7167, -0.0415, -0.0659, -0.0171, -0.5949, -6.5026, 4.4786, 1.1209, 0.1392, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab6678117e502e4207df3c595162a98f28803d576b45c773b83f56d2dd579790",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7418acf4108073964f84ca6faae6767b4685e1827f4c049615cdd42c4804d1e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff28a63b94e7cce8e32d046942d4cdd72d89c1f6fcae40ec7535125879100afe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0121f4Bnz9JWcMNceMbtZUqC",
      "input": {
        "note": "At table height the pen appears under the right jaw finger, ~3.5 cm to the right of centre. Lifting slightly and shifting right to centre it between the jaws.",
        "targets": {
          "right_y": 0.17,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_0121f4Bnz9JWcMNceMbtZUqC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8032, 0.6029, -0.3809, -0.02, -0.0113, 0.9993, 0.5022, 1.7256, 0.5877, 0.4618, 0.1623, 0.0845, 0.9991]\nstate[eef_state]: left_x=0.2951 left_y=0.0012 left_z=0.1768 left_yaw=0.0002 left_pitch=-0.0099 left_roll=0.0005 left_gripper=0.9993 right_x=0.3702 right_y=0.1748 right_z=0.0228 right_yaw=0.3061 right_pitch=-0.1087 right_roll=-0.0293 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -1.1829, 7.1316, 1.7118, -0.0757, -0.0806, -0.0122, -0.1299, -7.6786, 5.2444, 1.6337, -0.0317, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:218cbc2101fae4cf4dad9f52568137570d3210942464af79de567464f4d91d56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1834d041a80aebd8350365fe7f77519375854aa34a2ae787b7d65f057cd3c2a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:147d6a4839811a60648dd17b57c7bb2b6eadfdceb3cf6c57514031074dbeabc3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 6.226 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7982, 0.6029, -0.3813, -0.02, -0.0113, 0.9993, 0.6033, 1.5684, 0.9215, -0.0006, 0.2359, 0.1352, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=0.0012 left_z=0.178 left_yaw=0.0002 left_pitch=-0.0053 left_roll=0.0004 left_gripper=0.9993 right_x=0.387 right_y=0.2209 right_z=0.1305 right_yaw=0.3188 right_pitch=-0.0698 right_roll=-0.0259 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.6205, 6.9812, 1.7021, -0.0269, -0.0757, -0.0171, 0.2667, -7.2274, 9.0598, 1.9316, 0.2759, 0.1538, -0.105]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7994, 0.6029, -0.3805, -0.02, -0.0113, 0.9993, 0.5877, 1.8465, 0.6277, 0.5247, 0.2199, 0.1272, 0.999]\nstate[eef_state]: left_x=0.2949 left_y=0.0012 left_z=0.1779 left_yaw=0.0002 left_pitch=-0.0057 left_roll=0.0004 left_gripper=0.9993 right_x=0.3682 right_y=0.2033 right_z=0.0018 right_yaw=0.3197 right_pitch=-0.1173 right_roll=-0.0354 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -1.347, 7.0359, 1.7167, -0.0415, -0.0659, -0.0171, -0.5949, -6.5026, 4.4786, 1.1209, 0.1392, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8032, 0.6029, -0.3809, -0.02, -0.0113, 0.9993, 0.5022, 1.7256, 0.5877, 0.4618, 0.1623, 0.0845, 0.9991]\nstate[eef_state]: left_x=0.2951 left_y=0.0012 left_z=0.1768 left_yaw=0.0002 left_pitch=-0.0099 left_roll=0.0005 left_gripper=0.9993 right_x=0.3702 right_y=0.1748 right_z=0.0228 right_yaw=0.3061 right_pitch=-0.1087 right_roll=-0.0293 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -1.1829, 7.1316, 1.7118, -0.0757, -0.0806, -0.0122, -0.1299, -7.6786, 5.2444, 1.6337, -0.0317, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:218cbc2101fae4cf4dad9f52568137570d3210942464af79de567464f4d91d56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1834d041a80aebd8350365fe7f77519375854aa34a2ae787b7d65f057cd3c2a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:147d6a4839811a60648dd17b57c7bb2b6eadfdceb3cf6c57514031074dbeabc3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013pfVmtkJUW6odrpASxeDtD",
      "input": {
        "note": "Pen appears diagonal in the right wrist view (yaw misaligned) and still toward the right jaw. Rotating the tool CCW to align with the pen and shifting a bit more right.",
        "targets": {
          "right_y": 0.155,
          "right_yaw": 0.65
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_013pfVmtkJUW6odrpASxeDtD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8051, 0.6029, -0.3809, -0.02, -0.0113, 0.9993, 0.4229, 1.6974, 0.5659, 0.4389, 0.0479, -0.0074, 0.999]\nstate[eef_state]: left_x=0.2953 left_y=0.0012 left_z=0.1762 left_yaw=0.0002 left_pitch=-0.0118 left_roll=0.0006 left_gripper=0.9993 right_x=0.3683 right_y=0.1604 right_z=0.0204 right_yaw=0.3729 right_pitch=-0.1347 right_roll=-0.0311 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -1.0598, 7.2, 1.7265, -0.0757, -0.0464, -0.0171, 0.253, -5.2855, 5.094, 2.0342, -0.0904, -0.1148, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6b7ff96f7d53925f245dd6ebb80dc1f1ef8dc5bec75db6d338422722366dd3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4435734be370a1fe5c3866dfbc1a7940fb62f5fe75ad223a46976a7b0cc975f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e0d393ca8df96571a76ff54c6bd271dfe58e9effc2e7a697780c160a1e13360b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 3.938 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7994, 0.6029, -0.3805, -0.02, -0.0113, 0.9993, 0.5877, 1.8465, 0.6277, 0.5247, 0.2199, 0.1272, 0.999]\nstate[eef_state]: left_x=0.2949 left_y=0.0012 left_z=0.1779 left_yaw=0.0002 left_pitch=-0.0057 left_roll=0.0004 left_gripper=0.9993 right_x=0.3682 right_y=0.2033 right_z=0.0018 right_yaw=0.3197 right_pitch=-0.1173 right_roll=-0.0354 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -1.347, 7.0359, 1.7167, -0.0415, -0.0659, -0.0171, -0.5949, -6.5026, 4.4786, 1.1209, 0.1392, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8032, 0.6029, -0.3809, -0.02, -0.0113, 0.9993, 0.5022, 1.7256, 0.5877, 0.4618, 0.1623, 0.0845, 0.9991]\nstate[eef_state]: left_x=0.2951 left_y=0.0012 left_z=0.1768 left_yaw=0.0002 left_pitch=-0.0099 left_roll=0.0005 left_gripper=0.9993 right_x=0.3702 right_y=0.1748 right_z=0.0228 right_yaw=0.3061 right_pitch=-0.1087 right_roll=-0.0293 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -1.1829, 7.1316, 1.7118, -0.0757, -0.0806, -0.0122, -0.1299, -7.6786, 5.2444, 1.6337, -0.0317, -0.0269, -0.0073]",
      "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, 0.8051, 0.6029, -0.3809, -0.02, -0.0113, 0.9993, 0.4229, 1.6974, 0.5659, 0.4389, 0.0479, -0.0074, 0.999]\nstate[eef_state]: left_x=0.2953 left_y=0.0012 left_z=0.1762 left_yaw=0.0002 left_pitch=-0.0118 left_roll=0.0006 left_gripper=0.9993 right_x=0.3683 right_y=0.1604 right_z=0.0204 right_yaw=0.3729 right_pitch=-0.1347 right_roll=-0.0311 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -1.0598, 7.2, 1.7265, -0.0757, -0.0464, -0.0171, 0.253, -5.2855, 5.094, 2.0342, -0.0904, -0.1148, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6b7ff96f7d53925f245dd6ebb80dc1f1ef8dc5bec75db6d338422722366dd3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4435734be370a1fe5c3866dfbc1a7940fb62f5fe75ad223a46976a7b0cc975f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0d393ca8df96571a76ff54c6bd271dfe58e9effc2e7a697780c160a1e13360b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStgoKEAgSGAI4AUIIdGhpbmtpbmcSDC/nPi+ffUaTZH0Y1BoMs1u/gD7wleJtmxoDIjDI35j24YdqwQvw7WT3+xN9wXbBqklUtS8yqFg5VQK8h+OpMoeZs9NITf7US+m1c2cq0wm8DFB8jFl2mR7XGhOmNkxcqrA7fZpyl6MSLF2WdPXhribcVKgND7lIpM0KON7cugyq8+Yb/jXkwCq2maF64XXDAb27kKrLnTwWPeZMXOQTZr/9GA71JVvCD/bIrgkfz335+uo9c8m+qgAJtZ/WSCN9vsQo2a3V8W9FJYOs5pfRKAC2YrbpJi7wa0A9KsKdYNOdlKK40s8uDn2fMZJYOujRsb0nq8YojQ9xIUPORwiYep0Ifwmldr1jjb5ziLxsB5c3JrwSATX0xXOX6FGCyy6T92GuSHlj1V3FSawzwba5MDj/Uq4Wd30Ni+3QAJnX316L/9OhDv4pDG2rI86pOLLTvX8gPQ4qRBYGia0QlEgfA7sSsanUC2pj0gZz9EvLCsnCQNlngKJK8j63oSTY/AH63+EHjThE4XVcuXUMnjnNob2T1+v427mDTk5MasbmM1v6T+jkqcZESOpZEvdlwOAlG7+buFAqBlRYgemJ4T5BaZGsQDNnHCRLVyCCD+6Pr8VZQni4q2Cc5FyAw+s1UiLDAC8Iq3o+uFfKtLOBoU8N/AfcI4NI8CesEl8HBvR8N656xbXPRJevXsrQYUYi/EDVxmRDAaDGYrZeVxLsLryCwn0NuZ4tkAiba4P2rAmbXnJjTnZqC2/STydvaO3VuL34DvgK2CRIQWETOBbgsSAtktmAqdtn1+huL6dFCEI3etShXSNBLxEgnLuYfUvXveVNHSLaW+bgLraDJU59WaAzzo/T1dz31+LINKjNla14DdJRv1SDd+w+VOEOOpx6xIPh+BUPpq7IBs5ZAY6TTX6e2PglTkWlud607GpuNRYuoZAzB1qyqgfSvMS7rX1alLFUoaR5cEWrqZjS1ska2Mb1V5LaeCzTIdkLRBolgJy9Qfb4We1IdN8Qs1vpRdjnKaCYEQipXR21nH7/vMS7Dzxte9L+C2p83CnzxJEun5FFNBNBv9c8R4jDcgRecJM3nMluV7AYwAw/P2qqlTKMnzeqFayRXaPTlFpmBACpCceGPM37eU7pWGdA9E2r4ykLZVdCX5DMao14be89BCLTfK3ErBZcCBhG9i5PgtAx0X/ALg89JiYmbYD9F8njgcJ9oIUJ3+iva68wn6+J2aKmpi0UYHl9YmUwauD7ydHQdZV5ObcIS6Z6tCuVwMyxIwmmJKRdp2rHdEWAqAQlJMOp6mw1xYxcRkV6A9FKujDebiTOIkmZTs4yU98QjLdlGuhGRwvOsEEcQbQNFYGVPdtd4m35+CJUY1cj+bszId+M53Moxhni8Bd1WDSHfo6KvMqrvTNhNa75qTnZedVOSNA7zIxbAixZhC5i+2qUeJRf4bivXV/MXC4g+zVECWerAga41e0V6INDpBY7PQ+MBWSY9h54l3pz48sDJftkEYHbLqVkEJsmkSkvUjP1FaebvOQngp8+9iv2BusxfemUEY3ZRZ1rns+8sr5oTCaNnqU8ThJW+duj+xLsbm1kKdz72d4JZ4/qfOMgcuDiYCGQ2pMHw3dxfyqZeHNtMorTl7Uqv/kB2/RoqWqHV9f78JR0O8934k5XKzNNVUf4j6UF1T6ctQ+K4IF1oOrfyhk3GLdQA+T8tD8SVYiSNEv0cwyuKq/w8UQc8uM07mrwZxzhlsPp5j4wAhze9BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015VG9DsnxbpgT4SV8m8yWcy",
      "input": {
        "note": "Yaw only reached 0.37; pen still passes right of the jaw centre near the bottom. Completing the yaw and shifting ~2 cm further right before descending.",
        "targets": {
          "right_y": 0.14,
          "right_yaw": 0.65,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_015VG9DsnxbpgT4SV8m8yWcy",
      "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, 0.6029, -0.3809, -0.0196, -0.0113, 0.9993, 0.4194, 1.6974, 0.5636, 0.4572, 0.017, -0.0349, 0.999]\nstate[eef_state]: left_x=0.2954 left_y=0.0011 left_z=0.1757 left_yaw=-0.0001 left_pitch=-0.0137 left_roll=0.0004 left_gripper=0.9993 right_x=0.3686 right_y=0.165 right_z=0.023 right_yaw=0.4106 right_pitch=-0.1195 right_roll=-0.0324 right_gripper=0.999\nstate[joint_eff]: [-0.1299, -1.4701, 7.0222, 1.7265, -0.0269, -0.0562, -0.0171, 0.1573, -5.4496, 5.094, 1.8632, -0.1441, -0.0757, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b75c5e5fa84ba62971564d207d2011ab987439ff81770a935284fdfe9c9fca5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b79012aed6e0a7dd2354f7bc8e349543b0816b2befa652a22787d5d53985e0e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:72834cdfdaf4aca63ba89b30493bf024a3d90a8384f4d49d791acace70f00fbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 4.324 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8032, 0.6029, -0.3809, -0.02, -0.0113, 0.9993, 0.5022, 1.7256, 0.5877, 0.4618, 0.1623, 0.0845, 0.9991]\nstate[eef_state]: left_x=0.2951 left_y=0.0012 left_z=0.1768 left_yaw=0.0002 left_pitch=-0.0099 left_roll=0.0005 left_gripper=0.9993 right_x=0.3702 right_y=0.1748 right_z=0.0228 right_yaw=0.3061 right_pitch=-0.1087 right_roll=-0.0293 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -1.1829, 7.1316, 1.7118, -0.0757, -0.0806, -0.0122, -0.1299, -7.6786, 5.2444, 1.6337, -0.0317, -0.0269, -0.0073]",
      "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, 0.8051, 0.6029, -0.3809, -0.02, -0.0113, 0.9993, 0.4229, 1.6974, 0.5659, 0.4389, 0.0479, -0.0074, 0.999]\nstate[eef_state]: left_x=0.2953 left_y=0.0012 left_z=0.1762 left_yaw=0.0002 left_pitch=-0.0118 left_roll=0.0006 left_gripper=0.9993 right_x=0.3683 right_y=0.1604 right_z=0.0204 right_yaw=0.3729 right_pitch=-0.1347 right_roll=-0.0311 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -1.0598, 7.2, 1.7265, -0.0757, -0.0464, -0.0171, 0.253, -5.2855, 5.094, 2.0342, -0.0904, -0.1148, -0.0122]",
      "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, 0.6029, -0.3809, -0.0196, -0.0113, 0.9993, 0.4194, 1.6974, 0.5636, 0.4572, 0.017, -0.0349, 0.999]\nstate[eef_state]: left_x=0.2954 left_y=0.0011 left_z=0.1757 left_yaw=-0.0001 left_pitch=-0.0137 left_roll=0.0004 left_gripper=0.9993 right_x=0.3686 right_y=0.165 right_z=0.023 right_yaw=0.4106 right_pitch=-0.1195 right_roll=-0.0324 right_gripper=0.999\nstate[joint_eff]: [-0.1299, -1.4701, 7.0222, 1.7265, -0.0269, -0.0562, -0.0171, 0.1573, -5.4496, 5.094, 1.8632, -0.1441, -0.0757, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b75c5e5fa84ba62971564d207d2011ab987439ff81770a935284fdfe9c9fca5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b79012aed6e0a7dd2354f7bc8e349543b0816b2befa652a22787d5d53985e0e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72834cdfdaf4aca63ba89b30493bf024a3d90a8384f4d49d791acace70f00fbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSsQcKEAgSGAI4AUIIdGhpbmtpbmcSDKbmjuVpjxbAnJQoAxoM6+RsHtEubW1icKj7IjCdYB4rbpFtCefxPlOtFapsFir0RTv9/CDc/SeEsmj7k50YJBHwu2hShw0Wf0NhzgoqzgZ7LY+tgNUOqn+BLMWdwAwjZm3ko1AiuOZ+JouQHp/CDDRy+8/nvkVy3DHo+E/ad6Co9fAsOx7oDYkpwqa7z0plMkQqRePICvEDOqK7PAu88IhK7rPrlkb1jkBOoP7+BMTvwQ25MHHcRsDgS0ZKHWw9iWi8wmHt5kOaFW0zdr/FQ3rInVcAbxinoXhCjVr5/ZgomPOZIPh6e86nasaCRjBK/PwQB4xs20iT0Z2Kxf8TXWXlhPDuysXkY5HQV4uS9/j5lRSkMe/u+z5KyZE5vKjUmO4KJe2pKFpq1zrJ+loymSfY57fCC3meKSiFnnRzKQS9NqaNWWswIZ1U6rIUf36alSNG/0pWVI5ka+3wyVlK3a21bcoKEAmzmcKsfvb67f5NHLhoWnk8W1Hl5ohtTqFGhBgDq8A5mxtAlbapVWUzjCderjeOoHC6kYKb/m0sYngA2u5QHKK3YS79X7ekDVBOm23mgjoI5v2XavsFh+YeRdVhBOsDmYTM7UXYjhC7qcAUqD26zD6UcB9wWB8nufkPaGg28C+bM6Sr8ygK6E6VLQx2a/b3y4fcRmN9qlmOqJA5R2Qz4c5bAB/Klklk6r0H8gYvimrTEgV5IbbsQcYbcYNK0bMmFwzcCx6jO4jsijrdZ8gE+Eq6nHFKvD+W6cGO+VssXM+GPnZi8Cj9JF80dhOYQJtaTxRa98z6omiaPKb5YaA9c46x5SstTHyP5xf4PIPCtnggfEVFwbEHuAje13C7Rh3gGLB1DgWlxlY2ItHzJEQ0dPJwPIGxiJsx+4L3c3qojQ/MWVC09O03QKcCTllPpBQAJhd+bXn8YlpCtBsJcaJvB8ywBKG1oxB76tOv8RJLLLPCgm5Wj4M4Emqi+6DKJBUbbpnbrYsF4y9m1WxcJYztqblBkdGS44hA3wYHskJ+UpcNxBREXoRDqDWUCXWf4JUxZv7CCA859OI97Y4Eq2+zEoc6xZH9aBdn/OVlMHG3n9KLWR1xti8ZJ4AlQVTnxGqXTiQQxlGIsucoxQD7pszLHMbjG99FN58EGwybYZ6AUAvTzU2f/5u5uVLXOEt9yXGMq93sgAGW3yR9bJfV3xPC62B1QqWnStLmj6pUD6NIVQJWIrNAU5uxftMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BVSNhM66wX1x4Z4ggvH83v",
      "input": {
        "note": "The arm barely moved at low height; lifting to 8 cm while shifting right and finishing the yaw so the pen lines up between the jaws.",
        "targets": {
          "right_y": 0.14,
          "right_yaw": 0.6,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01BVSNhM66wX1x4Z4ggvH83v",
      "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, 0.6029, -0.3809, -0.02, -0.0113, 0.9993, 0.4191, 1.6974, 0.5636, 0.4576, 0.017, -0.0345, 0.999]\nstate[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1757 left_yaw=0.0002 left_pitch=-0.0137 left_roll=0.0006 left_gripper=0.9993 right_x=0.3687 right_y=0.1649 right_z=0.0231 right_yaw=0.4101 right_pitch=-0.1191 right_roll=-0.0321 right_gripper=0.999\nstate[joint_eff]: [-0.1573, -1.3333, 7.0906, 1.707, -0.0806, -0.0562, -0.0171, 0.1026, -5.8188, 5.094, 1.8681, -0.1001, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47964e877d60038ab11ec21e638c7ddf045c98d39eddab56c876d32eb0a322bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46848ecfc6331ec8d0ef655610443df3310c0c41c581fc07443eb8f3506a9cdd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a2c319e1f8bda3f2701542927acf1c8ffc14f06bb1896ac83c9349ae0c5ad490",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /messages · status 200 · 4.534 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8051, 0.6029, -0.3809, -0.02, -0.0113, 0.9993, 0.4229, 1.6974, 0.5659, 0.4389, 0.0479, -0.0074, 0.999]\nstate[eef_state]: left_x=0.2953 left_y=0.0012 left_z=0.1762 left_yaw=0.0002 left_pitch=-0.0118 left_roll=0.0006 left_gripper=0.9993 right_x=0.3683 right_y=0.1604 right_z=0.0204 right_yaw=0.3729 right_pitch=-0.1347 right_roll=-0.0311 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -1.0598, 7.2, 1.7265, -0.0757, -0.0464, -0.0171, 0.253, -5.2855, 5.094, 2.0342, -0.0904, -0.1148, -0.0122]",
      "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, 0.6029, -0.3809, -0.0196, -0.0113, 0.9993, 0.4194, 1.6974, 0.5636, 0.4572, 0.017, -0.0349, 0.999]\nstate[eef_state]: left_x=0.2954 left_y=0.0011 left_z=0.1757 left_yaw=-0.0001 left_pitch=-0.0137 left_roll=0.0004 left_gripper=0.9993 right_x=0.3686 right_y=0.165 right_z=0.023 right_yaw=0.4106 right_pitch=-0.1195 right_roll=-0.0324 right_gripper=0.999\nstate[joint_eff]: [-0.1299, -1.4701, 7.0222, 1.7265, -0.0269, -0.0562, -0.0171, 0.1573, -5.4496, 5.094, 1.8632, -0.1441, -0.0757, -0.0073]",
      "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, 0.807, 0.6029, -0.3809, -0.02, -0.0113, 0.9993, 0.4191, 1.6974, 0.5636, 0.4576, 0.017, -0.0345, 0.999]\nstate[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1757 left_yaw=0.0002 left_pitch=-0.0137 left_roll=0.0006 left_gripper=0.9993 right_x=0.3687 right_y=0.1649 right_z=0.0231 right_yaw=0.4101 right_pitch=-0.1191 right_roll=-0.0321 right_gripper=0.999\nstate[joint_eff]: [-0.1573, -1.3333, 7.0906, 1.707, -0.0806, -0.0562, -0.0171, 0.1026, -5.8188, 5.094, 1.8681, -0.1001, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47964e877d60038ab11ec21e638c7ddf045c98d39eddab56c876d32eb0a322bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46848ecfc6331ec8d0ef655610443df3310c0c41c581fc07443eb8f3506a9cdd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2c319e1f8bda3f2701542927acf1c8ffc14f06bb1896ac83c9349ae0c5ad490",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvAcKEAgSGAI4AUIIdGhpbmtpbmcSDHiONcNGN/4ZcvY2lRoMK9Inhdvx4Zfs96Q3IjBlkFQid6yUNN7fdirvknuPGvCsx5gZ74XubN2A5Q7XTjX5mR2p6ItQNmybFhG28fUq2QZa0K9zyuWs1xvgLvjPkNkh0LpQj1XcoTS72LVOVEFIGltLyQYWmDL0U9DQKW0N9XV3A5qGOafl0agfJn6ncGbfhqJ5+otWU336p7lC2DiZLLV4dRwqkxAdtoc0W+0OAv2yTVdvscTpQPrPvzh0j/wtTwe7v5LPhk+x6V7JUFaepz8dIRcZ5K+SILyOKw54IaK3djtHkM7xx9vAXS/MGNS+1h9fzT2NNes4WEnUkJhtMxidAvV6aiIAr4sr8oNqe0dQ8XdSPc5pZwaAdOtoKzQ2AEfEqF68I71zy4LjEfkEGkKM0LSc9s5yt09xr4DK5Da7Ws545uR7z+r8gP+O7LZfuN8UMhHQBh33+Yo6uD7BuY6f8SEamcHTJfm0FvhJZEkC2oVCyFy+TPS0HujLbZ51GxSrFZCr7NRYHMMJwgEMr+QW+yVKnFa5mUhhUqqcI5P9Ztb6+MIK48u38uC5p0ZtCtV+BA2yz0g7c1zSMDHH0Q5WMdxqKUIGKLgB1yDQ/QHG565QE8GB2rtKflhEf10AG6iUJBkHAEuB3+rZ9V0EWv0cZEzcBQoWcrB7/r8bOVN/7RSIsNRrtBZd85+Rcp3P+wKT2+VJ+5b9LoW0eWQDW9koMyrk/noHjbNiPjnxpAtqutyt41ZX719VZoG9U12u8Mt9/BDV+U5oDDkbhIuMrrQ+627vn9BvC/DadbK7tENIc+V/aJRcHUlFCCgJxzvuM2yLES2vMMNcCXVskTQrLGYRsakeYwwY/lfnvn1e9lK6NrHO4soDLkZTABpMpCmTlkKCF9YSWkPQWuN+tUmvXUbVr+aJ3CQpRBTnsXxiOh7Jx3mUiwaVhCuIPr6yI6OfYvADJHtuLqkkDCY0jMVH1E3w8FPNIfr6F/xqLHq3Dm22KDB95LthoQi1djWHGcNC3CanweT1HZL84dvgsRZN4P5+ACmwVqv+BX/mwszjQ3mn5+YIj0Xj62lzog2q7aGcpHBhc9IywP4e5y3W59AWmv2T4655WQ3hyedo4XoYOhS+uCD+cjS35MX2GfhMpD3Rk2dUHIFj6wAjOGbJJs5i/yBR6fXvFdU3l+Kphis6w/ZQ00ErORI+ffgmxtKk4IoNYDgGovzmW0Dkobuf5Y8dVNf1SKSqXcRBzBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KojAEQYcMfNPASUyZtrtY3",
      "input": {
        "note": "Right arm did not respond to the last command; trying a pure lift to see if it's an IK stall.",
        "targets": {
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01KojAEQYcMfNPASUyZtrtY3",
      "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, 0.8089, 0.6029, -0.3813, -0.0196, -0.0113, 0.9993, 0.4194, 1.5055, 0.6743, 0.218, 0.0162, -0.036, 0.9991]\nstate[eef_state]: left_x=0.2954 left_y=0.0011 left_z=0.1751 left_yaw=-0.0001 left_pitch=-0.016 left_roll=0.0004 left_gripper=0.9993 right_x=0.3779 right_y=0.1693 right_z=0.0931 right_yaw=0.412 right_pitch=-0.0562 right_roll=-0.0323 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -1.265, 7.159, 1.7118, -0.0464, -0.0708, -0.0171, 0.1436, -5.7778, 6.9402, 1.4042, 0.0269, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1817fa4be0b7eb3c24cf7c44380844ea522e5c33e969afaa5c131607d719951",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6151b151c303a0ee655760772d0e93cd22c4fbf131c1d1d16d07e0e32e1ca19b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8d1dc66d56d37e9d8433af13aebebedabe3028cda41ffe534c59051c1e9f8723",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 4.87 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3809, -0.0196, -0.0113, 0.9993, 0.4194, 1.6974, 0.5636, 0.4572, 0.017, -0.0349, 0.999]\nstate[eef_state]: left_x=0.2954 left_y=0.0011 left_z=0.1757 left_yaw=-0.0001 left_pitch=-0.0137 left_roll=0.0004 left_gripper=0.9993 right_x=0.3686 right_y=0.165 right_z=0.023 right_yaw=0.4106 right_pitch=-0.1195 right_roll=-0.0324 right_gripper=0.999\nstate[joint_eff]: [-0.1299, -1.4701, 7.0222, 1.7265, -0.0269, -0.0562, -0.0171, 0.1573, -5.4496, 5.094, 1.8632, -0.1441, -0.0757, -0.0073]",
      "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, 0.807, 0.6029, -0.3809, -0.02, -0.0113, 0.9993, 0.4191, 1.6974, 0.5636, 0.4576, 0.017, -0.0345, 0.999]\nstate[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1757 left_yaw=0.0002 left_pitch=-0.0137 left_roll=0.0006 left_gripper=0.9993 right_x=0.3687 right_y=0.1649 right_z=0.0231 right_yaw=0.4101 right_pitch=-0.1191 right_roll=-0.0321 right_gripper=0.999\nstate[joint_eff]: [-0.1573, -1.3333, 7.0906, 1.707, -0.0806, -0.0562, -0.0171, 0.1026, -5.8188, 5.094, 1.8681, -0.1001, -0.0366, -0.0073]",
      "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, 0.8089, 0.6029, -0.3813, -0.0196, -0.0113, 0.9993, 0.4194, 1.5055, 0.6743, 0.218, 0.0162, -0.036, 0.9991]\nstate[eef_state]: left_x=0.2954 left_y=0.0011 left_z=0.1751 left_yaw=-0.0001 left_pitch=-0.016 left_roll=0.0004 left_gripper=0.9993 right_x=0.3779 right_y=0.1693 right_z=0.0931 right_yaw=0.412 right_pitch=-0.0562 right_roll=-0.0323 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -1.265, 7.159, 1.7118, -0.0464, -0.0708, -0.0171, 0.1436, -5.7778, 6.9402, 1.4042, 0.0269, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1817fa4be0b7eb3c24cf7c44380844ea522e5c33e969afaa5c131607d719951",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6151b151c303a0ee655760772d0e93cd22c4fbf131c1d1d16d07e0e32e1ca19b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d1dc66d56d37e9d8433af13aebebedabe3028cda41ffe534c59051c1e9f8723",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5QcKEAgSGAI4AUIIdGhpbmtpbmcSDBAKp2DD/I5O8/V1dxoM5L3RP+48tqtrRI8rIjATwg08qjwdWaPGirKxrg0+X0fzPBHqMRrI8NjL9Q8YIDsVDvQ4ezeDgbCxFzHYiawqggf+eqe6jQOvyXBF4rc5mhdAUBa7sRdXEyB6YcqIOS4KumDTpat5GyqWLZ0Xu4sdR+GR1UtF+6ZM2RT/HyAiPgIYW53R0SnXV1U+yn26UxWNe4z2ObyQuVeaI3LhwF/F9UzcC9hEJk7O7XUL0VFyCORTeBwba8XlrhcL/YWOfV/0TyeUh7rnoN7+il3NYR7nUYrVJebxlgWFzv+QUl4Oba5TJ/aEUq1U+gmx5YxJrR+cI0tlu0PT0n3IUtatGYR6/Kw/2VCKQ8M8o7I2QX5w7FosL18TvffqninFAbuHucLcvS+7xTKmfEsXa+32LPjUhOyH1SCbq2h9NOUZAGNtjTxqAOw1hVbdSBJPYtTLySeLhdUHzRVdxmvxqWbnrH9e1tUdor23u9rWJPweqiX+bY+Ni857+m28X+MpgH8jTXgHaowC323OztziRUo/h8vF1ylzlOAX+/zgeYOvxVR9oy7N4Z9/l59z9lA7tE7nNjPm425c/hFKSn1Ou4GTljHM7Gn5HdxOj1J2Xu5uGvzo3+HYrgYoSkGZqdF5LXXNi5XxsZau62jW2HuUg7HuPOCbvID7AumPIPE0LA6p+A7JHGbSEcYPdsEcJsh9wpVJ7xk8XVOxZ1PjRcRaV9l/38Ba0OnWmxG2hRKbgBAeCkR+n6eKIETsq7vg3PTcTKrpAkKgAcnTRDMQ6/1l7GLYW4QTfxhB6YWvf5ibs7l28o6hoP2fGji0PvYMgZXXX4y+eQsWVUkSflPQyrtgUnehAqhyzlZSpi974GOjE8GwFWmu3+gzyl4zTOfcybzJsThNZ1Iuc+2xGVsvbkrDJx1F0VPgNweUGBoDUvESQ74P/yRGp4zMbV6lKS6XBfeYRaXNhe6ETKT8sC5x6cHcoU7VmIMn0A8HhMqc7cL2oBKqU1dC2vPxhZwg38N1OQ3cNOKne3TZjg+w2B5Z1iVj1qCccrdh+6S0iQRY0RZTc/YaNJ4P5mAJW2nBgBu0uX7DYiQUPOIN1aR4n7qco/+8hzIJIuhedpIc+ZkWlIRrim3yrfI66XlpiDzbqQcN3Ss7QfxJs2sT+SJUt+qvEt2HMhT36WVDz5tPj2B2n+3enMtQL8MWdwVry5Yllf+tdYCf3mh7weQOiaVuEgju1GPO0TNsc6Acz+XvdcvnmXpBswmnOzEq44z4q3AUTZ2C6mhCmxLF0mujYXPeGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01F5YZ2bSDcBnSu85zWZrhhP",
      "input": {
        "note": "Lift worked. Pen still slightly right of jaw centre and a bit tilted; shifting ~2 cm right and yawing a little more.",
        "targets": {
          "right_y": 0.15,
          "right_yaw": 0.55
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01F5YZ2bSDcBnSu85zWZrhhP",
      "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, 0.8089, 0.6029, -0.3809, -0.02, -0.0113, 0.9993, 0.3378, 1.4666, 0.6853, 0.1371, -0.0967, -0.1104, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0012 left_z=0.1752 left_yaw=0.0002 left_pitch=-0.0156 left_roll=0.0006 left_gripper=0.9993 right_x=0.3757 right_y=0.1539 right_z=0.0971 right_yaw=0.4659 right_pitch=-0.0836 right_roll=-0.0244 right_gripper=0.9991\nstate[joint_eff]: [-0.2803, -1.3333, 7.0222, 1.7656, -0.0464, -0.0513, -0.0073, -0.5949, -4.5197, 5.8051, 1.8095, -0.1001, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d288ff19b807892d6681cb07b9098b69c46244f9931c9103dfc2ae262adaab01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2d927210a8a4634b88b7480adb0ba82f669b3fd15740e1ec6c4096a4c4aa38b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2fdf3b90cd100f41e86372d933d793c0ec31d1e262d115d090ff59c1d249d71a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 3.815 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3809, -0.02, -0.0113, 0.9993, 0.4191, 1.6974, 0.5636, 0.4576, 0.017, -0.0345, 0.999]\nstate[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1757 left_yaw=0.0002 left_pitch=-0.0137 left_roll=0.0006 left_gripper=0.9993 right_x=0.3687 right_y=0.1649 right_z=0.0231 right_yaw=0.4101 right_pitch=-0.1191 right_roll=-0.0321 right_gripper=0.999\nstate[joint_eff]: [-0.1573, -1.3333, 7.0906, 1.707, -0.0806, -0.0562, -0.0171, 0.1026, -5.8188, 5.094, 1.8681, -0.1001, -0.0366, -0.0073]",
      "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, 0.8089, 0.6029, -0.3813, -0.0196, -0.0113, 0.9993, 0.4194, 1.5055, 0.6743, 0.218, 0.0162, -0.036, 0.9991]\nstate[eef_state]: left_x=0.2954 left_y=0.0011 left_z=0.1751 left_yaw=-0.0001 left_pitch=-0.016 left_roll=0.0004 left_gripper=0.9993 right_x=0.3779 right_y=0.1693 right_z=0.0931 right_yaw=0.412 right_pitch=-0.0562 right_roll=-0.0323 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -1.265, 7.159, 1.7118, -0.0464, -0.0708, -0.0171, 0.1436, -5.7778, 6.9402, 1.4042, 0.0269, -0.0513, -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 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, 0.8089, 0.6029, -0.3809, -0.02, -0.0113, 0.9993, 0.3378, 1.4666, 0.6853, 0.1371, -0.0967, -0.1104, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0012 left_z=0.1752 left_yaw=0.0002 left_pitch=-0.0156 left_roll=0.0006 left_gripper=0.9993 right_x=0.3757 right_y=0.1539 right_z=0.0971 right_yaw=0.4659 right_pitch=-0.0836 right_roll=-0.0244 right_gripper=0.9991\nstate[joint_eff]: [-0.2803, -1.3333, 7.0222, 1.7656, -0.0464, -0.0513, -0.0073, -0.5949, -4.5197, 5.8051, 1.8095, -0.1001, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d288ff19b807892d6681cb07b9098b69c46244f9931c9103dfc2ae262adaab01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2d927210a8a4634b88b7480adb0ba82f669b3fd15740e1ec6c4096a4c4aa38b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fdf3b90cd100f41e86372d933d793c0ec31d1e262d115d090ff59c1d249d71a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwAkKEAgSGAI4AUIIdGhpbmtpbmcSDLbgSnkVUwy8Ms/FaRoM8121LU3Yd71v+9/wIjCFRgMHYs9XenI3WJT5+gFo4u27/zGTj6Um3oPS0ep6FlIhr6vjDEMEVdr9CYcgx6Qq3QiynzEfhB8Kr9dq+7Tqzenj4OClnkE4Z2MaEcatoLlZvClbcSsvdtjRdYBI7ECshARzSYhRtUuUpR/YLSugNngElU+3KIxROPfKmSaqeslAcBKvIaumLVKJEClR6oMHRDZ6OHaGcJVt+oKSYn9oG9j/21yjAfA+idJuepiBPZJ6saSW/lhnUMxOthGZETEntmwEuA1YZCYQlGstcbcfcRr1Hm8DkGUXnq9B4b48wynNdoC8e03mPGT98VBsmpfLAGhET/2wle2GdXVo1TKgKmlQLv8DjeRV8+36O3jpk8h0k3RdTH3TeTrp+k9dNj1fK3BX79ky5tbpwShdL3u27tzzLfoC7LFfIzPO4TiRBctBJtcgzz2obz0djPeKeZMP/K9xxs5Vy6AucZG4gQ/ZqvTTG69wiX8z7hTr5T/UGutsnC5sJp62Obc+Zhp1DrjV6SYNBPeVz1VrChTN6vX26a13Nxw1F6KJ0cryVopiBpMUdhqtjpd4+Fz89qymOMT73uK4/vtGc05e3wNDeMp+HoWIbi3TBB1Wq7Z5ysVLN2eynvbv/IXVzAeWR4QX3dDjY7HAX+uzEntBd6JzbHvMBXIfLXS1OTYJEex8w5lkQH1wHXL9Yk3mq6rze1Su6g43d2IMt5XvCDe3i8mx72/1Uu5BurSB46m7wq7FiK6hEksNpVaibeI4Hv/8PDtGXyXqTY9a0/IAuzKdlt0fZpXcppeQYtF7uXp1mSIxUP5Aaprn7JTQGK5FBA8sxkpuep5FNh31cfhOsh8UriuCyauzieuESKNtcNK+4YD6OxSlDZk3ov6DfseydXsEdSwNgRdW0kc5ZHrbk1kim69OD+zvcofapoRa2eFNqyDZt04vfaaHocXpkLVZTHtv4k6y5Y09XiSfPc5QRDBzP6E+eEcSIVeFUJtOlE/3YxmTNE+aGgUhbB7/CP3PnSh2wRwum/zHag0p9BAHd1ExCiOk+axKuPc2a7aswfj+zDyTnZywamjS78WYaQAxLHb7AeLjmZycyV95rVDxW8SPyBndN9WSUM3+Ytd7mwG1Dyn+ZWb6lhcqEEkTXlSEqIJcGRGIlSMdjPzz0AaAAqPwYsXYH3+aqfRM5sipKRcFnxzk1K/xNHCAGWc2oziFKJ3NXBf4p88bFI7HvM1jd7O12LU/mZXVqIg22kOhQ2M1sH4Pn7MtGbqYWNdnz9S5HaUB2PU/gel9rAiCr4ERtWusmGf9h/6p5dY/Ulreyk1xkG05BDZgSBGyJaC8V2f+4dalIU1k99O/ueLIZnzpTGj51wRXtAnjb18u7QYLnU7ErtNsVksf0YvUgmX5Qh3zQrtaRzPXsTyDLnj0LQ1BjYa1CuGo+tW+PckFvmIWqDYl016cHiluF83nHfWJ1aCsNNYJFGToRIgFmPEKXV3hvPL8OWehy69tgZVyStgUJHSfUCn6gwN7t9bpa8wGRGHx/sIVSJWJKbp+j9NyzF0Vht24chi7YRb+GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Nnf11UUbEYywa9GqwkQeLd",
      "input": {
        "note": "Pen runs nearly along the jaw column, slightly right at the bottom. Small right shift and descending to table level to grasp.",
        "targets": {
          "right_y": 0.145,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Nnf11UUbEYywa9GqwkQeLd",
      "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, 0.8089, 0.6029, -0.3809, -0.02, -0.0109, 0.9993, 0.2752, 1.4845, 0.6586, 0.1696, -0.207, -0.1955, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0012 left_z=0.1752 left_yaw=-0.0 left_pitch=-0.0156 left_roll=0.001 left_gripper=0.9993 right_x=0.3741 right_y=0.1471 right_z=0.0875 right_yaw=0.5419 right_pitch=-0.083 right_roll=-0.0248 right_gripper=0.9991\nstate[joint_eff]: [-0.0205, -1.3333, 7.2274, 1.7118, -0.0659, -0.0562, -0.0073, -0.1983, -5.7778, 6.653, 1.8974, -0.1929, -0.1197, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d89d6d8b9f99f3afcf634cca0cadd9c3135888e640d0e50fc29a045b0329def1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10bf6d7391498d05797cc225fa2d5cea3f3f58df72794e303d3f593dbc560965",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8095efb46856d4c5627e3154ac4074d7cf6cfba58631fff7b1f82873bd443d21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 3.378 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8089, 0.6029, -0.3813, -0.0196, -0.0113, 0.9993, 0.4194, 1.5055, 0.6743, 0.218, 0.0162, -0.036, 0.9991]\nstate[eef_state]: left_x=0.2954 left_y=0.0011 left_z=0.1751 left_yaw=-0.0001 left_pitch=-0.016 left_roll=0.0004 left_gripper=0.9993 right_x=0.3779 right_y=0.1693 right_z=0.0931 right_yaw=0.412 right_pitch=-0.0562 right_roll=-0.0323 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -1.265, 7.159, 1.7118, -0.0464, -0.0708, -0.0171, 0.1436, -5.7778, 6.9402, 1.4042, 0.0269, -0.0513, -0.0073]\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, 0.8089, 0.6029, -0.3809, -0.02, -0.0113, 0.9993, 0.3378, 1.4666, 0.6853, 0.1371, -0.0967, -0.1104, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0012 left_z=0.1752 left_yaw=0.0002 left_pitch=-0.0156 left_roll=0.0006 left_gripper=0.9993 right_x=0.3757 right_y=0.1539 right_z=0.0971 right_yaw=0.4659 right_pitch=-0.0836 right_roll=-0.0244 right_gripper=0.9991\nstate[joint_eff]: [-0.2803, -1.3333, 7.0222, 1.7656, -0.0464, -0.0513, -0.0073, -0.5949, -4.5197, 5.8051, 1.8095, -0.1001, -0.0611, -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, 0.8089, 0.6029, -0.3809, -0.02, -0.0109, 0.9993, 0.2752, 1.4845, 0.6586, 0.1696, -0.207, -0.1955, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0012 left_z=0.1752 left_yaw=-0.0 left_pitch=-0.0156 left_roll=0.001 left_gripper=0.9993 right_x=0.3741 right_y=0.1471 right_z=0.0875 right_yaw=0.5419 right_pitch=-0.083 right_roll=-0.0248 right_gripper=0.9991\nstate[joint_eff]: [-0.0205, -1.3333, 7.2274, 1.7118, -0.0659, -0.0562, -0.0073, -0.1983, -5.7778, 6.653, 1.8974, -0.1929, -0.1197, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d89d6d8b9f99f3afcf634cca0cadd9c3135888e640d0e50fc29a045b0329def1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10bf6d7391498d05797cc225fa2d5cea3f3f58df72794e303d3f593dbc560965",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8095efb46856d4c5627e3154ac4074d7cf6cfba58631fff7b1f82873bd443d21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSswcKEAgSGAI4AUIIdGhpbmtpbmcSDJY/x+PdbqNtbIxCqxoMxmOX8PtaRqoiSi2AIjBt4uJeVmaLvaQ+f2Cudb/N55H0YIsrjq0UeHWRxsueD4skYo1ZfABm5GBV81Vk3cAq0AYRQa19r9060/Pe3cQC65ZO0uuAJGBn8PXKZRJ6q7vKThqIBQ8c0iZjL8/9bgRmGSgsfz6titSQfKLrVrcjAKIPoALDTyG9Dho+a/flX3RlQDGNu1OQXnMSR0l8iaPXs/QboWXuEPLM0f6yqes1A82Cf2f18EKSGStQRK/tyHMdq4Smsis9F07yJ5i4zMEHBtnmIWzRyqQiuL43PEeC5OlIb6VCDlXPY1rnEvb42Pl/bCwevDahwJDZVQSwKIcEpNhDQxNHFbmdt55Rl8X4fl6mBe3J8s3+nrjvyRKD2opkz7QuDnRnSaU8BERjcFNaJz+9VUT98O5ADPvvcGO4BLPUGYVV/n3aCRA/OPsuOiA6klhGukViBjFM3mWFWalvtPss6K+ulOfu8cDlut4aEDHVJD1x40JyBLjzWMiSVqdGzrOd3uThNocwz2NPcI+Zk69ZLDxIIaeWzZovacGYu7JofRxHcYVdlrgobZgZL5RL458WYiWrVUCrrVwpo2iZKW0MscV8OgaoXJAX7GiD9LDMFugYWxDirRK61PY5siKvlTt6M1O2b4e8evggfpwOShvoUAIPl15Xbpdb0nIVb567mb7rrtu4Mas45JSn/h93hGz8yb613BVaHt+3tqGy4H2Z6rFaZMU+IPXRWHSoti6Qq3oPWmJuoXq4IwQxjuGf9uGSLcCE4OZA9JVz1Kbht1OGhiihsai+TiYnOufeixmW32Yp90l9f59dHkn09VthbfZltSnjxxapFbYu/ZyG9sjv5y49G5S+gaAvbFWr8P29DK/l8f/XeeYKzTFCYtHBcMej4jx4r12FpoUwA/1URmerxSVLR676ozwKz/dy8IcSid6NnCVY8mZMEQMOPVNL6JHO5FbE8lRZtkN8hcwpT2NpXFfRlyp9tsedNm+kQ6L1h/1zgPMgngsrzNW35g+rb5X8zO+YK/s3aYz1O6soIEIJ3PMskKzWNrYbeUQe4Hxq3Gkg5wwmZRl+2qLvwqWihORcFxRq8xWOWx0scPBjfv3SRP91cFphLLJqaVq8cDAkUO/Q/WTO+nbp8EJH5poSiBxKK7hcUT1fSV9I8EOYpkDmdiLFYPtDmYUTpq/u89NDXivTkHmI0JLubFBZ8PkBFxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PM8BxGj46MCBMFHZtBfdMz",
      "input": {
        "note": "The descent didn't happen (still at 8.7 cm); pen is well centred and aligned now, so descending straight down to grasp.",
        "targets": {
          "right_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01PM8BxGj46MCBMFHZtBfdMz",
      "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, 0.8108, 0.6029, -0.382, -0.02, -0.0109, 0.9993, 0.2752, 1.7744, 0.5293, 0.5163, -0.21, -0.2161, 0.9988]\nstate[eef_state]: left_x=0.2955 left_y=0.0012 left_z=0.1744 left_yaw=-0.0 left_pitch=-0.0187 left_roll=0.001 left_gripper=0.9993 right_x=0.3642 right_y=0.1448 right_z=-0.004 right_yaw=0.5578 right_pitch=-0.1523 right_roll=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [-0.0889, -1.7162, 7.0496, 1.6728, -0.0806, -0.0366, -0.0073, -0.1162, -6.5983, 4.6564, -2.1465, 0.022, 0.3101, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf4d12141476d6f834f1d360dba4241fe060598b3d3c366b25f438d8d92f05c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ec5575a67b89600d63f04f55927c4dc1b39f0e8a00fb4b2bb93c023d5c61532",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f4e4c1ac2441d4ce3d637a877abaa9b5072351fa44bf5eea30fa595557b32173",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /messages · status 200 · 6.557 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8089, 0.6029, -0.3809, -0.02, -0.0113, 0.9993, 0.3378, 1.4666, 0.6853, 0.1371, -0.0967, -0.1104, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0012 left_z=0.1752 left_yaw=0.0002 left_pitch=-0.0156 left_roll=0.0006 left_gripper=0.9993 right_x=0.3757 right_y=0.1539 right_z=0.0971 right_yaw=0.4659 right_pitch=-0.0836 right_roll=-0.0244 right_gripper=0.9991\nstate[joint_eff]: [-0.2803, -1.3333, 7.0222, 1.7656, -0.0464, -0.0513, -0.0073, -0.5949, -4.5197, 5.8051, 1.8095, -0.1001, -0.0611, -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, 0.8089, 0.6029, -0.3809, -0.02, -0.0109, 0.9993, 0.2752, 1.4845, 0.6586, 0.1696, -0.207, -0.1955, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0012 left_z=0.1752 left_yaw=-0.0 left_pitch=-0.0156 left_roll=0.001 left_gripper=0.9993 right_x=0.3741 right_y=0.1471 right_z=0.0875 right_yaw=0.5419 right_pitch=-0.083 right_roll=-0.0248 right_gripper=0.9991\nstate[joint_eff]: [-0.0205, -1.3333, 7.2274, 1.7118, -0.0659, -0.0562, -0.0073, -0.1983, -5.7778, 6.653, 1.8974, -0.1929, -0.1197, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8108, 0.6029, -0.382, -0.02, -0.0109, 0.9993, 0.2752, 1.7744, 0.5293, 0.5163, -0.21, -0.2161, 0.9988]\nstate[eef_state]: left_x=0.2955 left_y=0.0012 left_z=0.1744 left_yaw=-0.0 left_pitch=-0.0187 left_roll=0.001 left_gripper=0.9993 right_x=0.3642 right_y=0.1448 right_z=-0.004 right_yaw=0.5578 right_pitch=-0.1523 right_roll=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [-0.0889, -1.7162, 7.0496, 1.6728, -0.0806, -0.0366, -0.0073, -0.1162, -6.5983, 4.6564, -2.1465, 0.022, 0.3101, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf4d12141476d6f834f1d360dba4241fe060598b3d3c366b25f438d8d92f05c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ec5575a67b89600d63f04f55927c4dc1b39f0e8a00fb4b2bb93c023d5c61532",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4e4c1ac2441d4ce3d637a877abaa9b5072351fa44bf5eea30fa595557b32173",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Pen centred between jaws at table level. Closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Fo3DzDiaruASw7cuTDAAeH",
      "input": {
        "note": "Right gripper is at table level with the pen centred between the jaws; closing to grasp it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Fo3DzDiaruASw7cuTDAAeH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8146, 0.6025, -0.3817, -0.02, -0.0113, 0.9993, 0.2752, 1.784, 0.5262, 0.5652, -0.2184, -0.2176, 0.0446]\nstate[eef_state]: left_x=0.2957 left_y=0.0012 left_z=0.1733 left_yaw=0.0002 left_pitch=-0.0225 left_roll=0.0008 left_gripper=0.9993 right_x=0.3689 right_y=0.1477 right_z=0.0007 right_yaw=0.5643 right_pitch=-0.116 right_roll=-0.0255 right_gripper=0.0446\nstate[joint_eff]: [-0.1026, -1.5385, 7.3368, 1.746, -0.0659, -0.0562, -0.0073, -0.335, -7.8154, 5.0256, 1.1404, -0.0366, 0.022, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38bd963aa6631f32dce0c446c0c39591130ff96f988436dc1954013daa6d1835",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3249817c55bec238b730b56d04609f4abb7578f4e7c0692739662a730d493e54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6677c164a04cbf9d6e2951690238316550d3e3d43cad57c45b31b08f32a7e490",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 9.617 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8089, 0.6029, -0.3809, -0.02, -0.0109, 0.9993, 0.2752, 1.4845, 0.6586, 0.1696, -0.207, -0.1955, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0012 left_z=0.1752 left_yaw=-0.0 left_pitch=-0.0156 left_roll=0.001 left_gripper=0.9993 right_x=0.3741 right_y=0.1471 right_z=0.0875 right_yaw=0.5419 right_pitch=-0.083 right_roll=-0.0248 right_gripper=0.9991\nstate[joint_eff]: [-0.0205, -1.3333, 7.2274, 1.7118, -0.0659, -0.0562, -0.0073, -0.1983, -5.7778, 6.653, 1.8974, -0.1929, -0.1197, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8108, 0.6029, -0.382, -0.02, -0.0109, 0.9993, 0.2752, 1.7744, 0.5293, 0.5163, -0.21, -0.2161, 0.9988]\nstate[eef_state]: left_x=0.2955 left_y=0.0012 left_z=0.1744 left_yaw=-0.0 left_pitch=-0.0187 left_roll=0.001 left_gripper=0.9993 right_x=0.3642 right_y=0.1448 right_z=-0.004 right_yaw=0.5578 right_pitch=-0.1523 right_roll=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [-0.0889, -1.7162, 7.0496, 1.6728, -0.0806, -0.0366, -0.0073, -0.1162, -6.5983, 4.6564, -2.1465, 0.022, 0.3101, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8146, 0.6025, -0.3817, -0.02, -0.0113, 0.9993, 0.2752, 1.784, 0.5262, 0.5652, -0.2184, -0.2176, 0.0446]\nstate[eef_state]: left_x=0.2957 left_y=0.0012 left_z=0.1733 left_yaw=0.0002 left_pitch=-0.0225 left_roll=0.0008 left_gripper=0.9993 right_x=0.3689 right_y=0.1477 right_z=0.0007 right_yaw=0.5643 right_pitch=-0.116 right_roll=-0.0255 right_gripper=0.0446\nstate[joint_eff]: [-0.1026, -1.5385, 7.3368, 1.746, -0.0659, -0.0562, -0.0073, -0.335, -7.8154, 5.0256, 1.1404, -0.0366, 0.022, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38bd963aa6631f32dce0c446c0c39591130ff96f988436dc1954013daa6d1835",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3249817c55bec238b730b56d04609f4abb7578f4e7c0692739662a730d493e54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6677c164a04cbf9d6e2951690238316550d3e3d43cad57c45b31b08f32a7e490",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSoQgKEAgSGAI4AUIIdGhpbmtpbmcSDLN1dI8bBdVWXKSUVhoMnZvJD+qHW+Hl7/o6IjCveem8pCj3fKxalgc4hbcSNyfqKSzuKCj5IEjhNwOS1qb+omVbxOxojZ/9qWXrmJwqvgeMLoiuJaK2n659OMmcSNZ+szfvPqgZ/hycUyR+rQw0Ru980zJVEtIFLHo2e6KK1GY6kHtmW81wPUSfuRfFmtAAoFEieTcTSORLnNI85Iq+42DL/ZfJR4oazCWnkIMKG+cwgDe2evyHiEUg9BEmpid+WOnqutBP+ajvXHdKNvpD/ZtSKI1QVtwMyndSiVhndjBeWMV/rOs8YzMy6/UamW9ilwgjLPnWRq3eT58KJGLsTQhKfTVw519gH3RnPgkezV1WM81aJE1E7rooGSFIW+Z0y8yffN18qgG+r/pmljMr4PVL89njPTFLDhSkOz+czGjew4M3tFnU+/BoPm65LAFRQqUuet1wdmH1bn+AhbEzlqvkcIWTNsp5+Q1rmgcMVMqiYMGpteuUv2yVZ0bVLMaH63pzBwhdc7YR+zJ65P7K9PboDBwTzw+H8iaTy/gjWNtE7xJDe043SK7tBctfakRSolokbRoNz8cepr93KMANyPpsAVNbRNqlnDVlWvvgRAztGAhwKG5oDB3z6NktHHRUuQUpObqGfHlINKFvSx6OOxcOD4mkZkxBK7PDaCUv/M3AIHqpvHkt7+NvjKXTyK5gBbDNsSEcOdnAT3AhDRb/0cscmdkO+ZcQjKoTJPqBarPGsMRhF05Z8qTHUeX+huwR0lccdcsoxqEttFN8BEirRp554wqkaGZEfixo1fbpDVeQ55Qf252ScetgQy8Y914YPY/O6SojQ1HOIGhLgeSy86UJvGrZqSnkOpIJeWHjl74rocJMoePY6/EjBroMNz20Yk5f2fyte5Z+B1wlbQXztFKyEAlM9xzzE7buDJOumg+6Akxp9ZXd+ZKVEUDfAOFEWavkyb7TRzD/+p0c43qPewEqdpLeXKmj2/G0d65MjjVxr4KWTxTQf8l+HpP1YV3i3GTfU3kzhhnyoVQx1n/zEC3wFD3EkMiAXp3ea+0OPr5unfJwDIuJ39ECKYR7h7Dz8wstoQWuyje7eQP1SUhJV+riXibiYfPTsnAQK0ydSR/WHlJ4FgMK+6ZY3//NGMFb9180ZTukZwy8j6eDIjEqApHFZexe8lqDBKVZvumNjP0HK4OVC8EvZyZmorgLsNxMf8qBnnVqTgXybxLtlvnjbSotVOIHZewJclfVx6rcEit2e3Egni+e8dcf2LATrP0+J7pa9KEoAmSC24/hDgQ5Uz9EcYfhMdz/tJlSjzjRV/kxpOJhG2jFqRzzgTM7AfIlMj6XgW463hiiT7MlfYZQGS0tSxOnslp+s2zntnHFGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019gAaYk7qN1xs7bAXbf9oXJ",
      "input": {
        "note": "Gripper settled at 0.045 and the wrist view shows the pen running straight out from the jaws, tip forward — looks grasped. Lifting to verify.",
        "targets": {
          "right_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_019gAaYk7qN1xs7bAXbf9oXJ",
      "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, 0.8192, 0.6025, -0.3817, -0.02, -0.0113, 0.9993, 0.2752, 1.4353, 0.7231, 0.0185, -0.2184, -0.2184, 0.0475]\nstate[eef_state]: left_x=0.296 left_y=0.0012 left_z=0.172 left_yaw=0.0002 left_pitch=-0.0271 left_roll=0.0009 left_gripper=0.9993 right_x=0.3693 right_y=0.1478 right_z=0.104 right_yaw=0.5648 right_pitch=-0.1171 right_roll=-0.0258 right_gripper=0.0475\nstate[joint_eff]: [-0.2256, -1.7573, 7.2274, 1.6923, -0.0366, -0.0513, -0.0122, -0.1026, -7.3231, 8.8821, 1.6874, -0.1245, -0.0122, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14ee596b57031d4ba445001b620e0effedc5b07ab322871a005c1b3f545a8133",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8710e1a55aeb95db71ca18b0e8cbf00f620d802f95cbe721ce1569ed299aa8ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:500975292ed42ed3334ce31497840c3182425929ac090a9fda24ce7063353db1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /messages · status 200 · 6.646 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8108, 0.6029, -0.382, -0.02, -0.0109, 0.9993, 0.2752, 1.7744, 0.5293, 0.5163, -0.21, -0.2161, 0.9988]\nstate[eef_state]: left_x=0.2955 left_y=0.0012 left_z=0.1744 left_yaw=-0.0 left_pitch=-0.0187 left_roll=0.001 left_gripper=0.9993 right_x=0.3642 right_y=0.1448 right_z=-0.004 right_yaw=0.5578 right_pitch=-0.1523 right_roll=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [-0.0889, -1.7162, 7.0496, 1.6728, -0.0806, -0.0366, -0.0073, -0.1162, -6.5983, 4.6564, -2.1465, 0.022, 0.3101, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8146, 0.6025, -0.3817, -0.02, -0.0113, 0.9993, 0.2752, 1.784, 0.5262, 0.5652, -0.2184, -0.2176, 0.0446]\nstate[eef_state]: left_x=0.2957 left_y=0.0012 left_z=0.1733 left_yaw=0.0002 left_pitch=-0.0225 left_roll=0.0008 left_gripper=0.9993 right_x=0.3689 right_y=0.1477 right_z=0.0007 right_yaw=0.5643 right_pitch=-0.116 right_roll=-0.0255 right_gripper=0.0446\nstate[joint_eff]: [-0.1026, -1.5385, 7.3368, 1.746, -0.0659, -0.0562, -0.0073, -0.335, -7.8154, 5.0256, 1.1404, -0.0366, 0.022, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8192, 0.6025, -0.3817, -0.02, -0.0113, 0.9993, 0.2752, 1.4353, 0.7231, 0.0185, -0.2184, -0.2184, 0.0475]\nstate[eef_state]: left_x=0.296 left_y=0.0012 left_z=0.172 left_yaw=0.0002 left_pitch=-0.0271 left_roll=0.0009 left_gripper=0.9993 right_x=0.3693 right_y=0.1478 right_z=0.104 right_yaw=0.5648 right_pitch=-0.1171 right_roll=-0.0258 right_gripper=0.0475\nstate[joint_eff]: [-0.2256, -1.7573, 7.2274, 1.6923, -0.0366, -0.0513, -0.0122, -0.1026, -7.3231, 8.8821, 1.6874, -0.1245, -0.0122, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14ee596b57031d4ba445001b620e0effedc5b07ab322871a005c1b3f545a8133",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8710e1a55aeb95db71ca18b0e8cbf00f620d802f95cbe721ce1569ed299aa8ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:500975292ed42ed3334ce31497840c3182425929ac090a9fda24ce7063353db1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VF3CwafvctWnECSD8zMZwU",
      "input": {
        "note": "Pen is lifted in the right gripper (confirmed in both views). Now moving the left arm above the pen cap, which lies ~30 cm to its right and slightly forward.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.38,
          "left_y": -0.28,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 25 steps (2.5s)",
      "tool_use_id": "toolu_01VF3CwafvctWnECSD8zMZwU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.878, 1.8053, 1.1343, -0.1932, -0.6773, -0.6025, 0.9993, 0.2752, 1.4353, 0.7177, -0.0002, -0.2184, -0.2184, 0.052]\nstate[eef_state]: left_x=0.3725 left_y=-0.2698 left_z=0.1056 left_yaw=-0.0057 left_pitch=-0.0636 left_roll=0.0236 left_gripper=0.9993 right_x=0.3651 right_y=0.1466 right_z=0.0983 right_yaw=0.5656 right_pitch=-0.1402 right_roll=-0.0189 right_gripper=0.052\nstate[joint_eff]: [-0.4034, -8.8547, 9.1282, 1.3748, -0.4713, 0.0904, -0.0806, -0.2256, -5.8598, 6.8034, 1.7216, -0.1392, -0.0659, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:420ae348ed353102b0ada916251d50f864d4229e3ac0393b7afd52fff8e99f54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2962b90205f27adae1adc4cc3a1b7038ba39b6a45242f56694a05e1718d70c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8d8181fa3f9ebb8110c4eede0376e9bd1abf4af68b169a4dd6c04686665f6a38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /messages · status 200 · 4.913 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8146, 0.6025, -0.3817, -0.02, -0.0113, 0.9993, 0.2752, 1.784, 0.5262, 0.5652, -0.2184, -0.2176, 0.0446]\nstate[eef_state]: left_x=0.2957 left_y=0.0012 left_z=0.1733 left_yaw=0.0002 left_pitch=-0.0225 left_roll=0.0008 left_gripper=0.9993 right_x=0.3689 right_y=0.1477 right_z=0.0007 right_yaw=0.5643 right_pitch=-0.116 right_roll=-0.0255 right_gripper=0.0446\nstate[joint_eff]: [-0.1026, -1.5385, 7.3368, 1.746, -0.0659, -0.0562, -0.0073, -0.335, -7.8154, 5.0256, 1.1404, -0.0366, 0.022, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8192, 0.6025, -0.3817, -0.02, -0.0113, 0.9993, 0.2752, 1.4353, 0.7231, 0.0185, -0.2184, -0.2184, 0.0475]\nstate[eef_state]: left_x=0.296 left_y=0.0012 left_z=0.172 left_yaw=0.0002 left_pitch=-0.0271 left_roll=0.0009 left_gripper=0.9993 right_x=0.3693 right_y=0.1478 right_z=0.104 right_yaw=0.5648 right_pitch=-0.1171 right_roll=-0.0258 right_gripper=0.0475\nstate[joint_eff]: [-0.2256, -1.7573, 7.2274, 1.6923, -0.0366, -0.0513, -0.0122, -0.1026, -7.3231, 8.8821, 1.6874, -0.1245, -0.0122, 1.033]",
      "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]: [-0.878, 1.8053, 1.1343, -0.1932, -0.6773, -0.6025, 0.9993, 0.2752, 1.4353, 0.7177, -0.0002, -0.2184, -0.2184, 0.052]\nstate[eef_state]: left_x=0.3725 left_y=-0.2698 left_z=0.1056 left_yaw=-0.0057 left_pitch=-0.0636 left_roll=0.0236 left_gripper=0.9993 right_x=0.3651 right_y=0.1466 right_z=0.0983 right_yaw=0.5656 right_pitch=-0.1402 right_roll=-0.0189 right_gripper=0.052\nstate[joint_eff]: [-0.4034, -8.8547, 9.1282, 1.3748, -0.4713, 0.0904, -0.0806, -0.2256, -5.8598, 6.8034, 1.7216, -0.1392, -0.0659, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:420ae348ed353102b0ada916251d50f864d4229e3ac0393b7afd52fff8e99f54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2962b90205f27adae1adc4cc3a1b7038ba39b6a45242f56694a05e1718d70c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d8181fa3f9ebb8110c4eede0376e9bd1abf4af68b169a4dd6c04686665f6a38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSiQsKEAgSGAI4AUIIdGhpbmtpbmcSDBchtgNm+j5vkMvOhRoMf5HEnphfCezbyQuEIjDFC2loOiymBnw+EnmTVefe/fnOkzuK5tBIQetjj45Qd7xo3BWTxDTE+pXz+R4rp9EqpgpCjj4yWKwoTy9+i4lvMNv8rt33fXYiXlHoWJbaBJgYASqTfZ91Q7gJ3IhJkCCrEkhGu43R0mYqR0VqchQvGJTo8Fj82Y3BD7N9ZqSy/QQU84k6BQ+tEk9bz5IfZInnktMv+p3zLq8e8SlTDSeBq6ZPlmYbOdkOITSbYjPLNqygww/JQjPgK4mvnotUPvsiFsIDOz4OQlsOqOn5fGxcWwILMukO0cJ1qLf4MyzJ1/+cEC5WfJFH8ZXeGEOf0l+QvMRlLwRgoN5Bjp7GyKQek4sv+ugro3lytKmqaAcXtG2poztGWp3e2IiHx1NJm+1y/Mn4TzaUIo/bA70gTu0h1PQh2MZ+7LBJCGW9THFlICkUGMf0L3wThgjxriEBZYwFqJoLZkINZBI8yAudi6tQ4Oz1b0qbQJXt1+XZ6Ip+33DJll/uHVsPqNbhDke5QPeF1HLQXFLqQo0O0EB58WTonvLe4RFhqwtivTEc3GHzfnl2zOnB+a9oLlSbPQhz1IGvwnYJTHDzfQS4F3h0AqJp92DNPWpAg+7+eu0j5bkr8/jjqA3X4SLpPbBV/lUDR/fZgMoJIscbSNSuQf07ZV3Jw1vJY2zdFE+ZHuYl76Fl7uhAog3su2RxhJ5uGesgdiGvRz7Fp9OaR7dv91Gjt5Nhoby65XJrZvojDkNo54R5K2dsBF6Pg+uHcRrFApLxgn76qi09tvRCO+hIXyabcY6YTbu/CVo8WLA5UTJSZKma+cIGP56lq5w306kdUSRxCSpQq73Dmq5ftNilfeZgzyhntIp9YBvQ3+W2mOE9tpzXhzwtlUQ4dVpn53q1448y6Z2B1OqCm5spo+6tO2OzC0ETk4rQA2r+OsyMAUAQH9P6nAqMCHkES7RIvXg8C2nX8OHDsV/xwssouG1XKDRg2W2px3nf/Xii4ptMxIbrADbFqWCrhCY7wFoIroNbVqklqiXYFxSMkZkgNTEwLgAiaitKt79JwyBsHcyfhmhMb76F/KY92wbSBjnQMVD/eO0QW01zoqOOJuiZFDhd8dKD/PbOyI7WbnzmHCqDMyQnHVEzNkuQTodA1qdHBpiSOAejquTvoVDLivdudeH3iZGqeFyc558p/dK50/xTGxro2DBpDOwNd+u9cm+gEtgMHvjAxqgTIKUxdJ3FaHhbRx03TZiN+CECkYBOPTJT8r/oBGIrW4p0AIDupkSx1bB6DyHca25IJKIFcFbjAZEO0IVHTgfGS+AYs+QyOO6tWG20+MWgvzpLufXsKQQeJEcO+FTu7aiPf9fR+4Egls4XeDQ3C4RD+wFCeusMwKbx38GXInwp4MY90LF5NbFaEpa4onzQ7ciDwxp+dGQ0ShZYZbbRpUYDTP3U5WGO9PQeFrFhen5w+eeVSAYLgYRqB9oX9F7viSlqVeDVgt2yesfUpMu1LIFJfp+p1jae1OX47CupvEJ3u8yjXRz+YurPQBzGf4m5PrTI+l8u6GLdFMawSC/lOBAHVOJsi0wsYn+C3v5E5sujSVpzWcobC/7pzT35NtZnSPv+VVGGalN0Xz06xC7vkbFd3rrKMIOpFHprqPkKClnhluhB1WJV00CXYKzWQGeMpv3zdb6YDyhP+2sdrqlJ4bmtSZKSEfxxPmCw7OvDXRY4mq/VfE+MIc69snxGK8mLwZcFgvH8t3Upv99jLvsfknl0UizqwVOYWLPN/5HEvCk+7U+e6HOWKVUkU/jzkdE4ZgryGMg5ryppyJwZkQIN/OZUzGWdu+GEISbsGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014GGn4bXjGBXPAJGzSon6Uh",
      "input": {
        "note": "Left wrist view shows the cap well to the left of the jaw column (overshot to the right by ~7 cm per top view). Shifting left and slightly forward over it.",
        "targets": {
          "left_x": 0.39,
          "left_y": -0.205,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_014GGn4bXjGBXPAJGzSon6Uh",
      "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]: [-0.72, 1.7245, 0.9619, -0.0814, -0.585, -0.49, 0.9993, 0.2752, 1.4353, 0.7177, -0.0051, -0.2184, -0.218, 0.052]\nstate[eef_state]: left_x=0.3851 left_y=-0.2032 left_z=0.0847 left_yaw=0.0253 left_pitch=-0.1026 left_roll=0.0504 left_gripper=0.9993 right_x=0.3643 right_y=0.1464 right_z=0.0974 right_yaw=0.5656 right_pitch=-0.1449 right_roll=-0.0171 right_gripper=0.052\nstate[joint_eff]: [0.294, -10.3453, 6.106, 1.6581, -0.1197, 0.1245, -0.0171, -0.212, -5.6821, 6.3795, 1.6679, -0.1343, -0.0806, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf289efa3423b2f2cf751d25bb605a9b704e87c0ebb2cde9a42164c317bc48e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a714363b37ca0a74fe7b3c713e924e63ff2e5f84260dc911072d953fddf5b92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fb25c4d7431ba0bb009a7477b96cca6615bca6b3bfc4aa72feba0a857504ea9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 3.795 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8192, 0.6025, -0.3817, -0.02, -0.0113, 0.9993, 0.2752, 1.4353, 0.7231, 0.0185, -0.2184, -0.2184, 0.0475]\nstate[eef_state]: left_x=0.296 left_y=0.0012 left_z=0.172 left_yaw=0.0002 left_pitch=-0.0271 left_roll=0.0009 left_gripper=0.9993 right_x=0.3693 right_y=0.1478 right_z=0.104 right_yaw=0.5648 right_pitch=-0.1171 right_roll=-0.0258 right_gripper=0.0475\nstate[joint_eff]: [-0.2256, -1.7573, 7.2274, 1.6923, -0.0366, -0.0513, -0.0122, -0.1026, -7.3231, 8.8821, 1.6874, -0.1245, -0.0122, 1.033]",
      "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]: [-0.878, 1.8053, 1.1343, -0.1932, -0.6773, -0.6025, 0.9993, 0.2752, 1.4353, 0.7177, -0.0002, -0.2184, -0.2184, 0.052]\nstate[eef_state]: left_x=0.3725 left_y=-0.2698 left_z=0.1056 left_yaw=-0.0057 left_pitch=-0.0636 left_roll=0.0236 left_gripper=0.9993 right_x=0.3651 right_y=0.1466 right_z=0.0983 right_yaw=0.5656 right_pitch=-0.1402 right_roll=-0.0189 right_gripper=0.052\nstate[joint_eff]: [-0.4034, -8.8547, 9.1282, 1.3748, -0.4713, 0.0904, -0.0806, -0.2256, -5.8598, 6.8034, 1.7216, -0.1392, -0.0659, 1.033]",
      "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]: [-0.72, 1.7245, 0.9619, -0.0814, -0.585, -0.49, 0.9993, 0.2752, 1.4353, 0.7177, -0.0051, -0.2184, -0.218, 0.052]\nstate[eef_state]: left_x=0.3851 left_y=-0.2032 left_z=0.0847 left_yaw=0.0253 left_pitch=-0.1026 left_roll=0.0504 left_gripper=0.9993 right_x=0.3643 right_y=0.1464 right_z=0.0974 right_yaw=0.5656 right_pitch=-0.1449 right_roll=-0.0171 right_gripper=0.052\nstate[joint_eff]: [0.294, -10.3453, 6.106, 1.6581, -0.1197, 0.1245, -0.0171, -0.212, -5.6821, 6.3795, 1.6679, -0.1343, -0.0806, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf289efa3423b2f2cf751d25bb605a9b704e87c0ebb2cde9a42164c317bc48e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a714363b37ca0a74fe7b3c713e924e63ff2e5f84260dc911072d953fddf5b92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb25c4d7431ba0bb009a7477b96cca6615bca6b3bfc4aa72feba0a857504ea9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8ggKEAgSGAI4AUIIdGhpbmtpbmcSDGI/y9wCC6GmZVJ3/BoMpZ/QfFLpJal9684BIjCwCjoYW0sXQr5Eo+LrXXLjKESGja3kCocVFUbfRxdBjynajHtD0po79cRYYfObhGEqjwjreH+pUZccvoiaAYmi63ZlbTVoy17Nm/dOeb8zI3meH6l23u5YluCEtIGBDBL4Ezh6xTUxM3LvGhvDpCxvz26Rl3+6ZUB7UUrGY8ea2kDz6puw0W9AT+ryZ5xDh9pzOQkPeB8GCGJUccFpUgKjH2yQGu9/p896tDhS1KBQ1I/2wMutokIpGAJSdaitorBxdjTr4Y+7D+kHs4R/523DesSd+nQDQOCEO4z4sbqBq8DbjDPFQ+ElTDzqgL7a+aMK6h0qsDOa2LwjVMqSZ+UEz7COZsIyjtfLIS1cCcqAlfXje/wwlk/GcVigAyNOagOGthVQzA+tRzniNP17OUv+fOWhVmC07RIRnjh7+mFyhY5DSdOIaZkMCIaJRiRGueFnGlUfDgpr+8oac+v+WVFt0AgciF94zJ5qy9QZez5CRXCPLgL3VcCqigG2YXL6dGIoKkdEmMPXFygbpLt+Il195JI+N/4P7aA7Oh/Uqe5OPwyPUQ5CUkynkQQouruiPwwbjUoCRz1+5gKB4fzO/gMt4AurOTlab9GRW3k6oCuRIPZTKmfgpiDlwxDIafNT9xjsn1qry8M8QlOWPsCYwTUlG28lZkNF5sAuYD1zPdn1Rkif8HEFaJbpl9cAMCwn+6ZOB/TM9Ft1dJbD1v81Uqblye3wLXs3Inf0Z4/OcG1C05svVy2Iw1dBv/ZPRER/GD3HvcGRqDYH2Rrl0mSO1Kw/IJAR2yWJb7C+AU1KhgxjD4n9AdGnj7+OVb9Xhp1hahOilwGRMyZveQMQYgwTyZojCuX39OVq3hRTfumFVIo3CMbmnyk2OUoQh7HX+keb7J14fFIj/QEvszrK3KpQRmG6RsNbqGxSdNZM4een5Xwvp6w5s9cNoyEZywV/d+ZiPQLXXQlXwS3sbxwlm0KgDxa+ioIcrXUujQK5h8Y7hU2gs8XOVTiO+rpRIVOyw2QGFM9IhILCBXR36OUMTT/dGz7kpMpO3lp1aa6doj1yRBa8P+6F2uAWMBf4CIkY/MV6pNo3+bSWQKbjArhWyPrjZFGeMUJxZWLFqpL4q2JpOXNyVUqq0turrxImJlEDKVt8E7XUVmNuog3KijYXvyifrpYbKfer3Nuv0UXWGpYz0W2fcDvXuzVJallqAARz7RbcXRZNjZHwF2f/YJKl6GtYvhz4IbOXNMKISv12KMe/0keQZG3LOR8i7HbJGqHu4UYv70oCvp6OBBpjkVfEFPi8tzUMQa5pgVimUdd1lOsLamXhjElnAKLirllXCHoyTFaq5HMt3u35H4uzxsZP+S1CjgGagMqdB4gSdJ4z0zrzf19QKv9LMMzA5QRqBiIY1aXryVQMv4kDbMgS7x1NNH8iipzarupuZLOC5MoVHbmzqZO8bTz2GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WxDct7DvfYka7J5fVL6X4y",
      "input": {
        "note": "Cap is still left of the jaw column and a few cm ahead of the fingertips. Shifting ~2 cm left and ~2.5 cm forward.",
        "targets": {
          "left_x": 0.41,
          "left_y": -0.185,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01WxDct7DvfYka7J5fVL6X4y",
      "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]: [-0.6697, 1.7344, 0.9527, -0.0509, -0.5476, -0.4534, 0.9993, 0.2752, 1.4353, 0.7177, -0.009, -0.2184, -0.218, 0.052]\nstate[eef_state]: left_x=0.3948 left_y=-0.1907 left_z=0.0792 left_yaw=0.0277 left_pitch=-0.1134 left_roll=0.0504 left_gripper=0.9993 right_x=0.3637 right_y=0.1462 right_z=0.0967 right_yaw=0.5658 right_pitch=-0.1486 right_roll=-0.016 right_gripper=0.052\nstate[joint_eff]: [1.2513, -7.0085, 8.3761, 1.5897, -0.1441, 0.1245, -0.0122, -0.3077, -5.6547, 6.3795, 1.5946, -0.1294, -0.0122, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:187dca1760a0d4f837f684b494e3feec1947174bac08b4283e0d3670a6aed83c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a1158f583b6d9ddc59891d30160063fb41c66846dc9247b1524a4175e033add",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5b46408d9a4035e13538f27b7340f802eec9fd46413f3db9f670e935785bc1ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 4.516 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.878, 1.8053, 1.1343, -0.1932, -0.6773, -0.6025, 0.9993, 0.2752, 1.4353, 0.7177, -0.0002, -0.2184, -0.2184, 0.052]\nstate[eef_state]: left_x=0.3725 left_y=-0.2698 left_z=0.1056 left_yaw=-0.0057 left_pitch=-0.0636 left_roll=0.0236 left_gripper=0.9993 right_x=0.3651 right_y=0.1466 right_z=0.0983 right_yaw=0.5656 right_pitch=-0.1402 right_roll=-0.0189 right_gripper=0.052\nstate[joint_eff]: [-0.4034, -8.8547, 9.1282, 1.3748, -0.4713, 0.0904, -0.0806, -0.2256, -5.8598, 6.8034, 1.7216, -0.1392, -0.0659, 1.033]",
      "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]: [-0.72, 1.7245, 0.9619, -0.0814, -0.585, -0.49, 0.9993, 0.2752, 1.4353, 0.7177, -0.0051, -0.2184, -0.218, 0.052]\nstate[eef_state]: left_x=0.3851 left_y=-0.2032 left_z=0.0847 left_yaw=0.0253 left_pitch=-0.1026 left_roll=0.0504 left_gripper=0.9993 right_x=0.3643 right_y=0.1464 right_z=0.0974 right_yaw=0.5656 right_pitch=-0.1449 right_roll=-0.0171 right_gripper=0.052\nstate[joint_eff]: [0.294, -10.3453, 6.106, 1.6581, -0.1197, 0.1245, -0.0171, -0.212, -5.6821, 6.3795, 1.6679, -0.1343, -0.0806, 1.0281]",
      "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]: [-0.6697, 1.7344, 0.9527, -0.0509, -0.5476, -0.4534, 0.9993, 0.2752, 1.4353, 0.7177, -0.009, -0.2184, -0.218, 0.052]\nstate[eef_state]: left_x=0.3948 left_y=-0.1907 left_z=0.0792 left_yaw=0.0277 left_pitch=-0.1134 left_roll=0.0504 left_gripper=0.9993 right_x=0.3637 right_y=0.1462 right_z=0.0967 right_yaw=0.5658 right_pitch=-0.1486 right_roll=-0.016 right_gripper=0.052\nstate[joint_eff]: [1.2513, -7.0085, 8.3761, 1.5897, -0.1441, 0.1245, -0.0122, -0.3077, -5.6547, 6.3795, 1.5946, -0.1294, -0.0122, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:187dca1760a0d4f837f684b494e3feec1947174bac08b4283e0d3670a6aed83c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a1158f583b6d9ddc59891d30160063fb41c66846dc9247b1524a4175e033add",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b46408d9a4035e13538f27b7340f802eec9fd46413f3db9f670e935785bc1ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9QYKEAgSGAI4AUIIdGhpbmtpbmcSDM6h7YBvt9FQECwMWBoMPnCdV4V72kBDI3mkIjA71Dsrq/ZSyDr9tr786axoRdPiKe1oEX8GX81JG6ngjNfntG4g7l1fzH95U0sGRxAqkgaIsiMKRE4fHbwjl0Q7na4U3pRQ60H/OVU8f2SqV6Z+625f8VEAprCcq1GYOM59aPic0MoBOrcA50eA2WCa3/MB9LCH7g/FPY0V1UdcXTunc/uig2LO1PmpjwQNkUgZRPuQBNcfLRvA1RVc5E6Xe9t4sUtCgn0NUPVk/2HtZbtb7+28Q2mByej0t4elMtx8ce1B7pE4bOdSTSoSs7hEvWzPMwjAOizGUsar0lmEkktOyR4Wf6VtT6w2cOkUc2wHPKe/EczTTTt/IdOlGfSxgfczPUz9D+e7QlO1RXdKrD2w78pudAAXcdROUcEFaG0f/ivsbUZGgiJBY7BYYTzC1jUMvIRvWJ2e6B0upm4mp7JZJQ65q/JDei3zCBtpZ5Bbl2Kn2H1eHxhrDRWsuSfW4NonQoFgbYA/FlRUxugn5PG9FAyExIAFmZtvrLoCl/xiusB9qUZtumWdHIJVHCIysqGBh+kdmev+fHYMTgmmeLJWlmeitvUfr8x51z0gG2neYHE8fZCMu3xJnlaHZuKlfmNA9BNzU1o3LTjz4TwS5Mx4o9BbJ0kX0pIMOM/MILGh4xYfb4PEg5MY/jeJ6WKTZJt+sePJM/lO0aFlrUKoVW+dPzz+1G6vZAAucyULRsxDg4LSZCsbdCRQlT/KPZ1Q2Q2hn8rN3ZOJa+1GBlI9+os0IfWr5/1xlbxTinGYYJmBF25Ly7Ew66ekdQlzrKjFINdhjMJheH51kLRd2B8BtL36e7fHnSE3UiYNlfBee0hQpJWiYx9GyIH6sJy0MtqBmGqgrQR+5h50g2w+4d+/k71AGs7gDpR1yltpYRgYmffp6spIR2soiCj4p+H0SRV1Ky6M5eMfz7k5y36g67IHHjYing/PdRNQ0A2qFif4dG6btQS48jXxBMAIMaswhL8T8y4O3ImlG8H9zbkvekrqNZA5nuVwFIboS7gy4x7sC/VnyPT8V5SOOpPFv8ivMl1ickq6+ygcsVLrY/NjI1+XM3mnZr38b4wP4M+gjp50dL+wlQ1wzA4KF23fDYtwLLF7+tD88oEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DBHzfDWQBTb3suKJvWSjyQ",
      "input": {
        "note": "Only partly moved; cap still left of centre and ahead. Continuing left/forward and lowering a bit.",
        "targets": {
          "left_x": 0.415,
          "left_y": -0.18,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01DBHzfDWQBTb3suKJvWSjyQ",
      "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]: [-0.6193, 1.7821, 0.9516, -0.0025, -0.5266, -0.4309, 0.9993, 0.2752, 1.4353, 0.7174, -0.0158, -0.2184, -0.218, 0.052]\nstate[eef_state]: left_x=0.4077 left_y=-0.1772 left_z=0.065 left_yaw=0.0503 left_pitch=-0.1242 left_roll=0.056 left_gripper=0.9993 right_x=0.3625 right_y=0.1459 right_z=0.0953 right_yaw=0.5661 right_pitch=-0.1555 right_roll=-0.0139 right_gripper=0.052\nstate[joint_eff]: [0.8957, -7.0906, 5.8325, 1.5751, -0.2418, 0.2027, -0.0073, -0.3214, -5.8188, 6.3795, 1.6093, -0.1148, -0.0464, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a729db42f3d859b39d50bcb5f4c4b3a3569b4a547ceefa7d6d73586c33897a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1a1e89f3ae16512c18c60000e5e63f1ebe40c1bb190f389397b67067b044f6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fd84596665187c15e3c92656e2b909cf9257a731200181e16d777ffab60494d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /messages · status 200 · 4.248 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.72, 1.7245, 0.9619, -0.0814, -0.585, -0.49, 0.9993, 0.2752, 1.4353, 0.7177, -0.0051, -0.2184, -0.218, 0.052]\nstate[eef_state]: left_x=0.3851 left_y=-0.2032 left_z=0.0847 left_yaw=0.0253 left_pitch=-0.1026 left_roll=0.0504 left_gripper=0.9993 right_x=0.3643 right_y=0.1464 right_z=0.0974 right_yaw=0.5656 right_pitch=-0.1449 right_roll=-0.0171 right_gripper=0.052\nstate[joint_eff]: [0.294, -10.3453, 6.106, 1.6581, -0.1197, 0.1245, -0.0171, -0.212, -5.6821, 6.3795, 1.6679, -0.1343, -0.0806, 1.0281]",
      "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]: [-0.6697, 1.7344, 0.9527, -0.0509, -0.5476, -0.4534, 0.9993, 0.2752, 1.4353, 0.7177, -0.009, -0.2184, -0.218, 0.052]\nstate[eef_state]: left_x=0.3948 left_y=-0.1907 left_z=0.0792 left_yaw=0.0277 left_pitch=-0.1134 left_roll=0.0504 left_gripper=0.9993 right_x=0.3637 right_y=0.1462 right_z=0.0967 right_yaw=0.5658 right_pitch=-0.1486 right_roll=-0.016 right_gripper=0.052\nstate[joint_eff]: [1.2513, -7.0085, 8.3761, 1.5897, -0.1441, 0.1245, -0.0122, -0.3077, -5.6547, 6.3795, 1.5946, -0.1294, -0.0122, 1.0281]",
      "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]: [-0.6193, 1.7821, 0.9516, -0.0025, -0.5266, -0.4309, 0.9993, 0.2752, 1.4353, 0.7174, -0.0158, -0.2184, -0.218, 0.052]\nstate[eef_state]: left_x=0.4077 left_y=-0.1772 left_z=0.065 left_yaw=0.0503 left_pitch=-0.1242 left_roll=0.056 left_gripper=0.9993 right_x=0.3625 right_y=0.1459 right_z=0.0953 right_yaw=0.5661 right_pitch=-0.1555 right_roll=-0.0139 right_gripper=0.052\nstate[joint_eff]: [0.8957, -7.0906, 5.8325, 1.5751, -0.2418, 0.2027, -0.0073, -0.3214, -5.8188, 6.3795, 1.6093, -0.1148, -0.0464, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a729db42f3d859b39d50bcb5f4c4b3a3569b4a547ceefa7d6d73586c33897a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1a1e89f3ae16512c18c60000e5e63f1ebe40c1bb190f389397b67067b044f6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd84596665187c15e3c92656e2b909cf9257a731200181e16d777ffab60494d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2wcKEAgSGAI4AUIIdGhpbmtpbmcSDBgRNeeCKvkEP1jeaxoMit3TulfhsYEhiZ06IjAjD2avIeypWhyDfUCq01cQ0Jd84WNCjJjB8gk59CPU6ZFhikT97HeSJ4/hf3//ppkq+AY12W0ONBKOZxcm/ijL4D0jhL6OKThXYU18hbMjKnwga+DorkRShH9lksqwgtzHB2YRiqsliuYzaiCRbMDEuvfr9o6/tnY7C77q2W/hnxOh7RU5bbEEumjlvyMW/irpMMiahWp1fkv0cawM8VzQx8HB/5pES3N+tBOGpICQLIyn4mkkWd40YYHQOdvpwxI5FY3ovx6I6S9G0oMN7MIFqSb/Et5UYBS4eZXD2KnwU4RdFa+hZLs5kn4zAf8vMvMHSJkorfK7B4/9m0kcU0jty17P0n2w8iKohBGTijBc2zZHJZmtjHhbciJ5PRG/Jq7GvEOkhAp2p/sQmghEKbF9sciIlQqiJXg/68D57n83x8Y+EKLE7gpppJMz+gJB/PLL+qQ2FzRtYf7C1gaJbbiLj7ORxUJdIB1Z0XoJHoeiJKlyS1nq/hBwkOrqPnONaRafBhknc894ewQOjWtMiPTP36uD+dE7ljBpg5GrOjSd9Xx9u7cN+5/g2If8Mrht3vEbpoL4xEeeIPKpJEiTXojqSbKdsRJDI5sRyr6NjeDCBg1W8u1AwHF94BtNVyANFGlcDzmENxtqJOrY5GZQp9Go+jd82Ff9Bng9Sk6p0XhGs0h/JEMIlUdGdk63NrwIQ8MJA4QOzl7kDH5PQzVgohTOT6Eg+w6Tp3/0CM8kieK10TAlIeQA2ZBKPQf/IgfGLNuyRgeYFgJuzFFwrNX9d9BKtd/i7Hv33WpZMLCeUe5ZxNU9jZ7xwO7jxCnBJ2v6qEaHPg7XIwM+5h9zeTwnURpJbQU6TvC/yVoa1WxYrKsYL1kW8dXWF09KQlBwXownSVLKt0GdqUcyP1Dh1zZdzKfL6JHtplDeN8+aecX9UBwhqio39Ub53J1MRsD4umvOnoYDFCjnp/zec6oP6Oz0a2S6bnkyfGSGA00yzkFl4mJWIFX+rOiZAh9rBLy44gYCkU8Ib0AebmFXqJ0bc399cvN8LBck2XcuQKxP4QTD5VSOsfi680Fa8AeupYRgTtjr2wxtBbl1y6+sT6Exvs6RzEYw6nC9dPddcJ2MBGXCoUVNlu+ZiSKdKrMTYI3ihokSKW0/gb9zO+ZoXJ/NABmoYFLnvqEhhmgOzp7i6SbRP+2jgqnvjhVGlGxR5Gvg3b+9qWE60h5WX7E9Ln+b9peQLu808IaXGiu0NFgH4gkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014ZJ2cRE55cpaX4sqhzMnkr",
      "input": {
        "note": "Cap is now nearly on the jaw column, a bit ahead of the fingertips. Nudging forward and descending to table level.",
        "targets": {
          "left_x": 0.425,
          "left_y": -0.172,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_014ZJ2cRE55cpaX4sqhzMnkr",
      "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]: [-0.6071, 1.8114, 0.9474, 0.02, -0.5156, -0.4168, 0.9993, 0.2752, 1.4353, 0.7174, -0.0158, -0.2184, -0.218, 0.052]\nstate[eef_state]: left_x=0.4101 left_y=-0.1745 left_z=0.054 left_yaw=0.0475 left_pitch=-0.1385 left_roll=0.0672 left_gripper=0.9993 right_x=0.3625 right_y=0.1459 right_z=0.0953 right_yaw=0.5661 right_pitch=-0.1555 right_roll=-0.0139 right_gripper=0.052\nstate[joint_eff]: [-0.1983, -8.8, 6.0103, 1.7265, -0.1441, 0.0904, -0.0073, -0.294, -5.8462, 6.5026, 1.5897, -0.1245, -0.0415, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e300d47717791c3fbbcef86fac80956bed0fb47d1f99268246babf4eee13815a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4b4533115ff190522cbc2d11d9c1b77e305cc56a811f6656a3901497d9d811c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9f4a691dcc2a3ae4a797356eb39767bec687cb66fe6e69ea3bde8874cda417b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /messages · status 200 · 8.556 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6697, 1.7344, 0.9527, -0.0509, -0.5476, -0.4534, 0.9993, 0.2752, 1.4353, 0.7177, -0.009, -0.2184, -0.218, 0.052]\nstate[eef_state]: left_x=0.3948 left_y=-0.1907 left_z=0.0792 left_yaw=0.0277 left_pitch=-0.1134 left_roll=0.0504 left_gripper=0.9993 right_x=0.3637 right_y=0.1462 right_z=0.0967 right_yaw=0.5658 right_pitch=-0.1486 right_roll=-0.016 right_gripper=0.052\nstate[joint_eff]: [1.2513, -7.0085, 8.3761, 1.5897, -0.1441, 0.1245, -0.0122, -0.3077, -5.6547, 6.3795, 1.5946, -0.1294, -0.0122, 1.0281]",
      "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]: [-0.6193, 1.7821, 0.9516, -0.0025, -0.5266, -0.4309, 0.9993, 0.2752, 1.4353, 0.7174, -0.0158, -0.2184, -0.218, 0.052]\nstate[eef_state]: left_x=0.4077 left_y=-0.1772 left_z=0.065 left_yaw=0.0503 left_pitch=-0.1242 left_roll=0.056 left_gripper=0.9993 right_x=0.3625 right_y=0.1459 right_z=0.0953 right_yaw=0.5661 right_pitch=-0.1555 right_roll=-0.0139 right_gripper=0.052\nstate[joint_eff]: [0.8957, -7.0906, 5.8325, 1.5751, -0.2418, 0.2027, -0.0073, -0.3214, -5.8188, 6.3795, 1.6093, -0.1148, -0.0464, 1.0281]",
      "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]: [-0.6071, 1.8114, 0.9474, 0.02, -0.5156, -0.4168, 0.9993, 0.2752, 1.4353, 0.7174, -0.0158, -0.2184, -0.218, 0.052]\nstate[eef_state]: left_x=0.4101 left_y=-0.1745 left_z=0.054 left_yaw=0.0475 left_pitch=-0.1385 left_roll=0.0672 left_gripper=0.9993 right_x=0.3625 right_y=0.1459 right_z=0.0953 right_yaw=0.5661 right_pitch=-0.1555 right_roll=-0.0139 right_gripper=0.052\nstate[joint_eff]: [-0.1983, -8.8, 6.0103, 1.7265, -0.1441, 0.0904, -0.0073, -0.294, -5.8462, 6.5026, 1.5897, -0.1245, -0.0415, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e300d47717791c3fbbcef86fac80956bed0fb47d1f99268246babf4eee13815a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4b4533115ff190522cbc2d11d9c1b77e305cc56a811f6656a3901497d9d811c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f4a691dcc2a3ae4a797356eb39767bec687cb66fe6e69ea3bde8874cda417b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSqgcKEAgSGAI4AUIIdGhpbmtpbmcSDBGNc2w4QrDLW7kdaRoM5fjm9QtnuN4vYzAmIjAg/jt7K2pr62TZahxXTmcPJ/Yj3VDcPsFaPr4Dm+1nm1nw43FYvqop6q/kh++BgvIqxwYyGZLhJUkL2KzvsYa2FOkwG8hZo6k0iYCIBCxYp7+/r10Ri51qJoUBdEj3dbH7JCK4kxhrLh3nNyqLKF6FQ8Ev60kETS0jQEUaYEriyNoxPWpHz3a0MTT15UvTjcXulEz/0uUSfC/koMgmYC2hU83HRZ7i4LDfM2sQoTkRhRtdDbrLZhu83iz8KhV4odTcuGoc1Gx4qKEgAbHmBHdBxbT642DpiZbM2wD6ECu8LM0D3exm430jtDR6o5YSl0GBhXNMdW70QLBrSm8oG294QMps0/RIZJxxKTGX3TEW/QQOSnn32SgIZ11EJk3peHE9wn5CA+k+mnSYv6sqG2n+P3HQamvtBXnfWF238FHZKY52qq5/o4Ae1JJkDOghY8Z7aSqyZ4g2gvH+dSd6Dk/no2tBT1EHqa8uhrqnZVOLSQwvOvfD9DHNBdb9YvZfo87VkiXyKRbUg/6MFdblKx3iFU3PdpysN6aTtanuahCpyq1BwTeJdeHNqwbPrXlqLoImtguL6pIWq8lgKoHX36Gwlgzu1zGRWHSjbgf6mqF95cDWtGBBzVy/qOJg8Vu3FfewWsjYG960dC8yvfOyltHB0d6ZF5FoWnDULrw4M4BG3OMnUIXZF4ZPmWyIexwnozCWh2dWqV9wDh10IElNkPb1w+52x2UEmceOLDn9/U3cc643Ms5NTKrVchF0xbOrOMWU9BZIU3FGh1hj8eS1oXMwJgV8V8O31BA6hLboIjcLxUEGrZ2GfwZncFMhUXqJJLmC/SlH8GbZ1bQyPXwdQWT/2TihksfU/iiacOQ4cZinPL1O4RBPM9j42Y8maThpwqBzmwpaQe01ivUz3w4uUwr4kjKUsJgZBZBfZuDfLt5oy73dR3wK34FJHLohyUzmmiXxR5V66vP77h5fxiRuARW1nH3tDd2nLe1cIm/0CwUxZ/dnv1S8wyCd612xcW8z/L2Vf1lIgBOs4lDyZft1Q37lbKKGmtiHO5yqYXVH8Xv2AetWg7se9ZRmFwcR/U+6sSnxZK30B5dq74S0+nBZ8CMWn0q/syh74MbF2ZYjvKP7c0Y/C+liSm8WM3/mV4yV2WG1PaTFtgPxAQt1hZRgkbfm3FaqR1HF0wr33xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Bc4kh1jXkQ1EzYqRFEPd9X",
      "input": {
        "note": "Left arm stalled at 5 cm; cap is roughly centred. Trying a pure vertical descent.",
        "targets": {
          "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_01Bc4kh1jXkQ1EzYqRFEPd9X",
      "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]: [-0.6071, 1.8114, 0.947, 0.0204, -0.5152, -0.4168, 0.9993, 0.2752, 1.4353, 0.7155, -0.0189, -0.2184, -0.218, 0.052]\nstate[eef_state]: left_x=0.4101 left_y=-0.1745 left_z=0.0539 left_yaw=0.0472 left_pitch=-0.1387 left_roll=0.067 left_gripper=0.9993 right_x=0.3616 right_y=0.1456 right_z=0.094 right_yaw=0.5663 right_pitch=-0.1603 right_roll=-0.0125 right_gripper=0.052\nstate[joint_eff]: [-0.0342, -8.8, 6.2427, 1.707, -0.1197, 0.0757, -0.0122, -0.335, -5.8051, 6.5436, 1.5897, -0.1538, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51ecfa8045bfe9b7ab5c19921e1e075dcc97c28578325382abebba5d940ee3f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c727de75a9e290b4128f007f96c453b7624903ce6a3c5123966eac7f0d4bcaf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:26e45636f4e3cc200db3dfb0e3babd8ecc1a8a95c1d837b8c5fd45b755704481",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 4.759 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6193, 1.7821, 0.9516, -0.0025, -0.5266, -0.4309, 0.9993, 0.2752, 1.4353, 0.7174, -0.0158, -0.2184, -0.218, 0.052]\nstate[eef_state]: left_x=0.4077 left_y=-0.1772 left_z=0.065 left_yaw=0.0503 left_pitch=-0.1242 left_roll=0.056 left_gripper=0.9993 right_x=0.3625 right_y=0.1459 right_z=0.0953 right_yaw=0.5661 right_pitch=-0.1555 right_roll=-0.0139 right_gripper=0.052\nstate[joint_eff]: [0.8957, -7.0906, 5.8325, 1.5751, -0.2418, 0.2027, -0.0073, -0.3214, -5.8188, 6.3795, 1.6093, -0.1148, -0.0464, 1.0281]",
      "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]: [-0.6071, 1.8114, 0.9474, 0.02, -0.5156, -0.4168, 0.9993, 0.2752, 1.4353, 0.7174, -0.0158, -0.2184, -0.218, 0.052]\nstate[eef_state]: left_x=0.4101 left_y=-0.1745 left_z=0.054 left_yaw=0.0475 left_pitch=-0.1385 left_roll=0.0672 left_gripper=0.9993 right_x=0.3625 right_y=0.1459 right_z=0.0953 right_yaw=0.5661 right_pitch=-0.1555 right_roll=-0.0139 right_gripper=0.052\nstate[joint_eff]: [-0.1983, -8.8, 6.0103, 1.7265, -0.1441, 0.0904, -0.0073, -0.294, -5.8462, 6.5026, 1.5897, -0.1245, -0.0415, 1.0281]",
      "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]: [-0.6071, 1.8114, 0.947, 0.0204, -0.5152, -0.4168, 0.9993, 0.2752, 1.4353, 0.7155, -0.0189, -0.2184, -0.218, 0.052]\nstate[eef_state]: left_x=0.4101 left_y=-0.1745 left_z=0.0539 left_yaw=0.0472 left_pitch=-0.1387 left_roll=0.067 left_gripper=0.9993 right_x=0.3616 right_y=0.1456 right_z=0.094 right_yaw=0.5663 right_pitch=-0.1603 right_roll=-0.0125 right_gripper=0.052\nstate[joint_eff]: [-0.0342, -8.8, 6.2427, 1.707, -0.1197, 0.0757, -0.0122, -0.335, -5.8051, 6.5436, 1.5897, -0.1538, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51ecfa8045bfe9b7ab5c19921e1e075dcc97c28578325382abebba5d940ee3f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c727de75a9e290b4128f007f96c453b7624903ce6a3c5123966eac7f0d4bcaf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26e45636f4e3cc200db3dfb0e3babd8ecc1a8a95c1d837b8c5fd45b755704481",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSyw4KEAgSGAI4AUIIdGhpbmtpbmcSDJeUYcDneki2lQmOfhoM0aEx2WMFOOJl2wimIjDO282YOpauUWJmQRozCndMCg+3Q/SBlxLPQuAEHeCMR5rNtqpkQhWkI2OWNssJGfoq6A0LJchXWnLSIJcq+P0gD61V+2YmOXvAH6hfUIHz6PiUFVQLFLveBGxfSjXjP2x7TXl6YgPJKJv2ELDMZeNgR79BaTSYC3/ooNYnr1+R2BSLG0PDJaFbe4mCKWhkYIudmByl5D1d7lOIJPbc+epIRws44aqKogDdVTAOiutX91vWmn/8mG43Z3KXa4tEVPUA9TiKwC0qEoRflQiEOPj6YOq9ALPJH5CkLmUq990iLsBU2LTmZBaGrqCqY7zGQ8s+ugnWNOC34IeiAroK3RzPVoKrEFZbSyEE9HDNm1hOIv+d2IZHcLV1V09+3aH127CAmwDhQFl/aIGNv7pv5z//pLuwyBL+pxSaSEJtCcpyWgI41ZRNq1HsGfXWGLP+0OnplySy4k1kiLnAXs3hQBydzqv9baFpvgkJjwha6b87WSx9Z0To6W8rT5ypt6bc66J4rN/GBHtRodUCNHWJIA3RGK6Jmw2QJyaZIM7dbkk/a6/OqV8riqcdYeMzDhyrl/VFgilNVURM0k8qwl9Wl/imh/4WCQvh4l0DSF/9GKA0/nmMoE6ujVb14JpQkbYIrX3yVEvNzMxM+OQ3E9U6/i2AwNeb2P82VUVUDJ5BZ5gGsYhGfykiXGvmw/32TIpR0QGWYkeKfK0EiW8FJZuJohgNhVfP5+TgT6hFVVdCZoDe/hbeoqiwj4bH4LA5gyxNLd+IYqN073qeEkg8Na/Gu6SGx1X6wcDGMff/D9HFZrflYobmifNK11BXbMdr2b5/OW0ZzRKbvkO11qF3FRPrfeT6Z3pINC0bNgZR8D/VYKoFBXJelYYo6h/uiLLX1Sb5i/ZA1i1wtMvgoHif6FM7oC+6n4GgHDYMiRZigwdC39DKyhv1uSLY+jNTWcsizXgeyrztHKF/NlYYqSbkQ0TwtCS5nfZIDYG3ep+mBhmxz5iDw1zRBcwegTGZo1LdEEsk93vtjSzSUpWTdFbslDGB8Mg0I+yGU/e4bh5yJlFDuXPA17m8cv1Lj2BYPiA4QZG7D1NKMTSZjE7tY5V3YQIx+O70kHcDSvkCw80fxd8SPqeK8VpXlaUjAVp7t+VsfBIQ5JnC82zqUlDMCszuwRXccz2kBl/LcMr35OblezMaWX8fyOQz2HkUFs/RHLH2admSA80dV6g96/RUZHyWIq5YeMH6UFt3riBrunpbKidC35YiPO2BovVckF0IcM575xzum8HndylD7er95lic3YjaNBIJHc0N6XOhOMctT0aH2159w0FNnLfyKP2ZpvxsXXQtdx1CbfjFONvOdtbU7ihpjgGwA8uss9wChVLZyf9kAsW+J8e7Ka4V6z7hR0FlDvushVgodqMqcBm1iUSC1Dzcd5FOxCkSSuAAoQAeO8lqAmnwVTx7TAO7DUbGpGjS9v6zE08sACsIYrvIbFYV++GmbfG4120JmVEVg4H8l7SAxY7dzigo40lGMC5vl2mzIee/+kfdhm2jfA+Nv+dYnYeqLIdCKt2wzDOLhxoCMpqwGJdEyuTJuGaZEfqlQRkteA9ggFxiEXEJ4nf42ruA5mhM7b6k0+oaL/OptvwfQ3uV2Y6pUYuk/EXGoRCERyok50ud9jbNwOkFrNh+guKgaXt2PD52B6THynUXwbuqpLyUIpWMIuDpvqx6aqQmhh2rv2OmDW4AH9CKffVW+p+NN1XrIGJnB50MLtuJZsrvnpJHdTZe8sdX03dGdOK7fJU3CSUypF5kk1dn+jJLKTeZWQC5+F34lHA4p06DIXh5rnTmCr6OpLwL3eXfGfIEVUTATIyxaSlpOcQ2QrXLaKSYvNLjYTvypEidvVlFuvxlFgJbvE8r/dQMfQhx+HHXua8/OFUnf4vkO7unN5J88JtOHhtddJQBhPYSTxZKCZuiUUWDeyuHNrKtsZmhWAnhmqJGa2gNYBZwuUuuXLEEAi8ao5QsZ/O0lIqg/uYWXHFDwd/1prN1a2qt/hBQMOqP8+8fvVLCYmM2adUWp3W4SYhgJ0//LIzOtBbQ0m8TzjV9C0L9ZDpkToIHWnlfn82YtvjB9hFCdzx/f/pteP6pJUt87f0Htczb75t1IUQCzRoE7EOukqEMr+yeCfAo1WmokU7i7IXatnA7AFNDxY/VFRVa2OXpQ1jDCZq2QyKQtmbBje7++s/Tx9j/2LFDwFCunK0W/cHsjr4MMbk9vQ4qSA50f+PK60ZnTa960DYR/H/FgY6Rc22U5o19YHZPuRVp95kT0hm0joAF84FBYPBBFeLBwNdBYh4XpH5tgoresPnSzhAtpH15oM7CzKbM/ZsMBBZ8PpEit+ZWrRkQFrfg1yVGV4qpCtWHMFD9RogDtpqih2rKrEVbmhpqdRMgCTnfnFHHGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BfHyyn3UXyaUWgU6nwNWue",
      "input": {
        "note": "Left arm seems at its shoulder limit at this reach (~0.45 m radial) and won't descend. Pitching the tool forward to extend reach down to the cap.",
        "targets": {
          "left_pitch": 0.4,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01BfHyyn3UXyaUWgU6nwNWue",
      "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]: [-0.6838, 2.3188, 0.6624, 1.4288, -0.7475, -0.1543, 0.9991, 0.2752, 1.4353, 0.7136, -0.0193, -0.2184, -0.218, 0.052]\nstate[eef_state]: left_x=0.4139 left_y=-0.1778 left_z=0.0115 left_yaw=0.0727 left_pitch=0.4049 left_roll=0.0021 left_gripper=0.9991 right_x=0.361 right_y=0.1454 right_z=0.0932 right_yaw=0.5665 right_pitch=-0.1625 right_roll=-0.0118 right_gripper=0.052\nstate[joint_eff]: [-0.4718, -6.9675, 2.4957, 0.8718, -0.1294, 0.2711, -0.0464, -0.335, -5.8325, 6.4752, 1.5263, -0.1392, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7e71d810be462583753329d6ee83b32321ad22a27fce4fdd357556b08d77479",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c092b807fd37185ffdafd146432623cb7ec7da9d5c63709fb68c397b6ceb873",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6d82a56445661861547a6780eaffd3f2d43b61a3224e5755ad9c3ee88dda902f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 4.378 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6071, 1.8114, 0.9474, 0.02, -0.5156, -0.4168, 0.9993, 0.2752, 1.4353, 0.7174, -0.0158, -0.2184, -0.218, 0.052]\nstate[eef_state]: left_x=0.4101 left_y=-0.1745 left_z=0.054 left_yaw=0.0475 left_pitch=-0.1385 left_roll=0.0672 left_gripper=0.9993 right_x=0.3625 right_y=0.1459 right_z=0.0953 right_yaw=0.5661 right_pitch=-0.1555 right_roll=-0.0139 right_gripper=0.052\nstate[joint_eff]: [-0.1983, -8.8, 6.0103, 1.7265, -0.1441, 0.0904, -0.0073, -0.294, -5.8462, 6.5026, 1.5897, -0.1245, -0.0415, 1.0281]",
      "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]: [-0.6071, 1.8114, 0.947, 0.0204, -0.5152, -0.4168, 0.9993, 0.2752, 1.4353, 0.7155, -0.0189, -0.2184, -0.218, 0.052]\nstate[eef_state]: left_x=0.4101 left_y=-0.1745 left_z=0.0539 left_yaw=0.0472 left_pitch=-0.1387 left_roll=0.067 left_gripper=0.9993 right_x=0.3616 right_y=0.1456 right_z=0.094 right_yaw=0.5663 right_pitch=-0.1603 right_roll=-0.0125 right_gripper=0.052\nstate[joint_eff]: [-0.0342, -8.8, 6.2427, 1.707, -0.1197, 0.0757, -0.0122, -0.335, -5.8051, 6.5436, 1.5897, -0.1538, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.6838, 2.3188, 0.6624, 1.4288, -0.7475, -0.1543, 0.9991, 0.2752, 1.4353, 0.7136, -0.0193, -0.2184, -0.218, 0.052]\nstate[eef_state]: left_x=0.4139 left_y=-0.1778 left_z=0.0115 left_yaw=0.0727 left_pitch=0.4049 left_roll=0.0021 left_gripper=0.9991 right_x=0.361 right_y=0.1454 right_z=0.0932 right_yaw=0.5665 right_pitch=-0.1625 right_roll=-0.0118 right_gripper=0.052\nstate[joint_eff]: [-0.4718, -6.9675, 2.4957, 0.8718, -0.1294, 0.2711, -0.0464, -0.335, -5.8325, 6.4752, 1.5263, -0.1392, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7e71d810be462583753329d6ee83b32321ad22a27fce4fdd357556b08d77479",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c092b807fd37185ffdafd146432623cb7ec7da9d5c63709fb68c397b6ceb873",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d82a56445661861547a6780eaffd3f2d43b61a3224e5755ad9c3ee88dda902f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqQgKEAgSGAI4AUIIdGhpbmtpbmcSDBbL/tNv7sP0foxu/BoMrSNKBUfqh4Ee6JBWIjAA1BZrAJOU7PobjBqf7FRvrniDryj7jGsvMAboY/kiTYxC+9xQwhNBMM+USifJ9FkqxgcmI2s1awG1azW7jyCuMf6aAV8/0/tlz6ZV3SSPz7aQoqwObsk4p006cNTcONSOemVtwGNK7qxxEcQSYjnXK83Pcddef8vfKGPoPEsMLYDVE8HtzDAlpPrxw92JBDp5IqNSMFk/xBqC40F89z4cboZGshqxrbh17giWhICPyjSItI4xmcxRpvm/IG5TqyYla3P1lvgdUkGIVy5SibCToQJTD+/BFWaeXNh+/z1zovQQ9Gn1cHHH68WCaQ/TpzVPF981BysyqJJA3Qn8P7llbXCQqpMN8+iuLusGaIZpYPnct4k14IhjFomCF6qua7g9E0Y5k+bTbvPzklXjoVnOAaOw/ZU0TNy1Ne6OyCv8EOMZ57V2alPQxtykgARIBrbeJmmGmBIT5Ffb+v6t9y9TdkgCXz+pKFpuNmfSnf+4J98bi9UjwPHIgiT1Hoa2ivxFir94LOCQ4fpN/fsXctgEj38RgAuGx1PmLH2SyTK3hiO1EYEwqolX2J8o7T6IpJmQsM2/iJfOrJNKXI4BSXJTtUS5I5Jhxg8kB4aAogm5uL/EjI5hHF0Kfn2AEHUhPu+Ss1mnhSwIVQiYKdvo5kJwhiooN6YVVQWrNREiovLYwUcNITLYtit8ANh/DVvXS4und+mt0dXla6QoAk6DsRuMcJCByX8tLPyOSilnvBde+X1MMDdDKsKrPc0PjlAYYhCC3AjFDgv9O26Eau1R617YU+FHCueDvW7odWO5v3i/EguLTZqjQqjjQ1Pz94K744Danu3mTC5qmeWyn9YdD7jsKUN4Lpp8aIZy/10yA20XJB75qKLNZDWuyA3WkgMrDcixYXlinGov3bxENCemNDuTPN44iVal8e20liXnwTO4i20WPexbMi53441Wy8lL/PhFavNyNojHIplS2rUYjxI/J9Fu7LzNptjuSCDfWChF1ohqS4GEeb6xhPrKg1Hf8UhuI0RLdu/zNiAORp6YFSCjury8HJBKm7PxhWc60qXxTcIgy5Z28FyUot1YC+LbI6m+2O/vmAo74aJoOXPFp8hmSj/6Mh+b/F2wV0FHQ1T2N6wNoZBu5vm2Olc2OuqzOlVQmT2wlVlBs1OhVWK/20w0+cTzuRjRlSP0VyAReJCYSFRwfF4UpnMM+mX44KkB6x0SldLhVo58UynLTVmeFs6mNjajoHirxIuKmDcDdIe14Gm6KL98zU930yYUrGg08u9w5KkvYahvKhgj5BO0pfnAIMfU38tkM6B84hjTRR05VGdsfkZpJ2AtYjp8Nc9NaMxs2LchUqlXzrIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KMs1TYjRsH6mNsqRLicfiP",
      "input": {
        "note": "Pitching worked; the gripper is near the table and the cap is just ahead of the jaws, ~2 cm to the left. Shifting left and slightly forward, pressing to table level.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.158,
          "left_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01KMs1TYjRsH6mNsqRLicfiP",
      "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]: [-0.6563, 2.3604, 0.6628, 1.5288, -0.7219, -0.1284, 0.9991, 0.2752, 1.4353, 0.7136, -0.0193, -0.2184, -0.218, 0.052]\nstate[eef_state]: left_x=0.4189 left_y=-0.1708 left_z=0.0135 left_yaw=0.0794 left_pitch=0.4447 left_roll=-0.0176 left_gripper=0.9991 right_x=0.361 right_y=0.1454 right_z=0.0932 right_yaw=0.5665 right_pitch=-0.1625 right_roll=-0.0118 right_gripper=0.052\nstate[joint_eff]: [1.4154, -6.7487, 1.9761, 0.9597, -0.022, -0.0904, -0.0171, -0.3624, -5.6, 6.3658, 1.5311, -0.1392, -0.0611, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ebb9f7255c84a1f141e94476307a89e3734f822fb8d5323193a85730fe4fea1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:179ff3a0f9abbbbd68e6dcf8e78c4c3439faa75cc35fd28b2f33bf34515e2118",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f0e26fb9e82678d251e92f4b3638414155b5997a3d0b31d4df05b87afaf9428f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 5.309 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6071, 1.8114, 0.947, 0.0204, -0.5152, -0.4168, 0.9993, 0.2752, 1.4353, 0.7155, -0.0189, -0.2184, -0.218, 0.052]\nstate[eef_state]: left_x=0.4101 left_y=-0.1745 left_z=0.0539 left_yaw=0.0472 left_pitch=-0.1387 left_roll=0.067 left_gripper=0.9993 right_x=0.3616 right_y=0.1456 right_z=0.094 right_yaw=0.5663 right_pitch=-0.1603 right_roll=-0.0125 right_gripper=0.052\nstate[joint_eff]: [-0.0342, -8.8, 6.2427, 1.707, -0.1197, 0.0757, -0.0122, -0.335, -5.8051, 6.5436, 1.5897, -0.1538, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6838, 2.3188, 0.6624, 1.4288, -0.7475, -0.1543, 0.9991, 0.2752, 1.4353, 0.7136, -0.0193, -0.2184, -0.218, 0.052]\nstate[eef_state]: left_x=0.4139 left_y=-0.1778 left_z=0.0115 left_yaw=0.0727 left_pitch=0.4049 left_roll=0.0021 left_gripper=0.9991 right_x=0.361 right_y=0.1454 right_z=0.0932 right_yaw=0.5665 right_pitch=-0.1625 right_roll=-0.0118 right_gripper=0.052\nstate[joint_eff]: [-0.4718, -6.9675, 2.4957, 0.8718, -0.1294, 0.2711, -0.0464, -0.335, -5.8325, 6.4752, 1.5263, -0.1392, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.6563, 2.3604, 0.6628, 1.5288, -0.7219, -0.1284, 0.9991, 0.2752, 1.4353, 0.7136, -0.0193, -0.2184, -0.218, 0.052]\nstate[eef_state]: left_x=0.4189 left_y=-0.1708 left_z=0.0135 left_yaw=0.0794 left_pitch=0.4447 left_roll=-0.0176 left_gripper=0.9991 right_x=0.361 right_y=0.1454 right_z=0.0932 right_yaw=0.5665 right_pitch=-0.1625 right_roll=-0.0118 right_gripper=0.052\nstate[joint_eff]: [1.4154, -6.7487, 1.9761, 0.9597, -0.022, -0.0904, -0.0171, -0.3624, -5.6, 6.3658, 1.5311, -0.1392, -0.0611, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ebb9f7255c84a1f141e94476307a89e3734f822fb8d5323193a85730fe4fea1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:179ff3a0f9abbbbd68e6dcf8e78c4c3439faa75cc35fd28b2f33bf34515e2118",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0e26fb9e82678d251e92f4b3638414155b5997a3d0b31d4df05b87afaf9428f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS/QYKEAgSGAI4AUIIdGhpbmtpbmcSDNnZOerrdBCldl9UOxoM3PskYLfrNbPrcv3wIjDM0v9aUEGmP5iA2Vb6uu2E2lq29vVGR96olEYaCvH2xfm6hG4eWWdtNd856CCz0BEqmgZS8iHDCpO/VpmacgMhQb8xb1DS3FnJKBjRBf6GNJKIbT5HRIFGqzxaKiEIi6k0uMvzd2rl/PDPCuLNCJuV/drgamIi3VtZCuMKvOro7Jyo+smrCOE5saamoBk1Cxr4q4SZd85WaKYTy9csHBcQp2PPioK+hrVlRGgKHjdTJGV1KufHbWZbWQWzkZk41rJC4hFX62ST2aFgB5RSMNYan+itOEF7OWc8TvKJ3SNd9XsSsOmkjnGkY0XcoTJU2LYvEhRCB8EAc6QQHRp+VlKgFgdOY5PtF6YHSSMdeEOx2ctVdpptzC5YDlGzjSNVxGuMNIT2EQMnJHNBoqTan9QUFtHDpCeen8bGJOh+bjgIo+aDLMUFdqWc9YAo20T0PozB200ZMHGd61iHQ7FGBJKiAN8ZE0ZjsSade/SJTdGEjO4WME5ce1Tio3Iqw9VBzPbeCw+AyRlLoBX3NPfBYVjUfgL0MpAi/d6IXP/CQemm9QBC1A3xJMKDZqGUEOGyU+w9K8c/bBkcA3JZzLjPbnaPrqNf0/ih+rD5Hz6NZK2/I8fYytvqmYi83mT7nPh8qJD5QZfG9clHAw+qZOCGUJcyool0dN+ddj/bGFe4GqcE6YlQIHtiDWV9Kw5CKx1Avm0rNAqEjOdRmxB6FlQVlQk1v8GBei4v7qFSqnFGVFw9VieDMwtXlSsuJpGcFU02WVUW8ckkWN6EmAGwDmqDPgUZxxbHJbkKUyHjJwR8+E1XiXOtlRycrsDQbzuWLFXKRggwB9OW0iZszp19KL9PvZDSBEZmB1p7Auvbp09l+3OIm4D2QJ05HmOwt7jRX4+oiXwcYas6sibkY6xVC8EplN8BoX47rhShQkINOoje8dyhaVnB5y6euvzBegl1xiOxNt62taUJ3vE/0Bzfcm3cZku/xwi2WKzy2hVb8wp+PQED4x6tw9xwdGRI6L10FRFjIsqb9HLBwBrfJ9kGE3dPx5btndLBu7Xa8zCj6bhvpYyxtF/1GUT9PiQM/xHxyBg9So2yFqmrFbMvrwxisdUphSSXFirgMsMqhsTdMzBQJxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017K3uQ2Zzc5CcR2n7vJyhpR",
      "input": {
        "note": "Arm moves in small increments near its reach limit. Cap still ~2 cm left of the jaw centre; continuing the shift and pitching a bit more to gain reach.",
        "targets": {
          "left_pitch": 0.55,
          "left_x": 0.425,
          "left_y": -0.155,
          "left_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_017K3uQ2Zzc5CcR2n7vJyhpR",
      "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]: [-0.6273, 2.4195, 0.7776, 1.5642, -0.7052, -0.0841, 0.999, 0.2752, 1.4353, 0.7124, -0.02, -0.2184, -0.218, 0.0556]\nstate[eef_state]: left_x=0.4456 left_y=-0.1773 left_z=0.0223 left_yaw=0.0971 left_pitch=0.5118 left_roll=-0.0381 left_gripper=0.999 right_x=0.3605 right_y=0.1453 right_z=0.0926 right_yaw=0.5665 right_pitch=-0.1643 right_roll=-0.0113 right_gripper=0.0556\nstate[joint_eff]: [0.9368, -8.0752, 4.4786, 1.8535, 0.1197, 0.1538, -0.0171, -0.3761, -5.8188, 6.4752, 1.5507, -0.1685, -0.0415, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8778737f5d5f2a729bf7b31482647793897529cd2f2ed3ab58cb296709091b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5781ed6caf6fd53e3d3f53b26e03067a9eb9fe0beb719e48a68bf7a37c1ce0dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cdc0a66e8e613eb7e7b2194393a3d1cc6dbd82285276db30158d9d2f7b2d0eba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 5.438 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6838, 2.3188, 0.6624, 1.4288, -0.7475, -0.1543, 0.9991, 0.2752, 1.4353, 0.7136, -0.0193, -0.2184, -0.218, 0.052]\nstate[eef_state]: left_x=0.4139 left_y=-0.1778 left_z=0.0115 left_yaw=0.0727 left_pitch=0.4049 left_roll=0.0021 left_gripper=0.9991 right_x=0.361 right_y=0.1454 right_z=0.0932 right_yaw=0.5665 right_pitch=-0.1625 right_roll=-0.0118 right_gripper=0.052\nstate[joint_eff]: [-0.4718, -6.9675, 2.4957, 0.8718, -0.1294, 0.2711, -0.0464, -0.335, -5.8325, 6.4752, 1.5263, -0.1392, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6563, 2.3604, 0.6628, 1.5288, -0.7219, -0.1284, 0.9991, 0.2752, 1.4353, 0.7136, -0.0193, -0.2184, -0.218, 0.052]\nstate[eef_state]: left_x=0.4189 left_y=-0.1708 left_z=0.0135 left_yaw=0.0794 left_pitch=0.4447 left_roll=-0.0176 left_gripper=0.9991 right_x=0.361 right_y=0.1454 right_z=0.0932 right_yaw=0.5665 right_pitch=-0.1625 right_roll=-0.0118 right_gripper=0.052\nstate[joint_eff]: [1.4154, -6.7487, 1.9761, 0.9597, -0.022, -0.0904, -0.0171, -0.3624, -5.6, 6.3658, 1.5311, -0.1392, -0.0611, 1.0281]",
      "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]: [-0.6273, 2.4195, 0.7776, 1.5642, -0.7052, -0.0841, 0.999, 0.2752, 1.4353, 0.7124, -0.02, -0.2184, -0.218, 0.0556]\nstate[eef_state]: left_x=0.4456 left_y=-0.1773 left_z=0.0223 left_yaw=0.0971 left_pitch=0.5118 left_roll=-0.0381 left_gripper=0.999 right_x=0.3605 right_y=0.1453 right_z=0.0926 right_yaw=0.5665 right_pitch=-0.1643 right_roll=-0.0113 right_gripper=0.0556\nstate[joint_eff]: [0.9368, -8.0752, 4.4786, 1.8535, 0.1197, 0.1538, -0.0171, -0.3761, -5.8188, 6.4752, 1.5507, -0.1685, -0.0415, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8778737f5d5f2a729bf7b31482647793897529cd2f2ed3ab58cb296709091b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5781ed6caf6fd53e3d3f53b26e03067a9eb9fe0beb719e48a68bf7a37c1ce0dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cdc0a66e8e613eb7e7b2194393a3d1cc6dbd82285276db30158d9d2f7b2d0eba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStQkKEAgSGAI4AUIIdGhpbmtpbmcSDAoGbf/65aFU2YvH2BoMpcYrGejdZQRa0pZyIjAKKfUv1eEgtJLWz1NPIanj7UFOTSe9HJyHOkDbJJRzT6wIclnPTt2aBdxmV/6ReRoq0giwFAHVOz4Bnijv4BgWiDRw9CQ4WS1Dn7G/hbQLFooyWgSfjU8nM0NePyLNEUj82i3HnZ2FI0EZdM6uQJNPWIq5C/kfEB5bnh1fqEdmGKbDWYfr3JT0P+7r3SW6ELj35MSeiwHEIpJlFE98MNRV/kgBxvGC5srtX6D5xy3j1j7YIwG++aX5NZ8nUVE9kBzC4uU0YcC+C5n57U3AjXCI2p6R8tX7DH43stVTWHWkyfHVtsH7LXstUt5uBJgESvQbag2Q+IxJ4pVWvbUF7v8hlXRmPn6hfc4LU1DeqPqj+I5GbV8Ijqh3Dsrgx3Own7+Izh/I2Bux7W7ugplpPjZO0MdmwcP3HQPD8mVhbgAba3zBdN10Bbd806sYww/sKTBP2Ct/W4ioorl/niwQdHm/jywwRWZF1wdViyZj/9fCUF2oQ7UNpu/8SL921uCWYSNaMK0w1Z7LawnjY4nQGEC1Dr9TenLjplKhyiXQnay2Kas77Nb0FJ43pnhcLlsfOFGxmtIczmqF+0jkl5U6tqNDo88J+8NCMTYJCN0wUJSlo77oTZz58WZwr33LB4uVDbFO0wwJZaC6TaKR8h8AGtjZDahs/0jJCGu/4CpJgUzPIShjtO1gtMBEIgSOQBILBXtYnOTccxVcyVk4oTcDGxzDe6t8UHD7XrJSKPgBNnFEeA/uf+6nT4zp1q8PQNKdASNxkBq+JNAtmsd0alRrUCuZHan5yrUFNH1Fks9CnatSTVHrsOXQuozCTmMEg8feGJeXlN7mnFqo3o8uiTGEfMpAwSWEvqjNJA9Qsh4y0X/+9UA01VUv9pnMjh6mHl5rx0YkCmhlLFObCT+JOJGT+meHEctHNgMnQ9QylzfPs0u/yg9TsWAtuidQWHSG0DrCZQN4fl8eEfbIBhdURWIGvzHd+cA8RO2FEdW/yIL0tacW+uGaln0QU5ULCNDOVKmCfttwqUk/lHI3Hzm6DDBteidyOJih57HxrB9nZrigqC5if59CKWuX3X/diqnM6j7Tb6m0g9R9ZHqwP/wpjVAzCgz2I0I3UXZvauCG6M54BWRoGKmT67Cv//gTIV5snIwa6sdnmmkWw6gGw+T3KS2ubp6gkWLrj/veChr1YR5d0kKuuvF/IFbzFK56EMbK70Ye5Pb2PxXq78FD6UVB9btw10FscDtt4qnbPEpvK2PQfn4ZD62WFYoRSqI/RsxrxYTtaf6ACKWdhQBLXx4lXGDZaFfVHKk/H6pTMHOTgoGZrlkKEOPQwMVdevqENyavJcnjONZ2bC+yn9Ltne8z1jrK7bbUHD8W8jgD9bfsMB8LwhNyzkVs5ov6vn+guTnCQlMjHhiW7zEhZ/p1fQIC8ukJNScVQgVFzci+oqgpO5EKf+VyvFD4IJltBLlGFZ/eETinTMb9hhccygzwIAz7+my/jaSbvDexkznqif+CDSFmKVcRu1cvdOrgA2CIpdkOvBx6IA+Q7mlq6RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GiE26P5TkaMjG7ShKy6LHW",
      "input": {
        "note": "The cap is now between the jaw tips but ~2.4 cm left of centre. Shifting left by that amount and pressing down to table level.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.152,
          "left_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01GiE26P5TkaMjG7ShKy6LHW",
      "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]: [-0.5972, 2.4397, 0.799, 1.5757, -0.6899, -0.0792, 0.999, 0.2752, 1.4353, 0.712, -0.0227, -0.218, -0.218, 0.0556]\nstate[eef_state]: left_x=0.4543 left_y=-0.1687 left_z=0.0207 left_yaw=0.1141 left_pitch=0.5207 left_roll=-0.0429 left_gripper=0.999 right_x=0.36 right_y=0.1451 right_z=0.0919 right_yaw=0.5664 right_pitch=-0.1673 right_roll=-0.0106 right_gripper=0.0556\nstate[joint_eff]: [1.1556, -7.8017, 3.9316, 1.4823, 0.2418, -0.3004, -0.0122, -0.3077, -5.5863, 6.4068, 1.5507, -0.0708, -0.0415, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3dcf0be6883804b4c8cf902694a4d1cfe1292db4b900416b6942593112a19e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:346dfb72cea01624467aaa5d186e7de58311f8bcbd31bc56a80b7d9f7e62042a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6f199a09c1965a2b3dd602598fbd8b8f97a04991e62e3a90d2ef073e42b912c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 5.156 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6563, 2.3604, 0.6628, 1.5288, -0.7219, -0.1284, 0.9991, 0.2752, 1.4353, 0.7136, -0.0193, -0.2184, -0.218, 0.052]\nstate[eef_state]: left_x=0.4189 left_y=-0.1708 left_z=0.0135 left_yaw=0.0794 left_pitch=0.4447 left_roll=-0.0176 left_gripper=0.9991 right_x=0.361 right_y=0.1454 right_z=0.0932 right_yaw=0.5665 right_pitch=-0.1625 right_roll=-0.0118 right_gripper=0.052\nstate[joint_eff]: [1.4154, -6.7487, 1.9761, 0.9597, -0.022, -0.0904, -0.0171, -0.3624, -5.6, 6.3658, 1.5311, -0.1392, -0.0611, 1.0281]",
      "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]: [-0.6273, 2.4195, 0.7776, 1.5642, -0.7052, -0.0841, 0.999, 0.2752, 1.4353, 0.7124, -0.02, -0.2184, -0.218, 0.0556]\nstate[eef_state]: left_x=0.4456 left_y=-0.1773 left_z=0.0223 left_yaw=0.0971 left_pitch=0.5118 left_roll=-0.0381 left_gripper=0.999 right_x=0.3605 right_y=0.1453 right_z=0.0926 right_yaw=0.5665 right_pitch=-0.1643 right_roll=-0.0113 right_gripper=0.0556\nstate[joint_eff]: [0.9368, -8.0752, 4.4786, 1.8535, 0.1197, 0.1538, -0.0171, -0.3761, -5.8188, 6.4752, 1.5507, -0.1685, -0.0415, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5972, 2.4397, 0.799, 1.5757, -0.6899, -0.0792, 0.999, 0.2752, 1.4353, 0.712, -0.0227, -0.218, -0.218, 0.0556]\nstate[eef_state]: left_x=0.4543 left_y=-0.1687 left_z=0.0207 left_yaw=0.1141 left_pitch=0.5207 left_roll=-0.0429 left_gripper=0.999 right_x=0.36 right_y=0.1451 right_z=0.0919 right_yaw=0.5664 right_pitch=-0.1673 right_roll=-0.0106 right_gripper=0.0556\nstate[joint_eff]: [1.1556, -7.8017, 3.9316, 1.4823, 0.2418, -0.3004, -0.0122, -0.3077, -5.5863, 6.4068, 1.5507, -0.0708, -0.0415, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3dcf0be6883804b4c8cf902694a4d1cfe1292db4b900416b6942593112a19e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:346dfb72cea01624467aaa5d186e7de58311f8bcbd31bc56a80b7d9f7e62042a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f199a09c1965a2b3dd602598fbd8b8f97a04991e62e3a90d2ef073e42b912c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlwkKEAgSGAI4AUIIdGhpbmtpbmcSDJgFAGCcevtiNW15zhoMTe5qonGtx1b5oKdAIjDumHqYTLupKR0DY6u2EfEV3sZfNAh8Dh572Vk4Db3fBsjnZZhbJE8PBN34RkCyC6kqtAgKKyaybdM9X5m7lgiyKuIzIIZzIzaSioo/zukmH3EQ0jc/Ot+mP3PkKKe/joXZhF+S55Ap3Qiu4moMdU/5CAo8QOiMXHU+f7p+nuI5PG0IWLhECfRElnxCDHBr3bm9M4ttwrPfE99LnDglHZGGzsFGzkiHI1D+AshLPBxXRg6F96ty5b+SwFkLw1exL/g3SYC7gW+oCz1eAXps/QzGReRCU1tBaEcMvSALoXLv54+OsR5/k1hSXnoFYZqEARjpE6z0815g0fGFl6M+1aKlADz6992bq/JfVXCl7LlGan3eOnEC2HH/cNjc8hWIr66LzjRg5E6Fvj6OmtdRfF2KIQiAt6pQIl7HrAha5jCTuGRrpzGwDfHJLQGsNdZoICbozY51GMxcGfvno8UgsIA55QILaNrIsSCVA9iJ+ONM38J9AutQPgLS5SqSvMax8pwDWuhs0n15JT31pznNNv+m5HwQI6cNcvVqQKb/sIpl21Ga3GQALeTN7UHXOz4uwXFXh0QGlJG+A1zEGV9msCu3gPvM+GNZftWEYGONvgjQ/PTgB+q15hpZgs/BCgmqLLfacImm+vb+yP7HAqq0bgBkpI1HVrRQD/jNFvTZGlcE3XuNwkaQQzzUiRL9XTxhbOWOPajzgOlwWWGUgA2SotAG/G4agN0seWneuJD561YZ8z2zakC8ezb1URFWA03nELGqkMmS2dXX60T+lSW60Gzx+ZV9d3TtT0ete9TgExA2xRZJx3+peezPI6IIj4n5hAW6E/I/fH6KvE8CIhfCXbxBqqcxxmcAGkykDpGSr3uzSYnSEMP063Ra0TqTTmbpasVbOQ69+pPEQWnWWgauii9dlDrz6LdV9Y9+xoI6D0VeD9u+IYmy49FhRsCVtxrVLKetF7+fC350xB2itQ0LBsNJ3n4enFcP8tzNtcusvGlHXsIVd9US6tQAiDZqo0NyDyckLH+HDLVQ00gP046BijKodBurAjCi6RpwtO26ZmGEDV8Dq7X/6SKGhByQ8sAKJ5veEfZIiCIxRQVQpXF4j5iD88Z7l/xIQv8iF115Ovnoz7up++g5NmUqMi9Zndj/p+zzV3STjLt6C94s4Epx8c22nZTq4hV9AsLaoNREWzbRe1vVBImCI/mPfHU+SFB3F91mh94L1ahAk8mO6LZKsGP+VvIf2ffJc55n1XJeILcKitpmPf9jQu99rCPppcqENQW21kN0Y/uGy+se201UPHma6dDgEmZA19vUmeGaSS+uPlPep+WUKdjoaUcISczK2HN0LdP8Gt8xrqHwwNsE4g/vEYmyPqC23K26BaNBtdBAJ9tFvq5iZcNsIJXzOUdQsq8A4gWihPoiDWErpRiMq2AieQ2Hn8WQ8avibVABC0D9+74Fv+OXxtToJiFc51b0GRvcx07lr5nWRzxwG229INvWwelNIMoSAhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AVxv5vai6AXHhafaMvEGeo",
      "input": {
        "note": "Cap is now nearly under the jaws, slightly left; the gripper is still 2 cm above the table. Pulling back slightly to x=0.44 (the arm overshot to 0.454) and trying to press down.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.162,
          "left_z": -0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01AVxv5vai6AXHhafaMvEGeo",
      "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]: [-0.5888, 2.4432, 0.8013, 1.5845, -0.68, -0.0803, 0.9991, 0.2752, 1.4353, 0.712, -0.0227, -0.2184, -0.218, 0.0562]\nstate[eef_state]: left_x=0.4562 left_y=-0.1668 left_z=0.0215 left_yaw=0.1164 left_pitch=0.526 left_roll=-0.0505 left_gripper=0.9991 right_x=0.36 right_y=0.1452 right_z=0.0919 right_yaw=0.5667 right_pitch=-0.1672 right_roll=-0.0104 right_gripper=0.0562\nstate[joint_eff]: [0.4991, -7.9795, 3.3983, 1.6532, 0.1587, -0.1001, -0.0122, -0.1026, -5.7915, 6.3521, 1.5409, -0.1587, -0.0513, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7845f5eb7de2007b55847f4cf8e05e474115224401c34fd68e4becc123654d06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f88ca25baa30b04e8e08d3b0c2908e559fef5c5b9abbcbbfc8fc5e4221d8dba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7d81cb0e1fe953636562879d34d37c7711551b04017fc6cf3312fae00a1c06ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 15.89 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6273, 2.4195, 0.7776, 1.5642, -0.7052, -0.0841, 0.999, 0.2752, 1.4353, 0.7124, -0.02, -0.2184, -0.218, 0.0556]\nstate[eef_state]: left_x=0.4456 left_y=-0.1773 left_z=0.0223 left_yaw=0.0971 left_pitch=0.5118 left_roll=-0.0381 left_gripper=0.999 right_x=0.3605 right_y=0.1453 right_z=0.0926 right_yaw=0.5665 right_pitch=-0.1643 right_roll=-0.0113 right_gripper=0.0556\nstate[joint_eff]: [0.9368, -8.0752, 4.4786, 1.8535, 0.1197, 0.1538, -0.0171, -0.3761, -5.8188, 6.4752, 1.5507, -0.1685, -0.0415, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5972, 2.4397, 0.799, 1.5757, -0.6899, -0.0792, 0.999, 0.2752, 1.4353, 0.712, -0.0227, -0.218, -0.218, 0.0556]\nstate[eef_state]: left_x=0.4543 left_y=-0.1687 left_z=0.0207 left_yaw=0.1141 left_pitch=0.5207 left_roll=-0.0429 left_gripper=0.999 right_x=0.36 right_y=0.1451 right_z=0.0919 right_yaw=0.5664 right_pitch=-0.1673 right_roll=-0.0106 right_gripper=0.0556\nstate[joint_eff]: [1.1556, -7.8017, 3.9316, 1.4823, 0.2418, -0.3004, -0.0122, -0.3077, -5.5863, 6.4068, 1.5507, -0.0708, -0.0415, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5888, 2.4432, 0.8013, 1.5845, -0.68, -0.0803, 0.9991, 0.2752, 1.4353, 0.712, -0.0227, -0.2184, -0.218, 0.0562]\nstate[eef_state]: left_x=0.4562 left_y=-0.1668 left_z=0.0215 left_yaw=0.1164 left_pitch=0.526 left_roll=-0.0505 left_gripper=0.9991 right_x=0.36 right_y=0.1452 right_z=0.0919 right_yaw=0.5667 right_pitch=-0.1672 right_roll=-0.0104 right_gripper=0.0562\nstate[joint_eff]: [0.4991, -7.9795, 3.3983, 1.6532, 0.1587, -0.1001, -0.0122, -0.1026, -5.7915, 6.3521, 1.5409, -0.1587, -0.0513, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7845f5eb7de2007b55847f4cf8e05e474115224401c34fd68e4becc123654d06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f88ca25baa30b04e8e08d3b0c2908e559fef5c5b9abbcbbfc8fc5e4221d8dba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d81cb0e1fe953636562879d34d37c7711551b04017fc6cf3312fae00a1c06ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSkAgKEAgSGAI4AUIIdGhpbmtpbmcSDJja2WGXQ1l/ncREIxoMhDLdPEGv+S7UsQiRIjBP7CGfDE4F7LxGvmgVcL+ORG9H04QoVExjzVddp0flm2z/n5jf9xwalJPTfB7xxEUqrQd85MSd95e5lOQSi5YySSg/xdimJe0Q6MtB5fg528TdfD1kd2OyxpDC0Kp2mtSTRItkhE2vHvEKKiVy60Zfq7xn7JOSHxkq/YCEK8L6KK2wvcpo6D0m3BrnCboeh/5axw4BkhHoxS44uPWrEonhiXnx4DSUnRF4SZ7zsHpxE/qchRQIdj1Vg09FvLEee+i0uxmBEdNTB3EpQKPaIwKCNA8rd6iKvrFPfPGGNfxvzbsV3zd7xVIk4lS7kR1Q15OGAZruC5Bz9UfE7DwPXMQDu2UNK3IjcJMwaQwMtaJ5d3zqJB1P1oSwp+rlQDBgLQpD4sED2BsGu81n/4ZBDv5nnXMdyklerAAdJK63XogMAV/alAVpRZs84wyieH6x39Ia4Wrd3kMC/NcxYvDPsAfffvgDzCuY1+owir+pg1n++LwAa2Rs7h2P0GOvKAESGlxmO4RJ4B1U1T1wmCATmZGAlpO3jlma1736o8myZK1mD1jOhy90S8ieWNfXB6rnQ+8TvUt5QIihJ6i7tyHUkr/tK/g0e7mZN7nIgJiQmTY1DX3g0IWksslq4ZnpbSdGYrcJBYoAaBXAO5ehXgezO+1GWhWfvgxwDilWKIX/fRgsjvSZdgrKEI8z8IeXItJgfVmq0EUAnk2Flrc2LABjJugf1hzJ2QuTpmEcWzwEFu/DEFT09EkLVSEX1OgXxB6jGCF1JgnOrrjsZ3VpFP4FgBBxXvmMvO35KO+AlFbmZ9N3HaYnlHnCq+zaPDIE3CG4nKoliqDSihuO+xDaHcMFajcTh/q+xPFRjQ7GButAdhed2yhP+zxJJ5lOW+jGx1ng87ilEKeM7F92cGcEIrAHglPLVGX62J+1Od+JAMa/8K75qDohQuh63aLsI91GDMsNPtb7wLQ1suKtK/y2rbLZuNNa4dDFxZVNRJhJrXrZsWIEQWVAH3p4vv2BeW4IZF84lxwD3tUQWwmwOQZlhduPtSqy7qh24GpFcqlZ51fOJgeUoHPHHlddZjTxqAzdu0V3wa9Vs6JYG3bCNzMsTIMk26R+VJSyiuN3zccRHvY7gIhhspenTgHi4LQuq1/OP2C0yWgHtZOUjDJ1d3nxoS+EHRUzmEuEn3dWxOzhoKYLNcH8Kx8aNdmyKRK+Lfo/A2yDR073ympaxm5qxZbeChGQYgT144Yj7SPz97rUGmIu7D7j8kq3ZGaw+UPlrOAHz5DNHWW2ICqQZWDbsS7efHS35mRbemWEyGSbZXVWXcEhDonzrBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CG5gpLaws9Z3tD6YpKFpgj",
      "input": {
        "note": "Left arm won't go lower (possibly resting on the cap or at its limit); the cap is roughly under the jaws. Attempting a close.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01CG5gpLaws9Z3tD6YpKFpgj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5896, 2.4424, 0.8013, 1.5841, -0.6811, -0.0872, 0.0086, 0.2752, 1.4357, 0.7109, -0.0296, -0.2184, -0.218, 0.0562]\nstate[eef_state]: left_x=0.4561 left_y=-0.167 left_z=0.0218 left_yaw=0.1212 left_pitch=0.5262 left_roll=-0.0587 left_gripper=0.0086 right_x=0.3586 right_y=0.1448 right_z=0.0901 right_yaw=0.5671 right_pitch=-0.1752 right_roll=-0.0079 right_gripper=0.0562\nstate[joint_eff]: [-0.2667, -10.7966, 2.9333, 1.5653, -0.0464, 0.0366, 0.6178, -0.0342, -5.8735, 6.4068, 1.6239, -0.1392, -0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70eda58c539112ea73dff65ee7fa923988e4c89fad6037e6044b9b53e49719ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2dbffc0f76f2afc555f1d7cb2e445bd0c533916612ba9c4f19d3ac025c647a25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9f104782709fe5698f36086c585e0ed8ee49ee81eb1221380aea3856cdfa8946",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /messages · status 200 · 4.583 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5972, 2.4397, 0.799, 1.5757, -0.6899, -0.0792, 0.999, 0.2752, 1.4353, 0.712, -0.0227, -0.218, -0.218, 0.0556]\nstate[eef_state]: left_x=0.4543 left_y=-0.1687 left_z=0.0207 left_yaw=0.1141 left_pitch=0.5207 left_roll=-0.0429 left_gripper=0.999 right_x=0.36 right_y=0.1451 right_z=0.0919 right_yaw=0.5664 right_pitch=-0.1673 right_roll=-0.0106 right_gripper=0.0556\nstate[joint_eff]: [1.1556, -7.8017, 3.9316, 1.4823, 0.2418, -0.3004, -0.0122, -0.3077, -5.5863, 6.4068, 1.5507, -0.0708, -0.0415, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5888, 2.4432, 0.8013, 1.5845, -0.68, -0.0803, 0.9991, 0.2752, 1.4353, 0.712, -0.0227, -0.2184, -0.218, 0.0562]\nstate[eef_state]: left_x=0.4562 left_y=-0.1668 left_z=0.0215 left_yaw=0.1164 left_pitch=0.526 left_roll=-0.0505 left_gripper=0.9991 right_x=0.36 right_y=0.1452 right_z=0.0919 right_yaw=0.5667 right_pitch=-0.1672 right_roll=-0.0104 right_gripper=0.0562\nstate[joint_eff]: [0.4991, -7.9795, 3.3983, 1.6532, 0.1587, -0.1001, -0.0122, -0.1026, -5.7915, 6.3521, 1.5409, -0.1587, -0.0513, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5896, 2.4424, 0.8013, 1.5841, -0.6811, -0.0872, 0.0086, 0.2752, 1.4357, 0.7109, -0.0296, -0.2184, -0.218, 0.0562]\nstate[eef_state]: left_x=0.4561 left_y=-0.167 left_z=0.0218 left_yaw=0.1212 left_pitch=0.5262 left_roll=-0.0587 left_gripper=0.0086 right_x=0.3586 right_y=0.1448 right_z=0.0901 right_yaw=0.5671 right_pitch=-0.1752 right_roll=-0.0079 right_gripper=0.0562\nstate[joint_eff]: [-0.2667, -10.7966, 2.9333, 1.5653, -0.0464, 0.0366, 0.6178, -0.0342, -5.8735, 6.4068, 1.6239, -0.1392, -0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70eda58c539112ea73dff65ee7fa923988e4c89fad6037e6044b9b53e49719ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2dbffc0f76f2afc555f1d7cb2e445bd0c533916612ba9c4f19d3ac025c647a25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f104782709fe5698f36086c585e0ed8ee49ee81eb1221380aea3856cdfa8946",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0186N2dyQbfyKF7uE7WjkyY7",
      "input": {
        "note": "Empty close: the left arm can't get low enough at this reach to grip the cap. Plan: lift over the cap, go beyond it, then drag it back toward the base with the closed jaws so it can be grasped closer in.",
        "targets": {
          "left_x": 0.49,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_0186N2dyQbfyKF7uE7WjkyY7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5514, 2.4069, 0.8635, 1.4754, -0.6655, -0.0879, 0.0107, 0.2752, 1.4357, 0.7109, -0.0307, -0.2184, -0.218, 0.0562]\nstate[eef_state]: left_x=0.4776 left_y=-0.1615 left_z=0.0318 left_yaw=0.1406 left_pitch=0.5171 left_roll=-0.0522 left_gripper=0.0107 right_x=0.3584 right_y=0.1447 right_z=0.0899 right_yaw=0.5672 right_pitch=-0.1763 right_roll=-0.0076 right_gripper=0.0562\nstate[joint_eff]: [0.3077, -13.7915, 4.6017, 1.6972, 0.2125, 0.0073, 0.2173, 0.0889, -5.6137, 6.3385, 1.5263, -0.1441, -0.0708, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:234e0265750418715c4051958a477cacbe077e13b36779813462cc02147622a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7352e085f92a6dffd556257bf02b80473f082389bd5c22ae4901516234d170f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ea2e4ebb28407a829304db70cafb95244f8a8c708403aa1467d186710d5651a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 8.512 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5888, 2.4432, 0.8013, 1.5845, -0.68, -0.0803, 0.9991, 0.2752, 1.4353, 0.712, -0.0227, -0.2184, -0.218, 0.0562]\nstate[eef_state]: left_x=0.4562 left_y=-0.1668 left_z=0.0215 left_yaw=0.1164 left_pitch=0.526 left_roll=-0.0505 left_gripper=0.9991 right_x=0.36 right_y=0.1452 right_z=0.0919 right_yaw=0.5667 right_pitch=-0.1672 right_roll=-0.0104 right_gripper=0.0562\nstate[joint_eff]: [0.4991, -7.9795, 3.3983, 1.6532, 0.1587, -0.1001, -0.0122, -0.1026, -5.7915, 6.3521, 1.5409, -0.1587, -0.0513, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5896, 2.4424, 0.8013, 1.5841, -0.6811, -0.0872, 0.0086, 0.2752, 1.4357, 0.7109, -0.0296, -0.2184, -0.218, 0.0562]\nstate[eef_state]: left_x=0.4561 left_y=-0.167 left_z=0.0218 left_yaw=0.1212 left_pitch=0.5262 left_roll=-0.0587 left_gripper=0.0086 right_x=0.3586 right_y=0.1448 right_z=0.0901 right_yaw=0.5671 right_pitch=-0.1752 right_roll=-0.0079 right_gripper=0.0562\nstate[joint_eff]: [-0.2667, -10.7966, 2.9333, 1.5653, -0.0464, 0.0366, 0.6178, -0.0342, -5.8735, 6.4068, 1.6239, -0.1392, -0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5514, 2.4069, 0.8635, 1.4754, -0.6655, -0.0879, 0.0107, 0.2752, 1.4357, 0.7109, -0.0307, -0.2184, -0.218, 0.0562]\nstate[eef_state]: left_x=0.4776 left_y=-0.1615 left_z=0.0318 left_yaw=0.1406 left_pitch=0.5171 left_roll=-0.0522 left_gripper=0.0107 right_x=0.3584 right_y=0.1447 right_z=0.0899 right_yaw=0.5672 right_pitch=-0.1763 right_roll=-0.0076 right_gripper=0.0562\nstate[joint_eff]: [0.3077, -13.7915, 4.6017, 1.6972, 0.2125, 0.0073, 0.2173, 0.0889, -5.6137, 6.3385, 1.5263, -0.1441, -0.0708, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:234e0265750418715c4051958a477cacbe077e13b36779813462cc02147622a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7352e085f92a6dffd556257bf02b80473f082389bd5c22ae4901516234d170f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea2e4ebb28407a829304db70cafb95244f8a8c708403aa1467d186710d5651a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzwgKEAgSGAI4AUIIdGhpbmtpbmcSDCGMMp49U6HNIrb9ZBoM4/hN069G8PhfICthIjAm/Z7wUvHTNZ4rBR+ZOSB6F8/sgWKBLPCi89uquoLN0VeMvt1OntpIgDt4KQ4/pcIq7AdLqlpySJG4GsgNNADsWuFaqta+R66/s5ABDpQqhiAQ3PqO6laUzBYMmauu/AXhWQRN3eC7narmhbLXnBExMKF77q9S9uDKIgIRwaSklSSko5wReTUeRnKOcNFwztseryafqmFb4JAtUvRprjaJTYEOMHcpiww6BntJqOyHd7tIrwi6UGh48FRj8/M6xnzbXOAVu9Kq0sCbqAV7prx7mCOm4odFYpzi7o0z+3DPMPTi/epDFWwEN3vMfwGff6DZPcfo4PPcSKbtpPhMoMCxzF7A2e37o0xy9BrDTlUXUp+caDB5R5AAN7wgH7TRWO4s/tE2V25ykRdyQI9974nGeCFyplEzomwhK/y/2yCMFvyKgnwydXpSz2H5dYbjcCP0gkFNN7im/xZD1v6o5Tby8SEdkg97nlReKd9O3S9n3aDKbDJJofdlkSRK9kSsBz5cyQ/+Evi890LnrbRz30jCsd4jzbIxDb3aO94Pp++2HS2rIIwmHYsWTTesXhhBlkmt/XSco2mrkYNDui5jvyABYuHpzZZa8WUCTToRPku3olCBOeVyzFPV6BQyWVqa66acTAxAwKeLW/kWyctC6UNSMLsV5WssJwfTaVtTGc2bjibe/1pW3IQNS0i1R81VjRz2BXyykVohE82Ya2wdwrUvhXt2EnG9qU8Lqu9oZbDcf1KlQ5Y2sndGc5Bvmz9Zu9bUeuWJkAwjhrBrihL6M+I7TpzvNH52zV8vl5UN3mfNRglyY6IQcjAEETi7W5AEtCdN6oTdSDUxGHjJnTlSi/f3il4BYHorBgBlU3oMrM+PtO/sTy2flC9SrhIgA0UMLJ6O2sTcQttXSR+bFV56QBFoNmxUfKmjACwaSPsol+9nkk4tZJm1IeBStKDXLfaJ8w2TPxR0Lqc7WYmUftb5Ef/LiLuCHBBew0COIi7jQKR9i771kJa82jPDkMpnsmhl+eR5RD9Pcd5q7BMHCQPRLUr8HR0VZV1iYifW7RfhdTGcYYVz4uaIOnZvxPtlDuzduBUXVBH5iSIC6FepBj8cY7ZQgFPA2qhKRovyMOuDOHp4mXC9srp6JXtAl+b6Pr6ldCuLQhDVz3NDi9rGvmexy5Cf9l7JjH0rUXD0ZZ6JQxB1gdcTAgMR6OEKxSeydFXfwNvBG68CAFhN7lTzuMqm0/vLYbtXn8GOhzcWN1bwtOHAVAA/fk17xwB7qVf5Fs3Bvt7WNyQ/51gCTFRzs4eYSMsohnl8d3ALhowS8GVxA0AULlN1HyQP52YflGqaO7nXIjilJatBdiR+hZEJStNDqgpxqiIgkP/xIIJnYKS3Bu/UEOMntahCbSbvIQennntzoRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013CnC7EgGQQsqQ8kHbPSjJo",
      "input": {
        "note": "Gripper is now beyond the cap (cap visible in top view just base-side of the jaws). Dragging back toward the base at table level to rake the cap into easier reach.",
        "targets": {
          "left_x": 0.36,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_013CnC7EgGQQsqQ8kHbPSjJo",
      "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]: [-0.8036, 2.3272, 0.6044, 1.56, -0.8871, -0.136, 0.0129, 0.2752, 1.4361, 0.7101, -0.0429, -0.2184, -0.2184, 0.0562]\nstate[eef_state]: left_x=0.3809 left_y=-0.1925 left_z=0.0236 left_yaw=0.0927 left_pitch=0.4686 left_roll=-0.0102 left_gripper=0.0129 right_x=0.3562 right_y=0.1441 right_z=0.0873 right_yaw=0.5681 right_pitch=-0.1891 right_roll=-0.004 right_gripper=0.0562\nstate[joint_eff]: [-0.335, -10.988, 2.0581, 1.7705, -0.1685, -0.1294, 0.2125, -0.1436, -5.8188, 6.3795, 1.7167, -0.1148, -0.0708, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:564aed23ffb4062ac13c24498c5d165e4542a84e75f8432a3df9a45a79a85f60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e343787f6e592a7a29cc2f605a1413d345b9ec3d1c2d74f7ad4afa0737980ff2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4c6b785b1c3185ca6120e27e3ca7b324ea596a8ab6d185cba8bd19c26c13a4c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 5.105 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5896, 2.4424, 0.8013, 1.5841, -0.6811, -0.0872, 0.0086, 0.2752, 1.4357, 0.7109, -0.0296, -0.2184, -0.218, 0.0562]\nstate[eef_state]: left_x=0.4561 left_y=-0.167 left_z=0.0218 left_yaw=0.1212 left_pitch=0.5262 left_roll=-0.0587 left_gripper=0.0086 right_x=0.3586 right_y=0.1448 right_z=0.0901 right_yaw=0.5671 right_pitch=-0.1752 right_roll=-0.0079 right_gripper=0.0562\nstate[joint_eff]: [-0.2667, -10.7966, 2.9333, 1.5653, -0.0464, 0.0366, 0.6178, -0.0342, -5.8735, 6.4068, 1.6239, -0.1392, -0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5514, 2.4069, 0.8635, 1.4754, -0.6655, -0.0879, 0.0107, 0.2752, 1.4357, 0.7109, -0.0307, -0.2184, -0.218, 0.0562]\nstate[eef_state]: left_x=0.4776 left_y=-0.1615 left_z=0.0318 left_yaw=0.1406 left_pitch=0.5171 left_roll=-0.0522 left_gripper=0.0107 right_x=0.3584 right_y=0.1447 right_z=0.0899 right_yaw=0.5672 right_pitch=-0.1763 right_roll=-0.0076 right_gripper=0.0562\nstate[joint_eff]: [0.3077, -13.7915, 4.6017, 1.6972, 0.2125, 0.0073, 0.2173, 0.0889, -5.6137, 6.3385, 1.5263, -0.1441, -0.0708, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8036, 2.3272, 0.6044, 1.56, -0.8871, -0.136, 0.0129, 0.2752, 1.4361, 0.7101, -0.0429, -0.2184, -0.2184, 0.0562]\nstate[eef_state]: left_x=0.3809 left_y=-0.1925 left_z=0.0236 left_yaw=0.0927 left_pitch=0.4686 left_roll=-0.0102 left_gripper=0.0129 right_x=0.3562 right_y=0.1441 right_z=0.0873 right_yaw=0.5681 right_pitch=-0.1891 right_roll=-0.004 right_gripper=0.0562\nstate[joint_eff]: [-0.335, -10.988, 2.0581, 1.7705, -0.1685, -0.1294, 0.2125, -0.1436, -5.8188, 6.3795, 1.7167, -0.1148, -0.0708, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:564aed23ffb4062ac13c24498c5d165e4542a84e75f8432a3df9a45a79a85f60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e343787f6e592a7a29cc2f605a1413d345b9ec3d1c2d74f7ad4afa0737980ff2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c6b785b1c3185ca6120e27e3ca7b324ea596a8ab6d185cba8bd19c26c13a4c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HpcooXzHaV1r8vpeTK2D2L",
      "input": {
        "note": "The rake passed over the cap; it now shows in the left wrist view just ahead and left of the jaws. Opening and moving onto it with max forward pitch to get as low as possible.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.6,
          "left_x": 0.43,
          "left_y": -0.168,
          "left_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01HpcooXzHaV1r8vpeTK2D2L",
      "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]: [-0.6525, 2.4748, 0.8944, 1.5639, -0.7795, -0.0372, 0.9948, 0.2752, 1.4361, 0.709, -0.0463, -0.2184, -0.218, 0.0562]\nstate[eef_state]: left_x=0.4598 left_y=-0.1906 left_z=0.0268 left_yaw=0.1402 left_pitch=0.5592 left_roll=-0.0294 left_gripper=0.9948 right_x=0.3554 right_y=0.1438 right_z=0.0863 right_yaw=0.5681 right_pitch=-0.1935 right_roll=-0.0023 right_gripper=0.0562\nstate[joint_eff]: [0.5675, -9.2376, 4.2188, 1.7411, 0.1783, 0.1978, -0.0317, -0.1983, -5.7778, 6.4205, 1.5263, -0.1245, -0.0171, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:523e4f71eed24e896ee2fc5bd5a5df181c3448a96edb65df36f7ff3ee45d9199",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d9a2a66f4f3b62bda280973b243a35b82951b5e74ed67f271d69ff390298a7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5f518104486e48b1a793c56a80aae39204c8e34461506ef9fc2a606afea2d867",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 4.41 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5514, 2.4069, 0.8635, 1.4754, -0.6655, -0.0879, 0.0107, 0.2752, 1.4357, 0.7109, -0.0307, -0.2184, -0.218, 0.0562]\nstate[eef_state]: left_x=0.4776 left_y=-0.1615 left_z=0.0318 left_yaw=0.1406 left_pitch=0.5171 left_roll=-0.0522 left_gripper=0.0107 right_x=0.3584 right_y=0.1447 right_z=0.0899 right_yaw=0.5672 right_pitch=-0.1763 right_roll=-0.0076 right_gripper=0.0562\nstate[joint_eff]: [0.3077, -13.7915, 4.6017, 1.6972, 0.2125, 0.0073, 0.2173, 0.0889, -5.6137, 6.3385, 1.5263, -0.1441, -0.0708, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8036, 2.3272, 0.6044, 1.56, -0.8871, -0.136, 0.0129, 0.2752, 1.4361, 0.7101, -0.0429, -0.2184, -0.2184, 0.0562]\nstate[eef_state]: left_x=0.3809 left_y=-0.1925 left_z=0.0236 left_yaw=0.0927 left_pitch=0.4686 left_roll=-0.0102 left_gripper=0.0129 right_x=0.3562 right_y=0.1441 right_z=0.0873 right_yaw=0.5681 right_pitch=-0.1891 right_roll=-0.004 right_gripper=0.0562\nstate[joint_eff]: [-0.335, -10.988, 2.0581, 1.7705, -0.1685, -0.1294, 0.2125, -0.1436, -5.8188, 6.3795, 1.7167, -0.1148, -0.0708, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6525, 2.4748, 0.8944, 1.5639, -0.7795, -0.0372, 0.9948, 0.2752, 1.4361, 0.709, -0.0463, -0.2184, -0.218, 0.0562]\nstate[eef_state]: left_x=0.4598 left_y=-0.1906 left_z=0.0268 left_yaw=0.1402 left_pitch=0.5592 left_roll=-0.0294 left_gripper=0.9948 right_x=0.3554 right_y=0.1438 right_z=0.0863 right_yaw=0.5681 right_pitch=-0.1935 right_roll=-0.0023 right_gripper=0.0562\nstate[joint_eff]: [0.5675, -9.2376, 4.2188, 1.7411, 0.1783, 0.1978, -0.0317, -0.1983, -5.7778, 6.4205, 1.5263, -0.1245, -0.0171, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:523e4f71eed24e896ee2fc5bd5a5df181c3448a96edb65df36f7ff3ee45d9199",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d9a2a66f4f3b62bda280973b243a35b82951b5e74ed67f271d69ff390298a7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f518104486e48b1a793c56a80aae39204c8e34461506ef9fc2a606afea2d867",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9ggKEAgSGAI4AUIIdGhpbmtpbmcSDEO1Oi9ae9uSnNoLYhoMC+kzbI/HlMTAtnl7IjA1QZUJbXcm4PXXzPnYsjZt5JgVY0ZM1/xj94pWeWeUc6kuT1X2R1SxLU8c9ygs3F0qkwhu9017Kvy18aodRcNP7YeGDh7xoUJAGnEBFfxf3I5ALHQt7eAqgt/r2xwd90zfb95v/27yYtZ6k14qzBEGYmKjBQv1KhsYCX9l4erpm+D1ekMD8vU/eEBUUUOo9cj26VVIATOF2iaREidxgHHAW4jh/NX6ZYl1OPm1CUIbkolUpjW60gQrbhCyJvC+8FVPBpx1W19zZxB+qmiHoQtKksAzm69XHlTivxzo9HVmVHkXSvTPul7Q3kt39NyLH5u1ja+g/E/MmqZPsS1toqQgfbdm6R1kmLEG9i7EJxb9h0jFNOdUMzAGriAIswzxyj9HlL6jJa727h+t9TiD+4xHk2pYxGetQXfCPuG4PozKV3ZhhD0PxFJmmy/HfASTu1CJ9roPyXRvnNOBcHgZhfb/+mwyJS2LmBSXbTbQ0UYS63GiTiS2fIZLGs2I87zif0f6cT1Xz+7bqPPqgykh34OOmhJbLRn8rY4+kNe9LYWDJJ1kkjD4mNxmktPFa+qmGZ9liwR87jz/zbBW2cJF8l133mFwXx2Ng9C4RMYL01MFxqr4eAe9If5IezyQgsAF7LnWlR9dtEYcodQANbW+5uUHBl0+v38uC+9uR2A9sKOYa/nzJVwumrqyZkcPHaoaJxr/84VawTX0ZjxW2S+p0u0JFog7819Ip2Cyr9XCePZjb2jEYNNUPsUk9f+4Yq3hk3rzR4PyTQF0tgjgjGiSnF2A7ZJ2WRWiSp4x6NwqbNn6jnrcZFA9OOmN8B9GiuogQCkJiLvkQyPzSH0MMAPR1IQ92dmDvINCI/p2kP7/RymzUXTq8LH2elJRVkcV9GgHH8PuNJ52gp1cdaaqgpTR9iLcwCS0eGOwRrZjMV/rLnU4zRPQLhDawlYicf8LrZL00dxAMHRTW0nAHxJSHL0Cky1rC1FmR4DI3NwT8KkKlg6glKGitIWPMypNBrbodepdLb1D4zpLepRmn9H8apgmsBPVRDljEPDiKwyd8t5jvgimU75d8U8Izkmzusom40cCb5s2IPEi772+KIFrF8JidlIGf8xckuRwf3BBxtWIqymyBk+03Aik0f8xgi4o4yMmWmxdMLnSloQCQUOI/HaQzYtY/MkHyBhaW5uZdJj+DPrsjYhNFREP33LrYHgmr+ESvbwRW/8AqE9EnU76WMgtmodPQ/8dpROu8ykSHOeSlkp2wHGn6M1x46zBMoFpr/e4AHL8oGmvQ4kB8HHOCIKPVs5ZksVELi7eAOegpS4d0Kl5a9lY/F0OtSTapoYMV/wXEdk5U5odrzlVEXzy081p5mQLyH6YJGRaSGFjvjmKBB5aVENBsmp3Zonu9i/eIwPv58puRjZq/qvqJkcWlLJk9dweL/fw6gVzTMemAtd7SJ1RzQpDPSQjEhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NS57KqwtkgcQVWF29sgoPU",
      "input": {
        "note": "Cap is out of the wrist view (under/behind the open jaws) but the arm overshot to x=0.46 and sits 2.7 cm up. Commanding a shorter x and lower z so the jaws come down around the cap.",
        "targets": {
          "left_x": 0.4,
          "left_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_01NS57KqwtkgcQVWF29sgoPU",
      "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]: [-0.7624, 2.4825, 0.8967, 1.5848, -0.8703, -0.0593, 0.996, 0.2752, 1.4372, 0.7082, -0.0456, -0.2184, -0.218, 0.0562]\nstate[eef_state]: left_x=0.4351 left_y=-0.2238 left_z=0.0279 left_yaw=0.1423 left_pitch=0.5696 left_roll=-0.0689 left_gripper=0.996 right_x=0.3552 right_y=0.1438 right_z=0.0857 right_yaw=0.5682 right_pitch=-0.1946 right_roll=-0.002 right_gripper=0.0562\nstate[joint_eff]: [-0.8, -8.1162, 1.6068, 1.4579, -0.2369, -0.0562, 0.105, -0.0615, -5.8325, 6.3658, 1.5751, -0.1636, -0.0269, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e2e6621cc20b7d32ec9ffdf3522b02930934fd2092247ab60b4dac551a695e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10a0f47e748876d1090d7842bae97505e2acea69a7846d4d821a3f919130e276",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cb66284e240b7858532dea71d0d8699a81de0b82f7e1f42db55c8d21cf23b17d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 13.24 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8036, 2.3272, 0.6044, 1.56, -0.8871, -0.136, 0.0129, 0.2752, 1.4361, 0.7101, -0.0429, -0.2184, -0.2184, 0.0562]\nstate[eef_state]: left_x=0.3809 left_y=-0.1925 left_z=0.0236 left_yaw=0.0927 left_pitch=0.4686 left_roll=-0.0102 left_gripper=0.0129 right_x=0.3562 right_y=0.1441 right_z=0.0873 right_yaw=0.5681 right_pitch=-0.1891 right_roll=-0.004 right_gripper=0.0562\nstate[joint_eff]: [-0.335, -10.988, 2.0581, 1.7705, -0.1685, -0.1294, 0.2125, -0.1436, -5.8188, 6.3795, 1.7167, -0.1148, -0.0708, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6525, 2.4748, 0.8944, 1.5639, -0.7795, -0.0372, 0.9948, 0.2752, 1.4361, 0.709, -0.0463, -0.2184, -0.218, 0.0562]\nstate[eef_state]: left_x=0.4598 left_y=-0.1906 left_z=0.0268 left_yaw=0.1402 left_pitch=0.5592 left_roll=-0.0294 left_gripper=0.9948 right_x=0.3554 right_y=0.1438 right_z=0.0863 right_yaw=0.5681 right_pitch=-0.1935 right_roll=-0.0023 right_gripper=0.0562\nstate[joint_eff]: [0.5675, -9.2376, 4.2188, 1.7411, 0.1783, 0.1978, -0.0317, -0.1983, -5.7778, 6.4205, 1.5263, -0.1245, -0.0171, 1.0232]\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]: [-0.7624, 2.4825, 0.8967, 1.5848, -0.8703, -0.0593, 0.996, 0.2752, 1.4372, 0.7082, -0.0456, -0.2184, -0.218, 0.0562]\nstate[eef_state]: left_x=0.4351 left_y=-0.2238 left_z=0.0279 left_yaw=0.1423 left_pitch=0.5696 left_roll=-0.0689 left_gripper=0.996 right_x=0.3552 right_y=0.1438 right_z=0.0857 right_yaw=0.5682 right_pitch=-0.1946 right_roll=-0.002 right_gripper=0.0562\nstate[joint_eff]: [-0.8, -8.1162, 1.6068, 1.4579, -0.2369, -0.0562, 0.105, -0.0615, -5.8325, 6.3658, 1.5751, -0.1636, -0.0269, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e2e6621cc20b7d32ec9ffdf3522b02930934fd2092247ab60b4dac551a695e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10a0f47e748876d1090d7842bae97505e2acea69a7846d4d821a3f919130e276",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb66284e240b7858532dea71d0d8699a81de0b82f7e1f42db55c8d21cf23b17d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxAgKEAgSGAI4AUIIdGhpbmtpbmcSDO6gNKIszh10JkEkBhoMNV0BfETas1c28A6NIjCyX5WjvBDe6xTMf9t57vl5CNx/1eG5/lzk0n4/YNmqtS61FdWSQ6IqYqxoP1i2ztIq4Qe4i0OkPk1z56jcpRGlsukngrMv4YmpvipGcqHi71Fp692KeDsET22rB5FJYVHmgiRcK/exl8O7q+O4QBwnXdvDyfymyaOuk7+k5l9slzl6CZp19s+4iShyWwZu2CgnEkKwv3T4jqKz1oUoeQBIFwdpBG8MZZIN3wcwyWmaWUST5vdrXegCiBtaowey9WBkNBUM+X9JkzzLOnuRAAdGlMIwoubiCOezXBVXMJfTfabFs5nX266OUf8NnzMGaEhWW4xutOS+2s/QzcWw4oDFkQcfqAfcsChmAV4GG9GCR9Md7fdQhcmQXpC9TbPE3LAd2oFZVItp/MUxZFk7qXMqY9o5cfcJ2mDIJq3IWatjLl9+v32LhC14oPGGWu7/bn+oVC/IXnt0oO2/R781nNEX18CcS2OvKxB/wJ5oTZ5HpC9lNUWE7PcHVJg8HRiZFUgsMcP0lVLeSxAHV3t02FcRdCHZn5RNfDKR3tvZ4g3z6HCsNjLQvGGP4JMYP7pk6bURqMEu9jKzkTjtp2kLdlro3+jFVyy3SxozWbzgIILb4DBxK6eKk5lpV5Dr18zus+raU6VTMubUKABfkB3T6scTqth7UHTP5ja7jLfZReX51nzxvXWckQ4yz7kBMmssTIyjYJL/x7cm2mhR+CHXLi9AIYiQjk6t5xNZhqq1cxogvtWcUG13TnEJXWGyOMF4A0yRbg/dYJQp/LgXXx7XgVG2o+ZgBBUumQFrJJTAEJ1IqLLwgRBn5YpxodCGm1sp7U9C6OQ5767WDu4M26L8K3UjNd95ivQUisVdrPIpk2k7srcRPnfOXC/xSDAuK3O1psZjmRKrP8AIvzOrSVRfcGQE9B2ndJ089o1n2xhPp0jJu4n2LPC1oXm54n1D4WiFpLwxAVwL37CRZcDoCUWF3QrKbp40ljjMBmVJ3UlezwQIzuU6S+IgH0JrOIQF2TTsmFTaXWUdNpF728+qad0pbMjffuM8uzLgAbjiMaJPLFTsVI/ZKLtnVK6Mjg5hKsJLHH0UXWw+D6sUGBzBhWMp4R0L3LbyroT+W+7V6dpo6OuZtuBfAARhFgBifQH/te1qWBJKQtt+ChiDMYKvdmqJNdRlfh/x+h89WqcXLTtw35ulEnXnzaGXnVq5enald+tiJZCeXTivA7LIGu+fpUqcfF5AVnkgutq26cIrXCtXEb02ytIE1T3+zufAumhEuMpiQKSMQ4QYjhz7PEjaetUbanhf3+q5Se3BdYZvn4nW+vvwok2ZdwJBQsTzH5iagSAfRGzoOhEM+soJQYpbQ7qCo7MzsrrcDdyPHvCOC6x9uYK3Fn4F7oIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BkkN2ZfpvgEbn1rDZpBgQh",
      "input": {
        "note": "The arm won't descend below ~2.8 cm here and the cap is hidden under the jaws; trying one close in case the tilted fingertips reach it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01BkkN2ZfpvgEbn1rDZpBgQh",
      "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]: [-0.7795, 2.4825, 0.8963, 1.5848, -0.9096, -0.0769, 0.0088, 0.2752, 1.4372, 0.7082, -0.0452, -0.2184, -0.218, 0.0562]\nstate[eef_state]: left_x=0.4304 left_y=-0.2243 left_z=0.0279 left_yaw=0.1755 left_pitch=0.5687 left_roll=-0.0893 left_gripper=0.0088 right_x=0.3553 right_y=0.1438 right_z=0.0858 right_yaw=0.5682 right_pitch=-0.1942 right_roll=-0.0021 right_gripper=0.0562\nstate[joint_eff]: [-0.4171, -7.9932, 1.6889, 1.453, -0.0708, 0.0366, 0.652, -0.1436, -5.7778, 6.3111, 1.5409, -0.1636, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:692d0b7e24bda02477a7dc91121dc54700e8aa0038c052a6d03795993fa4fa9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2be4507688930380b160792ec0fce97b7b151720e621f5d4020ea83c87328752",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:656db70e8fa53a7f644b3ec12cbf56ef45a2ebf745e6d87bca616380a1728ce4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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