adhoc

completed
2026-09-22T20:33:31.422490+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
269.5 s
total steps
204
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 noteTop view shows the cap (small dark object) left of centre and the pen diagonal right of centre. Moving the left arm above the cap to inspect with the wrist camera.
move_to
left_x0.3300left_y-0.1900left_z0.1500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.7925, 0.6025, -0.3794, -0.0216, -0.0246, 0.9996, -0.0185, 0.7914, 0.6098, -0.3759, -0.0227, -0.0124, 0.9992] state[eef_state]: left_x=0.2946 left_y=0.0014 left_z=0.1798 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2958 right_y=0.0021 right_z=0.1842 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9992 state[joint_eff]: [-0.6359, -1.5111, 10.4, 1.7753, -0.0464, 0.0806, -0.0611, -0.7316, -1.306, 9.8256, 1.7167, 0.0073, -0.0611, -0.1001] 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": -0.19, "left_z": 0.15}, "note": "Top view shows the cap (small dark object) left of centre and the pen diagonal right of centre. Moving the left arm above the cap to inspect with the wrist camera."})
tool
executing move_to over 18 steps (1.8s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteCap is near the jaw column in the left wrist view, lying diagonally. Advancing slightly, lowering, and yawing so the jaws close across the cap.
move_to
left_x0.3500left_y-0.1800left_z0.0800left_yaw-0.7000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8146, 1.3762, 0.7872, -0.2337, -0.6376, -0.524, 0.9995, -0.0193, 0.7967, 0.6132, -0.3878, -0.0231, -0.0124, 0.9991] state[eef_state]: left_x=0.3195 left_y=-0.1802 left_z=0.1295 left_yaw=-0.0227 left_pitch=-0.0615 left_roll=0.046 left_gripper=0.9995 right_x=0.295 right_y=0.002 right_z=0.1819 right_yaw=-0.0004 right_pitch=-0.0141 right_roll=0.0005 right_gripper=0.9991 state[joint_eff]: [-0.4308, -5.5043, 9.5658, 1.6874, -0.398, -0.1538, -0.0171, -0.294, -1.6752, 6.7897, 1.8144, -0.0855, -0.0513, -0.022] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.35, "left_y": -0.18, "left_z": 0.08, "left_yaw": -0.7}, "note": "Cap is near the jaw column in the left wrist view, lying diagonally. Advancing slightly, lowering, and yawing so the jaws close across the cap."})
tool
executing move_to over 5 steps (0.5s)
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 noteCap now appears nearly vertical in the wrist view, slightly left of the jaw column and ahead. Descending to the table with a small forward/left correction.
move_to
left_x0.3600left_y-0.1700left_z0.0000left_yaw-0.5000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4179, 1.4536, 0.5892, 0.1204, -0.0002, 0.028, 0.9995, -0.0193, 0.7986, 0.6132, -0.3923, -0.0227, -0.0124, 0.9991] state[eef_state]: left_x=0.3446 left_y=-0.1491 left_z=0.0598 left_yaw=-0.4443 left_pitch=-0.1753 left_roll=0.0282 left_gripper=0.9995 right_x=0.2946 right_y=0.0019 right_z=0.1804 right_yaw=-0.0008 right_pitch=-0.0206 right_roll=0.0004 right_gripper=0.9991 state[joint_eff]: [0.1162, -5.8598, 7.8974, 1.7558, 0.1978, 0.1832, -0.0122, -0.1709, -1.3607, 7.0222, 1.8046, -0.0513, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). 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": 0.36, "left_y": -0.17, "left_z": 0.0, "left_yaw": -0.5}, "note": "Cap now appears nearly vertical in the wrist view, slightly left of the jaw column and ahead. Descending to the table with a small forward/left correction."})
tool
executing move_to over 4 steps (0.4s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteDescent was clamped; cap sits left of the jaw column in the rotated wrist view. Shifting toward it and descending to table level.
move_to
left_x0.3600left_y-0.1500left_z0.0000left_yaw-0.6000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3828, 1.486, 0.5888, 0.1764, 0.1993, 0.1902, 0.9995, -0.0193, 0.799, 0.6132, -0.3931, -0.0227, -0.0124, 0.9991] state[eef_state]: left_x=0.341 left_y=-0.1711 left_z=0.0606 left_yaw=-0.6663 left_pitch=-0.1346 left_roll=0.0214 left_gripper=0.9995 right_x=0.2945 right_y=0.0019 right_z=0.1801 right_yaw=-0.0008 right_pitch=-0.0217 right_roll=0.0004 right_gripper=0.9991 state[joint_eff]: [-0.1709, -6.4752, 7.4188, 2.0098, 0.315, 0.1783, -0.0122, -0.253, -1.2513, 7.0085, 1.7314, -0.0171, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.15, "left_z": 0.0, "left_yaw": -0.6}, "note": "Descent was clamped; cap sits left of the jaw column in the rotated wrist view. Shifting toward it and descending to table level."})
tool
executing move_to over 4 steps (0.4s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe arm held position on the last move; trying a smaller pure descent to see if it tracks.
move_to
left_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]: [-0.3824, 1.486, 0.5888, 0.1764, 0.1993, 0.1936, 0.9995, -0.0193, 0.799, 0.6132, -0.3931, -0.0227, -0.0124, 0.9991] state[eef_state]: left_x=0.341 left_y=-0.171 left_z=0.0606 left_yaw=-0.6678 left_pitch=-0.1347 left_roll=0.0241 left_gripper=0.9995 right_x=0.2945 right_y=0.0019 right_z=0.1801 right_yaw=-0.0008 right_pitch=-0.0217 right_roll=0.0004 right_gripper=0.9991 state[joint_eff]: [-0.1846, -6.5573, 7.2821, 2.0195, 0.2906, 0.1783, -0.0122, -0.253, -1.265, 7.1043, 1.7802, -0.0611, -0.0806, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.03}, "note": "The arm held position on the last move; trying a smaller pure descent to see if it tracks."})
tool
executing move_to over 2 steps (0.2s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteLeft arm appears stuck at z 0.06; raising slightly and resetting pitch/roll to zero to get the IK unstuck before re-approaching the cap.
move_to
left_x0.3300left_y-0.1700left_z0.1000left_pitch0.0000left_roll0.0000left_yaw-0.4000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3824, 1.486, 0.5888, 0.1764, 0.1993, 0.1936, 0.9995, -0.0193, 0.799, 0.6132, -0.3939, -0.0231, -0.0124, 0.9991] state[eef_state]: left_x=0.341 left_y=-0.171 left_z=0.0606 left_yaw=-0.6678 left_pitch=-0.1347 left_roll=0.0241 left_gripper=0.9995 right_x=0.2944 right_y=0.002 right_z=0.18 right_yaw=-0.0004 right_pitch=-0.0225 right_roll=0.0006 right_gripper=0.9991 state[joint_eff]: [-0.1436, -6.5162, 7.2274, 2.0, 0.2759, 0.1441, -0.0122, -0.1709, -1.265, 7.0222, 1.7705, -0.0415, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.33, "left_y": -0.17, "left_z": 0.1, "left_pitch": 0.0, "left_roll": 0.0, "left_yaw": -0.4}, "note": "Left arm appears stuck at z 0.06; raising slightly and resetting pitch/roll to zero to get the IK unstuck before re-approaching the cap."})
tool
executing move_to over 5 steps (0.5s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteArm is moving again. Cap is left of the jaw column in the wrist view; shifting toward it and descending partway.
move_to
left_x0.3350left_y-0.1550left_z0.0300left_pitch0.0000left_roll0.0000left_yaw-0.5000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5308, 1.3331, 0.5133, 0.1997, -0.0406, -0.0254, 0.9995, -0.0193, 0.8009, 0.6132, -0.3939, -0.0231, -0.0124, 0.9991] state[eef_state]: left_x=0.3243 left_y=-0.1779 left_z=0.0873 left_yaw=-0.4939 left_pitch=-0.0504 left_roll=0.0115 left_gripper=0.9995 right_x=0.2945 right_y=0.002 right_z=0.1794 right_yaw=-0.0004 right_pitch=-0.0244 right_roll=0.0007 right_gripper=0.9991 state[joint_eff]: [-0.4444, -5.9556, 5.8325, 1.9512, -0.0855, -0.1245, -0.0171, -0.0342, -0.9915, 7.0222, 1.7802, -0.0415, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.335, "left_y": -0.155, "left_z": 0.03, "left_pitch": 0.0, "left_roll": 0.0, "left_yaw": -0.5}, "note": "Arm is moving again. Cap is left of the jaw column in the wrist view; shifting toward it and descending partway."})
tool
executing move_to over 4 steps (0.4s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteAt table height the cap shows well ahead of the jaws in the wrist view. Lifting slightly and advancing ~4 cm along the tool direction to get over it.
move_to
left_x0.3600left_y-0.1500left_z0.0300left_pitch0.0000left_yaw-0.4500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4191, 1.5776, 0.3569, 0.5072, 0.0162, 0.0017, 0.9995, -0.0193, 0.8036, 0.6132, -0.3973, -0.0227, -0.0124, 0.9991] state[eef_state]: left_x=0.3189 left_y=-0.1413 left_z=0.0051 left_yaw=-0.4449 left_pitch=-0.1442 left_roll=-0.0019 left_gripper=0.9995 right_x=0.2942 right_y=0.0019 right_z=0.178 right_yaw=-0.0008 right_pitch=-0.0305 right_roll=0.0006 right_gripper=0.9991 state[joint_eff]: [0.2667, -6.7624, 5.3812, 2.2149, 0.2808, 0.0122, -0.0122, -0.253, -1.3607, 7.0222, 1.7265, -0.0317, -0.0757, -0.0122] camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.15, "left_z": 0.03, "left_pitch": 0.0, "left_yaw": -0.45}, "note": "At table height the cap shows well ahead of the jaws in the wrist view. Lifting slightly and advancing ~4 cm along the tool direction to get over it."})
tool
executing move_to over 5 steps (0.5s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteThe arm barely moved (delta clamped). Re-issuing the advance toward the cap, slightly higher, so it clears the table.
move_to
left_x0.3600left_y-0.1500left_z0.0400left_pitch0.0000left_yaw-0.4500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4099, 1.6253, 0.3225, 0.6479, 0.0307, 0.0078, 0.9995, -0.0193, 0.8043, 0.6132, -0.3973, -0.0231, -0.0124, 0.9991] state[eef_state]: left_x=0.3229 left_y=-0.1423 left_z=0.0052 left_yaw=-0.4511 left_pitch=-0.0852 left_roll=-0.0044 left_gripper=0.9995 right_x=0.2943 right_y=0.002 right_z=0.1778 right_yaw=-0.0004 right_pitch=-0.0313 right_roll=0.0008 right_gripper=0.9991 state[joint_eff]: [-0.0342, -5.2718, 4.3419, 1.9316, -0.0464, -0.0659, -0.0171, -0.1436, -1.1145, 7.0359, 1.7021, -0.0513, -0.0806, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.15, "left_z": 0.04, "left_pitch": 0.0, "left_yaw": -0.45}, "note": "The arm barely moved (delta clamped). Re-issuing the advance toward the cap, slightly higher, so it clears the table."})
tool
executing move_to over 3 steps (0.3s)
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 noteLeft arm is stuck again near the table. Lifting straight up to free the IK before advancing over the cap.
move_to
left_z0.1000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4099, 1.6253, 0.3225, 0.6479, 0.0303, 0.0078, 0.9995, -0.0193, 0.8043, 0.6132, -0.3977, -0.0231, -0.0124, 0.9991] state[eef_state]: left_x=0.3229 left_y=-0.1422 left_z=0.0052 left_yaw=-0.4508 left_pitch=-0.0852 left_roll=-0.0041 left_gripper=0.9995 right_x=0.2942 right_y=0.002 right_z=0.1777 right_yaw=-0.0004 right_pitch=-0.0317 right_roll=0.0008 right_gripper=0.9991 state[joint_eff]: [-0.0068, -5.1761, 4.3556, 1.9609, -0.0855, -0.0562, -0.0171, -0.2256, -1.3197, 7.0222, 1.7656, -0.0708, -0.0513, -0.0122] 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": 0.1, "left_pitch": 0.0, "left_roll": 0.0}, "note": "Left arm is stuck again near the table. Lifting straight up to free the IK before advancing over the cap."})
tool
executing move_to over 7 steps (0.7s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteFrom 11 cm up, the cap sits just ahead and slightly left of the jaws. Advancing ~2 cm and descending straight to the table to grasp.
move_to
left_x0.3550left_y-0.1400left_z-0.0100left_pitch0.0000left_roll0.0000left_yaw-0.4500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4107, 1.219, 0.4194, 0.3344, 0.0303, 0.004, 0.9995, -0.0193, 0.8074, 0.6132, -0.4049, -0.0227, -0.0124, 0.9991] state[eef_state]: left_x=0.3325 left_y=-0.1467 left_z=0.1155 left_yaw=-0.4496 left_pitch=0.1042 left_roll=0.0002 left_gripper=0.9995 right_x=0.2934 right_y=0.0019 right_z=0.1754 right_yaw=-0.0007 right_pitch=-0.042 right_roll=0.0008 right_gripper=0.9991 state[joint_eff]: [0.0205, -1.7983, 6.9128, 1.2772, -0.0317, -0.0073, -0.0171, -0.1709, -0.9915, 7.0222, 1.8486, -0.022, -0.0806, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.355, "left_y": -0.14, "left_z": -0.01, "left_pitch": 0.0, "left_roll": 0.0, "left_yaw": -0.45}, "note": "From 11 cm up, the cap sits just ahead and slightly left of the jaws. Advancing ~2 cm and descending straight to the table to grasp."})
tool
executing move_to over 9 steps (0.9s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteAt table level the cap is still a few cm ahead of the open jaws, roughly on the jaw column. Sliding forward ~4 cm along the tool direction so the cap ends up between the jaws.
move_to
left_x0.3900left_y-0.1550left_z-0.0100left_pitch0.0000left_roll0.0000left_yaw-0.4500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3527, 1.8305, 0.3588, 0.9096, 0.0589, 0.0368, 0.9995, -0.0196, 0.8108, 0.6132, -0.4129, -0.0227, -0.0124, 0.9991] state[eef_state]: left_x=0.3546 left_y=-0.1378 left_z=-0.0019 left_yaw=-0.4332 left_pitch=0.0081 left_roll=0.009 left_gripper=0.9995 right_x=0.2925 right_y=0.0019 right_z=0.1728 right_yaw=-0.0011 right_pitch=-0.0534 right_roll=0.001 right_gripper=0.9991 state[joint_eff]: [0.5812, -4.9436, 4.0821, 0.7106, 0.2418, -0.0757, -0.0171, -0.3487, -1.5658, 7.3778, 1.7265, -0.0317, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.39, "left_y": -0.155, "left_z": -0.01, "left_pitch": 0.0, "left_roll": 0.0, "left_yaw": -0.45}, "note": "At table level the cap is still a few cm ahead of the open jaws, roughly on the jaw column. Sliding forward ~4 cm along the tool direction so the cap ends up between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteThe cap is now centred between the open jaws at table level. Closing the left gripper on it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3538, 1.9305, 0.4892, 0.915, 0.0597, 0.0349, 0.9995, -0.0196, 0.8131, 0.6125, -0.4133, -0.0227, -0.0124, 0.9991] state[eef_state]: left_x=0.389 left_y=-0.1511 left_z=0.0003 left_yaw=-0.434 left_pitch=0.0439 left_roll=0.0098 left_gripper=0.9995 right_x=0.2925 right_y=0.0019 right_z=0.1718 right_yaw=-0.0011 right_pitch=-0.0568 right_roll=0.0011 right_gripper=0.9991 state[joint_eff]: [-0.2803, -6.735, 4.2188, 1.4628, 0.1392, -0.0366, -0.0171, -0.1436, -1.4564, 7.0496, 1.6679, -0.0415, -0.0806, -0.0122] camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The cap is now centred between the open jaws at table level. Closing the left gripper on it."})
tool
executing move_to over 10 steps (1.0s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteGripper settled at 0.048, possibly holding the thin cap (its tip seems visible past the jaws). Lifting to verify in the top view.
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]: [-0.3538, 1.9411, 0.4923, 0.9314, 0.0578, 0.0296, 0.0481, -0.0193, 0.8131, 0.6125, -0.4129, -0.0227, -0.0124, 0.9991] state[eef_state]: left_x=0.391 left_y=-0.1515 left_z=0.0005 left_yaw=-0.4295 left_pitch=0.0526 left_roll=0.0068 left_gripper=0.0481 right_x=0.2925 right_y=0.002 right_z=0.1719 right_yaw=-0.0007 right_pitch=-0.0564 right_roll=0.001 right_gripper=0.9991 state[joint_eff]: [-0.0342, -8.335, 3.494, 1.5946, -0.0024, 0.0659, 1.4188, -0.2667, -1.3197, 7.0632, 1.7118, -0.0464, -0.0659, -0.0122] camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.08}, "note": "Gripper settled at 0.048, possibly holding the thin cap (its tip seems visible past the jaws). Lifting to verify in the top view."})
tool
executing move_to over 6 steps (0.6s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteLeft arm appears to be holding the cap (it's gone from the table). Now moving the right arm above the diagonal pen, yawed to close across it.
move_to
right_x0.3400right_y0.2200right_z0.1200right_yaw0.7000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3534, 1.6199, 0.5343, 0.5602, 0.0563, 0.0238, 0.055, -0.0196, 0.8165, 0.6125, -0.4126, -0.0227, -0.0124, 0.9991] state[eef_state]: left_x=0.3859 left_y=-0.1491 left_z=0.0635 left_yaw=-0.4248 left_pitch=0.0446 left_roll=0.002 left_gripper=0.055 right_x=0.2928 right_y=0.0018 right_z=0.171 right_yaw=-0.0011 right_pitch=-0.0595 right_roll=0.0011 right_gripper=0.9991 state[joint_eff]: [-0.0615, -7.6103, 8.4991, 2.0098, -0.0269, 0.0073, 1.0281, -0.1709, -1.4838, 7.0496, 1.7607, -0.0317, -0.0757, -0.0122] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.34, "right_y": 0.22, "right_z": 0.12, "right_yaw": 0.7}, "note": "Left arm appears to be holding the cap (it's gone from the table). Now moving the right arm above the diagonal pen, yawed to close across it."})
tool
executing move_to over 19 steps (1.9s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteRight wrist view shows the pen running nearly vertically along the jaw column, extending toward the fingertips. Advancing slightly and descending to table level to grasp it.
move_to
right_x0.3550right_y0.2150right_z-0.0100right_pitch0.0000right_roll0.0000right_yaw0.7000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3538, 1.6207, 0.535, 0.5411, 0.0566, 0.0238, 0.0613, 0.4793, 1.3998, 0.691, 0.0143, -0.1593, -0.1101, 0.9991] state[eef_state]: left_x=0.3837 left_y=-0.1486 left_z=0.0594 left_yaw=-0.4254 left_pitch=0.0256 left_roll=0.0005 left_gripper=0.0613 right_x=0.3298 right_y=0.207 right_z=0.1019 right_yaw=0.6667 right_pitch=-0.1272 right_roll=0.0142 right_gripper=0.9991 state[joint_eff]: [-0.2256, -6.5436, 5.2581, 1.917, -0.0415, -0.0611, 1.033, 0.335, -5.4359, 8.9368, 1.8974, -0.1245, -0.022, -0.0122] camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.355, "right_y": 0.215, "right_z": -0.01, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 0.7}, "note": "Right wrist view shows the pen running nearly vertically along the jaw column, extending toward the fingertips. Advancing slightly and descending to table level to grasp it."})
tool
executing move_to over 8 steps (0.8s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent notePen lies between the jaws but slightly right of centre; nudging right about 1 cm to centre it before closing.
move_to
right_x0.3640right_y0.2070right_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]: [-0.3538, 1.6207, 0.5335, 0.5343, 0.0566, 0.0238, 0.0663, 0.4488, 1.9015, 0.5236, 0.8009, -0.2138, -0.1535, 0.9991] state[eef_state]: left_x=0.3825 left_y=-0.1481 left_z=0.0574 left_yaw=-0.4254 left_pitch=0.0172 left_roll=-0.0001 left_gripper=0.0663 right_x=0.3562 right_y=0.2171 right_z=0.0005 right_yaw=0.7036 right_pitch=-0.0052 right_roll=-0.0153 right_gripper=0.9991 state[joint_eff]: [-0.0479, -6.4479, 5.5316, 1.8144, -0.022, -0.0562, 1.033, -1.0051, -5.6684, 3.1521, 0.6129, -0.2418, 0.2222, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.364, "right_y": 0.207, "right_z": -0.01}, "note": "Pen lies between the jaws but slightly right of centre; nudging right about 1 cm to centre it before closing."})
tool
executing move_to over 1 steps (0.1s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent notePen is between the right jaws, close to centre. Closing the right gripper.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3538, 1.6207, 0.5335, 0.5346, 0.0566, 0.0238, 0.0663, 0.4446, 1.9358, 0.5175, 0.8799, -0.2222, -0.1539, 0.9991] state[eef_state]: left_x=0.3825 left_y=-0.1481 left_z=0.0575 left_yaw=-0.4254 left_pitch=0.0176 left_roll=-0.0001 left_gripper=0.0663 right_x=0.36 right_y=0.2186 right_z=0.0014 right_yaw=0.7068 right_pitch=0.0332 right_roll=-0.0212 right_gripper=0.9991 state[joint_eff]: [-0.2667, -6.4479, 5.4359, 1.8193, -0.0513, -0.0708, 1.033, -0.7316, -6.2427, 3.0974, 1.6728, -0.1978, 0.0366, -0.0171] camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Pen is between the right jaws, close to centre. Closing the right gripper."})
tool
executing move_to over 10 steps (1.0s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteRight gripper holds the pen (visible along the jaw axis, tip forward); left holds the cap. Lifting both to check grasps and prepare to bring them together.
move_to
right_z0.1500left_z0.1500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3538, 1.6207, 0.5335, 0.5343, 0.0566, 0.0238, 0.0663, 0.4408, 1.9385, 0.5201, 0.889, -0.2279, -0.1619, 0.0416] state[eef_state]: left_x=0.3825 left_y=-0.1481 left_z=0.0574 left_yaw=-0.4254 left_pitch=0.0172 left_roll=-0.0001 left_gripper=0.0663 right_x=0.3618 right_y=0.2188 right_z=0.0032 right_yaw=0.7121 right_pitch=0.0427 right_roll=-0.0278 right_gripper=0.0416 state[joint_eff]: [-0.3487, -6.4752, 5.4222, 1.7558, -0.0562, -0.0464, 1.033, 0.1983, -7.8154, 4.0957, 1.6825, -0.1538, 0.0855, 1.5311] camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.15, "left_z": 0.15}, "note": "Right gripper holds the pen (visible along the jaw axis, tip forward); left holds the cap. Lifting both to check grasps and prepare to bring them together."})
tool
executing move_to over 10 steps (1.0s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteBoth objects are off the table: pen in the right gripper pointing forward-left, cap in the left gripper. Rotating the wrists so the pen points toward the left arm and the cap points toward the right arm.
move_to
right_yaw1.5700left_yaw-1.5700right_z0.1700left_z0.1700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3538, 1.3895, 0.7025, 0.0917, 0.0563, 0.0235, 0.0692, 0.44, 1.4563, 0.7258, 0.1993, -0.2298, -0.1661, 0.0422] state[eef_state]: left_x=0.3768 left_y=-0.146 left_z=0.1246 left_yaw=-0.4249 left_pitch=-0.025 left_roll=-0.0033 left_gripper=0.0692 right_x=0.3624 right_y=0.2191 right_z=0.133 right_yaw=0.7152 right_pitch=0.0411 right_roll=-0.03 right_gripper=0.0422 state[joint_eff]: [-0.3761, -7.1043, 10.0855, 1.9219, -0.0562, -0.0562, 1.033, -0.1983, -7.8701, 8.8821, 1.8535, -0.0366, 0.0269, 1.033] camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_yaw": 1.57, "left_yaw": -1.57, "right_z": 0.17, "left_z": 0.17}, "note": "Both objects are off the table: pen in the right gripper pointing forward-left, cap in the left gripper. Rotating the wrists so the pen points toward the left arm and the cap points toward the right arm."})
tool
executing move_to over 8 steps (0.8s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent notePen now points left toward the left arm, and the cap protrudes right from the left gripper; ~10 cm gap between them. Aligning both at the same x/z and moving the cap about 6 cm toward the pen tip.
move_to
left_x0.4000left_y-0.2000left_z0.1700left_yaw-1.5700right_x0.4000right_y0.2200right_z0.1700right_yaw1.5700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0101, 1.9274, 1.5623, -0.8383, 0.8883, 1.1366, 0.0721, 0.178, 1.8294, 1.3937, -0.5991, -0.9276, -1.0271, 0.0452] state[eef_state]: left_x=0.4262 left_y=-0.1378 left_z=0.1587 left_yaw=-1.322 left_pitch=-0.0606 left_roll=0.0297 left_gripper=0.0721 right_x=0.3925 right_y=0.2178 right_z=0.167 right_yaw=1.426 right_pitch=0.0138 right_roll=-0.0827 right_gripper=0.0452 state[joint_eff]: [0.1162, -10.7966, 6.5436, 0.3932, 0.7888, 0.2027, 0.9402, -0.3761, -9.3744, 6.5162, 0.6764, -0.9988, -0.0855, 1.033] camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.2, "left_z": 0.17, "left_yaw": -1.57, "right_x": 0.4, "right_y": 0.22, "right_z": 0.17, "right_yaw": 1.57}, "note": "Pen now points left toward the left arm, and the cap protrudes right from the left gripper; ~10 cm gap between them. Aligning both at the same x/z and moving the cap about 6 cm toward the pen tip."})
tool
executing move_to over 6 steps (0.6s)
step 147
top_cam
camera top_cam step 147
left_cam
camera left_cam step 147
right_cam
camera right_cam step 147
assistant
agent noteBoth wrist cameras show pen tip and cap lined up on the same axis with a gap of several cm. Sliding the cap ~5 cm toward the pen tip, compensating slight sag.
move_to
left_x0.4000left_y-0.2500left_z0.1720left_yaw-1.5700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1444, 1.9965, 1.689, -1.0344, 0.8974, 1.2671, 0.0727, 0.1703, 1.9659, 1.6016, -0.836, -0.9699, -1.2404, 0.0453] state[eef_state]: left_x=0.3977 left_y=-0.1937 left_z=0.1601 left_yaw=-1.5395 left_pitch=-0.0835 left_roll=-0.003 left_gripper=0.0727 right_x=0.4018 right_y=0.2206 right_z=0.1661 right_yaw=1.5485 right_pitch=-0.0001 right_roll=-0.0946 right_gripper=0.0453 state[joint_eff]: [-0.294, -9.5248, 8.5675, 0.6471, 0.5836, 0.2564, 1.0281, -0.841, -9.4701, 8.0889, 0.5739, -0.7155, 0.0171, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.25, "left_z": 0.172, "left_yaw": -1.57}, "note": "Both wrist cameras show pen tip and cap lined up on the same axis with a gap of several cm. Sliding the cap ~5 cm toward the pen tip, compensating slight sag."})
tool
executing move_to over 6 steps (0.6s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent notePen tip and cap are nearly touching; left arm sits ~1.2 cm behind the pen axis (pen tip appears left of the cap in the wrist view). Correcting x and pushing the cap ~1.5 cm onto the pen tip.
move_to
left_x0.4120left_y-0.2600left_z0.1720left_yaw-1.5700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2695, 2.0232, 1.7393, -1.0077, 0.8631, 1.1412, 0.0742, 0.1703, 1.9762, 1.6016, -0.8536, -0.9668, -1.2526, 0.0466] state[eef_state]: left_x=0.3877 left_y=-0.2426 left_z=0.1608 left_yaw=-1.5825 left_pitch=-0.1063 left_roll=-0.046 left_gripper=0.0742 right_x=0.3998 right_y=0.2199 right_z=0.1604 right_yaw=1.554 right_pitch=-0.0087 right_roll=-0.0782 right_gripper=0.0466 state[joint_eff]: [-0.2256, -9.7709, 9.347, 0.9841, 0.4176, -0.1245, 0.5201, -0.3761, -11.1795, 6.2017, 1.0037, -0.5446, 0.1099, 1.0232] camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.412, "left_y": -0.26, "left_z": 0.172, "left_yaw": -1.57}, "note": "Pen tip and cap are nearly touching; left arm sits ~1.2 cm behind the pen axis (pen tip appears left of the cap in the wrist view). Correcting x and pushing the cap ~1.5 cm onto the pen tip."})
tool
executing move_to over 2 steps (0.2s)
step 155
top_cam
camera top_cam step 155
left_cam
camera left_cam step 155
assistant
agent noteThe pen tip is right at the cap end and aligned in both wrist views. Pushing the cap another ~2 cm onto the pen.
move_to
left_x0.4120left_y-0.2800left_z0.1720left_yaw-1.5700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2836, 2.0895, 1.8549, -1.0542, 0.8467, 1.1007, 0.0768, 0.1703, 1.9762, 1.6005, -0.8425, -0.9623, -1.2503, 0.0466] state[eef_state]: left_x=0.4009 left_y=-0.2509 left_z=0.1631 left_yaw=-1.5694 left_pitch=-0.1218 left_roll=-0.0707 left_gripper=0.0768 right_x=0.4016 right_y=0.2198 right_z=0.1601 right_yaw=1.5511 right_pitch=-0.0109 right_roll=-0.0868 right_gripper=0.0466 state[joint_eff]: [-0.7726, -10.947, 7.665, 0.6422, 0.6862, 0.0952, 0.862, -0.2667, -10.3453, 6.3658, 0.6813, -0.5446, -0.0464, 1.033] camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.412, "left_y": -0.28, "left_z": 0.172, "left_yaw": -1.57}, "note": "The pen tip is right at the cap end and aligned in both wrist views. Pushing the cap another ~2 cm onto the pen."})
tool
executing move_to over 3 steps (0.3s)
step 158
assistant
agent noteThe pen tip now overlaps the cap region; unclear if it's entering the cap or sliding beside the clip. Pushing another 2 cm and checking for resistance (readback shortfall) and pen-tip visibility.
move_to
left_x0.4100left_y-0.3000left_z0.1700left_yaw-1.5700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.318, 2.1468, 1.9453, -1.0779, 0.8173, 1.0466, 0.0798, 0.1703, 1.9762, 1.6005, -0.8547, -0.9581, -1.2537, 0.0466] state[eef_state]: left_x=0.4079 left_y=-0.2661 left_z=0.1604 left_yaw=-1.5637 left_pitch=-0.148 left_roll=-0.0947 left_gripper=0.0798 right_x=0.3999 right_y=0.2191 right_z=0.1588 right_yaw=1.5516 right_pitch=-0.0172 right_roll=-0.0784 right_gripper=0.0466 state[joint_eff]: [-1.1282, -10.988, 8.9231, 0.8571, 0.4713, 0.0757, 0.6081, -0.3897, -10.5368, 6.188, 0.8571, -0.5446, 0.0024, 1.0281] camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": -0.3, "left_z": 0.17, "left_yaw": -1.57}, "note": "The pen tip now overlaps the cap region; unclear if it's entering the cap or sliding beside the clip. Pushing another 2 cm and checking for resistance (readback shortfall) and pen-tip visibility."})
tool
executing move_to over 4 steps (0.4s)
step 162
assistant
agent noteThe left arm stopped ~2.7 cm short, suggesting the cap is pressing on the pen; the pen appears to run into the cap body in the right wrist view. Giving one firmer push to seat the cap.
move_to
left_x0.4050left_y-0.3100left_z0.1650left_yaw-1.5700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3347, 2.154, 1.9682, -1.0821, 0.8112, 1.0214, 0.0822, 0.1703, 1.9762, 1.6001, -0.8543, -0.9459, -1.2537, 0.0466] state[eef_state]: left_x=0.4071 left_y=-0.2734 left_z=0.1632 left_yaw=-1.5631 left_pitch=-0.151 left_roll=-0.101 left_gripper=0.0822 right_x=0.4007 right_y=0.2179 right_z=0.1571 right_yaw=1.5475 right_pitch=-0.0285 right_roll=-0.0806 right_gripper=0.0466 state[joint_eff]: [-0.7453, -11.2342, 8.4444, 0.9255, 0.5788, -0.0171, 0.7204, -0.2667, -10.5641, 6.1744, 0.8132, -0.6032, -0.0171, 1.033] camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.405, "left_y": -0.31, "left_z": 0.165, "left_yaw": -1.57}, "note": "The left arm stopped ~2.7 cm short, suggesting the cap is pressing on the pen; the pen appears to run into the cap body in the right wrist view. Giving one firmer push to seat the cap."})
tool
executing move_to over 4 steps (0.4s)
step 166
assistant
agent noteLeft arm appears IK-stalled (no motion, unchanged efforts). Pushing the pen 2.5 cm into the cap with the right arm instead, matching the cap's x and height.
move_to
right_x0.4050right_y0.2450right_z0.1680right_yaw1.5700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3347, 2.154, 1.9682, -1.0821, 0.8112, 1.021, 0.0832, 0.1703, 1.9762, 1.6001, -0.8574, -0.9432, -1.2537, 0.0466] state[eef_state]: left_x=0.4071 left_y=-0.2734 left_z=0.1632 left_yaw=-1.5629 left_pitch=-0.151 left_roll=-0.1013 left_gripper=0.0832 right_x=0.4004 right_y=0.2176 right_z=0.1565 right_yaw=1.5467 right_pitch=-0.0316 right_roll=-0.0781 right_gripper=0.0466 state[joint_eff]: [-0.6496, -11.3573, 8.6359, 0.9255, 0.5495, -0.0171, 0.6325, -0.3761, -10.4684, 6.2838, 0.8376, -0.5397, -0.0024, 1.0281] camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.405, "right_y": 0.245, "right_z": 0.168, "right_yaw": 1.57}, "note": "Left arm appears IK-stalled (no motion, unchanged efforts). Pushing the pen 2.5 cm into the cap with the right arm instead, matching the cap's x and height."})
tool
executing move_to over 3 steps (0.3s)
step 169
assistant
agent noteThe silver pen shaft now appears to run into the black cap in both wrist views. Pushing the pen another ~2 cm to seat the cap.
move_to
right_x0.4050right_y0.2600right_z0.1680right_yaw1.5700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3344, 2.154, 1.9682, -1.0817, 0.8112, 1.0206, 0.0842, 0.218, 1.9995, 1.6558, -0.8642, -0.9176, -1.2255, 0.0466] state[eef_state]: left_x=0.4073 left_y=-0.2733 left_z=0.1633 left_yaw=-1.5622 left_pitch=-0.1509 left_roll=-0.1012 left_gripper=0.0842 right_x=0.4019 right_y=0.2364 right_z=0.1603 right_yaw=1.5695 right_pitch=-0.0488 right_roll=-0.0847 right_gripper=0.0466 state[joint_eff]: [-0.6222, -11.3709, 8.4444, 0.9304, 0.5201, -0.0269, 0.5836, 0.2803, -9.5111, 8.6222, 0.8278, -0.6618, 0.1343, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.405, "right_y": 0.26, "right_z": 0.168, "right_yaw": 1.57}, "note": "The silver pen shaft now appears to run into the black cap in both wrist views. Pushing the pen another ~2 cm to seat the cap."})
tool
executing move_to over 2 steps (0.2s)
step 171
assistant
agent noteRight arm stopped short with rising effort, suggesting the cap is seated on the pen. Releasing the cap from the left gripper so the pen+cap remain in the right hand.
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]: [-0.3344, 2.154, 1.9678, -1.0824, 0.8097, 1.021, 0.0861, 0.252, 2.0006, 1.668, -0.857, -0.9012, -1.1881, 0.0466] state[eef_state]: left_x=0.4072 left_y=-0.2731 left_z=0.1629 left_yaw=-1.5621 left_pitch=-0.1527 left_roll=-0.1015 left_gripper=0.0861 right_x=0.3984 right_y=0.2493 right_z=0.162 right_yaw=1.5766 right_pitch=-0.0582 right_roll=-0.0754 right_gripper=0.0466 state[joint_eff]: [-0.3214, -11.8769, 6.1744, 0.7302, 0.3541, -0.0513, 0.6667, 1.2239, -9.5521, 9.4291, 1.1306, -0.6276, 0.188, 1.0281] camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "Right arm stopped short with rising effort, suggesting the cap is seated on the pen. Releasing the cap from the left gripper so the pen+cap remain in the right hand."})
tool
executing move_to over 10 steps (1.0s)
step 181
assistant
agent noteReleasing showed the cap was not seated: it dropped onto the table (seen in the right wrist view ahead-right of the pen tip). Moving the left arm down toward the fallen cap to re-grasp it.
move_to
left_x0.4400left_y-0.2300left_z0.0600left_yaw-1.5700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3344, 2.154, 1.9659, -1.0893, 0.7921, 1.0168, 0.9951, 0.2749, 2.0064, 1.6752, -0.8455, -0.8909, -1.1587, 0.0466] state[eef_state]: left_x=0.407 left_y=-0.2707 left_z=0.1598 left_yaw=-1.5551 left_pitch=-0.1716 left_roll=-0.1072 left_gripper=0.9951 right_x=0.3969 right_y=0.2584 right_z=0.1613 right_yaw=1.5792 right_pitch=-0.0632 right_roll=-0.0664 right_gripper=0.0466 state[joint_eff]: [-0.253, -11.9453, 6.4752, 0.7888, 0.5104, 0.0464, -0.0024, -0.5675, -9.894, 8.9368, 1.0037, -0.5006, 0.0806, 1.0281] camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.23, "left_z": 0.06, "left_yaw": -1.57}, "note": "Releasing showed the cap was not seated: it dropped onto the table (seen in the right wrist view ahead-right of the pen tip). Moving the left arm down toward the fallen cap to re-grasp it."})
tool
executing move_to over 7 steps (0.7s)
step 188
assistant
agent noteRight wrist view shows the fallen cap right under the left gripper's +x jaw. Shifting ~3.5 cm in +x and descending to table level to grasp it.
move_to
left_x0.4700left_y-0.2300left_z-0.0100left_yaw-1.5700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2325, 2.3169, 1.8771, -0.9722, 0.7921, 1.1477, 0.9962, 0.2749, 2.0064, 1.6752, -0.8402, -0.8906, -1.1599, 0.0466] state[eef_state]: left_x=0.436 left_y=-0.2288 left_z=0.0643 left_yaw=-1.5491 left_pitch=-0.2036 left_roll=-0.1412 left_gripper=0.9962 right_x=0.3977 right_y=0.2586 right_z=0.1617 right_yaw=1.5793 right_pitch=-0.0622 right_roll=-0.0726 right_gripper=0.0466 state[joint_eff]: [0.3897, -12.3009, 5.6684, 0.7399, 0.6569, 0.2222, 0.1001, -0.0889, -10.7282, 6.5162, 0.8327, -0.4762, -0.0464, 1.033] 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_x": 0.47, "left_y": -0.23, "left_z": -0.01, "left_yaw": -1.57}, "note": "Right wrist view shows the fallen cap right under the left gripper's +x jaw. Shifting ~3.5 cm in +x and descending to table level to grasp it."})
tool
executing move_to over 5 steps (0.5s)
step 193
assistant
agent noteLeft gripper is at table level over where the cap lay (cap now hidden under it). Closing to re-grasp the cap.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2199, 2.5233, 2.0247, -0.9447, 0.828, 1.1889, 0.9963, 0.2749, 2.0064, 1.6745, -0.8402, -0.8906, -1.1603, 0.0466] state[eef_state]: left_x=0.4632 left_y=-0.2332 left_z=0.0127 left_yaw=-1.5714 left_pitch=-0.1734 left_roll=-0.1502 left_gripper=0.9963 right_x=0.3976 right_y=0.2585 right_z=0.1614 right_yaw=1.5795 right_pitch=-0.0624 right_roll=-0.0722 right_gripper=0.0466 state[joint_eff]: [-0.1026, -10.3863, 6.3111, 0.5446, -0.0415, 0.0269, -0.0073, -0.3624, -10.8786, 6.3658, 0.8181, -0.4762, -0.0464, 1.0281] camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Left gripper is at table level over where the cap lay (cap now hidden under it). Closing to re-grasp the cap."})
tool
executing move_to over 10 steps (1.0s)
step 203
assistant
agent noteI ran out of call budget before the cap was on the pen. Both objects were picked up: the pen is still held by the right arm. I lined the pen and cap up end to end in mid-air and pushed them together, but when the left gripper let go, the cap dropped to the table, so it had never gone on. One try to pick the cap up again closed on nothing (reading 0.008). With only a few calls left, I can't grasp the cap again and fit it on.
give_up
hindsight- The cap is small, about 2 cm across, with a thin clip. From the wrist cameras I couldn't tell which end was open or how it was angled. Before bringing the two together, check the cap's size, which end is open and where its centre line runs. Do this in the top view or by holding it up to the other arm's wrist camera. - Pushing the pen until the arm stopped short (with effort rising) did not prove the cap was on. The pen was probably hitting the gripper or clip. The cap fell as soon as it was released. To check a fit, pull the arms slightly apart while still holding both parts and see if the cap follows the pen. - In the wrist views the other arm's black jaws look like the object. Don't mistake the other gripper's body for the cap. - Near the table, or at large yaw close to its reach limit, the left arm often stalled completely: no motion and unchanged efforts. It came free by commanding pitch=0 and roll=0 explicitly while raising z to about 0.10. Moves often travel only a few cm per call, and "delta_clamped" moves may stop short, so re-send or split large moves. - Readback x/y often ends 1–3 cm off the target, especially after big yaw changes. Match both arms by readback, not by the commanded values. - The start pose is x≈0.29, y≈0, z≈0.18. With yaw ±1.57 (tools pointing at each other) both arms reached x≈0.40, z≈0.16. The table centre line was at about left_y −0.32 / right_y +0.33, as the rig facts say. - Grasping tabletop items from z≈0.10 worked: yaw so the object runs vertically in the wrist image, move forward until it sits between the jaws near the bottom of the image, then close at z≈0.
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2199, 2.5477, 2.0403, -0.923, 0.8158, 1.1877, 0.008, 0.2749, 2.0064, 1.6737, -0.8394, -0.8902, -1.1603, 0.0466] state[eef_state]: left_x=0.4691 left_y=-0.233 left_z=0.0041 left_yaw=-1.5664 left_pitch=-0.1824 left_roll=-0.1355 left_gripper=0.008 right_x=0.3976 right_y=0.2585 right_z=0.1612 right_yaw=1.5794 right_pitch=-0.0627 right_roll=-0.0723 right_gripper=0.0466 state[joint_eff]: [-0.1846, -11.3436, 6.612, 0.5397, 0.1832, 0.0904, 0.6032, -0.2256, -10.7009, 6.3658, 0.8474, -0.4957, -0.0366, 1.033] camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I ran out of call budget before the cap was on the pen. Both objects were picked up: the pen is still held by the right arm. I lined the pen and cap up end to end in mid-air and pushed them together, but when the left gripper let go, the cap dropped to the table, so it had never gone on. One try to pick the cap up again closed on nothing (reading 0.008). With only a few calls left, I can't grasp the cap again and fit it on.", "hindsight": "- The cap is small, about 2 cm across, with a thin clip. From the wrist cameras I couldn't tell which end was open or how it was angled. Before bringing the two together, check the cap's size, which end is open and where its centre line runs. Do this in the top view or by holding it up to the other arm's wrist camera.\n- Pushing the pen until the arm stopped short (with effort rising) did not prove the cap was on. The pen was probably hitting the gripper or clip. The cap fell as soon as it was released. To check a fit, pull the arms slightly apart while still holding both parts and see if the cap follows the pen.\n- In the wrist views the other arm's black jaws look like the object. Don't mistake the other gripper's body for the cap.\n- Near the table, or at large yaw close to its reach limit, the left arm often stalled completely: no motion and unchanged efforts. It came free by commanding pitch=0 and roll=0 explicitly while raising z to about 0.10. Moves often travel only a few cm per call, and \"delta_clamped\" moves may stop short, so re-send or split large moves.\n- Readback x/y often ends 1\u20133 cm off the target, especially after big yaw changes. Match both arms by readback, not by the commanded values.\n- The start pose is x\u22480.29, y\u22480, z\u22480.18. With yaw \u00b11.57 (tools pointing at each other) both arms reached x\u22480.40, z\u22480.16. The table centre line was at about left_y \u22120.32 / right_y +0.33, as the rig facts say.\n- Grasping tabletop items from z\u22480.10 worked: yaw so the object runs vertically in the wrist image, move forward until it sits between the jaws near the bottom of the image, then close at z\u22480."})
tool
give_up: I ran out of call budget before the cap was on the pen. Both objects were picked up: the pen is still held by the right arm. I lined the pen and cap up end to end in mid-air and pushed them together, but when the left gripper let go, the cap dropped to the table, so it had never gone on. One try to pick the cap up again closed on nothing (reading 0.008). With only a few calls left, I can't grasp the cap again and fit it on.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "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 · 11.75 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, 0.7925, 0.6025, -0.3794, -0.0216, -0.0246, 0.9996, -0.0185, 0.7914, 0.6098, -0.3759, -0.0227, -0.0124, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0014 left_z=0.1798 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2958 right_y=0.0021 right_z=0.1842 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.6359, -1.5111, 10.4, 1.7753, -0.0464, 0.0806, -0.0611, -0.7316, -1.306, 9.8256, 1.7167, 0.0073, -0.0611, -0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d4f1101e6d4b9dcf9a26ab60767abb74d15361363d53af31b7b42d96e62cae8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c45c14aa77f9dbb6bea77bbe5f2438351065257b009bdcb32f3256465f1a3ad9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0cb8b95d11cdfd743f385f8e8bae3a0cd2e6e4f3d9a7231e68f533a74e5e92e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /messages · status 200 · 8.204 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, 0.7925, 0.6025, -0.3794, -0.0216, -0.0246, 0.9996, -0.0185, 0.7914, 0.6098, -0.3759, -0.0227, -0.0124, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0014 left_z=0.1798 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2958 right_y=0.0021 right_z=0.1842 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.6359, -1.5111, 10.4, 1.7753, -0.0464, 0.0806, -0.0611, -0.7316, -1.306, 9.8256, 1.7167, 0.0073, -0.0611, -0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d4f1101e6d4b9dcf9a26ab60767abb74d15361363d53af31b7b42d96e62cae8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c45c14aa77f9dbb6bea77bbe5f2438351065257b009bdcb32f3256465f1a3ad9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cb8b95d11cdfd743f385f8e8bae3a0cd2e6e4f3d9a7231e68f533a74e5e92e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011Tf1o6Prh3LrjLQtV5nG3r",
      "input": {
        "note": "Top view shows the cap (small dark object) left of centre and the pen diagonal right of centre. Moving the left arm above the cap to inspect with the wrist camera.",
        "targets": {
          "left_x": 0.33,
          "left_y": -0.19,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_011Tf1o6Prh3LrjLQtV5nG3r",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8146, 1.3762, 0.7872, -0.2337, -0.6376, -0.524, 0.9995, -0.0193, 0.7967, 0.6132, -0.3878, -0.0231, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3195 left_y=-0.1802 left_z=0.1295 left_yaw=-0.0227 left_pitch=-0.0615 left_roll=0.046 left_gripper=0.9995 right_x=0.295 right_y=0.002 right_z=0.1819 right_yaw=-0.0004 right_pitch=-0.0141 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.4308, -5.5043, 9.5658, 1.6874, -0.398, -0.1538, -0.0171, -0.294, -1.6752, 6.7897, 1.8144, -0.0855, -0.0513, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61746b614d97305f9dfc7e85b5c777dc59041409ba5064e868629e970b17e4a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25e1e8393343c39fdcc504f6b04378566113a3dbffe4a38fe699e3e3d05b98e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1a1e7f9b5c39d1fbf60214e25e158ea536f80e8919ca8daf648851e8d65e7eb1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 4.279 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, 0.7925, 0.6025, -0.3794, -0.0216, -0.0246, 0.9996, -0.0185, 0.7914, 0.6098, -0.3759, -0.0227, -0.0124, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0014 left_z=0.1798 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2958 right_y=0.0021 right_z=0.1842 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.6359, -1.5111, 10.4, 1.7753, -0.0464, 0.0806, -0.0611, -0.7316, -1.306, 9.8256, 1.7167, 0.0073, -0.0611, -0.1001]",
      "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]: [-0.8146, 1.3762, 0.7872, -0.2337, -0.6376, -0.524, 0.9995, -0.0193, 0.7967, 0.6132, -0.3878, -0.0231, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3195 left_y=-0.1802 left_z=0.1295 left_yaw=-0.0227 left_pitch=-0.0615 left_roll=0.046 left_gripper=0.9995 right_x=0.295 right_y=0.002 right_z=0.1819 right_yaw=-0.0004 right_pitch=-0.0141 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.4308, -5.5043, 9.5658, 1.6874, -0.398, -0.1538, -0.0171, -0.294, -1.6752, 6.7897, 1.8144, -0.0855, -0.0513, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61746b614d97305f9dfc7e85b5c777dc59041409ba5064e868629e970b17e4a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25e1e8393343c39fdcc504f6b04378566113a3dbffe4a38fe699e3e3d05b98e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a1e7f9b5c39d1fbf60214e25e158ea536f80e8919ca8daf648851e8d65e7eb1",
        "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_01ArHqPotoLt4Y5q5MT4aBYf",
      "input": {
        "note": "Cap is near the jaw column in the left wrist view, lying diagonally. Advancing slightly, lowering, and yawing so the jaws close across the cap.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.18,
          "left_yaw": -0.7,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01ArHqPotoLt4Y5q5MT4aBYf",
      "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]: [-0.4179, 1.4536, 0.5892, 0.1204, -0.0002, 0.028, 0.9995, -0.0193, 0.7986, 0.6132, -0.3923, -0.0227, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3446 left_y=-0.1491 left_z=0.0598 left_yaw=-0.4443 left_pitch=-0.1753 left_roll=0.0282 left_gripper=0.9995 right_x=0.2946 right_y=0.0019 right_z=0.1804 right_yaw=-0.0008 right_pitch=-0.0206 right_roll=0.0004 right_gripper=0.9991\nstate[joint_eff]: [0.1162, -5.8598, 7.8974, 1.7558, 0.1978, 0.1832, -0.0122, -0.1709, -1.3607, 7.0222, 1.8046, -0.0513, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f219639f4fa3b401542204f1ac961e7cbb23c3ede8710a92c38268a19bbbceec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a56ff31cb6bf63b3e1bda694db8134f5761fe3528de8cc796ca9f6c054c18e4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a30f936e899016c06e3528afaf02997bc33dfa6306ec4fb4cc1a1e3627d8dc4b",
        "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 · 6.28 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, 0.7925, 0.6025, -0.3794, -0.0216, -0.0246, 0.9996, -0.0185, 0.7914, 0.6098, -0.3759, -0.0227, -0.0124, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0014 left_z=0.1798 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2958 right_y=0.0021 right_z=0.1842 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.6359, -1.5111, 10.4, 1.7753, -0.0464, 0.0806, -0.0611, -0.7316, -1.306, 9.8256, 1.7167, 0.0073, -0.0611, -0.1001]",
      "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]: [-0.8146, 1.3762, 0.7872, -0.2337, -0.6376, -0.524, 0.9995, -0.0193, 0.7967, 0.6132, -0.3878, -0.0231, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3195 left_y=-0.1802 left_z=0.1295 left_yaw=-0.0227 left_pitch=-0.0615 left_roll=0.046 left_gripper=0.9995 right_x=0.295 right_y=0.002 right_z=0.1819 right_yaw=-0.0004 right_pitch=-0.0141 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.4308, -5.5043, 9.5658, 1.6874, -0.398, -0.1538, -0.0171, -0.294, -1.6752, 6.7897, 1.8144, -0.0855, -0.0513, -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]: [-0.4179, 1.4536, 0.5892, 0.1204, -0.0002, 0.028, 0.9995, -0.0193, 0.7986, 0.6132, -0.3923, -0.0227, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3446 left_y=-0.1491 left_z=0.0598 left_yaw=-0.4443 left_pitch=-0.1753 left_roll=0.0282 left_gripper=0.9995 right_x=0.2946 right_y=0.0019 right_z=0.1804 right_yaw=-0.0008 right_pitch=-0.0206 right_roll=0.0004 right_gripper=0.9991\nstate[joint_eff]: [0.1162, -5.8598, 7.8974, 1.7558, 0.1978, 0.1832, -0.0122, -0.1709, -1.3607, 7.0222, 1.8046, -0.0513, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f219639f4fa3b401542204f1ac961e7cbb23c3ede8710a92c38268a19bbbceec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a56ff31cb6bf63b3e1bda694db8134f5761fe3528de8cc796ca9f6c054c18e4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a30f936e899016c06e3528afaf02997bc33dfa6306ec4fb4cc1a1e3627d8dc4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7gcKEAgSGAI4AUIIdGhpbmtpbmcSDObfZQTm4xlR2+dfYhoMVuGkB3VrdQbgnWETIjA8aOI4+95ZdvqYe3yqp70LFPcnb15+V5QaRIuT961UodMAQPudVqSglTHyTBc3lYwqiwfFpnk+9mAR5TX63kX6enHabKw2j52FqnoLMesa/zOUsj5WxzQeBlnVRVU5RHoL83+frqf3mMdPkCG9d5VfPADELuhgppX0qmSvz7djLe+9Saa4BmF9RbzZfYtKb9BVgUJR47tUHvQ4Stdsuia+7/hP9GWMzoja3E48rG5Qo1+O5nNWSc7ByjyDLWQ8FUbrur5xuNhtBjCpfRMnoTHIormY3lo2VCWsLtXqR5x4mN8D8oGEbKZfkQRbjOk8iHU2VAIBGVKX2oWA33Dn2E1jeOdGMYPluNvPqJnzga3TsHaRnAEXdoPD5nQymvXbQIiQ5sYNKteHTnsRNaIJ9S9nBxGM2j+6jt1vfmLx++ourU6qTH9P5KXHyMHZHvM1vMnsYofq/uZ0fkyoTftiUEs0d74a7NjlnPm/iY/8yBGP1ufDPwoAneVuVjZgBOGcDrtfarSiWnGM087dSoqhzUeAKIaO6sKrbxaZ3CoUxQ7vTjhuE255A6YAzvL1ypLSPCzDFLdZXyN+dgsc7fo/xz+Jp2bxw0iupL9zjnJX4aVUtPyDEEVP6V9DpDXOVg+2KX4MKl4Ojl8DQlqL8pfaWvoANUFjbnX24ds3S2SE1HiXO4aFYPorsukTZFozkNvn7bY2zO55xmRWYjFADbo8Db/+zuEZPJJ6MSM5zFiQhlfUFg9XcugBc2MMqY/E9XNFAI3VmBpk/pTud6pk/wmi8EpQl2rP/R7UuimPbNNBUlt/vYbOVbDZ4cgdVtbDn67rhAZfbv12m2Hf3k1pRY9ombm9qh/J4R0zrwWbIJYNxq+JKqgy3OIQN0F2vXGXI8y4RDvvIuSWtR7vcZSuwpuDtb+T7SXQan7bt3JmHWdnwdSlTypJ3IRLat3FgHZDz7bE4x4w6felu7bJ5hzaS50hBiZoOEvUj3oLoCibOnAHPx872eg6MoeMqM2zxh45pX4fpJ4q5z+aGkbBmSX+KXIPA/G/6F4vKjJCW/cWcpW1ICL4RtFbiJaPlojQSSSKM78CfwTntvWCXB3U4hnNcYTB1Po23CGJKThlfqAGSG2I+p+DQG2vp0sfSryKpfC9/N3b6eLWUVAMLx6LEi+H0bdtoPtc1sXuW+fkT0ctIFLW3qwW9fnZWIXJ/euTNhVp6gkMaANXsbtFeP58Jh9dxSxcoy0RPotFON1JcGsJDwY5mpcGPVJsgNylLcqcfN/TuhcAGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01S3ZXfrhdcKLLPGxqrpcqHr",
      "input": {
        "note": "Cap now appears nearly vertical in the wrist view, slightly left of the jaw column and ahead. Descending to the table with a small forward/left correction.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.17,
          "left_yaw": -0.5,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01S3ZXfrhdcKLLPGxqrpcqHr",
      "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]: [-0.3828, 1.486, 0.5888, 0.1764, 0.1993, 0.1902, 0.9995, -0.0193, 0.799, 0.6132, -0.3931, -0.0227, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.341 left_y=-0.1711 left_z=0.0606 left_yaw=-0.6663 left_pitch=-0.1346 left_roll=0.0214 left_gripper=0.9995 right_x=0.2945 right_y=0.0019 right_z=0.1801 right_yaw=-0.0008 right_pitch=-0.0217 right_roll=0.0004 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -6.4752, 7.4188, 2.0098, 0.315, 0.1783, -0.0122, -0.253, -1.2513, 7.0085, 1.7314, -0.0171, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ea91ca422678c226ff440f4a923515cb2f877428274d0baf2db945772f3cb95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cea690a4c930ad34368a73c41ca0fda4cc3ccc61c8118c27444882b8899b828",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f3e7f43db1967b6d5a81744fbe6941fe9ee75af648bd0bb8a4304d501ff96556",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 4.581 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]: [-0.8146, 1.3762, 0.7872, -0.2337, -0.6376, -0.524, 0.9995, -0.0193, 0.7967, 0.6132, -0.3878, -0.0231, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3195 left_y=-0.1802 left_z=0.1295 left_yaw=-0.0227 left_pitch=-0.0615 left_roll=0.046 left_gripper=0.9995 right_x=0.295 right_y=0.002 right_z=0.1819 right_yaw=-0.0004 right_pitch=-0.0141 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.4308, -5.5043, 9.5658, 1.6874, -0.398, -0.1538, -0.0171, -0.294, -1.6752, 6.7897, 1.8144, -0.0855, -0.0513, -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]: [-0.4179, 1.4536, 0.5892, 0.1204, -0.0002, 0.028, 0.9995, -0.0193, 0.7986, 0.6132, -0.3923, -0.0227, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3446 left_y=-0.1491 left_z=0.0598 left_yaw=-0.4443 left_pitch=-0.1753 left_roll=0.0282 left_gripper=0.9995 right_x=0.2946 right_y=0.0019 right_z=0.1804 right_yaw=-0.0008 right_pitch=-0.0206 right_roll=0.0004 right_gripper=0.9991\nstate[joint_eff]: [0.1162, -5.8598, 7.8974, 1.7558, 0.1978, 0.1832, -0.0122, -0.1709, -1.3607, 7.0222, 1.8046, -0.0513, -0.0611, -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]: [-0.3828, 1.486, 0.5888, 0.1764, 0.1993, 0.1902, 0.9995, -0.0193, 0.799, 0.6132, -0.3931, -0.0227, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.341 left_y=-0.1711 left_z=0.0606 left_yaw=-0.6663 left_pitch=-0.1346 left_roll=0.0214 left_gripper=0.9995 right_x=0.2945 right_y=0.0019 right_z=0.1801 right_yaw=-0.0008 right_pitch=-0.0217 right_roll=0.0004 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -6.4752, 7.4188, 2.0098, 0.315, 0.1783, -0.0122, -0.253, -1.2513, 7.0085, 1.7314, -0.0171, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ea91ca422678c226ff440f4a923515cb2f877428274d0baf2db945772f3cb95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cea690a4c930ad34368a73c41ca0fda4cc3ccc61c8118c27444882b8899b828",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3e7f43db1967b6d5a81744fbe6941fe9ee75af648bd0bb8a4304d501ff96556",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSiQoKEAgSGAI4AUIIdGhpbmtpbmcSDLUl5dsIApfWm+643xoMPlH04cs2vdMh5swGIjAbMrfxTEagjBuc7tB5vTu6jw8GO0mUp269LsCP5iviBVWUH2ZvfzhhpZs4BFVCif0qpgkZnew0C4VYOzqa2c0ebghQM5EAHFZ9hlPc2YTFrtyTauHEigHZjJZqbLhhnBXxIT3BCBwO+YoEUtUHk1KdC3ao6ZMWpODiDKcXmTUeSrKtvGhuaI/Qpud4kM14OLRbkR413LeRso2lSKSwYnvDGE6MwnoSF/SKonb6GsxwMtIAgwdp4BhxtU/T+WDzJTYqwDTZEBoTDs3PEIIrl2U/RQA38U9SLQLXq2XikdnpMQ+5Xkk+2C+f7n0e36qGfkzH0DoS3BrpeZwLPwf2Z6vuzZhvsKu4guG9TcHQ4ERjejEklbAfHWtxVvddTY14FqK0x6VGJqgHyAQk23nzib8HTEizYKn4QzSEL8G1lGjZwk51brjcPu4yStXSQNZX6UBGb0LlKbPYJOgqSu3qFvWJzQm0xP7dAkqKxej90jOqtU0yLnZZ+UtooERYlGTpvZiF+GCyhMh5fBC55soRr6Q8ArSj3+O/1mYCdsyCvRl1TbEANGu7syNgNg1bRE7jOouzkbtttYVrczzJhw52RM9NVF3CKGQ5KER7v8BvEp9COCsZ0p84zY+Txa7oDLiIbw1cSZ/t053N4dBE7/xWeWsqlEyXY82W7juXXvhxsZl3pk8nz8c8ZwuKGSx38sD2aUxEJDfYxE8S/hTbv0PwLHW/oU7HMQdtQdB4t80zXyDMBCls4TCY0/HeQFq5Xl6ZrvazCCGozkj2ayEt+bfmAXYalU1P6bA2fXfF1X+nzZvrT/+nKFYb7eZIihyA1+sPEeVgAH7qSVDc6mFEmg9djmiW8d5Iy3lFojCYbE/OreGs762hrM0v+9LnlPkeilb9jkDUWnNySfsCmhoCoMjkpWSsExTvZjR9IbGPmiJ6/mgXQ0DbkWzneNmku/ONTDtppmoU3I2OZ1NK1gi8z7Co5tpi/TMeokUaF58jRb6kCY+qK+dv9koqFmgbv2jVTvYceJc844xx18Lb9jD04hlrzzw1XGq2zxwakKc4EQQ8fndnPN6F29C+7NVxRbZNLsp8lR4+2vbJ5Xg78/JzsnaByA3XW/n1j/JhNbXRDavq99nWkU09omxrZms4rhsvFW2eVv70rZWyQpmnhs6QHs3IsCIxx7r/8ws9lbNrVFYtuTJi0hBpC0Z1PrQ+Dgw1M6p2spnNdsW8TINlYVm4zc+tnmkHPe/l0EANk98AxPsN4fZ+2EhflbI+3rxNrqxL+2g9UkZkwFqdNQ8OK4p86irHlZrUHEug/DhsleqSY2sQgeay6qkjjlObTzTKssL91q4FRxhtBL69HMFW0RByLbx+KqFn3fPBl9HCYOvssgKsgDaqm29aM2a0FDegwO+rS9f2TENOOaUZGQA+eMUCwOFjVLX713qP1F7BuqAgsqZlzofoscOkHfbDcxCJCwm3Ke2uXWKHVGqLr1QlIEN3oWwPfL6yURevJU67/njazG7+IMaZpBRoof9zrSOH1qvCjv9hyRvZ53eaB/i+gr6UoNepPcvvHKNKQ+vLAfDCSKzD8bcgfQ/j1FuIWNY+DR8niUz5+iqNXJGG+jUm18xsLi4jZzlYerkXFz3tButJ8bBaN5I9M0Qt4KR7SQLfbxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011uBoXR28VxHVQgwpSTK19v",
      "input": {
        "note": "Descent was clamped; cap sits left of the jaw column in the rotated wrist view. Shifting toward it and descending to table level.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.15,
          "left_yaw": -0.6,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_011uBoXR28VxHVQgwpSTK19v",
      "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]: [-0.3824, 1.486, 0.5888, 0.1764, 0.1993, 0.1936, 0.9995, -0.0193, 0.799, 0.6132, -0.3931, -0.0227, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.341 left_y=-0.171 left_z=0.0606 left_yaw=-0.6678 left_pitch=-0.1347 left_roll=0.0241 left_gripper=0.9995 right_x=0.2945 right_y=0.0019 right_z=0.1801 right_yaw=-0.0008 right_pitch=-0.0217 right_roll=0.0004 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -6.5573, 7.2821, 2.0195, 0.2906, 0.1783, -0.0122, -0.253, -1.265, 7.1043, 1.7802, -0.0611, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f34037451810f88139cf5363a0edabe2a63680af576b94844f171fa4ad741c13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31e81c76cd3fdfe633a42c6ebb31e91836abcf15afdde67749e9fd9db5850a44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c67cc676e7ed0d615dd920acb72d8be23722f22172ad7a11bbac5a80c1ea8fe8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 4.996 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]: [-0.4179, 1.4536, 0.5892, 0.1204, -0.0002, 0.028, 0.9995, -0.0193, 0.7986, 0.6132, -0.3923, -0.0227, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3446 left_y=-0.1491 left_z=0.0598 left_yaw=-0.4443 left_pitch=-0.1753 left_roll=0.0282 left_gripper=0.9995 right_x=0.2946 right_y=0.0019 right_z=0.1804 right_yaw=-0.0008 right_pitch=-0.0206 right_roll=0.0004 right_gripper=0.9991\nstate[joint_eff]: [0.1162, -5.8598, 7.8974, 1.7558, 0.1978, 0.1832, -0.0122, -0.1709, -1.3607, 7.0222, 1.8046, -0.0513, -0.0611, -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]: [-0.3828, 1.486, 0.5888, 0.1764, 0.1993, 0.1902, 0.9995, -0.0193, 0.799, 0.6132, -0.3931, -0.0227, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.341 left_y=-0.1711 left_z=0.0606 left_yaw=-0.6663 left_pitch=-0.1346 left_roll=0.0214 left_gripper=0.9995 right_x=0.2945 right_y=0.0019 right_z=0.1801 right_yaw=-0.0008 right_pitch=-0.0217 right_roll=0.0004 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -6.4752, 7.4188, 2.0098, 0.315, 0.1783, -0.0122, -0.253, -1.2513, 7.0085, 1.7314, -0.0171, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.3824, 1.486, 0.5888, 0.1764, 0.1993, 0.1936, 0.9995, -0.0193, 0.799, 0.6132, -0.3931, -0.0227, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.341 left_y=-0.171 left_z=0.0606 left_yaw=-0.6678 left_pitch=-0.1347 left_roll=0.0241 left_gripper=0.9995 right_x=0.2945 right_y=0.0019 right_z=0.1801 right_yaw=-0.0008 right_pitch=-0.0217 right_roll=0.0004 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -6.5573, 7.2821, 2.0195, 0.2906, 0.1783, -0.0122, -0.253, -1.265, 7.1043, 1.7802, -0.0611, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f34037451810f88139cf5363a0edabe2a63680af576b94844f171fa4ad741c13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31e81c76cd3fdfe633a42c6ebb31e91836abcf15afdde67749e9fd9db5850a44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c67cc676e7ed0d615dd920acb72d8be23722f22172ad7a11bbac5a80c1ea8fe8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvgcKEAgSGAI4AUIIdGhpbmtpbmcSDKc0cKH6Po+0suDAMBoMUoPU3yqQGrLGcZn9IjDb25n2oN2MS9vT/sfuGlokbE4wDmk8qV6pJGkwAPqC22s/1nSUDUX0UXNf3s0J4yoq2wajMEmsnP2N4d0slvXSE3HS330qO6NW0BF18/AOykASsmJIViLCSdXNvfnUC+KsdIWMAB1S/9gophDnI9pqBi9RnMRdbpJCsvXPPZP3xmTEK78ZBluu7Yzvvr1VFDcN7LlzYhQUhmMy4V7YagWuNkwxEuXnvwnOumCCLH1hHkZUPgnmNwLzvaMoPlHraR2IiUIvUBrmTM+qU9WuwI7jFNtgSscEtN6Al+y7dU6gZJFmstVK51Pi7jGIuQL0eCtAkqvPZSPJPkCfAfRCfoGHDKnsIYXeK5dsKwU3addaBbbJYOZdTO21HN9V/6lIT0DSPrj9kYGE9X8DdNPJkud+lc1k+he0cr2YAygye6j3AG2XSxHS7qGBLDrqszguM3emaqV8xUaedqoJ+kcevRZPR9m2a7F/gqaZ4GOUnjpvdyg+VLqs660PTCS8YA8AIEM9GCHvsK4BlxWH9OvvBf5RP2laWuYXJAPQjjTQNU5mRpjbXQ7ZMqt6HenTuJpdSfb52glrVF5laH1q2mZQy/tXPavMKvQiW3ShLpiffUDYsWnWF2hzB0jQe+aptYRvJmq6V0otgPEypM2KRb5GXVt4/ms4HOzIMwRNhmxlyKM3dLpsSKv8e2meOKVZw2nKcGslHV1tfCh3vF+sucskRYc4OKV0dCpPR+L/Ex/Vzwh9btgLsLTVVqDZXX7Py8Gk4u+GauSwSGyB+/lekZ5anIP+U6Ufs9NxNmIH6AuYEULzAiPoQb+VhdekIFuYLM9F0tLdBCbx0u7pLYwtoSdAuabIM/6v82lPzp9kSPV4BqcS07ZuW37p99TPyoDDGQdlL2s0+b7A7tEzibPBrGK4y0FfeHZ+uzaWA8jO4M7tsorYZfianzXscjiRJvMG/oUe4QFppTv9r3mhhxC8mNGMJ2FkmS3+5xcwLQ9ffiAa92Uz5ejaKKfilVM65OvWBsl0P1jlyuwNZ5/Dd7i/JpLVEkoMW2vomfG15c2W+EYxwfcPwLEx7LVvMDFO1smj4FPLibRe1ZujlKa59m1OvJWFht2+o3HBidcVFg5Ny5Hzx/FFv51sEPtTB2lD6lVpuFHV0dsGgziV3Ks8GUcAflzaFSx6LamhKzqliDIImLsIaPI7u6S9A90NIZeMQ8VN/EcYGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013G9V8xS77iqdsunDCpZy7c",
      "input": {
        "note": "The arm held position on the last move; trying a smaller pure descent to see if it tracks.",
        "targets": {
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_013G9V8xS77iqdsunDCpZy7c",
      "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]: [-0.3824, 1.486, 0.5888, 0.1764, 0.1993, 0.1936, 0.9995, -0.0193, 0.799, 0.6132, -0.3939, -0.0231, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.341 left_y=-0.171 left_z=0.0606 left_yaw=-0.6678 left_pitch=-0.1347 left_roll=0.0241 left_gripper=0.9995 right_x=0.2944 right_y=0.002 right_z=0.18 right_yaw=-0.0004 right_pitch=-0.0225 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -6.5162, 7.2274, 2.0, 0.2759, 0.1441, -0.0122, -0.1709, -1.265, 7.0222, 1.7705, -0.0415, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51919fcfd17bb168383702d71b77ffcfcc60d0237c9a2ee0d1738e03fb389ce6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1554caa5965ea2f2d3832f961ecfc9614d219788072fa54e50bf4c60b7a3b79f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4e14993e2f9ed604265dce1c75cc0501285b65e6cc88a587c072e7fd6325623d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 5.735 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]: [-0.3828, 1.486, 0.5888, 0.1764, 0.1993, 0.1902, 0.9995, -0.0193, 0.799, 0.6132, -0.3931, -0.0227, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.341 left_y=-0.1711 left_z=0.0606 left_yaw=-0.6663 left_pitch=-0.1346 left_roll=0.0214 left_gripper=0.9995 right_x=0.2945 right_y=0.0019 right_z=0.1801 right_yaw=-0.0008 right_pitch=-0.0217 right_roll=0.0004 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -6.4752, 7.4188, 2.0098, 0.315, 0.1783, -0.0122, -0.253, -1.2513, 7.0085, 1.7314, -0.0171, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.3824, 1.486, 0.5888, 0.1764, 0.1993, 0.1936, 0.9995, -0.0193, 0.799, 0.6132, -0.3931, -0.0227, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.341 left_y=-0.171 left_z=0.0606 left_yaw=-0.6678 left_pitch=-0.1347 left_roll=0.0241 left_gripper=0.9995 right_x=0.2945 right_y=0.0019 right_z=0.1801 right_yaw=-0.0008 right_pitch=-0.0217 right_roll=0.0004 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -6.5573, 7.2821, 2.0195, 0.2906, 0.1783, -0.0122, -0.253, -1.265, 7.1043, 1.7802, -0.0611, -0.0806, -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]: [-0.3824, 1.486, 0.5888, 0.1764, 0.1993, 0.1936, 0.9995, -0.0193, 0.799, 0.6132, -0.3939, -0.0231, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.341 left_y=-0.171 left_z=0.0606 left_yaw=-0.6678 left_pitch=-0.1347 left_roll=0.0241 left_gripper=0.9995 right_x=0.2944 right_y=0.002 right_z=0.18 right_yaw=-0.0004 right_pitch=-0.0225 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -6.5162, 7.2274, 2.0, 0.2759, 0.1441, -0.0122, -0.1709, -1.265, 7.0222, 1.7705, -0.0415, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51919fcfd17bb168383702d71b77ffcfcc60d0237c9a2ee0d1738e03fb389ce6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1554caa5965ea2f2d3832f961ecfc9614d219788072fa54e50bf4c60b7a3b79f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e14993e2f9ed604265dce1c75cc0501285b65e6cc88a587c072e7fd6325623d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxwgKEAgSGAI4AUIIdGhpbmtpbmcSDGV853F1EmkuoLn+ZRoMe9k7RZNFsovO3HrvIjAJ7P5D6E097ltfmmVTHX3aV8uFAmS47P29Fd0MWEVTDGsOeDOVak/oi3DD9EADQLoq5AdYuHxUTD+wRKevxDR1N4te30R1YUYpskZn1pUlFZ6jZN5/gytF/az39BRsqBs+H7wG/oBX/sr0RKKmLi0NBsXmEipB06FqX5Xs7RBmNRdfgVs6qmAElbAt65YZPqCue9bUJ5SUbugv5cGPgOxqKDehQo6Wjb/WMaxoaPDdjNnkGvQwTdR8yK6mG/5m5R3eqvISw9TifAi/Li159Mx/juFT/i/Khj2toJ1M2PeIDWywy1KUZCy8WwOi4RUO3QPJGOdTHYb4XN+rIV1mKYS2ZbCKIBixOFHMUgSQ89ATfGlrxhzRzqNVpYhhCvYoLCfEO8d/+QnW3fxrDQrGQVmDbUEmQ9CSFfcdQIWqaaHtvUyIFgjBNIhhXnkbCLYqLGnnwTfPKVP6O25m1kv1ShxYjBcC0C0Ad680zHIh+TDc2zmlLGGLCXYLZDPGoJcJCq58UU10e6CYia4bf2g6zMnkJWN68B59gL40/STETZgNzzPNzcC9wfOVyzcwZAsxJLFcMX7e3hyzAsJHIm6TIPGHIBr7lojHNi8SNmEDfjyonzN3JGmA4Bk2UxWlo66OOwszF8rR3lQ0oFx5YJX4ZGkpoViNoBWZw9tjFBY1CqaGjjzZKy6+ncIZUqpF4wWf0ssfaMwFAFKWIjNfkPBCoTr1avUzTsO3RCoQCdACUyZO/C8UV9TUTZa+4EwCcV2kv2JgPKFHR/ryJr8E3EVJLRyL7ZHoLFYeuP667vDA9V3JuD2zLYlAJNuhJya1eDmPbdmI5BDzGS/sJl5NyRJfLYc2EkleG8ZCPRvcq091hZVBvE8lE2ItOlrXiOkR5pDchVagD69CEavcWbbZYH7wFtNm64xqu+yOVy7/FNCrUlXEpVnSUSVvqAXBkCwzC61iseUjWlVZB8J5Sn+sGQ0vE0xMk0HK6Ilp7G/hpW+frXgjuWXSTzv/y99dVp7VQWSGbeHvqVatxiXKVeleCCD0rHdFZxEQzIYV9YT620ZZRs+fAECoGEK6fTyXsv3ZKUyyZbsDyzc/xC61HLctb5IacxZFOGuqY/kBsrVvc9bmT1mQmuBieJcjMAv/x/QKmIe/Yko/ktah0TWCOwyEP5JZzFEYMpCRy7veALjqjZjZIqrEfZbHmS5z7wFcj1SnNa2nCw4r2C6pgyGimc7PcqDEXJZ44SmqbfzreIXKCi8BdfMWy/QBoJtmp9rx3+DPFRzbJRFHz5ZjplWpR1NjMEb5Fp1iLbQS3/dRf1YxCczFLbqE7l3WrxK7XG8384cmTYCr6JbCVZf7veAjljWPNqvQ+xu0MmOxfcV7NYaYdFYWXww7oFavoYjNVBcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016AgRRkAadPnARrv6LRWKJN",
      "input": {
        "note": "Left arm appears stuck at z 0.06; raising slightly and resetting pitch/roll to zero to get the IK unstuck before re-approaching the cap.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.33,
          "left_y": -0.17,
          "left_yaw": -0.4,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_016AgRRkAadPnARrv6LRWKJN",
      "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]: [-0.5308, 1.3331, 0.5133, 0.1997, -0.0406, -0.0254, 0.9995, -0.0193, 0.8009, 0.6132, -0.3939, -0.0231, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3243 left_y=-0.1779 left_z=0.0873 left_yaw=-0.4939 left_pitch=-0.0504 left_roll=0.0115 left_gripper=0.9995 right_x=0.2945 right_y=0.002 right_z=0.1794 right_yaw=-0.0004 right_pitch=-0.0244 right_roll=0.0007 right_gripper=0.9991\nstate[joint_eff]: [-0.4444, -5.9556, 5.8325, 1.9512, -0.0855, -0.1245, -0.0171, -0.0342, -0.9915, 7.0222, 1.7802, -0.0415, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72bfc0d77dcf9fdc191126f1e8f40e5edf69f94f531c8df090bf9bee432667d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9cd8a394ecc78f8fe0753852c9b9cef85950076f255ea15a3c6d99861980e2f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:122e1d94418be9e6aeb71249426e097be232d26c03689d15a03e9ea968c8fb51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 7.065 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]: [-0.3824, 1.486, 0.5888, 0.1764, 0.1993, 0.1936, 0.9995, -0.0193, 0.799, 0.6132, -0.3931, -0.0227, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.341 left_y=-0.171 left_z=0.0606 left_yaw=-0.6678 left_pitch=-0.1347 left_roll=0.0241 left_gripper=0.9995 right_x=0.2945 right_y=0.0019 right_z=0.1801 right_yaw=-0.0008 right_pitch=-0.0217 right_roll=0.0004 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -6.5573, 7.2821, 2.0195, 0.2906, 0.1783, -0.0122, -0.253, -1.265, 7.1043, 1.7802, -0.0611, -0.0806, -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]: [-0.3824, 1.486, 0.5888, 0.1764, 0.1993, 0.1936, 0.9995, -0.0193, 0.799, 0.6132, -0.3939, -0.0231, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.341 left_y=-0.171 left_z=0.0606 left_yaw=-0.6678 left_pitch=-0.1347 left_roll=0.0241 left_gripper=0.9995 right_x=0.2944 right_y=0.002 right_z=0.18 right_yaw=-0.0004 right_pitch=-0.0225 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -6.5162, 7.2274, 2.0, 0.2759, 0.1441, -0.0122, -0.1709, -1.265, 7.0222, 1.7705, -0.0415, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5308, 1.3331, 0.5133, 0.1997, -0.0406, -0.0254, 0.9995, -0.0193, 0.8009, 0.6132, -0.3939, -0.0231, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3243 left_y=-0.1779 left_z=0.0873 left_yaw=-0.4939 left_pitch=-0.0504 left_roll=0.0115 left_gripper=0.9995 right_x=0.2945 right_y=0.002 right_z=0.1794 right_yaw=-0.0004 right_pitch=-0.0244 right_roll=0.0007 right_gripper=0.9991\nstate[joint_eff]: [-0.4444, -5.9556, 5.8325, 1.9512, -0.0855, -0.1245, -0.0171, -0.0342, -0.9915, 7.0222, 1.7802, -0.0415, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72bfc0d77dcf9fdc191126f1e8f40e5edf69f94f531c8df090bf9bee432667d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9cd8a394ecc78f8fe0753852c9b9cef85950076f255ea15a3c6d99861980e2f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:122e1d94418be9e6aeb71249426e097be232d26c03689d15a03e9ea968c8fb51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSrgkKEAgSGAI4AUIIdGhpbmtpbmcSDGUZk/Se5dfHL2o6HRoMl43D3tzmSjMV9nugIjAjx9MMV1jaP5la8ok8e9kmrwzkOTAF2icaIqJ7tNeBDv0wtf7bgB8doBQxojvtBBIqywgKGnxRlhms1TGij0lrn5SKfNZ2AvOg3AvdqJRzD3H+CCZWYaDzy3tPOtr+d7hY6WBqpWeaprkR1PWRxYRz76K8cljTkTMGyf9itBn9J06j75nVVM8YfTAmMxtFVWzowghPP6nctXc1lK7gDu/KZQK/Z2w/x0WBK1WLOS/fH0NWMtw1RZ3SA+o/zm2H+SnCj0RggHP61ioAn0DRi/E8Kj5K4FUwbl3e+PGtE4GHPRlvrK4WsqrHcKOvGldF8/YyDtjb7AUcbYc0vUb0OX57KPmMfeIoxrX0yZD2jkZatKcXAz02M0l5Nl7iRfkQMgVzAd6V9+wsLtsnBG0PLT4oz/5PFF5iE3zrfG7KB9gaG7RNu7SMv2yw7nIqpZDSnxAQceR11g8xjsT5l1EOVg/EweFs1NgYnSbZVL0buoGdF30F8cEap42xITdKw8mGz9U58SBtnXDDvP1Azb+STrMh9ivehD210ICDtUL9tNzur/rU+ZIPAb5bfsoOsc/H5USREkfrpX2CU4cb5ncUkmd9WoeTk5F9FajwwvynKuWIEOWZF2k/Q19NUq1IdBcxAtIAGqVc5VU2E0Dzs5cbE7XssVvf6RyZsTHjaz3nDKwjn1hjD1uNW6qxvry+XUrqaiNxKj8vMRXODsLIj96jjVKKneyAK1WSmaB7TdP1ybDKuzdB9hNvazhqTGz4OSbWrrl2lXIOoO32657FiEXmL+ZTuhbDXqEkBRGsUNs6NA/TLM41Np3SZkEdj1oFwrjsr3FBR66RxE/GWVL2zV0DXi1LP89k0HRhMiy6MRstPB9I0RfPeRvcHoY4bHNPMD9ebsjTjohNEnYjo/I/3laD1/1k1RioptUpOdvvpgYVDAgCKlATWRTtX3fo4qUyJTj1MY/fiejydv706CYU/JLhOpTfeBaDGp6FaBYZ4U6QlX3/XjU+j0HW7GoxmSySY6O02hkf35cASyeGst7DqPb/TB7LvRHNbWIvbVBaOmJSgbiHm2eIEeX/QZj+v0Wmjytx43F2baYCHqogc+UcV8ifv7eXnEVLs5/V6tQEG7H5HupvzfnGWU/6uCPeWD59Nw+6kM2Yz6T9OO0XmvYhybtvXTay3A2GKEv3y+m7/IzodEjxPZSs066RG3mDL8wydg29rywEv2o0JfUmdxL08AqrwCoi6IXeQuvlttAS48E8gDUZsP4lW2eovUz16pMRovAGVVBZQYA6aa4Ikt6LvmofkfjjI56DyI5RXDWokEoP4g3hn6v6xIryTEByNlyau4XAvvSig5y3QM7Z/JF3AQWEokiZuazys7Nbwo2zbG2RG9CA3NXtXMv6dyaCuX647S57Xd594Qy/qXlB/TDsdbf3dVz9CgHN2j11KkMp+LHtdVvTrm3+BPe0bDJdlhCGrLeVRNvPA5L2mkzZiQ1UEBdzH7fcrxx6/m/zL3zJBDYuCVtGFJ4G81EeJ6EBmNbHCUvnGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Q6hqVnvrftQp1bs1Y6hPh1",
      "input": {
        "note": "Arm is moving again. Cap is left of the jaw column in the wrist view; shifting toward it and descending partway.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.335,
          "left_y": -0.155,
          "left_yaw": -0.5,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Q6hqVnvrftQp1bs1Y6hPh1",
      "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]: [-0.4191, 1.5776, 0.3569, 0.5072, 0.0162, 0.0017, 0.9995, -0.0193, 0.8036, 0.6132, -0.3973, -0.0227, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3189 left_y=-0.1413 left_z=0.0051 left_yaw=-0.4449 left_pitch=-0.1442 left_roll=-0.0019 left_gripper=0.9995 right_x=0.2942 right_y=0.0019 right_z=0.178 right_yaw=-0.0008 right_pitch=-0.0305 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [0.2667, -6.7624, 5.3812, 2.2149, 0.2808, 0.0122, -0.0122, -0.253, -1.3607, 7.0222, 1.7265, -0.0317, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18242d56225d00588fda6b06d1048e717fee5274c2b8a34cb0f993c23f98d011",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db8b08cc384bcfb39104122744ea725f2e0030614a8d951d1d908a5cf9d5fed9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:73eb56c1ae331a88e9068751c9572d2a501f8ebad52a249db1dc5614008ab6c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 4.655 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]: [-0.3824, 1.486, 0.5888, 0.1764, 0.1993, 0.1936, 0.9995, -0.0193, 0.799, 0.6132, -0.3939, -0.0231, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.341 left_y=-0.171 left_z=0.0606 left_yaw=-0.6678 left_pitch=-0.1347 left_roll=0.0241 left_gripper=0.9995 right_x=0.2944 right_y=0.002 right_z=0.18 right_yaw=-0.0004 right_pitch=-0.0225 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -6.5162, 7.2274, 2.0, 0.2759, 0.1441, -0.0122, -0.1709, -1.265, 7.0222, 1.7705, -0.0415, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5308, 1.3331, 0.5133, 0.1997, -0.0406, -0.0254, 0.9995, -0.0193, 0.8009, 0.6132, -0.3939, -0.0231, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3243 left_y=-0.1779 left_z=0.0873 left_yaw=-0.4939 left_pitch=-0.0504 left_roll=0.0115 left_gripper=0.9995 right_x=0.2945 right_y=0.002 right_z=0.1794 right_yaw=-0.0004 right_pitch=-0.0244 right_roll=0.0007 right_gripper=0.9991\nstate[joint_eff]: [-0.4444, -5.9556, 5.8325, 1.9512, -0.0855, -0.1245, -0.0171, -0.0342, -0.9915, 7.0222, 1.7802, -0.0415, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4191, 1.5776, 0.3569, 0.5072, 0.0162, 0.0017, 0.9995, -0.0193, 0.8036, 0.6132, -0.3973, -0.0227, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3189 left_y=-0.1413 left_z=0.0051 left_yaw=-0.4449 left_pitch=-0.1442 left_roll=-0.0019 left_gripper=0.9995 right_x=0.2942 right_y=0.0019 right_z=0.178 right_yaw=-0.0008 right_pitch=-0.0305 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [0.2667, -6.7624, 5.3812, 2.2149, 0.2808, 0.0122, -0.0122, -0.253, -1.3607, 7.0222, 1.7265, -0.0317, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18242d56225d00588fda6b06d1048e717fee5274c2b8a34cb0f993c23f98d011",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db8b08cc384bcfb39104122744ea725f2e0030614a8d951d1d908a5cf9d5fed9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73eb56c1ae331a88e9068751c9572d2a501f8ebad52a249db1dc5614008ab6c9",
        "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_01Cz3GHmfrdtrK8GYQj1miXB",
      "input": {
        "note": "At table height the cap shows well ahead of the jaws in the wrist view. Lifting slightly and advancing ~4 cm along the tool direction to get over it.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.36,
          "left_y": -0.15,
          "left_yaw": -0.45,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Cz3GHmfrdtrK8GYQj1miXB",
      "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]: [-0.4099, 1.6253, 0.3225, 0.6479, 0.0307, 0.0078, 0.9995, -0.0193, 0.8043, 0.6132, -0.3973, -0.0231, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3229 left_y=-0.1423 left_z=0.0052 left_yaw=-0.4511 left_pitch=-0.0852 left_roll=-0.0044 left_gripper=0.9995 right_x=0.2943 right_y=0.002 right_z=0.1778 right_yaw=-0.0004 right_pitch=-0.0313 right_roll=0.0008 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, -5.2718, 4.3419, 1.9316, -0.0464, -0.0659, -0.0171, -0.1436, -1.1145, 7.0359, 1.7021, -0.0513, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:608eddc9c0cd4396ff2bd930e60077cab3225d0790ef3f58b18bc346154a3665",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7abffabd459a184235f961521744f76f08fe84bfb804d27a56d2b91e37c5f6a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:837671ad6345ffd9e9b0dc844f6c2ee24ce175127c2d0facb788347232e62a51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 6.254 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]: [-0.5308, 1.3331, 0.5133, 0.1997, -0.0406, -0.0254, 0.9995, -0.0193, 0.8009, 0.6132, -0.3939, -0.0231, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3243 left_y=-0.1779 left_z=0.0873 left_yaw=-0.4939 left_pitch=-0.0504 left_roll=0.0115 left_gripper=0.9995 right_x=0.2945 right_y=0.002 right_z=0.1794 right_yaw=-0.0004 right_pitch=-0.0244 right_roll=0.0007 right_gripper=0.9991\nstate[joint_eff]: [-0.4444, -5.9556, 5.8325, 1.9512, -0.0855, -0.1245, -0.0171, -0.0342, -0.9915, 7.0222, 1.7802, -0.0415, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4191, 1.5776, 0.3569, 0.5072, 0.0162, 0.0017, 0.9995, -0.0193, 0.8036, 0.6132, -0.3973, -0.0227, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3189 left_y=-0.1413 left_z=0.0051 left_yaw=-0.4449 left_pitch=-0.1442 left_roll=-0.0019 left_gripper=0.9995 right_x=0.2942 right_y=0.0019 right_z=0.178 right_yaw=-0.0008 right_pitch=-0.0305 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [0.2667, -6.7624, 5.3812, 2.2149, 0.2808, 0.0122, -0.0122, -0.253, -1.3607, 7.0222, 1.7265, -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]: [-0.4099, 1.6253, 0.3225, 0.6479, 0.0307, 0.0078, 0.9995, -0.0193, 0.8043, 0.6132, -0.3973, -0.0231, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3229 left_y=-0.1423 left_z=0.0052 left_yaw=-0.4511 left_pitch=-0.0852 left_roll=-0.0044 left_gripper=0.9995 right_x=0.2943 right_y=0.002 right_z=0.1778 right_yaw=-0.0004 right_pitch=-0.0313 right_roll=0.0008 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, -5.2718, 4.3419, 1.9316, -0.0464, -0.0659, -0.0171, -0.1436, -1.1145, 7.0359, 1.7021, -0.0513, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:608eddc9c0cd4396ff2bd930e60077cab3225d0790ef3f58b18bc346154a3665",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7abffabd459a184235f961521744f76f08fe84bfb804d27a56d2b91e37c5f6a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:837671ad6345ffd9e9b0dc844f6c2ee24ce175127c2d0facb788347232e62a51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSggkKEAgSGAI4AUIIdGhpbmtpbmcSDOZHvXn7zxEUItItKRoMUrkkL7wUJPOrdxaAIjAL/t6l71IOUQw+S4nXIXJ3gdSbJN6O7Xwhm0TRWAZSik+qKzz+ksyRPLTgi/611acqnwg9C+iwtRCovFtUjhlvuF4GYTiz/D+Av0jovdvz7T2/KTY3lzCXV+CXogc3kxVsCUY8xc+16Q/IWN7U/0nJiSst7vcTPxxeUmxBQ3/RizEk+nZYrYrQ5mSWGFjYevPgO9tlTkOd+Y15D56XqjCkGLGQeVXWfoQSONHHMIwYkP8F1c4nwzjCEcqtH0tldH/8d6RRaA+9PDMWDPuzmYYvKEZeOwjSgFYlPAX3+B5bNLjzpH+2wxc9iZbnZh3y/pksUx+WoGTa/fMHgbRVXxnx0n48L9pRbmVwvuRtvEbG1ix8PS6PL5zAB5QcJiAQpzu0Qsv7VcXuPi5G8hoHR8GLIFNTFczD1FyuLtMXV5mzQQjmFQZVnmTjEFV3lzl9ZP3ZpokEzsTB/4ji3r8ojbz+ce3St7zjtAkiUHq1KNQln1Y87fXnTZlJv9CjfLgHyPksqkoRV24mZVy9sP/lWqyyfLuuXPg9kLvQho0F0yyFWbILQuEZk2u+FrzdH5GCV5Kmo3SWw316kzucTHu4ZrdVdhkqTDLW/YQVzsLcuFuNznPBCfrGtEBCzrm6ALujLvpoD3Sy/cH8AyuBH+fit5qZIUhj8Nq4ZUdfqpUziU0/Aydi4+qFlHbzakjNz+6/GctLi9Kot3H2kCjl20Sg5JU3zgkE3tXthqZ7C7IvHCJun2OxfIVoYTMzFTiSTIOAt6p6aYvxHB8TB/QWoUGozxquKME3zHJiIce6cXH1/bqURh07BjCtxDOZEkB3blpuMVY9WvtzDsmSWvY+wMtM9XAnI4dYrnKx64j000kC3MIg9HiVHmVT1s8hXumbrpNFPfYCG8591sjcAfatls4lJXEEVC965tv/WDdYDpGeVt81JX0BsQlMkpJSEzY3MWc0HtLwfoC5J0S0Kooj9mo76UWco5dVfqOrHLwkrWWXPwUfCUVnGw/l79U8hReaFMW2AQ1hej5RWzVi2h+GslmVqmHlvlsm+Zz4e9kF9vGCE4gvPRb2J2cTWgYb1UP0dDUdJeGIs2K7OZibZI43rjbU8cxjyaId5fZWgJQ//6KX6Be+EqplEBAhKkMJTy+Co3hb0jZqTZOZZZ9ib7Yci+iMa6vzTFFHxAbdRbK/PjKm6qQSVLdsrCKpIUdnjKX4wUbInq5Frmhfm19nEkrE2nbKI3IL0TjO0rcxGNA2HNUzNcGezlqfQQAtrNlVHgNX4PQf96jwLxTcUWY3zZ4W8aC2gixrSgCtLMFtkTUpAEvZuJU0EEdVWmYHV65wSfdBvPFnOvAZNaU+UJ5ygtypntakufxJJSmzvxaal0IW/WmaMMg4CF9q5o0t9CdufDD9kd/qDLyppzD9k+v4RzCrkncDZQ1DPEseztOTmkMpiDaKCDHxZELMCErxivuXD0TuLotAdRmuoRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013b3XdJjCGyvw2CH7iorUWN",
      "input": {
        "note": "The arm barely moved (delta clamped). Re-issuing the advance toward the cap, slightly higher, so it clears the table.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.36,
          "left_y": -0.15,
          "left_yaw": -0.45,
          "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_013b3XdJjCGyvw2CH7iorUWN",
      "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]: [-0.4099, 1.6253, 0.3225, 0.6479, 0.0303, 0.0078, 0.9995, -0.0193, 0.8043, 0.6132, -0.3977, -0.0231, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3229 left_y=-0.1422 left_z=0.0052 left_yaw=-0.4508 left_pitch=-0.0852 left_roll=-0.0041 left_gripper=0.9995 right_x=0.2942 right_y=0.002 right_z=0.1777 right_yaw=-0.0004 right_pitch=-0.0317 right_roll=0.0008 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -5.1761, 4.3556, 1.9609, -0.0855, -0.0562, -0.0171, -0.2256, -1.3197, 7.0222, 1.7656, -0.0708, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e9ddb42ac2ae7277d4295dabc0492fc48466d48f5a537bc6d4f368601c0f2a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eea14823b088774ffdcc31358d6833c31856ffe73a62ad2d9511982c4ccd7033",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9ff35f73b2ee48e4c95bc35a4472f828b050a9947a914ef3dec487283a7a950c",
        "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 · 5.664 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]: [-0.4191, 1.5776, 0.3569, 0.5072, 0.0162, 0.0017, 0.9995, -0.0193, 0.8036, 0.6132, -0.3973, -0.0227, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3189 left_y=-0.1413 left_z=0.0051 left_yaw=-0.4449 left_pitch=-0.1442 left_roll=-0.0019 left_gripper=0.9995 right_x=0.2942 right_y=0.0019 right_z=0.178 right_yaw=-0.0008 right_pitch=-0.0305 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [0.2667, -6.7624, 5.3812, 2.2149, 0.2808, 0.0122, -0.0122, -0.253, -1.3607, 7.0222, 1.7265, -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]: [-0.4099, 1.6253, 0.3225, 0.6479, 0.0307, 0.0078, 0.9995, -0.0193, 0.8043, 0.6132, -0.3973, -0.0231, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3229 left_y=-0.1423 left_z=0.0052 left_yaw=-0.4511 left_pitch=-0.0852 left_roll=-0.0044 left_gripper=0.9995 right_x=0.2943 right_y=0.002 right_z=0.1778 right_yaw=-0.0004 right_pitch=-0.0313 right_roll=0.0008 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, -5.2718, 4.3419, 1.9316, -0.0464, -0.0659, -0.0171, -0.1436, -1.1145, 7.0359, 1.7021, -0.0513, -0.0806, -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 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]: [-0.4099, 1.6253, 0.3225, 0.6479, 0.0303, 0.0078, 0.9995, -0.0193, 0.8043, 0.6132, -0.3977, -0.0231, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3229 left_y=-0.1422 left_z=0.0052 left_yaw=-0.4508 left_pitch=-0.0852 left_roll=-0.0041 left_gripper=0.9995 right_x=0.2942 right_y=0.002 right_z=0.1777 right_yaw=-0.0004 right_pitch=-0.0317 right_roll=0.0008 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -5.1761, 4.3556, 1.9609, -0.0855, -0.0562, -0.0171, -0.2256, -1.3197, 7.0222, 1.7656, -0.0708, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e9ddb42ac2ae7277d4295dabc0492fc48466d48f5a537bc6d4f368601c0f2a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eea14823b088774ffdcc31358d6833c31856ffe73a62ad2d9511982c4ccd7033",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ff35f73b2ee48e4c95bc35a4472f828b050a9947a914ef3dec487283a7a950c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K3B3TNbc1VWNQ19dWE1ARh",
      "input": {
        "note": "Left arm is stuck again near the table. Lifting straight up to free the IK before advancing over the cap.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01K3B3TNbc1VWNQ19dWE1ARh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4107, 1.219, 0.4194, 0.3344, 0.0303, 0.004, 0.9995, -0.0193, 0.8074, 0.6132, -0.4049, -0.0227, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3325 left_y=-0.1467 left_z=0.1155 left_yaw=-0.4496 left_pitch=0.1042 left_roll=0.0002 left_gripper=0.9995 right_x=0.2934 right_y=0.0019 right_z=0.1754 right_yaw=-0.0007 right_pitch=-0.042 right_roll=0.0008 right_gripper=0.9991\nstate[joint_eff]: [0.0205, -1.7983, 6.9128, 1.2772, -0.0317, -0.0073, -0.0171, -0.1709, -0.9915, 7.0222, 1.8486, -0.022, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8bd7d6c7111f8d00d7ff33fed682e1802387856a6727d40de314ae8f2e334d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72c2202ce36acd68d4a02841a720d73209566d8095aa023747dc16c8cf14c38b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9063e97101b924578fd90c29ea11595cb26f50dd87d71eeb003178cb8bb677dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 10.25 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]: [-0.4099, 1.6253, 0.3225, 0.6479, 0.0307, 0.0078, 0.9995, -0.0193, 0.8043, 0.6132, -0.3973, -0.0231, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3229 left_y=-0.1423 left_z=0.0052 left_yaw=-0.4511 left_pitch=-0.0852 left_roll=-0.0044 left_gripper=0.9995 right_x=0.2943 right_y=0.002 right_z=0.1778 right_yaw=-0.0004 right_pitch=-0.0313 right_roll=0.0008 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, -5.2718, 4.3419, 1.9316, -0.0464, -0.0659, -0.0171, -0.1436, -1.1145, 7.0359, 1.7021, -0.0513, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4099, 1.6253, 0.3225, 0.6479, 0.0303, 0.0078, 0.9995, -0.0193, 0.8043, 0.6132, -0.3977, -0.0231, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3229 left_y=-0.1422 left_z=0.0052 left_yaw=-0.4508 left_pitch=-0.0852 left_roll=-0.0041 left_gripper=0.9995 right_x=0.2942 right_y=0.002 right_z=0.1777 right_yaw=-0.0004 right_pitch=-0.0317 right_roll=0.0008 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -5.1761, 4.3556, 1.9609, -0.0855, -0.0562, -0.0171, -0.2256, -1.3197, 7.0222, 1.7656, -0.0708, -0.0513, -0.0122]",
      "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]: [-0.4107, 1.219, 0.4194, 0.3344, 0.0303, 0.004, 0.9995, -0.0193, 0.8074, 0.6132, -0.4049, -0.0227, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3325 left_y=-0.1467 left_z=0.1155 left_yaw=-0.4496 left_pitch=0.1042 left_roll=0.0002 left_gripper=0.9995 right_x=0.2934 right_y=0.0019 right_z=0.1754 right_yaw=-0.0007 right_pitch=-0.042 right_roll=0.0008 right_gripper=0.9991\nstate[joint_eff]: [0.0205, -1.7983, 6.9128, 1.2772, -0.0317, -0.0073, -0.0171, -0.1709, -0.9915, 7.0222, 1.8486, -0.022, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8bd7d6c7111f8d00d7ff33fed682e1802387856a6727d40de314ae8f2e334d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72c2202ce36acd68d4a02841a720d73209566d8095aa023747dc16c8cf14c38b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9063e97101b924578fd90c29ea11595cb26f50dd87d71eeb003178cb8bb677dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuwgKEAgSGAI4AUIIdGhpbmtpbmcSDCI+MJiFB6+fOjRrNBoMjMhFvHTKa1pEG/wFIjDWO+pi47CUEUV8fC3g5w1tdldrYWR5rR6arkeJWD1bsDPqAgKH0EBdyNIbqVVpJvAq2AehWszeciO4inNws1lTYI3LVQin1HHnbKLfqRe7suhDO2ymhyoBl9GDn7W9MCnDJoqkKfshOTGdJMRBZDzsAFtbIUA3nwWlrW0r/ndg/PQC/q65zosYupVCvzW9NGvaItgQIlr/aHROr7i38InovAwYZpsMBfFgYx7WDXWllmlSeXZNN/sVsscVrzqs5tnFtCVOqpTJou5phhqaUjD2SmMaZ+2zjzeaLbzvQuwDF//iHylz5K34Jeu46qDEazQjpHJOeo1k/zPFAjgZBe+di/EBoZtkeheQMGsJSSGRKeS001fpO3WRoe8JZAZI6YtO0kgXizW+1JOqituuj4TymcNWCNN2IApHR/6jaEOnkyJFr6VOvPriEPmNUZDKh7FHYf2FdBUdUXKCgRfc18oHRlG4sG9J+vO0oeqS7qiS+6G89y/+8kVRN7PUENyx/p3mP8A274NPDZBV5yLDYrn6mQ0OM1o6Bd3kH9cPOUwu61cL6v+7tEZWK4Op0Bd6I4c1t+jr7GHasz9PL7l72ybSJcn59qoAe+NUqY2E6SmCM5F0hCZelQsLw1CI/i33GbpGCcbQ2WbNrfo9l7+erLDkyFil3xhtxAUKchDisGe5d55GuoEanPqDEct2bll9YvHHM3KWToqpYMQcoDF1iQgmgsNbj58LtfLpNRiA7ujqK+2ckS+S1e0M1QhIY6HjsM+qneGvir1OtFKMmD/hPf+b8nCoPRIEdczMU5CkPVQYeof6jPCABmb5H+12aIrUWqtCIEyNgVqdHsysxY80931EqHc0ziqWiFwt3sZbTmimZhPLCkkQ8FcIrPOQWp4FPCV3EJwP+2qvV/+XHT4rSPF6TWaOZaDRvuGZF2Gt9Cak9FhWFnDfhzzP5dyIU7k/oepa/YvcChJRBIh5N3YOxwF3JtvvC5KooSnLqsrQyTcvPCJnGC8Bbt+GaAdJBHsmR0giuYcaC8wjafKiOIr2jQ3OoOvnAmFfOwahY3VFBpNUWuwEWe6AOBIsOrX335JmUXxhxThMBWM7ZUy7DadIg+SkRrWHKwq41+/bDM79lQnTpljHbe/79bPs9mBHd3WReIOn2pLf1OK6EO0z0KWF0W00wccn2CtCh+ORdRyJq172ElBg4nryR5GuStZOytFyyY6vs7qln5+m28AL1Z1AaCtYA+XDbHevRNMHHGKvC5pQL5jpmSMOc4FxGIIbwsIngyiHsf+og02T/XKOFnbxvsiiWOxiDjoPS0MAaBsLhBqnbcaRb3Tm9EccAOF11omfOXCmNP0C47kYvELsRUkdX6nyYJHlDfGeLQuToyoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QgSZBQSisLbGdDNkDNZuRR",
      "input": {
        "note": "From 11 cm up, the cap sits just ahead and slightly left of the jaws. Advancing ~2 cm and descending straight to the table to grasp.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.355,
          "left_y": -0.14,
          "left_yaw": -0.45,
          "left_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01QgSZBQSisLbGdDNkDNZuRR",
      "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]: [-0.3527, 1.8305, 0.3588, 0.9096, 0.0589, 0.0368, 0.9995, -0.0196, 0.8108, 0.6132, -0.4129, -0.0227, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3546 left_y=-0.1378 left_z=-0.0019 left_yaw=-0.4332 left_pitch=0.0081 left_roll=0.009 left_gripper=0.9995 right_x=0.2925 right_y=0.0019 right_z=0.1728 right_yaw=-0.0011 right_pitch=-0.0534 right_roll=0.001 right_gripper=0.9991\nstate[joint_eff]: [0.5812, -4.9436, 4.0821, 0.7106, 0.2418, -0.0757, -0.0171, -0.3487, -1.5658, 7.3778, 1.7265, -0.0317, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c999630841edeab10efd01b13c5408ad137b8146605fc2180c082a11e0f1149",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c132a37314522899e3498e47cb15a79b5b72d4682862918bd57301384168fde8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ce291ce39885f568d90d860a1e75439712db394a2d8293fd0c703184bf014f96",
        "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 · 4.444 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]: [-0.4099, 1.6253, 0.3225, 0.6479, 0.0303, 0.0078, 0.9995, -0.0193, 0.8043, 0.6132, -0.3977, -0.0231, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3229 left_y=-0.1422 left_z=0.0052 left_yaw=-0.4508 left_pitch=-0.0852 left_roll=-0.0041 left_gripper=0.9995 right_x=0.2942 right_y=0.002 right_z=0.1777 right_yaw=-0.0004 right_pitch=-0.0317 right_roll=0.0008 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -5.1761, 4.3556, 1.9609, -0.0855, -0.0562, -0.0171, -0.2256, -1.3197, 7.0222, 1.7656, -0.0708, -0.0513, -0.0122]",
      "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]: [-0.4107, 1.219, 0.4194, 0.3344, 0.0303, 0.004, 0.9995, -0.0193, 0.8074, 0.6132, -0.4049, -0.0227, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3325 left_y=-0.1467 left_z=0.1155 left_yaw=-0.4496 left_pitch=0.1042 left_roll=0.0002 left_gripper=0.9995 right_x=0.2934 right_y=0.0019 right_z=0.1754 right_yaw=-0.0007 right_pitch=-0.042 right_roll=0.0008 right_gripper=0.9991\nstate[joint_eff]: [0.0205, -1.7983, 6.9128, 1.2772, -0.0317, -0.0073, -0.0171, -0.1709, -0.9915, 7.0222, 1.8486, -0.022, -0.0806, -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 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]: [-0.3527, 1.8305, 0.3588, 0.9096, 0.0589, 0.0368, 0.9995, -0.0196, 0.8108, 0.6132, -0.4129, -0.0227, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3546 left_y=-0.1378 left_z=-0.0019 left_yaw=-0.4332 left_pitch=0.0081 left_roll=0.009 left_gripper=0.9995 right_x=0.2925 right_y=0.0019 right_z=0.1728 right_yaw=-0.0011 right_pitch=-0.0534 right_roll=0.001 right_gripper=0.9991\nstate[joint_eff]: [0.5812, -4.9436, 4.0821, 0.7106, 0.2418, -0.0757, -0.0171, -0.3487, -1.5658, 7.3778, 1.7265, -0.0317, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c999630841edeab10efd01b13c5408ad137b8146605fc2180c082a11e0f1149",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c132a37314522899e3498e47cb15a79b5b72d4682862918bd57301384168fde8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce291ce39885f568d90d860a1e75439712db394a2d8293fd0c703184bf014f96",
        "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_012ZXuAforUPKNeBor2ziM8b",
      "input": {
        "note": "At table level the cap is still a few cm ahead of the open jaws, roughly on the jaw column. Sliding forward ~4 cm along the tool direction so the cap ends up between the jaws.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.39,
          "left_y": -0.155,
          "left_yaw": -0.45,
          "left_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_012ZXuAforUPKNeBor2ziM8b",
      "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]: [-0.3538, 1.9305, 0.4892, 0.915, 0.0597, 0.0349, 0.9995, -0.0196, 0.8131, 0.6125, -0.4133, -0.0227, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.389 left_y=-0.1511 left_z=0.0003 left_yaw=-0.434 left_pitch=0.0439 left_roll=0.0098 left_gripper=0.9995 right_x=0.2925 right_y=0.0019 right_z=0.1718 right_yaw=-0.0011 right_pitch=-0.0568 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [-0.2803, -6.735, 4.2188, 1.4628, 0.1392, -0.0366, -0.0171, -0.1436, -1.4564, 7.0496, 1.6679, -0.0415, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf9d2978b0b830c82237ced5a754fa65b6450f24e1e13708cff93c5a0443cd32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a6c54c79e800a85e93110425a04c371687d278f4c2c7b867928a9dea59923da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:59a9ac2cc63b92f7e0a5ea891a7dcff1e192e6783d1479242508a2cfa69eb81f",
        "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 · 4.116 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]: [-0.4107, 1.219, 0.4194, 0.3344, 0.0303, 0.004, 0.9995, -0.0193, 0.8074, 0.6132, -0.4049, -0.0227, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3325 left_y=-0.1467 left_z=0.1155 left_yaw=-0.4496 left_pitch=0.1042 left_roll=0.0002 left_gripper=0.9995 right_x=0.2934 right_y=0.0019 right_z=0.1754 right_yaw=-0.0007 right_pitch=-0.042 right_roll=0.0008 right_gripper=0.9991\nstate[joint_eff]: [0.0205, -1.7983, 6.9128, 1.2772, -0.0317, -0.0073, -0.0171, -0.1709, -0.9915, 7.0222, 1.8486, -0.022, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3527, 1.8305, 0.3588, 0.9096, 0.0589, 0.0368, 0.9995, -0.0196, 0.8108, 0.6132, -0.4129, -0.0227, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3546 left_y=-0.1378 left_z=-0.0019 left_yaw=-0.4332 left_pitch=0.0081 left_roll=0.009 left_gripper=0.9995 right_x=0.2925 right_y=0.0019 right_z=0.1728 right_yaw=-0.0011 right_pitch=-0.0534 right_roll=0.001 right_gripper=0.9991\nstate[joint_eff]: [0.5812, -4.9436, 4.0821, 0.7106, 0.2418, -0.0757, -0.0171, -0.3487, -1.5658, 7.3778, 1.7265, -0.0317, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.3538, 1.9305, 0.4892, 0.915, 0.0597, 0.0349, 0.9995, -0.0196, 0.8131, 0.6125, -0.4133, -0.0227, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.389 left_y=-0.1511 left_z=0.0003 left_yaw=-0.434 left_pitch=0.0439 left_roll=0.0098 left_gripper=0.9995 right_x=0.2925 right_y=0.0019 right_z=0.1718 right_yaw=-0.0011 right_pitch=-0.0568 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [-0.2803, -6.735, 4.2188, 1.4628, 0.1392, -0.0366, -0.0171, -0.1436, -1.4564, 7.0496, 1.6679, -0.0415, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf9d2978b0b830c82237ced5a754fa65b6450f24e1e13708cff93c5a0443cd32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a6c54c79e800a85e93110425a04c371687d278f4c2c7b867928a9dea59923da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59a9ac2cc63b92f7e0a5ea891a7dcff1e192e6783d1479242508a2cfa69eb81f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqwgKEAgSGAI4AUIIdGhpbmtpbmcSDLffOVscGLQ2do/ikxoM8VafqXsvyHvBV5tzIjD40xgONPuo/sB8KMDk9DwQTA7sIUuUOlFZGvwfeDnXabq9EJqe7hhGSnYodcdRm9AqyAfND4qPEdFeacWuCQ+79cdvKs9KIW36LMpTSh1LO/JoXCcMIWkL/6z86Ck8b7yzDst2idtwB7SzzMsvzsnCo7s7J/6MwZvijyjuJLGgQgRkaauBlHqTsh0GB0y0mhUEYNr13VSmuu1QK8LDPYXITmqbbU4lkSqpstdL9oDsX0u1LhLAnG3MISctUlASvr1azu0e9iol4u2kPtTIPo8f1yB599lkIuQItoIIUMfxVv7/BIMO4JqF0HpUGqUGdoMfJuoSWD03inDssGooRY/Om+ezRu6fKBXSzAbbWr4i1cAIuYZsAAsaxXhOBpJQ0d8uuHsUf97zGQEcBSYXOEZc4ef0TUq7XDvJSBtDEPHJ6SJsOaDuFQVKikEjbrQaPfPGDM6x19oAn3JqUxFX/MidjrBMQ84UTo4adDVlEeEikqDhm9CvvnowY8WN9NWF0KshwyopbOKtQMcV0rFT6SukTrCDIGbO9pf+0pyMieZUQ6DbcPGoSqDPmoLWIhzarIRuABpTrlMpnqZ/Wex8ZhvVhvYMaBsfhvKqesODaC08NssGUDqS91yiZffIHfzqpc8YeXsNmBxsX8JdUh0FkZcx6dCKVuCzG5UpYoKeAkI0Xm4kTqWgqL+S3OQfmBguk8dv4V3n5G+Onpt6eT/CXuRghxehSF4RewUVbsqWn15TdBSxfsOTUl4dRVMRl4BIXctNzebdkkgaejG/Y2AyTdgt1ZOb5yQfc8beLL9m/yqzzRsS7dA1JK52RbqpXaJmRjpDLLPzOrb0MbMFSuQaXv48MWGWze5fpH88sbhsciqysOkesxilFERZzfoCSkBrpQYdhFyVpHBoD/1/T2F3b0U80Eex3nDyGHhtv3iDgYZA/gsZfNJXlFpMjCqtSpSN36btiBLhAPiVU4iOXtHZA04I4E6XcSyvu0xJRiNzKDcGROXum7R8fC95+yPG47dVwbC9qQ3lD4x29CTolOivn+4TPTCyymZjIVAsMaSWMKl6s0y6/QSRDUfzC5r275AYBohnY+sWAguCKKsug2GqwBNdHJZpSDmZT37D+aL/U+8posNZYXNj/uPbPc4UDvQ/YSTZn0XpLD180/htfVYfYV8fdfljclJHT9LU7Fr8ULkzruXdfKocL2nUX5dDmd2LKV7WQH9/x2AGYlVkyrr5W5aCwvC7tSBMA+lEvPoBUiDqbDNVkiUucVZ3xgFkR8245kB9NepvQHTgHQkYWAg4p+beWnPdkG2SWuFpK3Hwk0GOjlihmmLnr0J3o3K9cGk6Vu52HG39EWvyJwf99RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Pkc2rHLHtnxjcUckNXvH99",
      "input": {
        "note": "The cap is now centred between the open jaws at table level. Closing the left gripper on it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Pkc2rHLHtnxjcUckNXvH99",
      "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]: [-0.3538, 1.9411, 0.4923, 0.9314, 0.0578, 0.0296, 0.0481, -0.0193, 0.8131, 0.6125, -0.4129, -0.0227, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.391 left_y=-0.1515 left_z=0.0005 left_yaw=-0.4295 left_pitch=0.0526 left_roll=0.0068 left_gripper=0.0481 right_x=0.2925 right_y=0.002 right_z=0.1719 right_yaw=-0.0007 right_pitch=-0.0564 right_roll=0.001 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, -8.335, 3.494, 1.5946, -0.0024, 0.0659, 1.4188, -0.2667, -1.3197, 7.0632, 1.7118, -0.0464, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d0146dc0ffd8083b73f4b5f221604983cda07ca7b496db1a690f9e77e46facc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f35a2dd02e3f50ffbd47141a25cec67e1f685bdd7f0fd7ae34b6cab398305b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e2c504ff44a377860f51713582ead9ad7d1cb27d3adac0e1ab39c61cdce3f9a3",
        "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 · 8.725 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]: [-0.3527, 1.8305, 0.3588, 0.9096, 0.0589, 0.0368, 0.9995, -0.0196, 0.8108, 0.6132, -0.4129, -0.0227, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3546 left_y=-0.1378 left_z=-0.0019 left_yaw=-0.4332 left_pitch=0.0081 left_roll=0.009 left_gripper=0.9995 right_x=0.2925 right_y=0.0019 right_z=0.1728 right_yaw=-0.0011 right_pitch=-0.0534 right_roll=0.001 right_gripper=0.9991\nstate[joint_eff]: [0.5812, -4.9436, 4.0821, 0.7106, 0.2418, -0.0757, -0.0171, -0.3487, -1.5658, 7.3778, 1.7265, -0.0317, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3538, 1.9305, 0.4892, 0.915, 0.0597, 0.0349, 0.9995, -0.0196, 0.8131, 0.6125, -0.4133, -0.0227, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.389 left_y=-0.1511 left_z=0.0003 left_yaw=-0.434 left_pitch=0.0439 left_roll=0.0098 left_gripper=0.9995 right_x=0.2925 right_y=0.0019 right_z=0.1718 right_yaw=-0.0011 right_pitch=-0.0568 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [-0.2803, -6.735, 4.2188, 1.4628, 0.1392, -0.0366, -0.0171, -0.1436, -1.4564, 7.0496, 1.6679, -0.0415, -0.0806, -0.0122]",
      "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]: [-0.3538, 1.9411, 0.4923, 0.9314, 0.0578, 0.0296, 0.0481, -0.0193, 0.8131, 0.6125, -0.4129, -0.0227, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.391 left_y=-0.1515 left_z=0.0005 left_yaw=-0.4295 left_pitch=0.0526 left_roll=0.0068 left_gripper=0.0481 right_x=0.2925 right_y=0.002 right_z=0.1719 right_yaw=-0.0007 right_pitch=-0.0564 right_roll=0.001 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, -8.335, 3.494, 1.5946, -0.0024, 0.0659, 1.4188, -0.2667, -1.3197, 7.0632, 1.7118, -0.0464, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d0146dc0ffd8083b73f4b5f221604983cda07ca7b496db1a690f9e77e46facc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f35a2dd02e3f50ffbd47141a25cec67e1f685bdd7f0fd7ae34b6cab398305b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2c504ff44a377860f51713582ead9ad7d1cb27d3adac0e1ab39c61cdce3f9a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuQcKEAgSGAI4AUIIdGhpbmtpbmcSDNNkGP+ETYAO++M8+RoM9hbBKEC+xwJYARziIjBeeuipF/cgrJrNTp9zUpe9Z3mdQy/hnBL4mlIBCnAFooWZoHMNlcwiLgW7246tvUUq1gYdJ9C7cHTLkW99ybQ0u0mCHeNstiukPG3BBd4EaF2ZPOnJClcxmMR9cxyphAdKb50zRQ85vQ6pzpZ3+GLXRUR4o1zC5oklYyYbwzmCb6f5P6Irmw2U+uhG5EzFvgDyW5tN3KzmtpvuhIgUZMtzOkoLDhpAAH6I4GLTYdQJTw5/fSPNsZdW+3p6XmaSY3uKUYf7dLom4s4UWJmWwMHwCP2f7uM8gHZ8IsdM2aCgqiyZkprK05mPJcApablMk6sH2UurQ2QvZ3u+MEbcLgPOJc5pAbq/AyXXQWQwIoCLzN0GF6Z2NnkOEgviosUFPpomjFrNXfZ+GAHRWLyWb9Za8WCt/YIOWTOISfQlbJwRdH4R2xWrHrEdQMA3F++40gXle7fSr4WyPRK+OIObQiYqThqfz6vhSQb0jmE7dV9gsQQPMYaoM64/fvM+rGXZ4GqRDN3oxcN5xy9Wt+304u8JgV8fBPuCIZn+WKFnnAnY+Ib+KKcS7bmZgSeXlcLuOcSv58Hsehi+yfeZmczVN0CqZvUsNs2K9ZYhZw+BHOlmQujyGXXG6dqLqm5UoX8cMHIQPUX8zb4uf8hIVMezh0XBL3YyaDi+H0o3wvNV0orfC98zNV6m6iQKfUCOm73CRVFZNmUceKr7hMdxSAlgth/fsGzmWUJkbFxUA1DXzrn863mUAZio7v44/M1B4xFbqzN3Qf1WoOWvQpjj3i9I6idtVBLCoCew7IDTsfCjuMpOelafCZkwf1weXS9pPyLdWGZwbL4Kn3J1xnERCxjnZ3F0G23M5dQbZigHnhVH7JzOZBLyLTrRVAh6Py7EzSb1ZOG6CF1swv2eNw0oMMw3F148zxoVTjO/qkndQaz6GkIOZgDUy0G00u1rjDGFgSHFr1h0sPV5pN31DEOk8LwFACELcJDSKCf0/1aLoeN/L2xpwFB3GWGP8ArhUyklGG5M5Rn1N2pHgi2aYNXQ2cp6GDw6Q0p34X/lBg3nSgstB6xm0kuvU9+oC6Yv8XOBFnzAtyirlkgJbR4v0E4EzEtlg4nrXpmPw9Pm2wDN/cNRGHDYbzsRYEumNJ1+Me4Q0txrrGztykHjqO/WShxlR0tKhO1hpHxUIcKyvk2abGN6OupezPfBWTod6diLrBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J6KpFD1agsRUf6mtvCbqpQ",
      "input": {
        "note": "Gripper settled at 0.048, possibly holding the thin cap (its tip seems visible past the jaws). Lifting to verify in the top view.",
        "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_01J6KpFD1agsRUf6mtvCbqpQ",
      "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]: [-0.3534, 1.6199, 0.5343, 0.5602, 0.0563, 0.0238, 0.055, -0.0196, 0.8165, 0.6125, -0.4126, -0.0227, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3859 left_y=-0.1491 left_z=0.0635 left_yaw=-0.4248 left_pitch=0.0446 left_roll=0.002 left_gripper=0.055 right_x=0.2928 right_y=0.0018 right_z=0.171 right_yaw=-0.0011 right_pitch=-0.0595 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -7.6103, 8.4991, 2.0098, -0.0269, 0.0073, 1.0281, -0.1709, -1.4838, 7.0496, 1.7607, -0.0317, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7ca2fb019ac4a89cbb25ba3d0e9e7c6837b71fff0f98b318c927baed5f77050",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26e75b4d6097f7460ea65f643804f86dec99559b3897f4348d30518737257eee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:367739c538eb3ff294c97d67d2db1fb618f66f2d1b7f20a33c56df7572050cff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /messages · status 200 · 5.5 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]: [-0.3538, 1.9305, 0.4892, 0.915, 0.0597, 0.0349, 0.9995, -0.0196, 0.8131, 0.6125, -0.4133, -0.0227, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.389 left_y=-0.1511 left_z=0.0003 left_yaw=-0.434 left_pitch=0.0439 left_roll=0.0098 left_gripper=0.9995 right_x=0.2925 right_y=0.0019 right_z=0.1718 right_yaw=-0.0011 right_pitch=-0.0568 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [-0.2803, -6.735, 4.2188, 1.4628, 0.1392, -0.0366, -0.0171, -0.1436, -1.4564, 7.0496, 1.6679, -0.0415, -0.0806, -0.0122]",
      "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]: [-0.3538, 1.9411, 0.4923, 0.9314, 0.0578, 0.0296, 0.0481, -0.0193, 0.8131, 0.6125, -0.4129, -0.0227, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.391 left_y=-0.1515 left_z=0.0005 left_yaw=-0.4295 left_pitch=0.0526 left_roll=0.0068 left_gripper=0.0481 right_x=0.2925 right_y=0.002 right_z=0.1719 right_yaw=-0.0007 right_pitch=-0.0564 right_roll=0.001 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, -8.335, 3.494, 1.5946, -0.0024, 0.0659, 1.4188, -0.2667, -1.3197, 7.0632, 1.7118, -0.0464, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3534, 1.6199, 0.5343, 0.5602, 0.0563, 0.0238, 0.055, -0.0196, 0.8165, 0.6125, -0.4126, -0.0227, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3859 left_y=-0.1491 left_z=0.0635 left_yaw=-0.4248 left_pitch=0.0446 left_roll=0.002 left_gripper=0.055 right_x=0.2928 right_y=0.0018 right_z=0.171 right_yaw=-0.0011 right_pitch=-0.0595 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -7.6103, 8.4991, 2.0098, -0.0269, 0.0073, 1.0281, -0.1709, -1.4838, 7.0496, 1.7607, -0.0317, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7ca2fb019ac4a89cbb25ba3d0e9e7c6837b71fff0f98b318c927baed5f77050",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26e75b4d6097f7460ea65f643804f86dec99559b3897f4348d30518737257eee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:367739c538eb3ff294c97d67d2db1fb618f66f2d1b7f20a33c56df7572050cff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrQ8KEAgSGAI4AUIIdGhpbmtpbmcSDGWvcH0dN255LZa8KBoMagdtKRb/nXBiICHTIjA8B7SqCZrxJ8L4BasW6/N+MjY79zWxK48FLJJveXzOQ5RdNCLY2fgltXLICp0ovusqyg43Oj7wCVw4pMdBOWuKo7Ayr74L6BPANxNEUtGL2tzV60wIs3anm7Mr7NqlFhdyYi+JqoMyY7tYAkfd+3LroKG9Cik0MKDoB2CSjJYAFMCObgnXiadMSsmcgnUihrtOFXZ3X9ZMKv1Gdng1fsO6VbcdFVjgPvQR3FAL/touCCpTas/hu5aSD8IQ+B/lA6N4wYGHPOdXr11/AldPe1i2fQAOtLU8Cu1zb9aCKc2HxXhg/I79U368nM4fFD4UDCymnmUU3RpWXTLGtaHOTVRiTXQbd5vTUU8qB+5f8oet7W1+Frwo4m8W/NnaUdnENQXOtJQGykZVZdCVf0JOL2bdf/pKZ6N5+BnkXBPEHgEIMptA01r53T2Yplh/ufBstiVGY0ySqIioj3hcHWgn/jiRwgZ3WFkqsplv/wJvFi/8cx/ctFbp1In6e4MMGWZj6REoq/7UbWZwdCEKX2uGLjN5G1f6BqETDUwaZ7J31DF4zfFjkHtsFC5rwa8L5xhgbdZprd0jeEkDXqUEMcrEi+hkbjTpfJsAZRhq/QcmNCFfTMrrUi9dFJrthZRW1KDK+WTYmObpOwvuOHKzdj2kuHZ+e092jyhR6aODRkFlrhgF2m5O8qp1p7PtS26MCRGhRh0lJnmP97h9s9YmRSVad9o69Lv7UNPcuOe87xAUK1bPSL96bFTHBlji9r8fTnlvxU9SDi4j3drtExkhhLqOgKdeQ/5+9zoy0tr5hloo4sX9g8xoHVuWj3lF14qKqMYWHrJCrfIKGvDNl0TmlMv66GB8F0vqGLfZN0qb6/oHJHSbMlCj+dFNNs4rtB6MTyVIQo2j5P4st6ut38pHUcPSq/wXGwS13zCb1tiO7Gc3MM2pKEBc7A7Ypvpq7Qbqk6GYvKNbIbnQSpgpJ4OA7+jdz3IMGCHjOBmnwaNrIesaY4hkptITX2pH3t7oPAm9vmdngyTq7dkukLsoE+qMNHMpz7eu3zvi8axx94YG9h3O1NG5kBiPCPw4Wqnt0wvw18xpN8vU4XeR0tunS4wcX0QFkaMPSiJHMc7QJET8+kcTW70Kicfsr69zY6U+vA8fhl7RmUJa5g7oPzeExPnqwbD1MJBSX1TJw74j9c+qB99uXujIipfT4MA2v9B8oDuSodzdWxzmDuIC9b1SBp4tRzIVOcjAxW4NE1jbaE6CJtfYFP0dMVf6AeAiTQSNn5Z9iUP5e+TEUkfbqaOuZK6IPQYhGnV71c2S52EhKOsJeKIkgsrcu4DhTXY5oW/016yygMeX/yoVm6s6eHdsme+H9kMvw843aRwoQrJTkiuaSdD4p1L5KktVgt9umVrb1jDh6j1ZKl/CxT9ouQnXbxaX3MXT6afD6t82UQiepfC7/8MXMJvWbuB+iLEYE+uii9O0bKmCKqpjXmFsCCNKTw2yva3V/KqCHHuEDJb/0XfiRbOoreWSf8r/RJ1heW+Hf/57DLN6EZAp5UaF42h5Wwvl/TYhhKpkMtoV1kPFSdGPhSAM30Ixcuc4tpcA8CR0A5lvQkm69k3TPfcXuKTRrBiJ8lN+M9Ov9DQQWEUKSCQIFZ/1Xt5rdQmOUa1yOLOH/sYUBOk4Mla62gJXMyKpDGZW7I27I9xSTDrR1gAzLIMNoRWRGXFqQ1BSjEXCB0ZlM4S3bA3rvNwuUwvxVHFl+/FhTJiTuon7QwH41hHu/AYgn4N0mXj5suws4uAVSTk00ZVi0bBhAXHxExKyqLi1lk6tYaY0Agc7rM/mmo9GyI+Q5W/7ZSfzsAjMflIKKWR3XvDNyCAz4UQ6E+uDMJa2ITt1A7vSPr4xa8blGD8hma/if5KEFPMP1nOawbfoG6782n88zWP09Y7tj+YcQozoG2zo98ix8ZXtgLP3kmIVKA9djWpS1ofgU1TxXdsfHqRExdAD/+GfiBbQNjqRb6ylxeUe7Ca3jxhIrjEzTLQmtO2M0uh6MVvKy6OwAiGuTN3lZruQFJFnIAlMQhkvTvWbfSi5BA+M7szPzSImmNARs/SdPyi8Hp7nzWR/vIA5HoTeMSh8rlCSFRBWH+Z7n6XlQY/NN+beOahJ8qLnSAvilwP5/KnFZhLQSLka9S/jBosiLq4RhlXtecFj0f+1cbSmgU1RRvufR6yVVsEpYsyKwGZDVbWZbluj+WYSehw5kFNrxJO2mfvd0QbjpbZWsx3Xhi+SsXQKNHM6jGDiVOnD/iyW7P/UfDSTAKT2zrB0l/3lur9t22HEkPUz2N4wPAENX1itjecR5ztK2rwIt5++XTfwIjMpQ6eQS7MrVkfjR6IUMvTy7h9sAJfLwAZB+JyZuo3kvfVy+myXS56+ciWGWf7m/SFedekimCFS1URD4sWXdHMD0ZPNpRiwYCWDW/wDDHqQjZuMCrz3w0DZBYfSHgDif+PJE5b54SoXV8CYzQgBGXwlk1O3KwyHozLBUCoCghaHpm6gIjPba1Iu2uz9cOLu8CLesuoaYKn3gQUnWVkSgh03w/AYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0153TfFhWUJMekCdM9VitGq4",
      "input": {
        "note": "Left arm appears to be holding the cap (it's gone from the table). Now moving the right arm above the diagonal pen, yawed to close across it.",
        "targets": {
          "right_x": 0.34,
          "right_y": 0.22,
          "right_yaw": 0.7,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_0153TfFhWUJMekCdM9VitGq4",
      "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]: [-0.3538, 1.6207, 0.535, 0.5411, 0.0566, 0.0238, 0.0613, 0.4793, 1.3998, 0.691, 0.0143, -0.1593, -0.1101, 0.9991]\nstate[eef_state]: left_x=0.3837 left_y=-0.1486 left_z=0.0594 left_yaw=-0.4254 left_pitch=0.0256 left_roll=0.0005 left_gripper=0.0613 right_x=0.3298 right_y=0.207 right_z=0.1019 right_yaw=0.6667 right_pitch=-0.1272 right_roll=0.0142 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -6.5436, 5.2581, 1.917, -0.0415, -0.0611, 1.033, 0.335, -5.4359, 8.9368, 1.8974, -0.1245, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d6260f2118899074c2a0e1062d6bfb2274dbfa68878eafc152b9aae8e7717f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e34dda1be57ed424841e954d277c096fc6af64435b59cbb04b9a745d5712317",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ae5745f0af7c0b8df8217fb615cde27078656d9a5f860064a3f3b0eee9c5ecf4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 6.62 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]: [-0.3538, 1.9411, 0.4923, 0.9314, 0.0578, 0.0296, 0.0481, -0.0193, 0.8131, 0.6125, -0.4129, -0.0227, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.391 left_y=-0.1515 left_z=0.0005 left_yaw=-0.4295 left_pitch=0.0526 left_roll=0.0068 left_gripper=0.0481 right_x=0.2925 right_y=0.002 right_z=0.1719 right_yaw=-0.0007 right_pitch=-0.0564 right_roll=0.001 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, -8.335, 3.494, 1.5946, -0.0024, 0.0659, 1.4188, -0.2667, -1.3197, 7.0632, 1.7118, -0.0464, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3534, 1.6199, 0.5343, 0.5602, 0.0563, 0.0238, 0.055, -0.0196, 0.8165, 0.6125, -0.4126, -0.0227, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3859 left_y=-0.1491 left_z=0.0635 left_yaw=-0.4248 left_pitch=0.0446 left_roll=0.002 left_gripper=0.055 right_x=0.2928 right_y=0.0018 right_z=0.171 right_yaw=-0.0011 right_pitch=-0.0595 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -7.6103, 8.4991, 2.0098, -0.0269, 0.0073, 1.0281, -0.1709, -1.4838, 7.0496, 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 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]: [-0.3538, 1.6207, 0.535, 0.5411, 0.0566, 0.0238, 0.0613, 0.4793, 1.3998, 0.691, 0.0143, -0.1593, -0.1101, 0.9991]\nstate[eef_state]: left_x=0.3837 left_y=-0.1486 left_z=0.0594 left_yaw=-0.4254 left_pitch=0.0256 left_roll=0.0005 left_gripper=0.0613 right_x=0.3298 right_y=0.207 right_z=0.1019 right_yaw=0.6667 right_pitch=-0.1272 right_roll=0.0142 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -6.5436, 5.2581, 1.917, -0.0415, -0.0611, 1.033, 0.335, -5.4359, 8.9368, 1.8974, -0.1245, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d6260f2118899074c2a0e1062d6bfb2274dbfa68878eafc152b9aae8e7717f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e34dda1be57ed424841e954d277c096fc6af64435b59cbb04b9a745d5712317",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae5745f0af7c0b8df8217fb615cde27078656d9a5f860064a3f3b0eee9c5ecf4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS/AgKEAgSGAI4AUIIdGhpbmtpbmcSDG0CzV2/x/0VDykRdhoMbSiwhdAtvaqbRgT7IjBFH+ZZhHJFagdOFVvC5Zm6O8m+A24oOENqWInf2GLUnXYKEpS8JXCCHfqVWCCHx0QqmQh5oz6K4CRlu89hAH8M3UTFqM5Fk04H5N5pm2lTNZqRxWpDJBk0rnEMh9JVUjvtv58LJDBzft90JoXHnwgEuwmW9SFuMd4DoxUFOE7yxZI1ygE5pzUyGEdPElNfxYVUqpOHnF8442b6F1xCGJnwoXfcC0SO4ZCDcjknXlMe/shXso7w5A8RTYiS48TXQS+v9cxrBmPUs1b9AUTYfIxI8ozIFZR4tGUoDvMHPGMJNsDnmW5hc4lNMH4GU19dg2T/pUd+mFNBJjZzZTcz2EgrTnK9JXZV8oiBe7svpEiu7mxYJcPo+UG8DYhdcckIo5Vz1MEU5XaotPUcqjULrCFkWw4mjjNvZvBwjJch+RMVM7Kj/ROzeHuVP69SgDX4+mJQR3dBx08b7rneWm0iFvJ46wGYklaDlOmwWRbSCjUiBsGCFxdFUVb4CR0+LTLKl2P4MJhAj+gpmBgwSMnKbGzzC/75eHJDDdtnoencNsEW3YOQsxQvcPY8ijd/Qeja4YewHvtwuleRr5RgzbXQ4ZagJr9GQNJ7/LtUegw+9ozHKNv70i5Wq/5WaZ7fSJPNfrfGoNdWwL1Jdj29t931EsMSwuTyHrEbDyQBxAKt+8DUE789UlUf4T+SijWE0nIMLn2qWZm4OEh3YKwOzPv+QiRCHsox3JdOxrKvkKPRk92R88/kisxjuaGmHhgvqylf8YNXRCwN/p5o549mTS/PF4bwKQ0nu5FipxmXSoIAtNtTtanl6DB6uljZ8mugJhj8vrJsOMMb2qW15oAiWFI+/ot7ZiM5UPwXNpobgoKzpbUoCIwLZ1vVC+dsJWrwYbTm57D3rW83yC1jJ1SbTy4Vukntv6GvM0td2cESmBh7uk3HGPwUTK0fVMwfh1nMMfcHiuZInQ5rThW4HWu04H92fK+1QtDSEnaDoJVIf24iMVRblBofJoAfDkSYSxGvzIKUQN35AQxT57i16n5pMS2mS1LXlTjja6/G6gIocw44eLy+nTbO9U/qICXW6WMTQCy+P3/iaMBq3OKe8JEa3SJaxdj8R+8+CTXh2QLpU3yQ8TqMqEXhYCZ0P1kYWLNjjcgylZ85hZvH5rPL3vvfjyKEH0aHGSWOAser4ohWjWctQp2MaDFSZ+bAk3+mhoMKqxhFjY4CcPVX8u/FReKxt1C965ZxR+b7eEKLTIzkOGzH/N3zsULw5HNP8+i2tWbRYxKrwuQW2tgRYE76ONUMjil2fQoUVMr/QGHrS1eaOev2A5QlXLC/RuFvyaKaW4UXPG/42tXEb2ZDE5fdOXZEklwTgcy4yUKiO8cD3N+6V4JA2RUbpX07fbyrvEj9Pm0SumJWBhG5ja/SKh6ZHp68UzRBLVMsrwHqIys2E0KfQklnToH+IUyvl+DKU31awTT0OhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KPAWsaxuSL9Qb9DE2DXWs2",
      "input": {
        "note": "Right wrist view shows the pen running nearly vertically along the jaw column, extending toward the fingertips. Advancing slightly and descending to table level to grasp it.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.355,
          "right_y": 0.215,
          "right_yaw": 0.7,
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01KPAWsaxuSL9Qb9DE2DXWs2",
      "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]: [-0.3538, 1.6207, 0.5335, 0.5343, 0.0566, 0.0238, 0.0663, 0.4488, 1.9015, 0.5236, 0.8009, -0.2138, -0.1535, 0.9991]\nstate[eef_state]: left_x=0.3825 left_y=-0.1481 left_z=0.0574 left_yaw=-0.4254 left_pitch=0.0172 left_roll=-0.0001 left_gripper=0.0663 right_x=0.3562 right_y=0.2171 right_z=0.0005 right_yaw=0.7036 right_pitch=-0.0052 right_roll=-0.0153 right_gripper=0.9991\nstate[joint_eff]: [-0.0479, -6.4479, 5.5316, 1.8144, -0.022, -0.0562, 1.033, -1.0051, -5.6684, 3.1521, 0.6129, -0.2418, 0.2222, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a453bd527f8109d50de0fe3a1aca159240e4dba2075b85ef351dd25c21713590",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c12cfcb26151fcedc0be9d4da9491ecf7c276b8d861c61104afc9be176f5919c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0cda01431d98c85a9a4322c8022c3a4c96b62c6f14a1c4a53fa7c199e760f55a",
        "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 · 3.568 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]: [-0.3534, 1.6199, 0.5343, 0.5602, 0.0563, 0.0238, 0.055, -0.0196, 0.8165, 0.6125, -0.4126, -0.0227, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3859 left_y=-0.1491 left_z=0.0635 left_yaw=-0.4248 left_pitch=0.0446 left_roll=0.002 left_gripper=0.055 right_x=0.2928 right_y=0.0018 right_z=0.171 right_yaw=-0.0011 right_pitch=-0.0595 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -7.6103, 8.4991, 2.0098, -0.0269, 0.0073, 1.0281, -0.1709, -1.4838, 7.0496, 1.7607, -0.0317, -0.0757, -0.0122]",
      "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]: [-0.3538, 1.6207, 0.535, 0.5411, 0.0566, 0.0238, 0.0613, 0.4793, 1.3998, 0.691, 0.0143, -0.1593, -0.1101, 0.9991]\nstate[eef_state]: left_x=0.3837 left_y=-0.1486 left_z=0.0594 left_yaw=-0.4254 left_pitch=0.0256 left_roll=0.0005 left_gripper=0.0613 right_x=0.3298 right_y=0.207 right_z=0.1019 right_yaw=0.6667 right_pitch=-0.1272 right_roll=0.0142 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -6.5436, 5.2581, 1.917, -0.0415, -0.0611, 1.033, 0.335, -5.4359, 8.9368, 1.8974, -0.1245, -0.022, -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]: [-0.3538, 1.6207, 0.5335, 0.5343, 0.0566, 0.0238, 0.0663, 0.4488, 1.9015, 0.5236, 0.8009, -0.2138, -0.1535, 0.9991]\nstate[eef_state]: left_x=0.3825 left_y=-0.1481 left_z=0.0574 left_yaw=-0.4254 left_pitch=0.0172 left_roll=-0.0001 left_gripper=0.0663 right_x=0.3562 right_y=0.2171 right_z=0.0005 right_yaw=0.7036 right_pitch=-0.0052 right_roll=-0.0153 right_gripper=0.9991\nstate[joint_eff]: [-0.0479, -6.4479, 5.5316, 1.8144, -0.022, -0.0562, 1.033, -1.0051, -5.6684, 3.1521, 0.6129, -0.2418, 0.2222, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a453bd527f8109d50de0fe3a1aca159240e4dba2075b85ef351dd25c21713590",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c12cfcb26151fcedc0be9d4da9491ecf7c276b8d861c61104afc9be176f5919c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cda01431d98c85a9a4322c8022c3a4c96b62c6f14a1c4a53fa7c199e760f55a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrgoKEAgSGAI4AUIIdGhpbmtpbmcSDJNpCIqqVKfeGhw7BhoMzQYTN2U1dkTsj9zsIjDe5tB8yirFQcDtubEirjux5Kqh9YIbmojfurzviUiVW/RYekEtypZ8JWXh7iX5xCoqywnJbUfxCfkPj6guJ4x/dvHP1SvcYkutsqWLwT9zJWBZoBJNF6Lwo6x2f93IG9vfaFCMxQe8WJ/6JZeAa3BIgmnQoAx4ypwgNHv5uzLSFanoBYoz9nNET/cOhJxpL5i2dxt/z8/vCPuYdqx19HSNwTtSywgTeN7AFfGabugC1q5mkEYjGkQpdMXMv0Onh3Xcmzi+uECOIHJdfTuHXGEwRvQJgdYP+Fqwu60oDkZkQc/dHfeMws2Z/XY1zHloWIYUcDbqCeeD5jIMWVz01ZGGKIHV+ormm+QlwgrkTlH5k98MySWWEiQxj/6jT71j2UFqPgtRCtnaEiB3HpKBxDfRnrMUeQ/yznwsooRyDCctcbjF7W1BLpREu3M6nLDB4hx19uF6UrCbgBKPoJWL2kSbCIJP8LaigB6+TR3OtAKsqcUuy9f1stjln45zIVmCoIrgfkoJTScddJAHyLcbujdaPFQeDy3WSlsjvfFguz51/LNYDT5kUwXZLrsmDw/M0kLz3y+ZSjovcY4uzDzqmEIFWVNZHhr/XUe2ywVEdlN0f0gjJS53UwWtTNp17g33WItVX3miilxjEfLvKQnVSacviOcWwdMfmG/3jv2srAzOloB0eMmTtLeg/o1+KVmD4G3CrKiER5anqk27g4xhgL5IVPr3b+8awKw8RaX/xre4R4kbulg07IBUt4JtYZ2c84cB9Mp416Q0D16lodo1LDHbH8dS54cT4Bq+VAPSvCjmkcax3v7iRasQGUCwqnyCbqjq6dHlUWE1YWdEbwnPOHqtkeQdMAoqRgtsj+fd+GOq0B5Ptemyu4e8oLOrPEhjh0g20VXZP7Sn/qAwwjfoVX+SMbINkrzXFy0HZnen+qIS+MgZrMEgw24IWZDoVb+kEvcImkkHgZbvPrxWB1NMfkOVciX2U3GJK1kxR35QaaebW+n6Njr1gvxPvgeKEBXSAJumbPnQljTb5rGHRVtAM0uLtAB5bwM7OGGcP8mfGPEPVb6yaqaKMI1/EXoYxpx5ywwatmTPQmtppyezpW9+WC3XANKuuP4fXyq6LEWlfzD/heAU++4NUlYmk/dyEf93daJAXU9BeqRiyjPcP9MaE5NLc3dIONcsOVBzvhNmCP3AeYo4EVzm2Q9I45xIlE3zUeO0mnKGKBJySfWzUU+lDMHtgha7VPfe9G5YcVllDSTIuGYR/7Olernw5zA+M9Ulkj5wtmJh78AKZ3tGej7e5Yls/8Y00WtriE/hSXfIAjEJuEpGN0Ikzz5+KlTulLf0AgXjBBo7/8EciKW4nuLAdV9CzmZ4kluuc/0tCSmUvsbyKLHTa3745ywDzqL/GRaPP+Y8hcXd0+Vin4out8smAZYoKT4d7usL2b6bCjudD+i0dT1HUb2Z1JLYbKYFF8r6/Cebxw10SQkPBSC1f4dMEb9YYnDlSTPkm0UaUVAHDaCuQ7rwCr/h0pIpOIJhh6FWnJzCJZVtrrSRVzSsr7/jBrWHga6G6DThFmt/OMZ4VYqrFfHocB1mfeM8FkyyT+4168of+1ZhV9HCKoTJVIqriiQzL3gK2b2xMNpViPyCxBhSpr3OE9Y4lyTX/xMXA2vzRz11i+JFk9+jMgovVMGyQo6oF+DiL1/Em4KrjiqFxlYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011V7AhHV7q1XRAKkoWrM2zb",
      "input": {
        "note": "Pen lies between the jaws but slightly right of centre; nudging right about 1 cm to centre it before closing.",
        "targets": {
          "right_x": 0.364,
          "right_y": 0.207,
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 1 steps (0.1s)",
      "tool_use_id": "toolu_011V7AhHV7q1XRAKkoWrM2zb",
      "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]: [-0.3538, 1.6207, 0.5335, 0.5346, 0.0566, 0.0238, 0.0663, 0.4446, 1.9358, 0.5175, 0.8799, -0.2222, -0.1539, 0.9991]\nstate[eef_state]: left_x=0.3825 left_y=-0.1481 left_z=0.0575 left_yaw=-0.4254 left_pitch=0.0176 left_roll=-0.0001 left_gripper=0.0663 right_x=0.36 right_y=0.2186 right_z=0.0014 right_yaw=0.7068 right_pitch=0.0332 right_roll=-0.0212 right_gripper=0.9991\nstate[joint_eff]: [-0.2667, -6.4479, 5.4359, 1.8193, -0.0513, -0.0708, 1.033, -0.7316, -6.2427, 3.0974, 1.6728, -0.1978, 0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e1cbac4d0a3d3e6ac48a16f1fdcc74132b59d6f30ad18bce9624651487671f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1fbee76549e657d12b30344fc7c0e98a6d7cd97298dc7189a6b0359cb20251e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aafc8f930dc8dde1a8edd19fd2345d68aa79057d311e49542dd5002bbea5b72c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /messages · status 200 · 9.947 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]: [-0.3538, 1.6207, 0.535, 0.5411, 0.0566, 0.0238, 0.0613, 0.4793, 1.3998, 0.691, 0.0143, -0.1593, -0.1101, 0.9991]\nstate[eef_state]: left_x=0.3837 left_y=-0.1486 left_z=0.0594 left_yaw=-0.4254 left_pitch=0.0256 left_roll=0.0005 left_gripper=0.0613 right_x=0.3298 right_y=0.207 right_z=0.1019 right_yaw=0.6667 right_pitch=-0.1272 right_roll=0.0142 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -6.5436, 5.2581, 1.917, -0.0415, -0.0611, 1.033, 0.335, -5.4359, 8.9368, 1.8974, -0.1245, -0.022, -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]: [-0.3538, 1.6207, 0.5335, 0.5343, 0.0566, 0.0238, 0.0663, 0.4488, 1.9015, 0.5236, 0.8009, -0.2138, -0.1535, 0.9991]\nstate[eef_state]: left_x=0.3825 left_y=-0.1481 left_z=0.0574 left_yaw=-0.4254 left_pitch=0.0172 left_roll=-0.0001 left_gripper=0.0663 right_x=0.3562 right_y=0.2171 right_z=0.0005 right_yaw=0.7036 right_pitch=-0.0052 right_roll=-0.0153 right_gripper=0.9991\nstate[joint_eff]: [-0.0479, -6.4479, 5.5316, 1.8144, -0.022, -0.0562, 1.033, -1.0051, -5.6684, 3.1521, 0.6129, -0.2418, 0.2222, -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 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]: [-0.3538, 1.6207, 0.5335, 0.5346, 0.0566, 0.0238, 0.0663, 0.4446, 1.9358, 0.5175, 0.8799, -0.2222, -0.1539, 0.9991]\nstate[eef_state]: left_x=0.3825 left_y=-0.1481 left_z=0.0575 left_yaw=-0.4254 left_pitch=0.0176 left_roll=-0.0001 left_gripper=0.0663 right_x=0.36 right_y=0.2186 right_z=0.0014 right_yaw=0.7068 right_pitch=0.0332 right_roll=-0.0212 right_gripper=0.9991\nstate[joint_eff]: [-0.2667, -6.4479, 5.4359, 1.8193, -0.0513, -0.0708, 1.033, -0.7316, -6.2427, 3.0974, 1.6728, -0.1978, 0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e1cbac4d0a3d3e6ac48a16f1fdcc74132b59d6f30ad18bce9624651487671f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1fbee76549e657d12b30344fc7c0e98a6d7cd97298dc7189a6b0359cb20251e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aafc8f930dc8dde1a8edd19fd2345d68aa79057d311e49542dd5002bbea5b72c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQS7AYKEAgSGAI4AUIIdGhpbmtpbmcSDJ1TpXbwa4/7MXqodRoMbzwOYJyX0RkigZGAIjD8zKOqxw/9PYFaDhv9LNfN8PQo6Bx9Rf7e4dMRX2rHzSBNbcU729sE3SA0Rno4ZtQqiQYLyrsSaP/qiZYFIRe5Br5qBdBYHw5XsU1phdghJjWc97B4JAOJEPgB29i9+FWDXCKnnm9g4SdsavzfDJGCmel4Ecmi3HFdd5y5IDTdPYAXP2nDhqXs30EoLp6FgTLKvQq7fEvy/spHvt3Zx13OUDBx2VUb7m4Ejh6jR5Iy9U3CYMo4abXryyhA89E5rTO7zAkTwPDfwyntdkmfJmMmAPwNahiU2f4jQiI94SUJ9LbGt1sCoXh9mqgU/gvvKvbDNAByvEtSnDd+di7GBWqKNPJbe6wn7df5p/EzwyPOGOSMUWRSUauXUbuR/Co+11ERe8fxz0wyvUKKtxMiUnwMzQZF0CPmPpJGkM9H6Va5SRwWz3xgudLWSDPGd5odWUjffAV076v/ySwZLxdq4sB7F3O9T6BmgfZoOKnT+roTI8h2yN1symOx7ok6AE1FAkSLbQ3IhYKhmcC1qMnruFHYxOcS4kX9wjnXFeXNA7sM8Plkf18LQlLIINbt2/v9jkJNhLlfrxQj2aj0muPkOaa3pxfzTojqvJ9szkH2+dGCB2J6vpAgkKyuFyOagv/GuXwXqHjlBLJDzQ5nccDrBEaKZKlwWBwuDNabKdsFGUFx+41w+onQMsSDqb/XQPh0RJkXtrTQuCzT/OmQSWM+/Jh2rJjgEb2lBSgGql/HJzyhUaYROGn5dqo76c9OC03ACfRGHApck2OqEIyEx3SIB4OQdl2aHB1IwbUiViIyRgsyY/izMMFjDGanJ5KJQRsYiOpV7x7GNW0g/QGIXlysGilMuwlMsopeu2AulJK3DA8NeKYTC5cKaKzGFi5G3swec6gn5k23JUaU2F7NWtZL0+ixph72kYs1JEltPkI9lEU/B1SmBxKS8y5zpU+LJ97t0uvhQ0Q5kkN5SjRFWJMYJYy9HUzYLEx8H6a3wuQhHqV/Q/YOy1YiQcDhpqWO7gsghHxuIWJ48+AfHOCm9nlcd3tZ3oVZqs8kMnOYGBJIhP1unF8Vqr0ncEGYOI4Q0i5/KN2xjV44207sro3IyqIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016eF3rmV4bgMNEDSQyBy9wg",
      "input": {
        "note": "Pen is between the right jaws, close to centre. Closing the right gripper.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_016eF3rmV4bgMNEDSQyBy9wg",
      "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]: [-0.3538, 1.6207, 0.5335, 0.5343, 0.0566, 0.0238, 0.0663, 0.4408, 1.9385, 0.5201, 0.889, -0.2279, -0.1619, 0.0416]\nstate[eef_state]: left_x=0.3825 left_y=-0.1481 left_z=0.0574 left_yaw=-0.4254 left_pitch=0.0172 left_roll=-0.0001 left_gripper=0.0663 right_x=0.3618 right_y=0.2188 right_z=0.0032 right_yaw=0.7121 right_pitch=0.0427 right_roll=-0.0278 right_gripper=0.0416\nstate[joint_eff]: [-0.3487, -6.4752, 5.4222, 1.7558, -0.0562, -0.0464, 1.033, 0.1983, -7.8154, 4.0957, 1.6825, -0.1538, 0.0855, 1.5311]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e7cc76b7ce0a2e070dc00366ede3703a2795c2de6f06e0298ac0665abbcbf7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52c4b07939e80ad3989d568b2dc6b92d772df8f7b5c705ba80daa29ae61b876c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8fcc420183b4cde6c127df158f75b309a5493810a55fc399af463498a29b8ab6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /messages · status 200 · 14.68 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]: [-0.3538, 1.6207, 0.5335, 0.5343, 0.0566, 0.0238, 0.0663, 0.4488, 1.9015, 0.5236, 0.8009, -0.2138, -0.1535, 0.9991]\nstate[eef_state]: left_x=0.3825 left_y=-0.1481 left_z=0.0574 left_yaw=-0.4254 left_pitch=0.0172 left_roll=-0.0001 left_gripper=0.0663 right_x=0.3562 right_y=0.2171 right_z=0.0005 right_yaw=0.7036 right_pitch=-0.0052 right_roll=-0.0153 right_gripper=0.9991\nstate[joint_eff]: [-0.0479, -6.4479, 5.5316, 1.8144, -0.022, -0.0562, 1.033, -1.0051, -5.6684, 3.1521, 0.6129, -0.2418, 0.2222, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3538, 1.6207, 0.5335, 0.5346, 0.0566, 0.0238, 0.0663, 0.4446, 1.9358, 0.5175, 0.8799, -0.2222, -0.1539, 0.9991]\nstate[eef_state]: left_x=0.3825 left_y=-0.1481 left_z=0.0575 left_yaw=-0.4254 left_pitch=0.0176 left_roll=-0.0001 left_gripper=0.0663 right_x=0.36 right_y=0.2186 right_z=0.0014 right_yaw=0.7068 right_pitch=0.0332 right_roll=-0.0212 right_gripper=0.9991\nstate[joint_eff]: [-0.2667, -6.4479, 5.4359, 1.8193, -0.0513, -0.0708, 1.033, -0.7316, -6.2427, 3.0974, 1.6728, -0.1978, 0.0366, -0.0171]",
      "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]: [-0.3538, 1.6207, 0.5335, 0.5343, 0.0566, 0.0238, 0.0663, 0.4408, 1.9385, 0.5201, 0.889, -0.2279, -0.1619, 0.0416]\nstate[eef_state]: left_x=0.3825 left_y=-0.1481 left_z=0.0574 left_yaw=-0.4254 left_pitch=0.0172 left_roll=-0.0001 left_gripper=0.0663 right_x=0.3618 right_y=0.2188 right_z=0.0032 right_yaw=0.7121 right_pitch=0.0427 right_roll=-0.0278 right_gripper=0.0416\nstate[joint_eff]: [-0.3487, -6.4752, 5.4222, 1.7558, -0.0562, -0.0464, 1.033, 0.1983, -7.8154, 4.0957, 1.6825, -0.1538, 0.0855, 1.5311]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e7cc76b7ce0a2e070dc00366ede3703a2795c2de6f06e0298ac0665abbcbf7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52c4b07939e80ad3989d568b2dc6b92d772df8f7b5c705ba80daa29ae61b876c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fcc420183b4cde6c127df158f75b309a5493810a55fc399af463498a29b8ab6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QoAUrh833KWetQc55MZ2Uq",
      "input": {
        "note": "Right gripper holds the pen (visible along the jaw axis, tip forward); left holds the cap. Lifting both to check grasps and prepare to bring them together.",
        "targets": {
          "left_z": 0.15,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01QoAUrh833KWetQc55MZ2Uq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3538, 1.3895, 0.7025, 0.0917, 0.0563, 0.0235, 0.0692, 0.44, 1.4563, 0.7258, 0.1993, -0.2298, -0.1661, 0.0422]\nstate[eef_state]: left_x=0.3768 left_y=-0.146 left_z=0.1246 left_yaw=-0.4249 left_pitch=-0.025 left_roll=-0.0033 left_gripper=0.0692 right_x=0.3624 right_y=0.2191 right_z=0.133 right_yaw=0.7152 right_pitch=0.0411 right_roll=-0.03 right_gripper=0.0422\nstate[joint_eff]: [-0.3761, -7.1043, 10.0855, 1.9219, -0.0562, -0.0562, 1.033, -0.1983, -7.8701, 8.8821, 1.8535, -0.0366, 0.0269, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c2251219d0bd5f9b7d71531e5b2d91b554ccd27dabd8f2012e2835668d5bbf3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0a62f4a25ca52e29fd8148ad67da42cdeed7a979de57b5bbde71175009c5fbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f9259fbe1e8104706f48dc11b4a39775343410a2d1231f80af377416e98b76ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /messages · status 200 · 10.75 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]: [-0.3538, 1.6207, 0.5335, 0.5346, 0.0566, 0.0238, 0.0663, 0.4446, 1.9358, 0.5175, 0.8799, -0.2222, -0.1539, 0.9991]\nstate[eef_state]: left_x=0.3825 left_y=-0.1481 left_z=0.0575 left_yaw=-0.4254 left_pitch=0.0176 left_roll=-0.0001 left_gripper=0.0663 right_x=0.36 right_y=0.2186 right_z=0.0014 right_yaw=0.7068 right_pitch=0.0332 right_roll=-0.0212 right_gripper=0.9991\nstate[joint_eff]: [-0.2667, -6.4479, 5.4359, 1.8193, -0.0513, -0.0708, 1.033, -0.7316, -6.2427, 3.0974, 1.6728, -0.1978, 0.0366, -0.0171]",
      "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]: [-0.3538, 1.6207, 0.5335, 0.5343, 0.0566, 0.0238, 0.0663, 0.4408, 1.9385, 0.5201, 0.889, -0.2279, -0.1619, 0.0416]\nstate[eef_state]: left_x=0.3825 left_y=-0.1481 left_z=0.0574 left_yaw=-0.4254 left_pitch=0.0172 left_roll=-0.0001 left_gripper=0.0663 right_x=0.3618 right_y=0.2188 right_z=0.0032 right_yaw=0.7121 right_pitch=0.0427 right_roll=-0.0278 right_gripper=0.0416\nstate[joint_eff]: [-0.3487, -6.4752, 5.4222, 1.7558, -0.0562, -0.0464, 1.033, 0.1983, -7.8154, 4.0957, 1.6825, -0.1538, 0.0855, 1.5311]",
      "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]: [-0.3538, 1.3895, 0.7025, 0.0917, 0.0563, 0.0235, 0.0692, 0.44, 1.4563, 0.7258, 0.1993, -0.2298, -0.1661, 0.0422]\nstate[eef_state]: left_x=0.3768 left_y=-0.146 left_z=0.1246 left_yaw=-0.4249 left_pitch=-0.025 left_roll=-0.0033 left_gripper=0.0692 right_x=0.3624 right_y=0.2191 right_z=0.133 right_yaw=0.7152 right_pitch=0.0411 right_roll=-0.03 right_gripper=0.0422\nstate[joint_eff]: [-0.3761, -7.1043, 10.0855, 1.9219, -0.0562, -0.0562, 1.033, -0.1983, -7.8701, 8.8821, 1.8535, -0.0366, 0.0269, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c2251219d0bd5f9b7d71531e5b2d91b554ccd27dabd8f2012e2835668d5bbf3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0a62f4a25ca52e29fd8148ad67da42cdeed7a979de57b5bbde71175009c5fbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9259fbe1e8104706f48dc11b4a39775343410a2d1231f80af377416e98b76ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014crzzHW5NaThQiXWCEXBj8",
      "input": {
        "note": "Both objects are off the table: pen in the right gripper pointing forward-left, cap in the left gripper. Rotating the wrists so the pen points toward the left arm and the cap points toward the right arm.",
        "targets": {
          "left_yaw": -1.57,
          "left_z": 0.17,
          "right_yaw": 1.57,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_014crzzHW5NaThQiXWCEXBj8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0101, 1.9274, 1.5623, -0.8383, 0.8883, 1.1366, 0.0721, 0.178, 1.8294, 1.3937, -0.5991, -0.9276, -1.0271, 0.0452]\nstate[eef_state]: left_x=0.4262 left_y=-0.1378 left_z=0.1587 left_yaw=-1.322 left_pitch=-0.0606 left_roll=0.0297 left_gripper=0.0721 right_x=0.3925 right_y=0.2178 right_z=0.167 right_yaw=1.426 right_pitch=0.0138 right_roll=-0.0827 right_gripper=0.0452\nstate[joint_eff]: [0.1162, -10.7966, 6.5436, 0.3932, 0.7888, 0.2027, 0.9402, -0.3761, -9.3744, 6.5162, 0.6764, -0.9988, -0.0855, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5a929885ca949b0e542241dc0c4be12488a87dfc8f776f02bd9c170ff797bac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3eae3a361666e81ef3254da423ffe4fc5d7e753c9fd07902c881a2b30727015e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:234e592c9c9321aa1a572aeaa673b196a685df78aeb9d94de356aca859ba6138",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /messages · status 200 · 8.903 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]: [-0.3538, 1.6207, 0.5335, 0.5343, 0.0566, 0.0238, 0.0663, 0.4408, 1.9385, 0.5201, 0.889, -0.2279, -0.1619, 0.0416]\nstate[eef_state]: left_x=0.3825 left_y=-0.1481 left_z=0.0574 left_yaw=-0.4254 left_pitch=0.0172 left_roll=-0.0001 left_gripper=0.0663 right_x=0.3618 right_y=0.2188 right_z=0.0032 right_yaw=0.7121 right_pitch=0.0427 right_roll=-0.0278 right_gripper=0.0416\nstate[joint_eff]: [-0.3487, -6.4752, 5.4222, 1.7558, -0.0562, -0.0464, 1.033, 0.1983, -7.8154, 4.0957, 1.6825, -0.1538, 0.0855, 1.5311]",
      "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]: [-0.3538, 1.3895, 0.7025, 0.0917, 0.0563, 0.0235, 0.0692, 0.44, 1.4563, 0.7258, 0.1993, -0.2298, -0.1661, 0.0422]\nstate[eef_state]: left_x=0.3768 left_y=-0.146 left_z=0.1246 left_yaw=-0.4249 left_pitch=-0.025 left_roll=-0.0033 left_gripper=0.0692 right_x=0.3624 right_y=0.2191 right_z=0.133 right_yaw=0.7152 right_pitch=0.0411 right_roll=-0.03 right_gripper=0.0422\nstate[joint_eff]: [-0.3761, -7.1043, 10.0855, 1.9219, -0.0562, -0.0562, 1.033, -0.1983, -7.8701, 8.8821, 1.8535, -0.0366, 0.0269, 1.033]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0101, 1.9274, 1.5623, -0.8383, 0.8883, 1.1366, 0.0721, 0.178, 1.8294, 1.3937, -0.5991, -0.9276, -1.0271, 0.0452]\nstate[eef_state]: left_x=0.4262 left_y=-0.1378 left_z=0.1587 left_yaw=-1.322 left_pitch=-0.0606 left_roll=0.0297 left_gripper=0.0721 right_x=0.3925 right_y=0.2178 right_z=0.167 right_yaw=1.426 right_pitch=0.0138 right_roll=-0.0827 right_gripper=0.0452\nstate[joint_eff]: [0.1162, -10.7966, 6.5436, 0.3932, 0.7888, 0.2027, 0.9402, -0.3761, -9.3744, 6.5162, 0.6764, -0.9988, -0.0855, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5a929885ca949b0e542241dc0c4be12488a87dfc8f776f02bd9c170ff797bac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3eae3a361666e81ef3254da423ffe4fc5d7e753c9fd07902c881a2b30727015e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:234e592c9c9321aa1a572aeaa673b196a685df78aeb9d94de356aca859ba6138",
        "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_01QnUEwyk59LeC8mceDeb7xT",
      "input": {
        "note": "Pen now points left toward the left arm, and the cap protrudes right from the left gripper; ~10 cm gap between them. Aligning both at the same x/z and moving the cap about 6 cm toward the pen tip.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.2,
          "left_yaw": -1.57,
          "left_z": 0.17,
          "right_x": 0.4,
          "right_y": 0.22,
          "right_yaw": 1.57,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01QnUEwyk59LeC8mceDeb7xT",
      "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]: [-0.1444, 1.9965, 1.689, -1.0344, 0.8974, 1.2671, 0.0727, 0.1703, 1.9659, 1.6016, -0.836, -0.9699, -1.2404, 0.0453]\nstate[eef_state]: left_x=0.3977 left_y=-0.1937 left_z=0.1601 left_yaw=-1.5395 left_pitch=-0.0835 left_roll=-0.003 left_gripper=0.0727 right_x=0.4018 right_y=0.2206 right_z=0.1661 right_yaw=1.5485 right_pitch=-0.0001 right_roll=-0.0946 right_gripper=0.0453\nstate[joint_eff]: [-0.294, -9.5248, 8.5675, 0.6471, 0.5836, 0.2564, 1.0281, -0.841, -9.4701, 8.0889, 0.5739, -0.7155, 0.0171, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b0eddbe45d7c14f4cff4ecf7294128ab754ca3b81f8ecd7a16a79cc3c8dce00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2c4edb46de1b141cdd253c431d6fa1643b89c5b70445ea7ac48e9bcecbccd9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6ea2e8fcba6a59f7212a51f0971bec46174f03d6f91552721db72d1177e15e5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 8.224 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]: [-0.3538, 1.3895, 0.7025, 0.0917, 0.0563, 0.0235, 0.0692, 0.44, 1.4563, 0.7258, 0.1993, -0.2298, -0.1661, 0.0422]\nstate[eef_state]: left_x=0.3768 left_y=-0.146 left_z=0.1246 left_yaw=-0.4249 left_pitch=-0.025 left_roll=-0.0033 left_gripper=0.0692 right_x=0.3624 right_y=0.2191 right_z=0.133 right_yaw=0.7152 right_pitch=0.0411 right_roll=-0.03 right_gripper=0.0422\nstate[joint_eff]: [-0.3761, -7.1043, 10.0855, 1.9219, -0.0562, -0.0562, 1.033, -0.1983, -7.8701, 8.8821, 1.8535, -0.0366, 0.0269, 1.033]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0101, 1.9274, 1.5623, -0.8383, 0.8883, 1.1366, 0.0721, 0.178, 1.8294, 1.3937, -0.5991, -0.9276, -1.0271, 0.0452]\nstate[eef_state]: left_x=0.4262 left_y=-0.1378 left_z=0.1587 left_yaw=-1.322 left_pitch=-0.0606 left_roll=0.0297 left_gripper=0.0721 right_x=0.3925 right_y=0.2178 right_z=0.167 right_yaw=1.426 right_pitch=0.0138 right_roll=-0.0827 right_gripper=0.0452\nstate[joint_eff]: [0.1162, -10.7966, 6.5436, 0.3932, 0.7888, 0.2027, 0.9402, -0.3761, -9.3744, 6.5162, 0.6764, -0.9988, -0.0855, 1.033]",
      "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]: [-0.1444, 1.9965, 1.689, -1.0344, 0.8974, 1.2671, 0.0727, 0.1703, 1.9659, 1.6016, -0.836, -0.9699, -1.2404, 0.0453]\nstate[eef_state]: left_x=0.3977 left_y=-0.1937 left_z=0.1601 left_yaw=-1.5395 left_pitch=-0.0835 left_roll=-0.003 left_gripper=0.0727 right_x=0.4018 right_y=0.2206 right_z=0.1661 right_yaw=1.5485 right_pitch=-0.0001 right_roll=-0.0946 right_gripper=0.0453\nstate[joint_eff]: [-0.294, -9.5248, 8.5675, 0.6471, 0.5836, 0.2564, 1.0281, -0.841, -9.4701, 8.0889, 0.5739, -0.7155, 0.0171, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b0eddbe45d7c14f4cff4ecf7294128ab754ca3b81f8ecd7a16a79cc3c8dce00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2c4edb46de1b141cdd253c431d6fa1643b89c5b70445ea7ac48e9bcecbccd9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ea2e8fcba6a59f7212a51f0971bec46174f03d6f91552721db72d1177e15e5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AvDwC2F57vryz2v4Waq4JY",
      "input": {
        "note": "Both wrist cameras show pen tip and cap lined up on the same axis with a gap of several cm. Sliding the cap ~5 cm toward the pen tip, compensating slight sag.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.25,
          "left_yaw": -1.57,
          "left_z": 0.172
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01AvDwC2F57vryz2v4Waq4JY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2695, 2.0232, 1.7393, -1.0077, 0.8631, 1.1412, 0.0742, 0.1703, 1.9762, 1.6016, -0.8536, -0.9668, -1.2526, 0.0466]\nstate[eef_state]: left_x=0.3877 left_y=-0.2426 left_z=0.1608 left_yaw=-1.5825 left_pitch=-0.1063 left_roll=-0.046 left_gripper=0.0742 right_x=0.3998 right_y=0.2199 right_z=0.1604 right_yaw=1.554 right_pitch=-0.0087 right_roll=-0.0782 right_gripper=0.0466\nstate[joint_eff]: [-0.2256, -9.7709, 9.347, 0.9841, 0.4176, -0.1245, 0.5201, -0.3761, -11.1795, 6.2017, 1.0037, -0.5446, 0.1099, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6834dbb2117154c23798dddf3ec1255381405c8e62e84acb0142055f3f8c1272",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c9c60598d0bdf21ab0887556a7160adfe38d5fb94c692afaeb10f16ea0a9891",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:edfa9fd448ee32775db91f43a19dc5abb3a7358da47b3e7c6132f390ddc73be4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /messages · status 200 · 7.254 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]: [-0.0101, 1.9274, 1.5623, -0.8383, 0.8883, 1.1366, 0.0721, 0.178, 1.8294, 1.3937, -0.5991, -0.9276, -1.0271, 0.0452]\nstate[eef_state]: left_x=0.4262 left_y=-0.1378 left_z=0.1587 left_yaw=-1.322 left_pitch=-0.0606 left_roll=0.0297 left_gripper=0.0721 right_x=0.3925 right_y=0.2178 right_z=0.167 right_yaw=1.426 right_pitch=0.0138 right_roll=-0.0827 right_gripper=0.0452\nstate[joint_eff]: [0.1162, -10.7966, 6.5436, 0.3932, 0.7888, 0.2027, 0.9402, -0.3761, -9.3744, 6.5162, 0.6764, -0.9988, -0.0855, 1.033]",
      "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]: [-0.1444, 1.9965, 1.689, -1.0344, 0.8974, 1.2671, 0.0727, 0.1703, 1.9659, 1.6016, -0.836, -0.9699, -1.2404, 0.0453]\nstate[eef_state]: left_x=0.3977 left_y=-0.1937 left_z=0.1601 left_yaw=-1.5395 left_pitch=-0.0835 left_roll=-0.003 left_gripper=0.0727 right_x=0.4018 right_y=0.2206 right_z=0.1661 right_yaw=1.5485 right_pitch=-0.0001 right_roll=-0.0946 right_gripper=0.0453\nstate[joint_eff]: [-0.294, -9.5248, 8.5675, 0.6471, 0.5836, 0.2564, 1.0281, -0.841, -9.4701, 8.0889, 0.5739, -0.7155, 0.0171, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2695, 2.0232, 1.7393, -1.0077, 0.8631, 1.1412, 0.0742, 0.1703, 1.9762, 1.6016, -0.8536, -0.9668, -1.2526, 0.0466]\nstate[eef_state]: left_x=0.3877 left_y=-0.2426 left_z=0.1608 left_yaw=-1.5825 left_pitch=-0.1063 left_roll=-0.046 left_gripper=0.0742 right_x=0.3998 right_y=0.2199 right_z=0.1604 right_yaw=1.554 right_pitch=-0.0087 right_roll=-0.0782 right_gripper=0.0466\nstate[joint_eff]: [-0.2256, -9.7709, 9.347, 0.9841, 0.4176, -0.1245, 0.5201, -0.3761, -11.1795, 6.2017, 1.0037, -0.5446, 0.1099, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6834dbb2117154c23798dddf3ec1255381405c8e62e84acb0142055f3f8c1272",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c9c60598d0bdf21ab0887556a7160adfe38d5fb94c692afaeb10f16ea0a9891",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:edfa9fd448ee32775db91f43a19dc5abb3a7358da47b3e7c6132f390ddc73be4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QGPR84fgKVjgeu8NsvVLLc",
      "input": {
        "note": "Pen tip and cap are nearly touching; left arm sits ~1.2 cm behind the pen axis (pen tip appears left of the cap in the wrist view). Correcting x and pushing the cap ~1.5 cm onto the pen tip.",
        "targets": {
          "left_x": 0.412,
          "left_y": -0.26,
          "left_yaw": -1.57,
          "left_z": 0.172
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01QGPR84fgKVjgeu8NsvVLLc",
      "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]: [-0.2836, 2.0895, 1.8549, -1.0542, 0.8467, 1.1007, 0.0768, 0.1703, 1.9762, 1.6005, -0.8425, -0.9623, -1.2503, 0.0466]\nstate[eef_state]: left_x=0.4009 left_y=-0.2509 left_z=0.1631 left_yaw=-1.5694 left_pitch=-0.1218 left_roll=-0.0707 left_gripper=0.0768 right_x=0.4016 right_y=0.2198 right_z=0.1601 right_yaw=1.5511 right_pitch=-0.0109 right_roll=-0.0868 right_gripper=0.0466\nstate[joint_eff]: [-0.7726, -10.947, 7.665, 0.6422, 0.6862, 0.0952, 0.862, -0.2667, -10.3453, 6.3658, 0.6813, -0.5446, -0.0464, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d64392c3bee2af98701f3382c44d5349d20bee1004cd317b3eb193294c6b2800",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f6fb20989c3790c817e88baa39360c68b853996c7ae6fbcb2dd20507ca0063b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4c51599c780424a9d07c7c4fbc04ce0c97f59f186d06228dc0b32f99e1f28009",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /messages · status 200 · 12.8 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]: [-0.1444, 1.9965, 1.689, -1.0344, 0.8974, 1.2671, 0.0727, 0.1703, 1.9659, 1.6016, -0.836, -0.9699, -1.2404, 0.0453]\nstate[eef_state]: left_x=0.3977 left_y=-0.1937 left_z=0.1601 left_yaw=-1.5395 left_pitch=-0.0835 left_roll=-0.003 left_gripper=0.0727 right_x=0.4018 right_y=0.2206 right_z=0.1661 right_yaw=1.5485 right_pitch=-0.0001 right_roll=-0.0946 right_gripper=0.0453\nstate[joint_eff]: [-0.294, -9.5248, 8.5675, 0.6471, 0.5836, 0.2564, 1.0281, -0.841, -9.4701, 8.0889, 0.5739, -0.7155, 0.0171, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2695, 2.0232, 1.7393, -1.0077, 0.8631, 1.1412, 0.0742, 0.1703, 1.9762, 1.6016, -0.8536, -0.9668, -1.2526, 0.0466]\nstate[eef_state]: left_x=0.3877 left_y=-0.2426 left_z=0.1608 left_yaw=-1.5825 left_pitch=-0.1063 left_roll=-0.046 left_gripper=0.0742 right_x=0.3998 right_y=0.2199 right_z=0.1604 right_yaw=1.554 right_pitch=-0.0087 right_roll=-0.0782 right_gripper=0.0466\nstate[joint_eff]: [-0.2256, -9.7709, 9.347, 0.9841, 0.4176, -0.1245, 0.5201, -0.3761, -11.1795, 6.2017, 1.0037, -0.5446, 0.1099, 1.0232]",
      "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]: [-0.2836, 2.0895, 1.8549, -1.0542, 0.8467, 1.1007, 0.0768, 0.1703, 1.9762, 1.6005, -0.8425, -0.9623, -1.2503, 0.0466]\nstate[eef_state]: left_x=0.4009 left_y=-0.2509 left_z=0.1631 left_yaw=-1.5694 left_pitch=-0.1218 left_roll=-0.0707 left_gripper=0.0768 right_x=0.4016 right_y=0.2198 right_z=0.1601 right_yaw=1.5511 right_pitch=-0.0109 right_roll=-0.0868 right_gripper=0.0466\nstate[joint_eff]: [-0.7726, -10.947, 7.665, 0.6422, 0.6862, 0.0952, 0.862, -0.2667, -10.3453, 6.3658, 0.6813, -0.5446, -0.0464, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d64392c3bee2af98701f3382c44d5349d20bee1004cd317b3eb193294c6b2800",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f6fb20989c3790c817e88baa39360c68b853996c7ae6fbcb2dd20507ca0063b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c51599c780424a9d07c7c4fbc04ce0c97f59f186d06228dc0b32f99e1f28009",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TDuSA1GYXsJSCFjjvRKV3M",
      "input": {
        "note": "The pen tip is right at the cap end and aligned in both wrist views. Pushing the cap another ~2 cm onto the pen.",
        "targets": {
          "left_x": 0.412,
          "left_y": -0.28,
          "left_yaw": -1.57,
          "left_z": 0.172
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01TDuSA1GYXsJSCFjjvRKV3M",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.318, 2.1468, 1.9453, -1.0779, 0.8173, 1.0466, 0.0798, 0.1703, 1.9762, 1.6005, -0.8547, -0.9581, -1.2537, 0.0466]\nstate[eef_state]: left_x=0.4079 left_y=-0.2661 left_z=0.1604 left_yaw=-1.5637 left_pitch=-0.148 left_roll=-0.0947 left_gripper=0.0798 right_x=0.3999 right_y=0.2191 right_z=0.1588 right_yaw=1.5516 right_pitch=-0.0172 right_roll=-0.0784 right_gripper=0.0466\nstate[joint_eff]: [-1.1282, -10.988, 8.9231, 0.8571, 0.4713, 0.0757, 0.6081, -0.3897, -10.5368, 6.188, 0.8571, -0.5446, 0.0024, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ccd22dc7f58417fb4d7c35795509e133fa8114877f0c1e20a909828d92422c73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:437dec1fe0b66571cba3a0cdbfa69478e63920fa0a0f3ef1c6b3e346ef444279",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a80da5d7e4c262591c7fe9ee3f69abb9851afa2c485af8d1d6bc49096d8293c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 6.723 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]: [-0.2695, 2.0232, 1.7393, -1.0077, 0.8631, 1.1412, 0.0742, 0.1703, 1.9762, 1.6016, -0.8536, -0.9668, -1.2526, 0.0466]\nstate[eef_state]: left_x=0.3877 left_y=-0.2426 left_z=0.1608 left_yaw=-1.5825 left_pitch=-0.1063 left_roll=-0.046 left_gripper=0.0742 right_x=0.3998 right_y=0.2199 right_z=0.1604 right_yaw=1.554 right_pitch=-0.0087 right_roll=-0.0782 right_gripper=0.0466\nstate[joint_eff]: [-0.2256, -9.7709, 9.347, 0.9841, 0.4176, -0.1245, 0.5201, -0.3761, -11.1795, 6.2017, 1.0037, -0.5446, 0.1099, 1.0232]",
      "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]: [-0.2836, 2.0895, 1.8549, -1.0542, 0.8467, 1.1007, 0.0768, 0.1703, 1.9762, 1.6005, -0.8425, -0.9623, -1.2503, 0.0466]\nstate[eef_state]: left_x=0.4009 left_y=-0.2509 left_z=0.1631 left_yaw=-1.5694 left_pitch=-0.1218 left_roll=-0.0707 left_gripper=0.0768 right_x=0.4016 right_y=0.2198 right_z=0.1601 right_yaw=1.5511 right_pitch=-0.0109 right_roll=-0.0868 right_gripper=0.0466\nstate[joint_eff]: [-0.7726, -10.947, 7.665, 0.6422, 0.6862, 0.0952, 0.862, -0.2667, -10.3453, 6.3658, 0.6813, -0.5446, -0.0464, 1.033]",
      "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]: [-0.318, 2.1468, 1.9453, -1.0779, 0.8173, 1.0466, 0.0798, 0.1703, 1.9762, 1.6005, -0.8547, -0.9581, -1.2537, 0.0466]\nstate[eef_state]: left_x=0.4079 left_y=-0.2661 left_z=0.1604 left_yaw=-1.5637 left_pitch=-0.148 left_roll=-0.0947 left_gripper=0.0798 right_x=0.3999 right_y=0.2191 right_z=0.1588 right_yaw=1.5516 right_pitch=-0.0172 right_roll=-0.0784 right_gripper=0.0466\nstate[joint_eff]: [-1.1282, -10.988, 8.9231, 0.8571, 0.4713, 0.0757, 0.6081, -0.3897, -10.5368, 6.188, 0.8571, -0.5446, 0.0024, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ccd22dc7f58417fb4d7c35795509e133fa8114877f0c1e20a909828d92422c73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:437dec1fe0b66571cba3a0cdbfa69478e63920fa0a0f3ef1c6b3e346ef444279",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a80da5d7e4c262591c7fe9ee3f69abb9851afa2c485af8d1d6bc49096d8293c5",
        "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_018DQLvPAj8tgHc5HptNyvQ3",
      "input": {
        "note": "The pen tip now overlaps the cap region; unclear if it's entering the cap or sliding beside the clip. Pushing another 2 cm and checking for resistance (readback shortfall) and pen-tip visibility.",
        "targets": {
          "left_x": 0.41,
          "left_y": -0.3,
          "left_yaw": -1.57,
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_018DQLvPAj8tgHc5HptNyvQ3",
      "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]: [-0.3347, 2.154, 1.9682, -1.0821, 0.8112, 1.0214, 0.0822, 0.1703, 1.9762, 1.6001, -0.8543, -0.9459, -1.2537, 0.0466]\nstate[eef_state]: left_x=0.4071 left_y=-0.2734 left_z=0.1632 left_yaw=-1.5631 left_pitch=-0.151 left_roll=-0.101 left_gripper=0.0822 right_x=0.4007 right_y=0.2179 right_z=0.1571 right_yaw=1.5475 right_pitch=-0.0285 right_roll=-0.0806 right_gripper=0.0466\nstate[joint_eff]: [-0.7453, -11.2342, 8.4444, 0.9255, 0.5788, -0.0171, 0.7204, -0.2667, -10.5641, 6.1744, 0.8132, -0.6032, -0.0171, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:309491a206cc9162383e4d772952b09fadd8b4e56e8472d712e8d989971e6482",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9c39d56c2f4a5f9113d7d4ac2f9bbea45f26c5f6bf57751eb1fc22ab7d91add",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8aaaf1b8f1e54718cd96499070acdccabfb888bd2bc933494f443cccc1fb433a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 4.868 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]: [-0.2836, 2.0895, 1.8549, -1.0542, 0.8467, 1.1007, 0.0768, 0.1703, 1.9762, 1.6005, -0.8425, -0.9623, -1.2503, 0.0466]\nstate[eef_state]: left_x=0.4009 left_y=-0.2509 left_z=0.1631 left_yaw=-1.5694 left_pitch=-0.1218 left_roll=-0.0707 left_gripper=0.0768 right_x=0.4016 right_y=0.2198 right_z=0.1601 right_yaw=1.5511 right_pitch=-0.0109 right_roll=-0.0868 right_gripper=0.0466\nstate[joint_eff]: [-0.7726, -10.947, 7.665, 0.6422, 0.6862, 0.0952, 0.862, -0.2667, -10.3453, 6.3658, 0.6813, -0.5446, -0.0464, 1.033]",
      "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]: [-0.318, 2.1468, 1.9453, -1.0779, 0.8173, 1.0466, 0.0798, 0.1703, 1.9762, 1.6005, -0.8547, -0.9581, -1.2537, 0.0466]\nstate[eef_state]: left_x=0.4079 left_y=-0.2661 left_z=0.1604 left_yaw=-1.5637 left_pitch=-0.148 left_roll=-0.0947 left_gripper=0.0798 right_x=0.3999 right_y=0.2191 right_z=0.1588 right_yaw=1.5516 right_pitch=-0.0172 right_roll=-0.0784 right_gripper=0.0466\nstate[joint_eff]: [-1.1282, -10.988, 8.9231, 0.8571, 0.4713, 0.0757, 0.6081, -0.3897, -10.5368, 6.188, 0.8571, -0.5446, 0.0024, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3347, 2.154, 1.9682, -1.0821, 0.8112, 1.0214, 0.0822, 0.1703, 1.9762, 1.6001, -0.8543, -0.9459, -1.2537, 0.0466]\nstate[eef_state]: left_x=0.4071 left_y=-0.2734 left_z=0.1632 left_yaw=-1.5631 left_pitch=-0.151 left_roll=-0.101 left_gripper=0.0822 right_x=0.4007 right_y=0.2179 right_z=0.1571 right_yaw=1.5475 right_pitch=-0.0285 right_roll=-0.0806 right_gripper=0.0466\nstate[joint_eff]: [-0.7453, -11.2342, 8.4444, 0.9255, 0.5788, -0.0171, 0.7204, -0.2667, -10.5641, 6.1744, 0.8132, -0.6032, -0.0171, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:309491a206cc9162383e4d772952b09fadd8b4e56e8472d712e8d989971e6482",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9c39d56c2f4a5f9113d7d4ac2f9bbea45f26c5f6bf57751eb1fc22ab7d91add",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8aaaf1b8f1e54718cd96499070acdccabfb888bd2bc933494f443cccc1fb433a",
        "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_01S7Q3zBwnzb58apZYGa1MvF",
      "input": {
        "note": "The left arm stopped ~2.7 cm short, suggesting the cap is pressing on the pen; the pen appears to run into the cap body in the right wrist view. Giving one firmer push to seat the cap.",
        "targets": {
          "left_x": 0.405,
          "left_y": -0.31,
          "left_yaw": -1.57,
          "left_z": 0.165
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01S7Q3zBwnzb58apZYGa1MvF",
      "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]: [-0.3347, 2.154, 1.9682, -1.0821, 0.8112, 1.021, 0.0832, 0.1703, 1.9762, 1.6001, -0.8574, -0.9432, -1.2537, 0.0466]\nstate[eef_state]: left_x=0.4071 left_y=-0.2734 left_z=0.1632 left_yaw=-1.5629 left_pitch=-0.151 left_roll=-0.1013 left_gripper=0.0832 right_x=0.4004 right_y=0.2176 right_z=0.1565 right_yaw=1.5467 right_pitch=-0.0316 right_roll=-0.0781 right_gripper=0.0466\nstate[joint_eff]: [-0.6496, -11.3573, 8.6359, 0.9255, 0.5495, -0.0171, 0.6325, -0.3761, -10.4684, 6.2838, 0.8376, -0.5397, -0.0024, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecfe295669dd6a34af417fc952f3c637e41d52cba3e71b67c3e6e6a858d79c2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b76a5ec54adf7ffa212b898b78f9f25e5293c7a9bb4195977fbba63e0af35ee3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:15f026d9ae94f5791a7d2ba8d9d7b6737d5586b81f68324a227826861172dd88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 6.774 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]: [-0.318, 2.1468, 1.9453, -1.0779, 0.8173, 1.0466, 0.0798, 0.1703, 1.9762, 1.6005, -0.8547, -0.9581, -1.2537, 0.0466]\nstate[eef_state]: left_x=0.4079 left_y=-0.2661 left_z=0.1604 left_yaw=-1.5637 left_pitch=-0.148 left_roll=-0.0947 left_gripper=0.0798 right_x=0.3999 right_y=0.2191 right_z=0.1588 right_yaw=1.5516 right_pitch=-0.0172 right_roll=-0.0784 right_gripper=0.0466\nstate[joint_eff]: [-1.1282, -10.988, 8.9231, 0.8571, 0.4713, 0.0757, 0.6081, -0.3897, -10.5368, 6.188, 0.8571, -0.5446, 0.0024, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3347, 2.154, 1.9682, -1.0821, 0.8112, 1.0214, 0.0822, 0.1703, 1.9762, 1.6001, -0.8543, -0.9459, -1.2537, 0.0466]\nstate[eef_state]: left_x=0.4071 left_y=-0.2734 left_z=0.1632 left_yaw=-1.5631 left_pitch=-0.151 left_roll=-0.101 left_gripper=0.0822 right_x=0.4007 right_y=0.2179 right_z=0.1571 right_yaw=1.5475 right_pitch=-0.0285 right_roll=-0.0806 right_gripper=0.0466\nstate[joint_eff]: [-0.7453, -11.2342, 8.4444, 0.9255, 0.5788, -0.0171, 0.7204, -0.2667, -10.5641, 6.1744, 0.8132, -0.6032, -0.0171, 1.033]",
      "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]: [-0.3347, 2.154, 1.9682, -1.0821, 0.8112, 1.021, 0.0832, 0.1703, 1.9762, 1.6001, -0.8574, -0.9432, -1.2537, 0.0466]\nstate[eef_state]: left_x=0.4071 left_y=-0.2734 left_z=0.1632 left_yaw=-1.5629 left_pitch=-0.151 left_roll=-0.1013 left_gripper=0.0832 right_x=0.4004 right_y=0.2176 right_z=0.1565 right_yaw=1.5467 right_pitch=-0.0316 right_roll=-0.0781 right_gripper=0.0466\nstate[joint_eff]: [-0.6496, -11.3573, 8.6359, 0.9255, 0.5495, -0.0171, 0.6325, -0.3761, -10.4684, 6.2838, 0.8376, -0.5397, -0.0024, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecfe295669dd6a34af417fc952f3c637e41d52cba3e71b67c3e6e6a858d79c2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b76a5ec54adf7ffa212b898b78f9f25e5293c7a9bb4195977fbba63e0af35ee3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15f026d9ae94f5791a7d2ba8d9d7b6737d5586b81f68324a227826861172dd88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqggKEAgSGAI4AUIIdGhpbmtpbmcSDBLBFgrFQWL5RXQpWRoMhUFvHRta2jDD2hCAIjAvqgws7H7hR+f+MFTed5RRCxyE3b0aPtuV2ltwdPTt9uadSJH5BD7NXjxAsK+nbZkqxwdWKp6AEWXzr9nIApKIKCocaDuzby1L2FClZZhTYQGuOhdqlh5Y2/9G/M7P6MkBaIHsf6xDyvoK9en1PR7jZYOpie1e83lEq4NAUtFmCYQKeYRB4fT49CNkNTjsUbffkuR7qVVvgrLRmSUnTv/aAQiOoZnXMYN+L/9NLxcuMjjWQ/PeMgHQSP/hPrJ4WzXmvCoZ1xMEDPnfVGLC0EA1FI3LKBOawMHPE3LgREn6j7qX/zUtjhXCv8beZrSD3WyMTrL3evhyWvwe88lD1ELVS3N6yHk7BA5Wzq9B4kWJfgq3qMoNR+BQy9NHUZ30ot1qbqU5ZkGM7iPZc/AFI3LrEuYrtU3HuhCyjJ1DhhT6NCNkHeZC7/q4So/bRjHi2n1qavMOYi5x/qddsBmQJlLjlyV1iv8bpi9dfPK2XF8v+JGaytiXfJvgJzK7jLdgIs4R4BgEe2YvMZfUuAQnVPKQSnFrIbJRAe7Db3JkuXvWSt4dxiFOW9NHyawUjZyz1wvqE8zkR65hKY6yUdRqwtPhRdZVKzgg5+VuZRLx4hz3CyfaluM38jGmLJL4WEU2bsZxxEbzKbT6T32DBRLBRCk4zNpOQjzLddgrWY5wnJu47MWlfVWbKXRFrdc8SAcXUgFQr9BwTrBkaqb8bCNiHBXTXx+pcpjZF5wcR15r+sCKTXK35Sf0gwtaCbzRwLK3zhh30ypQU7EqnT98zzn/MKFBOdda1ycifetrs2s3RDQxYKRF40M2CYqJGucZTIptBV2UFHP7mXxWk2p8z1CgHPwC9MLeuDE6r5iBBHnFuQ1892LAYPHWLE7FeSspx33NksQxtIRg2IBcbq1tOUrautIjz9q4lCZSfrNJxEWqtp1BjcneCD9CKsNF/6uSJS8XvKoJ4IVk1gZBUTXiGdv5lNkFibU2rdJ8CzVhgnoDGCk+hlyQUTe3EpECASc2F+JAfcxmaPJf0J8K0qdsq6/A6NXJawhdjMlUTEjWrQAQ+TNjZuuLKOQA48ihrDw9XTLuLG+jGlCyq6s32e0UPUHUP5w6Sq1Xz9ahYgM3l4HpinwTB+QkX5t9Fg7lrSudNmn0fIunxEh1cB02IuOYVXKmRXyfnvX40oPA2/QKaoRgSKW3Khgld0FddSoEpfaWjW+hnCvjLBpovd4Tz0qSMTq+7PcdSEJX0GkHHQxe9HdGQyOf+gTUpSOCSzUKyFK7vcWbxA0qqzK+JyqUqZ74J8LD81M5HRKxu/ovpZcGumiCLMJbDrb4ywl+VnG37UfU8+BuE17gg4+0+NHIwxpiGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QW18mUjW1av3PwrprhDB5z",
      "input": {
        "note": "Left arm appears IK-stalled (no motion, unchanged efforts). Pushing the pen 2.5 cm into the cap with the right arm instead, matching the cap's x and height.",
        "targets": {
          "right_x": 0.405,
          "right_y": 0.245,
          "right_yaw": 1.57,
          "right_z": 0.168
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01QW18mUjW1av3PwrprhDB5z",
      "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]: [-0.3344, 2.154, 1.9682, -1.0817, 0.8112, 1.0206, 0.0842, 0.218, 1.9995, 1.6558, -0.8642, -0.9176, -1.2255, 0.0466]\nstate[eef_state]: left_x=0.4073 left_y=-0.2733 left_z=0.1633 left_yaw=-1.5622 left_pitch=-0.1509 left_roll=-0.1012 left_gripper=0.0842 right_x=0.4019 right_y=0.2364 right_z=0.1603 right_yaw=1.5695 right_pitch=-0.0488 right_roll=-0.0847 right_gripper=0.0466\nstate[joint_eff]: [-0.6222, -11.3709, 8.4444, 0.9304, 0.5201, -0.0269, 0.5836, 0.2803, -9.5111, 8.6222, 0.8278, -0.6618, 0.1343, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78d56cd901d9139b1f242c200a45dd5900e7766d8adf6980db276de90c4161c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:981aa65038207fd05aaac16cf59ee280612a8d5f5f6c87c7ba11a29e7ecdf77a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:365650f67d1d8b813060075e06cc4df15a1ffa59676df8b830fd0292e8d84e24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 4.192 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]: [-0.3347, 2.154, 1.9682, -1.0821, 0.8112, 1.0214, 0.0822, 0.1703, 1.9762, 1.6001, -0.8543, -0.9459, -1.2537, 0.0466]\nstate[eef_state]: left_x=0.4071 left_y=-0.2734 left_z=0.1632 left_yaw=-1.5631 left_pitch=-0.151 left_roll=-0.101 left_gripper=0.0822 right_x=0.4007 right_y=0.2179 right_z=0.1571 right_yaw=1.5475 right_pitch=-0.0285 right_roll=-0.0806 right_gripper=0.0466\nstate[joint_eff]: [-0.7453, -11.2342, 8.4444, 0.9255, 0.5788, -0.0171, 0.7204, -0.2667, -10.5641, 6.1744, 0.8132, -0.6032, -0.0171, 1.033]",
      "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]: [-0.3347, 2.154, 1.9682, -1.0821, 0.8112, 1.021, 0.0832, 0.1703, 1.9762, 1.6001, -0.8574, -0.9432, -1.2537, 0.0466]\nstate[eef_state]: left_x=0.4071 left_y=-0.2734 left_z=0.1632 left_yaw=-1.5629 left_pitch=-0.151 left_roll=-0.1013 left_gripper=0.0832 right_x=0.4004 right_y=0.2176 right_z=0.1565 right_yaw=1.5467 right_pitch=-0.0316 right_roll=-0.0781 right_gripper=0.0466\nstate[joint_eff]: [-0.6496, -11.3573, 8.6359, 0.9255, 0.5495, -0.0171, 0.6325, -0.3761, -10.4684, 6.2838, 0.8376, -0.5397, -0.0024, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3344, 2.154, 1.9682, -1.0817, 0.8112, 1.0206, 0.0842, 0.218, 1.9995, 1.6558, -0.8642, -0.9176, -1.2255, 0.0466]\nstate[eef_state]: left_x=0.4073 left_y=-0.2733 left_z=0.1633 left_yaw=-1.5622 left_pitch=-0.1509 left_roll=-0.1012 left_gripper=0.0842 right_x=0.4019 right_y=0.2364 right_z=0.1603 right_yaw=1.5695 right_pitch=-0.0488 right_roll=-0.0847 right_gripper=0.0466\nstate[joint_eff]: [-0.6222, -11.3709, 8.4444, 0.9304, 0.5201, -0.0269, 0.5836, 0.2803, -9.5111, 8.6222, 0.8278, -0.6618, 0.1343, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78d56cd901d9139b1f242c200a45dd5900e7766d8adf6980db276de90c4161c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:981aa65038207fd05aaac16cf59ee280612a8d5f5f6c87c7ba11a29e7ecdf77a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:365650f67d1d8b813060075e06cc4df15a1ffa59676df8b830fd0292e8d84e24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqQ0KEAgSGAI4AUIIdGhpbmtpbmcSDDibZ4dQZCG6GOGS5RoM8B/urBySTKgcSScjIjBCGKzIT/ZJBXFVgEdUav+iuf8XI+KU3C6WV4CHGLtBTPJbZz8RT7uRWhSk1LyPsl8qxgwkGOw5X64PX32jkuJQ6RzXAExSNXWtZYiBHmeIFSsvtR+lUAPHM6KF2Pcp7RUCE+oxog+197mszsjwf7mqjHb8f/DRrWVJ9vncugST0x7wCMEf5inZ/4ImH10Y1NUSu33N96Hx5PfkSGJqVCiO2QVpSBUWO4mzqzTomncOcctGUrUHZ4JKoTLdjg1oFLwzFom6FsCGR8EatIIRzJ+rD4a7D0QK5DxwNylaojfPr/Atnw+7TNMaaQjBQNBy0kazSsqhrVgL79Lg8dr6wEk7EQaE8Wq1vOg5gikhq9SvBglt6II1cDu7IPdgr3X/neURjDM85oDvQSVEzii7XiUWaJ6a2lbnh1mxaSSlUMwVtC5hO2NOZ+jCOKimkHKrg2VRZB1jbEMucDvti8SlcA16ESTae0VBJ9cnL+eUPc8iHXwgAm5K1A/nDlao6FWyItqnAXaw8Z/zYicAJXcSL4NYQf848iytGXwWkKfMcSDLx3W8HNoPe7bOMqinKwGr0yK0eYB0QmBjKVbRDzbzod6UKHdYgz1X8nl/YLv5V5/Wl+ECufa0FKtx6NFbdfMaFzDQUimxnmZf0EpW9VmjoU4lbKr5aZ/eKRsAh3iCglSgJusPNTO9sRJMWFV81P7WsrqV6CUOd9p4N9nYl2ujW28TxgCXudGihGz0/zOtPOdShwl3mY1001emKCewi7MyTnBfBbSYPEu4YF+dGYzp6/0PP6sFH/Z4ZIpvJbLG9L8ILt9/5au1kImk8SRQoSHomF3A4oEKf66yEDxvFFwknpS/EzVF6wBmpII8Yr9zIvWqXGssIux/YH5/Sh1yKgUUx23vDBLC4hX0OKQY+oh6RobEP51X3QZtd7hdP8wYRaH8h9ibjpsFi9By9BERNt3LbkjN7Ha4SIYoeER5rRDCjLsCeX/R62jWL2etEErx6cLpoOVoie55rfNDTSRlmDLMN1F6RXkVUNAuhBTsnBYwAmfsnpmIF1OzWvmVg2280gHJIHREe2xQscPSzFJw/xTCrFC5fywwHhzqR+q7hrbbiwGRXrD1i6A0TgUx8gwfbFMm44a6z2rzB+k82GidUWWqj2wfVHF0smFicWvx5ZP1wP4p2Y22gCEXDkevafE3DXrFyyAkU71E+Mvzr6HInltXe7zMnakV5t3c3xsqa0+J4NqrT31TdxnHFYYaEx1D9EQRyIzSXsvM5C2ID1H06e68lvHR1t3RcIXLZQ1EVcfXuunhdZcF5kxWmzxTfy+q1Yw5dEenrguWcumnko4fumSUEZ+2lqX0BWCqMVCwuAOsdffYEqEIEOL5Lmq8g8ngG38RAVOJXrIi0f9C0AYiWrDza8WgOMwPAC720i7slxkLchiNG2kPFEDkLvxsijlhdrNa2UcH8tfDvIsW5HyNCFOt9EQtteDnQsZH3yuuYtOxo7wKy42FgqjM8hT6TSgm9eRsjWgk8VrJL4je/rj9xAX8aebv5B3UeVJzz9P6GyNLrF2sc5dYOq9r58A4xG7BsW+NfDJ6Sh8xWrLXeNi4c0zx78oJ/2xEStSj+kvOHI+FLsHLR8HmXXMhhYxEWFAER6Bf+b2YKIiOhJNgh2VOVP7x/JxEaoP/JfMozMe9S2RosIIHTBslHaGgi43qcOrF2MZ7cyyhp9o2zSTsytSnIUY8SWhosW38Lp8XRFtl0f4lzYN3aKNUHPsvyywkyz/Mc/SxJmvhkj4/BqboMeSjLVNVzI81W+QBJtDU10XmAAS30iSuoPu9gWOZ1tJXZRMHCNXD8iXty0HwNJTr0Z3Qj6GQ+h5Ue234G4oCwD1DkYzvftRGaxKQoybHnGmZ1O9dIojSHWDsoseKZM1N7S5WR3uUjUn3TUI2EvbX4lxwP36DEMCmdn9zybsAeNlIn2Mse+KxvypyggSajCmLwBMFM2k6LcPUasIxK1vQ1nD7DxB3tqk+oatGOrSCvDb6Q7uaULift5M1pD0BIy2wsGfXNXOEU5YzLBMIHzc/mUDjO65iaqpPIcxZpo8hkg6GPoJjJkIDLeEiPtlE7rueUVyPyNp4YjOEjnpXF4IxIjMov9rvy6/OF0eDJLQ03Vf3Yi4APUMavsPt2pN+CprSNsQaJH720PPozAXP+Ac3IVybeJei6FHcRv7LLsa1kT0mGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QjQDE61J31bPesxMCeZG2s",
      "input": {
        "note": "The silver pen shaft now appears to run into the black cap in both wrist views. Pushing the pen another ~2 cm to seat the cap.",
        "targets": {
          "right_x": 0.405,
          "right_y": 0.26,
          "right_yaw": 1.57,
          "right_z": 0.168
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01QjQDE61J31bPesxMCeZG2s",
      "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]: [-0.3344, 2.154, 1.9678, -1.0824, 0.8097, 1.021, 0.0861, 0.252, 2.0006, 1.668, -0.857, -0.9012, -1.1881, 0.0466]\nstate[eef_state]: left_x=0.4072 left_y=-0.2731 left_z=0.1629 left_yaw=-1.5621 left_pitch=-0.1527 left_roll=-0.1015 left_gripper=0.0861 right_x=0.3984 right_y=0.2493 right_z=0.162 right_yaw=1.5766 right_pitch=-0.0582 right_roll=-0.0754 right_gripper=0.0466\nstate[joint_eff]: [-0.3214, -11.8769, 6.1744, 0.7302, 0.3541, -0.0513, 0.6667, 1.2239, -9.5521, 9.4291, 1.1306, -0.6276, 0.188, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8726a85e2a71c1a0883959baf1be723f851eddcdc258cc5f7985393b7145381",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d195f6c4479ba35820f02b36aa23727fd72fa7149ca2a165107f0f9b7dcbf24c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2e376c46e45fac2a045a20b48ec93ab230645fa3bf1c798a68cd1d7ef6307f9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /messages · status 200 · 11.13 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]: [-0.3347, 2.154, 1.9682, -1.0821, 0.8112, 1.021, 0.0832, 0.1703, 1.9762, 1.6001, -0.8574, -0.9432, -1.2537, 0.0466]\nstate[eef_state]: left_x=0.4071 left_y=-0.2734 left_z=0.1632 left_yaw=-1.5629 left_pitch=-0.151 left_roll=-0.1013 left_gripper=0.0832 right_x=0.4004 right_y=0.2176 right_z=0.1565 right_yaw=1.5467 right_pitch=-0.0316 right_roll=-0.0781 right_gripper=0.0466\nstate[joint_eff]: [-0.6496, -11.3573, 8.6359, 0.9255, 0.5495, -0.0171, 0.6325, -0.3761, -10.4684, 6.2838, 0.8376, -0.5397, -0.0024, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3344, 2.154, 1.9682, -1.0817, 0.8112, 1.0206, 0.0842, 0.218, 1.9995, 1.6558, -0.8642, -0.9176, -1.2255, 0.0466]\nstate[eef_state]: left_x=0.4073 left_y=-0.2733 left_z=0.1633 left_yaw=-1.5622 left_pitch=-0.1509 left_roll=-0.1012 left_gripper=0.0842 right_x=0.4019 right_y=0.2364 right_z=0.1603 right_yaw=1.5695 right_pitch=-0.0488 right_roll=-0.0847 right_gripper=0.0466\nstate[joint_eff]: [-0.6222, -11.3709, 8.4444, 0.9304, 0.5201, -0.0269, 0.5836, 0.2803, -9.5111, 8.6222, 0.8278, -0.6618, 0.1343, 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]: [-0.3344, 2.154, 1.9678, -1.0824, 0.8097, 1.021, 0.0861, 0.252, 2.0006, 1.668, -0.857, -0.9012, -1.1881, 0.0466]\nstate[eef_state]: left_x=0.4072 left_y=-0.2731 left_z=0.1629 left_yaw=-1.5621 left_pitch=-0.1527 left_roll=-0.1015 left_gripper=0.0861 right_x=0.3984 right_y=0.2493 right_z=0.162 right_yaw=1.5766 right_pitch=-0.0582 right_roll=-0.0754 right_gripper=0.0466\nstate[joint_eff]: [-0.3214, -11.8769, 6.1744, 0.7302, 0.3541, -0.0513, 0.6667, 1.2239, -9.5521, 9.4291, 1.1306, -0.6276, 0.188, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8726a85e2a71c1a0883959baf1be723f851eddcdc258cc5f7985393b7145381",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d195f6c4479ba35820f02b36aa23727fd72fa7149ca2a165107f0f9b7dcbf24c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e376c46e45fac2a045a20b48ec93ab230645fa3bf1c798a68cd1d7ef6307f9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQShwgKEAgSGAI4AUIIdGhpbmtpbmcSDF9QpzZJ5ryvHrH9RxoMCB9mLa/F+2PMnsJSIjCQ+m2tULygItBXtfjzAbrOiiCAVs8qtSXOJWGQGgBdfNwVvrDzeYHHWBc77Eco3vsqpAeF2MfTl6tWKhFRE0AiGg4cY0sRk7VKAf0PRXeu6irNVejQQqHO37pOQk/R9sz8dyvBfvpQECNgb2gEf1ypRnWFJYyUS3mX8/oOT7XUGWHzRU0flWVGBYpl9EQmLEGgPHYMYP6Hgm2U1A36eOxhlcgNbCBSEmzloGGJv6fhjdx3oyuHdMV5xh9VV5ete4Wr1BCFhULmXqpSj8eHnFJrvvCh1x8otYpkuoy9YwMcLXU1lPtRLSXF6+mda/05oPouw6zpZGOHfH86d4FqERnjWpUVtnDT9DA43zbdFpT2uP3QVpASxW0Ergv5e0GWwTV3edK34CSht+eFY8daQ1lOoy54vu5Fd7W4zuImz5aIHHwNe1PGrbB7RGos/N/4R0bOWYqFPhW0v+D3+Kf4wOx5SCs5SnZm4UE0E9HXtLuUAxl19ODfim+uEn5i4tHpl+f1KNXsKJjRO9fHGOSVn9V6t57/IseshtSrQq5W0wJdTmyX9VnXWJX79bZIhvfVltslcRDkw+DcSMrWZlqXha/ipLyWr8SO50gIqr23VhioyoDaZcSDAZt4uxJWS65ZcQ5iL/7q3T2ZOFx3f0L0MWqAaX54bagjhjBcRLpAT9QJgH+jp+37gXxbkR9xDvGBWTqTSZN2PwzECALhBH2d8sG6h/GEGowzudzBF4Lyr3FyXXuKyM4aMcVGMF2UmtP/xoRwoaVB3RB/7mFF7pET6P4Fv5kpgQ6dfIKXqP9/Ube3JzUivnPYZiuRrmx9G0zusZyOLXuRYx8dObRikvMzRnvux0fB1vX3cs+wVH08VPzgunAsGLYn7KULjX0G1YpN0gFDd9qQYx/nKKba5+u7U8dVTF4JITh9VekdogfsmTu9xqCvD1zVHRg2vMNX3Tpwphm7xDOqzV/xSMOGslpC/oXD/tCk3m9gmQoBJEvAJHtroiUfwmqpinO5U4IFARqJ9bWO7Buf4vxxknYlklpmKWw8TMtjYTy9H+KsCqTVxU3Nkzm+wnXqCaCddQWaF3H11I9d5SKnMcxIvWcq6ITJOv/fhza+lCvC1tZk/8UU9JS7zgX604C49JN5l0m7M+eHNjZBC2zPuZdn8ikFzonQmaDxMA6vn9iWyKTGXrtPgamUHCisBJ2bLp3QJNQBHCUvURJXqxh+V/7nfUW1CTS7E82m+QVzr5y34MHK+MQu14J7+b2K7kt/q+DCRoMbUOSnemqdE/9YBFRmRmf8Fdu2ltFge2mlbAyGMBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018LjjkN3bfs87Esm47ba4oC",
      "input": {
        "note": "Right arm stopped short with rising effort, suggesting the cap is seated on the pen. Releasing the cap from the left gripper so the pen+cap remain in the right hand.",
        "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_018LjjkN3bfs87Esm47ba4oC",
      "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]: [-0.3344, 2.154, 1.9659, -1.0893, 0.7921, 1.0168, 0.9951, 0.2749, 2.0064, 1.6752, -0.8455, -0.8909, -1.1587, 0.0466]\nstate[eef_state]: left_x=0.407 left_y=-0.2707 left_z=0.1598 left_yaw=-1.5551 left_pitch=-0.1716 left_roll=-0.1072 left_gripper=0.9951 right_x=0.3969 right_y=0.2584 right_z=0.1613 right_yaw=1.5792 right_pitch=-0.0632 right_roll=-0.0664 right_gripper=0.0466\nstate[joint_eff]: [-0.253, -11.9453, 6.4752, 0.7888, 0.5104, 0.0464, -0.0024, -0.5675, -9.894, 8.9368, 1.0037, -0.5006, 0.0806, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4007638c94de8ec125662e5fde9949b9bf22f8ea81ffacfe54588b97e5e3d7f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88717ede425f4ee61e6598c8c57e758427e45041cf02e26fc1e3839eb53f79d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d2ba13df58f37f2539a3a9fba8bac20768257f2be5e29fb1344c36f4e22afd84",
        "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 · 7.38 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]: [-0.3344, 2.154, 1.9682, -1.0817, 0.8112, 1.0206, 0.0842, 0.218, 1.9995, 1.6558, -0.8642, -0.9176, -1.2255, 0.0466]\nstate[eef_state]: left_x=0.4073 left_y=-0.2733 left_z=0.1633 left_yaw=-1.5622 left_pitch=-0.1509 left_roll=-0.1012 left_gripper=0.0842 right_x=0.4019 right_y=0.2364 right_z=0.1603 right_yaw=1.5695 right_pitch=-0.0488 right_roll=-0.0847 right_gripper=0.0466\nstate[joint_eff]: [-0.6222, -11.3709, 8.4444, 0.9304, 0.5201, -0.0269, 0.5836, 0.2803, -9.5111, 8.6222, 0.8278, -0.6618, 0.1343, 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]: [-0.3344, 2.154, 1.9678, -1.0824, 0.8097, 1.021, 0.0861, 0.252, 2.0006, 1.668, -0.857, -0.9012, -1.1881, 0.0466]\nstate[eef_state]: left_x=0.4072 left_y=-0.2731 left_z=0.1629 left_yaw=-1.5621 left_pitch=-0.1527 left_roll=-0.1015 left_gripper=0.0861 right_x=0.3984 right_y=0.2493 right_z=0.162 right_yaw=1.5766 right_pitch=-0.0582 right_roll=-0.0754 right_gripper=0.0466\nstate[joint_eff]: [-0.3214, -11.8769, 6.1744, 0.7302, 0.3541, -0.0513, 0.6667, 1.2239, -9.5521, 9.4291, 1.1306, -0.6276, 0.188, 1.0281]",
      "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]: [-0.3344, 2.154, 1.9659, -1.0893, 0.7921, 1.0168, 0.9951, 0.2749, 2.0064, 1.6752, -0.8455, -0.8909, -1.1587, 0.0466]\nstate[eef_state]: left_x=0.407 left_y=-0.2707 left_z=0.1598 left_yaw=-1.5551 left_pitch=-0.1716 left_roll=-0.1072 left_gripper=0.9951 right_x=0.3969 right_y=0.2584 right_z=0.1613 right_yaw=1.5792 right_pitch=-0.0632 right_roll=-0.0664 right_gripper=0.0466\nstate[joint_eff]: [-0.253, -11.9453, 6.4752, 0.7888, 0.5104, 0.0464, -0.0024, -0.5675, -9.894, 8.9368, 1.0037, -0.5006, 0.0806, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4007638c94de8ec125662e5fde9949b9bf22f8ea81ffacfe54588b97e5e3d7f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88717ede425f4ee61e6598c8c57e758427e45041cf02e26fc1e3839eb53f79d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2ba13df58f37f2539a3a9fba8bac20768257f2be5e29fb1344c36f4e22afd84",
        "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_01M9QQLqbqPQm8vky17LQzYw",
      "input": {
        "note": "Releasing showed the cap was not seated: it dropped onto the table (seen in the right wrist view ahead-right of the pen tip). Moving the left arm down toward the fallen cap to re-grasp it.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.23,
          "left_yaw": -1.57,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01M9QQLqbqPQm8vky17LQzYw",
      "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]: [-0.2325, 2.3169, 1.8771, -0.9722, 0.7921, 1.1477, 0.9962, 0.2749, 2.0064, 1.6752, -0.8402, -0.8906, -1.1599, 0.0466]\nstate[eef_state]: left_x=0.436 left_y=-0.2288 left_z=0.0643 left_yaw=-1.5491 left_pitch=-0.2036 left_roll=-0.1412 left_gripper=0.9962 right_x=0.3977 right_y=0.2586 right_z=0.1617 right_yaw=1.5793 right_pitch=-0.0622 right_roll=-0.0726 right_gripper=0.0466\nstate[joint_eff]: [0.3897, -12.3009, 5.6684, 0.7399, 0.6569, 0.2222, 0.1001, -0.0889, -10.7282, 6.5162, 0.8327, -0.4762, -0.0464, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6d1f7bba9f80276ee735459f14e173b2f0c0b415d1117110a3f64bbd8fbeae8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ba4f357bd04f6fa02da5650b990bd3f2f5dcd640105fd945014788803217387",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:57d131d1d76cf7bf684c42fa6d2996c596a9ec6c9dffd96efe5ee961e846eff7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 4.231 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3344, 2.154, 1.9678, -1.0824, 0.8097, 1.021, 0.0861, 0.252, 2.0006, 1.668, -0.857, -0.9012, -1.1881, 0.0466]\nstate[eef_state]: left_x=0.4072 left_y=-0.2731 left_z=0.1629 left_yaw=-1.5621 left_pitch=-0.1527 left_roll=-0.1015 left_gripper=0.0861 right_x=0.3984 right_y=0.2493 right_z=0.162 right_yaw=1.5766 right_pitch=-0.0582 right_roll=-0.0754 right_gripper=0.0466\nstate[joint_eff]: [-0.3214, -11.8769, 6.1744, 0.7302, 0.3541, -0.0513, 0.6667, 1.2239, -9.5521, 9.4291, 1.1306, -0.6276, 0.188, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3344, 2.154, 1.9659, -1.0893, 0.7921, 1.0168, 0.9951, 0.2749, 2.0064, 1.6752, -0.8455, -0.8909, -1.1587, 0.0466]\nstate[eef_state]: left_x=0.407 left_y=-0.2707 left_z=0.1598 left_yaw=-1.5551 left_pitch=-0.1716 left_roll=-0.1072 left_gripper=0.9951 right_x=0.3969 right_y=0.2584 right_z=0.1613 right_yaw=1.5792 right_pitch=-0.0632 right_roll=-0.0664 right_gripper=0.0466\nstate[joint_eff]: [-0.253, -11.9453, 6.4752, 0.7888, 0.5104, 0.0464, -0.0024, -0.5675, -9.894, 8.9368, 1.0037, -0.5006, 0.0806, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2325, 2.3169, 1.8771, -0.9722, 0.7921, 1.1477, 0.9962, 0.2749, 2.0064, 1.6752, -0.8402, -0.8906, -1.1599, 0.0466]\nstate[eef_state]: left_x=0.436 left_y=-0.2288 left_z=0.0643 left_yaw=-1.5491 left_pitch=-0.2036 left_roll=-0.1412 left_gripper=0.9962 right_x=0.3977 right_y=0.2586 right_z=0.1617 right_yaw=1.5793 right_pitch=-0.0622 right_roll=-0.0726 right_gripper=0.0466\nstate[joint_eff]: [0.3897, -12.3009, 5.6684, 0.7399, 0.6569, 0.2222, 0.1001, -0.0889, -10.7282, 6.5162, 0.8327, -0.4762, -0.0464, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6d1f7bba9f80276ee735459f14e173b2f0c0b415d1117110a3f64bbd8fbeae8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ba4f357bd04f6fa02da5650b990bd3f2f5dcd640105fd945014788803217387",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57d131d1d76cf7bf684c42fa6d2996c596a9ec6c9dffd96efe5ee961e846eff7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UkQRLdVtQnu4gYVXEyNJQW",
      "input": {
        "note": "Right wrist view shows the fallen cap right under the left gripper's +x jaw. Shifting ~3.5 cm in +x and descending to table level to grasp it.",
        "targets": {
          "left_x": 0.47,
          "left_y": -0.23,
          "left_yaw": -1.57,
          "left_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01UkQRLdVtQnu4gYVXEyNJQW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2199, 2.5233, 2.0247, -0.9447, 0.828, 1.1889, 0.9963, 0.2749, 2.0064, 1.6745, -0.8402, -0.8906, -1.1603, 0.0466]\nstate[eef_state]: left_x=0.4632 left_y=-0.2332 left_z=0.0127 left_yaw=-1.5714 left_pitch=-0.1734 left_roll=-0.1502 left_gripper=0.9963 right_x=0.3976 right_y=0.2585 right_z=0.1614 right_yaw=1.5795 right_pitch=-0.0624 right_roll=-0.0722 right_gripper=0.0466\nstate[joint_eff]: [-0.1026, -10.3863, 6.3111, 0.5446, -0.0415, 0.0269, -0.0073, -0.3624, -10.8786, 6.3658, 0.8181, -0.4762, -0.0464, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f86372246fa3f980c028154d3edfd334bc48b1c3fcf5bef0ed7f2143b7ffd1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e4464923cefb51785333afa747e02edc2b78fa4bd1926480afac6aa309e0668",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:861f63bfca40c09700202da2a0fee300ac9280a248d0a2e208e6791baad51825",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /messages · status 200 · 13.05 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3344, 2.154, 1.9659, -1.0893, 0.7921, 1.0168, 0.9951, 0.2749, 2.0064, 1.6752, -0.8455, -0.8909, -1.1587, 0.0466]\nstate[eef_state]: left_x=0.407 left_y=-0.2707 left_z=0.1598 left_yaw=-1.5551 left_pitch=-0.1716 left_roll=-0.1072 left_gripper=0.9951 right_x=0.3969 right_y=0.2584 right_z=0.1613 right_yaw=1.5792 right_pitch=-0.0632 right_roll=-0.0664 right_gripper=0.0466\nstate[joint_eff]: [-0.253, -11.9453, 6.4752, 0.7888, 0.5104, 0.0464, -0.0024, -0.5675, -9.894, 8.9368, 1.0037, -0.5006, 0.0806, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2325, 2.3169, 1.8771, -0.9722, 0.7921, 1.1477, 0.9962, 0.2749, 2.0064, 1.6752, -0.8402, -0.8906, -1.1599, 0.0466]\nstate[eef_state]: left_x=0.436 left_y=-0.2288 left_z=0.0643 left_yaw=-1.5491 left_pitch=-0.2036 left_roll=-0.1412 left_gripper=0.9962 right_x=0.3977 right_y=0.2586 right_z=0.1617 right_yaw=1.5793 right_pitch=-0.0622 right_roll=-0.0726 right_gripper=0.0466\nstate[joint_eff]: [0.3897, -12.3009, 5.6684, 0.7399, 0.6569, 0.2222, 0.1001, -0.0889, -10.7282, 6.5162, 0.8327, -0.4762, -0.0464, 1.033]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2199, 2.5233, 2.0247, -0.9447, 0.828, 1.1889, 0.9963, 0.2749, 2.0064, 1.6745, -0.8402, -0.8906, -1.1603, 0.0466]\nstate[eef_state]: left_x=0.4632 left_y=-0.2332 left_z=0.0127 left_yaw=-1.5714 left_pitch=-0.1734 left_roll=-0.1502 left_gripper=0.9963 right_x=0.3976 right_y=0.2585 right_z=0.1614 right_yaw=1.5795 right_pitch=-0.0624 right_roll=-0.0722 right_gripper=0.0466\nstate[joint_eff]: [-0.1026, -10.3863, 6.3111, 0.5446, -0.0415, 0.0269, -0.0073, -0.3624, -10.8786, 6.3658, 0.8181, -0.4762, -0.0464, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f86372246fa3f980c028154d3edfd334bc48b1c3fcf5bef0ed7f2143b7ffd1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e4464923cefb51785333afa747e02edc2b78fa4bd1926480afac6aa309e0668",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:861f63bfca40c09700202da2a0fee300ac9280a248d0a2e208e6791baad51825",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnwcKEAgSGAI4AUIIdGhpbmtpbmcSDAi+IrKPzj9d7JfVuRoMSwLYTU1fcVSNe6PYIjBwg4ucxvsEJ8ncsmNvl3zXegHCwfmXEPlx8bQH6gizJHnK5bUyrygvBFPPnrLpJPUqvAY0DRKENQ+U3urMawL2qPPAp7xSJdGl8ViTwEB9OdYfqRt4CS5MXpyucnv0cBeVrktMzQUje2+qL23DS6V+7OgxmmR8DfEBWew9bC4Nc6l06ocLlPYiDsEQdHpAmL+JDTiCue7ogGY6trCoDltbAhz0vFbuzBhrFLUeg1acsjk/Cwygam9UwXqksD5G0s9Z5kGo9sgyTMOCf6R6AC3RSM7KFmIEp2M1A3X5V2IFAMqTMMbCoU9eF825nKQa5Sdo4KTMGqZoiOYSpnTRYg1TOQ30wPsSIymXoOGc0QohpqeiAFfRMbLYKoHfedCMSgHuPdtDNYwP1BrTwmaEOYPi7CdI2bKNeJtCURZ6bGPm0Rm008CSjUq9YHzgPKlU7KSIqwJX98w4dfGsoSKETPiOhci/ABPvhNh6X2fJeVHHXEUIusqsasJg57sKkJIAmZQkYCL/Q1q3elw4roTNOM3sFHutUXEBamZH5slCd7KBuZW8KODNQX2OB5zkMGSuKjUUA4Wov+sHeKk6UwvRZRxsEetqGq5/0voYhPt1VRw31wYdBLLKE30yjEr9dfwPdCv2vh7sAER+egKITfVNLM6IrfPuv05V2XEuusH2B+f0gvid7Lymd7RL4SZ5QzoiLcB5eeUN3772PjQzXkXp14HHWeGVRUXP8Q4d9fEHKMmMjv5pSJCSmf6MfcxbYht5t4kju171iyKVJ8CEpdCDNvkw6dwE1SRx+jXAdN6I5b5mrommDbBlmav0EHf85J3ioEHK+DXNzWd58Futff6+ncWhKDl2gll7hD6TN2fdEiXT6XpkVDyuS/AMniHxMdj0q5/5xNvYNA6SvvZN1zadgOgmrylrKQZMcQfSW7POMPF3iHJ5s6L89n49w2DnRg3vwbCYwXI62Ui4ZE08JktHeBh/HEAMZPS7Uwk9tngooFAjf4oajXOxOrNFmH685gnKgUNZ9GU1bZ2XBBnkrcs/iMyf106bCcObJuuP0twmwjcp8KIS8Di8pnoqgpTPoNAJes3U743BcV2qFLFM8bX9YoDPf6tGXHgqVyqLTWjVnwWqfr7JXtLpWP5jzMdM05U6mpipBfh3U2z934byd1mEODwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019PptWDJyC8MKKn19kP6z1d",
      "input": {
        "note": "Left gripper is at table level over where the cap lay (cap now hidden under it). Closing to re-grasp the cap.",
        "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_019PptWDJyC8MKKn19kP6z1d",
      "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]: [-0.2199, 2.5477, 2.0403, -0.923, 0.8158, 1.1877, 0.008, 0.2749, 2.0064, 1.6737, -0.8394, -0.8902, -1.1603, 0.0466]\nstate[eef_state]: left_x=0.4691 left_y=-0.233 left_z=0.0041 left_yaw=-1.5664 left_pitch=-0.1824 left_roll=-0.1355 left_gripper=0.008 right_x=0.3976 right_y=0.2585 right_z=0.1612 right_yaw=1.5794 right_pitch=-0.0627 right_roll=-0.0723 right_gripper=0.0466\nstate[joint_eff]: [-0.1846, -11.3436, 6.612, 0.5397, 0.1832, 0.0904, 0.6032, -0.2256, -10.7009, 6.3658, 0.8474, -0.4957, -0.0366, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e37a22be40e8f9a98fc7efa12a0d718b93f552427054d0841916fcba11941c62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2afcca9f4263033c1e07fd5c2402db58ef23ed30b8f9d6ffbb9f51992a6df4c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3c577e7da4763571b2fdc77f815be35ec6f0c212b682ddd0e997a383cbddb331",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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