adhoc - adhoc_e40cb2c0.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.anthropic.com/v1
depth: render
effort: medium
image_horizon: 2
images: always
max_llm_calls: 40
max_output_tokens: 16000
max_speed_frac: 0.25
model: claude-opus-5
pre_check: null
prior_learnings: null
prior_learnings_sha256: null
replan_interval: null
speed: null
temperature: null
transcript_echo: false
wire: messages
wire_capture: true
seed: 0
max steps: 900
duration: 384.6 s
total steps: 226

operator

scenes

trials

errored

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a

Trial 0 transcript

Run video

step 0

system

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

user

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

Raw transcript

system

user

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

step 0

assistant

agent noteTop view shows two small dark objects near table centre: the shorter one (left in image) is the cap, the longer one (right) is the pen. Moving the left arm to hover ~15 cm above my estimate of the cap to refine its position in the wrist camera.

move_to

left_x0.3600left_y-0.2100left_z0.1500left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.7929, 0.6022, -0.3805, -0.0219, -0.0246, 0.9995, -0.0181, 0.791, 0.6102, -0.3756, -0.0231, -0.0147, 0.9991] state[eef_state]: left_x=0.2944 left_y=0.0015 left_z=0.1793 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2959 right_y=0.0023 right_z=0.1846 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.6496, -1.5248, 10.4547, 1.7363, -0.0562, 0.0659, -0.0708, -0.4991, -1.1829, 9.7299, 1.7363, -0.0317, -0.0122, -0.1148] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.36, "left_y": -0.21, "left_z": 0.15, "left_gripper": 1}, "note": "Top view shows two small dark objects near table centre: the shorter one (left in image) is the cap, the longer one (right) is the pen. Moving the left arm to hover ~15 cm above my estimate of the cap to refine its position in the wrist camera."})

tool

executing move_to over 19 steps (1.9s)

step 19

assistant

agent noteLeft wrist view shows the cap at image (88,157), left of and above the jaw column, and the pen further right. Shifting the left gripper ~3 cm to its left and ~3 cm forward to centre the cap under the jaws.

move_to

left_x0.3800left_y-0.1750left_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]: [-0.7879, 1.5169, 0.9058, -0.1917, -0.622, -0.5083, 0.9995, -0.0181, 0.7967, 0.6132, -0.3878, -0.0227, -0.0147, 0.999] state[eef_state]: left_x=0.3501 left_y=-0.2009 left_z=0.1306 left_yaw=-0.0168 left_pitch=-0.0539 left_roll=0.0363 left_gripper=0.9995 right_x=0.295 right_y=0.0023 right_z=0.1819 right_yaw=-0.0003 right_pitch=-0.0149 right_roll=0.0001 right_gripper=0.999 state[joint_eff]: [-0.3487, -7.0906, 9.4017, 1.6093, -0.4469, -0.0806, -0.0659, -0.1846, -1.7026, 6.8171, 1.8535, -0.0415, -0.0659, -0.022] 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": {"left_x": 0.38, "left_y": -0.175, "left_z": 0.12}, "note": "Left wrist view shows the cap at image (88,157), left of and above the jaw column, and the pen further right. Shifting the left gripper ~3 cm to its left and ~3 cm forward to centre the cap under the jaws."})

tool

executing move_to over 3 steps (0.3s)

step 22

assistant

agent noteThe cap is still left of and beyond the jaw column in the left wrist view; the previous small move barely shifted it, so I am taking a larger step forward and to the arm's left.

move_to

left_x0.4200left_y-0.1300left_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]: [-0.6735, 1.5452, 0.8837, -0.1307, -0.5648, -0.4557, 0.9995, -0.0181, 0.7982, 0.6132, -0.3904, -0.0227, -0.0143, 0.999] state[eef_state]: left_x=0.3719 left_y=-0.1712 left_z=0.1168 left_yaw=0.0267 left_pitch=-0.0749 left_roll=0.0411 left_gripper=0.9995 right_x=0.2948 right_y=0.0023 right_z=0.1809 right_yaw=-0.0005 right_pitch=-0.0191 right_roll=0.0005 right_gripper=0.999 state[joint_eff]: [-1.0051, -6.3248, 6.5573, 1.7607, 0.022, 0.1783, -0.0171, -0.0205, -1.1009, 7.0222, 1.7363, -0.0269, -0.0073, -0.0122] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.42, "left_y": -0.13, "left_z": 0.12}, "note": "The cap is still left of and beyond the jaw column in the left wrist view; the previous small move barely shifted it, so I am taking a larger step forward and to the arm's left."})

tool

executing move_to over 4 steps (0.4s)

step 26

assistant

agent noteThe cap now sits on the jaw column (image x≈105) but still slightly beyond the fingertips; advancing ~2.5 cm and descending to 6 cm for a closer look before the final grasp.

move_to

left_x0.4100left_y-0.1520left_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]: [-0.6197, 1.5517, 0.8783, -0.0929, -0.5346, -0.4175, 0.9994, -0.0181, 0.7998, 0.6132, -0.3912, -0.0227, -0.0143, 0.999] state[eef_state]: left_x=0.3832 left_y=-0.1584 left_z=0.1162 left_yaw=0.0361 left_pitch=-0.0689 left_roll=0.0389 left_gripper=0.9994 right_x=0.2948 right_y=0.0023 right_z=0.1803 right_yaw=-0.0005 right_pitch=-0.0214 right_roll=0.0005 right_gripper=0.999 state[joint_eff]: [-0.3761, -6.5983, 7.4462, 1.326, -0.1832, -0.0024, -0.0171, -0.3761, -1.4154, 7.0222, 1.7753, -0.0269, -0.0659, -0.0122] camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.41, "left_y": -0.152, "left_z": 0.06}, "note": "The cap now sits on the jaw column (image x\u2248105) but still slightly beyond the fingertips; advancing ~2.5 cm and descending to 6 cm for a closer look before the final grasp."})

tool

executing move_to over 4 steps (0.4s)

step 30

assistant

agent noteThe arm stalled and did not track the last x/y command, so I am keeping x/y and simply descending to table level above the cap to re-judge alignment from close range.

move_to

left_z0.0100

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.622, 1.5517, 0.8783, -0.0933, -0.5346, -0.4175, 0.9994, -0.0181, 0.7998, 0.6132, -0.3927, -0.0227, -0.0143, 0.999] state[eef_state]: left_x=0.3828 left_y=-0.1593 left_z=0.1162 left_yaw=0.0338 left_pitch=-0.0692 left_roll=0.0391 left_gripper=0.9994 right_x=0.2946 right_y=0.0023 right_z=0.18 right_yaw=-0.0005 right_pitch=-0.0229 right_roll=0.0005 right_gripper=0.999 state[joint_eff]: [0.0342, -6.5846, 7.5282, 1.3211, -0.1636, -0.0024, -0.0073, -0.212, -1.0735, 7.0906, 1.7558, -0.0317, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.01}, "note": "The arm stalled and did not track the last x/y command, so I am keeping x/y and simply descending to table level above the cap to re-judge alignment from close range."})

tool

executing move_to over 7 steps (0.7s)

step 37

assistant

agent noteClose-up wrist view shows the cap lying just beyond the fingertips, its long axis running forward-right at about 55° from the arm's x axis. Lifting slightly, advancing 3 cm, and yawing the wrist -0.96 rad so the jaws will close across the cap's barrel.

move_to

left_z0.0500left_x0.4000left_yaw-0.9600

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6239, 1.8229, 0.6903, 0.2802, -0.5426, -0.4358, 0.9991, -0.0181, 0.8036, 0.6132, -0.3943, -0.0223, -0.0143, 0.999] state[eef_state]: left_x=0.3718 left_y=-0.1508 left_z=0.0048 left_yaw=0.0532 left_pitch=-0.1325 left_roll=0.0826 left_gripper=0.9991 right_x=0.2946 right_y=0.0022 right_z=0.1786 right_yaw=-0.0008 right_pitch=-0.0282 right_roll=0.0004 right_gripper=0.999 state[joint_eff]: [-0.0342, -6.5436, 4.3419, 1.4335, -0.2076, 0.1978, -0.0513, -0.1983, -1.5385, 7.0085, 1.8339, -0.022, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.05, "left_x": 0.4, "left_yaw": -0.96}, "note": "Close-up wrist view shows the cap lying just beyond the fingertips, its long axis running forward-right at about 55\u00b0 from the arm's x axis. Lifting slightly, advancing 3 cm, and yawing the wrist -0.96 rad so the jaws will close across the cap's barrel."})

tool

executing move_to over 7 steps (0.7s)

step 44

assistant

agent noteAfter the yaw the cap sits right of the jaw column in the wrist view; shifting the tool along its own jaw axis (~2.5 cm) and dropping to table height to line the jaws up across the cap.

move_to

left_x0.4050left_y-0.1570left_z0.0120left_yaw-0.9600

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1753, 1.7618, 0.8108, 0.1463, 0.3462, 0.4229, 0.999, -0.0181, 0.8051, 0.6132, -0.3969, -0.0223, -0.0143, 0.999] state[eef_state]: left_x=0.4088 left_y=-0.1296 left_z=0.0365 left_yaw=-0.7125 left_pitch=-0.176 left_roll=0.0694 left_gripper=0.999 right_x=0.2944 right_y=0.0022 right_z=0.1777 right_yaw=-0.0008 right_pitch=-0.0324 right_roll=0.0005 right_gripper=0.999 state[joint_eff]: [0.0889, -8.1436, 6.8718, 1.4872, 0.3053, 0.1978, -0.022, -0.2256, -1.4427, 7.0222, 1.6972, -0.0317, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.405, "left_y": -0.157, "left_z": 0.012, "left_yaw": -0.96}, "note": "After the yaw the cap sits right of the jaw column in the wrist view; shifting the tool along its own jaw axis (~2.5 cm) and dropping to table height to line the jaws up across the cap."})

tool

executing move_to over 3 steps (0.3s)

step 47

assistant

agent noteThe cap is now centred on the jaw column and reaching down to the jaws in the wrist view; closing the gripper to grasp it across the barrel.

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]: [-0.1761, 1.8751, 0.8597, 0.1043, 0.4839, 0.5934, 0.999, -0.0181, 0.8066, 0.6132, -0.3973, -0.0227, -0.0143, 0.999] state[eef_state]: left_x=0.3978 left_y=-0.1506 left_z=0.0085 left_yaw=-0.9258 left_pitch=-0.2046 left_roll=0.0452 left_gripper=0.999 right_x=0.2944 right_y=0.0023 right_z=0.1772 right_yaw=-0.0005 right_pitch=-0.0343 right_roll=0.0007 right_gripper=0.999 state[joint_eff]: [-0.2393, -9.2923, 7.3778, 1.6093, 0.4664, 0.1343, -0.0171, -0.335, -1.4017, 7.0906, 1.7314, -0.0171, -0.0122, -0.0171] 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": {"left_gripper": 0}, "note": "The cap is now centred on the jaw column and reaching down to the jaws in the wrist view; closing the gripper to grasp it across the barrel."})

tool

executing move_to over 10 steps (1.0s)

step 57

assistant

agent noteGripper settled at 0.047 (~4.5 mm), consistent with a thin cap. Lifting 8 cm to verify in the overhead view that the cap came with the jaws.

move_to

left_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]: [-0.1776, 1.8992, 0.8623, 0.123, 0.4946, 0.6109, 0.0466, -0.0181, 0.807, 0.6132, -0.3973, -0.0227, -0.0147, 0.999] state[eef_state]: left_x=0.3985 left_y=-0.1531 left_z=0.0031 left_yaw=-0.9452 left_pitch=-0.2013 left_roll=0.0499 left_gripper=0.0466 right_x=0.2944 right_y=0.0023 right_z=0.1771 right_yaw=-0.0003 right_pitch=-0.0347 right_roll=0.0004 right_gripper=0.999 state[joint_eff]: [-0.294, -8.8821, 7.2957, 1.3944, 0.3248, 0.2271, 1.2723, -0.1983, -1.3607, 7.0222, 1.7558, -0.0464, -0.0659, -0.0122] camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.08}, "note": "Gripper settled at 0.047 (~4.5 mm), consistent with a thin cap. Lifting 8 cm to verify in the overhead view that the cap came with the jaws."})

tool

executing move_to over 5 steps (0.5s)

step 62

assistant

agent noteLeft gripper appears to be holding the cap (reads 0.05 and a small spike shows above the jaws). Now bringing the right arm over the pen, yawed -1.0 rad so its jaws will close across the pen's axis.

move_to

right_x0.4000right_y0.2830right_z0.1300right_yaw-1.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1776, 1.7447, 0.9569, -0.136, 0.4831, 0.6071, 0.0511, -0.0181, 0.8074, 0.6132, -0.3973, -0.0231, -0.0147, 0.999] state[eef_state]: left_x=0.3972 left_y=-0.151 left_z=0.0601 left_yaw=-0.9362 left_pitch=-0.2146 left_roll=0.0468 left_gripper=0.0511 right_x=0.2945 right_y=0.0023 right_z=0.177 right_yaw=0.0 right_pitch=-0.0351 right_roll=0.0006 right_gripper=0.999 state[joint_eff]: [-0.3761, -9.6068, 8.4171, 1.3895, 0.2711, 0.0024, 1.0281, -0.0068, -1.306, 7.0496, 1.7607, -0.0317, -0.0464, -0.0171] camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.4, "right_y": 0.283, "right_z": 0.13, "right_yaw": -1.0, "right_gripper": 1}, "note": "Left gripper appears to be holding the cap (reads 0.05 and a small spike shows above the jaws). Now bringing the right arm over the pen, yawed -1.0 rad so its jaws will close across the pen's axis."})

tool

executing move_to over 24 steps (2.4s)

step 86

assistant

agent noteThe right wrist view shows the pen lying horizontally in the image, i.e. along the jaw-closing axis — wrong orientation. Rotating the wrist +1.57 rad so the pen runs vertically in the image and the jaws close across its barrel.

move_to

right_yaw0.6400

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1749, 1.7496, 0.9504, -0.1444, 0.4664, 0.6006, 0.0555, 0.8368, 2.4611, 2.1693, -1.5459, 0.9344, 1.8877, 0.9991] state[eef_state]: left_x=0.395 left_y=-0.1468 left_z=0.0537 left_yaw=-0.9208 left_pitch=-0.2381 left_roll=0.0384 left_gripper=0.0555 right_x=0.3913 right_y=0.227 right_z=0.0965 right_yaw=-0.9301 right_pitch=-0.0542 right_roll=-0.0091 right_gripper=0.9991 state[joint_eff]: [-0.1436, -8.5265, 6.4205, 1.37, 0.3736, 0.0757, 1.033, -0.759, -11.1658, 6.8308, -0.2613, 0.5104, 0.188, -0.1099] camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_yaw": 0.64}, "note": "The right wrist view shows the pen lying horizontally in the image, i.e. along the jaw-closing axis \u2014 wrong orientation. Rotating the wrist +1.57 rad so the pen runs vertically in the image and the jaws close across its barrel."})

tool

executing move_to over 10 steps (1.0s)

step 96

assistant

agent noteThe yaw rotation was rate-clamped and only reached -0.81; re-sending the +0.64 rad yaw target (and lifting slightly) to finish turning the jaws across the pen.

move_to

right_yaw0.6400right_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]: [-0.1661, 1.7496, 0.9485, -0.1463, 0.4438, 0.5926, 0.0591, 0.8852, 2.458, 2.1105, -1.4021, 0.9344, 1.7569, 0.999] state[eef_state]: left_x=0.397 left_y=-0.1398 left_z=0.0513 left_yaw=-0.8916 left_pitch=-0.253 left_roll=0.044 left_gripper=0.0591 right_x=0.3884 right_y=0.2561 right_z=0.0797 right_yaw=-0.807 right_pitch=-0.0684 right_roll=-0.0288 right_gripper=0.999 state[joint_eff]: [-1.0462, -8.0205, 6.2291, 1.3211, 0.3785, 0.0366, 1.033, 0.1299, -16.6222, 5.2581, 0.1734, 0.6178, -0.0708, -0.022] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_yaw": 0.64, "right_z": 0.12}, "note": "The yaw rotation was rate-clamped and only reached -0.81; re-sending the +0.64 rad yaw target (and lifting slightly) to finish turning the jaws across the pen."})

tool

executing move_to over 10 steps (1.0s)

step 106

assistant

agent notePen now appears diagonal (45°) in the right wrist view; rotating the wrist a further ~0.77 rad to bring the pen vertical in the image, and holding height at 12 cm.

move_to

right_yaw1.0000right_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]: [-0.1661, 1.7542, 0.9466, -0.1471, 0.4416, 0.5919, 0.0605, 0.5755, 1.6901, 0.9138, -0.141, 0.1242, 0.3996, 0.999] state[eef_state]: left_x=0.3961 left_y=-0.1393 left_z=0.0486 left_yaw=-0.8908 left_pitch=-0.2596 left_roll=0.04 left_gripper=0.0605 right_x=0.3602 right_y=0.2119 right_z=0.0506 right_yaw=0.2291 right_pitch=-0.3624 right_roll=0.1535 right_gripper=0.999 state[joint_eff]: [-0.1026, -8.6085, 6.0376, 1.2332, 0.1832, -0.0317, 1.0379, -0.3077, -10.865, 8.4581, 1.5311, -0.1001, -0.0562, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_yaw": 1.0, "right_z": 0.12}, "note": "Pen now appears diagonal (45\u00b0) in the right wrist view; rotating the wrist a further ~0.77 rad to bring the pen vertical in the image, and holding height at 12 cm."})

tool

executing move_to over 5 steps (0.5s)

step 111

assistant

agent noteThe pen now runs vertically in the right wrist view and is centred on the jaw column, but lies ~5 cm beyond the fingertips; advancing along the tool's forward direction and dropping to table height for the grasp.

move_to

right_x0.4040right_y0.2240right_z0.0100

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1661, 1.7554, 0.9466, -0.1467, 0.4412, 0.5919, 0.0605, 0.4587, 1.5944, 0.7757, 0.0349, -0.0952, 0.0887, 0.999] state[eef_state]: left_x=0.3961 left_y=-0.1393 left_z=0.0482 left_yaw=-0.8906 left_pitch=-0.2604 left_roll=0.0397 left_gripper=0.0605 right_x=0.3601 right_y=0.2006 right_z=0.0645 right_yaw=0.4844 right_pitch=-0.2307 right_roll=0.1316 right_gripper=0.999 state[joint_eff]: [-0.0342, -8.0615, 5.8735, 1.243, 0.1929, -0.0708, 1.0281, 0.2803, -8.1436, 7.0906, 1.6923, -0.1148, -0.1636, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.404, "right_y": 0.224, "right_z": 0.01}, "note": "The pen now runs vertically in the right wrist view and is centred on the jaw column, but lies ~5 cm beyond the fingertips; advancing along the tool's forward direction and dropping to table height for the grasp."})

tool

executing move_to over 4 steps (0.4s)

step 115

assistant

agent noteThe last command was rate-clamped and the right arm hardly moved; re-sending the same approach target over the pen.

move_to

right_x0.4040right_y0.2240right_z0.0100

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1661, 1.7554, 0.9466, -0.1463, 0.4412, 0.5919, 0.0605, 0.4603, 1.5944, 0.7757, 0.0345, -0.1066, 0.0772, 0.999] state[eef_state]: left_x=0.3962 left_y=-0.1393 left_z=0.0482 left_yaw=-0.8906 left_pitch=-0.2601 left_roll=0.0399 left_gripper=0.0605 right_x=0.3587 right_y=0.2028 right_z=0.0646 right_yaw=0.5021 right_pitch=-0.2299 right_roll=0.1316 right_gripper=0.999 state[joint_eff]: [-0.3214, -8.1846, 5.8735, 1.2772, 0.1636, -0.0464, 1.0281, 0.0752, -8.335, 6.9128, 1.6581, -0.0952, -0.0806, -0.0171] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.404, "right_y": 0.224, "right_z": 0.01}, "note": "The last command was rate-clamped and the right arm hardly moved; re-sending the same approach target over the pen."})

tool

executing move_to over 4 steps (0.4s)

step 119

assistant

agent noteThe right arm has stopped tracking larger targets, so I am issuing a smaller step: descend to 3 cm and creep 2 cm forward toward the pen.

move_to

right_z0.0300right_x0.3800

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1661, 1.7554, 0.9466, -0.1463, 0.4412, 0.5919, 0.0605, 0.4603, 1.5944, 0.7757, 0.0345, -0.1066, 0.0772, 0.9989] state[eef_state]: left_x=0.3962 left_y=-0.1393 left_z=0.0482 left_yaw=-0.8906 left_pitch=-0.2601 left_roll=0.0399 left_gripper=0.0605 right_x=0.3587 right_y=0.2028 right_z=0.0646 right_yaw=0.5021 right_pitch=-0.2299 right_roll=0.1316 right_gripper=0.9989 state[joint_eff]: [-0.335, -8.0479, 5.8735, 1.2625, 0.1538, -0.0757, 1.0281, -0.0205, -8.3624, 6.9949, 1.6337, -0.1294, -0.0659, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.03, "right_x": 0.38}, "note": "The right arm has stopped tracking larger targets, so I am issuing a smaller step: descend to 3 cm and creep 2 cm forward toward the pen."})

tool

executing move_to over 3 steps (0.3s)

step 122

assistant

agent notePen is vertical and centred in the right wrist view but still ahead of the fingertips; creeping ~3 cm further forward and down to table level to put the jaws around its barrel.

move_to

right_x0.4000right_y0.2150right_z0.0080

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1661, 1.7561, 0.9463, -0.1467, 0.4412, 0.5922, 0.0605, 0.4389, 1.7321, 0.7776, 0.1211, -0.1177, 0.0662, 0.9989] state[eef_state]: left_x=0.3959 left_y=-0.1392 left_z=0.0478 left_yaw=-0.891 left_pitch=-0.2613 left_roll=0.0392 left_gripper=0.0605 right_x=0.3682 right_y=0.1997 right_z=0.0258 right_yaw=0.497 right_pitch=-0.2778 right_roll=0.1345 right_gripper=0.9989 state[joint_eff]: [-0.0479, -8.3214, 5.9145, 1.243, 0.232, -0.0269, 1.0281, -0.6085, -8.3214, 6.4479, 1.8095, -0.1978, -0.149, -0.0073] 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": {"right_x": 0.4, "right_y": 0.215, "right_z": 0.008}, "note": "Pen is vertical and centred in the right wrist view but still ahead of the fingertips; creeping ~3 cm further forward and down to table level to put the jaws around its barrel."})

tool

executing move_to over 3 steps (0.3s)

step 125

assistant

agent noteMotion is being rate-clamped to ~3 cm per call, so I am re-commanding a slightly further forward target to keep creeping the jaws onto the pen barrel.

move_to

right_x0.4200right_y0.2150right_z0.0080

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1661, 1.7561, 0.9459, -0.1463, 0.4412, 0.5919, 0.0605, 0.4324, 1.7649, 0.7769, 0.1577, -0.1326, 0.062, 0.9989] state[eef_state]: left_x=0.3959 left_y=-0.1392 left_z=0.0477 left_yaw=-0.8908 left_pitch=-0.2613 left_roll=0.0389 left_gripper=0.0605 right_x=0.3713 right_y=0.201 right_z=0.0187 right_yaw=0.5059 right_pitch=-0.2737 right_roll=0.1427 right_gripper=0.9989 state[joint_eff]: [-0.0752, -8.294, 5.8735, 1.2869, 0.1636, -0.0611, 1.0281, -0.4034, -8.6769, 6.2154, 1.7558, -0.0708, -0.1148, -0.0073] camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.42, "right_y": 0.215, "right_z": 0.008}, "note": "Motion is being rate-clamped to ~3 cm per call, so I am re-commanding a slightly further forward target to keep creeping the jaws onto the pen barrel."})

tool

executing move_to over 4 steps (0.4s)

step 129

assistant

agent noteThe right arm refuses to extend further at this height, and the pen's near end already reaches the bottom of the wrist view near the jaws; closing the gripper to test whether the pen is between the fingers.

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]: [-0.1661, 1.7561, 0.9459, -0.1463, 0.4412, 0.5919, 0.0605, 0.4324, 1.7649, 0.7769, 0.1581, -0.1326, 0.062, 0.9989] state[eef_state]: left_x=0.3959 left_y=-0.1392 left_z=0.0477 left_yaw=-0.8908 left_pitch=-0.2613 left_roll=0.0389 left_gripper=0.0605 right_x=0.3713 right_y=0.201 right_z=0.0187 right_yaw=0.5059 right_pitch=-0.2733 right_roll=0.1427 right_gripper=0.9989 state[joint_eff]: [-0.294, -8.0479, 6.1744, 1.2625, 0.1587, -0.0757, 1.0281, -0.5538, -8.7043, 6.3111, 1.7167, -0.0366, -0.1294, -0.0122] camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0}, "note": "The right arm refuses to extend further at this height, and the pen's near end already reaches the bottom of the wrist view near the jaws; closing the gripper to test whether the pen is between the fingers."})

tool

executing move_to over 10 steps (1.0s)

step 139

assistant

agent noteThe close was empty (gripper 0.015), so the pen is still beyond the fingertips and the arm won't extend at table height. Opening up and lifting to 8 cm while reaching further forward, where the arm has more reach.

move_to

right_gripper1.0000right_z0.0800right_x0.4300

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1661, 1.7561, 0.9459, -0.1463, 0.4412, 0.5919, 0.0605, 0.4324, 1.7649, 0.7769, 0.1635, -0.1329, 0.0555, 0.0149] state[eef_state]: left_x=0.3959 left_y=-0.1392 left_z=0.0477 left_yaw=-0.8908 left_pitch=-0.2613 left_roll=0.0389 left_gripper=0.0605 right_x=0.3722 right_y=0.2015 right_z=0.0196 right_yaw=0.5096 right_pitch=-0.2674 right_roll=0.138 right_gripper=0.0149 state[joint_eff]: [-0.2803, -8.253, 5.9829, 1.2674, 0.1294, -0.0757, 1.0281, -0.335, -7.9658, 5.4222, 1.4432, -0.0269, 0.0317, 0.7546] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 1, "right_z": 0.08, "right_x": 0.43}, "note": "The close was empty (gripper 0.015), so the pen is still beyond the fingertips and the arm won't extend at table height. Opening up and lifting to 8 cm while reaching further forward, where the arm has more reach."})

tool

executing move_to over 10 steps (1.0s)

step 149

assistant

agent noteFrom 8 cm up the pen now passes right between the jaw shadows in the wrist view; descending straight down to table level over it.

move_to

right_z0.0120

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1661, 1.7561, 0.9459, -0.1467, 0.4412, 0.5919, 0.0605, 0.3725, 1.7973, 1.0859, -0.1211, -0.1703, 0.0044, 0.9953] state[eef_state]: left_x=0.3958 left_y=-0.1392 left_z=0.0476 left_yaw=-0.8909 left_pitch=-0.2616 left_roll=0.0386 left_gripper=0.0605 right_x=0.4241 right_y=0.2017 right_z=0.0743 right_yaw=0.5104 right_pitch=-0.2684 right_roll=0.1312 right_gripper=0.9953 state[joint_eff]: [-0.335, -8.253, 6.0513, 1.2186, 0.188, -0.0415, 1.0281, -0.8274, -8.2393, 8.3897, 1.5263, -0.2418, 0.0171, -0.1929] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.012}, "note": "From 8 cm up the pen now passes right between the jaw shadows in the wrist view; descending straight down to table level over it."})

tool

executing move_to over 5 steps (0.5s)

step 154

assistant

agent noteAt table height the pen runs just left of the jaw column in the wrist view; sliding the tool ~3 cm along its jaw axis to centre the pen between the fingers.

move_to

right_x0.4020right_y0.2220

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1661, 1.7561, 0.9459, -0.1471, 0.4412, 0.5922, 0.0623, 0.3687, 1.9175, 0.9848, 0.0551, -0.1665, -0.0032, 0.9959] state[eef_state]: left_x=0.3957 left_y=-0.1392 left_z=0.0476 left_yaw=-0.8912 left_pitch=-0.2619 left_roll=0.0386 left_gripper=0.0623 right_x=0.4172 right_y=0.1964 right_z=0.0115 right_yaw=0.5093 right_pitch=-0.3128 right_roll=0.1295 right_gripper=0.9959 state[joint_eff]: [-0.253, -8.2256, 5.8325, 1.2723, 0.1734, -0.0562, 0.9744, 0.294, -7.5966, 5.1077, 1.5995, -0.0562, 0.0562, 0.0611] camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.402, "right_y": 0.222}, "note": "At table height the pen runs just left of the jaw column in the wrist view; sliding the tool ~3 cm along its jaw axis to centre the pen between the fingers."})

tool

executing move_to over 3 steps (0.3s)

step 157

assistant

agent noteThe pen now passes between the two jaw wedges at the bottom of the right wrist view; closing to grasp it.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1661, 1.7561, 0.9459, -0.1463, 0.4408, 0.5919, 0.0633, 0.4332, 1.9217, 0.9768, 0.0822, -0.1314, 0.0315, 0.996] state[eef_state]: left_x=0.3959 left_y=-0.1392 left_z=0.0477 left_yaw=-0.8905 left_pitch=-0.2615 left_roll=0.0391 left_gripper=0.0633 right_x=0.4085 right_y=0.2184 right_z=0.0104 right_yaw=0.5231 right_pitch=-0.3037 right_roll=0.1234 right_gripper=0.996 state[joint_eff]: [-0.2803, -8.1846, 5.8872, 1.3016, 0.1294, -0.0415, 0.9158, 0.335, -10.7009, 4.7932, 1.3162, -0.0122, 0.0904, -0.0024] camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0}, "note": "The pen now passes between the two jaw wedges at the bottom of the right wrist view; closing to grasp it."})

tool

executing move_to over 10 steps (1.0s)

step 167

assistant

agent noteGripper closed to 0.015 (reads empty) but the pen has vanished from the wrist view; lifting 10 cm to see from the overhead camera whether the pen is held or was pushed aside.

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]: [-0.1661, 1.7561, 0.9459, -0.1463, 0.4412, 0.5922, 0.0638, 0.4381, 1.9205, 0.9783, 0.0906, -0.1349, 0.0292, 0.0155] state[eef_state]: left_x=0.3959 left_y=-0.1392 left_z=0.0477 left_yaw=-0.891 left_pitch=-0.2613 left_roll=0.0392 left_gripper=0.0638 right_x=0.4091 right_y=0.2218 right_z=0.0128 right_yaw=0.532 right_pitch=-0.2923 right_roll=0.1235 right_gripper=0.0155 state[joint_eff]: [-0.335, -8.2667, 5.8735, 1.2576, 0.1343, -0.0562, 1.0281, -0.212, -9.388, 5.9829, 1.3211, -0.0073, -0.0171, 0.7741] camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.12}, "note": "Gripper closed to 0.015 (reads empty) but the pen has vanished from the wrist view; lifting 10 cm to see from the overhead camera whether the pen is held or was pushed aside."})

tool

executing move_to over 7 steps (0.7s)

step 174

assistant

agent noteThe pen was nudged aside and now lies to the right of and beyond the gripper in the right wrist view; opening the jaws and shifting ~5 cm along the jaw axis toward it.

move_to

right_x0.4350right_y0.1790right_z0.1000right_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]: [-0.1661, 1.7561, 0.9459, -0.1459, 0.4412, 0.5919, 0.0638, 0.4381, 1.7649, 1.1717, -0.2722, -0.1352, 0.0257, 0.018] state[eef_state]: left_x=0.396 left_y=-0.1392 left_z=0.0477 left_yaw=-0.8908 left_pitch=-0.261 left_roll=0.0392 left_gripper=0.0638 right_x=0.4109 right_y=0.2228 right_z=0.0974 right_yaw=0.5346 right_pitch=-0.3057 right_roll=0.1228 right_gripper=0.018 state[joint_eff]: [-0.253, -8.1162, 5.9966, 1.2772, 0.1197, -0.0464, 1.0281, -0.2256, -11.3846, 8.5265, 1.4628, -0.0904, 0.0415, 1.0281] camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.435, "right_y": 0.179, "right_z": 0.1, "right_gripper": 1}, "note": "The pen was nudged aside and now lies to the right of and beyond the gripper in the right wrist view; opening the jaws and shifting ~5 cm along the jaw axis toward it."})

tool

executing move_to over 10 steps (1.0s)

step 184

assistant

agent notePen is now clearly visible in the right wrist view, ~25 px to the image-right of the jaw column (≈4.5 cm at the measured 5 px/cm); shifting along the jaw axis and descending to 3.5 cm.

move_to

right_x0.4470right_y0.1400right_z0.0350

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1661, 1.7561, 0.9459, -0.1463, 0.4412, 0.5922, 0.0638, 0.3103, 1.771, 1.1831, -0.3164, -0.2115, -0.0757, 0.9949] state[eef_state]: left_x=0.3959 left_y=-0.1392 left_z=0.0477 left_yaw=-0.891 left_pitch=-0.2613 left_roll=0.0392 left_gripper=0.0638 right_x=0.4254 right_y=0.1791 right_z=0.0941 right_yaw=0.5322 right_pitch=-0.3274 right_roll=0.1218 right_gripper=0.9949 state[joint_eff]: [-0.2667, -8.2667, 5.8735, 1.2918, 0.1294, -0.0122, 1.0281, -0.7043, -7.3915, 9.347, 1.4774, -0.2369, 0.0659, -0.105] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.447, "right_y": 0.14, "right_z": 0.035}, "note": "Pen is now clearly visible in the right wrist view, ~25 px to the image-right of the jaw column (\u22484.5 cm at the measured 5 px/cm); shifting along the jaw axis and descending to 3.5 cm."})

tool

executing move_to over 4 steps (0.4s)

step 188

assistant

agent notePen is centred on the jaw column but still ~4 cm beyond the fingertips; advancing along the tool's forward axis and descending to table level.

move_to

right_x0.4650right_y0.1550right_z0.0150

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1661, 1.7561, 0.9459, -0.1467, 0.4412, 0.5919, 0.0639, 0.202, 1.8961, 1.1168, -0.1963, -0.2604, -0.1444, 0.9959] state[eef_state]: left_x=0.3958 left_y=-0.1392 left_z=0.0476 left_yaw=-0.8909 left_pitch=-0.2616 left_roll=0.0386 left_gripper=0.0639 right_x=0.4367 right_y=0.1395 right_z=0.0334 right_yaw=0.512 right_pitch=-0.3807 right_roll=0.1373 right_gripper=0.9959 state[joint_eff]: [-0.3624, -8.2803, 5.8462, 1.2186, 0.149, -0.0708, 1.033, -0.1573, -9.9897, 6.0103, 1.663, -0.3639, -0.1099, 0.1001] camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.465, "right_y": 0.155, "right_z": 0.015}, "note": "Pen is centred on the jaw column but still ~4 cm beyond the fingertips; advancing along the tool's forward axis and descending to table level."})

tool

executing move_to over 3 steps (0.3s)

step 191

assistant

agent noteAt table level the pen lies to the image-left of the jaw column; sliding ~5 cm along the jaw axis to the left to bring the pen between the fingers.

move_to

right_x0.4400right_y0.1900right_z0.0120

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1661, 1.7561, 0.9451, -0.1467, 0.4416, 0.5922, 0.0639, 0.2188, 2.0102, 1.2007, -0.1719, -0.2619, -0.1497, 0.9961] state[eef_state]: left_x=0.3955 left_y=-0.1392 left_z=0.0474 left_yaw=-0.8915 left_pitch=-0.2619 left_roll=0.0381 left_gripper=0.0639 right_x=0.4565 right_y=0.152 right_z=0.015 right_yaw=0.5338 right_pitch=-0.3854 right_roll=0.1371 right_gripper=0.9961 state[joint_eff]: [-0.3487, -8.2803, 5.9009, 1.2283, 0.1929, -0.0366, 1.0379, 0.4034, -10.0991, 7.3231, 1.3602, -0.0659, 0.0904, -0.0024] camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.44, "right_y": 0.19, "right_z": 0.012}, "note": "At table level the pen lies to the image-left of the jaw column; sliding ~5 cm along the jaw axis to the left to bring the pen between the fingers."})

tool

executing move_to over 4 steps (0.4s)

step 195

assistant

agent notePen's near end is still ~5-6 cm to the image-left of the jaws; sliding a further 5 cm along the jaw axis to line the barrel up with the finger gap.

move_to

right_x0.4250right_y0.2290right_z0.0100

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1661, 1.7561, 0.9451, -0.1463, 0.4412, 0.5922, 0.0639, 0.3092, 2.019, 1.1828, -0.115, -0.2096, -0.0971, 0.9961] state[eef_state]: left_x=0.3956 left_y=-0.1392 left_z=0.0474 left_yaw=-0.8912 left_pitch=-0.2619 left_roll=0.0386 left_gripper=0.0639 right_x=0.449 right_y=0.1858 right_z=0.0108 right_yaw=0.5451 right_pitch=-0.372 right_roll=0.1175 right_gripper=0.9961 state[joint_eff]: [-0.0205, -8.1026, 5.8735, 1.2918, 0.1538, -0.022, 1.0379, 0.2803, -12.1778, 4.4786, 1.2381, -0.0659, 0.1734, -0.0122] camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.425, "right_y": 0.229, "right_z": 0.01}, "note": "Pen's near end is still ~5-6 cm to the image-left of the jaws; sliding a further 5 cm along the jaw axis to line the barrel up with the finger gap."})

tool

executing move_to over 4 steps (0.4s)

step 199

assistant

agent noteThe last step was heavily rate-clamped (only ~1 cm of motion); re-commanding further along the same jaw-axis direction to finish centring the pen between the fingers.

move_to

right_x0.4180right_y0.2450right_z0.0100

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1661, 1.7561, 0.9421, -0.1463, 0.4412, 0.5919, 0.0639, 0.3363, 2.0151, 1.1717, -0.0959, -0.1982, -0.0822, 0.9961] state[eef_state]: left_x=0.3947 left_y=-0.139 left_z=0.0464 left_yaw=-0.8915 left_pitch=-0.2641 left_roll=0.0363 left_gripper=0.0639 right_x=0.445 right_y=0.1962 right_z=0.011 right_yaw=0.5527 right_pitch=-0.3636 right_roll=0.1146 right_gripper=0.9961 state[joint_eff]: [-0.1709, -8.253, 6.0786, 1.3065, 0.1343, -0.0708, 1.0379, 0.1846, -10.7282, 5.6684, 1.2723, -0.0806, 0.0855, -0.0171] camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.418, "right_y": 0.245, "right_z": 0.01}, "note": "The last step was heavily rate-clamped (only ~1 cm of motion); re-commanding further along the same jaw-axis direction to finish centring the pen between the fingers."})

tool

executing move_to over 5 steps (0.5s)

step 204

assistant

agent noteThe arm is stuck at table height (IK limit), so I am lifting to 7 cm while translating sideways, then I will descend again onto the pen.

move_to

right_x0.4180right_y0.2450right_z0.0700

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1661, 1.7561, 0.9421, -0.1463, 0.4412, 0.5919, 0.0639, 0.3363, 2.0151, 1.1721, -0.0959, -0.1982, -0.0822, 0.9961] state[eef_state]: left_x=0.3947 left_y=-0.139 left_z=0.0464 left_yaw=-0.8915 left_pitch=-0.2641 left_roll=0.0363 left_gripper=0.0639 right_x=0.4451 right_y=0.1962 right_z=0.0112 right_yaw=0.5526 right_pitch=-0.3632 right_roll=0.1145 right_gripper=0.9961 state[joint_eff]: [-0.3214, -8.0752, 5.8462, 1.2625, 0.188, -0.0708, 1.0379, 0.3077, -10.6325, 5.8188, 1.2576, -0.0806, 0.0611, -0.0171] camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.418, "right_y": 0.245, "right_z": 0.07}, "note": "The arm is stuck at table height (IK limit), so I am lifting to 7 cm while translating sideways, then I will descend again onto the pen."})

tool

executing move_to over 5 steps (0.5s)

step 209

assistant

agent noteFrom 4 cm up the pen's near end sits just right of the jaw column; nudging 2.5 cm along the jaw axis and descending back to table level for the grasp.

move_to

right_x0.4300right_y0.2150right_z0.0120

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1661, 1.7561, 0.9401, -0.1455, 0.4412, 0.5919, 0.0639, 0.4534, 1.9469, 1.2125, -0.2237, -0.1368, -0.0116, 0.9961] state[eef_state]: left_x=0.3942 left_y=-0.1389 left_z=0.0458 left_yaw=-0.8917 left_pitch=-0.265 left_roll=0.0355 left_gripper=0.0639 right_x=0.4194 right_y=0.2351 right_z=0.0376 right_yaw=0.5758 right_pitch=-0.3951 right_roll=0.1102 right_gripper=0.9961 state[joint_eff]: [-0.3487, -8.0068, 5.9966, 1.3065, 0.1929, -0.0513, 1.033, -0.0615, -12.9846, 8.4991, 1.3504, -0.0122, 0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 209): [image omitted: streamed camera frame] camera 'left_cam' (step 209): [image omitted: streamed camera frame] camera 'right_cam' (step 209): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.43, "right_y": 0.215, "right_z": 0.012}, "note": "From 4 cm up the pen's near end sits just right of the jaw column; nudging 2.5 cm along the jaw axis and descending back to table level for the grasp."})

tool

executing move_to over 2 steps (0.2s)

step 211

assistant

agent noteThe last command barely executed; re-sending the small jaw-axis correction (~2.5 cm) plus descent so the pen's near end lands between the fingers.

move_to

right_x0.4370right_y0.2110right_z0.0120

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1661, 1.7561, 0.9394, -0.1459, 0.4416, 0.5919, 0.0651, 0.4484, 1.9392, 1.214, -0.2077, -0.1551, -0.0193, 0.9961] state[eef_state]: left_x=0.3939 left_y=-0.1389 left_z=0.0455 left_yaw=-0.8922 left_pitch=-0.2656 left_roll=0.0345 left_gripper=0.0651 right_x=0.4227 right_y=0.2376 right_z=0.0443 right_yaw=0.5904 right_pitch=-0.3677 right_roll=0.1177 right_gripper=0.9961 state[joint_eff]: [-0.3214, -8.2256, 5.9009, 1.2625, 0.2173, -0.0562, 0.9451, -2.5778, -7.0359, 4.4513, 1.1844, -0.0366, -0.1538, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.437, "right_y": 0.211, "right_z": 0.012}, "note": "The last command barely executed; re-sending the small jaw-axis correction (~2.5 cm) plus descent so the pen's near end lands between the fingers."})

tool

executing move_to over 3 steps (0.3s)

step 214

assistant

agent noteThe pen's near end is now only ~1.5 cm right of the jaw gap; making a final small correction along the jaw axis before closing.

move_to

right_x0.4350right_y0.2100

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1661, 1.7561, 0.9375, -0.1463, 0.4412, 0.5922, 0.0687, 0.4149, 1.9987, 1.1759, -0.1604, -0.1612, -0.0559, 0.9961] state[eef_state]: left_x=0.3932 left_y=-0.1388 left_z=0.0448 left_yaw=-0.8925 left_pitch=-0.2676 left_roll=0.0334 left_gripper=0.0687 right_x=0.4225 right_y=0.2209 right_z=0.0101 right_yaw=0.5864 right_pitch=-0.4142 right_roll=0.1083 right_gripper=0.9961 state[joint_eff]: [-0.1162, -8.0479, 5.9692, 1.2723, 0.1832, -0.0415, 0.6618, 0.6359, -13.3538, 7.5145, 1.1795, -0.232, 0.1099, -0.0171] camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.435, "right_y": 0.21}, "note": "The pen's near end is now only ~1.5 cm right of the jaw gap; making a final small correction along the jaw axis before closing."})

tool

executing move_to over 1 steps (0.1s)

step 215

assistant

agent noteThe pen lies within the open jaw span (about 2 cm right of centre, jaws open 9.5 cm); closing now to try to capture 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]: [-0.1661, 1.7561, 0.9337, -0.1444, 0.4408, 0.5919, 0.0667, 0.4206, 1.998, 1.1797, -0.1719, -0.1612, -0.0559, 0.9961] state[eef_state]: left_x=0.3923 left_y=-0.1386 left_z=0.0437 left_yaw=-0.8924 left_pitch=-0.2692 left_roll=0.0321 left_gripper=0.0667 right_x=0.4203 right_y=0.223 right_z=0.0102 right_yaw=0.5927 right_pitch=-0.421 right_roll=0.1096 right_gripper=0.9961 state[joint_eff]: [-0.3214, -7.9248, 6.2701, 1.243, 0.1636, -0.0659, 0.8034, 0.0615, -13.3402, 7.4188, 1.2674, -0.1392, 0.1343, -0.0122] camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0}, "note": "The pen lies within the open jaw span (about 2 cm right of centre, jaws open 9.5 cm); closing now to try to capture it."})

tool

executing move_to over 10 steps (1.0s)

step 225

assistant

agent noteThe left arm is holding the pen cap, but the right arm cannot be positioned accurately enough to grasp the pen: near x≈0.42-0.45 with a yawed wrist at table height the IK repeatedly stalls, and each move_to is rate-clamped to ~1-3 cm, so I burned the call budget converging on the pen without ever grasping it. With no calls left the cap cannot be placed on the pen.

give_up

hindsightKey things I wish I had known: (1) move_to is aggressively rate-clamped — a 5 cm command often executes only 1-3 cm, and re-sending the same target sometimes produces zero motion when the IK is near a limit; budget 2-3 calls per intended centimetre-scale correction, or command a target well beyond where you want to go. (2) At long reach (x>0.42) with a yawed wrist and z<0.03, the right arm simply stops tracking; lift to z≈0.07-0.08, translate, then descend — that always works. (3) Wrist-camera lateral scale near the bottom of the frame was ~6-15 px/cm, much larger than the 3-5 px/cm I assumed from mid-frame, which caused repeated left/right overshoot; calibrate with one deliberate 4-5 cm sideways move and read the pixel shift before fine alignment. (4) Yaw commands also drag the grasp point by 1-2 cm, so re-check x/y after every yaw. (5) For a thin pen lying on the table, the jaw span is 9.5 cm, but closing with the pen ~2 cm off-centre still misses because the finger wedges are narrow — get it within ~5 px of image column 110 first. (6) A pen cap grasped across the barrel settles around gripper 0.05-0.07; anything ≤0.02 is empty.

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1661, 1.7561, 0.9329, -0.1459, 0.4412, 0.5919, 0.0703, 0.4206, 1.9965, 1.1797, -0.1761, -0.1608, -0.0566, 0.0154] state[eef_state]: left_x=0.3918 left_y=-0.1385 left_z=0.0433 left_yaw=-0.8931 left_pitch=-0.2707 left_roll=0.0302 left_gripper=0.0703 right_x=0.4197 right_y=0.2226 right_z=0.0103 right_yaw=0.593 right_pitch=-0.4236 right_roll=0.1093 right_gripper=0.0154 state[joint_eff]: [-0.1026, -8.212, 5.9145, 1.2869, 0.1245, -0.022, 0.7009, -0.1709, -10.2632, 5.8872, 1.2869, -0.0904, -0.022, 0.6862] camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]

assistant

give_up({"reason": "The left arm is holding the pen cap, but the right arm cannot be positioned accurately enough to grasp the pen: near x\u22480.42-0.45 with a yawed wrist at table height the IK repeatedly stalls, and each move_to is rate-clamped to ~1-3 cm, so I burned the call budget converging on the pen without ever grasping it. With no calls left the cap cannot be placed on the pen.", "hindsight": "Key things I wish I had known: (1) move_to is aggressively rate-clamped \u2014 a 5 cm command often executes only 1-3 cm, and re-sending the same target sometimes produces zero motion when the IK is near a limit; budget 2-3 calls per intended centimetre-scale correction, or command a target well beyond where you want to go. (2) At long reach (x>0.42) with a yawed wrist and z<0.03, the right arm simply stops tracking; lift to z\u22480.07-0.08, translate, then descend \u2014 that always works. (3) Wrist-camera lateral scale near the bottom of the frame was ~6-15 px/cm, much larger than the 3-5 px/cm I assumed from mid-frame, which caused repeated left/right overshoot; calibrate with one deliberate 4-5 cm sideways move and read the pixel shift before fine alignment. (4) Yaw commands also drag the grasp point by 1-2 cm, so re-check x/y after every yaw. (5) For a thin pen lying on the table, the jaw span is 9.5 cm, but closing with the pen ~2 cm off-centre still misses because the finger wedges are narrow \u2014 get it within ~5 px of image column 110 first. (6) A pen cap grasped across the barrel settles around gripper 0.05-0.07; anything \u22640.02 is empty."})

tool

give_up: The left arm is holding the pen cap, but the right arm cannot be positioned accurately enough to grasp the pen: near x≈0.42-0.45 with a yawed wrist at table height the IK repeatedly stalls, and each move_to is rate-clamped to ~1-3 cm, so I burned the call budget converging on the pen without ever grasping it. With no calls left the cap cannot be placed on the pen.

Trial 0 Wire

Tools (trial initial)

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

System (trial initial)

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

call 0 attempt 0 · /messages · status 200 · 13.77 s

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6022, -0.3805, -0.0219, -0.0246, 0.9995, -0.0181, 0.791, 0.6102, -0.3756, -0.0231, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0015 left_z=0.1793 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2959 right_y=0.0023 right_z=0.1846 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.6496, -1.5248, 10.4547, 1.7363, -0.0562, 0.0659, -0.0708, -0.4991, -1.1829, 9.7299, 1.7363, -0.0317, -0.0122, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e135b228aecea38dedbf1e8123f0379b7923f9cff725ba46d246130d427fb947",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:817e2dbfd9e708810defc2aa1a0cbd045275ecd07d14f487792455dc9b079052",
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    {
      "text": "camera 'right_cam' (step 0):",
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  "role": "user"
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[blob elided: media budget]

call 1 attempt 0 · /messages · status 200 · 8.359 s

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

message 1 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6022, -0.3805, -0.0219, -0.0246, 0.9995, -0.0181, 0.791, 0.6102, -0.3756, -0.0231, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0015 left_z=0.1793 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2959 right_y=0.0023 right_z=0.1846 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.6496, -1.5248, 10.4547, 1.7363, -0.0562, 0.0659, -0.0708, -0.4991, -1.1829, 9.7299, 1.7363, -0.0317, -0.0122, -0.1148]",
      "type": "text"
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    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
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    {
      "source": {
        "data": "$blob:e135b228aecea38dedbf1e8123f0379b7923f9cff725ba46d246130d427fb947",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
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    {
      "text": "camera 'left_cam' (step 0):",
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      "source": {
        "data": "$blob:817e2dbfd9e708810defc2aa1a0cbd045275ecd07d14f487792455dc9b079052",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
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    {
      "text": "camera 'right_cam' (step 0):",
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        "data": "$blob:faa5699773f91c87ac3056ccb746f8826eda500438ac39b8ef6f459aeb439ded",
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  "role": "user"
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[blob elided: media budget]

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      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HsCxWPyzoan8fNWByYeNxh",
      "input": {
        "note": "Top view shows two small dark objects near table centre: the shorter one (left in image) is the cap, the longer one (right) is the pen. Moving the left arm to hover ~15 cm above my estimate of the cap to refine its position in the wrist camera.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.36,
          "left_y": -0.21,
          "left_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_01HsCxWPyzoan8fNWByYeNxh",
      "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]: [-0.7879, 1.5169, 0.9058, -0.1917, -0.622, -0.5083, 0.9995, -0.0181, 0.7967, 0.6132, -0.3878, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3501 left_y=-0.2009 left_z=0.1306 left_yaw=-0.0168 left_pitch=-0.0539 left_roll=0.0363 left_gripper=0.9995 right_x=0.295 right_y=0.0023 right_z=0.1819 right_yaw=-0.0003 right_pitch=-0.0149 right_roll=0.0001 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -7.0906, 9.4017, 1.6093, -0.4469, -0.0806, -0.0659, -0.1846, -1.7026, 6.8171, 1.8535, -0.0415, -0.0659, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e95a52e3c8d65b46fc4bb0f19ef82549e9854df833932d62aac15b6b59f137a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4fb8385fd001ae5ecb14462aa7b57a0933105e61a3c4f5b4b90e0b8fc08111a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:94c251e16949c9b3783bc804614425b3e5c11cdae4416c0b871680decfe8fde5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /messages · status 200 · 14.71 s

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

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6022, -0.3805, -0.0219, -0.0246, 0.9995, -0.0181, 0.791, 0.6102, -0.3756, -0.0231, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0015 left_z=0.1793 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2959 right_y=0.0023 right_z=0.1846 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.6496, -1.5248, 10.4547, 1.7363, -0.0562, 0.0659, -0.0708, -0.4991, -1.1829, 9.7299, 1.7363, -0.0317, -0.0122, -0.1148]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7879, 1.5169, 0.9058, -0.1917, -0.622, -0.5083, 0.9995, -0.0181, 0.7967, 0.6132, -0.3878, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3501 left_y=-0.2009 left_z=0.1306 left_yaw=-0.0168 left_pitch=-0.0539 left_roll=0.0363 left_gripper=0.9995 right_x=0.295 right_y=0.0023 right_z=0.1819 right_yaw=-0.0003 right_pitch=-0.0149 right_roll=0.0001 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -7.0906, 9.4017, 1.6093, -0.4469, -0.0806, -0.0659, -0.1846, -1.7026, 6.8171, 1.8535, -0.0415, -0.0659, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e95a52e3c8d65b46fc4bb0f19ef82549e9854df833932d62aac15b6b59f137a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4fb8385fd001ae5ecb14462aa7b57a0933105e61a3c4f5b4b90e0b8fc08111a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94c251e16949c9b3783bc804614425b3e5c11cdae4416c0b871680decfe8fde5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISrAcKjgEIEhgCKkBbOAcJxOqUMni6HvYfJNuajDQ3PVBgpnUZK4H7l2vAWN/1z7Ypvowxzr13a1M2E6OjEKRMKM5mx4jGaTxVSc3cMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAa7+y9UGEgx8qbc+3PCQt8eU8uEaDE7vi8j4UUr4Fpj7MiIw+f8FaDzccmxPLR2+JfI4xtNauyyh8s6k/lEESlyESG5rjiwtWreyDFIV5CF234iZKsoFal9d1899CcYzgJZQOhrDO4aStXmMnM28GCG6iI6ag4/HZRK+WMZBin4dM7asNNGQ7W7+tWKA3AVoFNOWzj7Jkq6NffLnjmIOtx0M64ETi6/RWpygM7dAxL/tCwjhfumuFYndNvpdPs+1JRWVEY5XHdIz94BoTmbCF5TOZfWnE7JD1QZ/6h968BZ2PAxk28gptWu8ZZhY0r4QIvU5XF8ynwgxYLsse4CwLe2nUu+FkPq86kB1MKG6uO7rdeNfzEFEk3i7wuRwfEqUkFhRq7dY6RLn8j6H/EPacWqLqt0hcPgZC2FR70H1WOPxf4Tmi0i1lIEI8E5umTCjzbJ3yBnsnHSVhB2Sa+5JqTRIbWPxVkpwp/QwXUwty1IYVg8wnh8QVYAHXd6MWtjGF25ZQ4/ISJyzZp2NtIxjwQ+XW9UUagVgCKHEGwNhXwsHmdO271m3lbJWA1ftR7XaFfwPA89ooDtkKpMiGw9V2Gmpamnlkj0yvQzqateaILal8m7RqeDwaqENpz0zCpubxpT+kMDrh5LaQBuLPngBbUgT6lG/PSulz6FxGeFUWB0xJJYP+OGxY8iZOACjhWEFnOqKNfb8464Socbu0aCs8KsC0A8iF0OSvMy/c7rr5HjRxSQLoW/AuBcdbbanOQVZAOXSpUuyGW0uxQSNKua/uv03FJoMqDJYRKRRsTqYoz+u7BH530Vw+d9hGDvhcazF3AC/G89LnIvqgV0LEV5Nta73P2qGEXfBACaqOQ8o2JfcKoI3YlsJl5LJc5J+gR5qzLP3q4KSs0w3NZqMYpP5vFpGwdr0Jm1ts3wNRPdg0D/1KodonODqNVceA3Ehw/dClfFTP6osG2LUuMqLzm6xWKK8/gU8K9CW2sgMkSB5hiaJxP3E1r+bD5x81CkvAh4hWsFpWgzIVe63e3QOvvzdYsZtITu+5WOwqf3GfwUB8aa+GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013EUdDbnUPtzGxZBQPtPVko",
      "input": {
        "note": "Left wrist view shows the cap at image (88,157), left of and above the jaw column, and the pen further right. Shifting the left gripper ~3 cm to its left and ~3 cm forward to centre the cap under the jaws.",
        "targets": {
          "left_x": 0.38,
          "left_y": -0.175,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_013EUdDbnUPtzGxZBQPtPVko",
      "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]: [-0.6735, 1.5452, 0.8837, -0.1307, -0.5648, -0.4557, 0.9995, -0.0181, 0.7982, 0.6132, -0.3904, -0.0227, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3719 left_y=-0.1712 left_z=0.1168 left_yaw=0.0267 left_pitch=-0.0749 left_roll=0.0411 left_gripper=0.9995 right_x=0.2948 right_y=0.0023 right_z=0.1809 right_yaw=-0.0005 right_pitch=-0.0191 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [-1.0051, -6.3248, 6.5573, 1.7607, 0.022, 0.1783, -0.0171, -0.0205, -1.1009, 7.0222, 1.7363, -0.0269, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e2e77e394ad114f26c8273edde89aa731c34f770f6876cd4848ec9c7e647c05",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cef8cc7b8c220919c8c5bef1a6ed31a2ca9bd77c193d361fffc13580bc12e373",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:47853f12a23c74ac77f4e5c6c6e253f84486dc71e90a85f6cbc590c8d180dbb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /messages · status 200 · 9.159 s

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

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6022, -0.3805, -0.0219, -0.0246, 0.9995, -0.0181, 0.791, 0.6102, -0.3756, -0.0231, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0015 left_z=0.1793 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2959 right_y=0.0023 right_z=0.1846 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.6496, -1.5248, 10.4547, 1.7363, -0.0562, 0.0659, -0.0708, -0.4991, -1.1829, 9.7299, 1.7363, -0.0317, -0.0122, -0.1148]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7879, 1.5169, 0.9058, -0.1917, -0.622, -0.5083, 0.9995, -0.0181, 0.7967, 0.6132, -0.3878, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3501 left_y=-0.2009 left_z=0.1306 left_yaw=-0.0168 left_pitch=-0.0539 left_roll=0.0363 left_gripper=0.9995 right_x=0.295 right_y=0.0023 right_z=0.1819 right_yaw=-0.0003 right_pitch=-0.0149 right_roll=0.0001 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -7.0906, 9.4017, 1.6093, -0.4469, -0.0806, -0.0659, -0.1846, -1.7026, 6.8171, 1.8535, -0.0415, -0.0659, -0.022]",
      "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]: [-0.6735, 1.5452, 0.8837, -0.1307, -0.5648, -0.4557, 0.9995, -0.0181, 0.7982, 0.6132, -0.3904, -0.0227, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3719 left_y=-0.1712 left_z=0.1168 left_yaw=0.0267 left_pitch=-0.0749 left_roll=0.0411 left_gripper=0.9995 right_x=0.2948 right_y=0.0023 right_z=0.1809 right_yaw=-0.0005 right_pitch=-0.0191 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [-1.0051, -6.3248, 6.5573, 1.7607, 0.022, 0.1783, -0.0171, -0.0205, -1.1009, 7.0222, 1.7363, -0.0269, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e2e77e394ad114f26c8273edde89aa731c34f770f6876cd4848ec9c7e647c05",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cef8cc7b8c220919c8c5bef1a6ed31a2ca9bd77c193d361fffc13580bc12e373",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47853f12a23c74ac77f4e5c6c6e253f84486dc71e90a85f6cbc590c8d180dbb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QufGim7sDFHU2qxeYqHJvQ",
      "input": {
        "note": "The cap is still left of and beyond the jaw column in the left wrist view; the previous small move barely shifted it, so I am taking a larger step forward and to the arm's left.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.13,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01QufGim7sDFHU2qxeYqHJvQ",
      "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]: [-0.6197, 1.5517, 0.8783, -0.0929, -0.5346, -0.4175, 0.9994, -0.0181, 0.7998, 0.6132, -0.3912, -0.0227, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3832 left_y=-0.1584 left_z=0.1162 left_yaw=0.0361 left_pitch=-0.0689 left_roll=0.0389 left_gripper=0.9994 right_x=0.2948 right_y=0.0023 right_z=0.1803 right_yaw=-0.0005 right_pitch=-0.0214 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.3761, -6.5983, 7.4462, 1.326, -0.1832, -0.0024, -0.0171, -0.3761, -1.4154, 7.0222, 1.7753, -0.0269, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e474c56995a58b937db8efc059d314bbe7d454c8baee6d36a68d752ffdefacf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a931959ef50188cce0e31f519f800a88294043c2be7858f0bd0421ec31b3bed0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8b9b2c5669d1fa7b10229ba93686a4db134ba53fd131c3ad607163431dcf3bdf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /messages · status 200 · 9.935 s

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

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7879, 1.5169, 0.9058, -0.1917, -0.622, -0.5083, 0.9995, -0.0181, 0.7967, 0.6132, -0.3878, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3501 left_y=-0.2009 left_z=0.1306 left_yaw=-0.0168 left_pitch=-0.0539 left_roll=0.0363 left_gripper=0.9995 right_x=0.295 right_y=0.0023 right_z=0.1819 right_yaw=-0.0003 right_pitch=-0.0149 right_roll=0.0001 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -7.0906, 9.4017, 1.6093, -0.4469, -0.0806, -0.0659, -0.1846, -1.7026, 6.8171, 1.8535, -0.0415, -0.0659, -0.022]",
      "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]: [-0.6735, 1.5452, 0.8837, -0.1307, -0.5648, -0.4557, 0.9995, -0.0181, 0.7982, 0.6132, -0.3904, -0.0227, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3719 left_y=-0.1712 left_z=0.1168 left_yaw=0.0267 left_pitch=-0.0749 left_roll=0.0411 left_gripper=0.9995 right_x=0.2948 right_y=0.0023 right_z=0.1809 right_yaw=-0.0005 right_pitch=-0.0191 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [-1.0051, -6.3248, 6.5573, 1.7607, 0.022, 0.1783, -0.0171, -0.0205, -1.1009, 7.0222, 1.7363, -0.0269, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6197, 1.5517, 0.8783, -0.0929, -0.5346, -0.4175, 0.9994, -0.0181, 0.7998, 0.6132, -0.3912, -0.0227, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3832 left_y=-0.1584 left_z=0.1162 left_yaw=0.0361 left_pitch=-0.0689 left_roll=0.0389 left_gripper=0.9994 right_x=0.2948 right_y=0.0023 right_z=0.1803 right_yaw=-0.0005 right_pitch=-0.0214 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.3761, -6.5983, 7.4462, 1.326, -0.1832, -0.0024, -0.0171, -0.3761, -1.4154, 7.0222, 1.7753, -0.0269, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e474c56995a58b937db8efc059d314bbe7d454c8baee6d36a68d752ffdefacf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a931959ef50188cce0e31f519f800a88294043c2be7858f0bd0421ec31b3bed0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b9b2c5669d1fa7b10229ba93686a4db134ba53fd131c3ad607163431dcf3bdf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISlAkKjgEIEhgCKkBaRk8mkNy6MNP0GBw4WmXDFznQGfkoFwJ24DwhdCkUn/dJJV7x014/3L55GB33QJczAW7HX1tPDk3q60LILW0nMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcf+y9UGEgxD6pdv2xo/RumcoQEaDAtI3Ufs74JBEKsYUSIwYJloltPN177GzClI5WpR+KpGyzIANBw0sD8KSmstPU1VK54XhJRazGcHb5Oe+abkKrIHrs/9D3sNHzDIcG4cKoXVU/pbIR127ic+gBSU8lHwDL0PKEu16oNUzY/iUyRfye4aQ9iO60En4lsW8SN5xF3+XXeZQaK79O0emAavlpO0+KEA5RCzIdLHLRfTsucQICjY4G773HnxTA4SO5O9oDL1eggMtJdQ+JI1Zx658mEkcVk0OD/V+uKV+j8PHfzgQJXb1BZEgaLlstrIsVU3YqqMbo77LC4gVp2OyDmp3ZAud0go5N9GsgjteIzKcqaktDeWuTv+Nz+jWicNiWb26f1jNifjj27iQ5u7XCE00KSp4DxdVc+vMz8w2umI99i9a7beb+qzwpD3AmrD8Rlyn7DX1C+bfOl6QzbJL8NbWPRf/CtBDdXZYXjLsF9kiaS0sjQ3DUyd8K/DfCVmdjbgxUHgVNk6BUHHOMR9uqcKq9Yzhr42RzXTuK0XJNcqTET1I6vOAACTW6u4xkYOoKdlAvcB/ckEVXWsfvRz0cKNZ/EE/eLgckujvbRvL8lCfSRuEw4GYA18n/rPBxlW2+Xj09Ymj6RocVLeHzPT6rmwnXW7qnci1V1hNxeZIBc4iPF8uSvVP+sTtiQ4GEzvvf1aFYuRHIhmxnPRgr5xtwHJFIWVSOGQ2Pm40anhVxNqeZNDzNeUwDjWF6N8WI9NstRr9aLOC93jAbTlruFC0FSkWTgrxzdkHJh/PKHVA1FDAMVKnHqHEwBXDr4nHVWz0l/BdRWKLEz6s6MVQB5dvPqHD33QmOMrPCDUVQTSAYQ0AqLtNJMG1IUtWe9kuWs9PlvFFSgOU1QyIfAJvx1nkZJ796TGbbIt1sh7FmDdRceRVhPJBcjLX0msvD5esIhZeXA2dVV2rXhZnEOq7lEkJJieBSnAT8DtiBBVuri/Db1i1BShEhw4yxgvCyr+SDCMqNcxYDdJByvhRBLvlLhB0UaNU+vRobQ8ryEWyKF3Y7dBpAgUvxH+kXSwtL0E3ybdOQYLp4/Pq21+2QXiabG2VvmgBfA74DBIATZBmnxW/xO/23qCH5y81P9NGc4tpj+7RFE9/zGOExUjbrRs43q8xErj1mJBAeMecRmqUEoQD+ICeaL0KdEoIRf9unEQq7y14pBm/gnkIvkI0W1iOAAKQ8OxS8WHNRSS0gSPoqq42tx1jVZjdRK3oYqRBwq1KTPKTjqSv4KHKcSz8aiZU0I++gUuhVy/En8ZGffhQwDGFdkRZXndgMkM0pEHlGvOVJ+DzKtSLk4AR8p0HyhY03h6WL5z0TTSceDRhRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KthUhNqPCJHAsjWXp4JUWc",
      "input": {
        "note": "The cap now sits on the jaw column (image x≈105) but still slightly beyond the fingertips; advancing ~2.5 cm and descending to 6 cm for a closer look before the final grasp.",
        "targets": {
          "left_x": 0.41,
          "left_y": -0.152,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01KthUhNqPCJHAsjWXp4JUWc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.622, 1.5517, 0.8783, -0.0933, -0.5346, -0.4175, 0.9994, -0.0181, 0.7998, 0.6132, -0.3927, -0.0227, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3828 left_y=-0.1593 left_z=0.1162 left_yaw=0.0338 left_pitch=-0.0692 left_roll=0.0391 left_gripper=0.9994 right_x=0.2946 right_y=0.0023 right_z=0.18 right_yaw=-0.0005 right_pitch=-0.0229 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [0.0342, -6.5846, 7.5282, 1.3211, -0.1636, -0.0024, -0.0073, -0.212, -1.0735, 7.0906, 1.7558, -0.0317, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc6585c2ecf7aef2a3c4ff4c0e2e6361603e192040e7e3f98d106c931254b624",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c82db8e64e8bec99b77d1efce2b767fd2206a41b933a05f61ed9c579bd65f596",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b434c77e40bef4444ac8944b8f6abb6d0edc2decd85a793bf54548b8e0789bda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /messages · status 200 · 31.19 s

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

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6735, 1.5452, 0.8837, -0.1307, -0.5648, -0.4557, 0.9995, -0.0181, 0.7982, 0.6132, -0.3904, -0.0227, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3719 left_y=-0.1712 left_z=0.1168 left_yaw=0.0267 left_pitch=-0.0749 left_roll=0.0411 left_gripper=0.9995 right_x=0.2948 right_y=0.0023 right_z=0.1809 right_yaw=-0.0005 right_pitch=-0.0191 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [-1.0051, -6.3248, 6.5573, 1.7607, 0.022, 0.1783, -0.0171, -0.0205, -1.1009, 7.0222, 1.7363, -0.0269, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6197, 1.5517, 0.8783, -0.0929, -0.5346, -0.4175, 0.9994, -0.0181, 0.7998, 0.6132, -0.3912, -0.0227, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3832 left_y=-0.1584 left_z=0.1162 left_yaw=0.0361 left_pitch=-0.0689 left_roll=0.0389 left_gripper=0.9994 right_x=0.2948 right_y=0.0023 right_z=0.1803 right_yaw=-0.0005 right_pitch=-0.0214 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.3761, -6.5983, 7.4462, 1.326, -0.1832, -0.0024, -0.0171, -0.3761, -1.4154, 7.0222, 1.7753, -0.0269, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.622, 1.5517, 0.8783, -0.0933, -0.5346, -0.4175, 0.9994, -0.0181, 0.7998, 0.6132, -0.3927, -0.0227, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3828 left_y=-0.1593 left_z=0.1162 left_yaw=0.0338 left_pitch=-0.0692 left_roll=0.0391 left_gripper=0.9994 right_x=0.2946 right_y=0.0023 right_z=0.18 right_yaw=-0.0005 right_pitch=-0.0229 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [0.0342, -6.5846, 7.5282, 1.3211, -0.1636, -0.0024, -0.0073, -0.212, -1.0735, 7.0906, 1.7558, -0.0317, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc6585c2ecf7aef2a3c4ff4c0e2e6361603e192040e7e3f98d106c931254b624",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c82db8e64e8bec99b77d1efce2b767fd2206a41b933a05f61ed9c579bd65f596",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b434c77e40bef4444ac8944b8f6abb6d0edc2decd85a793bf54548b8e0789bda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS4woKjgEIEhgCKkALPxQSSkRnz8pBocOReYwW8ovjbnEik/RmO2XQBiX/m/fRv3fHshW19Gkw64OlWVc6ZckOn3zDYbETHXRvNsL4Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdH+y9UGEgzuD0N2M0+sMvgTqsoaDEoOMnA84nGg/sFhdCIwHk3YsR/zQVmXMNxv+5teJANAKDg8tu4TX+kFHwRAiV+XXSuHOfX39ioT/r/u6iOxKoEJxWyOQ71WNbaBXcHft8Efb72qxwFtM4NgTX5vCNnvG5tf5p6akJJlPNINGiaAYyO3pvUbhdFuuD5wsJgtSYwty3hjuBifs/OLbcp/T39RoMi1a96SUnofauQTuIVidKYs21HpSHzPtEAyP31Ek644xWNNGOFeKKpG0DQkfR9y19abi0x2gBgdWhNBEmq3/sJgiFNFWx+WnK9lV3q39n4rsIH7nudf4UnLCiW/018e+ACqyZ32Yc0v6AJ1nZdJyNP6ip64TQRf0uitEHwGEWte7b51/QUY2wFkOiV35JRnwXpXZQFtw54CHkhBDOvkrxWNSCKYWH4B32q8UYh4A97s86y/ktnPOI0MrXy2sZ+3jDsEZtZmQmT0RYCjpEH4JJcXDEKRmR8muh4QO3T6Ko+MJPSklQoglJAPaS7TJATEiYb3IpqW26dkCHCSi53MNpUK7prr9Cq00E/UBgHLukhreE7RcIoYBMJRw1s/Cvxsf6syz2Uqn1aCJ/iIRvco2O+Sug/fwrUKYf9LouLsBYxLSSvuicSJyWdLEMRrqol4G5DbRkHY/WEimoLeutcu/vdb84XkIhTyOy/Xb1QuCT/lr9E+K7vbKSJqH0GaxYnG5ExNxHkwJnCM/ZNs73aTc3XO0BNqn8jKw8Mg6KtKPSYgljYg71+i/2zH9anpe2WgQWcewJHgwCO5nkm4p+2mx+IIhjfC2oGYPDsDDJOYsw+VvHMN8xWAVGnrYxPWXjx0NOjjZZ8g3ZfPfKqOK/lmYV70yud7EQNm9rfnuf52W1yg/HArFTQSCk3G1yn4aCR5exiNeeQFe2ZGvDYId54HhB88caKcSNopXo/MzZh/PskXKPpVL0S0WE7f6TgXLVMpC4mPwGkcbpgPfQNZVNIzxhTFNfmKNDj5wyts/2S6+r61PXs/ywy6BQNB/CWgTUzmWIsk8tbZ534GKpclkRS8LxCpTClUoi+2wKGAgk5pv7+dLg0RpJ13RxjvjCaciDfvkjZux8NhY6TAGAPN3OwvlSn/voJV5tNZWYu1NfVDk4CKAqcpMI6W7tRhdwjsCkTfO33GioHp2b2POVyKcL0A7BmCEC/t9CMNVpnt3EcskUup0/qIacT4De+b6TagtU+20luj7+Vhc66L5wSDP8Bir2sprgg8h9VepUkbsXBC+74z2fumiAUX6E8oNPXt/Qi9oB2DVshvcplOhoosiRH2UY63AhpvLHIOLMKkaO2g1XvMsIFPs/bd43o2T35jioT4PoFjQ5YTWqC87LIIupgxFwpyz7cSs1gl97kfyGgI1Ru3bSN5av3L6LpvSZsabRE/zhE71jX+cFH3alaZAxGLCC16JD6tF6cIbbxkELJ0sJimFrfSrhGvL3IlpRwirWaOu2neJ0ZotfRvfx8v+bsVfNQHZsEwnCy+M4zEtkJQg1S2qi3ARNqWSq2lFnLtY9Li9XAYbr5FsqGLhN/2ihOCPkwNhmXWnmAR9hx14eZIoEjEhA20yiaD2DTqpp6kDARbQyO5uJw6d3pst/ja+iUoPhjauBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PJCn4mrvqowPibdX5KstkV",
      "input": {
        "note": "The arm stalled and did not track the last x/y command, so I am keeping x/y and simply descending to table level above the cap to re-judge alignment from close range.",
        "targets": {
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01PJCn4mrvqowPibdX5KstkV",
      "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]: [-0.6239, 1.8229, 0.6903, 0.2802, -0.5426, -0.4358, 0.9991, -0.0181, 0.8036, 0.6132, -0.3943, -0.0223, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3718 left_y=-0.1508 left_z=0.0048 left_yaw=0.0532 left_pitch=-0.1325 left_roll=0.0826 left_gripper=0.9991 right_x=0.2946 right_y=0.0022 right_z=0.1786 right_yaw=-0.0008 right_pitch=-0.0282 right_roll=0.0004 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -6.5436, 4.3419, 1.4335, -0.2076, 0.1978, -0.0513, -0.1983, -1.5385, 7.0085, 1.8339, -0.022, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da5f130937a262a237b1ce5eddf9f5abcb1496dd71a795c0f7d244f6849bc725",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34227aecd396e735c6753ff71a06c010689eb1ea5512816536c645e0fed52bc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:78f1487edec371f26695bf2e5d66cd7be268fa754b9f29789616a35f15488b9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /messages · status 200 · 17.48 s

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

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6197, 1.5517, 0.8783, -0.0929, -0.5346, -0.4175, 0.9994, -0.0181, 0.7998, 0.6132, -0.3912, -0.0227, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3832 left_y=-0.1584 left_z=0.1162 left_yaw=0.0361 left_pitch=-0.0689 left_roll=0.0389 left_gripper=0.9994 right_x=0.2948 right_y=0.0023 right_z=0.1803 right_yaw=-0.0005 right_pitch=-0.0214 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.3761, -6.5983, 7.4462, 1.326, -0.1832, -0.0024, -0.0171, -0.3761, -1.4154, 7.0222, 1.7753, -0.0269, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.622, 1.5517, 0.8783, -0.0933, -0.5346, -0.4175, 0.9994, -0.0181, 0.7998, 0.6132, -0.3927, -0.0227, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3828 left_y=-0.1593 left_z=0.1162 left_yaw=0.0338 left_pitch=-0.0692 left_roll=0.0391 left_gripper=0.9994 right_x=0.2946 right_y=0.0023 right_z=0.18 right_yaw=-0.0005 right_pitch=-0.0229 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [0.0342, -6.5846, 7.5282, 1.3211, -0.1636, -0.0024, -0.0073, -0.212, -1.0735, 7.0906, 1.7558, -0.0317, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.6239, 1.8229, 0.6903, 0.2802, -0.5426, -0.4358, 0.9991, -0.0181, 0.8036, 0.6132, -0.3943, -0.0223, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3718 left_y=-0.1508 left_z=0.0048 left_yaw=0.0532 left_pitch=-0.1325 left_roll=0.0826 left_gripper=0.9991 right_x=0.2946 right_y=0.0022 right_z=0.1786 right_yaw=-0.0008 right_pitch=-0.0282 right_roll=0.0004 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -6.5436, 4.3419, 1.4335, -0.2076, 0.1978, -0.0513, -0.1983, -1.5385, 7.0085, 1.8339, -0.022, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da5f130937a262a237b1ce5eddf9f5abcb1496dd71a795c0f7d244f6849bc725",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34227aecd396e735c6753ff71a06c010689eb1ea5512816536c645e0fed52bc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78f1487edec371f26695bf2e5d66cd7be268fa754b9f29789616a35f15488b9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C7fprU9Q4Hy6b9xtW4oVpL",
      "input": {
        "note": "Close-up wrist view shows the cap lying just beyond the fingertips, its long axis running forward-right at about 55° from the arm's x axis. Lifting slightly, advancing 3 cm, and yawing the wrist -0.96 rad so the jaws will close across the cap's barrel.",
        "targets": {
          "left_x": 0.4,
          "left_yaw": -0.96,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01C7fprU9Q4Hy6b9xtW4oVpL",
      "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]: [-0.1753, 1.7618, 0.8108, 0.1463, 0.3462, 0.4229, 0.999, -0.0181, 0.8051, 0.6132, -0.3969, -0.0223, -0.0143, 0.999]\nstate[eef_state]: left_x=0.4088 left_y=-0.1296 left_z=0.0365 left_yaw=-0.7125 left_pitch=-0.176 left_roll=0.0694 left_gripper=0.999 right_x=0.2944 right_y=0.0022 right_z=0.1777 right_yaw=-0.0008 right_pitch=-0.0324 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [0.0889, -8.1436, 6.8718, 1.4872, 0.3053, 0.1978, -0.022, -0.2256, -1.4427, 7.0222, 1.6972, -0.0317, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de85e9eccd0f02e0d4a56952b2bf665fbd3f3b18a96c668f2a2f4b512b713b66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad1913d8ad73d3b6736ca5a0036038ca85a5096004319b5d9e620808c4e5f308",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f8b4bcafb5a94ffa893148a4bfb0373c6ebd8855ff33f25626a009f994dc6938",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /messages · status 200 · 4.928 s

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

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.622, 1.5517, 0.8783, -0.0933, -0.5346, -0.4175, 0.9994, -0.0181, 0.7998, 0.6132, -0.3927, -0.0227, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3828 left_y=-0.1593 left_z=0.1162 left_yaw=0.0338 left_pitch=-0.0692 left_roll=0.0391 left_gripper=0.9994 right_x=0.2946 right_y=0.0023 right_z=0.18 right_yaw=-0.0005 right_pitch=-0.0229 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [0.0342, -6.5846, 7.5282, 1.3211, -0.1636, -0.0024, -0.0073, -0.212, -1.0735, 7.0906, 1.7558, -0.0317, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.6239, 1.8229, 0.6903, 0.2802, -0.5426, -0.4358, 0.9991, -0.0181, 0.8036, 0.6132, -0.3943, -0.0223, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3718 left_y=-0.1508 left_z=0.0048 left_yaw=0.0532 left_pitch=-0.1325 left_roll=0.0826 left_gripper=0.9991 right_x=0.2946 right_y=0.0022 right_z=0.1786 right_yaw=-0.0008 right_pitch=-0.0282 right_roll=0.0004 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -6.5436, 4.3419, 1.4335, -0.2076, 0.1978, -0.0513, -0.1983, -1.5385, 7.0085, 1.8339, -0.022, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.1753, 1.7618, 0.8108, 0.1463, 0.3462, 0.4229, 0.999, -0.0181, 0.8051, 0.6132, -0.3969, -0.0223, -0.0143, 0.999]\nstate[eef_state]: left_x=0.4088 left_y=-0.1296 left_z=0.0365 left_yaw=-0.7125 left_pitch=-0.176 left_roll=0.0694 left_gripper=0.999 right_x=0.2944 right_y=0.0022 right_z=0.1777 right_yaw=-0.0008 right_pitch=-0.0324 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [0.0889, -8.1436, 6.8718, 1.4872, 0.3053, 0.1978, -0.022, -0.2256, -1.4427, 7.0222, 1.6972, -0.0317, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de85e9eccd0f02e0d4a56952b2bf665fbd3f3b18a96c668f2a2f4b512b713b66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad1913d8ad73d3b6736ca5a0036038ca85a5096004319b5d9e620808c4e5f308",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8b4bcafb5a94ffa893148a4bfb0373c6ebd8855ff33f25626a009f994dc6938",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011xabsap49L5wxwa86puNr7",
      "input": {
        "note": "After the yaw the cap sits right of the jaw column in the wrist view; shifting the tool along its own jaw axis (~2.5 cm) and dropping to table height to line the jaws up across the cap.",
        "targets": {
          "left_x": 0.405,
          "left_y": -0.157,
          "left_yaw": -0.96,
          "left_z": 0.012
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_011xabsap49L5wxwa86puNr7",
      "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]: [-0.1761, 1.8751, 0.8597, 0.1043, 0.4839, 0.5934, 0.999, -0.0181, 0.8066, 0.6132, -0.3973, -0.0227, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3978 left_y=-0.1506 left_z=0.0085 left_yaw=-0.9258 left_pitch=-0.2046 left_roll=0.0452 left_gripper=0.999 right_x=0.2944 right_y=0.0023 right_z=0.1772 right_yaw=-0.0005 right_pitch=-0.0343 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -9.2923, 7.3778, 1.6093, 0.4664, 0.1343, -0.0171, -0.335, -1.4017, 7.0906, 1.7314, -0.0171, -0.0122, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0de6a88051d10dbd7f587339576e31f3c763c4a2ff285abe896b767e177306b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e21123597c010745206758cec0cd4a2d28b4be7c407d9e21760f36eadaeaef2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f63cca749f2267f8d0410773fbfaac58c86c25f7505656374b3a6b47dbd06ffa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /messages · status 200 · 4.956 s

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

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6239, 1.8229, 0.6903, 0.2802, -0.5426, -0.4358, 0.9991, -0.0181, 0.8036, 0.6132, -0.3943, -0.0223, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3718 left_y=-0.1508 left_z=0.0048 left_yaw=0.0532 left_pitch=-0.1325 left_roll=0.0826 left_gripper=0.9991 right_x=0.2946 right_y=0.0022 right_z=0.1786 right_yaw=-0.0008 right_pitch=-0.0282 right_roll=0.0004 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -6.5436, 4.3419, 1.4335, -0.2076, 0.1978, -0.0513, -0.1983, -1.5385, 7.0085, 1.8339, -0.022, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1753, 1.7618, 0.8108, 0.1463, 0.3462, 0.4229, 0.999, -0.0181, 0.8051, 0.6132, -0.3969, -0.0223, -0.0143, 0.999]\nstate[eef_state]: left_x=0.4088 left_y=-0.1296 left_z=0.0365 left_yaw=-0.7125 left_pitch=-0.176 left_roll=0.0694 left_gripper=0.999 right_x=0.2944 right_y=0.0022 right_z=0.1777 right_yaw=-0.0008 right_pitch=-0.0324 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [0.0889, -8.1436, 6.8718, 1.4872, 0.3053, 0.1978, -0.022, -0.2256, -1.4427, 7.0222, 1.6972, -0.0317, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.1761, 1.8751, 0.8597, 0.1043, 0.4839, 0.5934, 0.999, -0.0181, 0.8066, 0.6132, -0.3973, -0.0227, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3978 left_y=-0.1506 left_z=0.0085 left_yaw=-0.9258 left_pitch=-0.2046 left_roll=0.0452 left_gripper=0.999 right_x=0.2944 right_y=0.0023 right_z=0.1772 right_yaw=-0.0005 right_pitch=-0.0343 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -9.2923, 7.3778, 1.6093, 0.4664, 0.1343, -0.0171, -0.335, -1.4017, 7.0906, 1.7314, -0.0171, -0.0122, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0de6a88051d10dbd7f587339576e31f3c763c4a2ff285abe896b767e177306b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e21123597c010745206758cec0cd4a2d28b4be7c407d9e21760f36eadaeaef2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f63cca749f2267f8d0410773fbfaac58c86c25f7505656374b3a6b47dbd06ffa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISoQQKjgEIEhgCKkBrv5P6Gu8DjlkhpmzD5Puuy+yNHgnb8UhcRElk6GIdA5gVUCOoh6bZgTbjCH1E0R7S8QwSvAp+ZCmCvfuq+3sKMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYn/y9UGEgx76hu5WxZTz3+9SnUaDPO5bLz9y5aMCy30qCIwV8iIHynvXXPJfvvMoKGFjvHGPiL99nYlICTboT0rzmmqOCDzWONJD59R8De5kcTIKr8Cz2nUxf3m9wAPMopmOhBVrI6e5MMjrnPgCUzOfrvdR9SK42frodMLfY/zvWPQBnSiWywcKxfwE8Y4JrfFqVwXCOO+7S1cLJQL8RgZnnZe44pHQ4oK1cv5tP166gyww2KiFt9XAOqbUPGBtbWrE+3RkqcFCrgHSgZTNgeVBmpXjWapPWA4IgCAkgVqk8kmJs2RhC2fFSyJdC4xtcErOpCi6Wsc7D4QWd9PFX0GbN0pxpkEn3L2fywUjL9a7OupiEhRbPD/0bKAdvwd06R32WPFvE3W8x02HPhoZt9MWr4V6hxFezxLJwjk1jrrjUh7weRFoU7MWE/CGinXuN+erYvqBr0ACqu6XejjQ5Y5xbJVcN1opQ1ial92KMeOODqQ4bA7tGR+H3uphVQO88vF03kf5RGqwKrnMuRustfNCQqk/RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KbkNxxTLFyPF5rxAAh3r8r",
      "input": {
        "note": "The cap is now centred on the jaw column and reaching down to the jaws in the wrist view; closing the gripper to grasp it across the barrel.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01KbkNxxTLFyPF5rxAAh3r8r",
      "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]: [-0.1776, 1.8992, 0.8623, 0.123, 0.4946, 0.6109, 0.0466, -0.0181, 0.807, 0.6132, -0.3973, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3985 left_y=-0.1531 left_z=0.0031 left_yaw=-0.9452 left_pitch=-0.2013 left_roll=0.0499 left_gripper=0.0466 right_x=0.2944 right_y=0.0023 right_z=0.1771 right_yaw=-0.0003 right_pitch=-0.0347 right_roll=0.0004 right_gripper=0.999\nstate[joint_eff]: [-0.294, -8.8821, 7.2957, 1.3944, 0.3248, 0.2271, 1.2723, -0.1983, -1.3607, 7.0222, 1.7558, -0.0464, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2c1f282f4f9532175a929d59eeabd3a72a2206598044c3dc1cc7a536de4582c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c51cf57bf2cdb0f1e4d1a6afa1e58b9a388c75d19c57baf943e7df6d11550acd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:be570d75f3ef84c6b10619843aceced19bdd921139e31875a3053f3b7fea5771",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /messages · status 200 · 23.49 s

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

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1753, 1.7618, 0.8108, 0.1463, 0.3462, 0.4229, 0.999, -0.0181, 0.8051, 0.6132, -0.3969, -0.0223, -0.0143, 0.999]\nstate[eef_state]: left_x=0.4088 left_y=-0.1296 left_z=0.0365 left_yaw=-0.7125 left_pitch=-0.176 left_roll=0.0694 left_gripper=0.999 right_x=0.2944 right_y=0.0022 right_z=0.1777 right_yaw=-0.0008 right_pitch=-0.0324 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [0.0889, -8.1436, 6.8718, 1.4872, 0.3053, 0.1978, -0.022, -0.2256, -1.4427, 7.0222, 1.6972, -0.0317, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1761, 1.8751, 0.8597, 0.1043, 0.4839, 0.5934, 0.999, -0.0181, 0.8066, 0.6132, -0.3973, -0.0227, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3978 left_y=-0.1506 left_z=0.0085 left_yaw=-0.9258 left_pitch=-0.2046 left_roll=0.0452 left_gripper=0.999 right_x=0.2944 right_y=0.0023 right_z=0.1772 right_yaw=-0.0005 right_pitch=-0.0343 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -9.2923, 7.3778, 1.6093, 0.4664, 0.1343, -0.0171, -0.335, -1.4017, 7.0906, 1.7314, -0.0171, -0.0122, -0.0171]",
      "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]: [-0.1776, 1.8992, 0.8623, 0.123, 0.4946, 0.6109, 0.0466, -0.0181, 0.807, 0.6132, -0.3973, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3985 left_y=-0.1531 left_z=0.0031 left_yaw=-0.9452 left_pitch=-0.2013 left_roll=0.0499 left_gripper=0.0466 right_x=0.2944 right_y=0.0023 right_z=0.1771 right_yaw=-0.0003 right_pitch=-0.0347 right_roll=0.0004 right_gripper=0.999\nstate[joint_eff]: [-0.294, -8.8821, 7.2957, 1.3944, 0.3248, 0.2271, 1.2723, -0.1983, -1.3607, 7.0222, 1.7558, -0.0464, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2c1f282f4f9532175a929d59eeabd3a72a2206598044c3dc1cc7a536de4582c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c51cf57bf2cdb0f1e4d1a6afa1e58b9a388c75d19c57baf943e7df6d11550acd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be570d75f3ef84c6b10619843aceced19bdd921139e31875a3053f3b7fea5771",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISjQQKjgEIEhgCKkD/PXYcGfHB8bwEDR7RdovEEber5jIfFTnyXTUeat+R8nDyHx9MLrMC3mBmCS7g0ER5YI8gbKZ0yHE9QTyLODSRMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAY7/y9UGEgyh08Grwl3vjUA8YQ4aDCkyuPnQ2M8XNFrp1yIwIndU91Z6q9OFPiCGE6XlFUZ7HEic8cg17HoQsa6NJOUICE5ErMEKP/yFFdzWisy6KqsC1aSv7fOwebCzlhfDPJmhuv2R8sc+yej/7y2Ktuf08HHqYmeYI6aCdMMiJ3Uay9tUn4D2X1gTLCHLdLkQBGDNOZ5LEFqMRUyIzRaSzo8CeHXg36BZOAVPpV3KxylnpAG2zWRYg6JgAamEVK7BbLDe5TMWFvBLCyvGyEoo0eFAISwWl/KKbvyDv5QyI7lYUk9Q7dH938HU62XVpcvj3lN2lCnaWQr9Adj98WLMlf43VzxgGjuQ3bDMNy30CyjH2GZW68rViowwBrs98aXr74G4oInaQIEZ6zNjVLKzG/H+wkXiGk4wNdDxOQpZBsbJCGWa2wwW/XxUsk/zabY3H8G1Oe7RIJtBISnhD8GTemA8M01r7qabZUymjptj6EoJg9gsfML3fS2jDoDd83UYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016b6zS7ajFu1UXesYnQvj3e",
      "input": {
        "note": "Gripper settled at 0.047 (~4.5 mm), consistent with a thin cap. Lifting 8 cm to verify in the overhead view that the cap came with the jaws.",
        "targets": {
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_016b6zS7ajFu1UXesYnQvj3e",
      "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]: [-0.1776, 1.7447, 0.9569, -0.136, 0.4831, 0.6071, 0.0511, -0.0181, 0.8074, 0.6132, -0.3973, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3972 left_y=-0.151 left_z=0.0601 left_yaw=-0.9362 left_pitch=-0.2146 left_roll=0.0468 left_gripper=0.0511 right_x=0.2945 right_y=0.0023 right_z=0.177 right_yaw=0.0 right_pitch=-0.0351 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.3761, -9.6068, 8.4171, 1.3895, 0.2711, 0.0024, 1.0281, -0.0068, -1.306, 7.0496, 1.7607, -0.0317, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:080d362c68983ec612b0330e8392f42f331f5cf1a4470ba6e6890bbf761dcca0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3fa243949b3d025c17005c60ddd889728f8ec4102767e88d5c60fe2aba08c8eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:949233ea1264fc7500c3ab3a87cb73e19f437bdfde2cf9151cc57bc3a9a66917",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /messages · status 200 · 12.81 s

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

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1761, 1.8751, 0.8597, 0.1043, 0.4839, 0.5934, 0.999, -0.0181, 0.8066, 0.6132, -0.3973, -0.0227, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3978 left_y=-0.1506 left_z=0.0085 left_yaw=-0.9258 left_pitch=-0.2046 left_roll=0.0452 left_gripper=0.999 right_x=0.2944 right_y=0.0023 right_z=0.1772 right_yaw=-0.0005 right_pitch=-0.0343 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -9.2923, 7.3778, 1.6093, 0.4664, 0.1343, -0.0171, -0.335, -1.4017, 7.0906, 1.7314, -0.0171, -0.0122, -0.0171]",
      "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]: [-0.1776, 1.8992, 0.8623, 0.123, 0.4946, 0.6109, 0.0466, -0.0181, 0.807, 0.6132, -0.3973, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3985 left_y=-0.1531 left_z=0.0031 left_yaw=-0.9452 left_pitch=-0.2013 left_roll=0.0499 left_gripper=0.0466 right_x=0.2944 right_y=0.0023 right_z=0.1771 right_yaw=-0.0003 right_pitch=-0.0347 right_roll=0.0004 right_gripper=0.999\nstate[joint_eff]: [-0.294, -8.8821, 7.2957, 1.3944, 0.3248, 0.2271, 1.2723, -0.1983, -1.3607, 7.0222, 1.7558, -0.0464, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1776, 1.7447, 0.9569, -0.136, 0.4831, 0.6071, 0.0511, -0.0181, 0.8074, 0.6132, -0.3973, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3972 left_y=-0.151 left_z=0.0601 left_yaw=-0.9362 left_pitch=-0.2146 left_roll=0.0468 left_gripper=0.0511 right_x=0.2945 right_y=0.0023 right_z=0.177 right_yaw=0.0 right_pitch=-0.0351 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.3761, -9.6068, 8.4171, 1.3895, 0.2711, 0.0024, 1.0281, -0.0068, -1.306, 7.0496, 1.7607, -0.0317, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:080d362c68983ec612b0330e8392f42f331f5cf1a4470ba6e6890bbf761dcca0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3fa243949b3d025c17005c60ddd889728f8ec4102767e88d5c60fe2aba08c8eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:949233ea1264fc7500c3ab3a87cb73e19f437bdfde2cf9151cc57bc3a9a66917",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016fKDPi449tdwaY44mF4Lkp",
      "input": {
        "note": "Left gripper appears to be holding the cap (reads 0.05 and a small spike shows above the jaws). Now bringing the right arm over the pen, yawed -1.0 rad so its jaws will close across the pen's axis.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.4,
          "right_y": 0.283,
          "right_yaw": -1.0,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 24 steps (2.4s)",
      "tool_use_id": "toolu_016fKDPi449tdwaY44mF4Lkp",
      "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]: [-0.1749, 1.7496, 0.9504, -0.1444, 0.4664, 0.6006, 0.0555, 0.8368, 2.4611, 2.1693, -1.5459, 0.9344, 1.8877, 0.9991]\nstate[eef_state]: left_x=0.395 left_y=-0.1468 left_z=0.0537 left_yaw=-0.9208 left_pitch=-0.2381 left_roll=0.0384 left_gripper=0.0555 right_x=0.3913 right_y=0.227 right_z=0.0965 right_yaw=-0.9301 right_pitch=-0.0542 right_roll=-0.0091 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -8.5265, 6.4205, 1.37, 0.3736, 0.0757, 1.033, -0.759, -11.1658, 6.8308, -0.2613, 0.5104, 0.188, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06b860a74dc40798964feda5036df4f844ca7bc1b5ba936bf2017d90286393f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6aca8ea276cbd65534245dd1bb3fc0958f699834bb6570f76bd6003f2c452829",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:33c295bae69a5632f266ceb6c3b262433b949c61a9f4f93f91dd70b4100c29f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /messages · status 200 · 4.089 s

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

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1776, 1.8992, 0.8623, 0.123, 0.4946, 0.6109, 0.0466, -0.0181, 0.807, 0.6132, -0.3973, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3985 left_y=-0.1531 left_z=0.0031 left_yaw=-0.9452 left_pitch=-0.2013 left_roll=0.0499 left_gripper=0.0466 right_x=0.2944 right_y=0.0023 right_z=0.1771 right_yaw=-0.0003 right_pitch=-0.0347 right_roll=0.0004 right_gripper=0.999\nstate[joint_eff]: [-0.294, -8.8821, 7.2957, 1.3944, 0.3248, 0.2271, 1.2723, -0.1983, -1.3607, 7.0222, 1.7558, -0.0464, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1776, 1.7447, 0.9569, -0.136, 0.4831, 0.6071, 0.0511, -0.0181, 0.8074, 0.6132, -0.3973, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3972 left_y=-0.151 left_z=0.0601 left_yaw=-0.9362 left_pitch=-0.2146 left_roll=0.0468 left_gripper=0.0511 right_x=0.2945 right_y=0.0023 right_z=0.177 right_yaw=0.0 right_pitch=-0.0351 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.3761, -9.6068, 8.4171, 1.3895, 0.2711, 0.0024, 1.0281, -0.0068, -1.306, 7.0496, 1.7607, -0.0317, -0.0464, -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]: [-0.1749, 1.7496, 0.9504, -0.1444, 0.4664, 0.6006, 0.0555, 0.8368, 2.4611, 2.1693, -1.5459, 0.9344, 1.8877, 0.9991]\nstate[eef_state]: left_x=0.395 left_y=-0.1468 left_z=0.0537 left_yaw=-0.9208 left_pitch=-0.2381 left_roll=0.0384 left_gripper=0.0555 right_x=0.3913 right_y=0.227 right_z=0.0965 right_yaw=-0.9301 right_pitch=-0.0542 right_roll=-0.0091 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -8.5265, 6.4205, 1.37, 0.3736, 0.0757, 1.033, -0.759, -11.1658, 6.8308, -0.2613, 0.5104, 0.188, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06b860a74dc40798964feda5036df4f844ca7bc1b5ba936bf2017d90286393f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6aca8ea276cbd65534245dd1bb3fc0958f699834bb6570f76bd6003f2c452829",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33c295bae69a5632f266ceb6c3b262433b949c61a9f4f93f91dd70b4100c29f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PqqfNRdJrnuNTBQFzyBc9T",
      "input": {
        "note": "The right wrist view shows the pen lying horizontally in the image, i.e. along the jaw-closing axis — wrong orientation. Rotating the wrist +1.57 rad so the pen runs vertically in the image and the jaws close across its barrel.",
        "targets": {
          "right_yaw": 0.64
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01PqqfNRdJrnuNTBQFzyBc9T",
      "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]: [-0.1661, 1.7496, 0.9485, -0.1463, 0.4438, 0.5926, 0.0591, 0.8852, 2.458, 2.1105, -1.4021, 0.9344, 1.7569, 0.999]\nstate[eef_state]: left_x=0.397 left_y=-0.1398 left_z=0.0513 left_yaw=-0.8916 left_pitch=-0.253 left_roll=0.044 left_gripper=0.0591 right_x=0.3884 right_y=0.2561 right_z=0.0797 right_yaw=-0.807 right_pitch=-0.0684 right_roll=-0.0288 right_gripper=0.999\nstate[joint_eff]: [-1.0462, -8.0205, 6.2291, 1.3211, 0.3785, 0.0366, 1.033, 0.1299, -16.6222, 5.2581, 0.1734, 0.6178, -0.0708, -0.022]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f446f6f6457d45bc1e9d15767b126c80e1c4abc380afcfb1c9221660f9b93f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00d433d2a23701d6c037f2ce04e6ce54f598d21f6fe568e058d444b9df8bc251",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0b839da6e4e51bbcd095b716635ef7719aeee4d956d8ea27dc92783796690689",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /messages · status 200 · 10.97 s

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

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1776, 1.7447, 0.9569, -0.136, 0.4831, 0.6071, 0.0511, -0.0181, 0.8074, 0.6132, -0.3973, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3972 left_y=-0.151 left_z=0.0601 left_yaw=-0.9362 left_pitch=-0.2146 left_roll=0.0468 left_gripper=0.0511 right_x=0.2945 right_y=0.0023 right_z=0.177 right_yaw=0.0 right_pitch=-0.0351 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.3761, -9.6068, 8.4171, 1.3895, 0.2711, 0.0024, 1.0281, -0.0068, -1.306, 7.0496, 1.7607, -0.0317, -0.0464, -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]: [-0.1749, 1.7496, 0.9504, -0.1444, 0.4664, 0.6006, 0.0555, 0.8368, 2.4611, 2.1693, -1.5459, 0.9344, 1.8877, 0.9991]\nstate[eef_state]: left_x=0.395 left_y=-0.1468 left_z=0.0537 left_yaw=-0.9208 left_pitch=-0.2381 left_roll=0.0384 left_gripper=0.0555 right_x=0.3913 right_y=0.227 right_z=0.0965 right_yaw=-0.9301 right_pitch=-0.0542 right_roll=-0.0091 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -8.5265, 6.4205, 1.37, 0.3736, 0.0757, 1.033, -0.759, -11.1658, 6.8308, -0.2613, 0.5104, 0.188, -0.1099]",
      "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]: [-0.1661, 1.7496, 0.9485, -0.1463, 0.4438, 0.5926, 0.0591, 0.8852, 2.458, 2.1105, -1.4021, 0.9344, 1.7569, 0.999]\nstate[eef_state]: left_x=0.397 left_y=-0.1398 left_z=0.0513 left_yaw=-0.8916 left_pitch=-0.253 left_roll=0.044 left_gripper=0.0591 right_x=0.3884 right_y=0.2561 right_z=0.0797 right_yaw=-0.807 right_pitch=-0.0684 right_roll=-0.0288 right_gripper=0.999\nstate[joint_eff]: [-1.0462, -8.0205, 6.2291, 1.3211, 0.3785, 0.0366, 1.033, 0.1299, -16.6222, 5.2581, 0.1734, 0.6178, -0.0708, -0.022]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f446f6f6457d45bc1e9d15767b126c80e1c4abc380afcfb1c9221660f9b93f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00d433d2a23701d6c037f2ce04e6ce54f598d21f6fe568e058d444b9df8bc251",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b839da6e4e51bbcd095b716635ef7719aeee4d956d8ea27dc92783796690689",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISnwMKjgEIEhgCKkDgx6W7J8I3pec0YYbDDuo8qlL3RJs9EplNSdhIMkLfJqZl8A1K14ZYHoiGCeaUyczfcef2In/BATcp3jQ+iPofMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbv/y9UGEgzHygejWWHVENXON0caDFI/zD65wUzpdw1BQSIwFYy272lYGWD8gHUZOTuCrOBIKnPL6/82yHtVhIosOqN55jOXKOzNp3uHDrpqCZUtKr0BoJH7IKdYzw32JlJV2zbN1zISf/Dm19veJM6tMW1dMw89DCJqZZR5GNQaqxzus1RrfNuG5r4shJbo7/dkImYBYz7kWKM53RA8K8j4LBdtM6UIGvZiJFNb4sv8F7DRX9DFrsNwCLIwGIOHt3GLYxtlrH9sS5MLrRJgP47CWzlbcnw1Sx+1aC9AxMWBzqB0SfrobNfpdPRUMnSYS6xPgEFn8fNgD4PRxumEAPFxbxFO2P7cCcSt1fqs6mkCHzs1GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CzcP7eLS2Nrfh5jhJRE7HB",
      "input": {
        "note": "The yaw rotation was rate-clamped and only reached -0.81; re-sending the +0.64 rad yaw target (and lifting slightly) to finish turning the jaws across the pen.",
        "targets": {
          "right_yaw": 0.64,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01CzcP7eLS2Nrfh5jhJRE7HB",
      "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]: [-0.1661, 1.7542, 0.9466, -0.1471, 0.4416, 0.5919, 0.0605, 0.5755, 1.6901, 0.9138, -0.141, 0.1242, 0.3996, 0.999]\nstate[eef_state]: left_x=0.3961 left_y=-0.1393 left_z=0.0486 left_yaw=-0.8908 left_pitch=-0.2596 left_roll=0.04 left_gripper=0.0605 right_x=0.3602 right_y=0.2119 right_z=0.0506 right_yaw=0.2291 right_pitch=-0.3624 right_roll=0.1535 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -8.6085, 6.0376, 1.2332, 0.1832, -0.0317, 1.0379, -0.3077, -10.865, 8.4581, 1.5311, -0.1001, -0.0562, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2bc60870460ce22c29c524d1177f84f80d75a90c0e3f9566e8a2e23f54d5823",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6ba30aa82f29e8b48bc4c9d3e599f405704fdda70dde77cc9bbb7583cfe1c4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4efe251983a860e3dc84cec5b91198302ee967d5b9f7d5f942bd098ba48fcf88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /messages · status 200 · 13.09 s

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

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1749, 1.7496, 0.9504, -0.1444, 0.4664, 0.6006, 0.0555, 0.8368, 2.4611, 2.1693, -1.5459, 0.9344, 1.8877, 0.9991]\nstate[eef_state]: left_x=0.395 left_y=-0.1468 left_z=0.0537 left_yaw=-0.9208 left_pitch=-0.2381 left_roll=0.0384 left_gripper=0.0555 right_x=0.3913 right_y=0.227 right_z=0.0965 right_yaw=-0.9301 right_pitch=-0.0542 right_roll=-0.0091 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -8.5265, 6.4205, 1.37, 0.3736, 0.0757, 1.033, -0.759, -11.1658, 6.8308, -0.2613, 0.5104, 0.188, -0.1099]",
      "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]: [-0.1661, 1.7496, 0.9485, -0.1463, 0.4438, 0.5926, 0.0591, 0.8852, 2.458, 2.1105, -1.4021, 0.9344, 1.7569, 0.999]\nstate[eef_state]: left_x=0.397 left_y=-0.1398 left_z=0.0513 left_yaw=-0.8916 left_pitch=-0.253 left_roll=0.044 left_gripper=0.0591 right_x=0.3884 right_y=0.2561 right_z=0.0797 right_yaw=-0.807 right_pitch=-0.0684 right_roll=-0.0288 right_gripper=0.999\nstate[joint_eff]: [-1.0462, -8.0205, 6.2291, 1.3211, 0.3785, 0.0366, 1.033, 0.1299, -16.6222, 5.2581, 0.1734, 0.6178, -0.0708, -0.022]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.1661, 1.7542, 0.9466, -0.1471, 0.4416, 0.5919, 0.0605, 0.5755, 1.6901, 0.9138, -0.141, 0.1242, 0.3996, 0.999]\nstate[eef_state]: left_x=0.3961 left_y=-0.1393 left_z=0.0486 left_yaw=-0.8908 left_pitch=-0.2596 left_roll=0.04 left_gripper=0.0605 right_x=0.3602 right_y=0.2119 right_z=0.0506 right_yaw=0.2291 right_pitch=-0.3624 right_roll=0.1535 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -8.6085, 6.0376, 1.2332, 0.1832, -0.0317, 1.0379, -0.3077, -10.865, 8.4581, 1.5311, -0.1001, -0.0562, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2bc60870460ce22c29c524d1177f84f80d75a90c0e3f9566e8a2e23f54d5823",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6ba30aa82f29e8b48bc4c9d3e599f405704fdda70dde77cc9bbb7583cfe1c4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4efe251983a860e3dc84cec5b91198302ee967d5b9f7d5f942bd098ba48fcf88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YDagtdkNReZ5VaE9RuAV8N",
      "input": {
        "note": "Pen now appears diagonal (45°) in the right wrist view; rotating the wrist a further ~0.77 rad to bring the pen vertical in the image, and holding height at 12 cm.",
        "targets": {
          "right_yaw": 1.0,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01YDagtdkNReZ5VaE9RuAV8N",
      "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]: [-0.1661, 1.7554, 0.9466, -0.1467, 0.4412, 0.5919, 0.0605, 0.4587, 1.5944, 0.7757, 0.0349, -0.0952, 0.0887, 0.999]\nstate[eef_state]: left_x=0.3961 left_y=-0.1393 left_z=0.0482 left_yaw=-0.8906 left_pitch=-0.2604 left_roll=0.0397 left_gripper=0.0605 right_x=0.3601 right_y=0.2006 right_z=0.0645 right_yaw=0.4844 right_pitch=-0.2307 right_roll=0.1316 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -8.0615, 5.8735, 1.243, 0.1929, -0.0708, 1.0281, 0.2803, -8.1436, 7.0906, 1.6923, -0.1148, -0.1636, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b274a81b73b9861585bb39b040149cc980efd8af42b16e0910f8d401f0abe3e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a258e419b52c75e37bc624289bc13d8d8c9e7b3255a0f6eae6ee7c21360d7e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:76e7a272f67618e9b4c7edc85dce062f117beb97b520b650940f53211864db29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /messages · status 200 · 4.139 s

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

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1661, 1.7496, 0.9485, -0.1463, 0.4438, 0.5926, 0.0591, 0.8852, 2.458, 2.1105, -1.4021, 0.9344, 1.7569, 0.999]\nstate[eef_state]: left_x=0.397 left_y=-0.1398 left_z=0.0513 left_yaw=-0.8916 left_pitch=-0.253 left_roll=0.044 left_gripper=0.0591 right_x=0.3884 right_y=0.2561 right_z=0.0797 right_yaw=-0.807 right_pitch=-0.0684 right_roll=-0.0288 right_gripper=0.999\nstate[joint_eff]: [-1.0462, -8.0205, 6.2291, 1.3211, 0.3785, 0.0366, 1.033, 0.1299, -16.6222, 5.2581, 0.1734, 0.6178, -0.0708, -0.022]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.1661, 1.7542, 0.9466, -0.1471, 0.4416, 0.5919, 0.0605, 0.5755, 1.6901, 0.9138, -0.141, 0.1242, 0.3996, 0.999]\nstate[eef_state]: left_x=0.3961 left_y=-0.1393 left_z=0.0486 left_yaw=-0.8908 left_pitch=-0.2596 left_roll=0.04 left_gripper=0.0605 right_x=0.3602 right_y=0.2119 right_z=0.0506 right_yaw=0.2291 right_pitch=-0.3624 right_roll=0.1535 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -8.6085, 6.0376, 1.2332, 0.1832, -0.0317, 1.0379, -0.3077, -10.865, 8.4581, 1.5311, -0.1001, -0.0562, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.1661, 1.7554, 0.9466, -0.1467, 0.4412, 0.5919, 0.0605, 0.4587, 1.5944, 0.7757, 0.0349, -0.0952, 0.0887, 0.999]\nstate[eef_state]: left_x=0.3961 left_y=-0.1393 left_z=0.0482 left_yaw=-0.8906 left_pitch=-0.2604 left_roll=0.0397 left_gripper=0.0605 right_x=0.3601 right_y=0.2006 right_z=0.0645 right_yaw=0.4844 right_pitch=-0.2307 right_roll=0.1316 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -8.0615, 5.8735, 1.243, 0.1929, -0.0708, 1.0281, 0.2803, -8.1436, 7.0906, 1.6923, -0.1148, -0.1636, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b274a81b73b9861585bb39b040149cc980efd8af42b16e0910f8d401f0abe3e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a258e419b52c75e37bc624289bc13d8d8c9e7b3255a0f6eae6ee7c21360d7e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76e7a272f67618e9b4c7edc85dce062f117beb97b520b650940f53211864db29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015uw1v8oV3SQHHE3h924ohD",
      "input": {
        "note": "The pen now runs vertically in the right wrist view and is centred on the jaw column, but lies ~5 cm beyond the fingertips; advancing along the tool's forward direction and dropping to table height for the grasp.",
        "targets": {
          "right_x": 0.404,
          "right_y": 0.224,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_015uw1v8oV3SQHHE3h924ohD",
      "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]: [-0.1661, 1.7554, 0.9466, -0.1463, 0.4412, 0.5919, 0.0605, 0.4603, 1.5944, 0.7757, 0.0345, -0.1066, 0.0772, 0.999]\nstate[eef_state]: left_x=0.3962 left_y=-0.1393 left_z=0.0482 left_yaw=-0.8906 left_pitch=-0.2601 left_roll=0.0399 left_gripper=0.0605 right_x=0.3587 right_y=0.2028 right_z=0.0646 right_yaw=0.5021 right_pitch=-0.2299 right_roll=0.1316 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -8.1846, 5.8735, 1.2772, 0.1636, -0.0464, 1.0281, 0.0752, -8.335, 6.9128, 1.6581, -0.0952, -0.0806, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83b0e07db5c6f13284745f8817a95f45cd57ea65aab93460b9fbdb6b6cc6f7d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:963792c996964d8357b83c3a3e58689b2021f92d7d9506c109559ed24f8442d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:67c4c0a965b919e9e3f7f073f9717d5f8958f4360795e48c5b3979dd4ae719d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /messages · status 200 · 8.47 s

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

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1661, 1.7542, 0.9466, -0.1471, 0.4416, 0.5919, 0.0605, 0.5755, 1.6901, 0.9138, -0.141, 0.1242, 0.3996, 0.999]\nstate[eef_state]: left_x=0.3961 left_y=-0.1393 left_z=0.0486 left_yaw=-0.8908 left_pitch=-0.2596 left_roll=0.04 left_gripper=0.0605 right_x=0.3602 right_y=0.2119 right_z=0.0506 right_yaw=0.2291 right_pitch=-0.3624 right_roll=0.1535 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -8.6085, 6.0376, 1.2332, 0.1832, -0.0317, 1.0379, -0.3077, -10.865, 8.4581, 1.5311, -0.1001, -0.0562, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.1661, 1.7554, 0.9466, -0.1467, 0.4412, 0.5919, 0.0605, 0.4587, 1.5944, 0.7757, 0.0349, -0.0952, 0.0887, 0.999]\nstate[eef_state]: left_x=0.3961 left_y=-0.1393 left_z=0.0482 left_yaw=-0.8906 left_pitch=-0.2604 left_roll=0.0397 left_gripper=0.0605 right_x=0.3601 right_y=0.2006 right_z=0.0645 right_yaw=0.4844 right_pitch=-0.2307 right_roll=0.1316 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -8.0615, 5.8735, 1.243, 0.1929, -0.0708, 1.0281, 0.2803, -8.1436, 7.0906, 1.6923, -0.1148, -0.1636, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.1661, 1.7554, 0.9466, -0.1463, 0.4412, 0.5919, 0.0605, 0.4603, 1.5944, 0.7757, 0.0345, -0.1066, 0.0772, 0.999]\nstate[eef_state]: left_x=0.3962 left_y=-0.1393 left_z=0.0482 left_yaw=-0.8906 left_pitch=-0.2601 left_roll=0.0399 left_gripper=0.0605 right_x=0.3587 right_y=0.2028 right_z=0.0646 right_yaw=0.5021 right_pitch=-0.2299 right_roll=0.1316 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -8.1846, 5.8735, 1.2772, 0.1636, -0.0464, 1.0281, 0.0752, -8.335, 6.9128, 1.6581, -0.0952, -0.0806, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83b0e07db5c6f13284745f8817a95f45cd57ea65aab93460b9fbdb6b6cc6f7d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:963792c996964d8357b83c3a3e58689b2021f92d7d9506c109559ed24f8442d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67c4c0a965b919e9e3f7f073f9717d5f8958f4360795e48c5b3979dd4ae719d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS1wMKjgEIEhgCKkDjD+XCvOuB3U6dcPtrBwcDw1A08mzdu+3WyA4O/kygmEcrph6dDzwlaDMK7NCG6L/WbeesFXhfNO2Jwg4eMkW2Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdj/y9UGEgzvy/fK86nefn2gfnQaDMNJ9KC/nmKNQEey3iIw+fUFHN30Th2t78tJGgNTTrd5MzyObpqkQcCJRk6omh2pisGDJjZL1E7XdjfZ1IKkKvUBFhnj6DD4VnMGsLiwVIDTGN5CQzShcB8usNl4MqRSSMHGJ0xdu+PoC/MiKjm/eRcRi3xaOObVCyXKkHRi0WTREU/T5417IDa1uhBCcR16QJNhlGJ4NLqw/i9+G9a9NXj51IOGfhm7iywrcU0z6wkmW58cRVY30faSqBgxus+H5HqRV9OUA4NRcyWfa7hWETL951glE8p3sTeqw0MHHEFFfcMgWsB4cbN6VFizI+MxpMAxzv/rVN9iVcPimGESqyljB2BOi0SWg8S9nXm/uAo895YKBnlxFOnZ0fRAy/yYhKo5D7JezwOJAq9/9BB0LtEolwBZ9OsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017HZwcjGLakx8kB9jx4CvZG",
      "input": {
        "note": "The last command was rate-clamped and the right arm hardly moved; re-sending the same approach target over the pen.",
        "targets": {
          "right_x": 0.404,
          "right_y": 0.224,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_017HZwcjGLakx8kB9jx4CvZG",
      "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]: [-0.1661, 1.7554, 0.9466, -0.1463, 0.4412, 0.5919, 0.0605, 0.4603, 1.5944, 0.7757, 0.0345, -0.1066, 0.0772, 0.9989]\nstate[eef_state]: left_x=0.3962 left_y=-0.1393 left_z=0.0482 left_yaw=-0.8906 left_pitch=-0.2601 left_roll=0.0399 left_gripper=0.0605 right_x=0.3587 right_y=0.2028 right_z=0.0646 right_yaw=0.5021 right_pitch=-0.2299 right_roll=0.1316 right_gripper=0.9989\nstate[joint_eff]: [-0.335, -8.0479, 5.8735, 1.2625, 0.1538, -0.0757, 1.0281, -0.0205, -8.3624, 6.9949, 1.6337, -0.1294, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07e570f096634dc2253cf707c74afa0b71fea52908cf79758cdf19b288f83609",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:604a260f1281c43f695f447d8f985a7db07d9fdc0ff6302dfdbd6c7078e32994",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8ddf3d96cd3c466086a8541cc93cbb938e6e0fa094f504b34cc60125e6ade178",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /messages · status 200 · 6.863 s

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

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1661, 1.7554, 0.9466, -0.1467, 0.4412, 0.5919, 0.0605, 0.4587, 1.5944, 0.7757, 0.0349, -0.0952, 0.0887, 0.999]\nstate[eef_state]: left_x=0.3961 left_y=-0.1393 left_z=0.0482 left_yaw=-0.8906 left_pitch=-0.2604 left_roll=0.0397 left_gripper=0.0605 right_x=0.3601 right_y=0.2006 right_z=0.0645 right_yaw=0.4844 right_pitch=-0.2307 right_roll=0.1316 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -8.0615, 5.8735, 1.243, 0.1929, -0.0708, 1.0281, 0.2803, -8.1436, 7.0906, 1.6923, -0.1148, -0.1636, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.1661, 1.7554, 0.9466, -0.1463, 0.4412, 0.5919, 0.0605, 0.4603, 1.5944, 0.7757, 0.0345, -0.1066, 0.0772, 0.999]\nstate[eef_state]: left_x=0.3962 left_y=-0.1393 left_z=0.0482 left_yaw=-0.8906 left_pitch=-0.2601 left_roll=0.0399 left_gripper=0.0605 right_x=0.3587 right_y=0.2028 right_z=0.0646 right_yaw=0.5021 right_pitch=-0.2299 right_roll=0.1316 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -8.1846, 5.8735, 1.2772, 0.1636, -0.0464, 1.0281, 0.0752, -8.335, 6.9128, 1.6581, -0.0952, -0.0806, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.1661, 1.7554, 0.9466, -0.1463, 0.4412, 0.5919, 0.0605, 0.4603, 1.5944, 0.7757, 0.0345, -0.1066, 0.0772, 0.9989]\nstate[eef_state]: left_x=0.3962 left_y=-0.1393 left_z=0.0482 left_yaw=-0.8906 left_pitch=-0.2601 left_roll=0.0399 left_gripper=0.0605 right_x=0.3587 right_y=0.2028 right_z=0.0646 right_yaw=0.5021 right_pitch=-0.2299 right_roll=0.1316 right_gripper=0.9989\nstate[joint_eff]: [-0.335, -8.0479, 5.8735, 1.2625, 0.1538, -0.0757, 1.0281, -0.0205, -8.3624, 6.9949, 1.6337, -0.1294, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07e570f096634dc2253cf707c74afa0b71fea52908cf79758cdf19b288f83609",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:604a260f1281c43f695f447d8f985a7db07d9fdc0ff6302dfdbd6c7078e32994",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ddf3d96cd3c466086a8541cc93cbb938e6e0fa094f504b34cc60125e6ade178",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISgwgKjgEIEhgCKkAQU9+g3F59YHfQP15B3SHQBh3449ZQkmb8dy2QTWMuE8P71xEnSt3mbiHB88iri7WwczwQmPJprNrUdVcYGAQJMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeH/y9UGEgzeYbUU9xN08QL67TYaDBCgxhZhzxzr+HtDbyIwVrSVdxGf7k02wDzM73Tnr6JLoEBlC0XTdosn74ppN0v73w76kralTVZTwad7iwSPKqEGbJo7RzA83MEWz8r4rHLM3brceSpDF+RSsEdV/D96omeKdR6MdVnPW1Sp6lkLvyacGFpWyDRiZBW48oGvjbGa31rBCS1L9JkW8fTBCmF6VZfCjr2ZkZtw7eO+gVIKHUwQzO8aEZB5icUFs1H3JPu1ueZGO+Dwt12pDm/Aq5K4m0qcIRuqe3Sfk8OwnFjwoz2PQX0BZoglOCRKZP2L92f3MdN2mw/retV4pCEAI/X9klhx6f/8Ai+r1Yn2/JvF9tpu0L2JeHpoUxLpuSAEuVnYh5XXZ9wHYbpDb2VZWKFgLMZIrweFezmTb+06RUZo506ixkYSg33URBguA/1rHFfqdxamZYYvti1Ee335mfM/ojOGEsifitmdlELWG56rZtqiXn+zzN4Ct7mm2l/qNLvO6XIhQj/JfgWI2I8coLX2kZ8xwypQR7sTLi1+lpjyr4xSuF0Pg5iMw1sHuTxqtAbnms2daGDodOQ6Bg9cA4YrzrrYNa/F+gPpNFVaO8PQQU4yVg7QIqPgoOwyOOEWqyI817w/jzcRCgQ6Rp0iv3xz9GyheKatpYD6Dm1u1nITF8jkuWgH3o/sDIzqWvYNA+OxAGB/uFSKCaF5tH1+gT34HQvRx5vpECenz6iJi481dtUw8Ak6GIYLukR+bPga5e8i43uQwa672TAmIXDtU2XTEhJc0Uay4+waY43tkQ+dfbaBhXO3sljvSW4aI2dG8dTPa2udwt842C2mR10PQETdyzAPeyAgd7VJhuPscyEZqMMb/YrxflSnsOBx2aH5hEEgjACpRxYeti7rKp8BD5IUc1oa7/kCx4YTKsBSYgUwman16wHHmItX3IlEPoHVEmhNszlyF5voEwVG/aG8IfTqO6w7r6sSyl0upLvRoa5XKqBJzEjuG44B35vQoSVF3US+Z0eRgoLthHv5YcfeZQHYBirh7oJt8WObSzOoVKemGhR756ahCdFvDD3xHDxfDEc0Mx1Oms8KJb9z6vgFp4498y59MGEVepirGfglNghxwMhDgGZINMTRW9z+3qseYHBIw9/KLjwg1fqC19e7TNF6L9syGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Q9DsAecdkPaBgbWUjRLx1f",
      "input": {
        "note": "The right arm has stopped tracking larger targets, so I am issuing a smaller step: descend to 3 cm and creep 2 cm forward toward the pen.",
        "targets": {
          "right_x": 0.38,
          "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_01Q9DsAecdkPaBgbWUjRLx1f",
      "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]: [-0.1661, 1.7561, 0.9463, -0.1467, 0.4412, 0.5922, 0.0605, 0.4389, 1.7321, 0.7776, 0.1211, -0.1177, 0.0662, 0.9989]\nstate[eef_state]: left_x=0.3959 left_y=-0.1392 left_z=0.0478 left_yaw=-0.891 left_pitch=-0.2613 left_roll=0.0392 left_gripper=0.0605 right_x=0.3682 right_y=0.1997 right_z=0.0258 right_yaw=0.497 right_pitch=-0.2778 right_roll=0.1345 right_gripper=0.9989\nstate[joint_eff]: [-0.0479, -8.3214, 5.9145, 1.243, 0.232, -0.0269, 1.0281, -0.6085, -8.3214, 6.4479, 1.8095, -0.1978, -0.149, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0daba9b3c3d130c3079f33d3b94b90739ef8e41fb7dfd860fd529a755612acd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08d8adc61abd75b3ca5468886d98d118c15aa975205d381daa18cc3e40449a0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5f0fd0c0fb159cebfe0120add281fd7fe5ef872c3ee64fc245b4633a04bcd1fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /messages · status 200 · 5.698 s

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

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1661, 1.7554, 0.9466, -0.1463, 0.4412, 0.5919, 0.0605, 0.4603, 1.5944, 0.7757, 0.0345, -0.1066, 0.0772, 0.999]\nstate[eef_state]: left_x=0.3962 left_y=-0.1393 left_z=0.0482 left_yaw=-0.8906 left_pitch=-0.2601 left_roll=0.0399 left_gripper=0.0605 right_x=0.3587 right_y=0.2028 right_z=0.0646 right_yaw=0.5021 right_pitch=-0.2299 right_roll=0.1316 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -8.1846, 5.8735, 1.2772, 0.1636, -0.0464, 1.0281, 0.0752, -8.335, 6.9128, 1.6581, -0.0952, -0.0806, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.1661, 1.7554, 0.9466, -0.1463, 0.4412, 0.5919, 0.0605, 0.4603, 1.5944, 0.7757, 0.0345, -0.1066, 0.0772, 0.9989]\nstate[eef_state]: left_x=0.3962 left_y=-0.1393 left_z=0.0482 left_yaw=-0.8906 left_pitch=-0.2601 left_roll=0.0399 left_gripper=0.0605 right_x=0.3587 right_y=0.2028 right_z=0.0646 right_yaw=0.5021 right_pitch=-0.2299 right_roll=0.1316 right_gripper=0.9989\nstate[joint_eff]: [-0.335, -8.0479, 5.8735, 1.2625, 0.1538, -0.0757, 1.0281, -0.0205, -8.3624, 6.9949, 1.6337, -0.1294, -0.0659, -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 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]: [-0.1661, 1.7561, 0.9463, -0.1467, 0.4412, 0.5922, 0.0605, 0.4389, 1.7321, 0.7776, 0.1211, -0.1177, 0.0662, 0.9989]\nstate[eef_state]: left_x=0.3959 left_y=-0.1392 left_z=0.0478 left_yaw=-0.891 left_pitch=-0.2613 left_roll=0.0392 left_gripper=0.0605 right_x=0.3682 right_y=0.1997 right_z=0.0258 right_yaw=0.497 right_pitch=-0.2778 right_roll=0.1345 right_gripper=0.9989\nstate[joint_eff]: [-0.0479, -8.3214, 5.9145, 1.243, 0.232, -0.0269, 1.0281, -0.6085, -8.3214, 6.4479, 1.8095, -0.1978, -0.149, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0daba9b3c3d130c3079f33d3b94b90739ef8e41fb7dfd860fd529a755612acd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08d8adc61abd75b3ca5468886d98d118c15aa975205d381daa18cc3e40449a0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f0fd0c0fb159cebfe0120add281fd7fe5ef872c3ee64fc245b4633a04bcd1fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISyQUKjgEIEhgCKkAKdgCfx1UelU5n039tljEpgCPQy07Dw74clvD00EIl71BMh9VNNAgJ1pyZxOBLsdzq997fT5UoprVaxo7UznUUMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAej/y9UGEgxRAFYVO3RP5kKty6oaDAVLYzMwvdAGK0EwwCIwRjl2a3YXtutEkNlpt9KqeErCaCF2Kt6/jokPuryieQrV94SM/5wvzbPlr2QUhSksKucDC198LJnJX7EHg6dcgAxD4AEDgD+U6lHyKpJ9zrCE7AQD5NziAn5PG8dEHRJJNf/x6lsHsBUYFzblIAsXX8zn8Ab33ptLc3zK0VVsG8kOgxVV5xY8mZfm12cu6E2Qq94vt+GERG9Dkl2+TQGECak9nC4GdhRq0ZGIzpzx/jCmW0LVMdYzddvQCR3T2Vo916RKS4/22bOG0Cp8fCGJoRe1YZ8Jeo1TUU4s9dQV3gyVGSw0Faz+v5cFdord/vApe7HCLBwNFKHjP6bzE8jxpp0GoqknYZIAPmisO/tIfibNEF/bUPp7+3okXZm8YU3P0savvcv4oGiQcN4msB5QuDkAtmeG4bRjhfH078ykQ4ne+dELxoATDNK5v8fRLm//AHvUfuQgB1gr/Sx+IMGFOpJzRl34RiVQzmaxUtrk/lC57aj6M7kavX1wXgQKqzzqP5cBW1aOdHFkKpF0wMpjPlQqHeAiVdX7WQuvhQmnAF4XG1KwD96ZZ8K/f9d6M9ghOqksnj1Wx8DuhTc39OZHKH09glLVnDdc+GF0RFCPtQYUIZyL8IxZPZYpn/Sq5LXhekQLPPVfG/gRV7ETEoCLRo9O0b1irtg1/T0j52O6ap+I70cCFRWIxmqimhpgVH689jBfc8Rue6u9oRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HP5B3vuMQGY7hA8AkSwMpP",
      "input": {
        "note": "Pen is vertical and centred in the right wrist view but still ahead of the fingertips; creeping ~3 cm further forward and down to table level to put the jaws around its barrel.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.215,
          "right_z": 0.008
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01HP5B3vuMQGY7hA8AkSwMpP",
      "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]: [-0.1661, 1.7561, 0.9459, -0.1463, 0.4412, 0.5919, 0.0605, 0.4324, 1.7649, 0.7769, 0.1577, -0.1326, 0.062, 0.9989]\nstate[eef_state]: left_x=0.3959 left_y=-0.1392 left_z=0.0477 left_yaw=-0.8908 left_pitch=-0.2613 left_roll=0.0389 left_gripper=0.0605 right_x=0.3713 right_y=0.201 right_z=0.0187 right_yaw=0.5059 right_pitch=-0.2737 right_roll=0.1427 right_gripper=0.9989\nstate[joint_eff]: [-0.0752, -8.294, 5.8735, 1.2869, 0.1636, -0.0611, 1.0281, -0.4034, -8.6769, 6.2154, 1.7558, -0.0708, -0.1148, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f52276d98e42f84274cc2599afbecef875b2b9c2756d7bc2b533a22bbe01ab1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f93d27dcc8ff6f207a667f92382fa76041c758910da8ff81031ace1cb1541a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cdb6151c2d25f3daed77b00e24ee13573dc8e2112b6defb4e59b392b11329967",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /messages · status 200 · 10.61 s

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

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1661, 1.7554, 0.9466, -0.1463, 0.4412, 0.5919, 0.0605, 0.4603, 1.5944, 0.7757, 0.0345, -0.1066, 0.0772, 0.9989]\nstate[eef_state]: left_x=0.3962 left_y=-0.1393 left_z=0.0482 left_yaw=-0.8906 left_pitch=-0.2601 left_roll=0.0399 left_gripper=0.0605 right_x=0.3587 right_y=0.2028 right_z=0.0646 right_yaw=0.5021 right_pitch=-0.2299 right_roll=0.1316 right_gripper=0.9989\nstate[joint_eff]: [-0.335, -8.0479, 5.8735, 1.2625, 0.1538, -0.0757, 1.0281, -0.0205, -8.3624, 6.9949, 1.6337, -0.1294, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1661, 1.7561, 0.9463, -0.1467, 0.4412, 0.5922, 0.0605, 0.4389, 1.7321, 0.7776, 0.1211, -0.1177, 0.0662, 0.9989]\nstate[eef_state]: left_x=0.3959 left_y=-0.1392 left_z=0.0478 left_yaw=-0.891 left_pitch=-0.2613 left_roll=0.0392 left_gripper=0.0605 right_x=0.3682 right_y=0.1997 right_z=0.0258 right_yaw=0.497 right_pitch=-0.2778 right_roll=0.1345 right_gripper=0.9989\nstate[joint_eff]: [-0.0479, -8.3214, 5.9145, 1.243, 0.232, -0.0269, 1.0281, -0.6085, -8.3214, 6.4479, 1.8095, -0.1978, -0.149, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1661, 1.7561, 0.9459, -0.1463, 0.4412, 0.5919, 0.0605, 0.4324, 1.7649, 0.7769, 0.1577, -0.1326, 0.062, 0.9989]\nstate[eef_state]: left_x=0.3959 left_y=-0.1392 left_z=0.0477 left_yaw=-0.8908 left_pitch=-0.2613 left_roll=0.0389 left_gripper=0.0605 right_x=0.3713 right_y=0.201 right_z=0.0187 right_yaw=0.5059 right_pitch=-0.2737 right_roll=0.1427 right_gripper=0.9989\nstate[joint_eff]: [-0.0752, -8.294, 5.8735, 1.2869, 0.1636, -0.0611, 1.0281, -0.4034, -8.6769, 6.2154, 1.7558, -0.0708, -0.1148, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f52276d98e42f84274cc2599afbecef875b2b9c2756d7bc2b533a22bbe01ab1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f93d27dcc8ff6f207a667f92382fa76041c758910da8ff81031ace1cb1541a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cdb6151c2d25f3daed77b00e24ee13573dc8e2112b6defb4e59b392b11329967",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISpwUKjgEIEhgCKkBkcayB7pDJd54EIzPNHqIg/YiqJXnNXpe8T2y9FD1L7ZBVTRBDjapxEGaN+xCdv9/r9M2a3ZXtyZ+zhG94DPdsMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe7/y9UGEgwpD0/iyUVWG7y7/jsaDHytWRwluCvW4ayFWSIwShi3Y2QG1j6W0oRiqPMV/+Z/ED7Y7h3PDIxkwL0AEiyvGvOCsn10TXbN94rC890nKsUDTCHGwpWmAlFDJSfH2eh0Y50FZ94UjvRWm7PNLtMyQLuaSL1VmzONAAioan3SKPrnFBWqcKuDxDbO7b9jvxU54kGo5pk0bVBDpIYyB9vHf7TTAzRuXJkKoGLGq5waKObXYudgzQtHtLioGqdY1yh8us55eSQXpW0h4iGcUQjpvUWJZRoopkrozzC/X8gPCliQOgRrvhucwZYLzzDV3meXz5ZUFy3lGMtE3bV55nas+kX2loxZMDKdD/AtD1M7lPB40VLRDs/gjleAEBK+AlxtMl+VyAzYKwxjY/Ozshdi+01x+aFRDWSOk+Ut9CNcQD1o2zXalY3bJXn7kbzkcEGAFZFgBQf+0aq51EVZl7AyiYbHaalmt+ggPbcGM5lBR+353Yhc6ufeRPMg21ylHbg/4lyaFEcqnRjm9aYw6Pg/praJ+hRJs0WlqiIVEeSECkgftjfyONA4QjOfMqdJnnYRQgooN8qRYJFc8CYrG2YQPmmzpiam2CGPSV8r8IDDkkSwgvIRcMIfD/JcJ41TC1Hh9mgNao6qGnrERaPLx3taAd5MiUuNRUdmNatJCmiurR5lt4kyhoMkvobsnKVtuXgQbO96n/bSGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DernkbD3B5F2doh2LLtDWt",
      "input": {
        "note": "Motion is being rate-clamped to ~3 cm per call, so I am re-commanding a slightly further forward target to keep creeping the jaws onto the pen barrel.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.215,
          "right_z": 0.008
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01DernkbD3B5F2doh2LLtDWt",
      "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]: [-0.1661, 1.7561, 0.9459, -0.1463, 0.4412, 0.5919, 0.0605, 0.4324, 1.7649, 0.7769, 0.1581, -0.1326, 0.062, 0.9989]\nstate[eef_state]: left_x=0.3959 left_y=-0.1392 left_z=0.0477 left_yaw=-0.8908 left_pitch=-0.2613 left_roll=0.0389 left_gripper=0.0605 right_x=0.3713 right_y=0.201 right_z=0.0187 right_yaw=0.5059 right_pitch=-0.2733 right_roll=0.1427 right_gripper=0.9989\nstate[joint_eff]: [-0.294, -8.0479, 6.1744, 1.2625, 0.1587, -0.0757, 1.0281, -0.5538, -8.7043, 6.3111, 1.7167, -0.0366, -0.1294, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4be1dd5950ee0d662c437635163c35e59d64766158121020ff368f63c7e1d7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c25529030ff9f39a380dfd9b788482873ed19b08bbecbdf83822e5a4df6bae3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0daa309e98a967f8fce27a2d685a3c22ecc13ff9ed67272b85a6efaf327bb8cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /messages · status 200 · 5.61 s

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

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1661, 1.7561, 0.9463, -0.1467, 0.4412, 0.5922, 0.0605, 0.4389, 1.7321, 0.7776, 0.1211, -0.1177, 0.0662, 0.9989]\nstate[eef_state]: left_x=0.3959 left_y=-0.1392 left_z=0.0478 left_yaw=-0.891 left_pitch=-0.2613 left_roll=0.0392 left_gripper=0.0605 right_x=0.3682 right_y=0.1997 right_z=0.0258 right_yaw=0.497 right_pitch=-0.2778 right_roll=0.1345 right_gripper=0.9989\nstate[joint_eff]: [-0.0479, -8.3214, 5.9145, 1.243, 0.232, -0.0269, 1.0281, -0.6085, -8.3214, 6.4479, 1.8095, -0.1978, -0.149, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1661, 1.7561, 0.9459, -0.1463, 0.4412, 0.5919, 0.0605, 0.4324, 1.7649, 0.7769, 0.1577, -0.1326, 0.062, 0.9989]\nstate[eef_state]: left_x=0.3959 left_y=-0.1392 left_z=0.0477 left_yaw=-0.8908 left_pitch=-0.2613 left_roll=0.0389 left_gripper=0.0605 right_x=0.3713 right_y=0.201 right_z=0.0187 right_yaw=0.5059 right_pitch=-0.2737 right_roll=0.1427 right_gripper=0.9989\nstate[joint_eff]: [-0.0752, -8.294, 5.8735, 1.2869, 0.1636, -0.0611, 1.0281, -0.4034, -8.6769, 6.2154, 1.7558, -0.0708, -0.1148, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1661, 1.7561, 0.9459, -0.1463, 0.4412, 0.5919, 0.0605, 0.4324, 1.7649, 0.7769, 0.1581, -0.1326, 0.062, 0.9989]\nstate[eef_state]: left_x=0.3959 left_y=-0.1392 left_z=0.0477 left_yaw=-0.8908 left_pitch=-0.2613 left_roll=0.0389 left_gripper=0.0605 right_x=0.3713 right_y=0.201 right_z=0.0187 right_yaw=0.5059 right_pitch=-0.2733 right_roll=0.1427 right_gripper=0.9989\nstate[joint_eff]: [-0.294, -8.0479, 6.1744, 1.2625, 0.1587, -0.0757, 1.0281, -0.5538, -8.7043, 6.3111, 1.7167, -0.0366, -0.1294, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4be1dd5950ee0d662c437635163c35e59d64766158121020ff368f63c7e1d7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c25529030ff9f39a380dfd9b788482873ed19b08bbecbdf83822e5a4df6bae3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0daa309e98a967f8fce27a2d685a3c22ecc13ff9ed67272b85a6efaf327bb8cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISygsKjgEIEhgCKkBwobymWZRe+mR3oAj9PwTx3GQRTn8qP/vkTQLHMX7NLKn5FoQwKjoIAsdWYddiYz4pA22pQkzvGJx23eNRHAsUMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfn/y9UGEgyT+enP4myyGHA/s+saDDn6ybRw6+/HaSU3HSIwQE+s6H70nJNekNGcdmP561/yke5pERfSnQtKnjtDxTwXaemMDvtnRukG3LMp16GYKugJlYUFUzHYevJsVRkSvIRUv7OpNtypCTg2ncAgfhPgkoiot7i6nJJLcSH7VwFimM6dT8yFzd4GK+uPiu/dLkKm7H4cjNilmcKIWLgy/Hlj1yxV2n0lYiahQQxGQ3qBLG+ET5YvEsdxLRSZGXWgWZYqdL+Ki6bzxPreidHKJEcyDvmB5QdFxR4Xr+4vHjAOcFZUW84PZ/p/rx4IHFwEqP+/YWWhJeN57HPorb+pqntvfAgzDZ7mUNDGIVfCOQhGdR9zvsUDilZSWqECseuYvlfurF7F76njhfzn/g4hfRFs60MYcUvVOhb9UDOWlChUqRzvMiL324i8287Z9BRRSQGcLuGSpBfe9hEtli2va/chLZPwnKhUk0BfjKRNFrdkWKvnlNFxycLydWxekT5aIJFuZQK2W7QBMhHGGRe/5ltbjj7LEL3bf37vz0/eKQbwjg7Byo72QCv13XhAHegCxCIIOiIj17Lmz7vOfGTToTz8F/a+QxmKcUlC1VC9QNYLdOaRe57r2NumWReMzm8rpU1SygFKMjMYQ/HWswzplZhSOqyCb0bXaPWoDsBBMdHSPV79NJNrwvPDooMixcM7xBurCKvdU07lEnEx9VpT7Qx1puSvxwr2nCpR2F56MvlNApUTzxwqcgQy/fHagDeTjow+WoLuan876YJzUlNx8BHn5cY59KvKPfvzFEg9tT4Kt0iY3BptHK0z70cLIhN3Y8mUH8xD/GGw8wuQxbuTRsOOR2QjdkNDtItmh83iNK53OXdeFIRxdlJD6aWivwPn4j16YG+P6TybeVOEzc9FgbXPqPsywl9WGnVxf1BmPHMkWBWMhhQKTUS7YTCib0wg/8F6wPZ2zgK24qho6tSFd9UWWIOai2iy2Yhte9qM4oht0bx9BxBKmVorrsbvtSaspQ3OPvIouvgn6HfbcDOU5yzZ49kGfxT73j2ZK9lgrWTw0jT1lvknE5NR19+D58XGrtqItYpjIuQzjXLs1JZhta9jbh0pyl1vDW2kLYqKUQsmtreqD46+mWkQg+KdCQVO4smPrg/9G+r6fI9XNzWYbP2zSC9RcGiqIY/LDoHjYujNqR+gXnAY4AnbBlZtb9H/FKeK7hOhfOhi9XXNnjLgspbxFPr4DcZAjEFIpQow6M+947N540VlFbdGSc1PL6MICPUro1muCzY4rnbJcGFyXJVM1GgZzIpUfKI5zNgerdnAWtshvlhUX6PQ4JvodK7K0A/ObOg3ZjWKvuFw/BIcegyti3T5A72Zvqq0nfKxlztc+YQaIrosHRqZEWDL5jzwHwl55zsY3NzwyrjsCaCeacGuXqisWxrblOYdY5RusbGKr+VT9ceg5EgG2yw0mDqPmZQvAyRusyaJETSH8lc9ApJaLNFAVrq+uA9eSxD+bKv1JGPiP04kKCsMxjIVM8/XbPPtJ3I3cqNmtHZ/BYWDfS627EjpdThce081quLLGmAwdPr01JB8I1jt2MX2LAoUR27UQJU0SJRK8+tfpB+Pz+p+e252kGGIkyQHs6Kk2l5ynpbxyY447QLpcQLp3fGDIdbO7yIxaZ6ZNWVM/aUy6e9+uYZXUcGJ/A6DAYMqcehHo793DJVUEtvkAQCrbfw87YrxmpIskjvDFCdJregV9hHbTUImCfETsm2t4Bw+Q/2FoHuDAXuzG027WWkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UbR2VGUhTbBybRdmE8gUen",
      "input": {
        "note": "The right arm refuses to extend further at this height, and the pen's near end already reaches the bottom of the wrist view near the jaws; closing the gripper to test whether the pen is between the fingers.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01UbR2VGUhTbBybRdmE8gUen",
      "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]: [-0.1661, 1.7561, 0.9459, -0.1463, 0.4412, 0.5919, 0.0605, 0.4324, 1.7649, 0.7769, 0.1635, -0.1329, 0.0555, 0.0149]\nstate[eef_state]: left_x=0.3959 left_y=-0.1392 left_z=0.0477 left_yaw=-0.8908 left_pitch=-0.2613 left_roll=0.0389 left_gripper=0.0605 right_x=0.3722 right_y=0.2015 right_z=0.0196 right_yaw=0.5096 right_pitch=-0.2674 right_roll=0.138 right_gripper=0.0149\nstate[joint_eff]: [-0.2803, -8.253, 5.9829, 1.2674, 0.1294, -0.0757, 1.0281, -0.335, -7.9658, 5.4222, 1.4432, -0.0269, 0.0317, 0.7546]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c375b40abfe069a85b30282913ebe67cee21515e6fb7aa0b90e39bfc81598ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fcf9b47e2350ac87631e3df01958662f4670714e9928e431cb5a4c1e22e746a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:98560fe75b7445c17e15fd1fbf86804bd06e23fba8156a5534b2368fd4c1b149",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /messages · status 200 · 6.022 s

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

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1661, 1.7561, 0.9459, -0.1463, 0.4412, 0.5919, 0.0605, 0.4324, 1.7649, 0.7769, 0.1577, -0.1326, 0.062, 0.9989]\nstate[eef_state]: left_x=0.3959 left_y=-0.1392 left_z=0.0477 left_yaw=-0.8908 left_pitch=-0.2613 left_roll=0.0389 left_gripper=0.0605 right_x=0.3713 right_y=0.201 right_z=0.0187 right_yaw=0.5059 right_pitch=-0.2737 right_roll=0.1427 right_gripper=0.9989\nstate[joint_eff]: [-0.0752, -8.294, 5.8735, 1.2869, 0.1636, -0.0611, 1.0281, -0.4034, -8.6769, 6.2154, 1.7558, -0.0708, -0.1148, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1661, 1.7561, 0.9459, -0.1463, 0.4412, 0.5919, 0.0605, 0.4324, 1.7649, 0.7769, 0.1581, -0.1326, 0.062, 0.9989]\nstate[eef_state]: left_x=0.3959 left_y=-0.1392 left_z=0.0477 left_yaw=-0.8908 left_pitch=-0.2613 left_roll=0.0389 left_gripper=0.0605 right_x=0.3713 right_y=0.201 right_z=0.0187 right_yaw=0.5059 right_pitch=-0.2733 right_roll=0.1427 right_gripper=0.9989\nstate[joint_eff]: [-0.294, -8.0479, 6.1744, 1.2625, 0.1587, -0.0757, 1.0281, -0.5538, -8.7043, 6.3111, 1.7167, -0.0366, -0.1294, -0.0122]",
      "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]: [-0.1661, 1.7561, 0.9459, -0.1463, 0.4412, 0.5919, 0.0605, 0.4324, 1.7649, 0.7769, 0.1635, -0.1329, 0.0555, 0.0149]\nstate[eef_state]: left_x=0.3959 left_y=-0.1392 left_z=0.0477 left_yaw=-0.8908 left_pitch=-0.2613 left_roll=0.0389 left_gripper=0.0605 right_x=0.3722 right_y=0.2015 right_z=0.0196 right_yaw=0.5096 right_pitch=-0.2674 right_roll=0.138 right_gripper=0.0149\nstate[joint_eff]: [-0.2803, -8.253, 5.9829, 1.2674, 0.1294, -0.0757, 1.0281, -0.335, -7.9658, 5.4222, 1.4432, -0.0269, 0.0317, 0.7546]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c375b40abfe069a85b30282913ebe67cee21515e6fb7aa0b90e39bfc81598ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fcf9b47e2350ac87631e3df01958662f4670714e9928e431cb5a4c1e22e746a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98560fe75b7445c17e15fd1fbf86804bd06e23fba8156a5534b2368fd4c1b149",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS0AQKjgEIEhgCKkCDwHn5qvoZ+1YQOPmwbxwhhYOJZ1y9gWgTLa6hBW8URKsfEu+ObJTacA95qJkBeVULTK5+29xV2onUJZ2Jfxs+Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf//y9UGEgxd06aPp7xqCXT/JkAaDFPAfjVhlg9MGEeANSIwGPy6sdAftjb6ij+TvxexbQ6f92bZRHIpXIrtt64JeNfbNFbGO5PeEBIpX5n4QcaXKu4CklF+x3bKTUyiInbo8fTCYSorG/07q9MAysAYv5s/eH/zaE+YTw3AEvkSKpoK6o1k4UMkOg5yhjN8fIyuQmP+I/Hobl3KZIFQljgsZDueJunUBlhcWl6YVaIQGZ4EFkgH/4NAlpxdUm+bW/LPJfVwDRdcdMhdpxNkg715tJQShKIv0vBD+hBKKihGjt2gJIX+SuwRh4wjsGE+3EzO5mnkprQuieBnynMRcuQdziZLz6iSsE8icd/U1gtJ3JLm/3dq1f5R4P2M8moaljLJTMX/Ni8bsW3bP1Lr2i3+2N7VMzJQ/wb/NIHSa0PdjsecLlcV68uspA7MMaJlOYEs1UlmpwOlKNbMHQmzxp0bFSM85Gh5p9FpvXOLGupApv+lqGrVW6aTWvP7ZfbsuukDHJMr005nohibWc7OhDZV/fezmnEmfuzGqB0jEtsbsScK1g+LT1dl4LgvvSP5QZ1oHWonbhZ+s6JcAbc8sYwAexV0GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011hVZAKcNAu1e1UFR2jz8BW",
      "input": {
        "note": "The close was empty (gripper 0.015), so the pen is still beyond the fingertips and the arm won't extend at table height. Opening up and lifting to 8 cm while reaching further forward, where the arm has more reach.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.43,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_011hVZAKcNAu1e1UFR2jz8BW",
      "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]: [-0.1661, 1.7561, 0.9459, -0.1467, 0.4412, 0.5919, 0.0605, 0.3725, 1.7973, 1.0859, -0.1211, -0.1703, 0.0044, 0.9953]\nstate[eef_state]: left_x=0.3958 left_y=-0.1392 left_z=0.0476 left_yaw=-0.8909 left_pitch=-0.2616 left_roll=0.0386 left_gripper=0.0605 right_x=0.4241 right_y=0.2017 right_z=0.0743 right_yaw=0.5104 right_pitch=-0.2684 right_roll=0.1312 right_gripper=0.9953\nstate[joint_eff]: [-0.335, -8.253, 6.0513, 1.2186, 0.188, -0.0415, 1.0281, -0.8274, -8.2393, 8.3897, 1.5263, -0.2418, 0.0171, -0.1929]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb0e2b4cfd96510b6b9ebd7f4118d3abcc81e63e6d1ea8fa66d7a46cdfd4fcee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1716ad872f014965861554ee791a6f8a07a72acc6ea46181f3b9eb0f901471a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:59f7f9dd87b41fea6437cda876e0be3ff830acde57fb31bb662d112eeb63455a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /messages · status 200 · 7.285 s

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

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1661, 1.7561, 0.9459, -0.1463, 0.4412, 0.5919, 0.0605, 0.4324, 1.7649, 0.7769, 0.1581, -0.1326, 0.062, 0.9989]\nstate[eef_state]: left_x=0.3959 left_y=-0.1392 left_z=0.0477 left_yaw=-0.8908 left_pitch=-0.2613 left_roll=0.0389 left_gripper=0.0605 right_x=0.3713 right_y=0.201 right_z=0.0187 right_yaw=0.5059 right_pitch=-0.2733 right_roll=0.1427 right_gripper=0.9989\nstate[joint_eff]: [-0.294, -8.0479, 6.1744, 1.2625, 0.1587, -0.0757, 1.0281, -0.5538, -8.7043, 6.3111, 1.7167, -0.0366, -0.1294, -0.0122]",
      "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]: [-0.1661, 1.7561, 0.9459, -0.1463, 0.4412, 0.5919, 0.0605, 0.4324, 1.7649, 0.7769, 0.1635, -0.1329, 0.0555, 0.0149]\nstate[eef_state]: left_x=0.3959 left_y=-0.1392 left_z=0.0477 left_yaw=-0.8908 left_pitch=-0.2613 left_roll=0.0389 left_gripper=0.0605 right_x=0.3722 right_y=0.2015 right_z=0.0196 right_yaw=0.5096 right_pitch=-0.2674 right_roll=0.138 right_gripper=0.0149\nstate[joint_eff]: [-0.2803, -8.253, 5.9829, 1.2674, 0.1294, -0.0757, 1.0281, -0.335, -7.9658, 5.4222, 1.4432, -0.0269, 0.0317, 0.7546]\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]: [-0.1661, 1.7561, 0.9459, -0.1467, 0.4412, 0.5919, 0.0605, 0.3725, 1.7973, 1.0859, -0.1211, -0.1703, 0.0044, 0.9953]\nstate[eef_state]: left_x=0.3958 left_y=-0.1392 left_z=0.0476 left_yaw=-0.8909 left_pitch=-0.2616 left_roll=0.0386 left_gripper=0.0605 right_x=0.4241 right_y=0.2017 right_z=0.0743 right_yaw=0.5104 right_pitch=-0.2684 right_roll=0.1312 right_gripper=0.9953\nstate[joint_eff]: [-0.335, -8.253, 6.0513, 1.2186, 0.188, -0.0415, 1.0281, -0.8274, -8.2393, 8.3897, 1.5263, -0.2418, 0.0171, -0.1929]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb0e2b4cfd96510b6b9ebd7f4118d3abcc81e63e6d1ea8fa66d7a46cdfd4fcee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1716ad872f014965861554ee791a6f8a07a72acc6ea46181f3b9eb0f901471a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59f7f9dd87b41fea6437cda876e0be3ff830acde57fb31bb662d112eeb63455a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIShAUKjgEIEhgCKkAeS0k4Rh08YQc1WrFQ9diQjRTb2G6xtPpg1855BkUFowN6IrjbFX32JXaD3lUETIj2Cx+FkqPPUKZeN9I+RO8JMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYeAzNUGEgyfpKU4UpVo5AXktgsaDNPEn/gcaXkzaWjJyyIwGIMywp2/E/FQKSr17DeQBk2rGdQmBRtOG5k3jxwebAd3HwQXmB2t46ow5CCivjDUKqIDBLttDdf4PmnobDW4kHiE7d2MNRfkAMOI43BlEzNTn8PRvuCE02+l2P+Z1p874qy0DtfrGHW+7+fLnKtQ+4Aw2yjM1hH4jA0ZKRQZKiYXnnnlHRniawKGDFCGf+SypXdRjlodRrPC8l8+eQhdqAmPLFnEygADzEjwOgcrqyt63kqaTxgKEJ0TLVGsXKVN/gsAoCWWs1GI66cOd/FzLTeBJZplyqGJu53urPy7wx4URhMsH7RbIKkIuKL7oX4y6YrpACos5xu44ouS8rtllqtaYJ3SykUz+A5qQKwbwqOl+QzGt1/YtsKN10WGfRl2LW8cTCIuVFcykZngYNZ/GFJVUSef26UqeYThYm8XKA0OUsej+NgmMI10B1D/iYUqAQbRUOyAZgq+zEn2Kapbv9wPTSDpHnCBnZJ3Y1GPBIXk+OhU8hIzfeYZhDva+rKE8LuSCmzYjQRTBpCjWRcxGvE2E0tm/Xv8lvNNVQsOmxRVEpIKnAq6B8IPpT07Jgk2KpFsuePlDZWT/qV4kihmcqC0Luk3Dsyivb2jKy/SBGcYytR3iRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EgEK2YF5VoAtfTjjs8x2rp",
      "input": {
        "note": "From 8 cm up the pen now passes right between the jaw shadows in the wrist view; descending straight down to table level over it.",
        "targets": {
          "right_z": 0.012
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01EgEK2YF5VoAtfTjjs8x2rp",
      "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]: [-0.1661, 1.7561, 0.9459, -0.1471, 0.4412, 0.5922, 0.0623, 0.3687, 1.9175, 0.9848, 0.0551, -0.1665, -0.0032, 0.9959]\nstate[eef_state]: left_x=0.3957 left_y=-0.1392 left_z=0.0476 left_yaw=-0.8912 left_pitch=-0.2619 left_roll=0.0386 left_gripper=0.0623 right_x=0.4172 right_y=0.1964 right_z=0.0115 right_yaw=0.5093 right_pitch=-0.3128 right_roll=0.1295 right_gripper=0.9959\nstate[joint_eff]: [-0.253, -8.2256, 5.8325, 1.2723, 0.1734, -0.0562, 0.9744, 0.294, -7.5966, 5.1077, 1.5995, -0.0562, 0.0562, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb3cfa26001c17dda5c6e233728fd19bc41c0a4976b081289ffb6e948b5fbc86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd8550a98f9b6c3ca53a4d04f8fc5cde1a3b97b3987e90f4b77e4f698c2cb4da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:61e23197e5e7121fe1e778e8b1877566881dfbd73eda5a3f22336b748b93cc7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /messages · status 200 · 3.569 s

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

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1661, 1.7561, 0.9459, -0.1463, 0.4412, 0.5919, 0.0605, 0.4324, 1.7649, 0.7769, 0.1635, -0.1329, 0.0555, 0.0149]\nstate[eef_state]: left_x=0.3959 left_y=-0.1392 left_z=0.0477 left_yaw=-0.8908 left_pitch=-0.2613 left_roll=0.0389 left_gripper=0.0605 right_x=0.3722 right_y=0.2015 right_z=0.0196 right_yaw=0.5096 right_pitch=-0.2674 right_roll=0.138 right_gripper=0.0149\nstate[joint_eff]: [-0.2803, -8.253, 5.9829, 1.2674, 0.1294, -0.0757, 1.0281, -0.335, -7.9658, 5.4222, 1.4432, -0.0269, 0.0317, 0.7546]\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]: [-0.1661, 1.7561, 0.9459, -0.1467, 0.4412, 0.5919, 0.0605, 0.3725, 1.7973, 1.0859, -0.1211, -0.1703, 0.0044, 0.9953]\nstate[eef_state]: left_x=0.3958 left_y=-0.1392 left_z=0.0476 left_yaw=-0.8909 left_pitch=-0.2616 left_roll=0.0386 left_gripper=0.0605 right_x=0.4241 right_y=0.2017 right_z=0.0743 right_yaw=0.5104 right_pitch=-0.2684 right_roll=0.1312 right_gripper=0.9953\nstate[joint_eff]: [-0.335, -8.253, 6.0513, 1.2186, 0.188, -0.0415, 1.0281, -0.8274, -8.2393, 8.3897, 1.5263, -0.2418, 0.0171, -0.1929]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.1661, 1.7561, 0.9459, -0.1471, 0.4412, 0.5922, 0.0623, 0.3687, 1.9175, 0.9848, 0.0551, -0.1665, -0.0032, 0.9959]\nstate[eef_state]: left_x=0.3957 left_y=-0.1392 left_z=0.0476 left_yaw=-0.8912 left_pitch=-0.2619 left_roll=0.0386 left_gripper=0.0623 right_x=0.4172 right_y=0.1964 right_z=0.0115 right_yaw=0.5093 right_pitch=-0.3128 right_roll=0.1295 right_gripper=0.9959\nstate[joint_eff]: [-0.253, -8.2256, 5.8325, 1.2723, 0.1734, -0.0562, 0.9744, 0.294, -7.5966, 5.1077, 1.5995, -0.0562, 0.0562, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb3cfa26001c17dda5c6e233728fd19bc41c0a4976b081289ffb6e948b5fbc86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd8550a98f9b6c3ca53a4d04f8fc5cde1a3b97b3987e90f4b77e4f698c2cb4da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61e23197e5e7121fe1e778e8b1877566881dfbd73eda5a3f22336b748b93cc7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISnAYKjgEIEhgCKkDiLaygad5On6rWSAQ9WpzgzfH9VO2qORSbd+L/onpk518piHP7V4VNJ3bvK/pTdQQjYlZbRudsvEGaSGgjFw9nMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAY6AzNUGEgwLkK2E98n4iLEd1KoaDKeGEZXlIyx7PmPgiSIwTzTRV/65CPZZGWKRk/2Z1FdxU+wHaD6TMFa0s/nsteodLip5C2GPoGEssiMrIiPsKroEcYTejFG7bt4Msy+qWUKDJ3QtTHUcS0EPeoZTMJO/sAC7YSSOVbbQQYvcvgHGOzSgEC7Bl/1xALZ1mehDpG1K1kAc0wlNNbXf4VYx1chHU3dVhjNA6SNU1iEvEl5mbeyyGOOaA67qWt2TdxKk7UEf0TQfmRe3U8nl3NN+KJBnQ82j1F+Q3Bu9lCsst+oIO07fawHcLk78D8IynaDObo+kRU68eMVj5FOeXoTml+gGcxQVaP3MKQK2gKlCY47dqx8Sy9o/XnBXrstcrsH2c0u5PdPkt6IC17JfY3p3XbJg070zC8j6vr1g+pf/NjSXKCbM1N5awiYfTrvbY74QZg92YvCKR+0hR5Hu6D9Wkrf5iNIev7fGCtRsUmKxbZWitV+zZR4HI59VSXREzE1qnU4WR07dDSW+bjOrYZHgUngdy8xM+pWyYn5RpIlwybnSpQ21z14XXQlcntyQfyAKXPEs37tBu09iztJxaxc8O2HFL1bnHsYrJgbB4tQNLYDf+/mMs0RKYwxz6ZOeDaCE4byHaR6X6dxHr9W1pR91RTWGXs5nQ92CJK+rQWDKryexvy3/ptZ5y2Qr+qnw9TU5RNJMSZ4Ole8n0SLWiID3LNhezKNkmTHQP6L2cYjFTJLW7Ls5otSOrS0Lz9GoDU/NNGcTY/KIjjw2G89Olg7E5AJQuJNGXsQD0kf7Euvn4eLkl8bk6lcOwowz+zfJ2FHxH72mQzP/k1sHrx4FNuwP9qiTh/81YkpkRnjZjAkWGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ArU53ymHbemBB6WbFPWipv",
      "input": {
        "note": "At table height the pen runs just left of the jaw column in the wrist view; sliding the tool ~3 cm along its jaw axis to centre the pen between the fingers.",
        "targets": {
          "right_x": 0.402,
          "right_y": 0.222
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01ArU53ymHbemBB6WbFPWipv",
      "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]: [-0.1661, 1.7561, 0.9459, -0.1463, 0.4408, 0.5919, 0.0633, 0.4332, 1.9217, 0.9768, 0.0822, -0.1314, 0.0315, 0.996]\nstate[eef_state]: left_x=0.3959 left_y=-0.1392 left_z=0.0477 left_yaw=-0.8905 left_pitch=-0.2615 left_roll=0.0391 left_gripper=0.0633 right_x=0.4085 right_y=0.2184 right_z=0.0104 right_yaw=0.5231 right_pitch=-0.3037 right_roll=0.1234 right_gripper=0.996\nstate[joint_eff]: [-0.2803, -8.1846, 5.8872, 1.3016, 0.1294, -0.0415, 0.9158, 0.335, -10.7009, 4.7932, 1.3162, -0.0122, 0.0904, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99fe8bcdcad240e65b49cca4e5ba26df25d031c1d5e615aed26ea1635fefad99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d35f88419437e824d569bca51a3b3cfdb064497f9babb7e5db3f733f82886123",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5dd36c85e2b0706bce7cb50720bcd152559b128f67771968b7dd1346590fa37c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /messages · status 200 · 7.057 s

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

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1661, 1.7561, 0.9459, -0.1467, 0.4412, 0.5919, 0.0605, 0.3725, 1.7973, 1.0859, -0.1211, -0.1703, 0.0044, 0.9953]\nstate[eef_state]: left_x=0.3958 left_y=-0.1392 left_z=0.0476 left_yaw=-0.8909 left_pitch=-0.2616 left_roll=0.0386 left_gripper=0.0605 right_x=0.4241 right_y=0.2017 right_z=0.0743 right_yaw=0.5104 right_pitch=-0.2684 right_roll=0.1312 right_gripper=0.9953\nstate[joint_eff]: [-0.335, -8.253, 6.0513, 1.2186, 0.188, -0.0415, 1.0281, -0.8274, -8.2393, 8.3897, 1.5263, -0.2418, 0.0171, -0.1929]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.1661, 1.7561, 0.9459, -0.1471, 0.4412, 0.5922, 0.0623, 0.3687, 1.9175, 0.9848, 0.0551, -0.1665, -0.0032, 0.9959]\nstate[eef_state]: left_x=0.3957 left_y=-0.1392 left_z=0.0476 left_yaw=-0.8912 left_pitch=-0.2619 left_roll=0.0386 left_gripper=0.0623 right_x=0.4172 right_y=0.1964 right_z=0.0115 right_yaw=0.5093 right_pitch=-0.3128 right_roll=0.1295 right_gripper=0.9959\nstate[joint_eff]: [-0.253, -8.2256, 5.8325, 1.2723, 0.1734, -0.0562, 0.9744, 0.294, -7.5966, 5.1077, 1.5995, -0.0562, 0.0562, 0.0611]",
      "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]: [-0.1661, 1.7561, 0.9459, -0.1463, 0.4408, 0.5919, 0.0633, 0.4332, 1.9217, 0.9768, 0.0822, -0.1314, 0.0315, 0.996]\nstate[eef_state]: left_x=0.3959 left_y=-0.1392 left_z=0.0477 left_yaw=-0.8905 left_pitch=-0.2615 left_roll=0.0391 left_gripper=0.0633 right_x=0.4085 right_y=0.2184 right_z=0.0104 right_yaw=0.5231 right_pitch=-0.3037 right_roll=0.1234 right_gripper=0.996\nstate[joint_eff]: [-0.2803, -8.1846, 5.8872, 1.3016, 0.1294, -0.0415, 0.9158, 0.335, -10.7009, 4.7932, 1.3162, -0.0122, 0.0904, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99fe8bcdcad240e65b49cca4e5ba26df25d031c1d5e615aed26ea1635fefad99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d35f88419437e824d569bca51a3b3cfdb064497f9babb7e5db3f733f82886123",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5dd36c85e2b0706bce7cb50720bcd152559b128f67771968b7dd1346590fa37c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS/AIKjgEIEhgCKkCAumFJLRGModVhVwJyPWxMRsVjG0E+cm5NTTSQfBl7YJfwbrY8YNyfwnZUPG8edDPzEuj29VIOY3RReiDgJuNsMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZOAzNUGEgxRyx28/D7OW9XznfIaDF3l5fvQxF71bO6snCIwzae8AmRRB6FExMADdVnGiBjsZ0bRx8aIvWtDXu9Ghfrdx2xHVjivdmSWWatrvebgKpoB23K7Tx0DHO8XbiRtWsVEXP3xhvhF13+VN7X58XffdmNsW4rHBjjQQuWrRain5ZsVLeCQI37AN/7j8YP9rxcnpEKgWoBBIEtlndEolyjJPLP/Z9/RpMxPs5zb2V4HbZcVeM6UNixzRQX4iZtkL6UilcAdlvA989Wqa7g4SXtyZtVOKZ3IIphrlp9/qoXaDA2D4y5ih6hf+6sbbxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MRVaMqmXFytCA2WTZeZ2EM",
      "input": {
        "note": "The pen now passes between the two jaw wedges at the bottom of the right wrist view; closing to grasp it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01MRVaMqmXFytCA2WTZeZ2EM",
      "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]: [-0.1661, 1.7561, 0.9459, -0.1463, 0.4412, 0.5922, 0.0638, 0.4381, 1.9205, 0.9783, 0.0906, -0.1349, 0.0292, 0.0155]\nstate[eef_state]: left_x=0.3959 left_y=-0.1392 left_z=0.0477 left_yaw=-0.891 left_pitch=-0.2613 left_roll=0.0392 left_gripper=0.0638 right_x=0.4091 right_y=0.2218 right_z=0.0128 right_yaw=0.532 right_pitch=-0.2923 right_roll=0.1235 right_gripper=0.0155\nstate[joint_eff]: [-0.335, -8.2667, 5.8735, 1.2576, 0.1343, -0.0562, 1.0281, -0.212, -9.388, 5.9829, 1.3211, -0.0073, -0.0171, 0.7741]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21fd7e8ad6fa57f5bdce8d4494910dd85680f00ede9fd21952f04a551f4c4320",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9c47e80b25aed2cc59bc982c87a75da4a58a43bbce70e48485da8d60cd85dd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:abac03982b61e745c321acac3900273c997e23be6f77553bb1a912e705128e11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /messages · status 200 · 12.09 s

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

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1661, 1.7561, 0.9459, -0.1471, 0.4412, 0.5922, 0.0623, 0.3687, 1.9175, 0.9848, 0.0551, -0.1665, -0.0032, 0.9959]\nstate[eef_state]: left_x=0.3957 left_y=-0.1392 left_z=0.0476 left_yaw=-0.8912 left_pitch=-0.2619 left_roll=0.0386 left_gripper=0.0623 right_x=0.4172 right_y=0.1964 right_z=0.0115 right_yaw=0.5093 right_pitch=-0.3128 right_roll=0.1295 right_gripper=0.9959\nstate[joint_eff]: [-0.253, -8.2256, 5.8325, 1.2723, 0.1734, -0.0562, 0.9744, 0.294, -7.5966, 5.1077, 1.5995, -0.0562, 0.0562, 0.0611]",
      "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]: [-0.1661, 1.7561, 0.9459, -0.1463, 0.4408, 0.5919, 0.0633, 0.4332, 1.9217, 0.9768, 0.0822, -0.1314, 0.0315, 0.996]\nstate[eef_state]: left_x=0.3959 left_y=-0.1392 left_z=0.0477 left_yaw=-0.8905 left_pitch=-0.2615 left_roll=0.0391 left_gripper=0.0633 right_x=0.4085 right_y=0.2184 right_z=0.0104 right_yaw=0.5231 right_pitch=-0.3037 right_roll=0.1234 right_gripper=0.996\nstate[joint_eff]: [-0.2803, -8.1846, 5.8872, 1.3016, 0.1294, -0.0415, 0.9158, 0.335, -10.7009, 4.7932, 1.3162, -0.0122, 0.0904, -0.0024]",
      "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]: [-0.1661, 1.7561, 0.9459, -0.1463, 0.4412, 0.5922, 0.0638, 0.4381, 1.9205, 0.9783, 0.0906, -0.1349, 0.0292, 0.0155]\nstate[eef_state]: left_x=0.3959 left_y=-0.1392 left_z=0.0477 left_yaw=-0.891 left_pitch=-0.2613 left_roll=0.0392 left_gripper=0.0638 right_x=0.4091 right_y=0.2218 right_z=0.0128 right_yaw=0.532 right_pitch=-0.2923 right_roll=0.1235 right_gripper=0.0155\nstate[joint_eff]: [-0.335, -8.2667, 5.8735, 1.2576, 0.1343, -0.0562, 1.0281, -0.212, -9.388, 5.9829, 1.3211, -0.0073, -0.0171, 0.7741]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21fd7e8ad6fa57f5bdce8d4494910dd85680f00ede9fd21952f04a551f4c4320",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9c47e80b25aed2cc59bc982c87a75da4a58a43bbce70e48485da8d60cd85dd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abac03982b61e745c321acac3900273c997e23be6f77553bb1a912e705128e11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISqQcKjgEIEhgCKkB6YNwxuzmBIdqPjRee7aqsa57pGMIfKIxcwDjlZAXR9NkgY8bDkaEwlt1NuG4dN5kmlnHPiDO4sIKHCDBUqCzsMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZqAzNUGEgy2lLkGtKY2YEpbga0aDO2H5up++woyBITSFyIwFmUyaJliK7SOFWDRKOclfhN6WR521I/ToEyPYVm+xY9ysEFUQ+Np1A4c2OTAamnYKscFbtCDoKBYSo+CSXtRk49lIPTebj+qEU8T7OpnOfnn214yo4SqeAnJvUJ4Xc70UKoqRjDJlebWz1B2KNbp0SlW0nsH3CZHZ9gS4q2o6Nz3yGktULLT24L3OP5qCj9oVkugoYvOBjYieAd1a/4My1zLofCsaZSQ4L80QY5/RU8royn0WaQv/hXl3Vkia1HRv6cNcocTxQFMq9WqMfVGfc6b29LnlQCGc0kvOP4ZDCnLo37IV5OffEt0d3GQ2afjPCx3UrFhsEmUSqs8iL8OHEOYe9aItm3JJ8+tVongYtFpNrvyS8GDG6kOg4V034dG2hgsIMaIO6K9jsNsYXTT1Pq8rOfR44VOIDD27r6na9MkWVZ+jPJR0r3fy0vP+fomhAJmJifQMCVbe+xpKHEhzcAIcDGj2J1QzgFOONa81MahWKs+8uYlb5+Rhd3wqJMhNFzUIdcmvrHnn52HecgyGDknWoU8o663An3MCTU+G5Noxm5+WN1F0BjRsnQpED4Lrzf02L0srzk2KQMAp8/kvTJUb1Sg3D0/whwLcEwCD8gfCHpnidjT9DTcbXZ8vMnk68soIrXt+auy+LrKSAJeoKUHlc8Bpns5LTyQ5mTM9YhgRtmofqnubXVtkxG9Ae228KZg1z7OQ8A6ejdMracn+v3V8dyPUn0Znx/87oDr2wWMvXTLcW4PbaLYf1s+OgHGoEuZzmOpf4VxwdWwpqatF9qRBMWwKvhT2KZ6ZKVVaLeycHpZABR+h+0FgKWebCpOfYQbuqXbjxMmCgoWNHjUubgGOhuHB5VQFZ0h+os2PyoTVaoLoUjvy/2g8LPsdcEjr5RvRbAyvrd6n3iPexyJQeKOCO7HQO37LwB+JJVq3FIz+QehyoJmfYGF2rUShceF/+0464FzCtl63MEvnVOPed2gcds6wGnNkob2P9qo3/a0Ft5LNG67KfmZGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Jxo1iFDJEGWs2j3tkNk44W",
      "input": {
        "note": "Gripper closed to 0.015 (reads empty) but the pen has vanished from the wrist view; lifting 10 cm to see from the overhead camera whether the pen is held or was pushed aside.",
        "targets": {
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Jxo1iFDJEGWs2j3tkNk44W",
      "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]: [-0.1661, 1.7561, 0.9459, -0.1459, 0.4412, 0.5919, 0.0638, 0.4381, 1.7649, 1.1717, -0.2722, -0.1352, 0.0257, 0.018]\nstate[eef_state]: left_x=0.396 left_y=-0.1392 left_z=0.0477 left_yaw=-0.8908 left_pitch=-0.261 left_roll=0.0392 left_gripper=0.0638 right_x=0.4109 right_y=0.2228 right_z=0.0974 right_yaw=0.5346 right_pitch=-0.3057 right_roll=0.1228 right_gripper=0.018\nstate[joint_eff]: [-0.253, -8.1162, 5.9966, 1.2772, 0.1197, -0.0464, 1.0281, -0.2256, -11.3846, 8.5265, 1.4628, -0.0904, 0.0415, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d908ead271b6b4ca258490e309729ea7f67f44af66eb28a8e95bd357ee3a58a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f139d14dbf39f58622fc6c92bcea901bcc1e38f1b6f77350d657b4352df6523",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:acca6e365077233c9bb8ecfc41af6d2419a87b50f3037f54eee169bd857bae15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /messages · status 200 · 14.65 s

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

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1661, 1.7561, 0.9459, -0.1463, 0.4408, 0.5919, 0.0633, 0.4332, 1.9217, 0.9768, 0.0822, -0.1314, 0.0315, 0.996]\nstate[eef_state]: left_x=0.3959 left_y=-0.1392 left_z=0.0477 left_yaw=-0.8905 left_pitch=-0.2615 left_roll=0.0391 left_gripper=0.0633 right_x=0.4085 right_y=0.2184 right_z=0.0104 right_yaw=0.5231 right_pitch=-0.3037 right_roll=0.1234 right_gripper=0.996\nstate[joint_eff]: [-0.2803, -8.1846, 5.8872, 1.3016, 0.1294, -0.0415, 0.9158, 0.335, -10.7009, 4.7932, 1.3162, -0.0122, 0.0904, -0.0024]",
      "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]: [-0.1661, 1.7561, 0.9459, -0.1463, 0.4412, 0.5922, 0.0638, 0.4381, 1.9205, 0.9783, 0.0906, -0.1349, 0.0292, 0.0155]\nstate[eef_state]: left_x=0.3959 left_y=-0.1392 left_z=0.0477 left_yaw=-0.891 left_pitch=-0.2613 left_roll=0.0392 left_gripper=0.0638 right_x=0.4091 right_y=0.2218 right_z=0.0128 right_yaw=0.532 right_pitch=-0.2923 right_roll=0.1235 right_gripper=0.0155\nstate[joint_eff]: [-0.335, -8.2667, 5.8735, 1.2576, 0.1343, -0.0562, 1.0281, -0.212, -9.388, 5.9829, 1.3211, -0.0073, -0.0171, 0.7741]",
      "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]: [-0.1661, 1.7561, 0.9459, -0.1459, 0.4412, 0.5919, 0.0638, 0.4381, 1.7649, 1.1717, -0.2722, -0.1352, 0.0257, 0.018]\nstate[eef_state]: left_x=0.396 left_y=-0.1392 left_z=0.0477 left_yaw=-0.8908 left_pitch=-0.261 left_roll=0.0392 left_gripper=0.0638 right_x=0.4109 right_y=0.2228 right_z=0.0974 right_yaw=0.5346 right_pitch=-0.3057 right_roll=0.1228 right_gripper=0.018\nstate[joint_eff]: [-0.253, -8.1162, 5.9966, 1.2772, 0.1197, -0.0464, 1.0281, -0.2256, -11.3846, 8.5265, 1.4628, -0.0904, 0.0415, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d908ead271b6b4ca258490e309729ea7f67f44af66eb28a8e95bd357ee3a58a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f139d14dbf39f58622fc6c92bcea901bcc1e38f1b6f77350d657b4352df6523",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:acca6e365077233c9bb8ecfc41af6d2419a87b50f3037f54eee169bd857bae15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KhpRaG7nJicSfWiUQG2rkq",
      "input": {
        "note": "The pen was nudged aside and now lies to the right of and beyond the gripper in the right wrist view; opening the jaws and shifting ~5 cm along the jaw axis toward it.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.435,
          "right_y": 0.179,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01KhpRaG7nJicSfWiUQG2rkq",
      "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]: [-0.1661, 1.7561, 0.9459, -0.1463, 0.4412, 0.5922, 0.0638, 0.3103, 1.771, 1.1831, -0.3164, -0.2115, -0.0757, 0.9949]\nstate[eef_state]: left_x=0.3959 left_y=-0.1392 left_z=0.0477 left_yaw=-0.891 left_pitch=-0.2613 left_roll=0.0392 left_gripper=0.0638 right_x=0.4254 right_y=0.1791 right_z=0.0941 right_yaw=0.5322 right_pitch=-0.3274 right_roll=0.1218 right_gripper=0.9949\nstate[joint_eff]: [-0.2667, -8.2667, 5.8735, 1.2918, 0.1294, -0.0122, 1.0281, -0.7043, -7.3915, 9.347, 1.4774, -0.2369, 0.0659, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f574576af2c16126ec5dca3e1b26f27c927baa973a72073f25130fd404c4652c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1ee779c3dbe7bbe5cb3af77b515e8fa4eb2e17fbc9f5bdaf43af359b3501a95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:09f8477b73c066a1dea0b6251e2a3f4de85376f297f71443145f7bfd92a8f2ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /messages · status 200 · 7.165 s

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

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1661, 1.7561, 0.9459, -0.1463, 0.4412, 0.5922, 0.0638, 0.4381, 1.9205, 0.9783, 0.0906, -0.1349, 0.0292, 0.0155]\nstate[eef_state]: left_x=0.3959 left_y=-0.1392 left_z=0.0477 left_yaw=-0.891 left_pitch=-0.2613 left_roll=0.0392 left_gripper=0.0638 right_x=0.4091 right_y=0.2218 right_z=0.0128 right_yaw=0.532 right_pitch=-0.2923 right_roll=0.1235 right_gripper=0.0155\nstate[joint_eff]: [-0.335, -8.2667, 5.8735, 1.2576, 0.1343, -0.0562, 1.0281, -0.212, -9.388, 5.9829, 1.3211, -0.0073, -0.0171, 0.7741]",
      "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]: [-0.1661, 1.7561, 0.9459, -0.1459, 0.4412, 0.5919, 0.0638, 0.4381, 1.7649, 1.1717, -0.2722, -0.1352, 0.0257, 0.018]\nstate[eef_state]: left_x=0.396 left_y=-0.1392 left_z=0.0477 left_yaw=-0.8908 left_pitch=-0.261 left_roll=0.0392 left_gripper=0.0638 right_x=0.4109 right_y=0.2228 right_z=0.0974 right_yaw=0.5346 right_pitch=-0.3057 right_roll=0.1228 right_gripper=0.018\nstate[joint_eff]: [-0.253, -8.1162, 5.9966, 1.2772, 0.1197, -0.0464, 1.0281, -0.2256, -11.3846, 8.5265, 1.4628, -0.0904, 0.0415, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1661, 1.7561, 0.9459, -0.1463, 0.4412, 0.5922, 0.0638, 0.3103, 1.771, 1.1831, -0.3164, -0.2115, -0.0757, 0.9949]\nstate[eef_state]: left_x=0.3959 left_y=-0.1392 left_z=0.0477 left_yaw=-0.891 left_pitch=-0.2613 left_roll=0.0392 left_gripper=0.0638 right_x=0.4254 right_y=0.1791 right_z=0.0941 right_yaw=0.5322 right_pitch=-0.3274 right_roll=0.1218 right_gripper=0.9949\nstate[joint_eff]: [-0.2667, -8.2667, 5.8735, 1.2918, 0.1294, -0.0122, 1.0281, -0.7043, -7.3915, 9.347, 1.4774, -0.2369, 0.0659, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f574576af2c16126ec5dca3e1b26f27c927baa973a72073f25130fd404c4652c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1ee779c3dbe7bbe5cb3af77b515e8fa4eb2e17fbc9f5bdaf43af359b3501a95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09f8477b73c066a1dea0b6251e2a3f4de85376f297f71443145f7bfd92a8f2ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01W572DaiHpdDmoNiif4MBVd",
      "input": {
        "note": "Pen is now clearly visible in the right wrist view, ~25 px to the image-right of the jaw column (≈4.5 cm at the measured 5 px/cm); shifting along the jaw axis and descending to 3.5 cm.",
        "targets": {
          "right_x": 0.447,
          "right_y": 0.14,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01W572DaiHpdDmoNiif4MBVd",
      "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]: [-0.1661, 1.7561, 0.9459, -0.1467, 0.4412, 0.5919, 0.0639, 0.202, 1.8961, 1.1168, -0.1963, -0.2604, -0.1444, 0.9959]\nstate[eef_state]: left_x=0.3958 left_y=-0.1392 left_z=0.0476 left_yaw=-0.8909 left_pitch=-0.2616 left_roll=0.0386 left_gripper=0.0639 right_x=0.4367 right_y=0.1395 right_z=0.0334 right_yaw=0.512 right_pitch=-0.3807 right_roll=0.1373 right_gripper=0.9959\nstate[joint_eff]: [-0.3624, -8.2803, 5.8462, 1.2186, 0.149, -0.0708, 1.033, -0.1573, -9.9897, 6.0103, 1.663, -0.3639, -0.1099, 0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b9c90ecee8b21d6ed306061009192ba5866e25d0eed0a0fe4720675f7a1dc5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af73883f1ccd4a416901ef453d00c5c3e50073d58fa3cca1688eb01269bc692e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:067993359e90d32a58280844b1e155e963a1fbdc83aec18409906f59c076bc95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /messages · status 200 · 8.53 s

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

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1661, 1.7561, 0.9459, -0.1459, 0.4412, 0.5919, 0.0638, 0.4381, 1.7649, 1.1717, -0.2722, -0.1352, 0.0257, 0.018]\nstate[eef_state]: left_x=0.396 left_y=-0.1392 left_z=0.0477 left_yaw=-0.8908 left_pitch=-0.261 left_roll=0.0392 left_gripper=0.0638 right_x=0.4109 right_y=0.2228 right_z=0.0974 right_yaw=0.5346 right_pitch=-0.3057 right_roll=0.1228 right_gripper=0.018\nstate[joint_eff]: [-0.253, -8.1162, 5.9966, 1.2772, 0.1197, -0.0464, 1.0281, -0.2256, -11.3846, 8.5265, 1.4628, -0.0904, 0.0415, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1661, 1.7561, 0.9459, -0.1463, 0.4412, 0.5922, 0.0638, 0.3103, 1.771, 1.1831, -0.3164, -0.2115, -0.0757, 0.9949]\nstate[eef_state]: left_x=0.3959 left_y=-0.1392 left_z=0.0477 left_yaw=-0.891 left_pitch=-0.2613 left_roll=0.0392 left_gripper=0.0638 right_x=0.4254 right_y=0.1791 right_z=0.0941 right_yaw=0.5322 right_pitch=-0.3274 right_roll=0.1218 right_gripper=0.9949\nstate[joint_eff]: [-0.2667, -8.2667, 5.8735, 1.2918, 0.1294, -0.0122, 1.0281, -0.7043, -7.3915, 9.347, 1.4774, -0.2369, 0.0659, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1661, 1.7561, 0.9459, -0.1467, 0.4412, 0.5919, 0.0639, 0.202, 1.8961, 1.1168, -0.1963, -0.2604, -0.1444, 0.9959]\nstate[eef_state]: left_x=0.3958 left_y=-0.1392 left_z=0.0476 left_yaw=-0.8909 left_pitch=-0.2616 left_roll=0.0386 left_gripper=0.0639 right_x=0.4367 right_y=0.1395 right_z=0.0334 right_yaw=0.512 right_pitch=-0.3807 right_roll=0.1373 right_gripper=0.9959\nstate[joint_eff]: [-0.3624, -8.2803, 5.8462, 1.2186, 0.149, -0.0708, 1.033, -0.1573, -9.9897, 6.0103, 1.663, -0.3639, -0.1099, 0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b9c90ecee8b21d6ed306061009192ba5866e25d0eed0a0fe4720675f7a1dc5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af73883f1ccd4a416901ef453d00c5c3e50073d58fa3cca1688eb01269bc692e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:067993359e90d32a58280844b1e155e963a1fbdc83aec18409906f59c076bc95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISwQYKjgEIEhgCKkAUERUl/rEawMnNSIf/nxhh7My4emCU8AyZRC+VkBQhqCc+U5Q9sTkl6KHvQHrDVjxTHrqK61PQTKmhTkvfKwemMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAb6AzNUGEgwngaIc1rl9Zi8IOqcaDBve9qu/StSpjVImlyIwcvlzYfUWhUE1mOeNBfL8fZZSZD1A62QMHyeFobHub6/gxxgGLglZMsUz0r4xRdc+Kt8EtwNwN2cM/r8N0QolmUGZgn/s4e/FlMgo4DU1BBrLQqUA7rrAo1RLWr7DXyhOidsmPClkXOCmBa4Ct5utKUH46S7oQNUKpbKLm/gJW0Lawt2ixRZJCXsphrTp7R3KCBrIeiW/uaGNCJPF6d7wQaZurDgKeyDP/x+WcxRvNn6j+PNosxHr4HkirsCz/sfKV/2SaKRVV/o5RKk36x4W4VOqyjrEJoKJhd9U02yZ5/qAHsRNnk9qHBATXWS1TekQGDzxv0Uam9k9rGw7pEHy7vLj20bVhqg5q74vZC66zSJtmuFtoQZWxfBIV22HmY2iQ9XTIKKHy8JdDn2FROFVy7vbMjKsoWnRW+noMUB0hBUpOliho3acN5e/6Eby4JspMy86taOPcTNcHH+pqm8K7DjTh+UrO17Ik03qbZoWMQl+O5KyQdQtGEtkpcVa0qMLQbuF9lefaew51O9la4uOquNA3ddh/j9aMDUN7BWyR4V/7QjO/vdV5l+qAOY2CtQFzLBkxarB6p+AxPXA9zjqe7qgIY+F618MxgnpM5exnGHEIIcf7VhuIAZWbAmceJuuY3gcvdvR8gl44WkDaBL1S5eDT5/RxE+oqNHwOIlGPQnrrtlh2+Oz934GZNWq79J1Aj4xTmH5llzSD1cnhB6COliSjloWImuD9rFWhnGbQCQRu8vN6+hb7xQOtUrFflDZJIXVyOYNQooBeY2vjKHW1+HyqIYc9aU2BbOPiDTi5N2ZxO9b9LPK4kfB8bM4nZUA3M0x0o49+UmmxNPc76vn/oI45hhjbJSBojRbQqv2Ad86YhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01E3RjhdfWcnawHvoA1CGMjT",
      "input": {
        "note": "Pen is centred on the jaw column but still ~4 cm beyond the fingertips; advancing along the tool's forward axis and descending to table level.",
        "targets": {
          "right_x": 0.465,
          "right_y": 0.155,
          "right_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_01E3RjhdfWcnawHvoA1CGMjT",
      "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]: [-0.1661, 1.7561, 0.9451, -0.1467, 0.4416, 0.5922, 0.0639, 0.2188, 2.0102, 1.2007, -0.1719, -0.2619, -0.1497, 0.9961]\nstate[eef_state]: left_x=0.3955 left_y=-0.1392 left_z=0.0474 left_yaw=-0.8915 left_pitch=-0.2619 left_roll=0.0381 left_gripper=0.0639 right_x=0.4565 right_y=0.152 right_z=0.015 right_yaw=0.5338 right_pitch=-0.3854 right_roll=0.1371 right_gripper=0.9961\nstate[joint_eff]: [-0.3487, -8.2803, 5.9009, 1.2283, 0.1929, -0.0366, 1.0379, 0.4034, -10.0991, 7.3231, 1.3602, -0.0659, 0.0904, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf6e8c0a7dec0e1b4594f3ed71a8991aa82bf5e40ea60737d373ab0bb8784064",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c03ae3f0522819943695fb074c1f2dffbe7cf5080e873f072cfbd467f0092fe9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eebeef982a248d53f5795ef3e2b6718c1dde78a0e5b1aa7eb80e0c1f097e7984",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /messages · status 200 · 8.748 s

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

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1661, 1.7561, 0.9459, -0.1463, 0.4412, 0.5922, 0.0638, 0.3103, 1.771, 1.1831, -0.3164, -0.2115, -0.0757, 0.9949]\nstate[eef_state]: left_x=0.3959 left_y=-0.1392 left_z=0.0477 left_yaw=-0.891 left_pitch=-0.2613 left_roll=0.0392 left_gripper=0.0638 right_x=0.4254 right_y=0.1791 right_z=0.0941 right_yaw=0.5322 right_pitch=-0.3274 right_roll=0.1218 right_gripper=0.9949\nstate[joint_eff]: [-0.2667, -8.2667, 5.8735, 1.2918, 0.1294, -0.0122, 1.0281, -0.7043, -7.3915, 9.347, 1.4774, -0.2369, 0.0659, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1661, 1.7561, 0.9459, -0.1467, 0.4412, 0.5919, 0.0639, 0.202, 1.8961, 1.1168, -0.1963, -0.2604, -0.1444, 0.9959]\nstate[eef_state]: left_x=0.3958 left_y=-0.1392 left_z=0.0476 left_yaw=-0.8909 left_pitch=-0.2616 left_roll=0.0386 left_gripper=0.0639 right_x=0.4367 right_y=0.1395 right_z=0.0334 right_yaw=0.512 right_pitch=-0.3807 right_roll=0.1373 right_gripper=0.9959\nstate[joint_eff]: [-0.3624, -8.2803, 5.8462, 1.2186, 0.149, -0.0708, 1.033, -0.1573, -9.9897, 6.0103, 1.663, -0.3639, -0.1099, 0.1001]",
      "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]: [-0.1661, 1.7561, 0.9451, -0.1467, 0.4416, 0.5922, 0.0639, 0.2188, 2.0102, 1.2007, -0.1719, -0.2619, -0.1497, 0.9961]\nstate[eef_state]: left_x=0.3955 left_y=-0.1392 left_z=0.0474 left_yaw=-0.8915 left_pitch=-0.2619 left_roll=0.0381 left_gripper=0.0639 right_x=0.4565 right_y=0.152 right_z=0.015 right_yaw=0.5338 right_pitch=-0.3854 right_roll=0.1371 right_gripper=0.9961\nstate[joint_eff]: [-0.3487, -8.2803, 5.9009, 1.2283, 0.1929, -0.0366, 1.0379, 0.4034, -10.0991, 7.3231, 1.3602, -0.0659, 0.0904, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf6e8c0a7dec0e1b4594f3ed71a8991aa82bf5e40ea60737d373ab0bb8784064",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c03ae3f0522819943695fb074c1f2dffbe7cf5080e873f072cfbd467f0092fe9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eebeef982a248d53f5795ef3e2b6718c1dde78a0e5b1aa7eb80e0c1f097e7984",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS2ggKjgEIEhgCKkBdeRuU2XlZG1UqmxaXFPZUoBdiPU0jeb5NX4x7HdHswdlP9vXOBw9yHOJFAjTrkFm3VCj8/fe2xSqse/HivMzOMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAceAzNUGEgzc7vX2LTtWGNaEe5caDBNrgdVblNpTOqyxjiIwGur3bO3QuV79quPRS3ic7vRs4U/P9ec0HswcUgoPUc5Rle4sBuMdxMF0my4QuLmDKvgGyhHY5t0oighY0EMZk9MVomk1S5EINMm07LZm/e03Hcr2bH+u0cdzO+q7jtGeUcbXa73Ccq0FqednLDgYHlExbug/X6JOJbn7piZbJPzrwY+unQ4gPeqN67gYcGhpn477JXW9g2A2wANf1DPTK6DFEeuydZ7BMsCvUmewYY8KzAI1WpVx9mqBiPdjegX1Rmu+eYN8HKYSpr09iWIVtp6t2WXmL3o1e3LyiOzzoEDmQ27k/TLTbcYsIqUatSUYaD1ilPIILQIIuTOro9swJ0LWAsUa4EWPeg3eIa7/1CxfuEFzyUQei95Fs61sknwy6x5YDYcYtPI+2pYTwFX3kTjCZScv6I6PZzw7f5hYwYHZBX5Wnw59YNDRPJ0n0QAQSpVMinSd1+oFm7W4mHri6Q+Y5c8DNo24tpl0XhTkgN4QLa6DD5aWaG+gl89iGIyPoyTxYXfVLHRw6b5xR7XNkSW6V3gHiMUQ0TELwrJ/H+ssgTpWnZ3Sl4Pi0A861FnWp0JdghGW3+pg6QU/v/hXtAsUBMMGIQwsxj1xmrh/ws1JEuZd4vbyuRo0Lm333Ojvw5TUAMuBc31xHHH5aePia7/KsXgQcDudjT2J0gVrjwtz5owB1rtjqQIRGLnCo9aa7bH0BPslkP/cmqBXZ1RApOM08i9r0D8LoPR4+/NW302JweCuImpA3bCSkIIVSkdnE3FBRwIp4zfZKLJGgMphQUR+IgqzSfggsm3g21L3SP6KwnNoHiJ4shK/GcWrTng+HEGDWDSteLVsfvefJ50DTzm+mR+TTGx1RjV56BpIiDoP6Q0KW0y2ZBF6NNUf/xkN+xuhroyTrX0z6Ic7PfsY2MXmTtuCEpvmgayNX8QHpL1zejNPCsIF2ASdMP2o2GEOBfRKn2ORqLINB4LkBzsOeeBl58RtzL4rZIhkbjoD2NlfAuDFk/x5NfGB6AtFWLb9QDltMP3QY2sRw+6KfjjTfMJA5jORFZfCM1wLyXCY2UvDNyR0faN+qFuo/HbsRIJIAJX78A59saFUqGjeQDeK7hMHEGnjjIvVQV0QCkpsR6l5Q3N7InqKFwO5sydU4AdG+vrrpSkvo96XlIT8IoMnPUTK1NpEe/yswhDjMNf7mPESx/fHqUo6gBp+kj/jWVqfa2GHaMTQb4yRGe27Ac5AKZWnp8OTJtYMLzv3GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015WD36LZsCUbZTjwtCudW35",
      "input": {
        "note": "At table level the pen lies to the image-left of the jaw column; sliding ~5 cm along the jaw axis to the left to bring the pen between the fingers.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.19,
          "right_z": 0.012
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_015WD36LZsCUbZTjwtCudW35",
      "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]: [-0.1661, 1.7561, 0.9451, -0.1463, 0.4412, 0.5922, 0.0639, 0.3092, 2.019, 1.1828, -0.115, -0.2096, -0.0971, 0.9961]\nstate[eef_state]: left_x=0.3956 left_y=-0.1392 left_z=0.0474 left_yaw=-0.8912 left_pitch=-0.2619 left_roll=0.0386 left_gripper=0.0639 right_x=0.449 right_y=0.1858 right_z=0.0108 right_yaw=0.5451 right_pitch=-0.372 right_roll=0.1175 right_gripper=0.9961\nstate[joint_eff]: [-0.0205, -8.1026, 5.8735, 1.2918, 0.1538, -0.022, 1.0379, 0.2803, -12.1778, 4.4786, 1.2381, -0.0659, 0.1734, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:586b9f94426c0f6f29ef5f7b6a701742721a7da2f9fb56c0048f9e23d2e48f73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5f336ee93ef3a5360e605f351be30561678108a5d7c013c1b95d3fa271d92f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:56ef7577bed8f25f94281d547cdc3fa9b050f5e67f11ef242cda06c5ffab90f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /messages · status 200 · 6.105 s

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

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1661, 1.7561, 0.9459, -0.1467, 0.4412, 0.5919, 0.0639, 0.202, 1.8961, 1.1168, -0.1963, -0.2604, -0.1444, 0.9959]\nstate[eef_state]: left_x=0.3958 left_y=-0.1392 left_z=0.0476 left_yaw=-0.8909 left_pitch=-0.2616 left_roll=0.0386 left_gripper=0.0639 right_x=0.4367 right_y=0.1395 right_z=0.0334 right_yaw=0.512 right_pitch=-0.3807 right_roll=0.1373 right_gripper=0.9959\nstate[joint_eff]: [-0.3624, -8.2803, 5.8462, 1.2186, 0.149, -0.0708, 1.033, -0.1573, -9.9897, 6.0103, 1.663, -0.3639, -0.1099, 0.1001]",
      "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]: [-0.1661, 1.7561, 0.9451, -0.1467, 0.4416, 0.5922, 0.0639, 0.2188, 2.0102, 1.2007, -0.1719, -0.2619, -0.1497, 0.9961]\nstate[eef_state]: left_x=0.3955 left_y=-0.1392 left_z=0.0474 left_yaw=-0.8915 left_pitch=-0.2619 left_roll=0.0381 left_gripper=0.0639 right_x=0.4565 right_y=0.152 right_z=0.015 right_yaw=0.5338 right_pitch=-0.3854 right_roll=0.1371 right_gripper=0.9961\nstate[joint_eff]: [-0.3487, -8.2803, 5.9009, 1.2283, 0.1929, -0.0366, 1.0379, 0.4034, -10.0991, 7.3231, 1.3602, -0.0659, 0.0904, -0.0024]",
      "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]: [-0.1661, 1.7561, 0.9451, -0.1463, 0.4412, 0.5922, 0.0639, 0.3092, 2.019, 1.1828, -0.115, -0.2096, -0.0971, 0.9961]\nstate[eef_state]: left_x=0.3956 left_y=-0.1392 left_z=0.0474 left_yaw=-0.8912 left_pitch=-0.2619 left_roll=0.0386 left_gripper=0.0639 right_x=0.449 right_y=0.1858 right_z=0.0108 right_yaw=0.5451 right_pitch=-0.372 right_roll=0.1175 right_gripper=0.9961\nstate[joint_eff]: [-0.0205, -8.1026, 5.8735, 1.2918, 0.1538, -0.022, 1.0379, 0.2803, -12.1778, 4.4786, 1.2381, -0.0659, 0.1734, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:586b9f94426c0f6f29ef5f7b6a701742721a7da2f9fb56c0048f9e23d2e48f73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5f336ee93ef3a5360e605f351be30561678108a5d7c013c1b95d3fa271d92f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56ef7577bed8f25f94281d547cdc3fa9b050f5e67f11ef242cda06c5ffab90f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISywgKjgEIEhgCKkCmt18jOnAQzEtr4QkKDYNkR/evVrUD5vBuMd1jzk5QIhN6NfRXM8jKhAfHDcjqbnhi36HNK5t8tlT9pMlXPpZvMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAc+AzNUGEgzzTDzsYRy1tq41ESkaDDIS2DQAZsyJKXGqWyIwb6NnGKFSh4rTbH4idhA5otOBYAaLKqDuHp03S0y7rY8zsiZv4AXIYn5RPe6RfsomKukGSWkYSXUX5/k9Z77dN2DznE/fQlWgS6Qq1/5wCz0aMGT3YlPgzhMVVo0V3EdvrIYFqjiGY3mILQpimAqKD+oRMdcN66MYA0CfPkRc5QoQnpMaqC1pR7gUbsNnUjXv+CHH3lLJ2/o+lqYSnB/Km1AQ6IgtS7fV0p7Q2nkW7RkSyCfbKF9J82EK0uewuu0Hl+thmEzcWTk3W642izWYKK4Pt2HiSDh3mLopEMf968ETCqf8XLN3SRnjQAWW/IptU5zJSPVnco6NHRPukTqX4yrfVsWrnKVkBL2BJ9WngUJ6E127W1Iz92Ss4Ofm0tlQqotAnEg9851emXsFbLBvIKrTzco/mFG/iZksgOZzBjy4DHwaLuqi+tbDKhiIfGQlJA4+yQJUmdz/7IaNoG3Su9/YcL3nKPyVtDsC5rpwmvxizgfVJ+tWaY+6HOQBM25GlKll73zmPxHfujH+HRUgLxxFCpEKO4QhJOBPx/q9xAlKPt8NmJyuY824cYX6I9e/VBcB5TW/4bwEGZIa65p2eu30IqbsokUPTYLoUr2jSXLY0iUins4WwSUYnILuSHFNawkPDtMw0ILc2uYE1oZ+OKIwU5Gw7CG2nzq2RltgPs/gNfsmWE36QxghPT+3/vrNyLHtX1BJc5HU4dDAQb6y/HyBBTb7R1UZXnbbM8KG/bL1fEyCLQJdLGtuNoa2gankqzolwyyiEbtV+BXgWMopNvy9xkYhYNXESBwtKdrgU64HjvzFYyZTVmCri+MLFa/+jApjEig1mSOUDaAGvMoKAmPiYSmLTyiHPQ7bIHAxNbBLiH7CyS5Qe0CL7aLey1urM6a2IZv5GW9F7oP00di6XsqoigEyTO1MAZE/brW8CGTh56uoYTZ6aBaoXG1G6VhqoCAVt7XTFH+KpNPYu+2uSy0Ij0c6oYYIkzQmUWCldEgy0Yfx4qLtb6XYt3yRw3A0YJFLDEoBbmW/CCZsprhgzuoAEuiKqK1BKIKzTQl09lKyqxBZWaIeC01/Si15DN6JjaOC6vA5zCyihwO79qdrJWwlPpRjEVqkM4dBRzOMmU9Z5H2hrZLBoCSW6BTz7/iSCi9oDKe9itBs95T0Wd2Le56XZgomBR66CG6V02rE9xstZc0GT6p7Ve4B34X5TRmOjCmIDtBYvJyR/gsNGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Vu5picCVyPkA5hPGtMvjno",
      "input": {
        "note": "Pen's near end is still ~5-6 cm to the image-left of the jaws; sliding a further 5 cm along the jaw axis to line the barrel up with the finger gap.",
        "targets": {
          "right_x": 0.425,
          "right_y": 0.229,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Vu5picCVyPkA5hPGtMvjno",
      "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]: [-0.1661, 1.7561, 0.9421, -0.1463, 0.4412, 0.5919, 0.0639, 0.3363, 2.0151, 1.1717, -0.0959, -0.1982, -0.0822, 0.9961]\nstate[eef_state]: left_x=0.3947 left_y=-0.139 left_z=0.0464 left_yaw=-0.8915 left_pitch=-0.2641 left_roll=0.0363 left_gripper=0.0639 right_x=0.445 right_y=0.1962 right_z=0.011 right_yaw=0.5527 right_pitch=-0.3636 right_roll=0.1146 right_gripper=0.9961\nstate[joint_eff]: [-0.1709, -8.253, 6.0786, 1.3065, 0.1343, -0.0708, 1.0379, 0.1846, -10.7282, 5.6684, 1.2723, -0.0806, 0.0855, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8009643dff80b6010548385bdffa683aeb782ef6f6b2bfc6f3591db7002c6dae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e515302caadadc79c032c0c9c4ce746af921c36ff3be0e2b1a060e356472f7b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:145e7501d535a2d107eef69b4d97d135690d23d50cbffdd3291da5645429563e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /messages · status 200 · 7.034 s

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

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1661, 1.7561, 0.9451, -0.1467, 0.4416, 0.5922, 0.0639, 0.2188, 2.0102, 1.2007, -0.1719, -0.2619, -0.1497, 0.9961]\nstate[eef_state]: left_x=0.3955 left_y=-0.1392 left_z=0.0474 left_yaw=-0.8915 left_pitch=-0.2619 left_roll=0.0381 left_gripper=0.0639 right_x=0.4565 right_y=0.152 right_z=0.015 right_yaw=0.5338 right_pitch=-0.3854 right_roll=0.1371 right_gripper=0.9961\nstate[joint_eff]: [-0.3487, -8.2803, 5.9009, 1.2283, 0.1929, -0.0366, 1.0379, 0.4034, -10.0991, 7.3231, 1.3602, -0.0659, 0.0904, -0.0024]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1661, 1.7561, 0.9451, -0.1463, 0.4412, 0.5922, 0.0639, 0.3092, 2.019, 1.1828, -0.115, -0.2096, -0.0971, 0.9961]\nstate[eef_state]: left_x=0.3956 left_y=-0.1392 left_z=0.0474 left_yaw=-0.8912 left_pitch=-0.2619 left_roll=0.0386 left_gripper=0.0639 right_x=0.449 right_y=0.1858 right_z=0.0108 right_yaw=0.5451 right_pitch=-0.372 right_roll=0.1175 right_gripper=0.9961\nstate[joint_eff]: [-0.0205, -8.1026, 5.8735, 1.2918, 0.1538, -0.022, 1.0379, 0.2803, -12.1778, 4.4786, 1.2381, -0.0659, 0.1734, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1661, 1.7561, 0.9421, -0.1463, 0.4412, 0.5919, 0.0639, 0.3363, 2.0151, 1.1717, -0.0959, -0.1982, -0.0822, 0.9961]\nstate[eef_state]: left_x=0.3947 left_y=-0.139 left_z=0.0464 left_yaw=-0.8915 left_pitch=-0.2641 left_roll=0.0363 left_gripper=0.0639 right_x=0.445 right_y=0.1962 right_z=0.011 right_yaw=0.5527 right_pitch=-0.3636 right_roll=0.1146 right_gripper=0.9961\nstate[joint_eff]: [-0.1709, -8.253, 6.0786, 1.3065, 0.1343, -0.0708, 1.0379, 0.1846, -10.7282, 5.6684, 1.2723, -0.0806, 0.0855, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8009643dff80b6010548385bdffa683aeb782ef6f6b2bfc6f3591db7002c6dae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e515302caadadc79c032c0c9c4ce746af921c36ff3be0e2b1a060e356472f7b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:145e7501d535a2d107eef69b4d97d135690d23d50cbffdd3291da5645429563e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISkwQKjgEIEhgCKkDQaxvAWvEU5dCIwLHQRtCpz73bhAVAchPBYIHOCKCKZT7edFq7OARVwPbkmtzCv/AdiI25+r7W7HZorAcgfXEOMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdaAzNUGEgwKo3R5poHjfR8Dh6IaDBc2vVyDIVar/aps8iIwJFH5WDg/sNnOglc/4frpp9ZBJgdiFiESDfEVQG4A+FmKg3z0KNSx/opNoEAoa3wAKrECTXw0dYrvGWEGgBZpES1Up07Agg6GYWJwF/XJBRkS0GgvqQ8MeRWPPjtUTa1iwQfqk9XpmAn3iPSlxD5rwW00wiqC+4Lp4ZsZLJPcAKkm9OkbAkqfxJO822YpSZqgEtqtlJlXdgJT44mF24P2nqmDhmwGwgM7MWihQEX2vZry3hLg/wtuxd1mXM63B0z9uNL/Gm2R+5GeD23S92tsqJ1darYH0riaKKw7+kljVDHQ48Q4ZW6bIwVh+eIZBHLrn5KaFRaONosXVH5bTH+Q9KyT/4x5hG6lXDPOhqLSaAXNmZI9uCaxZ5qHQdqLVwRNUA55wNYt9TXvRiTCdZK37g4pebNfCwccltRbQzWrMVrJrZd0faTLJpTvLYCeqMstAZrtt+wo235uoBwjB7szCwjpPe0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J8RjiMiitgq7GxrcHe8DsM",
      "input": {
        "note": "The last step was heavily rate-clamped (only ~1 cm of motion); re-commanding further along the same jaw-axis direction to finish centring the pen between the fingers.",
        "targets": {
          "right_x": 0.418,
          "right_y": 0.245,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01J8RjiMiitgq7GxrcHe8DsM",
      "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]: [-0.1661, 1.7561, 0.9421, -0.1463, 0.4412, 0.5919, 0.0639, 0.3363, 2.0151, 1.1721, -0.0959, -0.1982, -0.0822, 0.9961]\nstate[eef_state]: left_x=0.3947 left_y=-0.139 left_z=0.0464 left_yaw=-0.8915 left_pitch=-0.2641 left_roll=0.0363 left_gripper=0.0639 right_x=0.4451 right_y=0.1962 right_z=0.0112 right_yaw=0.5526 right_pitch=-0.3632 right_roll=0.1145 right_gripper=0.9961\nstate[joint_eff]: [-0.3214, -8.0752, 5.8462, 1.2625, 0.188, -0.0708, 1.0379, 0.3077, -10.6325, 5.8188, 1.2576, -0.0806, 0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85b9c36fad5969dba5b8f83b614e2499c7f344417137657eeb0197576deb8417",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89230e05f2d1b3c5ecd48c3c50f71a53c1e727da4db8ff4baeee354bc57ca732",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e7cbee3dad67f4dd1fd4e0c88d0c13140f075ed3eb32844ff00fb82b0d811753",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /messages · status 200 · 7.987 s

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

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1661, 1.7561, 0.9451, -0.1463, 0.4412, 0.5922, 0.0639, 0.3092, 2.019, 1.1828, -0.115, -0.2096, -0.0971, 0.9961]\nstate[eef_state]: left_x=0.3956 left_y=-0.1392 left_z=0.0474 left_yaw=-0.8912 left_pitch=-0.2619 left_roll=0.0386 left_gripper=0.0639 right_x=0.449 right_y=0.1858 right_z=0.0108 right_yaw=0.5451 right_pitch=-0.372 right_roll=0.1175 right_gripper=0.9961\nstate[joint_eff]: [-0.0205, -8.1026, 5.8735, 1.2918, 0.1538, -0.022, 1.0379, 0.2803, -12.1778, 4.4786, 1.2381, -0.0659, 0.1734, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1661, 1.7561, 0.9421, -0.1463, 0.4412, 0.5919, 0.0639, 0.3363, 2.0151, 1.1717, -0.0959, -0.1982, -0.0822, 0.9961]\nstate[eef_state]: left_x=0.3947 left_y=-0.139 left_z=0.0464 left_yaw=-0.8915 left_pitch=-0.2641 left_roll=0.0363 left_gripper=0.0639 right_x=0.445 right_y=0.1962 right_z=0.011 right_yaw=0.5527 right_pitch=-0.3636 right_roll=0.1146 right_gripper=0.9961\nstate[joint_eff]: [-0.1709, -8.253, 6.0786, 1.3065, 0.1343, -0.0708, 1.0379, 0.1846, -10.7282, 5.6684, 1.2723, -0.0806, 0.0855, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1661, 1.7561, 0.9421, -0.1463, 0.4412, 0.5919, 0.0639, 0.3363, 2.0151, 1.1721, -0.0959, -0.1982, -0.0822, 0.9961]\nstate[eef_state]: left_x=0.3947 left_y=-0.139 left_z=0.0464 left_yaw=-0.8915 left_pitch=-0.2641 left_roll=0.0363 left_gripper=0.0639 right_x=0.4451 right_y=0.1962 right_z=0.0112 right_yaw=0.5526 right_pitch=-0.3632 right_roll=0.1145 right_gripper=0.9961\nstate[joint_eff]: [-0.3214, -8.0752, 5.8462, 1.2625, 0.188, -0.0708, 1.0379, 0.3077, -10.6325, 5.8188, 1.2576, -0.0806, 0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85b9c36fad5969dba5b8f83b614e2499c7f344417137657eeb0197576deb8417",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89230e05f2d1b3c5ecd48c3c50f71a53c1e727da4db8ff4baeee354bc57ca732",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7cbee3dad67f4dd1fd4e0c88d0c13140f075ed3eb32844ff00fb82b0d811753",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISnQYKjgEIEhgCKkCqhwzRLL+ER1Xssch+isW25wk0hoE+RLLsohzyfKA5jHqQQ3v91q6OO7lqWq9CYa0Gbsuz43psKaz4N6UiZOLFMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd2AzNUGEgy2YW2FSRho49wAp7EaDDALNWtSYBL7t1NA4yIw7DNZ9UrbLXyhBWc/LdhJEm/Hv1hIBv9QlDtk25/GdA7hC3XTbRYEjTEIpw+kAiw5KrsEebOBkEVMbTdIFE8OccwpaxXL+c6sTC//ujWzZVVcVirLhZ1m4JrZvMCkKubhTFimxy/0xmmvD5oCK8w2vbPui8+qm/5GbDyWuoUwdSmgQXzzRgxAQppHUKih1GSnKCKKT3WMbYWW7cj+D3wGcd/Dn8el9s6HhzaZngn/hP+YvbeNW++qOu52LIIDOZu8QE5r6QCkjuHkdTIAagR7X1eHEDHsa31ZFjkDrE5LHCLAGQBHZaDtM9ekPD8hxQQudusJsYQpMxqZkf2k4rZy1AOplu+7pF43dDCZTfDxHuToT9uR9+r+hEHre4+rk/IjTNIqtUFDg8SvJHhZjeKC/7Jx0o5iBmZsMQIt5gb1a9lpGChK7ksDG6P9C45rb4TSWEe25LVTF22PY2gHbaPa2a8EnAvYRio6Z0TRvEKJIHD+wqlpiTXe8Sv5/leuxSS/0880mrqLokvLoNMjG5ieYpoDqjY6JBnQkXlEu5q/iKHjabk0z7IQCVJbhroHwNBGmmhR2413h3fwm+ku+FdCbU5VLELMJihOG07Ij5vraDJMlccc7RVdmb4RjrJuL6tGlHTvljk7t9akAAwcLNIfNBOJ9YQ8vx1bLsxbmLI5VdTpZ4DeWiR9Np74gg2n51MCvDTaTanZy1VC6qoY4xPRdEVxHMWkvQfM1rpJt8/gD3wq+0uyye619GCauY7CnXLU0lPCR/YZaiuCJGA5OuOUHdjwTCE3ZwDacgGVSvL0UrQSpeQIJctNULoXC4JVDhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016SL4dSmVECnxAG5D4dtdSk",
      "input": {
        "note": "The arm is stuck at table height (IK limit), so I am lifting to 7 cm while translating sideways, then I will descend again onto the pen.",
        "targets": {
          "right_x": 0.418,
          "right_y": 0.245,
          "right_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_016SL4dSmVECnxAG5D4dtdSk",
      "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]: [-0.1661, 1.7561, 0.9401, -0.1455, 0.4412, 0.5919, 0.0639, 0.4534, 1.9469, 1.2125, -0.2237, -0.1368, -0.0116, 0.9961]\nstate[eef_state]: left_x=0.3942 left_y=-0.1389 left_z=0.0458 left_yaw=-0.8917 left_pitch=-0.265 left_roll=0.0355 left_gripper=0.0639 right_x=0.4194 right_y=0.2351 right_z=0.0376 right_yaw=0.5758 right_pitch=-0.3951 right_roll=0.1102 right_gripper=0.9961\nstate[joint_eff]: [-0.3487, -8.0068, 5.9966, 1.3065, 0.1929, -0.0513, 1.033, -0.0615, -12.9846, 8.4991, 1.3504, -0.0122, 0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecf6a7cd26d5dcfa4440ccd5bbfb6e32faa589bdec05f0deee9ee3b39db86c4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5469fd21ef82f6e57433994ab2589126ac8e36eb3769bfbb86b5a1ccd066e96f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:327193684d81f94dbb2cc662e663e329a9ec79b899e757a2a70cfe525a973f0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /messages · status 200 · 11.81 s

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

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1661, 1.7561, 0.9421, -0.1463, 0.4412, 0.5919, 0.0639, 0.3363, 2.0151, 1.1717, -0.0959, -0.1982, -0.0822, 0.9961]\nstate[eef_state]: left_x=0.3947 left_y=-0.139 left_z=0.0464 left_yaw=-0.8915 left_pitch=-0.2641 left_roll=0.0363 left_gripper=0.0639 right_x=0.445 right_y=0.1962 right_z=0.011 right_yaw=0.5527 right_pitch=-0.3636 right_roll=0.1146 right_gripper=0.9961\nstate[joint_eff]: [-0.1709, -8.253, 6.0786, 1.3065, 0.1343, -0.0708, 1.0379, 0.1846, -10.7282, 5.6684, 1.2723, -0.0806, 0.0855, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1661, 1.7561, 0.9421, -0.1463, 0.4412, 0.5919, 0.0639, 0.3363, 2.0151, 1.1721, -0.0959, -0.1982, -0.0822, 0.9961]\nstate[eef_state]: left_x=0.3947 left_y=-0.139 left_z=0.0464 left_yaw=-0.8915 left_pitch=-0.2641 left_roll=0.0363 left_gripper=0.0639 right_x=0.4451 right_y=0.1962 right_z=0.0112 right_yaw=0.5526 right_pitch=-0.3632 right_roll=0.1145 right_gripper=0.9961\nstate[joint_eff]: [-0.3214, -8.0752, 5.8462, 1.2625, 0.188, -0.0708, 1.0379, 0.3077, -10.6325, 5.8188, 1.2576, -0.0806, 0.0611, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1661, 1.7561, 0.9401, -0.1455, 0.4412, 0.5919, 0.0639, 0.4534, 1.9469, 1.2125, -0.2237, -0.1368, -0.0116, 0.9961]\nstate[eef_state]: left_x=0.3942 left_y=-0.1389 left_z=0.0458 left_yaw=-0.8917 left_pitch=-0.265 left_roll=0.0355 left_gripper=0.0639 right_x=0.4194 right_y=0.2351 right_z=0.0376 right_yaw=0.5758 right_pitch=-0.3951 right_roll=0.1102 right_gripper=0.9961\nstate[joint_eff]: [-0.3487, -8.0068, 5.9966, 1.3065, 0.1929, -0.0513, 1.033, -0.0615, -12.9846, 8.4991, 1.3504, -0.0122, 0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecf6a7cd26d5dcfa4440ccd5bbfb6e32faa589bdec05f0deee9ee3b39db86c4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5469fd21ef82f6e57433994ab2589126ac8e36eb3769bfbb86b5a1ccd066e96f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:327193684d81f94dbb2cc662e663e329a9ec79b899e757a2a70cfe525a973f0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISsQcKjgEIEhgCKkDEn2VY2Zp+GCZiJLlQijz/qDj2Na0heS60EC6DBSWK/Qn8rQjxJpB26WMBVwCsvxwHNMk14/DmLVrzFDZbr4VHMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeaAzNUGEgzmdQctNJPuvRxs9pYaDIpiCREWwoOeTdX3uSIwMyHgVUVCYXBVFPKNuPuxWXMSWVKSRzxjLJW1+clmMADedxtOgG2PiVWTZwJ/p0ptKs8FQ5ZiN5lzC7VVeT/OrFBRY8M2Q6AjxKJ+EMeAx2SgtKPMEN5Ge5WS7j2TtQWlM0pmSB9pocHo1wU3SyWZzAP1/DZF1s/fRBiIKevPtN0H3TOWUz3bt5nKKlSP6Te9xyEc9Lco2kC11UPMQIpWf0INFy37KAPWi8WVEUCQ4L32Aky8ijvYrYnXhEB6yd3Cdp+TdFXKcKPUnA8HdnTh/btaz9pVYNyKbpOt/gg2Sp2rZKiN52UBkLV3ZypuEyPWIiKRVlIU77IeO0aEXdFGzVsSjV1APwpbW3wDYCiAmmqJtJ7EU1VrAo6GW9yjAMZgeicK2zOLVuJCxQcUKx5Q35Z252qlV2PSuR4URrR2jR6Y8YfYZdRGTEUUPuCqludCRjJgVzxUcF/GfpuER1elRziFc54suNOYYzFc2SwUWzj4j6UguFQUl2zImtk/vxntePszSX9t6MYIT0OTeSflRNxF3T4CumPBg4Gpp5hfZ3cYNhimxJw8qifaFBYh9U/UtpzPKiOv3oxnlwuQVUYevex6FPCjnxnlLiP9OKKDmpk6nflDySPX+o1iFVxmNIUMl67J6q64Au3MoItegAUmrkVxDzpKpONRzkttA9/fi6cN3hsYow+4pQQgXIA5Trm2kz27fjsoVIlpXAELKnddPjSg4PxiwPGl9P7znCAgQCKCLILuGeo4cTuXtE8BsLwIJQcJzDNrIW/oPJEVpVkew+5dgqP99kbO/UMWe+qpseiuMEwmpBfIHyKtyWowMkYsBnjRFJRYiafFvvqhLlcsw4PJ4jCVBGsoI6OMrHWgsW81elW6T47P16HxWZkk39mV6qHwnVhK4Py+cudZok5hGoKFyB9H9ubTFf2g14DpQZaykk9V9C9xXuo2khYcLwHWvGPmp565Zw+AqqAa5wehe1gbzBvZPr2g5JpQYhYjD1eLJplL0M0MErckzwyrs3gkMtwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01R6EudNapm4DJLdpcuT7cjC",
      "input": {
        "note": "From 4 cm up the pen's near end sits just right of the jaw column; nudging 2.5 cm along the jaw axis and descending back to table level for the grasp.",
        "targets": {
          "right_x": 0.43,
          "right_y": 0.215,
          "right_z": 0.012
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01R6EudNapm4DJLdpcuT7cjC",
      "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]: [-0.1661, 1.7561, 0.9394, -0.1459, 0.4416, 0.5919, 0.0651, 0.4484, 1.9392, 1.214, -0.2077, -0.1551, -0.0193, 0.9961]\nstate[eef_state]: left_x=0.3939 left_y=-0.1389 left_z=0.0455 left_yaw=-0.8922 left_pitch=-0.2656 left_roll=0.0345 left_gripper=0.0651 right_x=0.4227 right_y=0.2376 right_z=0.0443 right_yaw=0.5904 right_pitch=-0.3677 right_roll=0.1177 right_gripper=0.9961\nstate[joint_eff]: [-0.3214, -8.2256, 5.9009, 1.2625, 0.2173, -0.0562, 0.9451, -2.5778, -7.0359, 4.4513, 1.1844, -0.0366, -0.1538, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3865265a1b10e62e8584b7deb388c7efbf773e49369cfcdd65c71fc6bf86bdc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39ba80a5526d60e412f0f3c51f9c3be91544ab0de6dc7527805530e1956a3c37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:efe2eebd555d74366bdb5bfe92fe5f3a4f2ca5f42ec6e081b28ae613da3f93ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /messages · status 200 · 8.554 s

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

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1661, 1.7561, 0.9421, -0.1463, 0.4412, 0.5919, 0.0639, 0.3363, 2.0151, 1.1721, -0.0959, -0.1982, -0.0822, 0.9961]\nstate[eef_state]: left_x=0.3947 left_y=-0.139 left_z=0.0464 left_yaw=-0.8915 left_pitch=-0.2641 left_roll=0.0363 left_gripper=0.0639 right_x=0.4451 right_y=0.1962 right_z=0.0112 right_yaw=0.5526 right_pitch=-0.3632 right_roll=0.1145 right_gripper=0.9961\nstate[joint_eff]: [-0.3214, -8.0752, 5.8462, 1.2625, 0.188, -0.0708, 1.0379, 0.3077, -10.6325, 5.8188, 1.2576, -0.0806, 0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1661, 1.7561, 0.9401, -0.1455, 0.4412, 0.5919, 0.0639, 0.4534, 1.9469, 1.2125, -0.2237, -0.1368, -0.0116, 0.9961]\nstate[eef_state]: left_x=0.3942 left_y=-0.1389 left_z=0.0458 left_yaw=-0.8917 left_pitch=-0.265 left_roll=0.0355 left_gripper=0.0639 right_x=0.4194 right_y=0.2351 right_z=0.0376 right_yaw=0.5758 right_pitch=-0.3951 right_roll=0.1102 right_gripper=0.9961\nstate[joint_eff]: [-0.3487, -8.0068, 5.9966, 1.3065, 0.1929, -0.0513, 1.033, -0.0615, -12.9846, 8.4991, 1.3504, -0.0122, 0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1661, 1.7561, 0.9394, -0.1459, 0.4416, 0.5919, 0.0651, 0.4484, 1.9392, 1.214, -0.2077, -0.1551, -0.0193, 0.9961]\nstate[eef_state]: left_x=0.3939 left_y=-0.1389 left_z=0.0455 left_yaw=-0.8922 left_pitch=-0.2656 left_roll=0.0345 left_gripper=0.0651 right_x=0.4227 right_y=0.2376 right_z=0.0443 right_yaw=0.5904 right_pitch=-0.3677 right_roll=0.1177 right_gripper=0.9961\nstate[joint_eff]: [-0.3214, -8.2256, 5.9009, 1.2625, 0.2173, -0.0562, 0.9451, -2.5778, -7.0359, 4.4513, 1.1844, -0.0366, -0.1538, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3865265a1b10e62e8584b7deb388c7efbf773e49369cfcdd65c71fc6bf86bdc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39ba80a5526d60e412f0f3c51f9c3be91544ab0de6dc7527805530e1956a3c37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efe2eebd555d74366bdb5bfe92fe5f3a4f2ca5f42ec6e081b28ae613da3f93ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISqQsKjgEIEhgCKkAVVIEkIvUIFrdlE6nRgIUk8YEs61aoHpmc9GL7gE6kGaseegztfWPmBMGjo6/3gdVuNamjCKd2YzNLSnmFabWFMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfKAzNUGEgyxttHfPMlP5FzLnmkaDKClyuo1UC693KbR0CIwnzVfRiukVo7TPzfVGrU7qkU+gcOyz+qGXQkRYInseGxOT3856YP2lSLQH6Hpod2BKscJroWTotOzPn8sETWKU4t6iwsiB77aJyE6xl//X3lVuCdQY2rYIw8juaQ6rpuyMKoLJLsalSnw3PjG4aCvqXE7kZO4MwvAarab7qTnrHkgxraN1pRN1ezOOb1vKtSc+Ua4lFnGftDgMkAie94B/bKMXSPVMDsF64oopj4M0ThzNT7pydaODN/e4jgQ9CH7wdoCnsWJBrI6iFSev1qWguRqoPWMI74XH3t3nvB0w7Q1VFApoptaRbSm31iQY4lAP3lUlBjfOrht9+rrvr/4R2kUYZ7jdVH4WnE0HMBpQlb/eNPBKexVRhu3I22ivxzgxsMbXtsbv7LvuRD8jDLanKr22denWm0budodgtX7Q0qfN/w+YANjfBy63Y5KZh22aJZdD89o11nNzV3NBUaRF1ba1H8XqQ20S9xRWLdcwGqRtLPOprNhLly+R7m/CfBuv7TCPaUpM0zeLureCtkOURUZuIAMvyKJqHM1+lsTSso+iogcqZXfIw+MtgIqBYKz7CFI6pQhYUwVS+7L8vlbp41+a1pBe44JgaW/tsXR/RMO3K7LY9+t/CzKYM5fXoZbPaZgK7XhyuGjnsFtzs+vltWTfTL9r6NQoZ7Cz+dCMNEZVVXgCJQN3IETb1C9nOudVEa09/tfRlsJfNbr2dGVUfRQahsoCCrycq4nK9ppoaDfIwVxcewh35Ju1GaGFaNc+pU3l5KtV6TLWpIBKzJWNEDNXijcOSJnRnylmrzz6nHLxGHFCO8EsZcpDNGJeYRFscVpC3zonqcRlsDfkpVCrtOBbeXmUiZZDa64u0oqarv9n8Jb2+eNQRWk8lLsu0RF82b+mg1Xzjes1mvoLRkvC7tn/SvfDvqvS2PSMpxAupqsDUtHb0Nr56I333j1SMdRiGoiDtnww4cxBYu5e+Djrj0zd4UZN6PfKTKZQk+zAmUCvO5269zdYoxHtIf8stvxQOq/vpAB4sn58GQqSbgZES4ROlv+Chs6YJHMP1TZ/XC+vSerAYUlaBH+x3UDbaW13ofCKCF7kc8P1vUK3bxxkM3014yiGb14oej9ySLbIbytOGoNawuNIKv77z33R7RjjikPFWUd/hLtehri6g/hm4lV1Q59uqVWrRqmQABzpQnVjnBwOuUrELHhZDU+zw/pLTLWKFiTzRsFT0jQHWqco/56hwDFE3UGsD14nkb0QeP6XeHnUG7TaypXjCBFgtxnOX1WVzPu8z+W6iyICcG1EwrPVhklc4ALIotyy7/AGmU4nrnFBoXsGlMy99MDChl3tSs3H/xhHMtdaRUkcGD01wF3T9thKYwUmENIq9MCSM53Zm/nlGLnW/b/gKiIw2Gz1+YL0SrwB2NX7480Hvhzi807c93/P/qA/Du49x0ErRjolXCZMWCpqslov3bpfmM6DUvww83KMLlKNQKuZb6hhaN/47J5l2iDfmd6O4aTtRRxIBbPFq2YpTE0ThHGRw/AnSPYwqRKh2BWiaf3k2k9BLJt3S5Bf1/pXr9kTRQVsZRwU7vzI+EG7oX68DLiE2FRNU17PE2fgyD3xoj8F+qHXsxQUMpLGgBoxmnyJSrdsKa0rc5nVV8LQRWmaeyE/nJDychpB8QssiUcJsMssoR/T8I5XXJ1ZA8/dI4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VZvAS9XK58v99gHHbqGCY1",
      "input": {
        "note": "The last command barely executed; re-sending the small jaw-axis correction (~2.5 cm) plus descent so the pen's near end lands between the fingers.",
        "targets": {
          "right_x": 0.437,
          "right_y": 0.211,
          "right_z": 0.012
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01VZvAS9XK58v99gHHbqGCY1",
      "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]: [-0.1661, 1.7561, 0.9375, -0.1463, 0.4412, 0.5922, 0.0687, 0.4149, 1.9987, 1.1759, -0.1604, -0.1612, -0.0559, 0.9961]\nstate[eef_state]: left_x=0.3932 left_y=-0.1388 left_z=0.0448 left_yaw=-0.8925 left_pitch=-0.2676 left_roll=0.0334 left_gripper=0.0687 right_x=0.4225 right_y=0.2209 right_z=0.0101 right_yaw=0.5864 right_pitch=-0.4142 right_roll=0.1083 right_gripper=0.9961\nstate[joint_eff]: [-0.1162, -8.0479, 5.9692, 1.2723, 0.1832, -0.0415, 0.6618, 0.6359, -13.3538, 7.5145, 1.1795, -0.232, 0.1099, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be6d8a4d5c4fda7b84f6d283e817e4521befcd0650a5428680c195d3f61f7fe0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb063a1389db763199949bbc8353a41b7ce6728ed44836f5400bc6f49ff22ea1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:165137a648b9485243d4e620cd8f955a65537b7aa8ee697e2a5866125f0be724",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /messages · status 200 · 6.628 s

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

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1661, 1.7561, 0.9401, -0.1455, 0.4412, 0.5919, 0.0639, 0.4534, 1.9469, 1.2125, -0.2237, -0.1368, -0.0116, 0.9961]\nstate[eef_state]: left_x=0.3942 left_y=-0.1389 left_z=0.0458 left_yaw=-0.8917 left_pitch=-0.265 left_roll=0.0355 left_gripper=0.0639 right_x=0.4194 right_y=0.2351 right_z=0.0376 right_yaw=0.5758 right_pitch=-0.3951 right_roll=0.1102 right_gripper=0.9961\nstate[joint_eff]: [-0.3487, -8.0068, 5.9966, 1.3065, 0.1929, -0.0513, 1.033, -0.0615, -12.9846, 8.4991, 1.3504, -0.0122, 0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1661, 1.7561, 0.9394, -0.1459, 0.4416, 0.5919, 0.0651, 0.4484, 1.9392, 1.214, -0.2077, -0.1551, -0.0193, 0.9961]\nstate[eef_state]: left_x=0.3939 left_y=-0.1389 left_z=0.0455 left_yaw=-0.8922 left_pitch=-0.2656 left_roll=0.0345 left_gripper=0.0651 right_x=0.4227 right_y=0.2376 right_z=0.0443 right_yaw=0.5904 right_pitch=-0.3677 right_roll=0.1177 right_gripper=0.9961\nstate[joint_eff]: [-0.3214, -8.2256, 5.9009, 1.2625, 0.2173, -0.0562, 0.9451, -2.5778, -7.0359, 4.4513, 1.1844, -0.0366, -0.1538, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1661, 1.7561, 0.9375, -0.1463, 0.4412, 0.5922, 0.0687, 0.4149, 1.9987, 1.1759, -0.1604, -0.1612, -0.0559, 0.9961]\nstate[eef_state]: left_x=0.3932 left_y=-0.1388 left_z=0.0448 left_yaw=-0.8925 left_pitch=-0.2676 left_roll=0.0334 left_gripper=0.0687 right_x=0.4225 right_y=0.2209 right_z=0.0101 right_yaw=0.5864 right_pitch=-0.4142 right_roll=0.1083 right_gripper=0.9961\nstate[joint_eff]: [-0.1162, -8.0479, 5.9692, 1.2723, 0.1832, -0.0415, 0.6618, 0.6359, -13.3538, 7.5145, 1.1795, -0.232, 0.1099, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be6d8a4d5c4fda7b84f6d283e817e4521befcd0650a5428680c195d3f61f7fe0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb063a1389db763199949bbc8353a41b7ce6728ed44836f5400bc6f49ff22ea1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:165137a648b9485243d4e620cd8f955a65537b7aa8ee697e2a5866125f0be724",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS9gcKjgEIEhgCKkCVQHRcd5ownDT9nBVNvJGaab3AGKp1azUiogEslkx1RrVpXFXpJKZY6xQEQUKsiw7TkpTrzIjvvg2R6aj9aZL2Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfuAzNUGEgzrV84uaTaLlAvSofgaDK64iX2MivdPhWZ1vCIwoEtRwGoS5IMaSrCOBuiM6BZ3TwLc0AmizZ0mnui4lPkTNA3rxKF9sHD+TaJ3JEMyKpQGLwOLb/+ict9g1U/wXlkfeKwrXBevCHJ+nVz1RYes/SmrP+EpE1+YuRwHxOe1x6dj3TcSRDSPNanAxJzXPxLLvMaCzTgX0S5GT5NlnfMpyqA3Nxgba3wyTlvNssJo6qq1d5dZBG1lyO+r3r7ke37Ck8CVoVlDXQmX4PNrSUwvZI+tAdmD5VkByHkjsoKvMYrVvvOSlbO/WKy6UV67z1kBPe6TDvI73ztEUVqrf7gFEdYl/r5lemwg6NYOpbnNBRbY3cUnpsFBoC061Mn7XHqlrIjpeX/4LgIxT7RSuIqXTHzPe2sbpiTzdEVGUvMQPtO9xcN1Z6xQH6RwwJ4z1fbpkTQej86nskL7CUcARC0VrGJHmi+jAgio/GERBiMgRPJfZYIDvWZjhkOS3Vy256Ozd3kpjgT18mnGK8Cu5ZvZ++l6JLhilBLe66ub9MsDJBDuTG21j5LECViSv9GQ/3x0XSmZGFzzipfj8x4fvxIcuAzr9Nv42GBxZsTAHC6GVut6V00PyI2QgMXUwWCglwmZ/lRdBz5H4zCBMGWlh6PjMwbNJFqe1mbaH+AZYxXCuqonI2N5WS6nsEQXY8R8vMM6mcADwYoEHgpJNx9IyIA0OstAIXyQiP7LgmHRaZB1wQpmfRWAi0Y0EHIwcnJ7bvAtaZI8+ZHu3tlT6ntKXlwDvY3khGF3/4T/c0kf5ZIsqVDg+2TrFtRUYMiDtq/9ry6E65gdowF1CSy6tkDId0lYoivYCt/ljWpNmZHKqpfxTaIrsM5iD8168rGo65FWMTOm8zVP2opNeaoK5TMFw7UntxsFaUXF1LAkmLWz8xRF5hKd+CceG3q57omcaiNRHkCoHfXARlBQIzfmC4lCdys/k4TkiiFf+vWKAVQ3uJGKt/Bp/7/tGir0N5B/A4hDLWv9dE4lDgAOChbJhsdemfrxhwkLo5GHLN8qQ9W/XRGBN3S7Qy76bzKk5iMB3pS58z5D13EXjewJ16heLpIT1CCgVIrkyaI8Lj9V48q+f4Mkyd2DJ/fDNgmDiMIo7i5FN/X6PW6RJpUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01T1P4eHsoStbtxXVoFFcKS4",
      "input": {
        "note": "The pen's near end is now only ~1.5 cm right of the jaw gap; making a final small correction along the jaw axis before closing.",
        "targets": {
          "right_x": 0.435,
          "right_y": 0.21
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 1 steps (0.1s)",
      "tool_use_id": "toolu_01T1P4eHsoStbtxXVoFFcKS4",
      "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]: [-0.1661, 1.7561, 0.9337, -0.1444, 0.4408, 0.5919, 0.0667, 0.4206, 1.998, 1.1797, -0.1719, -0.1612, -0.0559, 0.9961]\nstate[eef_state]: left_x=0.3923 left_y=-0.1386 left_z=0.0437 left_yaw=-0.8924 left_pitch=-0.2692 left_roll=0.0321 left_gripper=0.0667 right_x=0.4203 right_y=0.223 right_z=0.0102 right_yaw=0.5927 right_pitch=-0.421 right_roll=0.1096 right_gripper=0.9961\nstate[joint_eff]: [-0.3214, -7.9248, 6.2701, 1.243, 0.1636, -0.0659, 0.8034, 0.0615, -13.3402, 7.4188, 1.2674, -0.1392, 0.1343, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2c8df9335466a9c3ad55f1e38b2f2794d6635947b299d9985407a1b37fbbb2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb8ca4992f16d74e43fc026469b275d0990ad6036b2dd3961dc6acbd25cbe1e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:84264b82cda0c6fc61afadcb0e916b04c0886296f1cc215ae47d1e5db38e9714",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /messages · status 200 · 13.13 s

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

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1661, 1.7561, 0.9394, -0.1459, 0.4416, 0.5919, 0.0651, 0.4484, 1.9392, 1.214, -0.2077, -0.1551, -0.0193, 0.9961]\nstate[eef_state]: left_x=0.3939 left_y=-0.1389 left_z=0.0455 left_yaw=-0.8922 left_pitch=-0.2656 left_roll=0.0345 left_gripper=0.0651 right_x=0.4227 right_y=0.2376 right_z=0.0443 right_yaw=0.5904 right_pitch=-0.3677 right_roll=0.1177 right_gripper=0.9961\nstate[joint_eff]: [-0.3214, -8.2256, 5.9009, 1.2625, 0.2173, -0.0562, 0.9451, -2.5778, -7.0359, 4.4513, 1.1844, -0.0366, -0.1538, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1661, 1.7561, 0.9375, -0.1463, 0.4412, 0.5922, 0.0687, 0.4149, 1.9987, 1.1759, -0.1604, -0.1612, -0.0559, 0.9961]\nstate[eef_state]: left_x=0.3932 left_y=-0.1388 left_z=0.0448 left_yaw=-0.8925 left_pitch=-0.2676 left_roll=0.0334 left_gripper=0.0687 right_x=0.4225 right_y=0.2209 right_z=0.0101 right_yaw=0.5864 right_pitch=-0.4142 right_roll=0.1083 right_gripper=0.9961\nstate[joint_eff]: [-0.1162, -8.0479, 5.9692, 1.2723, 0.1832, -0.0415, 0.6618, 0.6359, -13.3538, 7.5145, 1.1795, -0.232, 0.1099, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1661, 1.7561, 0.9337, -0.1444, 0.4408, 0.5919, 0.0667, 0.4206, 1.998, 1.1797, -0.1719, -0.1612, -0.0559, 0.9961]\nstate[eef_state]: left_x=0.3923 left_y=-0.1386 left_z=0.0437 left_yaw=-0.8924 left_pitch=-0.2692 left_roll=0.0321 left_gripper=0.0667 right_x=0.4203 right_y=0.223 right_z=0.0102 right_yaw=0.5927 right_pitch=-0.421 right_roll=0.1096 right_gripper=0.9961\nstate[joint_eff]: [-0.3214, -7.9248, 6.2701, 1.243, 0.1636, -0.0659, 0.8034, 0.0615, -13.3402, 7.4188, 1.2674, -0.1392, 0.1343, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2c8df9335466a9c3ad55f1e38b2f2794d6635947b299d9985407a1b37fbbb2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb8ca4992f16d74e43fc026469b275d0990ad6036b2dd3961dc6acbd25cbe1e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84264b82cda0c6fc61afadcb0e916b04c0886296f1cc215ae47d1e5db38e9714",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISpQYKjgEIEhgCKkDwdRjx5N5bKjchrQlXqWHnavYPNcOM86Fsv0Uo0M8in8eAJOAuSkUASAgVON38dXlr+SzO/fveEBeJWOaOm+Y2Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYGBzNUGEgxiNaby68WLjUEVer4aDJOlD0f1ftySrncn0CIw2GiM7Bb9Tzlphj310f/9Mog4kUOTPeOju6RIFJNx47M2TFHod0s+DQ61PdpLuCKIKsMEqLTXkGStg6NutFWTudhgKLSu89qpVXxSYwxVHTxlJBh+v1YOU0fI11Lq8QN2NHLhOSuH1TzonwXLtVgTdvm7FWIBKgTOB8KX++PxBFFQQz9OUMN4SnrGYws/aoG/R0kWFfF0Bo/HrWKG1dOP/cD7kkbHU5+DdCJBKv+uGNiP40IJl87gTwdKuwetzCTELhkFrDzE+89mpqBv68r9tAaDt1bCWQ9qfopU2iXQP7nia+tZeJ12Dvn/1c2aYBjGcWcSZSlQgGuVFfyzVBBRZcZ3i7m9FGTP305Xv0UHC58z72bb46Jm5tPxMzRuGR+9kTSiWes9e+T/JnDrBSFAta9O1ByMppiMlu+z2Uh8nAogzYjZV+bkB7ZuJmJ0VVwXC8KZGk27E9yxx/OMXR4YOKuX8OuFw8UB6DrqCaMgEpOpK6VS57A8yFMTBy+QYoUvU3af00jB05YaE8VHcx8gHeh9HoT5SXbi+SmKI9NJmO+yGnGN7AfsQbvkeT6XOYsSLV16NZL00dGYZWDkMxbKdhO22Fvii1FefeJ0D1/rCjpPdfoyg9E/++0KvPqhcs3Ami0AmN/cQmfbbE87U9vuBws5An68wPf3rkAZZjiOJaIZgDlFBjsz6coGCwlmaKuwo8uJi/3REvs5oT9WCLGc0T0GeF518Ff3WL08cJ3uk2dOS71slW0Sckb6q2MN1mtbofbwRSa/7RuBiv4lO76WpJxAXvLozE42tC9lWVd1ElT5tZR2CtCrIFV0qGZJzN9nV0trSWDMGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SqyF68qK3Ut8fyLj4yty5x",
      "input": {
        "note": "The pen lies within the open jaw span (about 2 cm right of centre, jaws open 9.5 cm); closing now to try to capture it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01SqyF68qK3Ut8fyLj4yty5x",
      "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]: [-0.1661, 1.7561, 0.9329, -0.1459, 0.4412, 0.5919, 0.0703, 0.4206, 1.9965, 1.1797, -0.1761, -0.1608, -0.0566, 0.0154]\nstate[eef_state]: left_x=0.3918 left_y=-0.1385 left_z=0.0433 left_yaw=-0.8931 left_pitch=-0.2707 left_roll=0.0302 left_gripper=0.0703 right_x=0.4197 right_y=0.2226 right_z=0.0103 right_yaw=0.593 right_pitch=-0.4236 right_roll=0.1093 right_gripper=0.0154\nstate[joint_eff]: [-0.1026, -8.212, 5.9145, 1.2869, 0.1245, -0.022, 0.7009, -0.1709, -10.2632, 5.8872, 1.2869, -0.0904, -0.022, 0.6862]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82612ec99c8baa6285bcd7e944aa3c34a6ee02d5fadd061acb1147458bc4536c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1ec0035bb4f2eadfd0b45e3f71d9ae484afab067ef56172dd025b308ba1cb77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cea9ef70e2fcd8486a95e55b317babca0910d888fc2f6055c12f42144678d28c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]