adhoc

completed
2026-09-22T21:56:27.349479+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (71 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
280.7 s
total steps
320
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent notePen cap is left of centre, pen right of centre, both diagonal. Moving the left arm above the cap with yaw aligned across it.
move_to
left_x0.3300left_y-0.2500left_z0.1200left_yaw-0.5900left_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, 0.7921, 0.6025, -0.3794, -0.0219, -0.0246, 0.9998, -0.0185, 0.7906, 0.6102, -0.3759, -0.0231, -0.0147, 0.9991] state[eef_state]: left_x=0.2946 left_y=0.0015 left_z=0.1799 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2958 right_y=0.0022 right_z=0.1846 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.5675, -1.4154, 10.4957, 1.7802, -0.0366, 0.0806, -0.0366, -0.7179, -1.1145, 9.7162, 1.7509, 0.0073, -0.0415, -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": 0.33, "left_y": -0.25, "left_z": 0.12, "left_yaw": -0.59, "left_gripper": 1}, "note": "Pen cap is left of centre, pen right of centre, both diagonal. Moving the left arm above the cap with yaw aligned across it."})
tool
executing move_to over 23 steps (2.3s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteWrist cam shows the cap left of the jaw column, roughly aligned for a cross grasp. Shifting toward the tool's left to centre it.
move_to
left_x0.3300left_y-0.2000left_z0.0900
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6895, 1.4265, 0.6556, 0.1043, -0.1192, -0.1032, 0.9998, -0.0193, 0.7979, 0.6132, -0.3878, -0.0231, -0.0147, 0.999] state[eef_state]: left_x=0.3186 left_y=-0.2308 left_z=0.0939 left_yaw=-0.5443 left_pitch=-0.0922 left_roll=0.0 left_gripper=0.9998 right_x=0.2951 right_y=0.002 right_z=0.1815 right_yaw=-0.0008 right_pitch=-0.016 right_roll=0.0003 right_gripper=0.999 state[joint_eff]: [-0.5402, -5.641, 9.4154, 2.0928, 0.105, 0.2515, -0.0366, -0.0342, -1.7846, 7.1453, 1.8437, -0.0513, -0.0611, -0.022] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.33, "left_y": -0.2, "left_z": 0.09}, "note": "Wrist cam shows the cap left of the jaw column, roughly aligned for a cross grasp. Shifting toward the tool's left to centre it."})
tool
executing move_to over 3 steps (0.3s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteCap is slightly left of jaw column and a bit ahead of the fingertips; nudging forward/left and descending to table level.
move_to
left_x0.3550left_y-0.1950left_z0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5793, 1.4265, 0.6209, 0.1184, -0.0666, -0.0608, 0.9997, -0.0193, 0.7979, 0.6132, -0.3904, -0.0227, -0.0147, 0.999] state[eef_state]: left_x=0.331 left_y=-0.1982 left_z=0.082 left_yaw=-0.5012 left_pitch=-0.1166 left_roll=0.0027 left_gripper=0.9997 right_x=0.2948 right_y=0.0019 right_z=0.181 right_yaw=-0.0011 right_pitch=-0.0187 right_roll=0.0001 right_gripper=0.999 state[joint_eff]: [-1.0872, -7.5829, 6.3521, 1.7558, 0.4078, 0.1148, -0.0171, -0.1436, -1.0598, 7.0085, 1.7949, -0.0513, -0.0855, -0.0122] approver: 1 step(s) modified (delta_clamped). 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": 0.355, "left_y": -0.195, "left_z": 0.0}, "note": "Cap is slightly left of jaw column and a bit ahead of the fingertips; nudging forward/left and descending to table level."})
tool
executing move_to over 6 steps (0.6s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteThe last move did not execute (arm held at z 0.08). Trying a pure descent to see if the IK will lower.
move_to
left_z0.0400
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5632, 1.4258, 0.6167, 0.1158, -0.0364, -0.0433, 0.9997, -0.0193, 0.7979, 0.6132, -0.3904, -0.0231, -0.0147, 0.999] state[eef_state]: left_x=0.3301 left_y=-0.1966 left_z=0.0799 left_yaw=-0.5202 left_pitch=-0.124 left_roll=-0.0026 left_gripper=0.9997 right_x=0.2948 right_y=0.002 right_z=0.181 right_yaw=-0.0008 right_pitch=-0.0187 right_roll=0.0003 right_gripper=0.999 state[joint_eff]: [-0.335, -7.5419, 6.0786, 1.7167, 0.1197, 0.1001, -0.0073, -0.3624, -1.2786, 7.0085, 1.7607, -0.0562, -0.0611, -0.0122] camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.04}, "note": "The last move did not execute (arm held at z 0.08). Trying a pure descent to see if the IK will lower."})
tool
executing move_to over 3 steps (0.3s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteShoulder joint seems pinned at a limit, blocking descent. Trying a forward tool pitch so the wrist can sit further back while lowering.
move_to
left_z0.0400left_pitch0.3000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5632, 1.4258, 0.6167, 0.1158, -0.0364, -0.0433, 0.9997, -0.0193, 0.7979, 0.6132, -0.3901, -0.0231, -0.0147, 0.999] state[eef_state]: left_x=0.3301 left_y=-0.1966 left_z=0.0799 left_yaw=-0.5202 left_pitch=-0.124 left_roll=-0.0026 left_gripper=0.9997 right_x=0.2948 right_y=0.002 right_z=0.1811 right_yaw=-0.0008 right_pitch=-0.0183 right_roll=0.0003 right_gripper=0.999 state[joint_eff]: [-0.1162, -7.5282, 6.1333, 1.6825, 0.0904, 0.1001, -0.0122, -0.1573, -1.1282, 7.0222, 1.7607, -0.0513, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.04, "left_pitch": 0.3}, "note": "Shoulder joint seems pinned at a limit, blocking descent. Trying a forward tool pitch so the wrist can sit further back while lowering."})
tool
executing move_to over 15 steps (1.5s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteDescent worked with forward pitch; cap sits near the jaw convergence point, slightly left. Small left nudge and lowering to table level.
move_to
left_z0.0000left_x0.3300left_y-0.1830
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5663, 1.9358, 0.2588, 1.2903, -0.0502, -0.0429, 0.9997, -0.0193, 0.799, 0.6132, -0.3916, -0.0231, -0.0147, 0.999] state[eef_state]: left_x=0.3244 left_y=-0.1915 left_z=0.0159 left_yaw=-0.5113 left_pitch=0.1827 left_roll=-0.0102 left_gripper=0.9997 right_x=0.2947 right_y=0.002 right_z=0.1804 right_yaw=-0.0008 right_pitch=-0.021 right_roll=0.0004 right_gripper=0.999 state[joint_eff]: [-0.3624, -6.6667, 2.0718, 2.3663, -0.0269, 0.1294, -0.0122, -0.2667, -1.306, 7.0496, 1.7216, -0.0464, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.0, "left_x": 0.33, "left_y": -0.183}, "note": "Descent worked with forward pitch; cap sits near the jaw convergence point, slightly left. Small left nudge and lowering to table level."})
tool
executing move_to over 2 steps (0.2s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent noteCap is between the jaws near table level; closing the left gripper.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5396, 2.0281, 0.26, 1.4242, -0.0345, -0.0422, 0.9997, -0.0193, 0.8005, 0.6132, -0.3935, -0.0231, -0.0147, 0.999] state[eef_state]: left_x=0.3308 left_y=-0.1868 left_z=0.0139 left_yaw=-0.4981 left_pitch=0.2251 left_roll=-0.0173 left_gripper=0.9997 right_x=0.2945 right_y=0.002 right_z=0.1796 right_yaw=-0.0008 right_pitch=-0.0244 right_roll=0.0005 right_gripper=0.999 state[joint_eff]: [0.4581, -6.6667, 2.7145, 1.9316, 0.1783, 0.1636, -0.0122, -0.3214, -1.3607, 7.0222, 1.7705, -0.0415, -0.0415, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Cap is between the jaws near table level; closing the left gripper."})
tool
executing move_to over 10 steps (1.0s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteEmpty close: wrist cam shows the cap ~3 cm ahead of the fingertips. Opening, lifting slightly and advancing radially.
move_to
left_gripper1.0000left_z0.0300left_x0.3570left_y-0.1970
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5392, 2.0445, 0.2596, 1.4178, -0.0429, -0.0433, 0.011, -0.0193, 0.8017, 0.6132, -0.3935, -0.0227, -0.0147, 0.999] state[eef_state]: left_x=0.3295 left_y=-0.1842 left_z=0.0065 left_yaw=-0.4901 left_pitch=0.202 left_roll=-0.0143 left_gripper=0.011 right_x=0.2946 right_y=0.0019 right_z=0.1793 right_yaw=-0.0011 right_pitch=-0.0256 right_roll=0.0003 right_gripper=0.999 state[joint_eff]: [-0.212, -8.0205, 1.812, 1.9707, 0.0513, -0.022, 0.8278, -0.0889, -1.3744, 7.0222, 1.7607, -0.0317, -0.0757, -0.0122] 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": {"left_gripper": 1.0, "left_z": 0.03, "left_x": 0.357, "left_y": -0.197}, "note": "Empty close: wrist cam shows the cap ~3 cm ahead of the fingertips. Opening, lifting slightly and advancing radially."})
tool
executing move_to over 10 steps (1.0s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteCap now sits between the open jaws in the wrist view, slightly ahead. Small advance and descend to table to grasp.
move_to
left_z-0.0100left_x0.3650left_y-0.2000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5304, 1.9411, 0.3527, 1.1885, -0.0441, -0.0471, 0.9957, -0.0193, 0.8017, 0.6132, -0.3943, -0.0227, -0.0147, 0.999] state[eef_state]: left_x=0.3495 left_y=-0.1918 left_z=0.0163 left_yaw=-0.4785 left_pitch=0.1693 left_roll=-0.0158 left_gripper=0.9957 right_x=0.2945 right_y=0.0019 right_z=0.1791 right_yaw=-0.0011 right_pitch=-0.0263 right_roll=0.0003 right_gripper=0.999 state[joint_eff]: [0.1983, -9.1145, 4.9436, 1.6337, 0.022, 0.0659, -0.1343, -0.2256, -1.2513, 7.1043, 1.7265, -0.022, -0.0659, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": -0.01, "left_x": 0.365, "left_y": -0.2}, "note": "Cap now sits between the open jaws in the wrist view, slightly ahead. Small advance and descend to table to grasp."})
tool
executing move_to over 2 steps (0.2s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteCap between jaws at table level; closing.
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]: [-0.5297, 2.0491, 0.4011, 1.2388, -0.0479, -0.0456, 0.9965, -0.0193, 0.8013, 0.6132, -0.3958, -0.0227, -0.0143, 0.999] state[eef_state]: left_x=0.3589 left_y=-0.1962 left_z=-0.0004 left_yaw=-0.4754 left_pitch=0.1602 left_roll=-0.0123 left_gripper=0.9965 right_x=0.2943 right_y=0.0019 right_z=0.1789 right_yaw=-0.0013 right_pitch=-0.0275 right_roll=0.0006 right_gripper=0.999 state[joint_eff]: [0.0342, -7.4872, 2.7556, 1.9853, 0.0317, -0.1636, 0.0659, -0.2256, -0.9915, 7.0222, 1.7314, -0.0122, 0.0269, -0.0171] camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Cap between jaws at table level; closing."})
tool
executing move_to over 10 steps (1.0s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteGripper settled at 0.05, suggesting the cap is held. Lifting to verify.
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]: [-0.5304, 2.0613, 0.4042, 1.261, -0.0521, -0.0471, 0.0526, -0.0193, 0.8051, 0.6132, -0.3969, -0.0231, -0.0147, 0.999] state[eef_state]: left_x=0.3607 left_y=-0.1967 left_z=0.0007 left_yaw=-0.4716 left_pitch=0.1732 left_roll=-0.0128 left_gripper=0.0526 right_x=0.2944 right_y=0.002 right_z=0.1777 right_yaw=-0.0008 right_pitch=-0.0324 right_roll=0.0006 right_gripper=0.999 state[joint_eff]: [-0.0889, -8.5265, 2.2085, 1.6288, 0.0562, 0.0904, 1.4725, -0.253, -1.6342, 7.1453, 1.7753, -0.0464, -0.0659, -0.0122] camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.08}, "note": "Gripper settled at 0.05, suggesting the cap is held. Lifting to verify."})
tool
executing move_to over 6 steps (0.6s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteCap appears held by the left gripper (reading 0.065, cap gone from the table). Moving the right arm above the pen with yaw across its diagonal axis.
move_to
right_x0.3600right_y0.3000right_z0.1000right_yaw-0.7000right_pitch0.2500right_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]: [-0.5304, 1.6501, 0.4118, 0.8555, -0.0525, -0.0513, 0.0654, -0.0193, 0.8074, 0.6132, -0.4118, -0.0231, -0.0147, 0.999] state[eef_state]: left_x=0.3571 left_y=-0.1945 left_z=0.0713 left_yaw=-0.4689 left_pitch=0.1866 left_roll=-0.0175 left_gripper=0.0654 right_x=0.2924 right_y=0.002 right_z=0.174 right_yaw=-0.0007 right_pitch=-0.0496 right_roll=0.0009 right_gripper=0.999 state[joint_eff]: [-0.1026, -6.8171, 7.5692, 1.9853, -0.0611, -0.0366, 1.033, -0.3214, -0.9368, 7.0222, 1.8632, -0.0415, -0.0806, -0.0122] camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.3, "right_z": 0.1, "right_yaw": -0.7, "right_pitch": 0.25, "right_gripper": 1}, "note": "Cap appears held by the left gripper (reading 0.065, cap gone from the table). Moving the right arm above the pen with yaw across its diagonal axis."})
tool
executing move_to over 25 steps (2.5s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteThe right arm swung into an odd configuration and appears to have bumped the left arm (left dropped to z 0.02). Moving the left arm, still holding the cap, up and away toward its own side.
move_to
left_y-0.0500left_x0.3000left_z0.1500left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.458, 1.6752, 0.3695, 0.7387, -0.0811, -0.0532, 0.0717, 0.9867, 2.4531, 2.1117, -1.4883, 1.2026, 1.9018, 0.9991] state[eef_state]: left_x=0.3464 left_y=-0.1508 left_z=0.0218 left_yaw=-0.3724 left_pitch=0.0038 left_roll=0.0075 left_gripper=0.0717 right_x=0.3773 right_y=0.2784 right_z=0.1253 right_yaw=-0.7209 right_pitch=0.1996 right_roll=0.0541 right_gripper=0.9991 state[joint_eff]: [-5.5726, -7.8017, 8.1026, 3.4408, 0.1538, -0.0024, 1.0281, 2.988, -6.5162, 5.2444, 0.2662, 0.7839, 0.1636, -0.1099] 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": {"left_y": -0.05, "left_x": 0.3, "left_z": 0.15, "left_pitch": 0.0}, "note": "The right arm swung into an odd configuration and appears to have bumped the left arm (left dropped to z 0.02). Moving the left arm, still holding the cap, up and away toward its own side."})
tool
executing move_to over 9 steps (0.9s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteRight arm ended in a contorted joint configuration lying across the table centre. Sending it back near home to reset before re-approaching the pen.
move_to
right_x0.3000right_y0.0500right_z0.1800right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0334, 0.9031, 0.4782, -0.1188, 0.2214, 0.141, 0.0759, 0.9821, 2.4493, 2.1067, -1.4643, 1.1812, 1.9026, 0.999] state[eef_state]: left_x=0.3107 left_y=-0.0456 left_z=0.1477 left_yaw=-0.3068 left_pitch=0.0395 left_roll=0.0171 left_gripper=0.0759 right_x=0.3782 right_y=0.2787 right_z=0.1216 right_yaw=-0.7349 right_pitch=0.1759 right_roll=0.0749 right_gripper=0.999 state[joint_eff]: [0.1846, -1.812, 8.8547, 1.5165, 0.2613, 0.1441, 1.033, 0.1436, -12.9026, 5.8051, -0.3004, 0.6667, -0.0464, -0.022] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.05, "right_z": 0.18, "right_yaw": 0.0, "right_pitch": 0.0, "right_roll": 0.0}, "note": "Right arm ended in a contorted joint configuration lying across the table centre. Sending it back near home to reset before re-approaching the pen."})
tool
executing move_to over 20 steps (2.0s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteRight arm reset; pen lies diagonally centre-right of the table. Translating the right arm above the pen first without rotation to avoid the odd IK solution.
move_to
right_x0.3400right_y0.2200right_z0.1400
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0334, 0.91, 0.4747, -0.1387, 0.2165, 0.136, 0.0759, 0.3271, 0.8825, 0.6174, -0.308, 0.3519, 0.239, 0.9989] state[eef_state]: left_x=0.308 left_y=-0.0447 left_z=0.14 left_yaw=-0.2998 left_pitch=0.0098 left_roll=0.0073 left_gripper=0.0759 right_x=0.3052 right_y=0.043 right_z=0.1818 right_yaw=-0.1044 right_pitch=0.0219 right_roll=0.0178 right_gripper=0.9989 state[joint_eff]: [-0.3624, -1.9761, 7.5009, 1.9853, 0.0415, -0.0171, 1.0281, -0.253, -2.1949, 6.7897, 1.707, 0.0073, -0.0757, -0.0171] camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.34, "right_y": 0.22, "right_z": 0.14}, "note": "Right arm reset; pen lies diagonally centre-right of the table. Translating the right arm above the pen first without rotation to avoid the odd IK solution."})
tool
executing move_to over 15 steps (1.5s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
agent notePen is visible just ahead of the right jaws, running forward-left. Rotating yaw +0.6 to put the jaws across it and lowering to 6 cm.
move_to
right_yaw0.6000right_pitch0.2000right_z0.0600right_x0.3500right_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]: [-0.0334, 0.9115, 0.4736, -0.1455, 0.2161, 0.1356, 0.076, 0.8669, 1.5475, 0.8986, -0.1902, 0.7444, 0.6147, 0.9989] state[eef_state]: left_x=0.3069 left_y=-0.0446 left_z=0.1376 left_yaw=-0.2992 left_pitch=0.0006 left_roll=0.0047 left_gripper=0.076 right_x=0.3338 right_y=0.2138 right_z=0.127 right_yaw=-0.0686 right_pitch=-0.0228 right_roll=-0.0264 right_gripper=0.9989 state[joint_eff]: [-0.1573, -2.1538, 7.1043, 1.7363, 0.022, -0.0562, 1.033, 0.5128, -6.8991, 8.0752, 1.4774, 0.6227, 0.0952, -0.0122] camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_yaw": 0.6, "right_pitch": 0.2, "right_z": 0.06, "right_x": 0.35, "right_y": 0.21}, "note": "Pen is visible just ahead of the right jaws, running forward-left. Rotating yaw +0.6 to put the jaws across it and lowering to 6 cm."})
tool
executing move_to over 8 steps (0.8s)
step 167
top_cam
camera top_cam step 167
left_cam
camera left_cam step 167
right_cam
camera right_cam step 167
assistant
agent notePen now runs nearly vertically through the jaw column in the right wrist view. Descending to table level to grasp it.
move_to
right_z-0.0100right_x0.3520right_y0.1840
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0334, 0.9123, 0.4736, -0.1459, 0.2161, 0.1326, 0.0795, 0.5144, 1.7134, 0.4011, 0.8154, 0.062, 0.0132, 0.9989] state[eef_state]: left_x=0.3069 left_y=-0.0446 left_z=0.1373 left_yaw=-0.2976 left_pitch=-0.0005 left_roll=0.0018 left_gripper=0.0795 right_x=0.3474 right_y=0.1879 right_z=0.0345 right_yaw=0.4459 right_pitch=0.0604 right_roll=-0.0172 right_gripper=0.9989 state[joint_eff]: [-0.3624, -2.0171, 6.9675, 1.6435, 0.0659, -0.0513, 1.0281, -0.2393, -6.5299, 4.1231, 2.3126, -0.0513, -0.0317, -0.0122] 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": -0.01, "right_x": 0.352, "right_y": 0.184}, "note": "Pen now runs nearly vertically through the jaw column in the right wrist view. Descending to table level to grasp it."})
tool
executing move_to over 3 steps (0.3s)
step 170
top_cam
camera top_cam step 170
left_cam
camera left_cam step 170
right_cam
camera right_cam step 170
assistant
agent notePen passes between the right jaws at table level; 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]: [-0.0334, 0.9165, 0.4732, -0.1459, 0.2161, 0.1326, 0.0795, 0.4923, 1.9587, 0.3882, 1.0931, 0.0071, -0.0277, 0.9989] state[eef_state]: left_x=0.3069 left_y=-0.0446 left_z=0.1359 left_yaw=-0.2976 left_pitch=-0.0049 left_roll=0.0006 left_gripper=0.0795 right_x=0.3507 right_y=0.1908 right_z=-0.0018 right_yaw=0.492 right_pitch=0.0788 right_roll=-0.0269 right_gripper=0.9989 state[joint_eff]: [-0.1573, -2.3453, 7.0222, 1.6484, 0.0171, -0.0317, 1.0281, -0.3077, -6.612, 2.7419, 0.6178, -0.1099, 0.2759, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Pen passes between the right jaws at table level; closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 180
top_cam
camera top_cam step 180
left_cam
camera left_cam step 180
right_cam
camera right_cam step 180
assistant
agent noteRight gripper settled at 0.059 with the pen visible in its jaws, tip pointing forward. Lifting to confirm the grasp.
move_to
right_z0.1200right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0334, 0.9176, 0.4728, -0.1459, 0.2161, 0.1326, 0.0795, 0.4923, 1.9659, 0.3923, 1.111, 0.0021, -0.033, 0.0586] state[eef_state]: left_x=0.3069 left_y=-0.0446 left_z=0.1354 left_yaw=-0.2976 left_pitch=-0.0064 left_roll=0.0002 left_gripper=0.0795 right_x=0.3527 right_y=0.1928 right_z=0.0006 right_yaw=0.4991 right_pitch=0.0937 right_roll=-0.0295 right_gripper=0.0586 state[joint_eff]: [-0.1846, -2.0718, 7.2137, 1.7216, 0.0366, -0.0513, 1.0281, -0.0889, -7.6923, 2.988, 1.7314, -0.022, 0.1294, 1.8388] camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.12, "right_pitch": 0.0}, "note": "Right gripper settled at 0.059 with the pen visible in its jaws, tip pointing forward. Lifting to confirm the grasp."})
tool
executing move_to over 8 steps (0.8s)
step 188
top_cam
camera top_cam step 188
left_cam
camera left_cam step 188
right_cam
camera right_cam step 188
assistant
agent notePen is securely held by the right arm. The cap's closed pointy end faces forward in the left jaws, so its opening faces the gripper body; lowering the cap to the table to regrasp it flipped 180°.
move_to
left_z0.0050left_pitch0.2000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0334, 0.923, 0.4725, -0.1459, 0.2161, 0.1326, 0.0795, 0.4923, 1.4208, 0.6022, 0.3008, -0.001, -0.0349, 0.0718] state[eef_state]: left_x=0.3069 left_y=-0.0446 left_z=0.1337 left_yaw=-0.2976 left_pitch=-0.0119 left_roll=-0.0013 left_gripper=0.0795 right_x=0.3563 right_y=0.1953 right_z=0.1132 right_yaw=0.5027 right_pitch=0.0384 right_roll=-0.0293 right_gripper=0.0718 state[joint_eff]: [-0.3761, -2.3179, 7.0769, 1.6972, 0.0562, -0.0659, 1.0281, -0.1436, -7.0085, 7.9932, 1.8095, 0.0464, -0.0024, 1.0281] camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.005, "left_pitch": 0.2}, "note": "Pen is securely held by the right arm. The cap's closed pointy end faces forward in the left jaws, so its opening faces the gripper body; lowering the cap to the table to regrasp it flipped 180\u00b0."})
tool
executing move_to over 9 steps (0.9s)
step 197
top_cam
camera top_cam step 197
left_cam
camera left_cam step 197
right_cam
camera right_cam step 197
assistant
agent noteLeft gripper is at table level; releasing the cap.
move_to
left_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]: [-0.0017, 1.8297, 0.0364, 1.2629, 0.2787, 0.1047, 0.0804, 0.4923, 1.4258, 0.5995, 0.2775, -0.001, -0.0353, 0.0718] state[eef_state]: left_x=0.2991 left_y=-0.0455 left_z=-0.0062 left_yaw=-0.3035 left_pitch=0.0606 left_roll=-0.0387 left_gripper=0.0804 right_x=0.3531 right_y=0.1936 right_z=0.1052 right_yaw=0.5029 right_pitch=0.0075 right_roll=-0.0293 right_gripper=0.0718 state[joint_eff]: [0.253, -3.7812, 0.5402, -0.8083, -0.3834, -0.0757, 0.9548, -0.212, -5.8872, 6.5299, 2.0049, -0.0317, -0.0513, 1.0281] camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "Left gripper is at table level; releasing the cap."})
tool
executing move_to over 10 steps (1.0s)
step 207
top_cam
camera top_cam step 207
left_cam
camera left_cam step 207
right_cam
camera right_cam step 207
assistant
agent noteCap released on the table, lying along the left tool axis with its pointed end forward. Lifting and rotating the wrist 180° to regrasp it with the open end facing forward.
move_to
left_z0.0800left_yaw2.8400left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.009, 2.03, 0.0162, 1.5703, 0.2966, 0.0872, 0.9955, 0.4923, 1.4273, 0.5987, 0.2691, -0.001, -0.0349, 0.0718] state[eef_state]: left_x=0.3027 left_y=-0.0453 left_z=-0.0008 left_yaw=-0.3011 left_pitch=0.1458 left_roll=-0.0362 left_gripper=0.9955 right_x=0.3519 right_y=0.193 right_z=0.1025 right_yaw=0.5027 right_pitch=-0.0032 right_roll=-0.0288 right_gripper=0.0718 state[joint_eff]: [0.2667, -4.7795, 0.1436, 1.7509, 0.0611, 0.0122, -0.1245, -0.3214, -5.7094, 6.2838, 1.8486, 0.0024, -0.0513, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.08, "left_yaw": 2.84, "left_pitch": 0.0}, "note": "Cap released on the table, lying along the left tool axis with its pointed end forward. Lifting and rotating the wrist 180\u00b0 to regrasp it with the open end facing forward."})
tool
executing move_to over 20 steps (2.0s)
step 227
top_cam
camera top_cam step 227
left_cam
camera left_cam step 227
right_cam
camera right_cam step 227
assistant
agent noteThe 180° wrist yaw drove the left arm into a folded, out-of-box pose. Returning it above the cap (visible on the table at left) at the original yaw.
move_to
left_x0.2800left_y-0.0500left_z0.1200left_yaw-0.3000left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.799, 1.5948, 0.8215, -1.1725, -0.7444, -2.0609, 0.9964, 0.4923, 1.4342, 0.5934, 0.2638, -0.0036, -0.0349, 0.0718] state[eef_state]: left_x=0.0302 left_y=0.2078 left_z=0.0619 left_yaw=2.7169 left_pitch=-0.1856 left_roll=0.0335 left_gripper=0.9964 right_x=0.3497 right_y=0.1923 right_z=0.0966 right_yaw=0.505 right_pitch=-0.0208 right_roll=-0.0272 right_gripper=0.0718 state[joint_eff]: [-0.1162, -4.1915, 6.2291, 0.5153, -1.4237, -0.3639, 0.0757, -0.3624, -5.7231, 7.1863, 1.8339, -0.0171, -0.0415, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.28, "left_y": -0.05, "left_z": 0.12, "left_yaw": -0.3, "left_pitch": 0.0}, "note": "The 180\u00b0 wrist yaw drove the left arm into a folded, out-of-box pose. Returning it above the cap (visible on the table at left) at the original yaw."})
tool
executing move_to over 23 steps (2.3s)
step 250
top_cam
camera top_cam step 250
left_cam
camera left_cam step 250
assistant
agent noteLeft arm is still unwinding (yaw 0.82, x 0.19). Continuing toward the pose above the cap and holding the pen arm up.
move_to
left_x0.3000left_y-0.0500left_z0.1200left_yaw-0.3000left_pitch0.0000right_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]: [-0.6117, 0.8433, 0.4568, -0.9527, -0.8902, -1.3773, 0.9965, 0.4923, 1.4395, 0.588, 0.2466, -0.004, -0.0349, 0.0718] state[eef_state]: left_x=0.1918 left_y=0.0375 left_z=0.0962 left_yaw=0.8186 left_pitch=-0.0917 left_roll=-0.0724 left_gripper=0.9965 right_x=0.3461 right_y=0.1905 right_z=0.0888 right_yaw=0.5053 right_pitch=-0.0486 right_roll=-0.0266 right_gripper=0.0718 state[joint_eff]: [-0.253, -0.7453, 5.9556, 0.7302, -0.735, 0.1734, 0.0024, -0.335, -6.0376, 6.7761, 1.9316, -0.0073, -0.0366, 1.0281] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 250): [image omitted: streamed camera frame] camera 'left_cam' (step 250): [image omitted: streamed camera frame] camera 'right_cam' (step 250): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.05, "left_z": 0.12, "left_yaw": -0.3, "left_pitch": 0.0, "right_z": 0.12}, "note": "Left arm is still unwinding (yaw 0.82, x 0.19). Continuing toward the pose above the cap and holding the pen arm up."})
tool
executing move_to over 9 steps (0.9s)
step 259
assistant
agent noteCap visible just ahead of the left jaws; arm still settling in yaw/roll. Commanding the release pose again, lowered to 3 cm, to regrasp the cap.
move_to
left_x0.3050left_y-0.0450left_z0.0300left_yaw-0.3000left_pitch0.2000left_roll0.0000right_z0.1200right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0475, 0.8768, 0.3527, -0.2153, 0.0303, -0.4225, 0.9965, 0.4923, 1.3888, 0.6342, 0.0994, -0.004, -0.0349, 0.0779] state[eef_state]: left_x=0.2752 left_y=-0.0149 left_z=0.0782 left_yaw=0.1425 left_pitch=-0.207 left_roll=-0.3284 left_gripper=0.9965 right_x=0.3395 right_y=0.187 right_z=0.0974 right_yaw=0.5053 right_pitch=-0.0989 right_roll=-0.026 right_gripper=0.0779 state[joint_eff]: [0.1709, -2.1812, 9.9214, 2.0049, 0.022, 0.2466, -0.0122, -0.3624, -6.8581, 9.4154, 1.707, -0.0317, -0.0171, 1.033] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 259): [image omitted: streamed camera frame] camera 'left_cam' (step 259): [image omitted: streamed camera frame] camera 'right_cam' (step 259): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.305, "left_y": -0.045, "left_z": 0.03, "left_yaw": -0.3, "left_pitch": 0.2, "left_roll": 0.0, "right_z": 0.12, "right_pitch": 0.0}, "note": "Cap visible just ahead of the left jaws; arm still settling in yaw/roll. Commanding the release pose again, lowered to 3 cm, to regrasp the cap."})
tool
executing move_to over 14 steps (1.4s)
step 273
assistant
agent noteLeft fingertips are touching the table ~5 cm short of the cap, which is aligned along the jaw column. Lifting slightly and advancing onto it.
move_to
left_x0.3050left_y-0.0400left_z0.0100left_pitch0.2000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0101, 1.0863, 0.0658, 0.2413, 0.178, -0.0425, 0.9963, 0.4923, 1.3491, 0.5995, 0.1337, -0.004, -0.0349, 0.0779] state[eef_state]: left_x=0.2496 left_y=-0.0302 left_z=-0.0031 left_yaw=-0.1512 left_pitch=-0.2023 left_roll=-0.1519 left_gripper=0.9963 right_x=0.3361 right_y=0.1851 right_z=0.1042 right_yaw=0.5053 right_pitch=-0.0597 right_roll=-0.0265 right_gripper=0.0779 state[joint_eff]: [0.3761, 1.8256, 0.8274, -0.3248, 0.5153, -0.5348, 0.0024, -0.335, -7.2274, 6.3658, 2.0049, -0.0611, -0.0415, 1.033] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 273): [image omitted: streamed camera frame] camera 'left_cam' (step 273): [image omitted: streamed camera frame] camera 'right_cam' (step 273): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.305, "left_y": -0.04, "left_z": 0.01, "left_pitch": 0.2}, "note": "Left fingertips are touching the table ~5 cm short of the cap, which is aligned along the jaw column. Lifting slightly and advancing onto it."})
tool
executing move_to over 14 steps (1.4s)
step 287
assistant
agent noteCap sits centred between the left jaws at table level; closing to regrasp.
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]: [-0.0269, 1.9541, 0.004, 1.5188, 0.1833, -0.0879, 0.9964, 0.4923, 1.3548, 0.5961, 0.1188, -0.004, -0.0349, 0.0827] state[eef_state]: left_x=0.3045 left_y=-0.0368 left_z=0.0053 left_yaw=-0.1465 left_pitch=0.1397 left_roll=-0.1473 left_gripper=0.9964 right_x=0.3333 right_y=0.1836 right_z=0.0977 right_yaw=0.5053 right_pitch=-0.0837 right_roll=-0.0262 right_gripper=0.0827 state[joint_eff]: [-0.6769, -5.6547, 0.4991, 2.2247, 0.0562, -0.0513, 0.0073, -0.1983, -5.5726, 6.6667, 1.7851, -0.0269, -0.0464, 1.0281] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 287): [image omitted: streamed camera frame] camera 'left_cam' (step 287): [image omitted: streamed camera frame] camera 'right_cam' (step 287): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Cap sits centred between the left jaws at table level; closing to regrasp."})
tool
executing move_to over 10 steps (1.0s)
step 297
assistant
agent noteClose read 0.01, so it's empty; the dark spike in the wrist view looks like part of the gripper, not the cap. Opening and moving 2 cm forward toward where the cap was set down.
move_to
left_gripper1.0000left_x0.3250left_y-0.0400left_z0.0050
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0269, 1.9541, 0.0044, 1.528, 0.1818, -0.0959, 0.0105, 0.4923, 1.3548, 0.5961, 0.1184, -0.0036, -0.0353, 0.0827] state[eef_state]: left_x=0.3056 left_y=-0.0366 left_z=0.0074 left_yaw=-0.1411 left_pitch=0.1485 left_roll=-0.153 left_gripper=0.0105 right_x=0.3333 right_y=0.1836 right_z=0.0976 right_yaw=0.5052 right_pitch=-0.0841 right_roll=-0.0267 right_gripper=0.0827 state[joint_eff]: [-0.1573, -4.7521, 1.1966, 1.7411, 0.0952, 0.0611, 0.8962, -0.212, -4.7932, 6.4889, 1.6679, -0.022, -0.0659, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 297): [image omitted: streamed camera frame] camera 'left_cam' (step 297): [image omitted: streamed camera frame] camera 'right_cam' (step 297): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_x": 0.325, "left_y": -0.04, "left_z": 0.005}, "note": "Close read 0.01, so it's empty; the dark spike in the wrist view looks like part of the gripper, not the cap. Opening and moving 2 cm forward toward where the cap was set down."})
tool
executing move_to over 10 steps (1.0s)
step 307
assistant
agent noteThe cap still shows as a small dark shape just ahead of the fingertips between the open jaws. Advancing 2 cm and pressing to table level.
move_to
left_x0.3450left_y-0.0420left_z-0.0100
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0383, 1.9556, 0.0662, 1.4693, 0.1612, -0.1081, 0.9952, 0.4923, 1.3548, 0.5934, 0.1108, -0.004, -0.0349, 0.0827] state[eef_state]: left_x=0.3215 left_y=-0.0371 left_z=0.0057 left_yaw=-0.1284 left_pitch=0.1482 left_roll=-0.1556 left_gripper=0.9952 right_x=0.3316 right_y=0.1827 right_z=0.095 right_yaw=0.5053 right_pitch=-0.0944 right_roll=-0.026 right_gripper=0.0827 state[joint_eff]: [-0.7179, -4.8752, 2.6188, 1.8095, 0.022, 0.0317, -0.1343, -0.3624, -5.0803, 6.5709, 1.7167, -0.022, -0.0415, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 307): [image omitted: streamed camera frame] camera 'left_cam' (step 307): [image omitted: streamed camera frame] camera 'right_cam' (step 307): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.345, "left_y": -0.042, "left_z": -0.01}, "note": "The cap still shows as a small dark shape just ahead of the fingertips between the open jaws. Advancing 2 cm and pressing to table level."})
tool
executing move_to over 2 steps (0.2s)
step 309
assistant
agent noteThe dark spike stays fixed in the left wrist image no matter where the arm moves, and no cap is visible on the table, so the cap may be stuck in the left gripper. Closing and lifting slightly to check.
move_to
left_gripper0.0000left_z0.0300
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0505, 2.0457, 0.1268, 1.5318, 0.1463, -0.1036, 0.9964, 0.4923, 1.3548, 0.5865, 0.1112, -0.004, -0.0349, 0.0827] state[eef_state]: left_x=0.3389 left_y=-0.0393 left_z=0.0038 left_yaw=-0.1308 left_pitch=0.1811 left_roll=-0.1426 left_gripper=0.9964 right_x=0.33 right_y=0.1819 right_z=0.0922 right_yaw=0.5053 right_pitch=-0.1009 right_roll=-0.0259 right_gripper=0.0827 state[joint_eff]: [-0.5265, -4.8205, 1.0598, 0.7643, 0.1294, -0.1197, 0.1099, -0.2256, -5.0393, 6.8444, 1.6239, -0.022, -0.0269, 1.0281] camera 'top_cam' (step 309): [image omitted: streamed camera frame] camera 'left_cam' (step 309): [image omitted: streamed camera frame] camera 'right_cam' (step 309): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0, "left_z": 0.03}, "note": "The dark spike stays fixed in the left wrist image no matter where the arm moves, and no cap is visible on the table, so the cap may be stuck in the left gripper. Closing and lifting slightly to check."})
tool
executing move_to over 10 steps (1.0s)
step 319
assistant
agent noteI didn't put the cap on the pen. The right arm is holding the pen. The left arm picked up the cap once (gripper settled at 0.05–0.08). I then set the cap down to regrasp it facing the other way. That regrasp went wrong: rotating the wrist 180° folded the left arm out of its workspace, and the two regrasp attempts after that closed on nothing (0.01). The cap is no longer visible on the table in the overhead view; it may be hidden under the left gripper. With about 6 calls left, I can't find the cap again, grasp it and do a two-arm insertion.
give_up
hindsight- Sign of image-left: in top_cam, image-left means +y in the arm frame. I got this backwards at first and misjudged the pen's direction. A diagonal running from image upper-left to lower-right points forward and +y (left). - Descending near x≈0.33: at pitch 0 the left arm stalled at z≈0.08 with shoulder pitch around 1.43. Commanding pitch ≈ +0.2–0.3 let it reach the table. Use pitch ≈ 0.2 for every table grasp. - Bad IK solutions: a combined translate+yaw move (right arm to y 0.3 with yaw -0.7) sent the right arm into a contorted joint pose, and it bumped the left arm. Commanding yaw ≈ ±π (2.84) folded the left arm back to x≈0.03, outside the box, and it took several moves to recover. Translate first, then rotate in small steps, and never ask for yaw near ±π. To flip an object's direction, re-grasp from the opposite side or change the plan instead of rotating 180°. - Wrist camera: the small dark spike at the bottom centre of left_cam was there in every frame. It is either part of the gripper or something stuck to it. I mistook it for the cap, so don't treat a fixed feature as an object. - Grasps: a pen grasp at yaw 0.5 with pitch 0.2 at z≈0 worked first try (reading 0.06–0.07). Visual servoing by keeping the object on jaw column ~110 worked well. - Capping plan for next time: grip both parts with their axes along the tool's forward direction, set both arms to yaw ≈ +1.57 so the tools face +y, and bring the pen tip into the cap from the right-arm side. Before committing, check which end of the cap is open using the overhead view. - Budget: 40 calls is tight for this task, so don't spend calls on setting objects down and re-grasping them.
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0528, 1.7924, 0.1192, 1.2873, 0.1368, -0.1066, 0.0107, 0.4923, 1.3548, 0.5858, 0.1074, -0.0036, -0.0349, 0.0827] state[eef_state]: left_x=0.3384 left_y=-0.0384 left_z=0.0277 left_yaw=-0.1233 left_pitch=0.1817 left_roll=-0.1417 left_gripper=0.0107 right_x=0.3293 right_y=0.1814 right_z=0.0912 right_yaw=0.505 right_pitch=-0.1054 right_roll=-0.0261 right_gripper=0.0827 state[joint_eff]: [0.1299, -6.1197, 2.8376, 1.7851, 0.1538, -0.022, 0.8816, -0.1573, -5.0256, 6.4205, 1.707, -0.0317, -0.0659, 1.0281] camera 'top_cam' (step 319): [image omitted: streamed camera frame] camera 'left_cam' (step 319): [image omitted: streamed camera frame] camera 'right_cam' (step 319): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I didn't put the cap on the pen. The right arm is holding the pen. The left arm picked up the cap once (gripper settled at 0.05\u20130.08). I then set the cap down to regrasp it facing the other way. That regrasp went wrong: rotating the wrist 180\u00b0 folded the left arm out of its workspace, and the two regrasp attempts after that closed on nothing (0.01). The cap is no longer visible on the table in the overhead view; it may be hidden under the left gripper. With about 6 calls left, I can't find the cap again, grasp it and do a two-arm insertion.", "hindsight": "- Sign of image-left: in top_cam, image-left means +y in the arm frame. I got this backwards at first and misjudged the pen's direction. A diagonal running from image upper-left to lower-right points forward and +y (left).\n- Descending near x\u22480.33: at pitch 0 the left arm stalled at z\u22480.08 with shoulder pitch around 1.43. Commanding pitch \u2248 +0.2\u20130.3 let it reach the table. Use pitch \u2248 0.2 for every table grasp.\n- Bad IK solutions: a combined translate+yaw move (right arm to y 0.3 with yaw -0.7) sent the right arm into a contorted joint pose, and it bumped the left arm. Commanding yaw \u2248 \u00b1\u03c0 (2.84) folded the left arm back to x\u22480.03, outside the box, and it took several moves to recover. Translate first, then rotate in small steps, and never ask for yaw near \u00b1\u03c0. To flip an object's direction, re-grasp from the opposite side or change the plan instead of rotating 180\u00b0.\n- Wrist camera: the small dark spike at the bottom centre of left_cam was there in every frame. It is either part of the gripper or something stuck to it. I mistook it for the cap, so don't treat a fixed feature as an object.\n- Grasps: a pen grasp at yaw 0.5 with pitch 0.2 at z\u22480 worked first try (reading 0.06\u20130.07). Visual servoing by keeping the object on jaw column ~110 worked well.\n- Capping plan for next time: grip both parts with their axes along the tool's forward direction, set both arms to yaw \u2248 +1.57 so the tools face +y, and bring the pen tip into the cap from the right-arm side. Before committing, check which end of the cap is open using the overhead view.\n- Budget: 40 calls is tight for this task, so don't spend calls on setting objects down and re-grasping them."})
tool
give_up: I didn't put the cap on the pen. The right arm is holding the pen. The left arm picked up the cap once (gripper settled at 0.05–0.08). I then set the cap down to regrasp it facing the other way. That regrasp went wrong: rotating the wrist 180° folded the left arm out of its workspace, and the two regrasp attempts after that closed on nothing (0.01). The cap is no longer visible on the table in the overhead view; it may be hidden under the left gripper. With about 6 calls left, I can't find the cap again, grasp it and do a two-arm insertion.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 14.18 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Pick up the pen and the pen cap, then put the cap on the pen.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7921, 0.6025, -0.3794, -0.0219, -0.0246, 0.9998, -0.0185, 0.7906, 0.6102, -0.3759, -0.0231, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.0015 left_z=0.1799 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2958 right_y=0.0022 right_z=0.1846 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.5675, -1.4154, 10.4957, 1.7802, -0.0366, 0.0806, -0.0366, -0.7179, -1.1145, 9.7162, 1.7509, 0.0073, -0.0415, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b768c06c2564a56e80729bd9ae2ed383e7269073c56f5b18a1a425517b154fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ac5a6410f892f5881e548efa0bf9e140217aa5d02f1916c9d040181ebe0d557",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c07906461349b5b35aac99b1f3ac9959c1f9fcab3e7a6a9124b1859511f10f8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 6.581 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7921, 0.6025, -0.3794, -0.0219, -0.0246, 0.9998, -0.0185, 0.7906, 0.6102, -0.3759, -0.0231, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.0015 left_z=0.1799 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2958 right_y=0.0022 right_z=0.1846 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.5675, -1.4154, 10.4957, 1.7802, -0.0366, 0.0806, -0.0366, -0.7179, -1.1145, 9.7162, 1.7509, 0.0073, -0.0415, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b768c06c2564a56e80729bd9ae2ed383e7269073c56f5b18a1a425517b154fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ac5a6410f892f5881e548efa0bf9e140217aa5d02f1916c9d040181ebe0d557",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c07906461349b5b35aac99b1f3ac9959c1f9fcab3e7a6a9124b1859511f10f8a",
        "media_type": "image/png",
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  "role": "user"
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ChGzuseBqjJDxhQs4Jdd4J",
      "input": {
        "note": "Pen cap is left of centre, pen right of centre, both diagonal. Moving the left arm above the cap with yaw aligned across it.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.33,
          "left_y": -0.25,
          "left_yaw": -0.59,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 23 steps (2.3s)",
      "tool_use_id": "toolu_01ChGzuseBqjJDxhQs4Jdd4J",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6895, 1.4265, 0.6556, 0.1043, -0.1192, -0.1032, 0.9998, -0.0193, 0.7979, 0.6132, -0.3878, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3186 left_y=-0.2308 left_z=0.0939 left_yaw=-0.5443 left_pitch=-0.0922 left_roll=0.0 left_gripper=0.9998 right_x=0.2951 right_y=0.002 right_z=0.1815 right_yaw=-0.0008 right_pitch=-0.016 right_roll=0.0003 right_gripper=0.999\nstate[joint_eff]: [-0.5402, -5.641, 9.4154, 2.0928, 0.105, 0.2515, -0.0366, -0.0342, -1.7846, 7.1453, 1.8437, -0.0513, -0.0611, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2839c96b8a995deb9ca26162bddea5859ca5057bc9e00b3ef6ed6b0db2f00afd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:321c7ba8d79a21f162ddfe96a05c4d3a9b151d577da05485891d337ef44d253a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f5ff1003c7c51f53b57edf0ae0127656a71169f0da2630dd0ac6f12b448a99ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 5.637 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7921, 0.6025, -0.3794, -0.0219, -0.0246, 0.9998, -0.0185, 0.7906, 0.6102, -0.3759, -0.0231, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.0015 left_z=0.1799 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2958 right_y=0.0022 right_z=0.1846 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.5675, -1.4154, 10.4957, 1.7802, -0.0366, 0.0806, -0.0366, -0.7179, -1.1145, 9.7162, 1.7509, 0.0073, -0.0415, -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]: [-0.6895, 1.4265, 0.6556, 0.1043, -0.1192, -0.1032, 0.9998, -0.0193, 0.7979, 0.6132, -0.3878, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3186 left_y=-0.2308 left_z=0.0939 left_yaw=-0.5443 left_pitch=-0.0922 left_roll=0.0 left_gripper=0.9998 right_x=0.2951 right_y=0.002 right_z=0.1815 right_yaw=-0.0008 right_pitch=-0.016 right_roll=0.0003 right_gripper=0.999\nstate[joint_eff]: [-0.5402, -5.641, 9.4154, 2.0928, 0.105, 0.2515, -0.0366, -0.0342, -1.7846, 7.1453, 1.8437, -0.0513, -0.0611, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2839c96b8a995deb9ca26162bddea5859ca5057bc9e00b3ef6ed6b0db2f00afd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:321c7ba8d79a21f162ddfe96a05c4d3a9b151d577da05485891d337ef44d253a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5ff1003c7c51f53b57edf0ae0127656a71169f0da2630dd0ac6f12b448a99ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqAsKEAgSGAI4AUIIdGhpbmtpbmcSDLd4OwRsJPwDqqSiwBoMTdQ6XSFxjd5iHHq5IjBwCOm8PflOcxxXcqQxgncETJ6d5CAiTlNxrDCKb/AwFw4/Wr+EyqPX7ZHGr1inu8sqxQp+4nAS4f0ei6B3PjSKDFBxrzE3t4Ckdn6aFN2RvXTs9mQfwsYrxwm4sDplct/Ba5lyWKBpIYQJd2+6agOzacUwusWwDb738hU7C6JlILOqM2eMPwl8UECb0If177YT9T3e4avAFQId3qdZ0ZbfnIQClpmDr2LHDKM7twzrFYBaErlbaAWfLEhXOLOhkd5bM/qyoecO97Nd0nwgjmyKlCaLh5z2/ORTsl/9IepFSbCF9kMNZ7eCIPUzWEnraOUqUaYut1+9k8DFjJquNbWFBhdeCol+q3RbL267jVNUuXrFX4P8LUSSMYmauKeZc1Xp77ioIaGZBNVeVE2HzRDD3MRKM8rEhE3YeR+LbJ8m2su3HtceT73OByUXp5ywC7N3xRfMy6wOV+etsfaBPkB2hLuuno3Crte6Rf+qFIOavzcIX6DwA/S5qzurs5TQ/T2Yyuc/I1d31mHV7VWN2NsGjEMTDiLy6JeK18ZExcq3CYNGoEY68ZbsRBEArdKTJHu2KYso5MawDVVeWb8FDMfZtgOV4q4GVtOlibhCo/uRyLEJl+9dfH4c/U/R40CYJTC3OGfXbCIjQRYSq419cTvMqBErKxgG2ODyvhyMnsOUr2r815luMaRYAs98rONFRGJfhW2NY97kujdvEo9KJdYFJAMMT7edCqIstBrM/OuQuqHo3nUnrYNEQhyUSU0/QGIh0bi8k6MhkAoy4n0kzNtGM6LR0N24hK25JalvoL5px3HZOmb2oCjjLMIYBDPlpX7uXgMO/P5GAtWp3JDq99psHd8w0V3upKe2yWq2vJbgctcxhrFWXGGopEyRn3oZ8M/Bv0SUNQhk6sfeC2L0SE2B0qkDyIVPoX265KqG/hGdk2esgtuFVKxFWiJ2jMW6pec0YjLvW50LTKFY+kmisbuGC+Yc1TsCibmLgcows9PzZ39AqBbwtFQarvDoLvsU0E5U0kqk0eeJEQ5G/nKA+F4VhxGY/jqCJjjpL224RjUq9oiJVGUvk5cDKJh4zSWGk+dSF0xFeFECtpvOSdDCSTBxfB2Jf/7wPhOx2icdgDjKNRxnobGz+m3gtEL1u5y1D7yeuZJYynbV4EWLPR1xY4qt3/CUyymVCrTiRbxDLkMd+D/Swcqy4d8AFx4TPYahHdRDeKuxJUle4MHu/dFJq4LYjs7m4fDljIYpg+Q/DNePkA0BBYspDF85dJy+h570jSs58uBFsM9/y3YM08HFSchgMxMQoFVp5r0/YkmqzkkTKRoWk5ekxg/1903GWSMs7xBJmx8g5gRLnfo6d3HpntdA+uNWLOz0pBJrN3iAIKrFutdCxNgRKV1PeQzODGjdQeMd+yvynvoykc1CQ6lPr0hoD0B1mulszXgFEon9mDBTjHeaASlTdPy7Y/NfNCrPIdV3L/QWto0e2iwd0h3+vGXEEWuKxiWaK7qs1RwWk+X4spsp2wybztvrT/bfEL+eGm0kWAajIxHkS+GNL2NLHECC+3DQkbjjHTv84S0OpxmtV7Op8eq8kfF+qqt/A/3r7QcrIoF3hHRAs0jggrTpZECFFpggNEgDtkgMzYcrvTEZjTBaOUVq1nEFKSLA7TmcRVgy4f0jIHScKXfmC65H2KFqiLqIy4i55IfnXFZcopJ/tyk0QGgWlWQPs3rPRch8Evv2G65fT419HsXLc5zKQNCBc1oFDJ+wUqkLhPDbFAwXhJuqPVpuQ4VWvxlY2hXPwyam5+XTlSZ2lM4141ls8N9VkEXaeedld+eBJ/H/8tSzUGl70dDHuzGOZeFNtVnU3MLQAnzztyRieBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011vLb83ykosamq2i9B6W1Rf",
      "input": {
        "note": "Wrist cam shows the cap left of the jaw column, roughly aligned for a cross grasp. Shifting toward the tool's left to centre it.",
        "targets": {
          "left_x": 0.33,
          "left_y": -0.2,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_011vLb83ykosamq2i9B6W1Rf",
      "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]: [-0.5793, 1.4265, 0.6209, 0.1184, -0.0666, -0.0608, 0.9997, -0.0193, 0.7979, 0.6132, -0.3904, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.331 left_y=-0.1982 left_z=0.082 left_yaw=-0.5012 left_pitch=-0.1166 left_roll=0.0027 left_gripper=0.9997 right_x=0.2948 right_y=0.0019 right_z=0.181 right_yaw=-0.0011 right_pitch=-0.0187 right_roll=0.0001 right_gripper=0.999\nstate[joint_eff]: [-1.0872, -7.5829, 6.3521, 1.7558, 0.4078, 0.1148, -0.0171, -0.1436, -1.0598, 7.0085, 1.7949, -0.0513, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac32a856ba5e8adc627534f9ee0d33577a2a73de4fc569d0ea71124bd20e0c1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbb5e67df3f21dfef040f828cfda0922dc775d77c8432ca8d526238e311b7082",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e80b4a6a64f73cec18c6805f9904d5c10f7d8dd6039f9486316eec3a987f74a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 4.068 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7921, 0.6025, -0.3794, -0.0219, -0.0246, 0.9998, -0.0185, 0.7906, 0.6102, -0.3759, -0.0231, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.0015 left_z=0.1799 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2958 right_y=0.0022 right_z=0.1846 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.5675, -1.4154, 10.4957, 1.7802, -0.0366, 0.0806, -0.0366, -0.7179, -1.1145, 9.7162, 1.7509, 0.0073, -0.0415, -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]: [-0.6895, 1.4265, 0.6556, 0.1043, -0.1192, -0.1032, 0.9998, -0.0193, 0.7979, 0.6132, -0.3878, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3186 left_y=-0.2308 left_z=0.0939 left_yaw=-0.5443 left_pitch=-0.0922 left_roll=0.0 left_gripper=0.9998 right_x=0.2951 right_y=0.002 right_z=0.1815 right_yaw=-0.0008 right_pitch=-0.016 right_roll=0.0003 right_gripper=0.999\nstate[joint_eff]: [-0.5402, -5.641, 9.4154, 2.0928, 0.105, 0.2515, -0.0366, -0.0342, -1.7846, 7.1453, 1.8437, -0.0513, -0.0611, -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]: [-0.5793, 1.4265, 0.6209, 0.1184, -0.0666, -0.0608, 0.9997, -0.0193, 0.7979, 0.6132, -0.3904, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.331 left_y=-0.1982 left_z=0.082 left_yaw=-0.5012 left_pitch=-0.1166 left_roll=0.0027 left_gripper=0.9997 right_x=0.2948 right_y=0.0019 right_z=0.181 right_yaw=-0.0011 right_pitch=-0.0187 right_roll=0.0001 right_gripper=0.999\nstate[joint_eff]: [-1.0872, -7.5829, 6.3521, 1.7558, 0.4078, 0.1148, -0.0171, -0.1436, -1.0598, 7.0085, 1.7949, -0.0513, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac32a856ba5e8adc627534f9ee0d33577a2a73de4fc569d0ea71124bd20e0c1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbb5e67df3f21dfef040f828cfda0922dc775d77c8432ca8d526238e311b7082",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e80b4a6a64f73cec18c6805f9904d5c10f7d8dd6039f9486316eec3a987f74a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3AkKEAgSGAI4AUIIdGhpbmtpbmcSDNEo4tPeyTMgxZnW1BoM5zg3LMfgaATcTgytIjCS5FSFDXckAr7kS7IETGrOQ0jYXg265qiQup43+9P9Tc6OLqAQ/osB94C7xR8xqdIq+Qig9NKNteBuJLbCMfE0VTXMf5J1emR24Uk0pcXTUJV3rCau39QGeS9azO8+oMBmnL6oBwfrd7e+TxU7OQ89AMuRotkI9++gsUXt57OKfJ62kIx9RFGm51R51lBIUO3MJ/i1Vojjoyuf8Q0Sl+RZQBsX6DRe51XB77etO+Zhuwf7CYWFiNWVUF1YMwsa1ofzofcomw2IMg5uQ4XBRkx7abGceWtsO65gpZ6vYbTBE76c6ussBWOs2wwmu1ak9v2O+vZWS2/X3a5yS7VvT7i11ILJfdg4r2+8Ka0qy+40VBCFNpcsv0IsInuOBkgaqYJKToZxUOKvKevc3WVBXF4K5Qz3YKjd3jRTLcO9JAzRke9tPWJ145M1c3p2BTsg+hZ/7iPjkbfXWcegm5ptwAg7pnwrU7/PpjSPmpPaBVKi9kbpTUp7dPU+JxltFn42gmuXEHNXxwDOZ46DQRAK6EX8pzRdhNc2LDXiurpdSFwWWZpjTTcpqm1WsIeoeWGU8xnnX7rCMK1Wq4P6PC11VW3Z+DulzJJFb9eKCFRxYIZqOmikogqlNWM2op6JhDk0aIklCu+d8J6W8hRbDRlI5MYupNL/WT8qXEHEn7Wdn/49Ca1pjdcMd368Yhwnw7kidVEQlETfW8R5XOs+mpdNkYt7R4c+ChdwdLel2L0mb6OGpO7Vjp4VC2o/t0eKiaxavffPdee3gxsi3IrvNcjwcOtuy0XIwktMbpA5HJW3cW+ZahWlGLq4TcjV8aXibsDcytk0qwWvkGDn8lua/Yv/WILueexaJMsUS9I+jHILCpfxrGgRSpf41Om8WaWPb+E1K6B6GZRXoRoJzS4wHOftMbNkQrhLQXFfreCQyelEE9IEg4X8ROOxm2Cs+vsUkuurenf6OHE6FgZw1nCfhNCZpcHmFbL3BZUXCWt++OiW2HBQYmSMQMB4Fnx71MossYKxdpzrvoizg2SnvfS5m/VVavQr8SEalTTsG/ICbDKwOi6cXJmXTbRX7Q4U4dQkyYfD1mWMReq9eqMvguu4AK6YCZCEqnsCW1PF3o7CSQoBP8STLo8jbAwd+qRhJGHJiIgxm2UkFFjTRZlHiqanIBf2xWerUQGGKkCYzW+Y3115qMfN9k461PpOn+ga5eOdZVH8sAiGh9HOVuKX2byNTc7P0n5UVH+uEu3FdwLby0iLSbCZ8riWMJYmm2BE7k3rGKcC57Ft5HkMc/YwElOn47i3HZlNLYXuraZWQYpBbB0ulwvLq9KApDH7I4GE3/+KUXXHhNijh8h22kfrLzmat8OEUiCoR+1AY0WvPxvkV5J03N6e+Cu9i6ECthnC1OIEN2ivGPwTCMo6XgakrpVrNbs2baUdhuG3D96RmNtX7qH8GfmcVUkRrCdEGz0nVeU/GrCKFp28/jsuoBC6NJdPcx8OKOKaa3zbrnju/4QCNDTQuH+UMEkGSpl40WLFuNJs97lMD/MjSk1PkhQ9XefAbsgXSkFZfKYBLm1n2eBxkGMzqNtkV5+7097iKiXR1lJrLxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Rz6mCeCx3xnsZcUy5Wnvbw",
      "input": {
        "note": "Cap is slightly left of jaw column and a bit ahead of the fingertips; nudging forward/left and descending to table level.",
        "targets": {
          "left_x": 0.355,
          "left_y": -0.195,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Rz6mCeCx3xnsZcUy5Wnvbw",
      "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]: [-0.5632, 1.4258, 0.6167, 0.1158, -0.0364, -0.0433, 0.9997, -0.0193, 0.7979, 0.6132, -0.3904, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3301 left_y=-0.1966 left_z=0.0799 left_yaw=-0.5202 left_pitch=-0.124 left_roll=-0.0026 left_gripper=0.9997 right_x=0.2948 right_y=0.002 right_z=0.181 right_yaw=-0.0008 right_pitch=-0.0187 right_roll=0.0003 right_gripper=0.999\nstate[joint_eff]: [-0.335, -7.5419, 6.0786, 1.7167, 0.1197, 0.1001, -0.0073, -0.3624, -1.2786, 7.0085, 1.7607, -0.0562, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a78c832d0840004d14b7b6d403cf83b46516dd7c84828426b6ec8cd78ef4e033",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6dc7fc2546d4d58ba0f01b95d1c34257011019674646384aea8a1e5dfeb0d4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8f56dff43da2532e5acc30530c1a80fa9e6dbbc17f8d45a877d21de990abfa4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 5.477 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6895, 1.4265, 0.6556, 0.1043, -0.1192, -0.1032, 0.9998, -0.0193, 0.7979, 0.6132, -0.3878, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3186 left_y=-0.2308 left_z=0.0939 left_yaw=-0.5443 left_pitch=-0.0922 left_roll=0.0 left_gripper=0.9998 right_x=0.2951 right_y=0.002 right_z=0.1815 right_yaw=-0.0008 right_pitch=-0.016 right_roll=0.0003 right_gripper=0.999\nstate[joint_eff]: [-0.5402, -5.641, 9.4154, 2.0928, 0.105, 0.2515, -0.0366, -0.0342, -1.7846, 7.1453, 1.8437, -0.0513, -0.0611, -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]: [-0.5793, 1.4265, 0.6209, 0.1184, -0.0666, -0.0608, 0.9997, -0.0193, 0.7979, 0.6132, -0.3904, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.331 left_y=-0.1982 left_z=0.082 left_yaw=-0.5012 left_pitch=-0.1166 left_roll=0.0027 left_gripper=0.9997 right_x=0.2948 right_y=0.0019 right_z=0.181 right_yaw=-0.0011 right_pitch=-0.0187 right_roll=0.0001 right_gripper=0.999\nstate[joint_eff]: [-1.0872, -7.5829, 6.3521, 1.7558, 0.4078, 0.1148, -0.0171, -0.1436, -1.0598, 7.0085, 1.7949, -0.0513, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.5632, 1.4258, 0.6167, 0.1158, -0.0364, -0.0433, 0.9997, -0.0193, 0.7979, 0.6132, -0.3904, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3301 left_y=-0.1966 left_z=0.0799 left_yaw=-0.5202 left_pitch=-0.124 left_roll=-0.0026 left_gripper=0.9997 right_x=0.2948 right_y=0.002 right_z=0.181 right_yaw=-0.0008 right_pitch=-0.0187 right_roll=0.0003 right_gripper=0.999\nstate[joint_eff]: [-0.335, -7.5419, 6.0786, 1.7167, 0.1197, 0.1001, -0.0073, -0.3624, -1.2786, 7.0085, 1.7607, -0.0562, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a78c832d0840004d14b7b6d403cf83b46516dd7c84828426b6ec8cd78ef4e033",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6dc7fc2546d4d58ba0f01b95d1c34257011019674646384aea8a1e5dfeb0d4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f56dff43da2532e5acc30530c1a80fa9e6dbbc17f8d45a877d21de990abfa4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxQcKEAgSGAI4AUIIdGhpbmtpbmcSDE0pFH7+romNfQPa0RoMIahptd+45/NVRFFRIjAmO70xhOA8mZY6TlDDQsqNKD3tqkFt31S3hK9fthdLjybd51GkpJ88uIi7GgvQFqEq4gb+7CoJ5OLx+GrDEx3f1GP4JcSnD/vf2J4d/c3tp+QtvTZNMP6aJEgNqiOA0dk9htkzxhFf/Ky86d2RHe3UJnKcE2kenO958gR0oDzywvAKYWRSqb0/9qI7O7CGUJxUXGdUNksPVcWsswmQJpBBrZUJMJ8GkhAQci2hppz2aEb1iXXv1046NT8HE06IAKz9UGnBCHZNuq2SYbrHPOfymcZ3bm98dGabADJNUKKRWxzc1bNagMwh7whpegFFh5Wje4cwZzDbwFNqsWoQ4GOTLoV+gUtO2ElCqrcv3Oo9W8shQKmm+r3IswrVw1gZlz1prj97YX4rPDZH5UJzkD44cguyguPJSjH0QSHqtYEosapXb93xeNX+pO3zLDaOW8cfXPwtclfMs9B5nLVssqIQCeKkEX4nuolUf7Yp7ag7Ch6KXa9gdCWvxX28+i/sfF4f+0SsChmiv6nFFWjtL2SLknvcU0MocogJhVUSUzAlC+LaSlW0ew2KkCrrWp2SkooSWNZkJDkfG8NaTgiYRgG1NACeclhyllYmonLN0xrP+TzgZuufFG8TYLqlr0v996vtQARFx+I9dgOgS0Iyto1Ga/s3ubsZ0LrJRDcCpWjZzUC1TMLdmibGG3GnX4yC1nzJilpJBK5nEpahZlnIlgCIXCM12nHfL7uaYzEpWIks2SJWIQAHI8HGIYGcBV2v6W/kgOGCkiX8U/bdi/PkqpcZjySS610n2hHke3CwiYBhsBV0zpcNLLhSNbsX6LCn3P8/DWLN1jsuyoGy/nadLmqUpw8wy8WY1gmVh05NkAz4Af1fM6qZQeocS6JJtopFKzaeaktOzdslkt1uYIkGI7zexZH0hZohp5LnPsFzwxiex5MfENI6K4/l0gMceWP4kPyJp4kNuDU++4h/kobVmFf01WvQun0hLTAf3JJModcTj2pkI+5AHZIlNQnflpuxWJyjRbQVkfEOQCvsy5d7fjwvTr4dsd/w98KDTXm1gY58Sqp7bLjhMT1Iffwr91Mncx5awBj6/rCQuysvURyFET4c4R8fAX/uJkIkBQ6tqKWTc//KV3biJBHIt/vKQDofhIhpEZgQohnK+URRxXyZuF/9RZjm+0hRV4P3mFGEb/zyLZ86UtJEeWxyZRK11K0GxKVYo/PBcRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012zZKTDuXgTjKSU26pFDWkN",
      "input": {
        "note": "The last move did not execute (arm held at z 0.08). Trying a pure descent to see if the IK will lower.",
        "targets": {
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_012zZKTDuXgTjKSU26pFDWkN",
      "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]: [-0.5632, 1.4258, 0.6167, 0.1158, -0.0364, -0.0433, 0.9997, -0.0193, 0.7979, 0.6132, -0.3901, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3301 left_y=-0.1966 left_z=0.0799 left_yaw=-0.5202 left_pitch=-0.124 left_roll=-0.0026 left_gripper=0.9997 right_x=0.2948 right_y=0.002 right_z=0.1811 right_yaw=-0.0008 right_pitch=-0.0183 right_roll=0.0003 right_gripper=0.999\nstate[joint_eff]: [-0.1162, -7.5282, 6.1333, 1.6825, 0.0904, 0.1001, -0.0122, -0.1573, -1.1282, 7.0222, 1.7607, -0.0513, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c287fe10256d9e309524f2c4ad9f47fd09ac67da9518cbe076e306648f6cd31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:104e2194142b78054e477a18237d978542b8b130120b51be22d7f0550404d5be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2d95f9fc45a08027cf924581f72982dc4eef4578833095443e04fbdfa6a741ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 6.295 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5793, 1.4265, 0.6209, 0.1184, -0.0666, -0.0608, 0.9997, -0.0193, 0.7979, 0.6132, -0.3904, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.331 left_y=-0.1982 left_z=0.082 left_yaw=-0.5012 left_pitch=-0.1166 left_roll=0.0027 left_gripper=0.9997 right_x=0.2948 right_y=0.0019 right_z=0.181 right_yaw=-0.0011 right_pitch=-0.0187 right_roll=0.0001 right_gripper=0.999\nstate[joint_eff]: [-1.0872, -7.5829, 6.3521, 1.7558, 0.4078, 0.1148, -0.0171, -0.1436, -1.0598, 7.0085, 1.7949, -0.0513, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5632, 1.4258, 0.6167, 0.1158, -0.0364, -0.0433, 0.9997, -0.0193, 0.7979, 0.6132, -0.3904, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3301 left_y=-0.1966 left_z=0.0799 left_yaw=-0.5202 left_pitch=-0.124 left_roll=-0.0026 left_gripper=0.9997 right_x=0.2948 right_y=0.002 right_z=0.181 right_yaw=-0.0008 right_pitch=-0.0187 right_roll=0.0003 right_gripper=0.999\nstate[joint_eff]: [-0.335, -7.5419, 6.0786, 1.7167, 0.1197, 0.1001, -0.0073, -0.3624, -1.2786, 7.0085, 1.7607, -0.0562, -0.0611, -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]: [-0.5632, 1.4258, 0.6167, 0.1158, -0.0364, -0.0433, 0.9997, -0.0193, 0.7979, 0.6132, -0.3901, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3301 left_y=-0.1966 left_z=0.0799 left_yaw=-0.5202 left_pitch=-0.124 left_roll=-0.0026 left_gripper=0.9997 right_x=0.2948 right_y=0.002 right_z=0.1811 right_yaw=-0.0008 right_pitch=-0.0183 right_roll=0.0003 right_gripper=0.999\nstate[joint_eff]: [-0.1162, -7.5282, 6.1333, 1.6825, 0.0904, 0.1001, -0.0122, -0.1573, -1.1282, 7.0222, 1.7607, -0.0513, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c287fe10256d9e309524f2c4ad9f47fd09ac67da9518cbe076e306648f6cd31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:104e2194142b78054e477a18237d978542b8b130120b51be22d7f0550404d5be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d95f9fc45a08027cf924581f72982dc4eef4578833095443e04fbdfa6a741ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5wkKEAgSGAI4AUIIdGhpbmtpbmcSDPvQwVveAjofmnI3YxoM35Bt9q2oRuNF8Q9eIjBZn680dHbwIDEyzHXzcrO2ckLOgfRoVZbbKQ362Y2xHNEaYcmPCZMn7qnJ/AMNCeAqhAlxEewR5tS74IUWZ1GkP31zQBeThMGYiTjYQ1rkRFjFLAmOHXGwp1iyQJbaq6aMnNMYOOyFVJGHQOCCXfUvBTje7YKMlJ2THChdDQsrWeElbnXXMMIAXPM16i/s0uwR8oJWjarFfpmgWTnprjjnvNNTm7zrkxk1xHzLBfgFipT2Xzl17HLUr1iwbbYS5UtSUKK24Q47OE2yPr5jRXdDusBqEVYdUu6tUa5uDKwCGFEBtrbIFHCMRMfdVBK5maHVS9sRaf0Y+4Sg4p8ZWWS96hGBBfvnKS3csr7Ywpeb1qwljZ9dl7muDAFB/rt2EyXUcVnO58QtXmlN/AJRUdDmiwcwSd7JgmeS0nJeIgV4hGSTtHWZEl7GnCIx2Std5P66R98hzJmAjC5rml01NY5+Gnl5+Bo6ilp8vuTICP0esR82qgWxKLT4KPbl3XC5uHg53g6lTEsd7bntrf3zFulMMhCQuA0TqBJyAA84/AmIE5gN1ekAxj2O13zwcH+5xdfAVmhGMWKkB1q9ydQoo1qbxFyKqb6Ya1EaJc6upIC9EwPUA56SBJM2URNUDvCzETY/uqIYICbTaOD+6mppE1fh5dzIn4ZpnuFtD7dCuzTwenkWTo4WeLJ8LA1lWL8nm56vY6nJBVb22uwDEYsP7xdZmh555lsoeaJ80JH0rxb8jy5MmTJO3Y4MqdSNJpqAV/WL7XietcNCjxCNrf0M0yp3798j85CSvJetgh1WDSGSJsBMIWzxNT2xX2aiIWYSOmnWq+7asQaXwZI+l+OnxhqHauhsd7lMdMjLLd3VtKJVWX5qjd2ADE4PeKPB1RCdk4uEllI8JrZm+XlhyKyzbvyiuqNnLHUfve/qyhQZQAa2btuRlSJLAakZpr38zmZtXs+hRPJYuFOdywSEWf5sq99jY8T9iVbx/VJxF9Cj5PUse1rv0hNSrPjPEFSUS04+mgetJKNOoe6Dkibz3+4X6vrdGQ2nfLjaKvSiHtQOeX1CNdLhbhbv8RYeMkI9cq/eKmBzES5fmFLE8ePRNK38zqufLqxCVs34qtFT15K4IQUTTLQPdyiPNoafc1/IiKDo2NSpV+bdzc7r59SSUyAYx/aA4tT5fkcAE2IUKJy4Gtx5aLBnuKAqRPggjOhn9Fdm6zgrl8WCxSgh49fI9lsWXzsEFMmr+qsvaPEoK9lqjjSqpffCfxn4rMknxSNXnnntOUlBJhWAXXvik1HYHNPEi8n4yF7UAjU/N5oPTTfZh7yCcIj3q41sOBgE5Qv6qBzS0E6T4iR1GymtFQ+h99GLgFWHSRMCDxFxH2NpY9MgiX161S53CmadGIxL4aj2exYMhgp6cVrFn6qAANT44O3pbIAVkTBR8FT5VL465PlsNqJouFgfNLCo8OJQwpNaZhNmcOJc+nz2idwsnfC8wtugcryvNpXtiCkPDyjDwu0ru/JWlAKm/peI20h4EII06Q5jW4STBTQfGHdVer5uhS0rhXJjFtOKfdqHLXrVnDtn4GL1HV7r9yDpt73NfbLcc8ABZqfm2j4c1UYhGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FMXAtS4dZMsgvxBZ6MkqLs",
      "input": {
        "note": "Shoulder joint seems pinned at a limit, blocking descent. Trying a forward tool pitch so the wrist can sit further back while lowering.",
        "targets": {
          "left_pitch": 0.3,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01FMXAtS4dZMsgvxBZ6MkqLs",
      "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]: [-0.5663, 1.9358, 0.2588, 1.2903, -0.0502, -0.0429, 0.9997, -0.0193, 0.799, 0.6132, -0.3916, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3244 left_y=-0.1915 left_z=0.0159 left_yaw=-0.5113 left_pitch=0.1827 left_roll=-0.0102 left_gripper=0.9997 right_x=0.2947 right_y=0.002 right_z=0.1804 right_yaw=-0.0008 right_pitch=-0.021 right_roll=0.0004 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -6.6667, 2.0718, 2.3663, -0.0269, 0.1294, -0.0122, -0.2667, -1.306, 7.0496, 1.7216, -0.0464, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f93a47828aa4b125fd59853818b777e229bf84ba63bc26c8f5fe4d6df611da9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60ca27f7bd5522d9b2399bfea22bb79f4bc0649e8a495d45ccb3ba7f5885a000",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d9e0d4ca6a36dbe36bb6616f1231090393935fd4ba89435dbe60e2b21e3fcc57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 3.154 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5632, 1.4258, 0.6167, 0.1158, -0.0364, -0.0433, 0.9997, -0.0193, 0.7979, 0.6132, -0.3904, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3301 left_y=-0.1966 left_z=0.0799 left_yaw=-0.5202 left_pitch=-0.124 left_roll=-0.0026 left_gripper=0.9997 right_x=0.2948 right_y=0.002 right_z=0.181 right_yaw=-0.0008 right_pitch=-0.0187 right_roll=0.0003 right_gripper=0.999\nstate[joint_eff]: [-0.335, -7.5419, 6.0786, 1.7167, 0.1197, 0.1001, -0.0073, -0.3624, -1.2786, 7.0085, 1.7607, -0.0562, -0.0611, -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]: [-0.5632, 1.4258, 0.6167, 0.1158, -0.0364, -0.0433, 0.9997, -0.0193, 0.7979, 0.6132, -0.3901, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3301 left_y=-0.1966 left_z=0.0799 left_yaw=-0.5202 left_pitch=-0.124 left_roll=-0.0026 left_gripper=0.9997 right_x=0.2948 right_y=0.002 right_z=0.1811 right_yaw=-0.0008 right_pitch=-0.0183 right_roll=0.0003 right_gripper=0.999\nstate[joint_eff]: [-0.1162, -7.5282, 6.1333, 1.6825, 0.0904, 0.1001, -0.0122, -0.1573, -1.1282, 7.0222, 1.7607, -0.0513, -0.0708, -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]: [-0.5663, 1.9358, 0.2588, 1.2903, -0.0502, -0.0429, 0.9997, -0.0193, 0.799, 0.6132, -0.3916, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3244 left_y=-0.1915 left_z=0.0159 left_yaw=-0.5113 left_pitch=0.1827 left_roll=-0.0102 left_gripper=0.9997 right_x=0.2947 right_y=0.002 right_z=0.1804 right_yaw=-0.0008 right_pitch=-0.021 right_roll=0.0004 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -6.6667, 2.0718, 2.3663, -0.0269, 0.1294, -0.0122, -0.2667, -1.306, 7.0496, 1.7216, -0.0464, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f93a47828aa4b125fd59853818b777e229bf84ba63bc26c8f5fe4d6df611da9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60ca27f7bd5522d9b2399bfea22bb79f4bc0649e8a495d45ccb3ba7f5885a000",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9e0d4ca6a36dbe36bb6616f1231090393935fd4ba89435dbe60e2b21e3fcc57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwwkKEAgSGAI4AUIIdGhpbmtpbmcSDPRBcA+no5fC9znGnhoMUdJ2MAxpyIkcc4TXIjAAaIqB8m1Io9B3B61a8F/ucsX2ETzBMioMaIWMdxlKwvdxiI8FGQEnqP78yjzmOF4q4AgSkjlL/euE8errfUKu20DQ4VFtLyvn8AyY5Ll/exMm+DADlBLUWswpiJmMztX2V5Mj/7Oai7xEcPzuyMAsOBRKjnw7a1SwjuCw5GtJOFR7VaVZn3a2pcrhkQiiaRiZ0ptnQNiMMn/qIEPSCPqm+c4BHuJr4h3ADGVLcnBlh6uq1oDyp81/3qjNW2BhBjTd8lP0MpzR0pJ8jrtovdey/YUA5hdnlJgaTsYwMGq2muSZDAAcyberZMHwj5pB4yaqPcBqh8+k2bpMMQ8JPIzQL1swZa7LATB8T2Rqa5zZR9hG0pKROQYU0xzoigFu5kjQYma7yGavYAQPXQMAhvWE5VP3cTDhtI+P4zX1d1GAf18s+Wz9qp84ETcvBa5/j634nx/b2540QeGmFTJjcSC3QWUTo51ldeXgk7JdW4Iy6595GXfGiXPUYOTlJWKdcOqV7B7tWA/TmxVPhoy/AbGnMnJJZVBxJEs+a8o7wjiy0Ya8EM3GQ+ktoCvJ7FJzfSTqubjuS4Cg2F+5XNx+P73BK+vfND6wVw7CRcWTrx4NeBC8OF4aS7t/h4ikAoTUsxEp+/H/6h3xWxYn4ViomQWTvp+66JAZagnGcQUXIjzVxlagk/5PW92cBXw71vUGvXYdUHuECnYHe7bKcdynisB/1LarUQzV6ULLULs0Fewie2Kv1ofuKekwymldtxL3e+9JM7XeWcMTPnFiNr44OWz4Uc0AvWN66NCM7NZPeSf6x1peW9j6WvypP/fxuyn31Iw2K7WOqj0UyKw91bmnKdDl3BHGp7NL2p6ZMSDFPGTU4aKgJv2fLo/Sg9TE2kgSnu0BslspIgnzGoGQwzNiQm9pmyaXV3v5iks/KgTM4/zEIWaVfx74lZdT7AcuTRjenJLtltvjuamZot5KXmkNTcOSNnFxWWzCEnBxQsYzGigKTh36hMWyqHGgb+Hv+OZul3R2tyGGrXB4E41YC4ybf/Phhk0EfNPCvSbWuCdQ0f/kvNGGdZWfrh+FYqY6hMJdY0iKLHmz16wuclgMZPKrWiMLIHCYKlozwbTHVQdMYZKteSrsjDRPc3N2fxNM8x3++Zb5ADdj3DRjLsvsbyTaVYWqx4BO9/7N6EV9aucRmZYq0kEBe+LFHhPiS1UvS1Stk5jdQi8kPiEoHmgPeW901wOcLOQbnzbkVc1J0piaOCLj0as0dKwBkSNJc2KfAuxIEXpqYtkpfZIBbVEPDyxW+XMUw5S3GwyuJDEWunX/z6hQtTAFkqu6EMpiE41suyvfMbvSXzFM6b9Z/AkyWcPPe0XPDieLLup+5Ao4AiDkb6gog+2LdiCXUWvKWwshkNeEAdS8uqdfn9mrse3CTcVznW6S2hbY9pAWatChTYs0Am080uH5sRB6HiOtz94/KZsFTaTf510tOp1WOdQ/MswIok3SJcKT+Mvui0FOOcd8pcjkEpN49zLYqKYwqOpvjZn46rGYkP8Jb421+5XcBIYHj2XpskOKGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FYxJb6RLtYyCeNbtyR41xu",
      "input": {
        "note": "Descent worked with forward pitch; cap sits near the jaw convergence point, slightly left. Small left nudge and lowering to table level.",
        "targets": {
          "left_x": 0.33,
          "left_y": -0.183,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01FYxJb6RLtYyCeNbtyR41xu",
      "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]: [-0.5396, 2.0281, 0.26, 1.4242, -0.0345, -0.0422, 0.9997, -0.0193, 0.8005, 0.6132, -0.3935, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3308 left_y=-0.1868 left_z=0.0139 left_yaw=-0.4981 left_pitch=0.2251 left_roll=-0.0173 left_gripper=0.9997 right_x=0.2945 right_y=0.002 right_z=0.1796 right_yaw=-0.0008 right_pitch=-0.0244 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [0.4581, -6.6667, 2.7145, 1.9316, 0.1783, 0.1636, -0.0122, -0.3214, -1.3607, 7.0222, 1.7705, -0.0415, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7478534b195108c76259bb76c7c89ca815d1010ae32696e17916ca2f94c735c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:faa591b5cc04814a6ca5ea7e6bf13cc3ed5c1e170b130c6ae3af2d87d62059c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:30330099464284132ac529c418ed3ccad66bee2e1cf4c60d49b0a48307d95150",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 6.973 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5632, 1.4258, 0.6167, 0.1158, -0.0364, -0.0433, 0.9997, -0.0193, 0.7979, 0.6132, -0.3901, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3301 left_y=-0.1966 left_z=0.0799 left_yaw=-0.5202 left_pitch=-0.124 left_roll=-0.0026 left_gripper=0.9997 right_x=0.2948 right_y=0.002 right_z=0.1811 right_yaw=-0.0008 right_pitch=-0.0183 right_roll=0.0003 right_gripper=0.999\nstate[joint_eff]: [-0.1162, -7.5282, 6.1333, 1.6825, 0.0904, 0.1001, -0.0122, -0.1573, -1.1282, 7.0222, 1.7607, -0.0513, -0.0708, -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]: [-0.5663, 1.9358, 0.2588, 1.2903, -0.0502, -0.0429, 0.9997, -0.0193, 0.799, 0.6132, -0.3916, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3244 left_y=-0.1915 left_z=0.0159 left_yaw=-0.5113 left_pitch=0.1827 left_roll=-0.0102 left_gripper=0.9997 right_x=0.2947 right_y=0.002 right_z=0.1804 right_yaw=-0.0008 right_pitch=-0.021 right_roll=0.0004 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -6.6667, 2.0718, 2.3663, -0.0269, 0.1294, -0.0122, -0.2667, -1.306, 7.0496, 1.7216, -0.0464, -0.0317, -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]: [-0.5396, 2.0281, 0.26, 1.4242, -0.0345, -0.0422, 0.9997, -0.0193, 0.8005, 0.6132, -0.3935, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3308 left_y=-0.1868 left_z=0.0139 left_yaw=-0.4981 left_pitch=0.2251 left_roll=-0.0173 left_gripper=0.9997 right_x=0.2945 right_y=0.002 right_z=0.1796 right_yaw=-0.0008 right_pitch=-0.0244 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [0.4581, -6.6667, 2.7145, 1.9316, 0.1783, 0.1636, -0.0122, -0.3214, -1.3607, 7.0222, 1.7705, -0.0415, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7478534b195108c76259bb76c7c89ca815d1010ae32696e17916ca2f94c735c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:faa591b5cc04814a6ca5ea7e6bf13cc3ed5c1e170b130c6ae3af2d87d62059c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30330099464284132ac529c418ed3ccad66bee2e1cf4c60d49b0a48307d95150",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1QYKEAgSGAI4AUIIdGhpbmtpbmcSDAZ9IRnujHcMcMW3xRoMLWl3nnKCUeKgNgBWIjA0coHI5RWKqeyeq2OffF7/JZHSyIbEsT+422Fz/giBzwqqd6T9zvx21/w8fVk8+08q8gXDKT2xUEMNx7DW9fan+TtkLQK0SSFIwmEzMMYaGoEN7LnPop87P13XEwHp4XzOf9LQdXO+JfPTAgddrJQ9KZg2Mljlg18cmLrK4m9fogGMVD2KV1rPzgpGfeRAWsjYqCwZoBKzXV0LFdtjsE8NSUg18JSDMCbZBouaiKFeht1CQGWcTvDPOaZV53zCFFyt/dQ1DYbrF8m8BCn7J9xK7sqrqk9gyzu67MXQd1XtwIP0a+lg7yb5a05XDPpSC1v9oHpYWram/XMiTRlvQ4Za0sgCd0A1rjqTyz6ijWvMeLcGn4q2B7Vk1JsjfklhUXjVDrfJaR98NFkBdNQ1CSLZvylW9fBuZUCMXdJwgtjgU+u8D9xIkZJKKym5cP/RFQK2wtu1+sSTJ+0gd8nZkC9tyTd56Qj2CxLGHBNFz55gQj95oZ8vTmKeeuGpyrccN1xP9DPRblG0d6eIj3sqkYF0ypdpG00Icg0z7i5xkGetaaTkKcGLghD/fQrfFeEHIS01kaA2Fp5wNJ3Icn9FA+zskCCWUudUwKQI37VuGJMyxAkFOLGsEdBpmOBde3/tk5bv3EMHAA8dG71ZHsZiWrwP18reSXQJOKQrK/pB2sv7QLSL/uYII5zoV/C9QOjnMLUruFjyBTzM8iGhenRc1PIczSNkP2ZxKhJ1prjtBeNTugCU0Xe6zEaveSv80noO949NDjX7xDgjwWrNkzBabXEgjpwPwZF/Z0O0rQyL98UqihBdNrTWDyc4ZaTnouW0GrvP2T/JPR7qy+G+ViqJ/4xKyRbN8+KJd8Ue0Hwg27qE+X5bA9OiCdjdFYZ9bcj5xNG9x4+FIL0GS0PO0bz5e2KnyDaqncB76A20yY2ly51JaHCbRJsbk8Mbo7AO1c8QoAhkFz/0S026FHI4UKEFJhWhRBbwmBLQ4kd53hujdvz553LXUmki5LHhtrCJ4dx6xCVqCWr87CJ9ZvKqAKltls9Z5LAIekI5K7A2AtiL7WVx+pbFiNpMGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JuNpWK2KGkBvLL6EgbbsEb",
      "input": {
        "note": "Cap is between the jaws near table level; closing the left gripper.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01JuNpWK2KGkBvLL6EgbbsEb",
      "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]: [-0.5392, 2.0445, 0.2596, 1.4178, -0.0429, -0.0433, 0.011, -0.0193, 0.8017, 0.6132, -0.3935, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3295 left_y=-0.1842 left_z=0.0065 left_yaw=-0.4901 left_pitch=0.202 left_roll=-0.0143 left_gripper=0.011 right_x=0.2946 right_y=0.0019 right_z=0.1793 right_yaw=-0.0011 right_pitch=-0.0256 right_roll=0.0003 right_gripper=0.999\nstate[joint_eff]: [-0.212, -8.0205, 1.812, 1.9707, 0.0513, -0.022, 0.8278, -0.0889, -1.3744, 7.0222, 1.7607, -0.0317, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd82632a28c873519d773afa0afb461c7aa92ba313deb3db547636f20c6a67f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5dc8dd9b089b68804851207cabdf0e65e2a66f936a097f725d9bfb5931e8cdba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:19c58342c55c0fe901454aefc03e0dc1134416356e2cb01071f65566d72e401d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 8 attempt 0 · /messages · status 200 · 4.38 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5663, 1.9358, 0.2588, 1.2903, -0.0502, -0.0429, 0.9997, -0.0193, 0.799, 0.6132, -0.3916, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3244 left_y=-0.1915 left_z=0.0159 left_yaw=-0.5113 left_pitch=0.1827 left_roll=-0.0102 left_gripper=0.9997 right_x=0.2947 right_y=0.002 right_z=0.1804 right_yaw=-0.0008 right_pitch=-0.021 right_roll=0.0004 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -6.6667, 2.0718, 2.3663, -0.0269, 0.1294, -0.0122, -0.2667, -1.306, 7.0496, 1.7216, -0.0464, -0.0317, -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]: [-0.5396, 2.0281, 0.26, 1.4242, -0.0345, -0.0422, 0.9997, -0.0193, 0.8005, 0.6132, -0.3935, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3308 left_y=-0.1868 left_z=0.0139 left_yaw=-0.4981 left_pitch=0.2251 left_roll=-0.0173 left_gripper=0.9997 right_x=0.2945 right_y=0.002 right_z=0.1796 right_yaw=-0.0008 right_pitch=-0.0244 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [0.4581, -6.6667, 2.7145, 1.9316, 0.1783, 0.1636, -0.0122, -0.3214, -1.3607, 7.0222, 1.7705, -0.0415, -0.0415, -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 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]: [-0.5392, 2.0445, 0.2596, 1.4178, -0.0429, -0.0433, 0.011, -0.0193, 0.8017, 0.6132, -0.3935, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3295 left_y=-0.1842 left_z=0.0065 left_yaw=-0.4901 left_pitch=0.202 left_roll=-0.0143 left_gripper=0.011 right_x=0.2946 right_y=0.0019 right_z=0.1793 right_yaw=-0.0011 right_pitch=-0.0256 right_roll=0.0003 right_gripper=0.999\nstate[joint_eff]: [-0.212, -8.0205, 1.812, 1.9707, 0.0513, -0.022, 0.8278, -0.0889, -1.3744, 7.0222, 1.7607, -0.0317, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd82632a28c873519d773afa0afb461c7aa92ba313deb3db547636f20c6a67f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5dc8dd9b089b68804851207cabdf0e65e2a66f936a097f725d9bfb5931e8cdba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19c58342c55c0fe901454aefc03e0dc1134416356e2cb01071f65566d72e401d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSqAoKEAgSGAI4AUIIdGhpbmtpbmcSDPPBMib2TFSGy3QKCRoM7EOzuPKT6OpZ4pphIjCHcUgit/FHGKo0NoNyg/1PGaDeo/m56LoUjUIe8j/6I9geqO1jIbYt1piRZf0uFH8qxQnl0xqyFkSzXMvSS9KX07ygjnaFf/czfuV7awadxDMYdU9NszTvB7UG/m/zeQPBpk6+vCa+NDgRg8pCWM5uNmaVpE8ThwqRRXIeMkDKxOXebwu7UbSh9agnkJgyA5TjC/FyRZ5FC74TpGr9GB7Kwyo5obm2gOntB5xdZGbuLDkAU2CcEI3SuXaIEMFla8C3DPDLI/FSwbqjddBvC7u7fE5vhnx7aVsyDTtneSpLy2zQVE/m+hWAcRQ8UqGcX+fd2Vo4vRJmIPgf/F3Ph7j76TlGOxenawTrJXtVD3RcGIIJj94aqCU3EynoSX79CwlNYDV4ZuIhDFRuUVVV/H272kc/SeJm14rsNu7Vgx0vs06zpuRP4+HYtEW24kLuv5Hk7m7jE95wQCEwBmBYAJRe3INFFxpBsiaN+llHwrnbgQlKtaeAJ0TEQ4yINxBLVbO6vDAsahOE1Zki35naCEOW5rGsN2gLTMlzYW+AqAKg6fYJIs/Dw5nUUCDRUo4fIGQJZJFwv1SGwAIUK6WgN8RI8+fmq30yiptr6/M7bR/yvBv2QyxIFs/Z2BhFqUXvO18SxZD3U4nV0lswXFEhQH9RkZDAMpxrSI83FxIfQY5p7mGoxa79RiBmXtvjltfIKD4mPQG07QEeC4Kvn1l6H93Csv9E+xKPzyva33Ga0T2g9fBxKTP2bHxiLe50n1BKSS6z1yfbgviyKhG/vixfI2DWqqTwQ1Yr+f+JL1iDeqOyn8ts13ev2Q7/CcNCf6ty/yUa372Dh+TDyipp0r35RqDkMhYtl8I/dtlED8QGkRxlBav/Gls/fygetKZto0KlPZfs2GZ4WZKwK9YNGfTCTnJIJCssfPmTLzFZVdw2QtUjw/BUfqpRWihXSPJN9Gh5LrNoB1rGqBC3IyCnqY0Yi7t4L4iIUBO9QGR5pOP5G4A8u6m+4tHYa3kwlATmcXCkMjc/xQwTj8pvs2B/HfANdhEe9+Pho0tAgcSvcAy0a4LeRre781mvKFiArjuM8W1Q4loJIbZCUuO0H57GfW6TF/YApkXhATTN1xfOiMXacHwpPAv83Qhsg3qoG8yyWVOJCOajPrJ0+XYuG1NjzQJTVOecOyHa3vhFI1FNC3E4Z7y0Dtz4z4XHMB7iukTjRB803mri2juaCgGIXAzXhL6sGbva/fdjSICJZqUZU/tuwB9frrYXc7w8LtP72gCLO3ey3N2+FPeqHA/fNnWIuI7yZrNiX02NJc08tSk0lu9fDH91nuYa0Dtu8OHhPUA6agNN2h8G+d7esXzBd8IqOaGYf/JbxHLCi1ww3IypPxTEfVh7A+sVboIW5Qivq8Zoy0XbLm6lTMz7lF+gaVDPqyRI8cttLJCEjWreXyKs+oCCvTEQkbCIAuXcQ2Y05TLOXfqDKey8JaTVCwboLut57A/oQw0J8V3KkZK6sLr6IY2SYxQAsq/IaVqIVqNaooGsFamtUFLMa8Wrb3eZmDehCqT0lAEC9Sgf6C3qpntcEAH142P4MErEdSUcWfwJd7w8Dce/hDMgvN6N73yh8VXKIcCjIl2W62N0eZnhgI6pdNaZYm2AQOoMkMJX7qA3/ZxVw7wcBV21aUn2K2R9izjSf9KhQ/GbV2AyZ/pq+SsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UHt9RoRU7NtYgaHyYooKkT",
      "input": {
        "note": "Empty close: wrist cam shows the cap ~3 cm ahead of the fingertips. Opening, lifting slightly and advancing radially.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.357,
          "left_y": -0.197,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01UHt9RoRU7NtYgaHyYooKkT",
      "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]: [-0.5304, 1.9411, 0.3527, 1.1885, -0.0441, -0.0471, 0.9957, -0.0193, 0.8017, 0.6132, -0.3943, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3495 left_y=-0.1918 left_z=0.0163 left_yaw=-0.4785 left_pitch=0.1693 left_roll=-0.0158 left_gripper=0.9957 right_x=0.2945 right_y=0.0019 right_z=0.1791 right_yaw=-0.0011 right_pitch=-0.0263 right_roll=0.0003 right_gripper=0.999\nstate[joint_eff]: [0.1983, -9.1145, 4.9436, 1.6337, 0.022, 0.0659, -0.1343, -0.2256, -1.2513, 7.1043, 1.7265, -0.022, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a638c1eea76bbecf379fd445f79449a74453aa213bec5010e9bbcab0164a0626",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bd147df27c5952e13c7939c4bb8c17d2e28b6e715aadc7a1c927317c2f6d273",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:064a7602da0f2a9abe53ec96ab52d3a7fd343a39e4fd5fcf09096246c211c29c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 3.671 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5396, 2.0281, 0.26, 1.4242, -0.0345, -0.0422, 0.9997, -0.0193, 0.8005, 0.6132, -0.3935, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3308 left_y=-0.1868 left_z=0.0139 left_yaw=-0.4981 left_pitch=0.2251 left_roll=-0.0173 left_gripper=0.9997 right_x=0.2945 right_y=0.002 right_z=0.1796 right_yaw=-0.0008 right_pitch=-0.0244 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [0.4581, -6.6667, 2.7145, 1.9316, 0.1783, 0.1636, -0.0122, -0.3214, -1.3607, 7.0222, 1.7705, -0.0415, -0.0415, -0.0171]\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]: [-0.5392, 2.0445, 0.2596, 1.4178, -0.0429, -0.0433, 0.011, -0.0193, 0.8017, 0.6132, -0.3935, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3295 left_y=-0.1842 left_z=0.0065 left_yaw=-0.4901 left_pitch=0.202 left_roll=-0.0143 left_gripper=0.011 right_x=0.2946 right_y=0.0019 right_z=0.1793 right_yaw=-0.0011 right_pitch=-0.0256 right_roll=0.0003 right_gripper=0.999\nstate[joint_eff]: [-0.212, -8.0205, 1.812, 1.9707, 0.0513, -0.022, 0.8278, -0.0889, -1.3744, 7.0222, 1.7607, -0.0317, -0.0757, -0.0122]",
      "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]: [-0.5304, 1.9411, 0.3527, 1.1885, -0.0441, -0.0471, 0.9957, -0.0193, 0.8017, 0.6132, -0.3943, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3495 left_y=-0.1918 left_z=0.0163 left_yaw=-0.4785 left_pitch=0.1693 left_roll=-0.0158 left_gripper=0.9957 right_x=0.2945 right_y=0.0019 right_z=0.1791 right_yaw=-0.0011 right_pitch=-0.0263 right_roll=0.0003 right_gripper=0.999\nstate[joint_eff]: [0.1983, -9.1145, 4.9436, 1.6337, 0.022, 0.0659, -0.1343, -0.2256, -1.2513, 7.1043, 1.7265, -0.022, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a638c1eea76bbecf379fd445f79449a74453aa213bec5010e9bbcab0164a0626",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bd147df27c5952e13c7939c4bb8c17d2e28b6e715aadc7a1c927317c2f6d273",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:064a7602da0f2a9abe53ec96ab52d3a7fd343a39e4fd5fcf09096246c211c29c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkwgKEAgSGAI4AUIIdGhpbmtpbmcSDBlBoSjJYGDUFVpf5xoMC/Q1Deshf6J+Om//IjBAQOvqJXSLy9SAdQssAzBL9bLDJKke1MhQ4g0ertYgjaFvwRiakRQR24rxpGU39BQqsAcblYWiihrq0Ry/6v67kiUOy8/BkiuEXCrRMdWF4Tn9TO8oi13lcwLcO1W76GaPlJIW/azEGSEfR9zHUSvzUPH3V2e2LhwD3njnxRKXIDx+ElapPIybrTbnWTcPzmJH9t+KDWcSj8HXTngc0ZVN7bYoEUYI+dyGy9sFU4Db4qum+dNg+9zhQLI3/HOBQ6epA3JNLXvJHbQ+OfZ+gaHJQuPRoA/fAS7Th8f/IC6YdLnwQpimDWGRj+qcd7/Id+8IrGN47iv40ebdtva7cw7VLlK62/hLAiqpH7HwOaP/rTcmZvZqMvedUPjrGfZHzcjbigHm1CPEoM2PxgMVQ1apUkVPBJBykiKtYSKAsnkWgs/AGbOJx14HKxCikGl5AO8+FUHQk/iqHfShO1peBxIXU+mJ9bgCCUvgtkjmDJ2At2WZDZg5HSfz5uiBo6ebEWOVio3m50kXaMV0UFk2FgfF+RDwBk50sLHXnz+87wJj9vMPEEKB3s9aleL7UPfnyu8tRhc5vsBSkcWZnKevqCd4uGIifdSbmaeSnyRVP/n1k+QDmQAP3BD/H4yCQL9+4DCaK2Eitq4/+5qxArL178oCK6pJttIUk6dSJCI/3gwf4bR663i1XSHKkyFrU8GE6ARbK/BVyLHBg1Uq8I/a1iBjoYcVp8CH6901MVIz0yjzhbiGOYyOFxw3wC8uVI/WGWFx6PLpNa3qZcVd0YwfYdx/Adl4smqrynIeEQUcVFI6UyywBWbAn9MN/bS7xuN/1gsceLDt9iHd7+q7BDGtSWBd6xqSNy8oBwGnrIIrQqXhLtOUnyExiwgaaXAOXk7YgoMCSizBmpr/32hcOnwiuTljchmt8p3eIubRop/ED89NjI6P0gPC6tYxzJRWfrLRL3mh2nGZcWVb+u3Cpy0l2XBKZjfggZyatc6aCdKaH6Oep9WU3XZvhbBgC1cUqDDjICNFyBugbG4DstbuxeaNnu7YmTRLe80HeDU+M33yL809ogLf+wYomBBjc9acWAsoePtouIUNAJs5aKWOcGOvDS2puQCTzeXUWFtSmn37kh1t6TI3aQxzDtBTUXtradAhWjMax+OuX68hRQnbWR1b5eoIprnBc7Dt3MkH5Eyb/urcQg6+hKb/2UZdn+YLMtiQizotfDPf2jvfUArFaQ3TEsQmh9yzz1VmBCj/pP3XAT35u/+FDfcHOsEX+n7t2BZmI6LhdA6rWDCo08AOSKhgDCR/w4X7Qz7P77d5J1/H5f2r6fVXjxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BjHFCMGxrUevUdPsGnc1dt",
      "input": {
        "note": "Cap now sits between the open jaws in the wrist view, slightly ahead. Small advance and descend to table to grasp.",
        "targets": {
          "left_x": 0.365,
          "left_y": -0.2,
          "left_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01BjHFCMGxrUevUdPsGnc1dt",
      "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]: [-0.5297, 2.0491, 0.4011, 1.2388, -0.0479, -0.0456, 0.9965, -0.0193, 0.8013, 0.6132, -0.3958, -0.0227, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3589 left_y=-0.1962 left_z=-0.0004 left_yaw=-0.4754 left_pitch=0.1602 left_roll=-0.0123 left_gripper=0.9965 right_x=0.2943 right_y=0.0019 right_z=0.1789 right_yaw=-0.0013 right_pitch=-0.0275 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [0.0342, -7.4872, 2.7556, 1.9853, 0.0317, -0.1636, 0.0659, -0.2256, -0.9915, 7.0222, 1.7314, -0.0122, 0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a72686c5e08b2d9e0c94bae1b86d582fb1ba6f65ee72a1ef8304dda5a3b2cfb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddc70207695d0268befba9fedb10c43c968c755b262e84107b6d4a1f8939a8f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5953fc92f332bc1aba01daf6c3c19ab14dbda6fa19049e54a11a31ae6f984a38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 4.878 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5392, 2.0445, 0.2596, 1.4178, -0.0429, -0.0433, 0.011, -0.0193, 0.8017, 0.6132, -0.3935, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3295 left_y=-0.1842 left_z=0.0065 left_yaw=-0.4901 left_pitch=0.202 left_roll=-0.0143 left_gripper=0.011 right_x=0.2946 right_y=0.0019 right_z=0.1793 right_yaw=-0.0011 right_pitch=-0.0256 right_roll=0.0003 right_gripper=0.999\nstate[joint_eff]: [-0.212, -8.0205, 1.812, 1.9707, 0.0513, -0.022, 0.8278, -0.0889, -1.3744, 7.0222, 1.7607, -0.0317, -0.0757, -0.0122]",
      "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]: [-0.5304, 1.9411, 0.3527, 1.1885, -0.0441, -0.0471, 0.9957, -0.0193, 0.8017, 0.6132, -0.3943, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3495 left_y=-0.1918 left_z=0.0163 left_yaw=-0.4785 left_pitch=0.1693 left_roll=-0.0158 left_gripper=0.9957 right_x=0.2945 right_y=0.0019 right_z=0.1791 right_yaw=-0.0011 right_pitch=-0.0263 right_roll=0.0003 right_gripper=0.999\nstate[joint_eff]: [0.1983, -9.1145, 4.9436, 1.6337, 0.022, 0.0659, -0.1343, -0.2256, -1.2513, 7.1043, 1.7265, -0.022, -0.0659, -0.0122]\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 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]: [-0.5297, 2.0491, 0.4011, 1.2388, -0.0479, -0.0456, 0.9965, -0.0193, 0.8013, 0.6132, -0.3958, -0.0227, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3589 left_y=-0.1962 left_z=-0.0004 left_yaw=-0.4754 left_pitch=0.1602 left_roll=-0.0123 left_gripper=0.9965 right_x=0.2943 right_y=0.0019 right_z=0.1789 right_yaw=-0.0013 right_pitch=-0.0275 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [0.0342, -7.4872, 2.7556, 1.9853, 0.0317, -0.1636, 0.0659, -0.2256, -0.9915, 7.0222, 1.7314, -0.0122, 0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a72686c5e08b2d9e0c94bae1b86d582fb1ba6f65ee72a1ef8304dda5a3b2cfb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddc70207695d0268befba9fedb10c43c968c755b262e84107b6d4a1f8939a8f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5953fc92f332bc1aba01daf6c3c19ab14dbda6fa19049e54a11a31ae6f984a38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RM9MsJQjmpMFeDgtxFZHRn",
      "input": {
        "note": "Cap between jaws at table level; closing.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01RM9MsJQjmpMFeDgtxFZHRn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5304, 2.0613, 0.4042, 1.261, -0.0521, -0.0471, 0.0526, -0.0193, 0.8051, 0.6132, -0.3969, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3607 left_y=-0.1967 left_z=0.0007 left_yaw=-0.4716 left_pitch=0.1732 left_roll=-0.0128 left_gripper=0.0526 right_x=0.2944 right_y=0.002 right_z=0.1777 right_yaw=-0.0008 right_pitch=-0.0324 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -8.5265, 2.2085, 1.6288, 0.0562, 0.0904, 1.4725, -0.253, -1.6342, 7.1453, 1.7753, -0.0464, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1746e81b98676baa8b57c9707bbffdfbdd341bfb28cd0c5e725b11d4d3eebade",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90f28ef18b41b43e4b3b56eeed48b6245a1380edaf0a4f0f8a124723a39b0670",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5082c99fff3b8a367781c41fddffb0a38a1494e966949c90b67b3ea5840be87a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 9.156 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5304, 1.9411, 0.3527, 1.1885, -0.0441, -0.0471, 0.9957, -0.0193, 0.8017, 0.6132, -0.3943, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3495 left_y=-0.1918 left_z=0.0163 left_yaw=-0.4785 left_pitch=0.1693 left_roll=-0.0158 left_gripper=0.9957 right_x=0.2945 right_y=0.0019 right_z=0.1791 right_yaw=-0.0011 right_pitch=-0.0263 right_roll=0.0003 right_gripper=0.999\nstate[joint_eff]: [0.1983, -9.1145, 4.9436, 1.6337, 0.022, 0.0659, -0.1343, -0.2256, -1.2513, 7.1043, 1.7265, -0.022, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.5297, 2.0491, 0.4011, 1.2388, -0.0479, -0.0456, 0.9965, -0.0193, 0.8013, 0.6132, -0.3958, -0.0227, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3589 left_y=-0.1962 left_z=-0.0004 left_yaw=-0.4754 left_pitch=0.1602 left_roll=-0.0123 left_gripper=0.9965 right_x=0.2943 right_y=0.0019 right_z=0.1789 right_yaw=-0.0013 right_pitch=-0.0275 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [0.0342, -7.4872, 2.7556, 1.9853, 0.0317, -0.1636, 0.0659, -0.2256, -0.9915, 7.0222, 1.7314, -0.0122, 0.0269, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5304, 2.0613, 0.4042, 1.261, -0.0521, -0.0471, 0.0526, -0.0193, 0.8051, 0.6132, -0.3969, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3607 left_y=-0.1967 left_z=0.0007 left_yaw=-0.4716 left_pitch=0.1732 left_roll=-0.0128 left_gripper=0.0526 right_x=0.2944 right_y=0.002 right_z=0.1777 right_yaw=-0.0008 right_pitch=-0.0324 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -8.5265, 2.2085, 1.6288, 0.0562, 0.0904, 1.4725, -0.253, -1.6342, 7.1453, 1.7753, -0.0464, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1746e81b98676baa8b57c9707bbffdfbdd341bfb28cd0c5e725b11d4d3eebade",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90f28ef18b41b43e4b3b56eeed48b6245a1380edaf0a4f0f8a124723a39b0670",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5082c99fff3b8a367781c41fddffb0a38a1494e966949c90b67b3ea5840be87a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqQkKEAgSGAI4AUIIdGhpbmtpbmcSDFmdwcLtoHg4bOjVPxoMuHgYhLw+cF2zOJQXIjCF5y0apovomO+QMiLqyYiE0DKfAWFYxEifXnRRd1QdJAtyndkXI0jT3Rc+MS8KXloqxgiUuy0JDY8UQ3QwaFqqUbpPjM8VnHFxB4a0ri2lGC5MApbX/QkCozKpO177kJty+Echh5tVlZF2THGglSVxxuj+z/A3VWnkPzzetClhGCsXDj2SGdspGgqsRxmNQ47U87N7jukVD95q8TkTAqvjRi54i74U5PYK2rFO/wd0dS64VbiDLOWOKoViA+hlK5/PGrunxXrIPtywwsHsO+l386swtV0t1bcMivTi4Q8bVMBcgIWHCv8J31zTlslXcsVFnW6vN4Ztl0COrm4vXor4o1peB+8iSDS3SECf+TTgzY6vMPFyVORtHyaI83srim5yb5IISA+RE1W8q3CwBjvPd3CIVegzfxyyV6rHqGPF6XMr/ypXb97Hf4I/jm0GNnlXoxoLy8US86LzRFUnxUVP0Udu8SnbIiK61sjyo5lU6/QWh24LIQVBnoQyfyQSlCKArJj9/V8HF9DjyI2KcT3/mw9okPgQ1DBP9movXDs0IR5XJxE5IbTKK+gUpM+9WKhZ+O6H/mQh95fPOqFDKutMS4yCQPruwexuCqtvsya//WoeWKRWboBCos3A9UZbQD48pie8aqIXnMBxBzgjsfeM+zj4NWIrMVO03JKVHxi5G4zAU2kSdPurmmpG4bnKXNb5D5CjhqYjyYw+QdF1WwN1L2umw+0LGqEUGoEEBPpUTFaZ/Yj2y+m5Df/gr0ekYtAXMa1ILNzh4JAeQ3DxJC0eeJOAztpduUy6+VYZSHZFGA3GAxM0PunVqxmga2epXTdCoKs1m22E7PGtDsqnDStokKFdAwtYhGmbWTQGi6KEJCFKrMTLuzfGv9/9hOJBKLZ054VIn78G0pN7prcBtH0aKfKT530eu0SE7ZKQkTMwgWqMiDlVfYs1n3D+HV0hHRL5xqgP4JtGrES4T5nISJO1Z39PkTswrh5+oUoEAOOr+hZk9g0pJ9CmfY7jT4JcmQuIC4dg5NtUa0++X16Dzoqu5Mj3b0dj/RRxDtLa44oPneb4/kojphMTuaMRzgpJAOR9HZFDC4c2U4Z7IuBDuso9dGK+UiXzrt30HynfP1UmoTf8wg3PTgqGBGLxC3Fd2xIb077BuYQC7K8aD8Iyqdxw+ZG+QnZSCH0+jgZAfpLpyLD4T8XoHzU/Gx9ioRXtiy9pXRYro2CwAtY3XR/YG/yH8/fQZQYez2Y6vIl4wYQzoXWBQdBB11cO7Bx9RaqQU05vPOoCo2GY3Y58KLo6RoPpWxxvyN+suz09IPQ703ixhaX9ycfV/G+aZ2T8OwIRWXvunO3hYSm+KBjgMWplFBIONpzQAFq/d8RvQ0VoN+2a0XNCbGZ3IG+rztRSfBXhuEClwJuDZ5kYkfF1I3F7RkgCxdEULE82un91c2fiaHuB5IeDjXaSAMN7YcLLW3nOmWF+DlNv4eZTlK2Q9e6mRPuqtl9WnQJxzQY0++Er8X7dPSUvOIOdFlkWahgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RysMmmF2PvNLe3BE4NMoCX",
      "input": {
        "note": "Gripper settled at 0.05, suggesting the cap is held. Lifting to verify.",
        "targets": {
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01RysMmmF2PvNLe3BE4NMoCX",
      "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]: [-0.5304, 1.6501, 0.4118, 0.8555, -0.0525, -0.0513, 0.0654, -0.0193, 0.8074, 0.6132, -0.4118, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3571 left_y=-0.1945 left_z=0.0713 left_yaw=-0.4689 left_pitch=0.1866 left_roll=-0.0175 left_gripper=0.0654 right_x=0.2924 right_y=0.002 right_z=0.174 right_yaw=-0.0007 right_pitch=-0.0496 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -6.8171, 7.5692, 1.9853, -0.0611, -0.0366, 1.033, -0.3214, -0.9368, 7.0222, 1.8632, -0.0415, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa0c197e3bf5294161032377738238e2779392641692b378fb36f28699fc28a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03db47508493ed09b66a5d7381ad0f2f95beab6f3cf91221fc8efdc856bef1c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b8a2495a6ce073197fccfa73beeca30944c81e50bdb777d7131412c6ce844609",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 7.784 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5297, 2.0491, 0.4011, 1.2388, -0.0479, -0.0456, 0.9965, -0.0193, 0.8013, 0.6132, -0.3958, -0.0227, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3589 left_y=-0.1962 left_z=-0.0004 left_yaw=-0.4754 left_pitch=0.1602 left_roll=-0.0123 left_gripper=0.9965 right_x=0.2943 right_y=0.0019 right_z=0.1789 right_yaw=-0.0013 right_pitch=-0.0275 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [0.0342, -7.4872, 2.7556, 1.9853, 0.0317, -0.1636, 0.0659, -0.2256, -0.9915, 7.0222, 1.7314, -0.0122, 0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5304, 2.0613, 0.4042, 1.261, -0.0521, -0.0471, 0.0526, -0.0193, 0.8051, 0.6132, -0.3969, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3607 left_y=-0.1967 left_z=0.0007 left_yaw=-0.4716 left_pitch=0.1732 left_roll=-0.0128 left_gripper=0.0526 right_x=0.2944 right_y=0.002 right_z=0.1777 right_yaw=-0.0008 right_pitch=-0.0324 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -8.5265, 2.2085, 1.6288, 0.0562, 0.0904, 1.4725, -0.253, -1.6342, 7.1453, 1.7753, -0.0464, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5304, 1.6501, 0.4118, 0.8555, -0.0525, -0.0513, 0.0654, -0.0193, 0.8074, 0.6132, -0.4118, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3571 left_y=-0.1945 left_z=0.0713 left_yaw=-0.4689 left_pitch=0.1866 left_roll=-0.0175 left_gripper=0.0654 right_x=0.2924 right_y=0.002 right_z=0.174 right_yaw=-0.0007 right_pitch=-0.0496 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -6.8171, 7.5692, 1.9853, -0.0611, -0.0366, 1.033, -0.3214, -0.9368, 7.0222, 1.8632, -0.0415, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa0c197e3bf5294161032377738238e2779392641692b378fb36f28699fc28a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03db47508493ed09b66a5d7381ad0f2f95beab6f3cf91221fc8efdc856bef1c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8a2495a6ce073197fccfa73beeca30944c81e50bdb777d7131412c6ce844609",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AAe9JZ1UdDHdRBFmhaGcaP",
      "input": {
        "note": "Cap appears held by the left gripper (reading 0.065, cap gone from the table). Moving the right arm above the pen with yaw across its diagonal axis.",
        "targets": {
          "right_gripper": 1,
          "right_pitch": 0.25,
          "right_x": 0.36,
          "right_y": 0.3,
          "right_yaw": -0.7,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 25 steps (2.5s)",
      "tool_use_id": "toolu_01AAe9JZ1UdDHdRBFmhaGcaP",
      "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]: [-0.458, 1.6752, 0.3695, 0.7387, -0.0811, -0.0532, 0.0717, 0.9867, 2.4531, 2.1117, -1.4883, 1.2026, 1.9018, 0.9991]\nstate[eef_state]: left_x=0.3464 left_y=-0.1508 left_z=0.0218 left_yaw=-0.3724 left_pitch=0.0038 left_roll=0.0075 left_gripper=0.0717 right_x=0.3773 right_y=0.2784 right_z=0.1253 right_yaw=-0.7209 right_pitch=0.1996 right_roll=0.0541 right_gripper=0.9991\nstate[joint_eff]: [-5.5726, -7.8017, 8.1026, 3.4408, 0.1538, -0.0024, 1.0281, 2.988, -6.5162, 5.2444, 0.2662, 0.7839, 0.1636, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3f7763975db3f63955de897a792f94aed2bb547a499648e4e630c4896a72c18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:252410dd4318fd83847d1686d954073f7ff586edbbe3997a1c64c4c362df0bdd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:45783cf1d549b08dff10349a38306c933841ff528422ed7b77d72bf6d73b2b1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 11.51 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5304, 2.0613, 0.4042, 1.261, -0.0521, -0.0471, 0.0526, -0.0193, 0.8051, 0.6132, -0.3969, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3607 left_y=-0.1967 left_z=0.0007 left_yaw=-0.4716 left_pitch=0.1732 left_roll=-0.0128 left_gripper=0.0526 right_x=0.2944 right_y=0.002 right_z=0.1777 right_yaw=-0.0008 right_pitch=-0.0324 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -8.5265, 2.2085, 1.6288, 0.0562, 0.0904, 1.4725, -0.253, -1.6342, 7.1453, 1.7753, -0.0464, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5304, 1.6501, 0.4118, 0.8555, -0.0525, -0.0513, 0.0654, -0.0193, 0.8074, 0.6132, -0.4118, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3571 left_y=-0.1945 left_z=0.0713 left_yaw=-0.4689 left_pitch=0.1866 left_roll=-0.0175 left_gripper=0.0654 right_x=0.2924 right_y=0.002 right_z=0.174 right_yaw=-0.0007 right_pitch=-0.0496 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -6.8171, 7.5692, 1.9853, -0.0611, -0.0366, 1.033, -0.3214, -0.9368, 7.0222, 1.8632, -0.0415, -0.0806, -0.0122]",
      "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]: [-0.458, 1.6752, 0.3695, 0.7387, -0.0811, -0.0532, 0.0717, 0.9867, 2.4531, 2.1117, -1.4883, 1.2026, 1.9018, 0.9991]\nstate[eef_state]: left_x=0.3464 left_y=-0.1508 left_z=0.0218 left_yaw=-0.3724 left_pitch=0.0038 left_roll=0.0075 left_gripper=0.0717 right_x=0.3773 right_y=0.2784 right_z=0.1253 right_yaw=-0.7209 right_pitch=0.1996 right_roll=0.0541 right_gripper=0.9991\nstate[joint_eff]: [-5.5726, -7.8017, 8.1026, 3.4408, 0.1538, -0.0024, 1.0281, 2.988, -6.5162, 5.2444, 0.2662, 0.7839, 0.1636, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3f7763975db3f63955de897a792f94aed2bb547a499648e4e630c4896a72c18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:252410dd4318fd83847d1686d954073f7ff586edbbe3997a1c64c4c362df0bdd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45783cf1d549b08dff10349a38306c933841ff528422ed7b77d72bf6d73b2b1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012RwdkTv2Y216K3B3pbFCSn",
      "input": {
        "note": "The right arm swung into an odd configuration and appears to have bumped the left arm (left dropped to z 0.02). Moving the left arm, still holding the cap, up and away toward its own side.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.3,
          "left_y": -0.05,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_012RwdkTv2Y216K3B3pbFCSn",
      "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]: [-0.0334, 0.9031, 0.4782, -0.1188, 0.2214, 0.141, 0.0759, 0.9821, 2.4493, 2.1067, -1.4643, 1.1812, 1.9026, 0.999]\nstate[eef_state]: left_x=0.3107 left_y=-0.0456 left_z=0.1477 left_yaw=-0.3068 left_pitch=0.0395 left_roll=0.0171 left_gripper=0.0759 right_x=0.3782 right_y=0.2787 right_z=0.1216 right_yaw=-0.7349 right_pitch=0.1759 right_roll=0.0749 right_gripper=0.999\nstate[joint_eff]: [0.1846, -1.812, 8.8547, 1.5165, 0.2613, 0.1441, 1.033, 0.1436, -12.9026, 5.8051, -0.3004, 0.6667, -0.0464, -0.022]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb7ef1e7e2ececf6216545b4ac05948460b2cd4571f085584fd0c13c535fb22b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da4b3a7a0adf6696d288d8d6d4da2af3a2e386e99b865a2d68b661624c493b58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6df4b40b21d738d734bb445bfd6d53675347982050f5bbe73bcdfcb8645ba300",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 11.49 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5304, 1.6501, 0.4118, 0.8555, -0.0525, -0.0513, 0.0654, -0.0193, 0.8074, 0.6132, -0.4118, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3571 left_y=-0.1945 left_z=0.0713 left_yaw=-0.4689 left_pitch=0.1866 left_roll=-0.0175 left_gripper=0.0654 right_x=0.2924 right_y=0.002 right_z=0.174 right_yaw=-0.0007 right_pitch=-0.0496 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -6.8171, 7.5692, 1.9853, -0.0611, -0.0366, 1.033, -0.3214, -0.9368, 7.0222, 1.8632, -0.0415, -0.0806, -0.0122]",
      "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]: [-0.458, 1.6752, 0.3695, 0.7387, -0.0811, -0.0532, 0.0717, 0.9867, 2.4531, 2.1117, -1.4883, 1.2026, 1.9018, 0.9991]\nstate[eef_state]: left_x=0.3464 left_y=-0.1508 left_z=0.0218 left_yaw=-0.3724 left_pitch=0.0038 left_roll=0.0075 left_gripper=0.0717 right_x=0.3773 right_y=0.2784 right_z=0.1253 right_yaw=-0.7209 right_pitch=0.1996 right_roll=0.0541 right_gripper=0.9991\nstate[joint_eff]: [-5.5726, -7.8017, 8.1026, 3.4408, 0.1538, -0.0024, 1.0281, 2.988, -6.5162, 5.2444, 0.2662, 0.7839, 0.1636, -0.1099]",
      "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]: [-0.0334, 0.9031, 0.4782, -0.1188, 0.2214, 0.141, 0.0759, 0.9821, 2.4493, 2.1067, -1.4643, 1.1812, 1.9026, 0.999]\nstate[eef_state]: left_x=0.3107 left_y=-0.0456 left_z=0.1477 left_yaw=-0.3068 left_pitch=0.0395 left_roll=0.0171 left_gripper=0.0759 right_x=0.3782 right_y=0.2787 right_z=0.1216 right_yaw=-0.7349 right_pitch=0.1759 right_roll=0.0749 right_gripper=0.999\nstate[joint_eff]: [0.1846, -1.812, 8.8547, 1.5165, 0.2613, 0.1441, 1.033, 0.1436, -12.9026, 5.8051, -0.3004, 0.6667, -0.0464, -0.022]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb7ef1e7e2ececf6216545b4ac05948460b2cd4571f085584fd0c13c535fb22b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da4b3a7a0adf6696d288d8d6d4da2af3a2e386e99b865a2d68b661624c493b58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6df4b40b21d738d734bb445bfd6d53675347982050f5bbe73bcdfcb8645ba300",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017mCGkeFxASuuQ7Rtv8xdNV",
      "input": {
        "note": "Right arm ended in a contorted joint configuration lying across the table centre. Sending it back near home to reset before re-approaching the pen.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.3,
          "right_y": 0.05,
          "right_yaw": 0.0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_017mCGkeFxASuuQ7Rtv8xdNV",
      "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]: [-0.0334, 0.91, 0.4747, -0.1387, 0.2165, 0.136, 0.0759, 0.3271, 0.8825, 0.6174, -0.308, 0.3519, 0.239, 0.9989]\nstate[eef_state]: left_x=0.308 left_y=-0.0447 left_z=0.14 left_yaw=-0.2998 left_pitch=0.0098 left_roll=0.0073 left_gripper=0.0759 right_x=0.3052 right_y=0.043 right_z=0.1818 right_yaw=-0.1044 right_pitch=0.0219 right_roll=0.0178 right_gripper=0.9989\nstate[joint_eff]: [-0.3624, -1.9761, 7.5009, 1.9853, 0.0415, -0.0171, 1.0281, -0.253, -2.1949, 6.7897, 1.707, 0.0073, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d29b2b8efef7a671b6cec6eca319524c4d37168ed7f7e55617103bed94d5cbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30d2ad4c3f0f1500084bd263e5e67ffc32709ace54729aa463d83fa494e5ba25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3845ed993c801287d092198c22dc11d4fbdaa750cfc04379eca47d9fb364e4e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 11.18 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.458, 1.6752, 0.3695, 0.7387, -0.0811, -0.0532, 0.0717, 0.9867, 2.4531, 2.1117, -1.4883, 1.2026, 1.9018, 0.9991]\nstate[eef_state]: left_x=0.3464 left_y=-0.1508 left_z=0.0218 left_yaw=-0.3724 left_pitch=0.0038 left_roll=0.0075 left_gripper=0.0717 right_x=0.3773 right_y=0.2784 right_z=0.1253 right_yaw=-0.7209 right_pitch=0.1996 right_roll=0.0541 right_gripper=0.9991\nstate[joint_eff]: [-5.5726, -7.8017, 8.1026, 3.4408, 0.1538, -0.0024, 1.0281, 2.988, -6.5162, 5.2444, 0.2662, 0.7839, 0.1636, -0.1099]",
      "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]: [-0.0334, 0.9031, 0.4782, -0.1188, 0.2214, 0.141, 0.0759, 0.9821, 2.4493, 2.1067, -1.4643, 1.1812, 1.9026, 0.999]\nstate[eef_state]: left_x=0.3107 left_y=-0.0456 left_z=0.1477 left_yaw=-0.3068 left_pitch=0.0395 left_roll=0.0171 left_gripper=0.0759 right_x=0.3782 right_y=0.2787 right_z=0.1216 right_yaw=-0.7349 right_pitch=0.1759 right_roll=0.0749 right_gripper=0.999\nstate[joint_eff]: [0.1846, -1.812, 8.8547, 1.5165, 0.2613, 0.1441, 1.033, 0.1436, -12.9026, 5.8051, -0.3004, 0.6667, -0.0464, -0.022]\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 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]: [-0.0334, 0.91, 0.4747, -0.1387, 0.2165, 0.136, 0.0759, 0.3271, 0.8825, 0.6174, -0.308, 0.3519, 0.239, 0.9989]\nstate[eef_state]: left_x=0.308 left_y=-0.0447 left_z=0.14 left_yaw=-0.2998 left_pitch=0.0098 left_roll=0.0073 left_gripper=0.0759 right_x=0.3052 right_y=0.043 right_z=0.1818 right_yaw=-0.1044 right_pitch=0.0219 right_roll=0.0178 right_gripper=0.9989\nstate[joint_eff]: [-0.3624, -1.9761, 7.5009, 1.9853, 0.0415, -0.0171, 1.0281, -0.253, -2.1949, 6.7897, 1.707, 0.0073, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d29b2b8efef7a671b6cec6eca319524c4d37168ed7f7e55617103bed94d5cbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30d2ad4c3f0f1500084bd263e5e67ffc32709ace54729aa463d83fa494e5ba25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3845ed993c801287d092198c22dc11d4fbdaa750cfc04379eca47d9fb364e4e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014VE7pbbG49Brsap4rRhHbo",
      "input": {
        "note": "Right arm reset; pen lies diagonally centre-right of the table. Translating the right arm above the pen first without rotation to avoid the odd IK solution.",
        "targets": {
          "right_x": 0.34,
          "right_y": 0.22,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_014VE7pbbG49Brsap4rRhHbo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0334, 0.9115, 0.4736, -0.1455, 0.2161, 0.1356, 0.076, 0.8669, 1.5475, 0.8986, -0.1902, 0.7444, 0.6147, 0.9989]\nstate[eef_state]: left_x=0.3069 left_y=-0.0446 left_z=0.1376 left_yaw=-0.2992 left_pitch=0.0006 left_roll=0.0047 left_gripper=0.076 right_x=0.3338 right_y=0.2138 right_z=0.127 right_yaw=-0.0686 right_pitch=-0.0228 right_roll=-0.0264 right_gripper=0.9989\nstate[joint_eff]: [-0.1573, -2.1538, 7.1043, 1.7363, 0.022, -0.0562, 1.033, 0.5128, -6.8991, 8.0752, 1.4774, 0.6227, 0.0952, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:205ca0d731cba013708d756eb4e13f5a5b1b3db278ce532828c8ea6be93ec289",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a64cb433384300a1d6ad7ed834654dd44d785422a525337b13f2fcf64299a663",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:63dbae91e55d0551490cbdde4ed9dbf8424c4dc8bb50f81e3cbf6c739e35e07c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /messages · status 200 · 4.854 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0334, 0.9031, 0.4782, -0.1188, 0.2214, 0.141, 0.0759, 0.9821, 2.4493, 2.1067, -1.4643, 1.1812, 1.9026, 0.999]\nstate[eef_state]: left_x=0.3107 left_y=-0.0456 left_z=0.1477 left_yaw=-0.3068 left_pitch=0.0395 left_roll=0.0171 left_gripper=0.0759 right_x=0.3782 right_y=0.2787 right_z=0.1216 right_yaw=-0.7349 right_pitch=0.1759 right_roll=0.0749 right_gripper=0.999\nstate[joint_eff]: [0.1846, -1.812, 8.8547, 1.5165, 0.2613, 0.1441, 1.033, 0.1436, -12.9026, 5.8051, -0.3004, 0.6667, -0.0464, -0.022]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.0334, 0.91, 0.4747, -0.1387, 0.2165, 0.136, 0.0759, 0.3271, 0.8825, 0.6174, -0.308, 0.3519, 0.239, 0.9989]\nstate[eef_state]: left_x=0.308 left_y=-0.0447 left_z=0.14 left_yaw=-0.2998 left_pitch=0.0098 left_roll=0.0073 left_gripper=0.0759 right_x=0.3052 right_y=0.043 right_z=0.1818 right_yaw=-0.1044 right_pitch=0.0219 right_roll=0.0178 right_gripper=0.9989\nstate[joint_eff]: [-0.3624, -1.9761, 7.5009, 1.9853, 0.0415, -0.0171, 1.0281, -0.253, -2.1949, 6.7897, 1.707, 0.0073, -0.0757, -0.0171]",
      "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]: [-0.0334, 0.9115, 0.4736, -0.1455, 0.2161, 0.1356, 0.076, 0.8669, 1.5475, 0.8986, -0.1902, 0.7444, 0.6147, 0.9989]\nstate[eef_state]: left_x=0.3069 left_y=-0.0446 left_z=0.1376 left_yaw=-0.2992 left_pitch=0.0006 left_roll=0.0047 left_gripper=0.076 right_x=0.3338 right_y=0.2138 right_z=0.127 right_yaw=-0.0686 right_pitch=-0.0228 right_roll=-0.0264 right_gripper=0.9989\nstate[joint_eff]: [-0.1573, -2.1538, 7.1043, 1.7363, 0.022, -0.0562, 1.033, 0.5128, -6.8991, 8.0752, 1.4774, 0.6227, 0.0952, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:205ca0d731cba013708d756eb4e13f5a5b1b3db278ce532828c8ea6be93ec289",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a64cb433384300a1d6ad7ed834654dd44d785422a525337b13f2fcf64299a663",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63dbae91e55d0551490cbdde4ed9dbf8424c4dc8bb50f81e3cbf6c739e35e07c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Wa7k22r4X8ixWHnjKYBMGk",
      "input": {
        "note": "Pen is visible just ahead of the right jaws, running forward-left. Rotating yaw +0.6 to put the jaws across it and lowering to 6 cm.",
        "targets": {
          "right_pitch": 0.2,
          "right_x": 0.35,
          "right_y": 0.21,
          "right_yaw": 0.6,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01Wa7k22r4X8ixWHnjKYBMGk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0334, 0.9123, 0.4736, -0.1459, 0.2161, 0.1326, 0.0795, 0.5144, 1.7134, 0.4011, 0.8154, 0.062, 0.0132, 0.9989]\nstate[eef_state]: left_x=0.3069 left_y=-0.0446 left_z=0.1373 left_yaw=-0.2976 left_pitch=-0.0005 left_roll=0.0018 left_gripper=0.0795 right_x=0.3474 right_y=0.1879 right_z=0.0345 right_yaw=0.4459 right_pitch=0.0604 right_roll=-0.0172 right_gripper=0.9989\nstate[joint_eff]: [-0.3624, -2.0171, 6.9675, 1.6435, 0.0659, -0.0513, 1.0281, -0.2393, -6.5299, 4.1231, 2.3126, -0.0513, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8af2f98edce98777e3980490951605df7a97babc5bd285f582da9c398b8ba5eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2a81d4aa5c5869e23e70497c16e095b5a9305be9fd9de9465a8d8c656ee8f0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d82de02d5d926741b5385abcd0d7302d415ba2b62721e7d7030e9b4ac9d9f59b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 3.206 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0334, 0.91, 0.4747, -0.1387, 0.2165, 0.136, 0.0759, 0.3271, 0.8825, 0.6174, -0.308, 0.3519, 0.239, 0.9989]\nstate[eef_state]: left_x=0.308 left_y=-0.0447 left_z=0.14 left_yaw=-0.2998 left_pitch=0.0098 left_roll=0.0073 left_gripper=0.0759 right_x=0.3052 right_y=0.043 right_z=0.1818 right_yaw=-0.1044 right_pitch=0.0219 right_roll=0.0178 right_gripper=0.9989\nstate[joint_eff]: [-0.3624, -1.9761, 7.5009, 1.9853, 0.0415, -0.0171, 1.0281, -0.253, -2.1949, 6.7897, 1.707, 0.0073, -0.0757, -0.0171]",
      "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]: [-0.0334, 0.9115, 0.4736, -0.1455, 0.2161, 0.1356, 0.076, 0.8669, 1.5475, 0.8986, -0.1902, 0.7444, 0.6147, 0.9989]\nstate[eef_state]: left_x=0.3069 left_y=-0.0446 left_z=0.1376 left_yaw=-0.2992 left_pitch=0.0006 left_roll=0.0047 left_gripper=0.076 right_x=0.3338 right_y=0.2138 right_z=0.127 right_yaw=-0.0686 right_pitch=-0.0228 right_roll=-0.0264 right_gripper=0.9989\nstate[joint_eff]: [-0.1573, -2.1538, 7.1043, 1.7363, 0.022, -0.0562, 1.033, 0.5128, -6.8991, 8.0752, 1.4774, 0.6227, 0.0952, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0334, 0.9123, 0.4736, -0.1459, 0.2161, 0.1326, 0.0795, 0.5144, 1.7134, 0.4011, 0.8154, 0.062, 0.0132, 0.9989]\nstate[eef_state]: left_x=0.3069 left_y=-0.0446 left_z=0.1373 left_yaw=-0.2976 left_pitch=-0.0005 left_roll=0.0018 left_gripper=0.0795 right_x=0.3474 right_y=0.1879 right_z=0.0345 right_yaw=0.4459 right_pitch=0.0604 right_roll=-0.0172 right_gripper=0.9989\nstate[joint_eff]: [-0.3624, -2.0171, 6.9675, 1.6435, 0.0659, -0.0513, 1.0281, -0.2393, -6.5299, 4.1231, 2.3126, -0.0513, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8af2f98edce98777e3980490951605df7a97babc5bd285f582da9c398b8ba5eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2a81d4aa5c5869e23e70497c16e095b5a9305be9fd9de9465a8d8c656ee8f0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d82de02d5d926741b5385abcd0d7302d415ba2b62721e7d7030e9b4ac9d9f59b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2wgKEAgSGAI4AUIIdGhpbmtpbmcSDKEVApikblToEjS9hhoMPR+uiYHsyixqCnkXIjCEv7/1/ohHqAayK+J/HbMP+doTXoaqqOi0TmYXatVu6Mm7YE/hKSrEOrmLc3xkMKQq+Af1DHMxpITnJxpaWZLMGSyz6K6K1sk+xqN8/Ijz+IsOAvBJjvyCb0LtqzvqVilo3rTgzNzow0Z308gD+YbMM66MN7h+F5LZnkIabb7C/qg/1BOp+QyUeddgkwClUU818EWE8heSjLh3PRRALD2KQqnGqB9lnDevb/s/OxwJbwp39Ht8Hkj91qh1CuM4oKeUSaSfoaxaAX13bbv0k+Qt+XmO1gIlSrfOzVMGh5lXSda4vW5lGvPUMRnZfHaau7U4OXV3tw9aSkiCqP/6t+uD+vPsshhne2UHyD+ZSNuOYJQh04HX2OneWBr75H5eFO5qo3X3I6AfZCFPLMSP0TBmEHEvM4KRSK06xr+L0lpwC+pCdijbqWxFS6GanWq9PUYLRROWbrTropoFALC6O8xc6LmcKzkWdu3fDiIJDqIRpLcTPkenogRHNZi8LpW61R82ILnUBGB4NtGoZyCjt1MCNsjoeE18/HyxcHewRGHDRlraFSoDVGnqbnFzRhFu1uOQWyqt6Le1dlfJzLGtix88gjKBbfUPQKXoFw+Mkw9Mc4gSf5BymSP7A91uLzoyp0w1eggf0ojgkxxzf8Z40YNqaQXFny2JmkGhd0sPnx930f4kL730zJIeCqkszNh8apU9w0ZbNaC7/sc+8Lk6WGVGUdObp1QZzk98B18lbXubz7sMe0Eu/f3N23ivotAyNDesr9hP4fMuzPRNUclCjD0j//kNhaLzibUdpKAlEzUwasvI3Bza31qu8UYTUbVBCwdFheDonBsRoEm3K1++/HRtQZRYn5Zf/9S8mCehbxU5JWbT/BH8ZeGIH7buS2+0znBannmFm4hJzQSF/Vre5FDc8TfhRCVuPBl7VNpEhH3/oFC6dYmedBuxqRUyk1YZHWKUSz5HNoOskVIaHic2HyR9b+rDo5O3W7SBY8D5jg6YxRISDz2UpiYzRN0AHtKbDkv8ONxrjm59nW7CSa9q3yNFbu7M/bb9yUy2SVsKRuIEL2cW7Untb8QJZu9Oqv9Y91bD72J+mUsVW7AJ46vhr5AK2w6n3U7bFh07k3VPHDPLp67a+gcYTelFq8CmRu9U5mgtwaOrlai0QOnaXD4sD2uUmZy0MaNfiDuT7eNbvPOLb76AJW7saflsD3Xf9EchYNWIfkmdXD3T+4hq+iWYebMoX3yeQYybcYrqjmJFdBKGp8Pbfa2F3vy/dDJto8BhdST6oa1XW6hLuJicCe7mTFPKg9o9mRg65Dfxk1R6ez0kUpkSMK3kiSKQCx294KhwpQEDCjm5G0KfrHlaOxoUNk4qTAgIqw+JGtE6MLH1mh4rsFA2r9AqO5KKo7fg8x9v8k/izLRL6A1doTZIyhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WvDp98Z8cHSqnZdEV6noyD",
      "input": {
        "note": "Pen now runs nearly vertically through the jaw column in the right wrist view. Descending to table level to grasp it.",
        "targets": {
          "right_x": 0.352,
          "right_y": 0.184,
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01WvDp98Z8cHSqnZdEV6noyD",
      "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]: [-0.0334, 0.9165, 0.4732, -0.1459, 0.2161, 0.1326, 0.0795, 0.4923, 1.9587, 0.3882, 1.0931, 0.0071, -0.0277, 0.9989]\nstate[eef_state]: left_x=0.3069 left_y=-0.0446 left_z=0.1359 left_yaw=-0.2976 left_pitch=-0.0049 left_roll=0.0006 left_gripper=0.0795 right_x=0.3507 right_y=0.1908 right_z=-0.0018 right_yaw=0.492 right_pitch=0.0788 right_roll=-0.0269 right_gripper=0.9989\nstate[joint_eff]: [-0.1573, -2.3453, 7.0222, 1.6484, 0.0171, -0.0317, 1.0281, -0.3077, -6.612, 2.7419, 0.6178, -0.1099, 0.2759, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d6262aa6085d2628af55c5236e912fb06eb61de2099518579d60b0482805e2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcf3e5677773c8097202f53f23d927ee166866edb324743c171f1abb02c0c16a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7e673e3a246c2ae872a41edc06f8d6186d27dd202d5577ddb6483e7c8aeb4b56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 13.2 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0334, 0.9115, 0.4736, -0.1455, 0.2161, 0.1356, 0.076, 0.8669, 1.5475, 0.8986, -0.1902, 0.7444, 0.6147, 0.9989]\nstate[eef_state]: left_x=0.3069 left_y=-0.0446 left_z=0.1376 left_yaw=-0.2992 left_pitch=0.0006 left_roll=0.0047 left_gripper=0.076 right_x=0.3338 right_y=0.2138 right_z=0.127 right_yaw=-0.0686 right_pitch=-0.0228 right_roll=-0.0264 right_gripper=0.9989\nstate[joint_eff]: [-0.1573, -2.1538, 7.1043, 1.7363, 0.022, -0.0562, 1.033, 0.5128, -6.8991, 8.0752, 1.4774, 0.6227, 0.0952, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0334, 0.9123, 0.4736, -0.1459, 0.2161, 0.1326, 0.0795, 0.5144, 1.7134, 0.4011, 0.8154, 0.062, 0.0132, 0.9989]\nstate[eef_state]: left_x=0.3069 left_y=-0.0446 left_z=0.1373 left_yaw=-0.2976 left_pitch=-0.0005 left_roll=0.0018 left_gripper=0.0795 right_x=0.3474 right_y=0.1879 right_z=0.0345 right_yaw=0.4459 right_pitch=0.0604 right_roll=-0.0172 right_gripper=0.9989\nstate[joint_eff]: [-0.3624, -2.0171, 6.9675, 1.6435, 0.0659, -0.0513, 1.0281, -0.2393, -6.5299, 4.1231, 2.3126, -0.0513, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0334, 0.9165, 0.4732, -0.1459, 0.2161, 0.1326, 0.0795, 0.4923, 1.9587, 0.3882, 1.0931, 0.0071, -0.0277, 0.9989]\nstate[eef_state]: left_x=0.3069 left_y=-0.0446 left_z=0.1359 left_yaw=-0.2976 left_pitch=-0.0049 left_roll=0.0006 left_gripper=0.0795 right_x=0.3507 right_y=0.1908 right_z=-0.0018 right_yaw=0.492 right_pitch=0.0788 right_roll=-0.0269 right_gripper=0.9989\nstate[joint_eff]: [-0.1573, -2.3453, 7.0222, 1.6484, 0.0171, -0.0317, 1.0281, -0.3077, -6.612, 2.7419, 0.6178, -0.1099, 0.2759, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d6262aa6085d2628af55c5236e912fb06eb61de2099518579d60b0482805e2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcf3e5677773c8097202f53f23d927ee166866edb324743c171f1abb02c0c16a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e673e3a246c2ae872a41edc06f8d6186d27dd202d5577ddb6483e7c8aeb4b56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQS4gYKEAgSGAI4AUIIdGhpbmtpbmcSDMsGittUzNvnfroemBoMh3ukP9VoBKmHGU1VIjDGFLkzS1CItzWYKUqkXiHlxiRO89U3DOCccRzKcsIchOiZ33Lb2Z4SYfgnF7viShMq/wUHwcvN9VNpP1fb89vjpyJtRjARnmWjvJxMiJXi7AIfd9KH+dPBkujFr/F/djCVEQOnZRdMWj4PKnY97PVU6aP01Hocgu7WvhfpQ7uyAeFCLBDnkoZZ0qbwLn9yplfOqKO9fDMfeur3s/PbFbusx0s6SCB6uMECheNL74Hf698SMePJF51PGO2KBdals1CueKNSEdDX4lYOzzADGGjk8QVhwV5+Tv5uq/+5p5oNQONguPQPdo4Y2NJ2z19z6X8Um51zo/6wugA00GSSrUtwYmMVt17Q92Ftes7JwEB10KLlLf99bx3w00QuBJCr2mlcCrA7YCfA03R1wFNajeXMdCetjeo6IWfxb2z3ZR7UAmV3KMTKavZh8DPateRkvhBAWriLG5t/qHsio/whTPgD8iA/S6ypLhquWNZwpybkPmQ3RK/epqnEuLTrAYmBU/z6U5vtTDQywOiZUyee5DnlokPrG7oYDv5pMQUy+UpOB0LvblfvYg3M0TIKTPXAdqZpz1bS68bM2jnUb/iAJgi7jwxdIalND55B7wtbhiCvqMVf51uphqdcKN5r/wFrx6yuQIEuPAr5/g3fOZXHBrcS3GPhEX32k52L5INePeqyPnUwccNEkRjPsEExy0Dp0lQplHULgO5Lc/Tz+4QeguctENFbk2TNapO77Ee3JGowsFOqmrx3Jp0ElK/6Z4Kt6wD/cFSOWJoki+VNccEVckT+6ZALl4B0WIrxbnMHp6YacqkY2sPirWD+RdgoAAAgog05YsQGj7WWkwvSpNWZrGqjvZ5glIKf9ZhxYrk5Kdel45js0qxcEbyo/ipDBSgP3tYxEZrvJp8cx+QMv9nDc83rbmlFQajAgxrLW6SQdnExEc1gYqBjx9Jh1B4ijE3vC09llhZACapn2R8dLfD3r/XoMc8du7XljAwTd2G4TyqsBFdbcMeFIjXMbU7Ql1G8MjMaGIsiOgGd9DOrQ18zOyeW7fht831KbtxvQcfSorLKOQ6JkG1YWlNJjwXLde/iNyMzmxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QuhrZrTkDDXkEM2Yb7UzCX",
      "input": {
        "note": "Pen passes between the right jaws at table level; closing to grasp it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01QuhrZrTkDDXkEM2Yb7UzCX",
      "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]: [-0.0334, 0.9176, 0.4728, -0.1459, 0.2161, 0.1326, 0.0795, 0.4923, 1.9659, 0.3923, 1.111, 0.0021, -0.033, 0.0586]\nstate[eef_state]: left_x=0.3069 left_y=-0.0446 left_z=0.1354 left_yaw=-0.2976 left_pitch=-0.0064 left_roll=0.0002 left_gripper=0.0795 right_x=0.3527 right_y=0.1928 right_z=0.0006 right_yaw=0.4991 right_pitch=0.0937 right_roll=-0.0295 right_gripper=0.0586\nstate[joint_eff]: [-0.1846, -2.0718, 7.2137, 1.7216, 0.0366, -0.0513, 1.0281, -0.0889, -7.6923, 2.988, 1.7314, -0.022, 0.1294, 1.8388]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41f633a93ae833cc0c5d900817055795243d37e0dfc6770f7e2d148159a73fd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44798d64575747a3fa6621dbfe7b9ac1949f66137f3bacced69f2ca6fbe80889",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:da1fa054669328e31e39a7041d32fbeb601716e7d110f2dad4f7f37b97397721",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /messages · status 200 · 17.65 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0334, 0.9123, 0.4736, -0.1459, 0.2161, 0.1326, 0.0795, 0.5144, 1.7134, 0.4011, 0.8154, 0.062, 0.0132, 0.9989]\nstate[eef_state]: left_x=0.3069 left_y=-0.0446 left_z=0.1373 left_yaw=-0.2976 left_pitch=-0.0005 left_roll=0.0018 left_gripper=0.0795 right_x=0.3474 right_y=0.1879 right_z=0.0345 right_yaw=0.4459 right_pitch=0.0604 right_roll=-0.0172 right_gripper=0.9989\nstate[joint_eff]: [-0.3624, -2.0171, 6.9675, 1.6435, 0.0659, -0.0513, 1.0281, -0.2393, -6.5299, 4.1231, 2.3126, -0.0513, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0334, 0.9165, 0.4732, -0.1459, 0.2161, 0.1326, 0.0795, 0.4923, 1.9587, 0.3882, 1.0931, 0.0071, -0.0277, 0.9989]\nstate[eef_state]: left_x=0.3069 left_y=-0.0446 left_z=0.1359 left_yaw=-0.2976 left_pitch=-0.0049 left_roll=0.0006 left_gripper=0.0795 right_x=0.3507 right_y=0.1908 right_z=-0.0018 right_yaw=0.492 right_pitch=0.0788 right_roll=-0.0269 right_gripper=0.9989\nstate[joint_eff]: [-0.1573, -2.3453, 7.0222, 1.6484, 0.0171, -0.0317, 1.0281, -0.3077, -6.612, 2.7419, 0.6178, -0.1099, 0.2759, -0.0171]\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 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]: [-0.0334, 0.9176, 0.4728, -0.1459, 0.2161, 0.1326, 0.0795, 0.4923, 1.9659, 0.3923, 1.111, 0.0021, -0.033, 0.0586]\nstate[eef_state]: left_x=0.3069 left_y=-0.0446 left_z=0.1354 left_yaw=-0.2976 left_pitch=-0.0064 left_roll=0.0002 left_gripper=0.0795 right_x=0.3527 right_y=0.1928 right_z=0.0006 right_yaw=0.4991 right_pitch=0.0937 right_roll=-0.0295 right_gripper=0.0586\nstate[joint_eff]: [-0.1846, -2.0718, 7.2137, 1.7216, 0.0366, -0.0513, 1.0281, -0.0889, -7.6923, 2.988, 1.7314, -0.022, 0.1294, 1.8388]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41f633a93ae833cc0c5d900817055795243d37e0dfc6770f7e2d148159a73fd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44798d64575747a3fa6621dbfe7b9ac1949f66137f3bacced69f2ca6fbe80889",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da1fa054669328e31e39a7041d32fbeb601716e7d110f2dad4f7f37b97397721",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RuhwdjSjFJxrHyTTHoQz4R",
      "input": {
        "note": "Right gripper settled at 0.059 with the pen visible in its jaws, tip pointing forward. Lifting to confirm the grasp.",
        "targets": {
          "right_pitch": 0.0,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01RuhwdjSjFJxrHyTTHoQz4R",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0334, 0.923, 0.4725, -0.1459, 0.2161, 0.1326, 0.0795, 0.4923, 1.4208, 0.6022, 0.3008, -0.001, -0.0349, 0.0718]\nstate[eef_state]: left_x=0.3069 left_y=-0.0446 left_z=0.1337 left_yaw=-0.2976 left_pitch=-0.0119 left_roll=-0.0013 left_gripper=0.0795 right_x=0.3563 right_y=0.1953 right_z=0.1132 right_yaw=0.5027 right_pitch=0.0384 right_roll=-0.0293 right_gripper=0.0718\nstate[joint_eff]: [-0.3761, -2.3179, 7.0769, 1.6972, 0.0562, -0.0659, 1.0281, -0.1436, -7.0085, 7.9932, 1.8095, 0.0464, -0.0024, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01c1eb162ab178d7b069cb755fe828552399f85f9cdc6145a53515257f55c616",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9d36e6e61586f68defd7f2f87a0d911f5521b56c5058557e116035f6a7dc01d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:46ec29ca165de59dcaf63a9d25a3396083d2786b4f6018a7b1b23beae72dffaf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /messages · status 200 · 4.54 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0334, 0.9165, 0.4732, -0.1459, 0.2161, 0.1326, 0.0795, 0.4923, 1.9587, 0.3882, 1.0931, 0.0071, -0.0277, 0.9989]\nstate[eef_state]: left_x=0.3069 left_y=-0.0446 left_z=0.1359 left_yaw=-0.2976 left_pitch=-0.0049 left_roll=0.0006 left_gripper=0.0795 right_x=0.3507 right_y=0.1908 right_z=-0.0018 right_yaw=0.492 right_pitch=0.0788 right_roll=-0.0269 right_gripper=0.9989\nstate[joint_eff]: [-0.1573, -2.3453, 7.0222, 1.6484, 0.0171, -0.0317, 1.0281, -0.3077, -6.612, 2.7419, 0.6178, -0.1099, 0.2759, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.0334, 0.9176, 0.4728, -0.1459, 0.2161, 0.1326, 0.0795, 0.4923, 1.9659, 0.3923, 1.111, 0.0021, -0.033, 0.0586]\nstate[eef_state]: left_x=0.3069 left_y=-0.0446 left_z=0.1354 left_yaw=-0.2976 left_pitch=-0.0064 left_roll=0.0002 left_gripper=0.0795 right_x=0.3527 right_y=0.1928 right_z=0.0006 right_yaw=0.4991 right_pitch=0.0937 right_roll=-0.0295 right_gripper=0.0586\nstate[joint_eff]: [-0.1846, -2.0718, 7.2137, 1.7216, 0.0366, -0.0513, 1.0281, -0.0889, -7.6923, 2.988, 1.7314, -0.022, 0.1294, 1.8388]",
      "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]: [-0.0334, 0.923, 0.4725, -0.1459, 0.2161, 0.1326, 0.0795, 0.4923, 1.4208, 0.6022, 0.3008, -0.001, -0.0349, 0.0718]\nstate[eef_state]: left_x=0.3069 left_y=-0.0446 left_z=0.1337 left_yaw=-0.2976 left_pitch=-0.0119 left_roll=-0.0013 left_gripper=0.0795 right_x=0.3563 right_y=0.1953 right_z=0.1132 right_yaw=0.5027 right_pitch=0.0384 right_roll=-0.0293 right_gripper=0.0718\nstate[joint_eff]: [-0.3761, -2.3179, 7.0769, 1.6972, 0.0562, -0.0659, 1.0281, -0.1436, -7.0085, 7.9932, 1.8095, 0.0464, -0.0024, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01c1eb162ab178d7b069cb755fe828552399f85f9cdc6145a53515257f55c616",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9d36e6e61586f68defd7f2f87a0d911f5521b56c5058557e116035f6a7dc01d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46ec29ca165de59dcaf63a9d25a3396083d2786b4f6018a7b1b23beae72dffaf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QTytsRZc271Ar6yPMP7UHH",
      "input": {
        "note": "Pen is securely held by the right arm. The cap's closed pointy end faces forward in the left jaws, so its opening faces the gripper body; lowering the cap to the table to regrasp it flipped 180°.",
        "targets": {
          "left_pitch": 0.2,
          "left_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01QTytsRZc271Ar6yPMP7UHH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0017, 1.8297, 0.0364, 1.2629, 0.2787, 0.1047, 0.0804, 0.4923, 1.4258, 0.5995, 0.2775, -0.001, -0.0353, 0.0718]\nstate[eef_state]: left_x=0.2991 left_y=-0.0455 left_z=-0.0062 left_yaw=-0.3035 left_pitch=0.0606 left_roll=-0.0387 left_gripper=0.0804 right_x=0.3531 right_y=0.1936 right_z=0.1052 right_yaw=0.5029 right_pitch=0.0075 right_roll=-0.0293 right_gripper=0.0718\nstate[joint_eff]: [0.253, -3.7812, 0.5402, -0.8083, -0.3834, -0.0757, 0.9548, -0.212, -5.8872, 6.5299, 2.0049, -0.0317, -0.0513, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce6eb68ef22bfdf2463c0a6d2227dec72b6ab0299d5e72a6031d9ecc4ac8ca16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8cfbb9d912b9ebd0425f95929bca12a998c2e99c5323f5645c716fd1252c243",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3c748d663f35f71824bf93fa54e51a357924511ac881715a2da3a63b06e0cd46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 6.024 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0334, 0.9176, 0.4728, -0.1459, 0.2161, 0.1326, 0.0795, 0.4923, 1.9659, 0.3923, 1.111, 0.0021, -0.033, 0.0586]\nstate[eef_state]: left_x=0.3069 left_y=-0.0446 left_z=0.1354 left_yaw=-0.2976 left_pitch=-0.0064 left_roll=0.0002 left_gripper=0.0795 right_x=0.3527 right_y=0.1928 right_z=0.0006 right_yaw=0.4991 right_pitch=0.0937 right_roll=-0.0295 right_gripper=0.0586\nstate[joint_eff]: [-0.1846, -2.0718, 7.2137, 1.7216, 0.0366, -0.0513, 1.0281, -0.0889, -7.6923, 2.988, 1.7314, -0.022, 0.1294, 1.8388]",
      "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]: [-0.0334, 0.923, 0.4725, -0.1459, 0.2161, 0.1326, 0.0795, 0.4923, 1.4208, 0.6022, 0.3008, -0.001, -0.0349, 0.0718]\nstate[eef_state]: left_x=0.3069 left_y=-0.0446 left_z=0.1337 left_yaw=-0.2976 left_pitch=-0.0119 left_roll=-0.0013 left_gripper=0.0795 right_x=0.3563 right_y=0.1953 right_z=0.1132 right_yaw=0.5027 right_pitch=0.0384 right_roll=-0.0293 right_gripper=0.0718\nstate[joint_eff]: [-0.3761, -2.3179, 7.0769, 1.6972, 0.0562, -0.0659, 1.0281, -0.1436, -7.0085, 7.9932, 1.8095, 0.0464, -0.0024, 1.0281]",
      "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]: [-0.0017, 1.8297, 0.0364, 1.2629, 0.2787, 0.1047, 0.0804, 0.4923, 1.4258, 0.5995, 0.2775, -0.001, -0.0353, 0.0718]\nstate[eef_state]: left_x=0.2991 left_y=-0.0455 left_z=-0.0062 left_yaw=-0.3035 left_pitch=0.0606 left_roll=-0.0387 left_gripper=0.0804 right_x=0.3531 right_y=0.1936 right_z=0.1052 right_yaw=0.5029 right_pitch=0.0075 right_roll=-0.0293 right_gripper=0.0718\nstate[joint_eff]: [0.253, -3.7812, 0.5402, -0.8083, -0.3834, -0.0757, 0.9548, -0.212, -5.8872, 6.5299, 2.0049, -0.0317, -0.0513, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce6eb68ef22bfdf2463c0a6d2227dec72b6ab0299d5e72a6031d9ecc4ac8ca16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8cfbb9d912b9ebd0425f95929bca12a998c2e99c5323f5645c716fd1252c243",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c748d663f35f71824bf93fa54e51a357924511ac881715a2da3a63b06e0cd46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6QgKEAgSGAI4AUIIdGhpbmtpbmcSDATUhC3PJ8TRT+g18xoM1wwi9Kj58jIMKa4pIjD5m+xNCVgtbF7BF1/nMHcPKtjlhfcwQwsAwd+sR6Z9izjDt1x9lj4I26Y9OA7zBk0qhggjLSpQMSfI4CHAq7JtZXPcarAQIfJfokVing+9JWqMQo0YBzWTksL8UVJzH25I8p6v7sMukGgVYa7Oja2Ve48+YnZpUYg1tmF2t+v6HQAx3wgCnhmCVOcjaSm+Ha0aCLv65Y5DGaDUOutipC2ecBsbkmqexMg5+TTxREwhAsnwF69RNqq0vib70f2MoQ0Q0rjM+aSheySNSE/D6Dps4izS6g/qdyYWpPibaPLBE2YN495y2vbJi6j5P4ENTxBUy/JxR/G6kXPKWVpro5g7ipBfqI94MzoR4WAgd/p3jlvAKV+Tkbeorw1c4vBKBB+K53rxAiKuihHV5NdxfXlVEK4rz2tqNROZNvVYVXpAReISkLq6GDjA2iIbuhc9NvtzXJOlk6iVd1+lpC218Z3Neq2UIzWBkqST/eZ07NIRR/CRa/BPYR2FjUEiuDk0xGaXWt5nIDHt3PECROQkXgTrJwRksudyjlz9/iSfkXUSXHB3YhXuCGwF/01T45Kr0P1vkgUEP7BnfRJIdxcRuk9L3hk266AkaOQ3awsdtOjH8sRexURhOgFVuFS6jQ56/Fe+PU/iJ6V5nVN15X09q+v4dgjnY/sJviT/CWHAGEOnZIwS8gkEgYxqUJ2mCClWThpu8fRwIXMVLFZKQynsqFfE21LGYAunmRqd+aq7IuthPZQUw4wUoDkF8cibC7uo8gJluKVA2SqfinedFnK7MFnWMvk7qAOaR/Srw22oF8RvjaUYxIFooMwJNNidP5SAMUNRVxt49rTcwNgjAK8qGf3Yyw3+lyKPrvHVP06EXLN3D9yqrFKxEjH4o+Q5OsvSCXqeEKuZ4EUeofprlvygLefKOENpGERbvzIoaXmuq6nBe6Wah2HkUp/ZuOgMn0HJihHvJWsPtegND+HuzI0sttsqj51SMZCUkm5+7yxO7uPS4Nrl3dsjA0PoTd93PdgQYZcxthiqpZ1omVmDfVhvoqNJAeZvaO153AaDzIWv0awjQLUCTG72FQ/Zap+VYpArPJPt/FaYAUHgnHbgKU5qM8mWWw5cuVsKE3DX6vjHI3k5axpg1EJ61db37GWAKJzABizVn6HjKFuXfBG4CiMrQXGN1WNi3qidkD6ZBu9756GI8v8qCIOLqYTRaN/ZaMzGvvtrwZ4acvFABzx9A7HVvJ/48zHtIYiDNRMXnGvyLnWVaMe4692sTceNbsfKm04n7TD0KrdLkyhXNNyCRsuRedsP8rq/FhwrPEJsuJsi0KkfcXYMW3O9jJxChYyZk9wZBlWAg/aZMiNk7mc4XE6YJVrUPM7axGLG9zQ4dAm7rsAiAt2edtmDaRa2tFjrhK7AEKpNZMsxvj++FST9Rgf9K51flw49+5xbBVv5GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Xj88g6KncLS4f56gKMpaF1",
      "input": {
        "note": "Left gripper is at table level; releasing the cap.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Xj88g6KncLS4f56gKMpaF1",
      "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]: [0.009, 2.03, 0.0162, 1.5703, 0.2966, 0.0872, 0.9955, 0.4923, 1.4273, 0.5987, 0.2691, -0.001, -0.0349, 0.0718]\nstate[eef_state]: left_x=0.3027 left_y=-0.0453 left_z=-0.0008 left_yaw=-0.3011 left_pitch=0.1458 left_roll=-0.0362 left_gripper=0.9955 right_x=0.3519 right_y=0.193 right_z=0.1025 right_yaw=0.5027 right_pitch=-0.0032 right_roll=-0.0288 right_gripper=0.0718\nstate[joint_eff]: [0.2667, -4.7795, 0.1436, 1.7509, 0.0611, 0.0122, -0.1245, -0.3214, -5.7094, 6.2838, 1.8486, 0.0024, -0.0513, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97223c59dfb94a88a33d7c54c4b76cb30cb085b5a1054cdb3d6d6114facbc101",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae0f2494c5b8999fd76958cba53d4a44eec43cc37198b8cf9c1f46a0dc7a0a0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:461ecf4d521debdf0a80db6a26878b8e83e08e74c349c3fa8921012b52b25c81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /messages · status 200 · 23.73 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0334, 0.923, 0.4725, -0.1459, 0.2161, 0.1326, 0.0795, 0.4923, 1.4208, 0.6022, 0.3008, -0.001, -0.0349, 0.0718]\nstate[eef_state]: left_x=0.3069 left_y=-0.0446 left_z=0.1337 left_yaw=-0.2976 left_pitch=-0.0119 left_roll=-0.0013 left_gripper=0.0795 right_x=0.3563 right_y=0.1953 right_z=0.1132 right_yaw=0.5027 right_pitch=0.0384 right_roll=-0.0293 right_gripper=0.0718\nstate[joint_eff]: [-0.3761, -2.3179, 7.0769, 1.6972, 0.0562, -0.0659, 1.0281, -0.1436, -7.0085, 7.9932, 1.8095, 0.0464, -0.0024, 1.0281]",
      "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]: [-0.0017, 1.8297, 0.0364, 1.2629, 0.2787, 0.1047, 0.0804, 0.4923, 1.4258, 0.5995, 0.2775, -0.001, -0.0353, 0.0718]\nstate[eef_state]: left_x=0.2991 left_y=-0.0455 left_z=-0.0062 left_yaw=-0.3035 left_pitch=0.0606 left_roll=-0.0387 left_gripper=0.0804 right_x=0.3531 right_y=0.1936 right_z=0.1052 right_yaw=0.5029 right_pitch=0.0075 right_roll=-0.0293 right_gripper=0.0718\nstate[joint_eff]: [0.253, -3.7812, 0.5402, -0.8083, -0.3834, -0.0757, 0.9548, -0.212, -5.8872, 6.5299, 2.0049, -0.0317, -0.0513, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.009, 2.03, 0.0162, 1.5703, 0.2966, 0.0872, 0.9955, 0.4923, 1.4273, 0.5987, 0.2691, -0.001, -0.0349, 0.0718]\nstate[eef_state]: left_x=0.3027 left_y=-0.0453 left_z=-0.0008 left_yaw=-0.3011 left_pitch=0.1458 left_roll=-0.0362 left_gripper=0.9955 right_x=0.3519 right_y=0.193 right_z=0.1025 right_yaw=0.5027 right_pitch=-0.0032 right_roll=-0.0288 right_gripper=0.0718\nstate[joint_eff]: [0.2667, -4.7795, 0.1436, 1.7509, 0.0611, 0.0122, -0.1245, -0.3214, -5.7094, 6.2838, 1.8486, 0.0024, -0.0513, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97223c59dfb94a88a33d7c54c4b76cb30cb085b5a1054cdb3d6d6114facbc101",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae0f2494c5b8999fd76958cba53d4a44eec43cc37198b8cf9c1f46a0dc7a0a0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:461ecf4d521debdf0a80db6a26878b8e83e08e74c349c3fa8921012b52b25c81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuAsKEAgSGAI4AUIIdGhpbmtpbmcSDAMiYjiLq5o4Ua4AYhoM8EAdqphR0WMEEU/qIjDjVcsV/bKtuxWqGekWS+hfOKans62B66fyxxQilP1CYfWSUdlQ4hfv+54h9LqKzWQq1QpcZnlZHhwnKSA05kBk/R+ZuwI5aIQXGi2zYV1q2MEwqa4SxPjqHjcWe1bWt9In7eb3cqgtt/xf2qO3YGrZmPI9CyFovbe/SqAyGehGwJWvN96Vj2an+okDxc9iaRmMdjHQ4OC6RhSYqaxIxfPbnrFEzdQ1wKpdG29UAZQdSFHPQ3PbKcIXYK3QerwuQkvoz9wLK9sbius4CWCr/8lX2f+ODbaw41gPhFuFmCXLG2P3tBqsjMPKOTAFmO0/187Jdn0TiAPmqi21+E/IWCRifzxLJybCeWoiMIAB+PThF314zuZ4GBVLp1rRnDX57P/T8erCSoVHJIJD12O3gQ0ZVRwB5pFritWWAwXdjLCzBisP4So7Plz0ZTZqPLw2lSExIRWrFjpFdKdWGaNE9kM9UDn37z5f6G4rdSNY51zJbbrfVZGeFDonXZOKs9BCizBPtTch/eQ2ApGYhcqmeuuVKzlXSQTQPJ0+AgoGFeZQF9SmHwvBk6LMcpKbH9//WpkiR50O5ZopW2Shm6A2/gdXBfywl3xWq7Z17YjA3JSaCCtUgIZ5lqYovyAMPrL7rbKHdp6XEe3rewt/zYHZSDAI/cgBQ0OedaW1gxUpHVeu84NEMiWISOGKiAbCtlGSOZR1/kVK3iFDd6Zo//oRGCoBAuWuSc0YJF8aBdOt6ptpDwjg1GpgXbLnx2ANHK341/cGtFcoMdue5OBv5iy3S+dlX0qWapyy8S6eYRlYWZ7PJFSxp+wvp8XsqHWVv6XQCvL6VVXefieZthZ5Aq83qZ5vtwjB8tgNP0vhPaDtiXsHAoyWhT+LoVGUWL6Pgz7JatHpqmPYBBmGFm1XOoVonb1+L0lQFwbOXFW+7qFGXw8JcwtXGMFIRZz3RfSBdPPEoXPUdmAL0eHQkEZD7cbbxVuNVugflpXx5f/jkWHXNSX/B3Al9dReVwyL7yExaYRobRmAYpzCE+tMMzQTLx9pXK2djQzs/vpS+DO80kziPVvwO7y8hVe+JcyC9cPLZSz5WiGLdUD1jT9E0iG4W1YM0QMOmqTxNhvugz4+cPdxhZcxW8idyP/qyBz4GibfYg29rPcEaj6UYKjPiZ3Xan6Nxsh6PEQdnkhEWi21YEinjGmllzjNQvMTASNjfucqmDx6qIGSGCR2rMuS/gg5sa7ECLZ3aOqflpKtAoMdGQxkC9e1Y7mvQLBNAxsK9J6cYt30sshGIZ13CjBxcvWlai1mOc8pyI9lt8fdtikYNSXHNeUN+Y3zA1EKw8d2OpOz4fSzw2O4InvyFc+On6zlo7Xa+PW0Ib4r88aPiCvssDyXkg0yoHK60km4fnyGPj6/PZ2fzWfkQ0G7qAU++5UJvts/oIFFixYwSOSInYgeSZ1sQ01Vv/mR50P1c4R9KOci8mNXesUjTRcIaOYqXWrDNTsfUgDCS7JmKqWk+jg8S+8D1hvhYODt1jcyA121T8DYyqQyCUPw0w9GTqM0jeZpJ7/VteYIAyqLjtOPu0I5Ug2I6+uEPFaU03+2QTWwmvvyEd4QVFV9bCIJc9FEST9ZCJjm/uFDhTgN4+QkH3KG+8jdZrofZCwXbbLlEIjG/G4C4XOgpGpXt2oT6GtipqKBKaDhiCuEMeow6hx/0n6RxzlhrtNkuaIQLVvBtqLXwRU0jrKNPWjDqbdArpLZiSRRUrK6UJ5s4XgTEYwiBYioC57kzcnd3h1y/rdAgyyWHN9EQHdPVKDUGh+gK4tEp1Y4ih4yIgAw/X+Qowe+jYOZ6dAz0Ek3D4oBvHsZFsDqqudMd/j+APWDGmWXTD8/B6mJ2i3j/fbm2zQA1XK3YTEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0165rnD7zbvNcMySNngoZsfg",
      "input": {
        "note": "Cap released on the table, lying along the left tool axis with its pointed end forward. Lifting and rotating the wrist 180° to regrasp it with the open end facing forward.",
        "targets": {
          "left_pitch": 0.0,
          "left_yaw": 2.84,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_0165rnD7zbvNcMySNngoZsfg",
      "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]: [0.799, 1.5948, 0.8215, -1.1725, -0.7444, -2.0609, 0.9964, 0.4923, 1.4342, 0.5934, 0.2638, -0.0036, -0.0349, 0.0718]\nstate[eef_state]: left_x=0.0302 left_y=0.2078 left_z=0.0619 left_yaw=2.7169 left_pitch=-0.1856 left_roll=0.0335 left_gripper=0.9964 right_x=0.3497 right_y=0.1923 right_z=0.0966 right_yaw=0.505 right_pitch=-0.0208 right_roll=-0.0272 right_gripper=0.0718\nstate[joint_eff]: [-0.1162, -4.1915, 6.2291, 0.5153, -1.4237, -0.3639, 0.0757, -0.3624, -5.7231, 7.1863, 1.8339, -0.0171, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c2106bd8a901eb3ebda34054580c780a45af5ace657c7a63d791f87a2dafa56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dcfbc8e910f2c6010c126829c9f88ba1736ba66deb508dda58ce3af874eae1a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:50237754ded272a9545210b01d59d0ec1418449b483e78e3642fcf686ea55a31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 5.002 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0017, 1.8297, 0.0364, 1.2629, 0.2787, 0.1047, 0.0804, 0.4923, 1.4258, 0.5995, 0.2775, -0.001, -0.0353, 0.0718]\nstate[eef_state]: left_x=0.2991 left_y=-0.0455 left_z=-0.0062 left_yaw=-0.3035 left_pitch=0.0606 left_roll=-0.0387 left_gripper=0.0804 right_x=0.3531 right_y=0.1936 right_z=0.1052 right_yaw=0.5029 right_pitch=0.0075 right_roll=-0.0293 right_gripper=0.0718\nstate[joint_eff]: [0.253, -3.7812, 0.5402, -0.8083, -0.3834, -0.0757, 0.9548, -0.212, -5.8872, 6.5299, 2.0049, -0.0317, -0.0513, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.009, 2.03, 0.0162, 1.5703, 0.2966, 0.0872, 0.9955, 0.4923, 1.4273, 0.5987, 0.2691, -0.001, -0.0349, 0.0718]\nstate[eef_state]: left_x=0.3027 left_y=-0.0453 left_z=-0.0008 left_yaw=-0.3011 left_pitch=0.1458 left_roll=-0.0362 left_gripper=0.9955 right_x=0.3519 right_y=0.193 right_z=0.1025 right_yaw=0.5027 right_pitch=-0.0032 right_roll=-0.0288 right_gripper=0.0718\nstate[joint_eff]: [0.2667, -4.7795, 0.1436, 1.7509, 0.0611, 0.0122, -0.1245, -0.3214, -5.7094, 6.2838, 1.8486, 0.0024, -0.0513, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [0.799, 1.5948, 0.8215, -1.1725, -0.7444, -2.0609, 0.9964, 0.4923, 1.4342, 0.5934, 0.2638, -0.0036, -0.0349, 0.0718]\nstate[eef_state]: left_x=0.0302 left_y=0.2078 left_z=0.0619 left_yaw=2.7169 left_pitch=-0.1856 left_roll=0.0335 left_gripper=0.9964 right_x=0.3497 right_y=0.1923 right_z=0.0966 right_yaw=0.505 right_pitch=-0.0208 right_roll=-0.0272 right_gripper=0.0718\nstate[joint_eff]: [-0.1162, -4.1915, 6.2291, 0.5153, -1.4237, -0.3639, 0.0757, -0.3624, -5.7231, 7.1863, 1.8339, -0.0171, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c2106bd8a901eb3ebda34054580c780a45af5ace657c7a63d791f87a2dafa56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dcfbc8e910f2c6010c126829c9f88ba1736ba66deb508dda58ce3af874eae1a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50237754ded272a9545210b01d59d0ec1418449b483e78e3642fcf686ea55a31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C4q7rSg3znYRAgrosxyZp5",
      "input": {
        "note": "The 180° wrist yaw drove the left arm into a folded, out-of-box pose. Returning it above the cap (visible on the table at left) at the original yaw.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.28,
          "left_y": -0.05,
          "left_yaw": -0.3,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 23 steps (2.3s)",
      "tool_use_id": "toolu_01C4q7rSg3znYRAgrosxyZp5",
      "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]: [-0.6117, 0.8433, 0.4568, -0.9527, -0.8902, -1.3773, 0.9965, 0.4923, 1.4395, 0.588, 0.2466, -0.004, -0.0349, 0.0718]\nstate[eef_state]: left_x=0.1918 left_y=0.0375 left_z=0.0962 left_yaw=0.8186 left_pitch=-0.0917 left_roll=-0.0724 left_gripper=0.9965 right_x=0.3461 right_y=0.1905 right_z=0.0888 right_yaw=0.5053 right_pitch=-0.0486 right_roll=-0.0266 right_gripper=0.0718\nstate[joint_eff]: [-0.253, -0.7453, 5.9556, 0.7302, -0.735, 0.1734, 0.0024, -0.335, -6.0376, 6.7761, 1.9316, -0.0073, -0.0366, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62452d9b234109e8d0cdd95672cb0c27cee0b796d9b19c9676632cab858f0117",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c406affcfd4df55575824bb76bfcd13fbec4f40493fe73a2b4f66a82a2aecab2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c13c13e322aab6f509a7ab69079478a9acdca0de4555e4d7af67de59049f7698",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 6.5 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.009, 2.03, 0.0162, 1.5703, 0.2966, 0.0872, 0.9955, 0.4923, 1.4273, 0.5987, 0.2691, -0.001, -0.0349, 0.0718]\nstate[eef_state]: left_x=0.3027 left_y=-0.0453 left_z=-0.0008 left_yaw=-0.3011 left_pitch=0.1458 left_roll=-0.0362 left_gripper=0.9955 right_x=0.3519 right_y=0.193 right_z=0.1025 right_yaw=0.5027 right_pitch=-0.0032 right_roll=-0.0288 right_gripper=0.0718\nstate[joint_eff]: [0.2667, -4.7795, 0.1436, 1.7509, 0.0611, 0.0122, -0.1245, -0.3214, -5.7094, 6.2838, 1.8486, 0.0024, -0.0513, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [0.799, 1.5948, 0.8215, -1.1725, -0.7444, -2.0609, 0.9964, 0.4923, 1.4342, 0.5934, 0.2638, -0.0036, -0.0349, 0.0718]\nstate[eef_state]: left_x=0.0302 left_y=0.2078 left_z=0.0619 left_yaw=2.7169 left_pitch=-0.1856 left_roll=0.0335 left_gripper=0.9964 right_x=0.3497 right_y=0.1923 right_z=0.0966 right_yaw=0.505 right_pitch=-0.0208 right_roll=-0.0272 right_gripper=0.0718\nstate[joint_eff]: [-0.1162, -4.1915, 6.2291, 0.5153, -1.4237, -0.3639, 0.0757, -0.3624, -5.7231, 7.1863, 1.8339, -0.0171, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.6117, 0.8433, 0.4568, -0.9527, -0.8902, -1.3773, 0.9965, 0.4923, 1.4395, 0.588, 0.2466, -0.004, -0.0349, 0.0718]\nstate[eef_state]: left_x=0.1918 left_y=0.0375 left_z=0.0962 left_yaw=0.8186 left_pitch=-0.0917 left_roll=-0.0724 left_gripper=0.9965 right_x=0.3461 right_y=0.1905 right_z=0.0888 right_yaw=0.5053 right_pitch=-0.0486 right_roll=-0.0266 right_gripper=0.0718\nstate[joint_eff]: [-0.253, -0.7453, 5.9556, 0.7302, -0.735, 0.1734, 0.0024, -0.335, -6.0376, 6.7761, 1.9316, -0.0073, -0.0366, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62452d9b234109e8d0cdd95672cb0c27cee0b796d9b19c9676632cab858f0117",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c406affcfd4df55575824bb76bfcd13fbec4f40493fe73a2b4f66a82a2aecab2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c13c13e322aab6f509a7ab69079478a9acdca0de4555e4d7af67de59049f7698",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpAcKEAgSGAI4AUIIdGhpbmtpbmcSDNgBMgEw8owKV+sxDBoMwleoy+o3e6fJt+bAIjBQLtcIwIrFOXqesd90CJDet1nN16JmBqrA4XjS4qQn7/dIoW0NfKs9ykcu7vQPxREqwQbCiZFsq5ElJ1EssRjZC8/BlHqs51Mc8AQ/OIoK5a69P6Ubt5TuAe+tuAXvO8i0oWKvn4hmg1q3EvllzrxDlxihL+5gbuVt3iJf/kzvJ4R5DHBgt1XRIyAKerrm5U2PR1pl4ItSTZXBYrP9w3R6NOvuPy7WVJ/2jDh4tPMKvNpk+TtJtFts3JTshttIU4A5g2wGKbLwcmv8A74QkfAYc4RqYrbkg8sOyV8UamniL3ta0ghlFIf7GRcAPQ0NLifNpxhiWtY3LfkPX0LnlIjScW6zpCcQdidyVAG0u3GQCMLasD4VznzIIxEQLN9BRdux6Ke4kk2Q6gUcbQIWV5e+rN65zlzmQJkn/ykZGM8x2RU/FnCSgRFoX2rojJEcCEOXRe+Y+mFx726gcep88EvFjkvVOKt0P7/6PZiz2TzhdnFR1iytSItCSxhXcv/ptcPYh52Ingvm9/pEkI60mRh1TiDbqnuFvjQdioxZgRpN9VJsllYgZ0vm7kw1CZwLNyjC3sjG0vvTq4JtITyP45eI9jacViVUdGab3eXyr70zB7EO/c7biHriLJaJkV8CwWfsPHOkE3y2kurjmkD0gWr27NdjTCuxoOSWkZrZGp1twyQCXKXaJ7YMJg5zyQrsqonXdXhijovmo/8DNUt98m8WcYQHRFgAsXLBrEHfz2f3++0la/LU0Lrpl1XZXS5O0FjUwDSFbSjtHqco8mN5nwK5n7IAkZywREwV/2HeTpyn3QpbsuAYvyKAYl66mj3OEgfhdJfz+ERg+gV+aCjqs054dvqzQXgj/fqgW4T5kQ8dbyfoJfPoqUlETmiQ/BmPddL/v8ZCwt+fUlLqiDIrajH7DBKqv6B+JdJ0TGQxmiaT399WbkOCQuaOSDQxwfyN1djNm8pdmo6Zyw+uWnhgM+ZjiPMlp5Nmqth/qER1gQrzhys/NJqWtZSzoxRE0O/JEcipD01gwghSGHl75VVl53J/L1xcU6Ls294VShxxpwiLRu2TZrGj3ruEdysYw75+AX4VQX9VV73Qikhef22e35LxWyFFuPEPT+n2nHeZvjWJr0T8sp4LvTaOrEwXr7yCSDSy111ayn9rrQL6+NyjnK7B+/LiohgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TDorctbN6PfkzTYFX4C1GF",
      "input": {
        "note": "Left arm is still unwinding (yaw 0.82, x 0.19). Continuing toward the pose above the cap and holding the pen arm up.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.3,
          "left_y": -0.05,
          "left_yaw": -0.3,
          "left_z": 0.12,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01TDorctbN6PfkzTYFX4C1GF",
      "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]: [-0.0475, 0.8768, 0.3527, -0.2153, 0.0303, -0.4225, 0.9965, 0.4923, 1.3888, 0.6342, 0.0994, -0.004, -0.0349, 0.0779]\nstate[eef_state]: left_x=0.2752 left_y=-0.0149 left_z=0.0782 left_yaw=0.1425 left_pitch=-0.207 left_roll=-0.3284 left_gripper=0.9965 right_x=0.3395 right_y=0.187 right_z=0.0974 right_yaw=0.5053 right_pitch=-0.0989 right_roll=-0.026 right_gripper=0.0779\nstate[joint_eff]: [0.1709, -2.1812, 9.9214, 2.0049, 0.022, 0.2466, -0.0122, -0.3624, -6.8581, 9.4154, 1.707, -0.0317, -0.0171, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4501fc77fbfc86c13d19820e3f36d87f5e966a0eb8a9a01b66def7d822b3ee4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a77c8144ac7fee702565105a5c3e8066efe3fbed2909845f2001c929676cc30a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cec0ba38e124986f83a63da6dc34d77ecf7a204e7e492766b38f512dfeaf1e0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /messages · status 200 · 5.216 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.799, 1.5948, 0.8215, -1.1725, -0.7444, -2.0609, 0.9964, 0.4923, 1.4342, 0.5934, 0.2638, -0.0036, -0.0349, 0.0718]\nstate[eef_state]: left_x=0.0302 left_y=0.2078 left_z=0.0619 left_yaw=2.7169 left_pitch=-0.1856 left_roll=0.0335 left_gripper=0.9964 right_x=0.3497 right_y=0.1923 right_z=0.0966 right_yaw=0.505 right_pitch=-0.0208 right_roll=-0.0272 right_gripper=0.0718\nstate[joint_eff]: [-0.1162, -4.1915, 6.2291, 0.5153, -1.4237, -0.3639, 0.0757, -0.3624, -5.7231, 7.1863, 1.8339, -0.0171, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.6117, 0.8433, 0.4568, -0.9527, -0.8902, -1.3773, 0.9965, 0.4923, 1.4395, 0.588, 0.2466, -0.004, -0.0349, 0.0718]\nstate[eef_state]: left_x=0.1918 left_y=0.0375 left_z=0.0962 left_yaw=0.8186 left_pitch=-0.0917 left_roll=-0.0724 left_gripper=0.9965 right_x=0.3461 right_y=0.1905 right_z=0.0888 right_yaw=0.5053 right_pitch=-0.0486 right_roll=-0.0266 right_gripper=0.0718\nstate[joint_eff]: [-0.253, -0.7453, 5.9556, 0.7302, -0.735, 0.1734, 0.0024, -0.335, -6.0376, 6.7761, 1.9316, -0.0073, -0.0366, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "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]: [-0.0475, 0.8768, 0.3527, -0.2153, 0.0303, -0.4225, 0.9965, 0.4923, 1.3888, 0.6342, 0.0994, -0.004, -0.0349, 0.0779]\nstate[eef_state]: left_x=0.2752 left_y=-0.0149 left_z=0.0782 left_yaw=0.1425 left_pitch=-0.207 left_roll=-0.3284 left_gripper=0.9965 right_x=0.3395 right_y=0.187 right_z=0.0974 right_yaw=0.5053 right_pitch=-0.0989 right_roll=-0.026 right_gripper=0.0779\nstate[joint_eff]: [0.1709, -2.1812, 9.9214, 2.0049, 0.022, 0.2466, -0.0122, -0.3624, -6.8581, 9.4154, 1.707, -0.0317, -0.0171, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4501fc77fbfc86c13d19820e3f36d87f5e966a0eb8a9a01b66def7d822b3ee4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a77c8144ac7fee702565105a5c3e8066efe3fbed2909845f2001c929676cc30a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cec0ba38e124986f83a63da6dc34d77ecf7a204e7e492766b38f512dfeaf1e0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrAoKEAgSGAI4AUIIdGhpbmtpbmcSDNbm14bxLznWtDOl4BoMedh8Xin32odfJwf3IjA1nDssBApgIBLCv7Nu9zk0GSA1pUFIbofFR038Fu3nd60kfz5zyoHRHe3wQ3idQRoqyQm6c3nrH832HKLr0B9UF4E3HVKP3eocbyjxxab5OjVf27ejrZRf2V6nVpj36ST2ESMOm+RmH5rxTmaHsm9FM8uIRcS8sanuIij01WRfn/99E1PiCtFBuLPYJ6ZHhgwbqD0bLSi7ZPm0fMUo0NXKvN+ZvxK8eDU30inL3ZNIiLB/zQLYbqc6NqH8PhQBAeDhkToIdwPxRikIES9kO7AZq0XJLvlKfBWnX0N/Nurf2SDq2N9/zwD+pERbF9q713BQNaDEa+DvHjhRqck3lH5WLLK/JxH4FlgOnsY+AgypRnuGh75YfMxWtoN/0afcPzeSJmNR5mBGVAlRVcIX0eXK+V7iYxF14O5qA+0zKa26+tyV97wY872a/I4SNN1uLIlrrUrBitvY+Kq2ThEgtdLpKjs/qUuLSMUGuqZc6jpZi8CuoVeS2XfrZK6cKuFhalGiwRKIl6pMkE+43iYAn9bYjd6XQZNo7m/rqZNygvdhwSRZkXXug8UrSnEPFvYe7+xa81PFrQAJVH5V8pjEXyiu4QRUAPc5AOExzW0yhgHutKek+HCH/JAwK6fUXJwWYL1Nxzmam5kcJHi/mU+fS4FezPSVoro83d3RTRBBh+g+jz/HgtpU6NbD/dBL4/+Hwm2agoUI0A1xpmGbMywpngCaXiZhiHfsdL21ayheM2tcdp0HWR/tYI9EnqAkG/q/g0UUHr1rwj1d//5qOWalEgrXHnCJUOZf0KZgxhLyBoXTrwOzMU2uwaadElV2GKf4BveGPzpv6ggYTfuNXSQunc1y9FxB2zAuLLCrZUpbDfrH04yvN68/v/QtdSOzfHPMzAihkLFzJ+KZZRTrK6cwdZmcQn7BnuRtEUSNH8LhI5tN3OxPJ0PAAq2YYUXux56eXl/pU8zZDbOZVj5I8N6hxbXjfrBoZfNvG41sqPf0/MgWHtFGQdN4QvA0YfPDibFZF/BA3rO59kgiA+kdDKrqaitcJoTwQakrh/MrWowwzncOVjuXrl5vrBzxX6vq4XsEYx6Ct7IjmUuVqhE9O+Qi1Fsh42Q9ow8mcBtq3A6osJmwRM79T7lt7FY36L5vKdB8SFyOB20zqCZRvl+kvqywizyuTeJjx88HRNw+CGz+dQW4XcHNw7sDfjpVUoDWoxFPg6dBqX7v6zRBhEqSiu5aco/KXw4WveJYE6tuRQ73Ka+TChUHB3fe5L61OVGHJXvRwrh+yq9CiH8pv98C+OJ64Ujj5NZrCsxaboHDvlnw+utTi6LHJPZJvRV7eFfIedUy1eUYBqiR6mGAWnB3xXO/PhHvaM2+jRZl0fcj6shmTi59nQ3kZs5SYKA3KmByZpLByXcC45DqOM8r7JzZyq7v8VaH+oD2Fr1OhKf3Hila2U4e1k08wrynzudOOFMurL4HZfojxyEw2d3neJP/+5u9hakx4pbhQlbAO+voi80yd04HpO+6mAKpAqp/sk6eZaTDFQD6ks2Wf9PyoQ47hImsLzMeEiObq7GirKpQYa4X7rfoPlFAOLYpgZ2BdJqobawnddioKBSjXASeCqyt0mhgm/B1zYg8KLeNiP2aVDLNzmjxsUJXwrXHvOFbFyDFEmKWIjA3grVY2oi/IFHsH6JXwByPOUZR5WI2bFhnAjZFGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K9nZ87z4e2xdyVVcYcq37b",
      "input": {
        "note": "Cap visible just ahead of the left jaws; arm still settling in yaw/roll. Commanding the release pose again, lowered to 3 cm, to regrasp the cap.",
        "targets": {
          "left_pitch": 0.2,
          "left_roll": 0.0,
          "left_x": 0.305,
          "left_y": -0.045,
          "left_yaw": -0.3,
          "left_z": 0.03,
          "right_pitch": 0.0,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01K9nZ87z4e2xdyVVcYcq37b",
      "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]: [-0.0101, 1.0863, 0.0658, 0.2413, 0.178, -0.0425, 0.9963, 0.4923, 1.3491, 0.5995, 0.1337, -0.004, -0.0349, 0.0779]\nstate[eef_state]: left_x=0.2496 left_y=-0.0302 left_z=-0.0031 left_yaw=-0.1512 left_pitch=-0.2023 left_roll=-0.1519 left_gripper=0.9963 right_x=0.3361 right_y=0.1851 right_z=0.1042 right_yaw=0.5053 right_pitch=-0.0597 right_roll=-0.0265 right_gripper=0.0779\nstate[joint_eff]: [0.3761, 1.8256, 0.8274, -0.3248, 0.5153, -0.5348, 0.0024, -0.335, -7.2274, 6.3658, 2.0049, -0.0611, -0.0415, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85aef4e12d6feeb987822e321c0e120443382314f8d321b34107fec75601bd40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5dd5786fd588043be3b2ba14ffef8b2fcc5613744d94d2d4f6d0e2fdd678f19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ec787c4a153e4e013aac4e2fbd95b9778e56dc64b85d607fd628c85f3f9000b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 3.99 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6117, 0.8433, 0.4568, -0.9527, -0.8902, -1.3773, 0.9965, 0.4923, 1.4395, 0.588, 0.2466, -0.004, -0.0349, 0.0718]\nstate[eef_state]: left_x=0.1918 left_y=0.0375 left_z=0.0962 left_yaw=0.8186 left_pitch=-0.0917 left_roll=-0.0724 left_gripper=0.9965 right_x=0.3461 right_y=0.1905 right_z=0.0888 right_yaw=0.5053 right_pitch=-0.0486 right_roll=-0.0266 right_gripper=0.0718\nstate[joint_eff]: [-0.253, -0.7453, 5.9556, 0.7302, -0.735, 0.1734, 0.0024, -0.335, -6.0376, 6.7761, 1.9316, -0.0073, -0.0366, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "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]: [-0.0475, 0.8768, 0.3527, -0.2153, 0.0303, -0.4225, 0.9965, 0.4923, 1.3888, 0.6342, 0.0994, -0.004, -0.0349, 0.0779]\nstate[eef_state]: left_x=0.2752 left_y=-0.0149 left_z=0.0782 left_yaw=0.1425 left_pitch=-0.207 left_roll=-0.3284 left_gripper=0.9965 right_x=0.3395 right_y=0.187 right_z=0.0974 right_yaw=0.5053 right_pitch=-0.0989 right_roll=-0.026 right_gripper=0.0779\nstate[joint_eff]: [0.1709, -2.1812, 9.9214, 2.0049, 0.022, 0.2466, -0.0122, -0.3624, -6.8581, 9.4154, 1.707, -0.0317, -0.0171, 1.033]\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 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]: [-0.0101, 1.0863, 0.0658, 0.2413, 0.178, -0.0425, 0.9963, 0.4923, 1.3491, 0.5995, 0.1337, -0.004, -0.0349, 0.0779]\nstate[eef_state]: left_x=0.2496 left_y=-0.0302 left_z=-0.0031 left_yaw=-0.1512 left_pitch=-0.2023 left_roll=-0.1519 left_gripper=0.9963 right_x=0.3361 right_y=0.1851 right_z=0.1042 right_yaw=0.5053 right_pitch=-0.0597 right_roll=-0.0265 right_gripper=0.0779\nstate[joint_eff]: [0.3761, 1.8256, 0.8274, -0.3248, 0.5153, -0.5348, 0.0024, -0.335, -7.2274, 6.3658, 2.0049, -0.0611, -0.0415, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85aef4e12d6feeb987822e321c0e120443382314f8d321b34107fec75601bd40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5dd5786fd588043be3b2ba14ffef8b2fcc5613744d94d2d4f6d0e2fdd678f19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec787c4a153e4e013aac4e2fbd95b9778e56dc64b85d607fd628c85f3f9000b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4wgKEAgSGAI4AUIIdGhpbmtpbmcSDLo7o2arOSwAlUc3FBoMvUpDwjpqm1nyHpHaIjDqUJ/4tZ1SyW+fycgjwjg1WAtDbq+nK+/Jq7Cn0+NLdcUnzfq7X2svtUgkAxMQ+uYqgAifAatXNJIJejxoyArU/SZxzqTtF0b+BT+j09Gh4BqADM/j9U2IlxhxFJKESXt0aOjvIP5cYRbJYALa0Zcxzb6aaK8mdRy/59IWrzmHBvGei4tZeVophF6upvuxprfi3ounlCAXKKkQtRr64NwJpqabLHuDEPFRUgBOuAwdP4/mSyEt6Rjo/PlaJD7FRjxiRkYMh+OlNvBdp9vqGMM2Bi/mLw3MbC9FP/sz7E2cnsSb7fP6CS+xsEcrA2/aRL0MeRMJod0QDW96QwaR2z+yFJGwC0byl1lWgocWFkt8klWmxtiZRP7IZT9OUPcZhIdroZWyb1GgdxDmbsZQk67gfdQ7fe8tuZ52FWIwOl6nSP2CO/8FeVretGiztWJ/mDtoZDurmJr9sbxgp/kziTEFUo+kx8CQhTyYDvbHsFSTpO/06rokUyUawdx0jb6snyv1Fpl2t7MTNl+IAkMBxWJrxRmyFGExwtczWoN/BwegF7rWvz7KBZ44K24dh+JGTq3GhzAdRr8bmbx/o5ItcmFQAOkYRgfINPQiCu6du/g26Uj+Gyipy3sOyWRg6l2ua2aWh3wdIewzZBi32/KC94qc59Brjx+mocfbo3/kVop0YKnR7D4Rhtae8Uu8lHWmHIYaFerJjv+YkbHd8eJ8BrI67i0SuJsawOaS3tkhYYhCbwcsQTyQhG3Qu+JdIZdAQfVtthFGhxnfe3A2H+wgMWQkT5Xr/lA8p6h62Ddp22/dUutWoumMvmpI6zkaF6BVlDn2zEjXQy8aQI1f7/PmjX0MAMHcIAGYQd+uLG3gsR05GoAusnMrgf6Fpnjc9AtyOWaEFJtrAXVL/RwvPIZcbI0aBRf+PlEpqgtqbWoJPKZojFOWDHxqMhjYGpklxuTkWJxusXj7eJiswuL9tFcadqO3NPUMIshPszgRIwnxFfOnGTalaAyNA+j32/RclWA/OlBpcVm2hTXnmAAdupTRcroPcfVuocYlVhKc2f/xuCvXvJISf+uW/+rfPvN/Cpv9hW0Ji9nrNASu0/j7RowZ2GOkkvUGbC9Z7YPkA735k+qI48daFX1g++uAOGo2q6WNbIWo7B8KvxOfvTRFN/GAi3oyOIwVmjN5svXDTPsWPg9f0D75wqVv8sR/35292yg9KZ1jgfprEWEwRbqGFyI0/LwOPlAVveTJ3wRE1gJoymBnAtDuNeTH7+Uw4W9Ihap3TRotiQHc8kbDpDK/ujgmK3vZVZ3KCZNmjUHfJC97pjmRq63+2kVDxAkF8HOHjP+NFUVRi1aOfsW4OFqupZCwYzKiKIGgqZYHrGbtCikR4iL29G/s64M787qqz8YH+x5BGsP/a0SCvpTkN2roULD9zmo4EWdgGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015dcSJZSREFboBrCPniADc3",
      "input": {
        "note": "Left fingertips are touching the table ~5 cm short of the cap, which is aligned along the jaw column. Lifting slightly and advancing onto it.",
        "targets": {
          "left_pitch": 0.2,
          "left_x": 0.305,
          "left_y": -0.04,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_015dcSJZSREFboBrCPniADc3",
      "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]: [-0.0269, 1.9541, 0.004, 1.5188, 0.1833, -0.0879, 0.9964, 0.4923, 1.3548, 0.5961, 0.1188, -0.004, -0.0349, 0.0827]\nstate[eef_state]: left_x=0.3045 left_y=-0.0368 left_z=0.0053 left_yaw=-0.1465 left_pitch=0.1397 left_roll=-0.1473 left_gripper=0.9964 right_x=0.3333 right_y=0.1836 right_z=0.0977 right_yaw=0.5053 right_pitch=-0.0837 right_roll=-0.0262 right_gripper=0.0827\nstate[joint_eff]: [-0.6769, -5.6547, 0.4991, 2.2247, 0.0562, -0.0513, 0.0073, -0.1983, -5.5726, 6.6667, 1.7851, -0.0269, -0.0464, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b84759c84d217b05d662a1e61550e815c0121adafbd9dd376f30411c09ff35f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a97f040412a42d39727ed4b0d7e9c3495d9e9fffd9991585e6c809c5a25d045",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:42e7b30304b5f650bf3f22d7edef3c3676611038640a0c0050560f1017824b3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /messages · status 200 · 6.415 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0475, 0.8768, 0.3527, -0.2153, 0.0303, -0.4225, 0.9965, 0.4923, 1.3888, 0.6342, 0.0994, -0.004, -0.0349, 0.0779]\nstate[eef_state]: left_x=0.2752 left_y=-0.0149 left_z=0.0782 left_yaw=0.1425 left_pitch=-0.207 left_roll=-0.3284 left_gripper=0.9965 right_x=0.3395 right_y=0.187 right_z=0.0974 right_yaw=0.5053 right_pitch=-0.0989 right_roll=-0.026 right_gripper=0.0779\nstate[joint_eff]: [0.1709, -2.1812, 9.9214, 2.0049, 0.022, 0.2466, -0.0122, -0.3624, -6.8581, 9.4154, 1.707, -0.0317, -0.0171, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.0101, 1.0863, 0.0658, 0.2413, 0.178, -0.0425, 0.9963, 0.4923, 1.3491, 0.5995, 0.1337, -0.004, -0.0349, 0.0779]\nstate[eef_state]: left_x=0.2496 left_y=-0.0302 left_z=-0.0031 left_yaw=-0.1512 left_pitch=-0.2023 left_roll=-0.1519 left_gripper=0.9963 right_x=0.3361 right_y=0.1851 right_z=0.1042 right_yaw=0.5053 right_pitch=-0.0597 right_roll=-0.0265 right_gripper=0.0779\nstate[joint_eff]: [0.3761, 1.8256, 0.8274, -0.3248, 0.5153, -0.5348, 0.0024, -0.335, -7.2274, 6.3658, 2.0049, -0.0611, -0.0415, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0269, 1.9541, 0.004, 1.5188, 0.1833, -0.0879, 0.9964, 0.4923, 1.3548, 0.5961, 0.1188, -0.004, -0.0349, 0.0827]\nstate[eef_state]: left_x=0.3045 left_y=-0.0368 left_z=0.0053 left_yaw=-0.1465 left_pitch=0.1397 left_roll=-0.1473 left_gripper=0.9964 right_x=0.3333 right_y=0.1836 right_z=0.0977 right_yaw=0.5053 right_pitch=-0.0837 right_roll=-0.0262 right_gripper=0.0827\nstate[joint_eff]: [-0.6769, -5.6547, 0.4991, 2.2247, 0.0562, -0.0513, 0.0073, -0.1983, -5.5726, 6.6667, 1.7851, -0.0269, -0.0464, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b84759c84d217b05d662a1e61550e815c0121adafbd9dd376f30411c09ff35f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a97f040412a42d39727ed4b0d7e9c3495d9e9fffd9991585e6c809c5a25d045",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42e7b30304b5f650bf3f22d7edef3c3676611038640a0c0050560f1017824b3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSsQgKEAgSGAI4AUIIdGhpbmtpbmcSDJGm+zUEJk3q9O/4SBoMvSNQ8P9skk0Z9LRTIjCBsLl5sHCFMfZet4Fz+QbsnsVJcybZZp/BxYRhR/cusVOCtva7xHsGlaGE06hfjp8qzgfvsfh7XlM7TFXLgccfQqyyEx0n6F9B7cDEDjVxhB4NAgWdakFFdmXxDG7ggVgKkkSFjbBIf2F6gZYast7F5r70EESj8ukXxNkxexA2h6JI2TCU/f3E+/4asgxnWsCp4LQ1giCP6ztcwgz80+wyTLouF7RJ9f4COWQegz3Rfc/d5ICPLC6/UKGb9bDeaI7QSEABnDikotQ6kZtHbCpE1lf2E8T2xGd2e7rtG+1smwktgwqIBMEbS0f28kECVELMlPvbe08QwLotVVIwBzYp5xNVDJCmxRPnFCe7yWZRPzKWllCDhW7kutQf48URDDFTcfYh55F71m9S4+TB+Ne9iFHKS60KXhloirjOIKzMnZr53BSdRFdvBjmLD/0KWLahZnB2TaizbbcuM/zrR8sQe0fGfg4SkDmvHZH71fy/CxQJ3alPArUQma80TeXzsHFTnk1HkoCsR/iWSIBshsCCuvsNrV2AD/J1aPe9CvMSxfaPaPC5g41kFaIHa13ACEgYePQGc8iY1y48WIa7R9II29lO70Hfq1/smSetH8Ub79/NtjVqHQhGfEvZIlQMVy8+JCdDhYpO9ddk1l+VPSmkjqfkzIEKni6qtcFlmWH0mcEccAFHpRUCCip1VVVduXZqZTUxUONG3vN8pu/KTyfKzmQ6B+CVWf4IIp0kVDCXgIErqfFW9vllzsk/AyHO3rE8AtHu24sBuiXQ9ek+gsipvKP2M6NZ2r2abJNfeNfaw0dCD+i2GjVdRHncZktm22wITY7tnRCTsU7WQUYE/lRZF2My21KBJZxBb+z1TUqCcM8fczGQolPvaTn039kBpsHWH8bIiQ3daqb3VfKzUyVtBaPxZSTnKEX5t4cW1WkNhRCMPnOQqGkvRhEmCma18EUDjQnXwuFFzH3w3T+cGtaoEVJOuKD2MYfoBQSUvkIj855bNJ1zRqEDYYmndE8O86xMjvkHCq+g5gre2TsTd2RV3qu0z7xT+/4TEdDHZ98L63hctAhz8yNtVoWNd4a+z4dIV2IOUMQ1Xa2AhcAiJApedyVoJqMTL1SZG9MYg7WYHY1ocIPNDV7b9HBzIz1E+KNrFIdk6E4GhdBsb8M6t9bufoUoMpWb5kuNIHgan9O9VFgjLZoa7myAhFtRNvisWiLEJgLh50DJG5cKqC47Jx3njkP/iK0bZJg5Lf7kwOs7W2Dv41MQHeKcWsEbDGaVZWtpQWC3PXD6gyHM/PEar/FktLVrUAnp0lg2OZ5oSGdxGgpbxsdW07WXXxgHL/uKD8DvzWrMHB94RpFEDvHNzddovBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CQusarmZFDpDXzkemffA9o",
      "input": {
        "note": "Cap sits centred between the left jaws at table level; closing to regrasp.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01CQusarmZFDpDXzkemffA9o",
      "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]: [-0.0269, 1.9541, 0.0044, 1.528, 0.1818, -0.0959, 0.0105, 0.4923, 1.3548, 0.5961, 0.1184, -0.0036, -0.0353, 0.0827]\nstate[eef_state]: left_x=0.3056 left_y=-0.0366 left_z=0.0074 left_yaw=-0.1411 left_pitch=0.1485 left_roll=-0.153 left_gripper=0.0105 right_x=0.3333 right_y=0.1836 right_z=0.0976 right_yaw=0.5052 right_pitch=-0.0841 right_roll=-0.0267 right_gripper=0.0827\nstate[joint_eff]: [-0.1573, -4.7521, 1.1966, 1.7411, 0.0952, 0.0611, 0.8962, -0.212, -4.7932, 6.4889, 1.6679, -0.022, -0.0659, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e358bf5ee3d7102f16415217c4a12f59e9151498e73612c11d64499aa022712b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:947110b1ae3bae3e78786a6fe4a13eab4a811e4f39ac22f1bfdad62577cd3de0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f6539cb49d6bae21a634f23b0eb1ab24f204df351d5d815cc6d827d5d7b1a26b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 6.28 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0101, 1.0863, 0.0658, 0.2413, 0.178, -0.0425, 0.9963, 0.4923, 1.3491, 0.5995, 0.1337, -0.004, -0.0349, 0.0779]\nstate[eef_state]: left_x=0.2496 left_y=-0.0302 left_z=-0.0031 left_yaw=-0.1512 left_pitch=-0.2023 left_roll=-0.1519 left_gripper=0.9963 right_x=0.3361 right_y=0.1851 right_z=0.1042 right_yaw=0.5053 right_pitch=-0.0597 right_roll=-0.0265 right_gripper=0.0779\nstate[joint_eff]: [0.3761, 1.8256, 0.8274, -0.3248, 0.5153, -0.5348, 0.0024, -0.335, -7.2274, 6.3658, 2.0049, -0.0611, -0.0415, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.0269, 1.9541, 0.004, 1.5188, 0.1833, -0.0879, 0.9964, 0.4923, 1.3548, 0.5961, 0.1188, -0.004, -0.0349, 0.0827]\nstate[eef_state]: left_x=0.3045 left_y=-0.0368 left_z=0.0053 left_yaw=-0.1465 left_pitch=0.1397 left_roll=-0.1473 left_gripper=0.9964 right_x=0.3333 right_y=0.1836 right_z=0.0977 right_yaw=0.5053 right_pitch=-0.0837 right_roll=-0.0262 right_gripper=0.0827\nstate[joint_eff]: [-0.6769, -5.6547, 0.4991, 2.2247, 0.0562, -0.0513, 0.0073, -0.1983, -5.5726, 6.6667, 1.7851, -0.0269, -0.0464, 1.0281]\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 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]: [-0.0269, 1.9541, 0.0044, 1.528, 0.1818, -0.0959, 0.0105, 0.4923, 1.3548, 0.5961, 0.1184, -0.0036, -0.0353, 0.0827]\nstate[eef_state]: left_x=0.3056 left_y=-0.0366 left_z=0.0074 left_yaw=-0.1411 left_pitch=0.1485 left_roll=-0.153 left_gripper=0.0105 right_x=0.3333 right_y=0.1836 right_z=0.0976 right_yaw=0.5052 right_pitch=-0.0841 right_roll=-0.0267 right_gripper=0.0827\nstate[joint_eff]: [-0.1573, -4.7521, 1.1966, 1.7411, 0.0952, 0.0611, 0.8962, -0.212, -4.7932, 6.4889, 1.6679, -0.022, -0.0659, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e358bf5ee3d7102f16415217c4a12f59e9151498e73612c11d64499aa022712b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:947110b1ae3bae3e78786a6fe4a13eab4a811e4f39ac22f1bfdad62577cd3de0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6539cb49d6bae21a634f23b0eb1ab24f204df351d5d815cc6d827d5d7b1a26b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqgsKEAgSGAI4AUIIdGhpbmtpbmcSDHT3RbGxvKIu+PXaPRoMmuOJaRdr4oMUzSoAIjAY7D+dwiri2cNHU3BJfcV2q7gl7X4SaG7sEu8eijRm/t9S9Er2rhT1bkcllCzDUBcqxwoSSjKkasUHudojpqjlAt/QdG8orAiFTlw9W6dscq9LexXIlwq6nNuWHR3GoiDWJzYgdHuu/aM1SYehTpfQwfyoE4cBmsas5Zzatb04PS7HCv6FaaaMDOK/90gx0yHYkabwmYzYRUziCbf7XvI+arfqq2/qjjWmKGoY2l/nTW51Ij0Ud21KMEdxPc1JCyanC6fx/rdQQ90HomrJRbY6kXUW64+eHLo4JKhufdpPYU+cJKrmEWTS5Rld7QMKZ9C6fDFSah1gMOQrixzx4lX/NP7ur+kJwIVK0hwE99TRNkgex5V1Tjy/LvybHsyCM+y0VXephpE97KDhNuKSFXShBoDpNklmduuMs2ZaFUJJkzJBGcy0fUj3JNVWK17PgS9kMOErdrNLqx0fBme//z3si04j//i3L6pWjKRMjkszarsvUzZfkjcFW2aAZ8C8jpcgPGLGHZ+hyNBCMi4KZWE3XO7oi6nzT4PnTKdSikFKZ2FeDwp3XhCsGzFVMOLgQQs0nUCHCkSEjk6VHUL6fhVDnmGBJXlE16Nj2lTj0wLo3Wwje4gE1zXiZcKUv+/3ZpYgxf5Ot0IsHPMnTkV5crEEtqTFWxJwPPbG0XaYHSt+sQ5cEKAmwhrqYfrKC8lpVU2tQveHXUe8e3qbXMS2iqECHUdAYAwKLVREqdMLbFI9234d87OdLYgelrwd7Aps6RcvUnkN0x+qEQ2BbUS7/i4QT+LE/7x36FVbb7ilByFxpOu7gZzcLBpg56ZkrXSJCYEmCImOK79ZECaO1DdfNdton15YYCpaiCeQUCF1qrXTgvaFh2oTKy1WeDc4gJFya/qGtlnWHjx6BTq6J7hHfS5m8HCWznis1MBXb8FSIvCobyH3+pI0RWY/RBNwVBlo32ipoSW0ffhAnIfeqejro1QrV5D7dSiQ3DwhLNV2ZgJT4v2r5SrvYtO6t7th2pn82k/NiarhEy7qOrx+kdbO+ekTMzdiT+znxM9c7fpFG+Pj/Gq1wDLK9vRg+8KNoiE+Cd2Buso7fcNGTJxLIC3K169NBFFMczhLGivIfZXYW7QI93nqLrFaY+BAdKAro9sGfS933CH6MGDU67kCytpSRJs0iedBIqLOC7rVdbG0t5FYfG/WfyH+Iw8XQOZaK3xCKPu0QNS6lpwIwuEK8sGiec/mEOeqOeufrueDF40D7Pl1vEgZI1XmhwSCONj5kdQ8A0oJKI3ILjFyqW5XDCXQyzRRdjtSpHPoc6lQja5ZEEOR2Dy6bLpYkSTJuc5abnY43X+pUo1m8bRRnakPPhR2FSrD/+TYiNjfDWRx6IwmR8NPDZYiPuGIrDzXqfgDAZINs3gp8Z9djbtAlDW0HYIeF93mBz95K3hivQDhyz+Js1NmaHiKaDlqNf616oaD+mj3BCgoDGG+4bcDLFEmBpoADeUuwzLshbFo8uRk63aRukONzg/WM+12qPvM3N7tWdlQIdA+ZwSZdc8EZ8L0Rst0Wws7CtGiyM4Yb3hyV8o5uzpQ4NWNW9L1EyQ7KA++uXGEHXPUrldAVfASrqk2LYj1g3iMPxD0B+kdIKig0bJ7LoAUcTepQhfYR0E3bmi3UMNATwmOYlAULayKkOAhDk0hoicofsCQ9qjVb4O9KkMtrBw1JXdlo4W1l8WLqLhqXWNBFdl/yyblkqJmraFp5Dt5ipn3UibOou8Sf2HfbbzxbNOHLOYONF29kNbIWD77pv+2lGuAhmVKu8V92Bk1/qiLhs/+0wkRh8dcEk1Loeh29dxK/BsDdfig78TOfxs0MbUgyDjE45izsUhTKGoSGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SG15eZTCtoTWYfDX1AayAK",
      "input": {
        "note": "Close read 0.01, so it's empty; the dark spike in the wrist view looks like part of the gripper, not the cap. Opening and moving 2 cm forward toward where the cap was set down.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.325,
          "left_y": -0.04,
          "left_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01SG15eZTCtoTWYfDX1AayAK",
      "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]: [-0.0383, 1.9556, 0.0662, 1.4693, 0.1612, -0.1081, 0.9952, 0.4923, 1.3548, 0.5934, 0.1108, -0.004, -0.0349, 0.0827]\nstate[eef_state]: left_x=0.3215 left_y=-0.0371 left_z=0.0057 left_yaw=-0.1284 left_pitch=0.1482 left_roll=-0.1556 left_gripper=0.9952 right_x=0.3316 right_y=0.1827 right_z=0.095 right_yaw=0.5053 right_pitch=-0.0944 right_roll=-0.026 right_gripper=0.0827\nstate[joint_eff]: [-0.7179, -4.8752, 2.6188, 1.8095, 0.022, 0.0317, -0.1343, -0.3624, -5.0803, 6.5709, 1.7167, -0.022, -0.0415, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa1d0ce8f9b08eea2b6ec3255672715d9c62fa8e360125e11e906242fb36d4a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa65d28bf2d874d81bcdc26495f02f305764a6c217a930339862decdecb15d8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:33f6d7f88b36446d87816e3332ee281852759ffea2a7facac1878aeb8115e78c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /messages · status 200 · 7.744 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0269, 1.9541, 0.004, 1.5188, 0.1833, -0.0879, 0.9964, 0.4923, 1.3548, 0.5961, 0.1188, -0.004, -0.0349, 0.0827]\nstate[eef_state]: left_x=0.3045 left_y=-0.0368 left_z=0.0053 left_yaw=-0.1465 left_pitch=0.1397 left_roll=-0.1473 left_gripper=0.9964 right_x=0.3333 right_y=0.1836 right_z=0.0977 right_yaw=0.5053 right_pitch=-0.0837 right_roll=-0.0262 right_gripper=0.0827\nstate[joint_eff]: [-0.6769, -5.6547, 0.4991, 2.2247, 0.0562, -0.0513, 0.0073, -0.1983, -5.5726, 6.6667, 1.7851, -0.0269, -0.0464, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.0269, 1.9541, 0.0044, 1.528, 0.1818, -0.0959, 0.0105, 0.4923, 1.3548, 0.5961, 0.1184, -0.0036, -0.0353, 0.0827]\nstate[eef_state]: left_x=0.3056 left_y=-0.0366 left_z=0.0074 left_yaw=-0.1411 left_pitch=0.1485 left_roll=-0.153 left_gripper=0.0105 right_x=0.3333 right_y=0.1836 right_z=0.0976 right_yaw=0.5052 right_pitch=-0.0841 right_roll=-0.0267 right_gripper=0.0827\nstate[joint_eff]: [-0.1573, -4.7521, 1.1966, 1.7411, 0.0952, 0.0611, 0.8962, -0.212, -4.7932, 6.4889, 1.6679, -0.022, -0.0659, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0383, 1.9556, 0.0662, 1.4693, 0.1612, -0.1081, 0.9952, 0.4923, 1.3548, 0.5934, 0.1108, -0.004, -0.0349, 0.0827]\nstate[eef_state]: left_x=0.3215 left_y=-0.0371 left_z=0.0057 left_yaw=-0.1284 left_pitch=0.1482 left_roll=-0.1556 left_gripper=0.9952 right_x=0.3316 right_y=0.1827 right_z=0.095 right_yaw=0.5053 right_pitch=-0.0944 right_roll=-0.026 right_gripper=0.0827\nstate[joint_eff]: [-0.7179, -4.8752, 2.6188, 1.8095, 0.022, 0.0317, -0.1343, -0.3624, -5.0803, 6.5709, 1.7167, -0.022, -0.0415, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa1d0ce8f9b08eea2b6ec3255672715d9c62fa8e360125e11e906242fb36d4a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa65d28bf2d874d81bcdc26495f02f305764a6c217a930339862decdecb15d8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33f6d7f88b36446d87816e3332ee281852759ffea2a7facac1878aeb8115e78c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013QHgyH6STWnzx5kdAkRUu6",
      "input": {
        "note": "The cap still shows as a small dark shape just ahead of the fingertips between the open jaws. Advancing 2 cm and pressing to table level.",
        "targets": {
          "left_x": 0.345,
          "left_y": -0.042,
          "left_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_013QHgyH6STWnzx5kdAkRUu6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0505, 2.0457, 0.1268, 1.5318, 0.1463, -0.1036, 0.9964, 0.4923, 1.3548, 0.5865, 0.1112, -0.004, -0.0349, 0.0827]\nstate[eef_state]: left_x=0.3389 left_y=-0.0393 left_z=0.0038 left_yaw=-0.1308 left_pitch=0.1811 left_roll=-0.1426 left_gripper=0.9964 right_x=0.33 right_y=0.1819 right_z=0.0922 right_yaw=0.5053 right_pitch=-0.1009 right_roll=-0.0259 right_gripper=0.0827\nstate[joint_eff]: [-0.5265, -4.8205, 1.0598, 0.7643, 0.1294, -0.1197, 0.1099, -0.2256, -5.0393, 6.8444, 1.6239, -0.022, -0.0269, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d858bf1de39e3ce11b8049174ec100f8ad28388b52ff7fb4d52619d225c0cbce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e8d21ee41ac0881112aedf7622973b488341e0e7da297ca6b205beb34dbafd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0664beeea01086dfa15c136caa6e605fef0731d0c65b5d90fb7066733a9b78ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 12.23 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0269, 1.9541, 0.0044, 1.528, 0.1818, -0.0959, 0.0105, 0.4923, 1.3548, 0.5961, 0.1184, -0.0036, -0.0353, 0.0827]\nstate[eef_state]: left_x=0.3056 left_y=-0.0366 left_z=0.0074 left_yaw=-0.1411 left_pitch=0.1485 left_roll=-0.153 left_gripper=0.0105 right_x=0.3333 right_y=0.1836 right_z=0.0976 right_yaw=0.5052 right_pitch=-0.0841 right_roll=-0.0267 right_gripper=0.0827\nstate[joint_eff]: [-0.1573, -4.7521, 1.1966, 1.7411, 0.0952, 0.0611, 0.8962, -0.212, -4.7932, 6.4889, 1.6679, -0.022, -0.0659, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0383, 1.9556, 0.0662, 1.4693, 0.1612, -0.1081, 0.9952, 0.4923, 1.3548, 0.5934, 0.1108, -0.004, -0.0349, 0.0827]\nstate[eef_state]: left_x=0.3215 left_y=-0.0371 left_z=0.0057 left_yaw=-0.1284 left_pitch=0.1482 left_roll=-0.1556 left_gripper=0.9952 right_x=0.3316 right_y=0.1827 right_z=0.095 right_yaw=0.5053 right_pitch=-0.0944 right_roll=-0.026 right_gripper=0.0827\nstate[joint_eff]: [-0.7179, -4.8752, 2.6188, 1.8095, 0.022, 0.0317, -0.1343, -0.3624, -5.0803, 6.5709, 1.7167, -0.022, -0.0415, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0505, 2.0457, 0.1268, 1.5318, 0.1463, -0.1036, 0.9964, 0.4923, 1.3548, 0.5865, 0.1112, -0.004, -0.0349, 0.0827]\nstate[eef_state]: left_x=0.3389 left_y=-0.0393 left_z=0.0038 left_yaw=-0.1308 left_pitch=0.1811 left_roll=-0.1426 left_gripper=0.9964 right_x=0.33 right_y=0.1819 right_z=0.0922 right_yaw=0.5053 right_pitch=-0.1009 right_roll=-0.0259 right_gripper=0.0827\nstate[joint_eff]: [-0.5265, -4.8205, 1.0598, 0.7643, 0.1294, -0.1197, 0.1099, -0.2256, -5.0393, 6.8444, 1.6239, -0.022, -0.0269, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d858bf1de39e3ce11b8049174ec100f8ad28388b52ff7fb4d52619d225c0cbce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e8d21ee41ac0881112aedf7622973b488341e0e7da297ca6b205beb34dbafd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0664beeea01086dfa15c136caa6e605fef0731d0c65b5d90fb7066733a9b78ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FkWUmoi2Xgu3NjfgxMe7ge",
      "input": {
        "note": "The dark spike stays fixed in the left wrist image no matter where the arm moves, and no cap is visible on the table, so the cap may be stuck in the left gripper. Closing and lifting slightly to check.",
        "targets": {
          "left_gripper": 0.0,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01FkWUmoi2Xgu3NjfgxMe7ge",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 1.7924, 0.1192, 1.2873, 0.1368, -0.1066, 0.0107, 0.4923, 1.3548, 0.5858, 0.1074, -0.0036, -0.0349, 0.0827]\nstate[eef_state]: left_x=0.3384 left_y=-0.0384 left_z=0.0277 left_yaw=-0.1233 left_pitch=0.1817 left_roll=-0.1417 left_gripper=0.0107 right_x=0.3293 right_y=0.1814 right_z=0.0912 right_yaw=0.505 right_pitch=-0.1054 right_roll=-0.0261 right_gripper=0.0827\nstate[joint_eff]: [0.1299, -6.1197, 2.8376, 1.7851, 0.1538, -0.022, 0.8816, -0.1573, -5.0256, 6.4205, 1.707, -0.0317, -0.0659, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aaa0fb3cbbf8f6a328c3c9048e303dc10c14319c3fb0739f48f5dea2711ca962",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf0432a99d0449ba6748584803823f1cf8da31fe4b1dcf61ad2bdfcce2148e66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:74b381fc6e4e3518c306963a4662131b45e9c99d62e2f128d383b35ad5c53e8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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