adhoc

completed
2026-09-22T23:04:41.053346+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 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
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
470.1 s
total steps
280
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 a short dark object (the cap) left of centre and a longer thin object (the pen) right of centre. I am flying the left gripper above the cap and the right gripper above the pen at 15 cm to check alignment in the wrist cameras.
move_to
left_x0.4200left_y-0.1900left_z0.1500left_gripper1.0000right_x0.4200right_y0.2150right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.7921, 0.6022, -0.3794, -0.0219, -0.0132, 0.9993, -0.0185, 0.7906, 0.6094, -0.3756, -0.0208, -0.0132, 0.9991] state[eef_state]: left_x=0.2945 left_y=0.0016 left_z=0.1798 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2958 right_y=0.0018 right_z=0.1843 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.3487, -1.4291, 10.5368, 1.7216, -0.0366, -0.0073, -0.0855, -0.759, -1.1966, 9.7846, 1.746, -0.0366, -0.0611, -0.1099] 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": 0.42, "left_y": -0.19, "left_z": 0.15, "left_gripper": 1, "right_x": 0.42, "right_y": 0.215, "right_z": 0.15, "right_gripper": 1}, "note": "Top view shows a short dark object (the cap) left of centre and a longer thin object (the pen) right of centre. I am flying the left gripper above the cap and the right gripper above the pen at 15 cm to check alignment in the wrist cameras."})
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 noteThe cap appears in the left wrist view low and left of the jaw column, so I shift the left gripper ~3 cm toward it, pull back 2 cm and drop to 4 cm to see it close up before grasping.
move_to
left_x0.3900left_y-0.1550left_z0.0400
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6174, 1.6325, 1.0027, -0.1108, -0.4992, -0.3691, 0.9993, 0.6537, 1.6779, 1.058, -0.0952, 0.5053, 0.355, 0.9991] state[eef_state]: left_x=0.4065 left_y=-0.1805 left_z=0.1279 left_yaw=-0.0102 left_pitch=-0.0655 left_roll=0.034 left_gripper=0.9993 right_x=0.4088 right_y=0.21 right_z=0.1338 right_yaw=0.038 right_pitch=-0.0546 right_roll=-0.0354 right_gripper=0.9991 state[joint_eff]: [-0.335, -7.9111, 9.5521, 1.7998, -0.3883, -0.0073, -0.0855, 0.3077, -8.0615, 8.6496, 1.79, 0.5153, 0.1832, -0.105] 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": 0.39, "left_y": -0.155, "left_z": 0.04}, "note": "The cap appears in the left wrist view low and left of the jaw column, so I shift the left gripper ~3 cm toward it, pull back 2 cm and drop to 4 cm to see it close up before grasping."})
tool
executing move_to over 6 steps (0.6s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteThe cap still sits up-left of the jaw column in the left wrist view, so I move the left gripper 4 cm farther out and 4 cm to its left to bring the cap under the jaws.
move_to
left_x0.4200left_y-0.1100left_z0.0500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5827, 1.726, 0.7193, 0.2043, -0.4801, -0.3573, 0.9993, 0.6559, 1.6943, 1.0607, -0.0975, 0.4969, 0.3588, 0.9991] state[eef_state]: left_x=0.381 left_y=-0.1491 left_z=0.035 left_yaw=0.0067 left_pitch=-0.1244 left_roll=0.0673 left_gripper=0.9993 right_x=0.4084 right_y=0.2126 right_z=0.127 right_yaw=0.0443 right_pitch=-0.0709 right_roll=-0.037 right_gripper=0.9991 state[joint_eff]: [0.4308, -6.5709, 5.4906, 1.6825, -0.1832, 0.1343, -0.0171, -0.253, -9.5111, 6.3248, 1.5409, 0.2125, -0.0366, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.11, "left_z": 0.05}, "note": "The cap still sits up-left of the jaw column in the left wrist view, so I move the left gripper 4 cm farther out and 4 cm to its left to bring the cap under the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteThe cap is now just right of and below the jaw column in the left wrist view; I nudge 2 cm back toward it and yaw the wrist ~-57° so the jaws close across the cap's long axis rather than along it.
move_to
left_x0.4150left_y-0.1220left_z0.0500left_yaw-1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4164, 1.7473, 0.7551, 0.2005, -0.4007, -0.2775, 0.9993, 0.6559, 1.6943, 1.058, -0.0978, 0.4934, 0.355, 0.9991] state[eef_state]: left_x=0.4081 left_y=-0.1012 left_z=0.0341 left_yaw=0.0669 left_pitch=-0.1477 left_roll=0.0738 left_gripper=0.9993 right_x=0.4077 right_y=0.2127 right_z=0.1256 right_yaw=0.0488 right_pitch=-0.0747 right_roll=-0.0399 right_gripper=0.9991 state[joint_eff]: [-0.5949, -8.3487, 8.4718, 1.4286, 0.1441, 0.2662, -0.0171, -0.3624, -8.4034, 6.7077, 1.5409, 0.2125, -0.022, -0.0122] camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.415, "left_y": -0.122, "left_z": 0.05, "left_yaw": -1.0}, "note": "The cap is now just right of and below the jaw column in the left wrist view; I nudge 2 cm back toward it and yaw the wrist ~-57\u00b0 so the jaws close across the cap's long axis rather than along it."})
tool
executing move_to over 7 steps (0.7s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe cap now stands nearly vertical in the left wrist image and is centred on the jaw column, so I descend to table level to straddle it.
move_to
left_x0.4246left_y-0.1050left_z0.0000left_yaw-0.9000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0677, 1.8141, 0.9203, 0.0174, 0.4503, 0.5632, 0.9992, 0.6563, 1.6947, 1.0573, -0.099, 0.4938, 0.355, 0.9991] state[eef_state]: left_x=0.4246 left_y=-0.1023 left_z=0.0389 left_yaw=-0.7652 left_pitch=-0.1965 left_roll=0.0582 left_gripper=0.9992 right_x=0.4074 right_y=0.2126 right_z=0.125 right_yaw=0.0488 right_pitch=-0.0765 right_roll=-0.0414 right_gripper=0.9991 state[joint_eff]: [0.2256, -8.8137, 7.0769, 1.199, 0.3199, 0.1978, -0.0171, 0.0068, -8.3624, 6.5846, 1.4481, 0.2076, -0.0269, -0.0122] camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4246, "left_y": -0.105, "left_z": 0.0, "left_yaw": -0.9}, "note": "The cap now stands nearly vertical in the left wrist image and is centred on the jaw column, so I descend to table level to straddle it."})
tool
executing move_to over 3 steps (0.3s)
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 noteThe cap sits right between the jaws in the left wrist view; closing the left gripper to grasp 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]: [-0.0441, 1.9388, 0.9463, 0.0208, 0.5526, 0.7116, 0.9992, 0.6559, 1.6947, 1.0561, -0.099, 0.4934, 0.355, 0.9991] state[eef_state]: left_x=0.4191 left_y=-0.1077 left_z=0.004 left_yaw=-0.9108 left_pitch=-0.2112 left_roll=0.0389 left_gripper=0.9992 right_x=0.4072 right_y=0.2123 right_z=0.1245 right_yaw=0.0487 right_pitch=-0.0776 right_roll=-0.0419 right_gripper=0.9991 state[joint_eff]: [0.4718, -9.894, 4.7932, 1.5409, 0.232, -0.0513, -0.0122, -0.3487, -8.3214, 6.7077, 1.4969, 0.188, -0.0269, -0.0122] 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_gripper": 0}, "note": "The cap sits right between the jaws in the left wrist view; closing the left gripper to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteThe close came up empty (gripper reads 0.01) and the cap is still visible just beyond the jaws, so I reopen and advance 2.5 cm farther out before retrying.
move_to
left_gripper1.0000left_x0.4470left_z0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0399, 1.9526, 0.9424, 0.054, 0.556, 0.7082, 0.0091, 0.6559, 1.6947, 1.0561, -0.0978, 0.4923, 0.355, 0.9991] state[eef_state]: left_x=0.4225 left_y=-0.1066 left_z=0.0017 left_yaw=-0.9046 left_pitch=-0.1989 left_roll=0.0467 left_gripper=0.0091 right_x=0.4073 right_y=0.2126 right_z=0.1246 right_yaw=0.0496 right_pitch=-0.0771 right_roll=-0.0406 right_gripper=0.9991 state[joint_eff]: [-0.7043, -10.1128, 5.7915, 0.9744, 0.3297, 0.0073, 0.3639, -0.3624, -8.335, 6.5026, 1.4921, 0.1441, -0.0171, -0.0122] camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1, "left_x": 0.447, "left_z": 0.0}, "note": "The close came up empty (gripper reads 0.01) and the cap is still visible just beyond the jaws, so I reopen and advance 2.5 cm farther out before retrying."})
tool
executing move_to over 10 steps (1.0s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteThe cap has disappeared from the left wrist view, meaning it is now at the grasp point; closing the gripper.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0395, 2.0087, 1.026, 0.0273, 0.5549, 0.7063, 0.9949, 0.6563, 1.6947, 1.0561, -0.0975, 0.4896, 0.3553, 0.9991] state[eef_state]: left_x=0.441 left_y=-0.107 left_z=0.0009 left_yaw=-0.9023 left_pitch=-0.199 left_roll=0.0465 left_gripper=0.9949 right_x=0.4071 right_y=0.2133 right_z=0.1246 right_yaw=0.0519 right_pitch=-0.0778 right_roll=-0.0386 right_gripper=0.9991 state[joint_eff]: [0.0205, -8.0205, 7.8564, 1.1306, 0.2418, 0.0122, -0.1734, -0.0889, -8.335, 6.5162, 1.4823, 0.1734, -0.0073, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "The cap has disappeared from the left wrist view, meaning it is now at the grasp point; closing the gripper."})
tool
executing move_to over 10 steps (1.0s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteSecond close was also empty, so I lift the left arm out of the way to get an unobstructed overhead look and re-locate the cap.
move_to
left_z0.1600left_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]: [-0.0395, 2.0113, 1.0294, 0.0315, 0.5533, 0.7044, 0.0085, 0.6559, 1.6947, 1.0561, -0.0975, 0.4892, 0.355, 0.9991] state[eef_state]: left_x=0.4428 left_y=-0.1068 left_z=0.0012 left_yaw=-0.8994 left_pitch=-0.1967 left_roll=0.0498 left_gripper=0.0085 right_x=0.4072 right_y=0.2132 right_z=0.1245 right_yaw=0.052 right_pitch=-0.0779 right_roll=-0.0387 right_gripper=0.9991 state[joint_eff]: [-0.0615, -10.1812, 5.053, 1.3407, 0.3346, -0.0464, 0.569, -0.1983, -8.1162, 6.7077, 1.5067, 0.1441, -0.022, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.16, "left_gripper": 1}, "note": "Second close was also empty, so I lift the left arm out of the way to get an unobstructed overhead look and re-locate the cap."})
tool
executing move_to over 11 steps (1.1s)
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 noteParking the left arm back near its base and high up so the overhead camera can show me where the cap actually is.
move_to
left_x0.2200left_y0.0000left_z0.2500left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0395, 1.7981, 1.335, -0.535, 0.5499, 0.6968, 0.9955, 0.6563, 1.6947, 1.0561, -0.0978, 0.4889, 0.355, 0.9991] state[eef_state]: left_x=0.4412 left_y=-0.1062 left_z=0.1281 left_yaw=-0.9007 left_pitch=-0.2298 left_roll=0.0092 left_gripper=0.9955 right_x=0.4071 right_y=0.2133 right_z=0.1244 right_yaw=0.0527 right_pitch=-0.0784 right_roll=-0.0387 right_gripper=0.9991 state[joint_eff]: [-0.253, -12.3282, 9.388, 1.3553, 0.2173, 0.0269, -0.0904, -0.0205, -8.335, 6.7214, 1.5018, 0.1538, -0.022, -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_x": 0.22, "left_y": 0.0, "left_z": 0.25, "left_yaw": 0.0}, "note": "Parking the left arm back near its base and high up so the overhead camera can show me where the cap actually is."})
tool
executing move_to over 18 steps (1.8s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteThe left half of the table is empty — the dark shape I was grasping was a cable. Retracting the right arm too so the overhead camera can show the pen and the cap.
move_to
right_x0.2400right_y0.0000right_z0.2800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0494, 0.794, 1.0325, -1.0389, 0.0025, 0.0162, 0.9964, 0.6559, 1.6947, 1.055, -0.0975, 0.4854, 0.355, 0.9991] state[eef_state]: left_x=0.2306 left_y=-0.0082 left_z=0.2395 left_yaw=-0.0662 left_pitch=-0.2314 left_roll=0.0077 left_gripper=0.9964 right_x=0.4068 right_y=0.2136 right_z=0.1239 right_yaw=0.055 right_pitch=-0.0803 right_roll=-0.0372 right_gripper=0.9991 state[joint_eff]: [-0.7043, -0.5265, 9.0598, 1.4432, -0.1343, -0.0415, 0.0757, -0.3487, -8.3624, 6.5573, 1.5897, 0.1587, -0.0562, -0.0171] camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.24, "right_y": 0.0, "right_z": 0.28}, "note": "The left half of the table is empty \u2014 the dark shape I was grasping was a cable. Retracting the right arm too so the overhead camera can show the pen and the cap."})
tool
executing move_to over 18 steps (1.8s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteTable is clear except the pen; a small white object sits to the right arm's right in its wrist view, which may be the cap. Moving over it for a closer look.
move_to
right_x0.3600right_y-0.0600right_z0.1600
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0528, 0.7975, 1.0294, -1.0599, -0.0082, 0.0006, 0.9966, -0.0498, 0.7673, 1.0348, -0.9073, -0.0063, -0.0544, 0.9991] state[eef_state]: left_x=0.2271 left_y=-0.007 left_z=0.234 left_yaw=-0.0517 left_pitch=-0.2588 left_roll=0.0044 left_gripper=0.9966 right_x=0.2484 right_y=-0.0077 right_z=0.2707 right_yaw=-0.0217 right_pitch=-0.0836 right_roll=-0.0403 right_gripper=0.9991 state[joint_eff]: [0.1846, -0.6085, 6.4479, 1.7167, 0.0415, 0.1343, -0.0024, -0.1846, -0.5402, 8.3214, 1.8144, -0.1832, -0.022, -0.0122] camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": -0.06, "right_z": 0.16}, "note": "Table is clear except the pen; a small white object sits to the right arm's right in its wrist view, which may be the cap. Moving over it for a closer look."})
tool
executing move_to over 9 steps (0.9s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteThe white object stays to the right and slightly beyond the jaws; moving to the right arm's fence-side y limit and 3 cm farther out to see whether it is the pen cap and whether it is reachable.
move_to
right_x0.3900right_y-0.0800right_z0.1300
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0528, 0.7998, 1.0294, -1.0676, -0.0113, -0.0002, 0.9966, -0.2508, 1.1706, 0.7578, -0.342, -0.1593, -0.1734, 0.999] state[eef_state]: left_x=0.226 left_y=-0.0064 left_z=0.2323 left_yaw=-0.0486 left_pitch=-0.2687 left_roll=0.0063 left_gripper=0.9966 right_x=0.3409 right_y=-0.0547 right_z=0.1445 right_yaw=-0.0264 right_pitch=-0.1863 right_roll=-0.0199 right_gripper=0.999 state[joint_eff]: [-0.0752, -0.2667, 6.1197, 1.5018, -0.0464, -0.0611, -0.0122, -0.5675, -4.6701, 6.653, 2.0049, -0.232, -0.1197, -0.0171] camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.39, "right_y": -0.08, "right_z": 0.13}, "note": "The white object stays to the right and slightly beyond the jaws; moving to the right arm's fence-side y limit and 3 cm farther out to see whether it is the pen cap and whether it is reachable."})
tool
executing move_to over 4 steps (0.4s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteAdvancing the right gripper further out along the fence side and yawing the wrist toward the white object so I can see whether it is the pen cap and how far right it lies.
move_to
right_x0.4400right_y-0.0800right_z0.0600right_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]: [-0.0528, 0.8021, 1.0294, -1.0683, -0.0113, -0.0002, 0.9966, -0.2878, 1.4002, 0.8261, -0.2573, -0.1848, -0.2001, 0.9991] state[eef_state]: left_x=0.2262 left_y=-0.0064 left_z=0.2317 left_yaw=-0.0486 left_pitch=-0.2718 left_roll=0.0063 left_gripper=0.9966 right_x=0.3725 right_y=-0.0727 right_z=0.1095 right_yaw=-0.0228 right_pitch=-0.2563 right_roll=-0.0023 right_gripper=0.9991 state[joint_eff]: [-0.0068, -0.4171, 6.188, 1.453, -0.0611, -0.0611, -0.0122, -0.6359, -6.2291, 9.7162, 1.7265, -0.2369, -0.1099, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": -0.08, "right_z": 0.06, "right_yaw": -0.5}, "note": "Advancing the right gripper further out along the fence side and yawing the wrist toward the white object so I can see whether it is the pen cap and how far right it lies."})
tool
executing move_to over 6 steps (0.6s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteThe right arm stalled short of the last target; retrying a cleaner pose farther out at the fence side with the wrist straight, to get above the white object.
move_to
right_x0.4600right_y-0.0800right_z0.1400right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0528, 0.8051, 1.0294, -1.0679, -0.0113, -0.0002, 0.9966, -0.2424, 1.4452, 0.8181, -0.2241, -0.1238, -0.1303, 0.9991] state[eef_state]: left_x=0.2266 left_y=-0.0064 left_z=0.2311 left_yaw=-0.0486 left_pitch=-0.2744 left_roll=0.0063 left_gripper=0.9966 right_x=0.3772 right_y=-0.0671 right_z=0.0943 right_yaw=-0.0675 right_pitch=-0.286 right_roll=0.0051 right_gripper=0.9991 state[joint_eff]: [-0.0615, -0.5128, 6.1607, 1.453, -0.0513, -0.0513, -0.0122, -0.5265, -6.065, 6.4615, 1.8779, 0.105, 0.1783, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_y": -0.08, "right_z": 0.14, "right_yaw": 0.0}, "note": "The right arm stalled short of the last target; retrying a cleaner pose farther out at the fence side with the wrist straight, to get above the white object."})
tool
executing move_to over 7 steps (0.7s)
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 noteBacking the right arm off and yawing the wrist camera toward the unidentified white object on the right side of the table, to see clearly whether it is the pen cap and how far outside the workspace it lies.
move_to
right_x0.3300right_y-0.0500right_z0.2000right_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]: [-0.0528, 0.8066, 1.029, -1.0756, -0.0116, -0.0002, 0.9966, -0.2424, 1.5494, 0.9306, -0.3077, -0.1432, -0.1562, 0.9991] state[eef_state]: left_x=0.2253 left_y=-0.0063 left_z=0.2294 left_yaw=-0.0483 left_pitch=-0.284 left_roll=0.0066 left_gripper=0.9966 right_x=0.3912 right_y=-0.0671 right_z=0.087 right_yaw=-0.0311 right_pitch=-0.3566 right_roll=0.0185 right_gripper=0.9991 state[joint_eff]: [-0.1846, -0.3214, 6.2701, 1.5458, -0.0659, -0.0757, -0.0122, -0.335, -5.2855, 7.0906, 1.2869, -0.1148, 0.0952, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": -0.05, "right_z": 0.2, "right_yaw": -0.7}, "note": "Backing the right arm off and yawing the wrist camera toward the unidentified white object on the right side of the table, to see clearly whether it is the pen cap and how far outside the workspace it lies."})
tool
executing move_to over 8 steps (0.8s)
step 149
top_cam
camera top_cam step 149
left_cam
camera left_cam step 149
right_cam
camera right_cam step 149
assistant
agent noteLifting the right arm high with the wrist pitched down to use its camera as an overhead survey of the right half of the table, so I can locate the pen cap properly.
move_to
right_x0.2500right_y-0.0500right_z0.4200right_yaw0.0000right_pitch0.5000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0528, 0.8108, 1.029, -1.0821, -0.0116, -0.0002, 0.9966, 0.0448, 1.3479, 1.1748, -0.8379, 0.3225, 0.5014, 0.999] state[eef_state]: left_x=0.2246 left_y=-0.0062 left_z=0.2275 left_yaw=-0.0483 left_pitch=-0.2946 left_roll=0.0067 left_gripper=0.9966 right_x=0.3415 right_y=-0.0371 right_z=0.1851 right_yaw=-0.5423 right_pitch=-0.3772 right_roll=0.0189 right_gripper=0.999 state[joint_eff]: [-0.0205, -0.7453, 6.065, 1.5116, -0.0757, -0.0317, -0.0122, -0.1299, -4.9436, 8.6496, 1.2869, 0.4615, 0.2173, -0.0171] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.25, "right_y": -0.05, "right_z": 0.42, "right_yaw": 0.0, "right_pitch": 0.5}, "note": "Lifting the right arm high with the wrist pitched down to use its camera as an overhead survey of the right half of the table, so I can locate the pen cap properly."})
tool
executing move_to over 30 steps (3.0s)
step 179
top_cam
camera top_cam step 179
left_cam
camera left_cam step 179
right_cam
camera right_cam step 179
assistant
agent noteTable survey shows only the pen; moving the right wrist camera above and just short of the pen to inspect it closely and see whether the cap lies beside it.
move_to
right_x0.3800right_y0.2000right_z0.2000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0528, 0.8154, 1.029, -1.0889, -0.0116, -0.0002, 0.9966, -0.6388, 0.7105, 1.0752, -0.5396, -0.5842, -0.0532, 0.9991] state[eef_state]: left_x=0.2238 left_y=-0.0062 left_z=0.2255 left_yaw=-0.0483 left_pitch=-0.3061 left_roll=0.0068 left_gripper=0.9966 right_x=0.2543 right_y=-0.063 right_z=0.39 right_yaw=-0.0794 right_pitch=0.4101 right_roll=0.0503 right_gripper=0.9991 state[joint_eff]: [-0.1162, -0.8, 6.2017, 1.4774, -0.0855, -0.0366, -0.0122, -0.3761, -0.0068, 8.7453, 2.0195, -0.0952, 0.1832, -0.0073] camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.2, "right_z": 0.2, "right_pitch": 0.0}, "note": "Table survey shows only the pen; moving the right wrist camera above and just short of the pen to inspect it closely and see whether the cap lies beside it."})
tool
executing move_to over 22 steps (2.2s)
step 201
top_cam
camera top_cam step 201
left_cam
camera left_cam step 201
right_cam
camera right_cam step 201
assistant
agent noteThe pen (a pencil) is the only object I can find; it runs diagonally just below the right jaws. I yaw the wrist 45° so the jaws close across the pen's axis and drop to 10 cm for a final alignment check.
move_to
right_x0.3600right_y0.1770right_z0.1000right_yaw0.7850
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0528, 0.8192, 1.029, -1.0897, -0.0116, -0.0002, 0.9966, 0.7097, 1.5002, 1.0912, -0.3435, 0.6022, 0.4835, 0.999] state[eef_state]: left_x=0.2241 left_y=-0.0062 left_z=0.2246 left_yaw=-0.0483 left_pitch=-0.3107 left_roll=0.0068 left_gripper=0.9966 right_x=0.372 right_y=0.1924 right_z=0.1857 right_yaw=-0.0495 right_pitch=-0.0416 right_roll=-0.0034 right_gripper=0.999 state[joint_eff]: [-0.1709, -0.5265, 6.2974, 1.3846, -0.0611, -0.0464, -0.0122, 0.5538, -6.9675, 9.1282, 1.5995, 0.5055, 0.1441, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.177, "right_z": 0.1, "right_yaw": 0.785}, "note": "The pen (a pencil) is the only object I can find; it runs diagonally just below the right jaws. I yaw the wrist 45\u00b0 so the jaws close across the pen's axis and drop to 10 cm for a final alignment check."})
tool
executing move_to over 6 steps (0.6s)
step 207
top_cam
camera top_cam step 207
left_cam
camera left_cam step 207
right_cam
camera right_cam step 207
assistant
agent noteThe pencil now runs vertically between the open jaws in the right wrist view; descending to table level to straddle its shaft before closing.
move_to
right_z0.0000right_y0.1480
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0528, 0.82, 1.029, -1.0901, -0.0116, -0.0002, 0.9966, 0.2943, 1.4635, 0.6975, 0.0521, -0.2138, -0.1562, 0.999] state[eef_state]: left_x=0.2241 left_y=-0.0062 left_z=0.2244 left_yaw=-0.0483 left_pitch=-0.3118 left_roll=0.0068 left_gripper=0.9966 right_x=0.3646 right_y=0.1534 right_z=0.0891 right_yaw=0.5543 right_pitch=-0.138 right_roll=0.0192 right_gripper=0.999 state[joint_eff]: [-0.1983, -0.5265, 6.065, 1.3993, -0.0757, -0.0317, -0.0122, -0.253, -5.7094, 6.2701, 1.6825, -0.3492, -0.1392, -0.0073] camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.0, "right_y": 0.148}, "note": "The pencil now runs vertically between the open jaws in the right wrist view; descending to table level to straddle its shaft before closing."})
tool
executing move_to over 6 steps (0.6s)
step 213
top_cam
camera top_cam step 213
left_cam
camera left_cam step 213
right_cam
camera right_cam step 213
assistant
agent noteThe pencil sits ~1.7 cm to the right of the jaw centre line; shifting the right gripper over to centre it before closing.
move_to
right_y0.1330
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0528, 0.8219, 1.029, -1.0897, -0.0116, -0.0002, 0.9966, 0.281, 1.7294, 0.5446, 0.429, -0.2371, -0.1864, 0.999] state[eef_state]: left_x=0.2244 left_y=-0.0062 left_z=0.2241 left_yaw=-0.0482 left_pitch=-0.3133 left_roll=0.0068 left_gripper=0.9966 right_x=0.3579 right_y=0.1502 right_z=0.0026 right_yaw=0.5785 right_pitch=-0.1736 right_roll=0.023 right_gripper=0.999 state[joint_eff]: [-0.3077, -0.4308, 6.147, 1.4237, -0.0464, -0.0269, -0.0122, -0.759, -5.2991, 3.959, 0.9011, -0.0659, 0.3736, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.133}, "note": "The pencil sits ~1.7 cm to the right of the jaw centre line; shifting the right gripper over to centre it before closing."})
tool
executing move_to over 2 steps (0.2s)
step 215
top_cam
camera top_cam step 215
left_cam
camera left_cam step 215
right_cam
camera right_cam step 215
assistant
agent noteThe pencil still lies right of the jaw centre; shifting the gripper along its image-right axis (accounting for the 33° wrist yaw) to centre the shaft between the jaws.
move_to
right_x0.3770right_y0.1180
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0528, 0.8223, 1.029, -1.0897, -0.0116, -0.0002, 0.9966, 0.2443, 1.7401, 0.5339, 0.4694, -0.2619, -0.207, 0.9991] state[eef_state]: left_x=0.2245 left_y=-0.0062 left_z=0.224 left_yaw=-0.0482 left_pitch=-0.3137 left_roll=0.0068 left_gripper=0.9966 right_x=0.3629 right_y=0.1413 right_z=0.0031 right_yaw=0.5727 right_pitch=-0.1499 right_roll=0.0175 right_gripper=0.9991 state[joint_eff]: [-0.0479, -0.3624, 6.0923, 1.4139, -0.0464, -0.0611, -0.0122, -0.5538, -8.1026, 4.3556, 1.619, -0.1685, -0.0269, -0.0122] camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.377, "right_y": 0.118}, "note": "The pencil still lies right of the jaw centre; shifting the gripper along its image-right axis (accounting for the 33\u00b0 wrist yaw) to centre the shaft between the jaws."})
tool
executing move_to over 2 steps (0.2s)
step 217
top_cam
camera top_cam step 217
left_cam
camera left_cam step 217
right_cam
camera right_cam step 217
assistant
agent noteThe x-move stalled, so I correct laterally only: moving the right gripper 3 cm toward its right to bring the pencil shaft onto the jaw centre line.
move_to
right_y0.1000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0528, 0.8257, 1.029, -1.0897, -0.0116, -0.0002, 0.9966, 0.2115, 1.7306, 0.5339, 0.4438, -0.2733, -0.2329, 0.9991] state[eef_state]: left_x=0.2248 left_y=-0.0062 left_z=0.2233 left_yaw=-0.0482 left_pitch=-0.3172 left_roll=0.0068 left_gripper=0.9966 right_x=0.3634 right_y=0.1305 right_z=0.0024 right_yaw=0.5642 right_pitch=-0.1621 right_roll=0.0105 right_gripper=0.9991 state[joint_eff]: [-0.3487, -0.8274, 6.2564, 1.3895, -0.0806, -0.0757, -0.0122, 0.1026, -7.9385, 4.2872, 1.2527, -0.2662, -0.0269, -0.0171] camera 'top_cam' (step 217): [image omitted: streamed camera frame] camera 'left_cam' (step 217): [image omitted: streamed camera frame] camera 'right_cam' (step 217): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.1}, "note": "The x-move stalled, so I correct laterally only: moving the right gripper 3 cm toward its right to bring the pencil shaft onto the jaw centre line."})
tool
executing move_to over 3 steps (0.3s)
step 220
top_cam
camera top_cam step 220
left_cam
camera left_cam step 220
right_cam
camera right_cam step 220
assistant
agent noteThe arm refused to move sideways while pressed at table level, so I lift 4 cm and shift 3 cm right at the same time.
move_to
right_z0.0400right_y0.1000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0528, 0.8265, 1.029, -1.0893, -0.0116, -0.0002, 0.9966, 0.2115, 1.7306, 0.5339, 0.4435, -0.2733, -0.2333, 0.999] state[eef_state]: left_x=0.225 left_y=-0.0062 left_z=0.2232 left_yaw=-0.0482 left_pitch=-0.3175 left_roll=0.0068 left_gripper=0.9966 right_x=0.3634 right_y=0.1305 right_z=0.0024 right_yaw=0.5644 right_pitch=-0.1624 right_roll=0.0103 right_gripper=0.999 state[joint_eff]: [-0.3624, -0.5812, 6.0786, 1.4139, -0.0366, -0.0806, -0.0122, 0.0342, -8.1299, 4.2872, 1.2625, -0.2857, -0.0708, -0.022] camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.04, "right_y": 0.1}, "note": "The arm refused to move sideways while pressed at table level, so I lift 4 cm and shift 3 cm right at the same time."})
tool
executing move_to over 3 steps (0.3s)
step 223
top_cam
camera top_cam step 223
assistant
agent noteThe right arm has stopped responding at table level; commanding a larger retreat (up and back, wrist partly unwound) to break it out of the stuck pose.
move_to
right_x0.3200right_z0.1800right_yaw0.3000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0528, 0.8268, 1.029, -1.0897, -0.0116, -0.0002, 0.9966, 0.2115, 1.7306, 0.5335, 0.4435, -0.2733, -0.2329, 0.999] state[eef_state]: left_x=0.225 left_y=-0.0062 left_z=0.223 left_yaw=-0.0482 left_pitch=-0.3183 left_roll=0.0068 left_gripper=0.9966 right_x=0.3632 right_y=0.1304 right_z=0.0023 right_yaw=0.5642 right_pitch=-0.1628 right_roll=0.0108 right_gripper=0.999 state[joint_eff]: [-0.3624, -0.4444, 6.0923, 1.3846, -0.0757, -0.0464, -0.0122, 0.1573, -7.9248, 4.3009, 1.2479, -0.2418, -0.0317, -0.0073] camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.32, "right_z": 0.18, "right_yaw": 0.3}, "note": "The right arm has stopped responding at table level; commanding a larger retreat (up and back, wrist partly unwound) to break it out of the stuck pose."})
tool
executing move_to over 12 steps (1.2s)
step 235
assistant
agent noteThe arm is free again and the pen is centred in the wrist view; moving to a hover 5 cm above the pen, shifted 2 cm right and yawed so the jaws cross its axis.
move_to
right_x0.3500right_y0.1150right_z0.0500right_yaw0.6500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0528, 0.8314, 1.029, -1.0893, -0.0116, -0.0002, 0.9966, 0.4049, 1.1599, 0.8177, -0.3706, 0.0303, 0.0357, 0.999] state[eef_state]: left_x=0.2255 left_y=-0.0063 left_z=0.2222 left_yaw=-0.0482 left_pitch=-0.3225 left_roll=0.0068 left_gripper=0.9966 right_x=0.3244 right_y=0.1371 right_z=0.1672 right_yaw=0.3536 right_pitch=-0.1558 right_roll=0.0065 right_gripper=0.999 state[joint_eff]: [-0.2803, -0.8274, 6.3111, 1.4335, -0.0611, -0.0513, -0.0122, 0.3897, -5.0393, 8.9915, 1.4481, 0.1832, 0.1538, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.35, "right_y": 0.115, "right_z": 0.05, "right_yaw": 0.65}, "note": "The arm is free again and the pen is centred in the wrist view; moving to a hover 5 cm above the pen, shifted 2 cm right and yawed so the jaws cross its axis."})
tool
executing move_to over 8 steps (0.8s)
step 243
assistant
agent notePen is centred but sits beyond the fingertips; advancing ~3 cm along the camera's forward axis and holding the lateral offset so the pen's rear half comes to the jaw point.
move_to
right_x0.3680right_y0.1180right_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]: [-0.0528, 0.8349, 1.029, -1.0897, -0.0116, -0.0002, 0.9966, 0.1341, 1.4784, 0.5827, 0.0479, -0.3321, -0.2996, 0.9991] state[eef_state]: left_x=0.2258 left_y=-0.0063 left_z=0.2214 left_yaw=-0.0482 left_pitch=-0.3263 left_roll=0.0068 left_gripper=0.9966 right_x=0.3412 right_y=0.1078 right_z=0.0435 right_yaw=0.5788 right_pitch=-0.2321 right_roll=0.0381 right_gripper=0.9991 state[joint_eff]: [-0.0889, -0.6085, 6.1607, 1.3895, -0.0317, -0.0464, -0.0122, -0.5812, -5.641, 5.5453, 1.79, -0.4078, -0.0659, -0.0073] camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.368, "right_y": 0.118, "right_z": 0.03}, "note": "Pen is centred but sits beyond the fingertips; advancing ~3 cm along the camera's forward axis and holding the lateral offset so the pen's rear half comes to the jaw point."})
tool
executing move_to over 3 steps (0.3s)
step 246
assistant
agent notePen's lower shaft is 1 cm right of the jaw centre; nudging over and descending to table level to straddle the shaft.
move_to
right_x0.3620right_y0.1100right_z0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0528, 0.8379, 1.029, -1.0897, -0.0116, -0.0002, 0.9966, 0.1532, 1.6093, 0.6292, 0.1127, -0.3435, -0.3134, 0.999] state[eef_state]: left_x=0.2262 left_y=-0.0063 left_z=0.2208 left_yaw=-0.0482 left_pitch=-0.3294 left_roll=0.0069 left_gripper=0.9966 right_x=0.3555 right_y=0.1187 right_z=0.0256 right_yaw=0.6168 right_pitch=-0.2454 right_roll=0.045 right_gripper=0.999 state[joint_eff]: [-0.1709, -0.6085, 6.0923, 1.3797, -0.0659, -0.0562, -0.0122, 0.2393, -6.5846, 7.3231, 1.5556, -0.0611, 0.1441, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 246): [image omitted: streamed camera frame] camera 'left_cam' (step 246): [image omitted: streamed camera frame] camera 'right_cam' (step 246): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.362, "right_y": 0.11, "right_z": 0.0}, "note": "Pen's lower shaft is 1 cm right of the jaw centre; nudging over and descending to table level to straddle the shaft."})
tool
executing move_to over 2 steps (0.2s)
step 248
assistant
agent noteThe pen's lower shaft is between the open jaws at table level; closing the right gripper to grasp the pen.
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]: [-0.0528, 0.8394, 1.029, -1.0893, -0.0116, -0.0002, 0.9966, 0.139, 1.6775, 0.6296, 0.1726, -0.3462, -0.3176, 0.999] state[eef_state]: left_x=0.2264 left_y=-0.0063 left_z=0.2205 left_yaw=-0.0482 left_pitch=-0.3305 left_roll=0.0069 left_gripper=0.9966 right_x=0.3615 right_y=0.1147 right_z=0.011 right_yaw=0.6081 right_pitch=-0.2515 right_roll=0.0476 right_gripper=0.999 state[joint_eff]: [-0.1709, -0.8, 6.2017, 1.4188, -0.0415, -0.0708, -0.0122, -0.8, -6.3521, 3.7949, 1.3993, -0.3053, -0.022, -0.0122] camera 'top_cam' (step 248): [image omitted: streamed camera frame] camera 'left_cam' (step 248): [image omitted: streamed camera frame] camera 'right_cam' (step 248): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "The pen's lower shaft is between the open jaws at table level; closing the right gripper to grasp the pen."})
tool
executing move_to over 10 steps (1.0s)
step 258
assistant
agent noteGripper closed to 0.011 which reads empty, yet the pen fills the wrist view; lifting 7 cm to check whether the pen actually came up with the jaws.
move_to
right_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]: [-0.0528, 0.844, 1.0267, -1.0977, -0.0116, -0.0002, 0.9966, 0.1192, 1.7077, 0.6193, 0.2539, -0.3748, -0.3492, 0.0111] state[eef_state]: left_x=0.2251 left_y=-0.0063 left_z=0.2174 left_yaw=-0.0482 left_pitch=-0.3458 left_roll=0.0069 left_gripper=0.9966 right_x=0.3695 right_y=0.113 right_z=0.0107 right_yaw=0.6242 right_pitch=-0.2046 right_roll=0.0245 right_gripper=0.0111 state[joint_eff]: [-0.212, -0.5402, 6.2974, 1.453, -0.0708, -0.0464, -0.0122, -0.1846, -5.5863, 4.1778, 1.0818, -0.2857, 0.0757, 0.4664] camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.08}, "note": "Gripper closed to 0.011 which reads empty, yet the pen fills the wrist view; lifting 7 cm to check whether the pen actually came up with the jaws."})
tool
executing move_to over 5 steps (0.5s)
step 263
assistant
agent noteThe pen is now held in the right gripper; swinging it up and toward the centre so the overhead camera can show the right-hand part of the table where an unidentified white object sits, in the hope it is the cap.
move_to
right_x0.3000right_y0.3000right_z0.2500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0528, 0.8463, 1.0267, -1.1, -0.0116, -0.0002, 0.9966, 0.1192, 1.5356, 0.7254, -0.0124, -0.3714, -0.35, 0.0133] state[eef_state]: left_x=0.2249 left_y=-0.0062 left_z=0.2166 left_yaw=-0.0482 left_pitch=-0.3503 left_roll=0.007 left_gripper=0.9966 right_x=0.372 right_y=0.1127 right_z=0.0678 right_yaw=0.6207 right_pitch=-0.1954 right_roll=0.0159 right_gripper=0.0133 state[joint_eff]: [-0.1983, -0.5402, 6.2701, 1.3651, 0.0073, -0.0562, -0.0122, -0.3487, -7.788, 7.7607, 1.409, -0.1832, -0.0171, 0.2125] camera 'top_cam' (step 263): [image omitted: streamed camera frame] camera 'left_cam' (step 263): [image omitted: streamed camera frame] camera 'right_cam' (step 263): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.3, "right_z": 0.25}, "note": "The pen is now held in the right gripper; swinging it up and toward the centre so the overhead camera can show the right-hand part of the table where an unidentified white object sits, in the hope it is the cap."})
tool
executing move_to over 16 steps (1.6s)
step 279
assistant
agent noteI could not find a pen cap anywhere in the reachable workspace: after clearing both arms, the overhead camera showed only the pen (a thin pencil-like pen) on the table. The only other object I could spot was a small white item near the right table edge, beyond the right arm's y bound (fence side), which I could not reach or positively identify. I did grasp the pen, but the grip was on its extreme tip (gripper settled at 0.013, i.e. essentially closed) and it slipped out when I moved. With the cap absent/unreachable, "put the cap on the pen" cannot be completed.
give_up
hindsightConcrete lessons from this rig/trial: - A black power/data cable lies on the table and looks exactly like a small dark object in the overhead view. I wasted ~8 calls trying to grasp it as "the cap". Before committing, check that a candidate object casts a separate shadow / moves when nudged, or verify with a wrist view from two different arm positions. - The wrist cameras are strongly foreshortened: an object at image row ~150-190 with the tool near vertical is roughly at the jaw point; anything above row ~130 is still several cm farther out. Near the image bottom the scale is ~15 px/cm (measured from the 9.5 cm jaw span spanning ~155 px). - With the wrist yawed by ψ, the wrist image axes rotate: image-up = (cosψ, sinψ) and image-right = (sinψ, -cosψ) in the arm's (x,y) frame. Corrections must be applied along those rotated axes, not along raw x/y. - The right arm froze completely (zero motion over three commands) while pressed at z≈0.002; lateral/vertical commands were ignored until I sent a large retreat (x -4 cm, z +15 cm, yaw change). If the readback stops changing at all, send a big combined retreat, not small nudges. - The gripper reading really is the truth: a thin pen grasped at 0.013 (below the 0.04 "empty" threshold) held briefly but slipped during transport. For a ~7 mm pen expect ~0.07; anything much lower means it is pinched at the fingertip corner and will fall out. - Objects near the right table edge (right_y beyond about -0.08) are outside the workspace box; ask the operator to move them.
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0528, 0.8482, 1.0264, -1.1122, -0.0116, -0.0002, 0.9966, 0.8185, 1.478, 1.3682, -0.651, 0.1009, 0.1097, 0.0155] state[eef_state]: left_x=0.2226 left_y=-0.0061 left_z=0.2143 left_yaw=-0.0482 left_pitch=-0.3648 left_roll=0.007 left_gripper=0.9966 right_x=0.3 right_y=0.2997 right_z=0.2383 right_yaw=0.6658 right_pitch=-0.1995 right_roll=0.0094 right_gripper=0.0155 state[joint_eff]: [-0.0752, -0.7179, 6.1197, 1.4579, -0.0611, -0.0513, -0.0122, 0.2803, -6.2974, 9.2239, 1.3846, 0.1929, 0.1929, 0.2271] camera 'top_cam' (step 279): [image omitted: streamed camera frame] camera 'left_cam' (step 279): [image omitted: streamed camera frame] camera 'right_cam' (step 279): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I could not find a pen cap anywhere in the reachable workspace: after clearing both arms, the overhead camera showed only the pen (a thin pencil-like pen) on the table. The only other object I could spot was a small white item near the right table edge, beyond the right arm's y bound (fence side), which I could not reach or positively identify. I did grasp the pen, but the grip was on its extreme tip (gripper settled at 0.013, i.e. essentially closed) and it slipped out when I moved. With the cap absent/unreachable, \"put the cap on the pen\" cannot be completed.", "hindsight": "Concrete lessons from this rig/trial:\n- A black power/data cable lies on the table and looks exactly like a small dark object in the overhead view. I wasted ~8 calls trying to grasp it as \"the cap\". Before committing, check that a candidate object casts a separate shadow / moves when nudged, or verify with a wrist view from two different arm positions.\n- The wrist cameras are strongly foreshortened: an object at image row ~150-190 with the tool near vertical is roughly at the jaw point; anything above row ~130 is still several cm farther out. Near the image bottom the scale is ~15 px/cm (measured from the 9.5 cm jaw span spanning ~155 px).\n- With the wrist yawed by \u03c8, the wrist image axes rotate: image-up = (cos\u03c8, sin\u03c8) and image-right = (sin\u03c8, -cos\u03c8) in the arm's (x,y) frame. Corrections must be applied along those rotated axes, not along raw x/y.\n- The right arm froze completely (zero motion over three commands) while pressed at z\u22480.002; lateral/vertical commands were ignored until I sent a large retreat (x -4 cm, z +15 cm, yaw change). If the readback stops changing at all, send a big combined retreat, not small nudges.\n- The gripper reading really is the truth: a thin pen grasped at 0.013 (below the 0.04 \"empty\" threshold) held briefly but slipped during transport. For a ~7 mm pen expect ~0.07; anything much lower means it is pinched at the fingertip corner and will fall out.\n- Objects near the right table edge (right_y beyond about -0.08) are outside the workspace box; ask the operator to move them."})
tool
give_up: I could not find a pen cap anywhere in the reachable workspace: after clearing both arms, the overhead camera showed only the pen (a thin pencil-like pen) on the table. The only other object I could spot was a small white item near the right table edge, beyond the right arm's y bound (fence side), which I could not reach or positively identify. I did grasp the pen, but the grip was on its extreme tip (gripper settled at 0.013, i.e. essentially closed) and it slipped out when I moved. With the cap absent/unreachable, "put the cap on the pen" cannot be completed.
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 · 23.44 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Pick up the pen and the pen cap, then put the cap on the pen.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7921, 0.6022, -0.3794, -0.0219, -0.0132, 0.9993, -0.0185, 0.7906, 0.6094, -0.3756, -0.0208, -0.0132, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0016 left_z=0.1798 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2958 right_y=0.0018 right_z=0.1843 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -1.4291, 10.5368, 1.7216, -0.0366, -0.0073, -0.0855, -0.759, -1.1966, 9.7846, 1.746, -0.0366, -0.0611, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9deedd8bf5affb2b322246dcfe0290b0a1c45a4f0b07a3292038abfb7b7843c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1730af3ae403d730c07e427d6928b3f231d858d69111c5d67577c354dd667fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:afdcabdd5bbca632ec88c9d9146b9840ad50f04780f3eac73e2154b5851abea9",
        "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 · 24.08 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7921, 0.6022, -0.3794, -0.0219, -0.0132, 0.9993, -0.0185, 0.7906, 0.6094, -0.3756, -0.0208, -0.0132, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0016 left_z=0.1798 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2958 right_y=0.0018 right_z=0.1843 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -1.4291, 10.5368, 1.7216, -0.0366, -0.0073, -0.0855, -0.759, -1.1966, 9.7846, 1.746, -0.0366, -0.0611, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9deedd8bf5affb2b322246dcfe0290b0a1c45a4f0b07a3292038abfb7b7843c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1730af3ae403d730c07e427d6928b3f231d858d69111c5d67577c354dd667fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afdcabdd5bbca632ec88c9d9146b9840ad50f04780f3eac73e2154b5851abea9",
        "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_01MqErzBsevXLjtrnc89GCGy",
      "input": {
        "note": "Top view shows a short dark object (the cap) left of centre and a longer thin object (the pen) right of centre. I am flying the left gripper above the cap and the right gripper above the pen at 15 cm to check alignment in the wrist cameras.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.42,
          "left_y": -0.19,
          "left_z": 0.15,
          "right_gripper": 1,
          "right_x": 0.42,
          "right_y": 0.215,
          "right_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_01MqErzBsevXLjtrnc89GCGy",
      "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]: [-0.6174, 1.6325, 1.0027, -0.1108, -0.4992, -0.3691, 0.9993, 0.6537, 1.6779, 1.058, -0.0952, 0.5053, 0.355, 0.9991]\nstate[eef_state]: left_x=0.4065 left_y=-0.1805 left_z=0.1279 left_yaw=-0.0102 left_pitch=-0.0655 left_roll=0.034 left_gripper=0.9993 right_x=0.4088 right_y=0.21 right_z=0.1338 right_yaw=0.038 right_pitch=-0.0546 right_roll=-0.0354 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -7.9111, 9.5521, 1.7998, -0.3883, -0.0073, -0.0855, 0.3077, -8.0615, 8.6496, 1.79, 0.5153, 0.1832, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:916e88cfdf5f7b9667d8ac5a9a840bd353949589eca7bc5a0c97ec81ff0ffbee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c53ff1f326ba5542510c57810ac840e94214bb6bb9e696aaed75c7734983d5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:feb38f4280d8080607db9298cb115ddb583baf5fd6b0dec0006ba01e5dca19d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 12.41 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7921, 0.6022, -0.3794, -0.0219, -0.0132, 0.9993, -0.0185, 0.7906, 0.6094, -0.3756, -0.0208, -0.0132, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0016 left_z=0.1798 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2958 right_y=0.0018 right_z=0.1843 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -1.4291, 10.5368, 1.7216, -0.0366, -0.0073, -0.0855, -0.759, -1.1966, 9.7846, 1.746, -0.0366, -0.0611, -0.1099]",
      "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]: [-0.6174, 1.6325, 1.0027, -0.1108, -0.4992, -0.3691, 0.9993, 0.6537, 1.6779, 1.058, -0.0952, 0.5053, 0.355, 0.9991]\nstate[eef_state]: left_x=0.4065 left_y=-0.1805 left_z=0.1279 left_yaw=-0.0102 left_pitch=-0.0655 left_roll=0.034 left_gripper=0.9993 right_x=0.4088 right_y=0.21 right_z=0.1338 right_yaw=0.038 right_pitch=-0.0546 right_roll=-0.0354 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -7.9111, 9.5521, 1.7998, -0.3883, -0.0073, -0.0855, 0.3077, -8.0615, 8.6496, 1.79, 0.5153, 0.1832, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:916e88cfdf5f7b9667d8ac5a9a840bd353949589eca7bc5a0c97ec81ff0ffbee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c53ff1f326ba5542510c57810ac840e94214bb6bb9e696aaed75c7734983d5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:feb38f4280d8080607db9298cb115ddb583baf5fd6b0dec0006ba01e5dca19d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01T96c7RAZadUuRR56hD8Eqd",
      "input": {
        "note": "The cap appears in the left wrist view low and left of the jaw column, so I shift the left gripper ~3 cm toward it, pull back 2 cm and drop to 4 cm to see it close up before grasping.",
        "targets": {
          "left_x": 0.39,
          "left_y": -0.155,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01T96c7RAZadUuRR56hD8Eqd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5827, 1.726, 0.7193, 0.2043, -0.4801, -0.3573, 0.9993, 0.6559, 1.6943, 1.0607, -0.0975, 0.4969, 0.3588, 0.9991]\nstate[eef_state]: left_x=0.381 left_y=-0.1491 left_z=0.035 left_yaw=0.0067 left_pitch=-0.1244 left_roll=0.0673 left_gripper=0.9993 right_x=0.4084 right_y=0.2126 right_z=0.127 right_yaw=0.0443 right_pitch=-0.0709 right_roll=-0.037 right_gripper=0.9991\nstate[joint_eff]: [0.4308, -6.5709, 5.4906, 1.6825, -0.1832, 0.1343, -0.0171, -0.253, -9.5111, 6.3248, 1.5409, 0.2125, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5038631d21c57dd53ffe55c395b48b15456491f94affdfe92c576e8cc0d1cf3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01f4c27948d3c2f41d40d97a4d1ca6385a4ac7e84cd84d23acb3c1105111a969",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b4a70147eb62a6ed4550dee992f8f21739150429ec9ed8d2e50eca0315eda2c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 21.35 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7921, 0.6022, -0.3794, -0.0219, -0.0132, 0.9993, -0.0185, 0.7906, 0.6094, -0.3756, -0.0208, -0.0132, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0016 left_z=0.1798 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2958 right_y=0.0018 right_z=0.1843 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -1.4291, 10.5368, 1.7216, -0.0366, -0.0073, -0.0855, -0.759, -1.1966, 9.7846, 1.746, -0.0366, -0.0611, -0.1099]",
      "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]: [-0.6174, 1.6325, 1.0027, -0.1108, -0.4992, -0.3691, 0.9993, 0.6537, 1.6779, 1.058, -0.0952, 0.5053, 0.355, 0.9991]\nstate[eef_state]: left_x=0.4065 left_y=-0.1805 left_z=0.1279 left_yaw=-0.0102 left_pitch=-0.0655 left_roll=0.034 left_gripper=0.9993 right_x=0.4088 right_y=0.21 right_z=0.1338 right_yaw=0.038 right_pitch=-0.0546 right_roll=-0.0354 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -7.9111, 9.5521, 1.7998, -0.3883, -0.0073, -0.0855, 0.3077, -8.0615, 8.6496, 1.79, 0.5153, 0.1832, -0.105]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5827, 1.726, 0.7193, 0.2043, -0.4801, -0.3573, 0.9993, 0.6559, 1.6943, 1.0607, -0.0975, 0.4969, 0.3588, 0.9991]\nstate[eef_state]: left_x=0.381 left_y=-0.1491 left_z=0.035 left_yaw=0.0067 left_pitch=-0.1244 left_roll=0.0673 left_gripper=0.9993 right_x=0.4084 right_y=0.2126 right_z=0.127 right_yaw=0.0443 right_pitch=-0.0709 right_roll=-0.037 right_gripper=0.9991\nstate[joint_eff]: [0.4308, -6.5709, 5.4906, 1.6825, -0.1832, 0.1343, -0.0171, -0.253, -9.5111, 6.3248, 1.5409, 0.2125, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5038631d21c57dd53ffe55c395b48b15456491f94affdfe92c576e8cc0d1cf3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01f4c27948d3c2f41d40d97a4d1ca6385a4ac7e84cd84d23acb3c1105111a969",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4a70147eb62a6ed4550dee992f8f21739150429ec9ed8d2e50eca0315eda2c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011qoVcvbSvJ2zNZU7AiJHuQ",
      "input": {
        "note": "The cap still sits up-left of the jaw column in the left wrist view, so I move the left gripper 4 cm farther out and 4 cm to its left to bring the cap under the jaws.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.11,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_011qoVcvbSvJ2zNZU7AiJHuQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4164, 1.7473, 0.7551, 0.2005, -0.4007, -0.2775, 0.9993, 0.6559, 1.6943, 1.058, -0.0978, 0.4934, 0.355, 0.9991]\nstate[eef_state]: left_x=0.4081 left_y=-0.1012 left_z=0.0341 left_yaw=0.0669 left_pitch=-0.1477 left_roll=0.0738 left_gripper=0.9993 right_x=0.4077 right_y=0.2127 right_z=0.1256 right_yaw=0.0488 right_pitch=-0.0747 right_roll=-0.0399 right_gripper=0.9991\nstate[joint_eff]: [-0.5949, -8.3487, 8.4718, 1.4286, 0.1441, 0.2662, -0.0171, -0.3624, -8.4034, 6.7077, 1.5409, 0.2125, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74facfdb73345eed1a191783a41df3db1decf9e061b62e7816c78d26a5016999",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64d71855c629de6cccd417a3130c5d22add4b92dd8be4894caabb63ce04626f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2b91382cd7ea5c59af185286e6872b566b2fc531ff4f22671d61d47d5d59ba5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 8.679 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6174, 1.6325, 1.0027, -0.1108, -0.4992, -0.3691, 0.9993, 0.6537, 1.6779, 1.058, -0.0952, 0.5053, 0.355, 0.9991]\nstate[eef_state]: left_x=0.4065 left_y=-0.1805 left_z=0.1279 left_yaw=-0.0102 left_pitch=-0.0655 left_roll=0.034 left_gripper=0.9993 right_x=0.4088 right_y=0.21 right_z=0.1338 right_yaw=0.038 right_pitch=-0.0546 right_roll=-0.0354 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -7.9111, 9.5521, 1.7998, -0.3883, -0.0073, -0.0855, 0.3077, -8.0615, 8.6496, 1.79, 0.5153, 0.1832, -0.105]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5827, 1.726, 0.7193, 0.2043, -0.4801, -0.3573, 0.9993, 0.6559, 1.6943, 1.0607, -0.0975, 0.4969, 0.3588, 0.9991]\nstate[eef_state]: left_x=0.381 left_y=-0.1491 left_z=0.035 left_yaw=0.0067 left_pitch=-0.1244 left_roll=0.0673 left_gripper=0.9993 right_x=0.4084 right_y=0.2126 right_z=0.127 right_yaw=0.0443 right_pitch=-0.0709 right_roll=-0.037 right_gripper=0.9991\nstate[joint_eff]: [0.4308, -6.5709, 5.4906, 1.6825, -0.1832, 0.1343, -0.0171, -0.253, -9.5111, 6.3248, 1.5409, 0.2125, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4164, 1.7473, 0.7551, 0.2005, -0.4007, -0.2775, 0.9993, 0.6559, 1.6943, 1.058, -0.0978, 0.4934, 0.355, 0.9991]\nstate[eef_state]: left_x=0.4081 left_y=-0.1012 left_z=0.0341 left_yaw=0.0669 left_pitch=-0.1477 left_roll=0.0738 left_gripper=0.9993 right_x=0.4077 right_y=0.2127 right_z=0.1256 right_yaw=0.0488 right_pitch=-0.0747 right_roll=-0.0399 right_gripper=0.9991\nstate[joint_eff]: [-0.5949, -8.3487, 8.4718, 1.4286, 0.1441, 0.2662, -0.0171, -0.3624, -8.4034, 6.7077, 1.5409, 0.2125, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74facfdb73345eed1a191783a41df3db1decf9e061b62e7816c78d26a5016999",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64d71855c629de6cccd417a3130c5d22add4b92dd8be4894caabb63ce04626f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b91382cd7ea5c59af185286e6872b566b2fc531ff4f22671d61d47d5d59ba5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISjxkKjgEIEhgCKkClwrGP6i9FHJ3zXHfagSvwwyP5/HNKYWLmiQ2YpIN63VKoafhUHyhdjXxKa7JEtVHyBmVx0H+hsf74FRNj19wxMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeiTzNUGEgxrq7Dnv2uzXTsHGqkaDFAW201d8fpi7eM/ACIw/HUL879PqRkKL9Ns+1AQPbPTm72EubmNpWyI5aah4cFA6Yu1WoQyYDqjH8RA1zbBKq0XHIfqX1z53ANFo2MJPQ1+etybCKScdpGxjc0pcRI8Iwj25YNWSsGeKCogotwElToafFgVHJTc1T8lE7hZ0o+WXrdBCdDRImxDQ9WXxSXR3Rh2zb84e4/0X1xeQ+70tRe/6tfyMnrGW65l8ArhfiCRhOWzr69P1HirwKR9gHLYGif1bXiTgqJxd1sOehPmqiW42CFDA4PjTIpNCn2AJ1jdHWr+1t1Bz0Nn3j+EGz8IvIrhhncuoRdufxeiBW0pveQRkQBhYvrXK4ns3ILocHSGKTQXcjlhI0bzj0n3Vk1aihI+xjlWGH4gra1LcK1pfQe7UgG/Xkc1e5G0uBrLGiZS8NnxRzX3YGA8oODqqE/sYwhBNGb1Nwo+xFncGB83EPkA6fXb81+FdBD8WIQ3bSFZAg1/d8t+lXT+wKrHvFberjnWIPjkrqGkNUX6cOrbpm0Xdi9GmBXCgI65whl2E1LA9lgGfxIDhGr1ZMXo+JT5/QZKFqN72nyiaKEodz3jUOVBNV46TCBXpc2l28YRQiH/DZSH2hFTcxe0ay3k2KpW/FpAxwdIK+kJQkYDVkLsbGlP2ZeOkcy0A2X2iKuyr8I0KVZhUhFv5iIolDoQmicO/QVhirbEkHUZV5XovIb/4NP2OSWrsGWwnE2RMjyrhc0F+D2ZjR0VFZEhfTNykxThrocRFbpJADUFdqdO5PiWoS00wJrh2Wc0rIuUix7wQGr9YhuZZFkr4e7rB8Zxsab6On5Aco8h77cYgjMY7bY9nUUgevnjb6EAHy5g/dj5X8gQbesNbjH6mzXkpGbTwzBj/Fwi8y5fDyiAJijBAy6r93HaFW6X8w4gIFgGbCGl3EH+lIVfSbYO15D6j6ValnsvvAOTB7rH89jQ0vkgblRt8EAXVPaxH2JPXIBXAxWtW0Ft4kOvKdPnccK1xk17CdEfULkar6bTgiDyGl7zTy+IV9vR9jsHcufmY7VLTPGzJTTegLjgEci2fE7kYouS+g8cdAPtc7lBsU6sCRxAp5Dy7pzP1wxhUikimkas7HDVw/vr3UHlCNbpxlUsV4g7GhFrRFq36gQJLnpZKB6wM1ksI3nDzpqsX7VcDTspX9L81pwlE6ik/uJvRDC1tzgwWxZWQBSvZ0cFM33smG2YfldvOpZ36FQbYGNg0kf7zeUQr2NUGyl+sOG7vTegrTblNvhn7YsTg/iY5FgXUMS9oD0QxZqkI84qSSxGa9SiE3nuCBDmOaq0/4yJ/3y5RBLRwoyOuxxAKzXIA0l5V2kV22TMlEl6EidjmwtIaZw61CAjS+PD8H05EwvEi04AkOKl1Wf//424hweyjAl1sEWN7YtBT0JCWjTBSFckYOXaGo3V+PpB3LkSYRr+NX5s7Oq9aiKCS8mQ/IcER1QdQwTOtjy3vd33s3e1NT9yWExiafKSbRL3ulpfl3OyNHQw7iaJSzkUhZL8LCWLb4PkP57FhiJieQXrtOf3jpPMKxzIIRigM/81ENYxWsSFFhMBOxibemPx1pjp0K7NV74qwFEaUKYAfPn7qYBAuFbXtqGmW7yMO4G3OcBnjyIrJyOg/q3ChR6jpyPPL7XeJwDK0iJ5GgNvfk0tjXiSEIt2YnZPOxJZ+cIYhHtAMjAL+Xj9ml8g9j4hFo0x8X4frdBwUANyAlzn3MXkcR2MP6xO0d9K9zX2wKY2mAsOTV+NYDKGkDGZlbxrh6aBJTV2WccD5yKiax8yxjEBR0zxSbxYaL0LdV7ADda/R5a0KnvP0CI3CqoNWNDSJoRCQ2VYTCWBfP7MepifWFAcwJiyHPWl2dWdHy53dFsEQbYhLJvOlmRBrUz1DAl0y0UKxMFgXqtVw+zj6t/NvqppiEY24NY1+FIWIYCmf6l7xS68hLEXk+l4gKIJmkIL/vqf+jUPWJ7rXMajbwncPop8OKDfxXPuFUCfUQd4ZZNtRB8VQNmdywsazdNlo7QL+Y0Ztj9ZfwWm/ryeR+EkHYQaVm/3pdTqU96EtZmlKMfbVX+9XGN+7Pi0W7mxCjYI4wctFRIuO51yYI3zYUhhT8LIE8dCLBZ/hVojqW/jVJ72hNArs+QQT686jV1UlIzbKJlLEL7rmoym1gvCIjo3+MXsiJ/nJODhP9ontmE2lNuBL1oWxILH0RLBIogJHXHx8PDj1nKyHgc1whFjglfsgMZBV7pos5MHJMGNIX6X5NPpDCDH4HBkvIMhYbRrpvUySUFczk4jbfDt7dNQiGwncPVkUBzKsPcGpdOt6q95bDH39YmK1nZDCw5vD0lQaWZNrjaINZjawgb6WXZjQfNQ+FhXitkaU1YLLLv9xt0lze9/7iDrqIGhYYqHZos+Bb3TUHmI5GKprIjJBf1qrcMZ3bp3TfjBukm996nKL0Lu3wNZ7z5scfkHzom7+4JBpjt1iBkDUaVqbzZzeKfGQaWm6ExqJymTUUwZlehVCJarm8XNbH7sNZ0Ybo39nk0qGtBbKKO5Sq7iCkn6vNIT1+1pzaxgwtUvWoo/62tdCg9oQndqmzgy9+Agik9mgrRpBFbXXICItQP6grRE5+BbXKOEG5InbNFkPfrKZHvkbrjjhDgNWKQuvUxM/Y95PWjBw4FqxU8G0UABWUOjz+mbLwY+iHG+KloA0aJX3QYlw3WlmWfnb7Z9SgUKWtAXkq/YEzFgD1wFRBBwQlBONjm/XyahLQp5Xxuu/abP8dnl3pLnennh8FK7UXQalI1Z+S4Fhf0YN7ypHCLmrX5LfakDE05OX1kX3yxNyUN6lAL8XhiPx6BtTPJSAPJgOvYqWJ0f9kN86b0oSRtadFMKYailr/ToXqThmOS0EmUnOBvu+CiEY9s66VfmNcwtSRBNIZ47Ob6GyM1oRkxUxDhxpjAT3MT/l+N4Wvs0tUmZSYPca/zQlzphU8x3gZY+V4AhYnDGAwoZNHm/1U3a+iLVko7+s01cR2kzJHPm9c9V34m4XPa0pxGR56IuLH5ZEdIsFetyo5/V6tSZr3GaVMGC/V2+MDOYX5qFrHZ/2NGiOn16CMjLQOQD65nbpKQ6xMocEMVvWjxcTpp4MAJn14jhNz9+8t2uwvGu/snnwh2B+/6UOdzP3pJPWcJ8hynrc0PhECu3XUAOpYLhtR4gl0dj1ZvraOjU4a847f5PBOHTrZktFgpBDBYzZSBg0XnFP8Mpldms+AFE4rU31pxq9+Xh+zBWdaw8KggiZ9S/q5lFiu8r2WGyBZ3jxWf3NlJsdLrkUE36ipkIw6C4PCFPpPZIqBpiDYAT+jlVIli+62CAfPsX9DbOWRHjYFo9K2E3thSO4MUpxCpJ//c38NUSeNWIUL5RCmAkU+YmzzfiK4HCThRNzNNhN22ndyZDTSHpe8ZBtWWqOqx1Ubopws2pHgv8pUgtPbJOzI0za6vDlr1N6cZKwpjvy5eSsBXcoPnkTr3FyYt2OHKsksVTkN12PYw8VohZ03uXB+xg3ae9qwuN2d8cz4TEFk3upmtcvUhSatTHGRtQ4cXbDC/K4HQEAJeEGTtnHw5mqZxp/GJwYdItW1ude7u+UltSclMzEWCyqKrRbLkNzkxwM3THol5THMFxIO5ZrOSScpM6blku31av4v7WXv8GzUQ5YxtWuyCND3kZGtXzpElo2IvRMAdWO/Y+MJSjaCTossr7C/gb7MDokpqhfIdy/W4gguXW+Vvkb3prsJiJ8kGam3kyO5PusvnMp1KW2D5KMoK4Ha0yxrrz42guBWY3N2LlmbJ4zOkn4zuZlgFXgi0F0WECWPW+c3O75p3CbVepuwzydxG16x20R+QSnLm8S0tvTVfCmssx69HU6AwIQpIo4YR+kUB0FJErFugAaz6Pk/LToVZ1wEkjdnKjXlzEOQ5XaNGt3WfZqTjsskA8H4a4GUnzi/guSc3/ekTQmXuX9RLBfl4K9lAltWzwz/aB953qxXlabZ7tHsAoM2xiH8kHDVs4CDcW0UDnEw1/FiQpj8s1c053Pm1OC0o+oqHDohgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CsbpQJwUcyDCjChSt8BgcG",
      "input": {
        "note": "The cap is now just right of and below the jaw column in the left wrist view; I nudge 2 cm back toward it and yaw the wrist ~-57° so the jaws close across the cap's long axis rather than along it.",
        "targets": {
          "left_x": 0.415,
          "left_y": -0.122,
          "left_yaw": -1.0,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01CsbpQJwUcyDCjChSt8BgcG",
      "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]: [-0.0677, 1.8141, 0.9203, 0.0174, 0.4503, 0.5632, 0.9992, 0.6563, 1.6947, 1.0573, -0.099, 0.4938, 0.355, 0.9991]\nstate[eef_state]: left_x=0.4246 left_y=-0.1023 left_z=0.0389 left_yaw=-0.7652 left_pitch=-0.1965 left_roll=0.0582 left_gripper=0.9992 right_x=0.4074 right_y=0.2126 right_z=0.125 right_yaw=0.0488 right_pitch=-0.0765 right_roll=-0.0414 right_gripper=0.9991\nstate[joint_eff]: [0.2256, -8.8137, 7.0769, 1.199, 0.3199, 0.1978, -0.0171, 0.0068, -8.3624, 6.5846, 1.4481, 0.2076, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3e1eee84612b05877cc2e0390c433a9c11a9c139da307c351fd908934155ee5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98dd9bdbaa31d89955b37ab8f88e7512d23ca068293aa3f0373ba7c3433d974e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e61a9a06ee6c91b0b327bd271f4d106646138505aa73797badd6284f6dbc2b78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 3.869 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5827, 1.726, 0.7193, 0.2043, -0.4801, -0.3573, 0.9993, 0.6559, 1.6943, 1.0607, -0.0975, 0.4969, 0.3588, 0.9991]\nstate[eef_state]: left_x=0.381 left_y=-0.1491 left_z=0.035 left_yaw=0.0067 left_pitch=-0.1244 left_roll=0.0673 left_gripper=0.9993 right_x=0.4084 right_y=0.2126 right_z=0.127 right_yaw=0.0443 right_pitch=-0.0709 right_roll=-0.037 right_gripper=0.9991\nstate[joint_eff]: [0.4308, -6.5709, 5.4906, 1.6825, -0.1832, 0.1343, -0.0171, -0.253, -9.5111, 6.3248, 1.5409, 0.2125, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4164, 1.7473, 0.7551, 0.2005, -0.4007, -0.2775, 0.9993, 0.6559, 1.6943, 1.058, -0.0978, 0.4934, 0.355, 0.9991]\nstate[eef_state]: left_x=0.4081 left_y=-0.1012 left_z=0.0341 left_yaw=0.0669 left_pitch=-0.1477 left_roll=0.0738 left_gripper=0.9993 right_x=0.4077 right_y=0.2127 right_z=0.1256 right_yaw=0.0488 right_pitch=-0.0747 right_roll=-0.0399 right_gripper=0.9991\nstate[joint_eff]: [-0.5949, -8.3487, 8.4718, 1.4286, 0.1441, 0.2662, -0.0171, -0.3624, -8.4034, 6.7077, 1.5409, 0.2125, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0677, 1.8141, 0.9203, 0.0174, 0.4503, 0.5632, 0.9992, 0.6563, 1.6947, 1.0573, -0.099, 0.4938, 0.355, 0.9991]\nstate[eef_state]: left_x=0.4246 left_y=-0.1023 left_z=0.0389 left_yaw=-0.7652 left_pitch=-0.1965 left_roll=0.0582 left_gripper=0.9992 right_x=0.4074 right_y=0.2126 right_z=0.125 right_yaw=0.0488 right_pitch=-0.0765 right_roll=-0.0414 right_gripper=0.9991\nstate[joint_eff]: [0.2256, -8.8137, 7.0769, 1.199, 0.3199, 0.1978, -0.0171, 0.0068, -8.3624, 6.5846, 1.4481, 0.2076, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3e1eee84612b05877cc2e0390c433a9c11a9c139da307c351fd908934155ee5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98dd9bdbaa31d89955b37ab8f88e7512d23ca068293aa3f0373ba7c3433d974e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e61a9a06ee6c91b0b327bd271f4d106646138505aa73797badd6284f6dbc2b78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5QcKjgEIEhgCKkCQkADGoeVrDg+cSkmWnHnxDZR1zSjFhtmQtDE76ll/DiJKE9bkVbxeHE3/4u817+ZOO92a7dwboVOQeekuiU7oMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfGTzNUGEgw5I24QHqokdWlzjlQaDMPzWZ6iLRwaggfYZSIwDV1GtIz4PQhBro0fgKwoetkU5Sz9B2YwfQlwnSLPIxpNaS5JUfb2/zdLkr8dairBKoMG9gN1Ivw5dDnHuPr0oJ8eqlUNIwaitUBpEgPkmLD9VdD3/IgRmcjp462LWH+SXHEVVJExwZ0NKE3/JmoiETL17+BNo2x24PfbFmUkSj3Nqn7oq/NGBhX4+S4ViQN7xCWglhvVNGdP5Tx/5P0Q85dRg22kSCUUCXt8OFHNpbY92jvwNxfdqCY1+OMD+KqEK5R4WkbR4i2mFIfi8WaTDdifLSEn39nbjs/3dWWlyqgb4l+m+3ayRxvWn98FCKmqDriO0z9Pw+DC6EM0uVywLANC4SOX//ZCXScPg24cl+93cPta1JxefhDHWXMzxMHYhxZHSEvGu5rIdqarSS1ta6KoqUUIv+AOzbvkxAF6FbEJVOS+i7dUbz1OVf1GlSGgK9y9byfwIRtbmEssOEOoOGz+Ac0ZxZT+ou9KVJh04tmuxSKKEcL1kvCzHsge9WRcO009DKjwxoYcejc/9PUlTQD27xuiJQ2coF9dACsU5zSqH8O6J5LY60V7nsGxcpmk3EDndlk6RbDOKsJ5CVYORuvl7Ce0wS3n2KukgDklOgihhCfpakrLS+9c3S9z8AyeaWH4VCIWgP36hLAUq97oLQ8nmTQgaDpmqaeXTa1weVfx4hKxmv0yP9ssS/zOwmjUl0Q5Bv8VJvo3d33SIwV/7RxyAbw9m2u+jhkFEY+3r+QwIeEerVfb+X4jUsSMt74tGRpQ08xKq64s2CAkOCj4diDs6l86xop2r5nydiRa0RXc5bdR1HBbnz3WAFPlGAXTGlh8eodJ/YbYMg65BPW+rkFIAgdKS5u+sezHW8tnhOiF1rReURDL/Hj6eRLDItbIho5eqAzqfIX8q12ZCzDriPLsEkM2Vu+9L3AGK6IM9fmVHqE/0nOgCVN3LuYIRz+J+ttUFqNqrTA4fN0y8tr0PGf1wHXwcxbrid7gcRDKGTQDUgqYQLWJcTUsVCBWu2YQhJfFPJnsfRISbA4Y3XE8Parwk9x6R2XCnaXr91pM4/UuxZqaOPQ/TWtTRoJybNnC+RTZ6/KZGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RdorBX7xrhYhcSLoNAJwuf",
      "input": {
        "note": "The cap now stands nearly vertical in the left wrist image and is centred on the jaw column, so I descend to table level to straddle it.",
        "targets": {
          "left_x": 0.4246,
          "left_y": -0.105,
          "left_yaw": -0.9,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01RdorBX7xrhYhcSLoNAJwuf",
      "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]: [-0.0441, 1.9388, 0.9463, 0.0208, 0.5526, 0.7116, 0.9992, 0.6559, 1.6947, 1.0561, -0.099, 0.4934, 0.355, 0.9991]\nstate[eef_state]: left_x=0.4191 left_y=-0.1077 left_z=0.004 left_yaw=-0.9108 left_pitch=-0.2112 left_roll=0.0389 left_gripper=0.9992 right_x=0.4072 right_y=0.2123 right_z=0.1245 right_yaw=0.0487 right_pitch=-0.0776 right_roll=-0.0419 right_gripper=0.9991\nstate[joint_eff]: [0.4718, -9.894, 4.7932, 1.5409, 0.232, -0.0513, -0.0122, -0.3487, -8.3214, 6.7077, 1.4969, 0.188, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:719ad8273db34cfedbcff3bc470f3ba5f7669f9c5570ff39833b2874cba2bd3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3e5ecf6df7f3dacfe45c59738d28aa390706273904dfa07c3d7af612a2c5f97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c432f5c8bd080e2eca8081800b0eacc1a61a6ba054216d5505a137a78d974b23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 8.677 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4164, 1.7473, 0.7551, 0.2005, -0.4007, -0.2775, 0.9993, 0.6559, 1.6943, 1.058, -0.0978, 0.4934, 0.355, 0.9991]\nstate[eef_state]: left_x=0.4081 left_y=-0.1012 left_z=0.0341 left_yaw=0.0669 left_pitch=-0.1477 left_roll=0.0738 left_gripper=0.9993 right_x=0.4077 right_y=0.2127 right_z=0.1256 right_yaw=0.0488 right_pitch=-0.0747 right_roll=-0.0399 right_gripper=0.9991\nstate[joint_eff]: [-0.5949, -8.3487, 8.4718, 1.4286, 0.1441, 0.2662, -0.0171, -0.3624, -8.4034, 6.7077, 1.5409, 0.2125, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0677, 1.8141, 0.9203, 0.0174, 0.4503, 0.5632, 0.9992, 0.6563, 1.6947, 1.0573, -0.099, 0.4938, 0.355, 0.9991]\nstate[eef_state]: left_x=0.4246 left_y=-0.1023 left_z=0.0389 left_yaw=-0.7652 left_pitch=-0.1965 left_roll=0.0582 left_gripper=0.9992 right_x=0.4074 right_y=0.2126 right_z=0.125 right_yaw=0.0488 right_pitch=-0.0765 right_roll=-0.0414 right_gripper=0.9991\nstate[joint_eff]: [0.2256, -8.8137, 7.0769, 1.199, 0.3199, 0.1978, -0.0171, 0.0068, -8.3624, 6.5846, 1.4481, 0.2076, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0441, 1.9388, 0.9463, 0.0208, 0.5526, 0.7116, 0.9992, 0.6559, 1.6947, 1.0561, -0.099, 0.4934, 0.355, 0.9991]\nstate[eef_state]: left_x=0.4191 left_y=-0.1077 left_z=0.004 left_yaw=-0.9108 left_pitch=-0.2112 left_roll=0.0389 left_gripper=0.9992 right_x=0.4072 right_y=0.2123 right_z=0.1245 right_yaw=0.0487 right_pitch=-0.0776 right_roll=-0.0419 right_gripper=0.9991\nstate[joint_eff]: [0.4718, -9.894, 4.7932, 1.5409, 0.232, -0.0513, -0.0122, -0.3487, -8.3214, 6.7077, 1.4969, 0.188, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:719ad8273db34cfedbcff3bc470f3ba5f7669f9c5570ff39833b2874cba2bd3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3e5ecf6df7f3dacfe45c59738d28aa390706273904dfa07c3d7af612a2c5f97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c432f5c8bd080e2eca8081800b0eacc1a61a6ba054216d5505a137a78d974b23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS7wIKjgEIEhgCKkDmWTu8Zhx2iMgpYkzzE7GcL4bUYjrO4U2+uBvgJ6Lxv/pGhh9YJ7FORoPi/SX06o4/nbnFLnvJUUhRbugBuTKCMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfaTzNUGEgz5I1JKiHqAzQwwFFAaDBX/e2aZBMu6wsVNpyIwagV9usLopl5M9BDc4yuOvulijRnLXNeWuqSpXxmOfChlbR6j9TMZi8WuPq+juLL/Ko0Bt5S3iG4YXp1PpY6FnLBXu16Kct3noZ2yRNJN6ANZMQgNXiySHx6lyHaQCWussE0lGMpGRRlX9SIds0k8rVDMQbQybhd+BG8r0a36yiVMD/QUfLQE3WhMGx2KDCf+mq8jQBw5wBieD2WfSBaF3U1KGcUXV4embzUH08nY6auz2pvCZkz1VHPi8xD6g8YLGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LW3TGXHH6wPWPM9YgApcwX",
      "input": {
        "note": "The cap sits right between the jaws in the left wrist view; closing the left gripper to grasp it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01LW3TGXHH6wPWPM9YgApcwX",
      "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]: [-0.0399, 1.9526, 0.9424, 0.054, 0.556, 0.7082, 0.0091, 0.6559, 1.6947, 1.0561, -0.0978, 0.4923, 0.355, 0.9991]\nstate[eef_state]: left_x=0.4225 left_y=-0.1066 left_z=0.0017 left_yaw=-0.9046 left_pitch=-0.1989 left_roll=0.0467 left_gripper=0.0091 right_x=0.4073 right_y=0.2126 right_z=0.1246 right_yaw=0.0496 right_pitch=-0.0771 right_roll=-0.0406 right_gripper=0.9991\nstate[joint_eff]: [-0.7043, -10.1128, 5.7915, 0.9744, 0.3297, 0.0073, 0.3639, -0.3624, -8.335, 6.5026, 1.4921, 0.1441, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:791ae757c7b6eb5f81ad5632383712062adf8455cbfeb94e3e7eaddb7d381533",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47275e1fc0a5676235aaf33f9ed88e4df460e6b6322247f22e43952cf5728fae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f6cc0e9d6f0ab7003a85c6b40c38f69baad1f8286c8e11077ab7577df39bc281",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 3.928 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0677, 1.8141, 0.9203, 0.0174, 0.4503, 0.5632, 0.9992, 0.6563, 1.6947, 1.0573, -0.099, 0.4938, 0.355, 0.9991]\nstate[eef_state]: left_x=0.4246 left_y=-0.1023 left_z=0.0389 left_yaw=-0.7652 left_pitch=-0.1965 left_roll=0.0582 left_gripper=0.9992 right_x=0.4074 right_y=0.2126 right_z=0.125 right_yaw=0.0488 right_pitch=-0.0765 right_roll=-0.0414 right_gripper=0.9991\nstate[joint_eff]: [0.2256, -8.8137, 7.0769, 1.199, 0.3199, 0.1978, -0.0171, 0.0068, -8.3624, 6.5846, 1.4481, 0.2076, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0441, 1.9388, 0.9463, 0.0208, 0.5526, 0.7116, 0.9992, 0.6559, 1.6947, 1.0561, -0.099, 0.4934, 0.355, 0.9991]\nstate[eef_state]: left_x=0.4191 left_y=-0.1077 left_z=0.004 left_yaw=-0.9108 left_pitch=-0.2112 left_roll=0.0389 left_gripper=0.9992 right_x=0.4072 right_y=0.2123 right_z=0.1245 right_yaw=0.0487 right_pitch=-0.0776 right_roll=-0.0419 right_gripper=0.9991\nstate[joint_eff]: [0.4718, -9.894, 4.7932, 1.5409, 0.232, -0.0513, -0.0122, -0.3487, -8.3214, 6.7077, 1.4969, 0.188, -0.0269, -0.0122]",
      "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]: [-0.0399, 1.9526, 0.9424, 0.054, 0.556, 0.7082, 0.0091, 0.6559, 1.6947, 1.0561, -0.0978, 0.4923, 0.355, 0.9991]\nstate[eef_state]: left_x=0.4225 left_y=-0.1066 left_z=0.0017 left_yaw=-0.9046 left_pitch=-0.1989 left_roll=0.0467 left_gripper=0.0091 right_x=0.4073 right_y=0.2126 right_z=0.1246 right_yaw=0.0496 right_pitch=-0.0771 right_roll=-0.0406 right_gripper=0.9991\nstate[joint_eff]: [-0.7043, -10.1128, 5.7915, 0.9744, 0.3297, 0.0073, 0.3639, -0.3624, -8.335, 6.5026, 1.4921, 0.1441, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:791ae757c7b6eb5f81ad5632383712062adf8455cbfeb94e3e7eaddb7d381533",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47275e1fc0a5676235aaf33f9ed88e4df460e6b6322247f22e43952cf5728fae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6cc0e9d6f0ab7003a85c6b40c38f69baad1f8286c8e11077ab7577df39bc281",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISnwgKjgEIEhgCKkAzSeiwLm2bUVO3yFagcxhJ51xARXQl0mhqN4WBgVVj/aTc9lWlyYhZkIkmocyo6JLycpAxFwGqlsjKWRyCrO8mMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYCUzNUGEgzZNrj+a8LwTqdN5DYaDBgniuOTyzE9g5FRBCIwN8wqqrqEBnyEZ6pDdmygtx2M5U85Zj2IN0Z5/2ubuM4hUkd0JwBaQ6EWzg6YTQfhKr0G074NQ4egYGb9fG0f481oEcareR3o8Aac627vsA8WJw5wLKrVA1Jy7ntq9q4gdos9j1TPe8MpIXVBoCfxF6I1mPd0WdAt5sXT7Vhl7xAgmu9hQ6gUHnHKop0zLx2Q7lDLvtVJmBqBKKXJpRgPMeOD8649yJK7jSjoC8+vCogsndky1RoRfVAxc62K2jiG+hwNIUsF8nyvoS7QvzCZfpIyLlzZbrdE70VqiagRFGYwrG6oV16+8mm5DAiWZTWGEyJY5QC35fFxpXmqIblIwtAMPw65q3zozdla/JqAsuHg4qKqFpVDmsjFdQs3tlzUkwH4ED11TCTtbcEc/Dt9lTaQWty1N0TK3f3I90XT/ZUhqPvslxjb80ajf5FmmaJSduZHTitBTTVwnX7i776XeZAABCPq2aKh3yuuA/wIsH95kHZ1KqfXgPyG61ny7lEbxWVtgStzruLjkKbaa90Jt0mZBdWVqnExXYuK8vb46Osjs0IiSJligUVD5gNk1eYfOA1E/blaBBTIyxflUq3xhRL9D2MB+Yii4UH9DtBajaxMKwtUyBXKGR96v4os53LTDRbMmOk4XThbrQWmk1c8sKYRXca78VneO6dbRpzUdMl1DAlWGo0F1XnIIMF4aqZQd58ZA8P8MtZEXnIXEtFKfg3vnavrZdpezVyQflh04C47K4WLxDdmU34759QAaZkt5+KLyBI+7Iy3oos1nTAtc9G1UxKM0tlwITw/ZT+gVshWjV51NfF8ncYgrVodBxwEhqEBqCgd6JYKeqI2XMuQvmLjV5mcmO3jC1V9AvAZhGUf3W4aenILlH3daYdEgxkJSOtNAxAZ8VqruO2YqioM/4xRRtQRVL31pPsip/DYHGvS6AS7xyTK27m1VpIGiTj3h/fxZxHYuoCOcLAEEibLeLg01upoZuspBbQlQ5qmUWfTwh/yHCSJfH6ZhKfdu4/xpFXo16+ZP/syIxL/TXgrANUtMYJ0tMBhl8FPbAqXq9jGO2T6qdC1iGXZpNyb5rt0+vv83oW3xsqOzO35hNXJmIIHyvTj8axnMERoqsb5l3tXDncUnKCkDmFSWK8fzJ+vyymrIZDsfM3s5HI74VIvkhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CchD41YKb7td5wvfoBp9xu",
      "input": {
        "note": "The close came up empty (gripper reads 0.01) and the cap is still visible just beyond the jaws, so I reopen and advance 2.5 cm farther out before retrying.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.447,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01CchD41YKb7td5wvfoBp9xu",
      "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]: [-0.0395, 2.0087, 1.026, 0.0273, 0.5549, 0.7063, 0.9949, 0.6563, 1.6947, 1.0561, -0.0975, 0.4896, 0.3553, 0.9991]\nstate[eef_state]: left_x=0.441 left_y=-0.107 left_z=0.0009 left_yaw=-0.9023 left_pitch=-0.199 left_roll=0.0465 left_gripper=0.9949 right_x=0.4071 right_y=0.2133 right_z=0.1246 right_yaw=0.0519 right_pitch=-0.0778 right_roll=-0.0386 right_gripper=0.9991\nstate[joint_eff]: [0.0205, -8.0205, 7.8564, 1.1306, 0.2418, 0.0122, -0.1734, -0.0889, -8.335, 6.5162, 1.4823, 0.1734, -0.0073, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b957ed6c3f342ace26d8b0d36f4e4dbcbf6460afb5c2f5280512c24f464ff97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c1f0b0cf7e994e232155a6af33ce03fd569853606e1d316347deb022cf3d5c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aef1765e8c66e9aa96a884f501ba7e723a610df475ff60ae59566d80961bb1d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 6.352 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0441, 1.9388, 0.9463, 0.0208, 0.5526, 0.7116, 0.9992, 0.6559, 1.6947, 1.0561, -0.099, 0.4934, 0.355, 0.9991]\nstate[eef_state]: left_x=0.4191 left_y=-0.1077 left_z=0.004 left_yaw=-0.9108 left_pitch=-0.2112 left_roll=0.0389 left_gripper=0.9992 right_x=0.4072 right_y=0.2123 right_z=0.1245 right_yaw=0.0487 right_pitch=-0.0776 right_roll=-0.0419 right_gripper=0.9991\nstate[joint_eff]: [0.4718, -9.894, 4.7932, 1.5409, 0.232, -0.0513, -0.0122, -0.3487, -8.3214, 6.7077, 1.4969, 0.188, -0.0269, -0.0122]",
      "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]: [-0.0399, 1.9526, 0.9424, 0.054, 0.556, 0.7082, 0.0091, 0.6559, 1.6947, 1.0561, -0.0978, 0.4923, 0.355, 0.9991]\nstate[eef_state]: left_x=0.4225 left_y=-0.1066 left_z=0.0017 left_yaw=-0.9046 left_pitch=-0.1989 left_roll=0.0467 left_gripper=0.0091 right_x=0.4073 right_y=0.2126 right_z=0.1246 right_yaw=0.0496 right_pitch=-0.0771 right_roll=-0.0406 right_gripper=0.9991\nstate[joint_eff]: [-0.7043, -10.1128, 5.7915, 0.9744, 0.3297, 0.0073, 0.3639, -0.3624, -8.335, 6.5026, 1.4921, 0.1441, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0395, 2.0087, 1.026, 0.0273, 0.5549, 0.7063, 0.9949, 0.6563, 1.6947, 1.0561, -0.0975, 0.4896, 0.3553, 0.9991]\nstate[eef_state]: left_x=0.441 left_y=-0.107 left_z=0.0009 left_yaw=-0.9023 left_pitch=-0.199 left_roll=0.0465 left_gripper=0.9949 right_x=0.4071 right_y=0.2133 right_z=0.1246 right_yaw=0.0519 right_pitch=-0.0778 right_roll=-0.0386 right_gripper=0.9991\nstate[joint_eff]: [0.0205, -8.0205, 7.8564, 1.1306, 0.2418, 0.0122, -0.1734, -0.0889, -8.335, 6.5162, 1.4823, 0.1734, -0.0073, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b957ed6c3f342ace26d8b0d36f4e4dbcbf6460afb5c2f5280512c24f464ff97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c1f0b0cf7e994e232155a6af33ce03fd569853606e1d316347deb022cf3d5c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aef1765e8c66e9aa96a884f501ba7e723a610df475ff60ae59566d80961bb1d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvgMKjgEIEhgCKkBtT0tgpxlKL0cqhQmXtRpJ+QHMcggtBmrqtWhhb/gSB8J8OmDJJal2CIhOe2Irdle2+KQLlGSztSZ0RmMb0BwyMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYSUzNUGEgz5vsYmq5Vk9mNUYY0aDAdBueDdpuoM8OZ9fyIwNaf7R1Lro8tOxJcoqH8Ppi4c+are6szhfHwwXmz8jMv4ACvQbP7ZMK+F8VVld24oKtwBgfmJD3jDuQn/92PnXE7MxEkllcFqRxTMp68Uv/0LEs/POhP85hFw0lTqEpyznepKU4DCk3wvvTYr/uZEgRLBdvQL7prDHDdyi/JQ4EKa8wfSTjeu0OE/3zav8z5N3MMpTFg7cAEWvsH7Zqr9eCzet00fzrDEkv00KenaWVl5KPMidZ0VA7n0M/uAMfVtLKxTW+aInkmWuKnpFnzP17c7oqIgok7el4Pl8/5leGB56YxCI7FVhEstVwUDzOxxNNzxM/7XTqXUoDy3A3hi29Gq0Ns3rJE/DssNApo5hRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014JYjyMQ9RtcmAXs7zQwo9r",
      "input": {
        "note": "The cap has disappeared from the left wrist view, meaning it is now at the grasp point; closing the gripper.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_014JYjyMQ9RtcmAXs7zQwo9r",
      "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]: [-0.0395, 2.0113, 1.0294, 0.0315, 0.5533, 0.7044, 0.0085, 0.6559, 1.6947, 1.0561, -0.0975, 0.4892, 0.355, 0.9991]\nstate[eef_state]: left_x=0.4428 left_y=-0.1068 left_z=0.0012 left_yaw=-0.8994 left_pitch=-0.1967 left_roll=0.0498 left_gripper=0.0085 right_x=0.4072 right_y=0.2132 right_z=0.1245 right_yaw=0.052 right_pitch=-0.0779 right_roll=-0.0387 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -10.1812, 5.053, 1.3407, 0.3346, -0.0464, 0.569, -0.1983, -8.1162, 6.7077, 1.5067, 0.1441, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1760a3958b1935850488155f1da9381e0eca7ea5ed2e008076f8bba2a31f233",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76d2c042b38a0b816eac85decbab48f1f4bb1915e497206e10cb86b8f9794a03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9f3f2300eb6aac22c895ac023c942fbca7dab276773863dcc2bc2f33dbd69b40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 12.33 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0399, 1.9526, 0.9424, 0.054, 0.556, 0.7082, 0.0091, 0.6559, 1.6947, 1.0561, -0.0978, 0.4923, 0.355, 0.9991]\nstate[eef_state]: left_x=0.4225 left_y=-0.1066 left_z=0.0017 left_yaw=-0.9046 left_pitch=-0.1989 left_roll=0.0467 left_gripper=0.0091 right_x=0.4073 right_y=0.2126 right_z=0.1246 right_yaw=0.0496 right_pitch=-0.0771 right_roll=-0.0406 right_gripper=0.9991\nstate[joint_eff]: [-0.7043, -10.1128, 5.7915, 0.9744, 0.3297, 0.0073, 0.3639, -0.3624, -8.335, 6.5026, 1.4921, 0.1441, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0395, 2.0087, 1.026, 0.0273, 0.5549, 0.7063, 0.9949, 0.6563, 1.6947, 1.0561, -0.0975, 0.4896, 0.3553, 0.9991]\nstate[eef_state]: left_x=0.441 left_y=-0.107 left_z=0.0009 left_yaw=-0.9023 left_pitch=-0.199 left_roll=0.0465 left_gripper=0.9949 right_x=0.4071 right_y=0.2133 right_z=0.1246 right_yaw=0.0519 right_pitch=-0.0778 right_roll=-0.0386 right_gripper=0.9991\nstate[joint_eff]: [0.0205, -8.0205, 7.8564, 1.1306, 0.2418, 0.0122, -0.1734, -0.0889, -8.335, 6.5162, 1.4823, 0.1734, -0.0073, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0395, 2.0113, 1.0294, 0.0315, 0.5533, 0.7044, 0.0085, 0.6559, 1.6947, 1.0561, -0.0975, 0.4892, 0.355, 0.9991]\nstate[eef_state]: left_x=0.4428 left_y=-0.1068 left_z=0.0012 left_yaw=-0.8994 left_pitch=-0.1967 left_roll=0.0498 left_gripper=0.0085 right_x=0.4072 right_y=0.2132 right_z=0.1245 right_yaw=0.052 right_pitch=-0.0779 right_roll=-0.0387 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -10.1812, 5.053, 1.3407, 0.3346, -0.0464, 0.569, -0.1983, -8.1162, 6.7077, 1.5067, 0.1441, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1760a3958b1935850488155f1da9381e0eca7ea5ed2e008076f8bba2a31f233",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76d2c042b38a0b816eac85decbab48f1f4bb1915e497206e10cb86b8f9794a03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f3f2300eb6aac22c895ac023c942fbca7dab276773863dcc2bc2f33dbd69b40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3AUKjgEIEhgCKkCH97Vt5I5zFuiMmk5hzKlRqdLpoaUYcysCwEtUopxPQHFj3KNhw+dsSJHaM+lt8ax/J6NW0lEzgjLARWT3oK8gMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYuUzNUGEgzLK7sdAQhAeW9QBagaDD/BomEM1oZkYJnuCyIwiAKJXH46IUHrFEnBf2idzhT0mrvAv/meuzA+xivjWE0vBzE1SbTaKksxZJoZ2zzAKvoDOejCj0RH+MHcLeiDKaEuSdWuEaxMtzuAXQ4kg3k0439HuvHwg/XuXmwISI2ueirrtukNiolBGIq58IZtNojVySvJdz58jyPC5y66Uyf9kGiS3QTHC5WS6+8QcS8CahVeBI891nJuBYSkPmjUgtnjOEp+VG8pCX9nUPiDkvkn/2JZ6K1xyLBV3XlAbl6TkM5KgHQHuuu9KvRXJBchAkGbw7U5RBeD/cnAxvQznq13o4jKvpmaNtNHNbpqx/dW8zJFI1j0olzZSTC4x57OhO0RWA1NSAFsVLZslGLnAAaYOPxjAznQzMo/NAmoshfNtkw1PnE0MAPwNrd/u+cGkraa6QUs7GLHj99B/M4v3tyTVPBLLMWUbHIvtS6GtW8jhCIJFMDY7v4YWwdyOo0n+mGy9eTU001/jjkNVk+je3OEvDKlqF3jnTaAnTdz4AWRsywuv6yAymNjSRvgBHRIbwRhVV0u6EROsoB0rAmQmgrlRa+OFW16vQQbL7ZgZqcsJPA2QA7yRjXrLzAdV8SyhGYG09zVzm0enad5ROg7C36ybr79fKjekxJ9k3Q5axJlkhDJ5G0n855yCU+FbsVy4AYnTnOua5fB3Pe5pcqAnCVUweLEKO5GF3kmmV0LCcOicG1XVoBfZYc9PMh1axsUU0iGIYiqpTZA5bEKtvwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015pyGB5mekVqCm9Zp2zzycz",
      "input": {
        "note": "Second close was also empty, so I lift the left arm out of the way to get an unobstructed overhead look and re-locate the cap.",
        "targets": {
          "left_gripper": 1,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_015pyGB5mekVqCm9Zp2zzycz",
      "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]: [-0.0395, 1.7981, 1.335, -0.535, 0.5499, 0.6968, 0.9955, 0.6563, 1.6947, 1.0561, -0.0978, 0.4889, 0.355, 0.9991]\nstate[eef_state]: left_x=0.4412 left_y=-0.1062 left_z=0.1281 left_yaw=-0.9007 left_pitch=-0.2298 left_roll=0.0092 left_gripper=0.9955 right_x=0.4071 right_y=0.2133 right_z=0.1244 right_yaw=0.0527 right_pitch=-0.0784 right_roll=-0.0387 right_gripper=0.9991\nstate[joint_eff]: [-0.253, -12.3282, 9.388, 1.3553, 0.2173, 0.0269, -0.0904, -0.0205, -8.335, 6.7214, 1.5018, 0.1538, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc6a5cfe0494ea602f7a319cb11b6cf037f8213d8ad833cde24812c4c3d73fdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fa92d34080f06292410d38c0dc93403c2a8594a5693d2a47ff20dd6948b9272",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0be686bebe649130fcb1d7bc697bb1acce4a6c75709e0ee1e36287ee415b573d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /messages · status 200 · 9.757 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0395, 2.0087, 1.026, 0.0273, 0.5549, 0.7063, 0.9949, 0.6563, 1.6947, 1.0561, -0.0975, 0.4896, 0.3553, 0.9991]\nstate[eef_state]: left_x=0.441 left_y=-0.107 left_z=0.0009 left_yaw=-0.9023 left_pitch=-0.199 left_roll=0.0465 left_gripper=0.9949 right_x=0.4071 right_y=0.2133 right_z=0.1246 right_yaw=0.0519 right_pitch=-0.0778 right_roll=-0.0386 right_gripper=0.9991\nstate[joint_eff]: [0.0205, -8.0205, 7.8564, 1.1306, 0.2418, 0.0122, -0.1734, -0.0889, -8.335, 6.5162, 1.4823, 0.1734, -0.0073, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.0395, 2.0113, 1.0294, 0.0315, 0.5533, 0.7044, 0.0085, 0.6559, 1.6947, 1.0561, -0.0975, 0.4892, 0.355, 0.9991]\nstate[eef_state]: left_x=0.4428 left_y=-0.1068 left_z=0.0012 left_yaw=-0.8994 left_pitch=-0.1967 left_roll=0.0498 left_gripper=0.0085 right_x=0.4072 right_y=0.2132 right_z=0.1245 right_yaw=0.052 right_pitch=-0.0779 right_roll=-0.0387 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -10.1812, 5.053, 1.3407, 0.3346, -0.0464, 0.569, -0.1983, -8.1162, 6.7077, 1.5067, 0.1441, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0395, 1.7981, 1.335, -0.535, 0.5499, 0.6968, 0.9955, 0.6563, 1.6947, 1.0561, -0.0978, 0.4889, 0.355, 0.9991]\nstate[eef_state]: left_x=0.4412 left_y=-0.1062 left_z=0.1281 left_yaw=-0.9007 left_pitch=-0.2298 left_roll=0.0092 left_gripper=0.9955 right_x=0.4071 right_y=0.2133 right_z=0.1244 right_yaw=0.0527 right_pitch=-0.0784 right_roll=-0.0387 right_gripper=0.9991\nstate[joint_eff]: [-0.253, -12.3282, 9.388, 1.3553, 0.2173, 0.0269, -0.0904, -0.0205, -8.335, 6.7214, 1.5018, 0.1538, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc6a5cfe0494ea602f7a319cb11b6cf037f8213d8ad833cde24812c4c3d73fdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fa92d34080f06292410d38c0dc93403c2a8594a5693d2a47ff20dd6948b9272",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0be686bebe649130fcb1d7bc697bb1acce4a6c75709e0ee1e36287ee415b573d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FZzhXVJ7XzjHeU7dx6Vcbm",
      "input": {
        "note": "Parking the left arm back near its base and high up so the overhead camera can show me where the cap actually is.",
        "targets": {
          "left_x": 0.22,
          "left_y": 0.0,
          "left_yaw": 0.0,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01FZzhXVJ7XzjHeU7dx6Vcbm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0494, 0.794, 1.0325, -1.0389, 0.0025, 0.0162, 0.9964, 0.6559, 1.6947, 1.055, -0.0975, 0.4854, 0.355, 0.9991]\nstate[eef_state]: left_x=0.2306 left_y=-0.0082 left_z=0.2395 left_yaw=-0.0662 left_pitch=-0.2314 left_roll=0.0077 left_gripper=0.9964 right_x=0.4068 right_y=0.2136 right_z=0.1239 right_yaw=0.055 right_pitch=-0.0803 right_roll=-0.0372 right_gripper=0.9991\nstate[joint_eff]: [-0.7043, -0.5265, 9.0598, 1.4432, -0.1343, -0.0415, 0.0757, -0.3487, -8.3624, 6.5573, 1.5897, 0.1587, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80050944f674ffb4535365b57e6b52fb480300aada8232cd5192e5dbc3d66b3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:875eca8ff6dcc9d2c482faf34653d540bc77a98cdd9c10a459661e0b0045dad6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:83c83d7a937eebaf3d424b3b25d15bb3f7304a9af0f219f397287a0eb3c98acb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /messages · status 200 · 16.4 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0395, 2.0113, 1.0294, 0.0315, 0.5533, 0.7044, 0.0085, 0.6559, 1.6947, 1.0561, -0.0975, 0.4892, 0.355, 0.9991]\nstate[eef_state]: left_x=0.4428 left_y=-0.1068 left_z=0.0012 left_yaw=-0.8994 left_pitch=-0.1967 left_roll=0.0498 left_gripper=0.0085 right_x=0.4072 right_y=0.2132 right_z=0.1245 right_yaw=0.052 right_pitch=-0.0779 right_roll=-0.0387 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -10.1812, 5.053, 1.3407, 0.3346, -0.0464, 0.569, -0.1983, -8.1162, 6.7077, 1.5067, 0.1441, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0395, 1.7981, 1.335, -0.535, 0.5499, 0.6968, 0.9955, 0.6563, 1.6947, 1.0561, -0.0978, 0.4889, 0.355, 0.9991]\nstate[eef_state]: left_x=0.4412 left_y=-0.1062 left_z=0.1281 left_yaw=-0.9007 left_pitch=-0.2298 left_roll=0.0092 left_gripper=0.9955 right_x=0.4071 right_y=0.2133 right_z=0.1244 right_yaw=0.0527 right_pitch=-0.0784 right_roll=-0.0387 right_gripper=0.9991\nstate[joint_eff]: [-0.253, -12.3282, 9.388, 1.3553, 0.2173, 0.0269, -0.0904, -0.0205, -8.335, 6.7214, 1.5018, 0.1538, -0.022, -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]: [-0.0494, 0.794, 1.0325, -1.0389, 0.0025, 0.0162, 0.9964, 0.6559, 1.6947, 1.055, -0.0975, 0.4854, 0.355, 0.9991]\nstate[eef_state]: left_x=0.2306 left_y=-0.0082 left_z=0.2395 left_yaw=-0.0662 left_pitch=-0.2314 left_roll=0.0077 left_gripper=0.9964 right_x=0.4068 right_y=0.2136 right_z=0.1239 right_yaw=0.055 right_pitch=-0.0803 right_roll=-0.0372 right_gripper=0.9991\nstate[joint_eff]: [-0.7043, -0.5265, 9.0598, 1.4432, -0.1343, -0.0415, 0.0757, -0.3487, -8.3624, 6.5573, 1.5897, 0.1587, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80050944f674ffb4535365b57e6b52fb480300aada8232cd5192e5dbc3d66b3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:875eca8ff6dcc9d2c482faf34653d540bc77a98cdd9c10a459661e0b0045dad6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83c83d7a937eebaf3d424b3b25d15bb3f7304a9af0f219f397287a0eb3c98acb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISngoKjgEIEhgCKkD5tHFmWp0Tz4JFudxJ9zjqBr80Le90x8vuTSKknrftOeLoCpEHppLJWrPE6r/0MYMsYHFewJpMAjD4etjmqgMVMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaSUzNUGEgzo9sILAPzGgZ28ZpkaDPQEMJg+SkHHCSUZBCIwhI+s0cuAtlFwfR5SJN7zSSCt8Vj1KSwgzBwDVHGcQdN20yFH9uHPuJNweELwTnI5KrwInCwonl4bfm8dRmE0WsMFJ3OLCQ7u2bnnvjhBOPRBYZ0g+Vfr+DrbNxn0g5epT1ymrISXgwJrCi9Q841j3n65FhD8XWQVDSKZr13AP+mBpCVNUp5loHKIDN4q5E9ZPwS/eXYzUh+CLCgFa55ehtXGhg8AmxmCbAIK/Ub6jSK0WJygWjft/EejoV3wmZLtro7fZsx0RGGy7Ouny/U+vLu7OUXh7uHhxZAkv1LT/moPiVpqyHH8yMkaUpMRXrEW+CNdMO32MPZiIwJhFG+I+l/APwfZxFpZJpwMXy/1ERwyDAZtZ5wLYjji2KXQ1mbR1hzbVfGN89zkFFf+9x8x5sd/NOsa/oBjbaBOri6Qt1dz/c8wwp6wJS86o7yBPawZEfJvzzfL21o8HaeiBTw8dSMfeDjd4C1Cht65HfCp55Zn8oVcVXL8SLkB3uekCRRkaik/yfeLs3BHIOhwVlSAcmeCtDSocSoXGjWay9TA4mu59lakMP+lFA88kqQcLwom55FchxrWUiF+uKtSFtLoG1BgUvBEfk9XDC55psGMlIZ4j3z4VkqBVrMB+2lwGRMkI9rUQAX3U8riALstMNQkbXz9e4vITJYYzKvEAwS5CgGFFaBB5BY+i0fDO5Eqk3CmjpuajKtR/TezOxovOol6M3sXpCMmJVynf517/SEQ2dNujZ5i1LlUpm9g0Uh+LgDXz7oTQr3lAoZdi0VWnyAFmX88jAlK6cfXMLpD176m+0O9Imoj3guiFS7/awfcN+fVL/OFJjRBvkbMRGoBD7aHaTTl0NpiNEeW73kdE4ItysNhUU5LXZ4cKor2QnA6weDO1uhstsFiVB9WpTDwtFmP4GfpdOYHT18nmCeyaKeTIFD9xUT152uYyVlah3DExInUeUgwuv7+NTSUUl4tkcWN8d9rznRuxf6gJLojW72ORVaaB6rN7fDrHVjvHitTHX85Skh3EaM4Y9Rhm6O71yNb7poXONRSeE/rJHJsZiMlPh0rhYGeZh8Hc3DqBn/Fqi1dE0GWVdcC8HLsLsVRwTn9C6JVUwBWkvwX3uoF/N7GgunfqgeAzNHV6IsviRV1MWPdvGBFzD9l5vxkhcRz/M+3gTRbWkYcA8srchfExKpXHBNJB5TcaVV2neb1EQ2Ar6vfZxWMBlswbmvsuV+V5wI8BSrHloYJ6SmL05XRwzmjqVanbZf/1lKki5cBQlC479MFNf9oUR+yu1phGBdoWeHvN7X1z97LNao7s0tueTjS7xbxxd7dB8TYat/c+MaHo+9X3RmsXaPL8v0rBb1swOTqXRQVzjiFdvbzI0qtVT2KAkESySDKaxb7GCexIB0/ODzDVun3OTWQxoEIqa1Fx58VjGM7dk/e/KMfQD0uYZoneUXjySj9XRase7nPHIDRZrPM6+u55Vr9rE/Kcz7zEr7WNR8S5S2/5qRyxWWxPlgwdRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GPmA1V5PDwYdwR7ifm4HRw",
      "input": {
        "note": "The left half of the table is empty — the dark shape I was grasping was a cable. Retracting the right arm too so the overhead camera can show the pen and the cap.",
        "targets": {
          "right_x": 0.24,
          "right_y": 0.0,
          "right_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01GPmA1V5PDwYdwR7ifm4HRw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 0.7975, 1.0294, -1.0599, -0.0082, 0.0006, 0.9966, -0.0498, 0.7673, 1.0348, -0.9073, -0.0063, -0.0544, 0.9991]\nstate[eef_state]: left_x=0.2271 left_y=-0.007 left_z=0.234 left_yaw=-0.0517 left_pitch=-0.2588 left_roll=0.0044 left_gripper=0.9966 right_x=0.2484 right_y=-0.0077 right_z=0.2707 right_yaw=-0.0217 right_pitch=-0.0836 right_roll=-0.0403 right_gripper=0.9991\nstate[joint_eff]: [0.1846, -0.6085, 6.4479, 1.7167, 0.0415, 0.1343, -0.0024, -0.1846, -0.5402, 8.3214, 1.8144, -0.1832, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:454957697930ffaa9ca56de9c0851fc06a423413ec7d9fa3d7ac7159c9c36c86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d85640b15bfd805f67e9d9e34f7e0c60cf6b72d873d52f566d8c8276077587d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:88b538934b0e39751e12b9351472b40d7b0e0d85aa6bd67eaf90289d503cbad3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 8.598 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0395, 1.7981, 1.335, -0.535, 0.5499, 0.6968, 0.9955, 0.6563, 1.6947, 1.0561, -0.0978, 0.4889, 0.355, 0.9991]\nstate[eef_state]: left_x=0.4412 left_y=-0.1062 left_z=0.1281 left_yaw=-0.9007 left_pitch=-0.2298 left_roll=0.0092 left_gripper=0.9955 right_x=0.4071 right_y=0.2133 right_z=0.1244 right_yaw=0.0527 right_pitch=-0.0784 right_roll=-0.0387 right_gripper=0.9991\nstate[joint_eff]: [-0.253, -12.3282, 9.388, 1.3553, 0.2173, 0.0269, -0.0904, -0.0205, -8.335, 6.7214, 1.5018, 0.1538, -0.022, -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]: [-0.0494, 0.794, 1.0325, -1.0389, 0.0025, 0.0162, 0.9964, 0.6559, 1.6947, 1.055, -0.0975, 0.4854, 0.355, 0.9991]\nstate[eef_state]: left_x=0.2306 left_y=-0.0082 left_z=0.2395 left_yaw=-0.0662 left_pitch=-0.2314 left_roll=0.0077 left_gripper=0.9964 right_x=0.4068 right_y=0.2136 right_z=0.1239 right_yaw=0.055 right_pitch=-0.0803 right_roll=-0.0372 right_gripper=0.9991\nstate[joint_eff]: [-0.7043, -0.5265, 9.0598, 1.4432, -0.1343, -0.0415, 0.0757, -0.3487, -8.3624, 6.5573, 1.5897, 0.1587, -0.0562, -0.0171]",
      "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]: [-0.0528, 0.7975, 1.0294, -1.0599, -0.0082, 0.0006, 0.9966, -0.0498, 0.7673, 1.0348, -0.9073, -0.0063, -0.0544, 0.9991]\nstate[eef_state]: left_x=0.2271 left_y=-0.007 left_z=0.234 left_yaw=-0.0517 left_pitch=-0.2588 left_roll=0.0044 left_gripper=0.9966 right_x=0.2484 right_y=-0.0077 right_z=0.2707 right_yaw=-0.0217 right_pitch=-0.0836 right_roll=-0.0403 right_gripper=0.9991\nstate[joint_eff]: [0.1846, -0.6085, 6.4479, 1.7167, 0.0415, 0.1343, -0.0024, -0.1846, -0.5402, 8.3214, 1.8144, -0.1832, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:454957697930ffaa9ca56de9c0851fc06a423413ec7d9fa3d7ac7159c9c36c86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d85640b15bfd805f67e9d9e34f7e0c60cf6b72d873d52f566d8c8276077587d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88b538934b0e39751e12b9351472b40d7b0e0d85aa6bd67eaf90289d503cbad3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VrPiCR8p4jfRwwhBtW8gzQ",
      "input": {
        "note": "Table is clear except the pen; a small white object sits to the right arm's right in its wrist view, which may be the cap. Moving over it for a closer look.",
        "targets": {
          "right_x": 0.36,
          "right_y": -0.06,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01VrPiCR8p4jfRwwhBtW8gzQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 0.7998, 1.0294, -1.0676, -0.0113, -0.0002, 0.9966, -0.2508, 1.1706, 0.7578, -0.342, -0.1593, -0.1734, 0.999]\nstate[eef_state]: left_x=0.226 left_y=-0.0064 left_z=0.2323 left_yaw=-0.0486 left_pitch=-0.2687 left_roll=0.0063 left_gripper=0.9966 right_x=0.3409 right_y=-0.0547 right_z=0.1445 right_yaw=-0.0264 right_pitch=-0.1863 right_roll=-0.0199 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -0.2667, 6.1197, 1.5018, -0.0464, -0.0611, -0.0122, -0.5675, -4.6701, 6.653, 2.0049, -0.232, -0.1197, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f567891d6a4893139be671aa0f1783be63e5e810707ac8b0964e26ccc302e916",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8864fd7ea001214379dc8d7e457e272260114fe8e34db45adc33dcc802510a4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:afe3bf3a9a1381d641d1b44d3f1723399e334909744c6b67ca32a71a6b133f84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
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call 13 attempt 0 · /messages · status 200 · 14.03 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0494, 0.794, 1.0325, -1.0389, 0.0025, 0.0162, 0.9964, 0.6559, 1.6947, 1.055, -0.0975, 0.4854, 0.355, 0.9991]\nstate[eef_state]: left_x=0.2306 left_y=-0.0082 left_z=0.2395 left_yaw=-0.0662 left_pitch=-0.2314 left_roll=0.0077 left_gripper=0.9964 right_x=0.4068 right_y=0.2136 right_z=0.1239 right_yaw=0.055 right_pitch=-0.0803 right_roll=-0.0372 right_gripper=0.9991\nstate[joint_eff]: [-0.7043, -0.5265, 9.0598, 1.4432, -0.1343, -0.0415, 0.0757, -0.3487, -8.3624, 6.5573, 1.5897, 0.1587, -0.0562, -0.0171]",
      "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]: [-0.0528, 0.7975, 1.0294, -1.0599, -0.0082, 0.0006, 0.9966, -0.0498, 0.7673, 1.0348, -0.9073, -0.0063, -0.0544, 0.9991]\nstate[eef_state]: left_x=0.2271 left_y=-0.007 left_z=0.234 left_yaw=-0.0517 left_pitch=-0.2588 left_roll=0.0044 left_gripper=0.9966 right_x=0.2484 right_y=-0.0077 right_z=0.2707 right_yaw=-0.0217 right_pitch=-0.0836 right_roll=-0.0403 right_gripper=0.9991\nstate[joint_eff]: [0.1846, -0.6085, 6.4479, 1.7167, 0.0415, 0.1343, -0.0024, -0.1846, -0.5402, 8.3214, 1.8144, -0.1832, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 0.7998, 1.0294, -1.0676, -0.0113, -0.0002, 0.9966, -0.2508, 1.1706, 0.7578, -0.342, -0.1593, -0.1734, 0.999]\nstate[eef_state]: left_x=0.226 left_y=-0.0064 left_z=0.2323 left_yaw=-0.0486 left_pitch=-0.2687 left_roll=0.0063 left_gripper=0.9966 right_x=0.3409 right_y=-0.0547 right_z=0.1445 right_yaw=-0.0264 right_pitch=-0.1863 right_roll=-0.0199 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -0.2667, 6.1197, 1.5018, -0.0464, -0.0611, -0.0122, -0.5675, -4.6701, 6.653, 2.0049, -0.232, -0.1197, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f567891d6a4893139be671aa0f1783be63e5e810707ac8b0964e26ccc302e916",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8864fd7ea001214379dc8d7e457e272260114fe8e34db45adc33dcc802510a4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afe3bf3a9a1381d641d1b44d3f1723399e334909744c6b67ca32a71a6b133f84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISywgKjgEIEhgCKkCrTQ/9mdQdPMB9lwF25iygWPAl7jIDFFirDp6SdM154182xJYMoi7xQA89e4ua3764D/O44J/7mtD+HuEJSd/OMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAb+UzNUGEgwe668F2T5bJho4FZkaDF9HWGT4RFn9VE0uLiIwURZERjDGGJIsGNFqGzrjbIsK3CPlzwANujOy/8EVja8K4eRNnRbSe7PI7//s2KMEKukGKsbqX0ikBSI4DleX9bpC3d7LToxnJ1O+f1vPEn8DLEgsPx/Tf5hu8jySrpjzNh6mbo36xjakPjCZm6/0QaWERTt2CGSefOY34anOwYd9u/1EJWvALyHUUcHJW24f+oL2nzElrzoHjb/giDpAiTZdp6t/HYJZ+xZBtpIN3BaLTkUcI7K+4OlkKT7k+ZMkeAdLEwZALxQ1qvUKhCSD1ZjZRnmUv/ow9mV9/xMm0Zn/Ica0dbFa/iZx6Az0tn3wj0UTn7JAThoRNUUxc1N2UScWKEAmjKu1YbmLEu5tBgDhX4CJ4fpfv5JAFmrFhTHWFb0lcnPACpv90iVx2c2/DtC6P/kiO1piNXWiDpD2M41RxuyDS8jXSSnqvg2QwAw61ja0/21Vo+5nek9Ou8oBSAclukaIKn9vVa3q+8ToqYpdc+rg0o4cymbU/RIiI0/gxI7sidmfs9MYVbeGFdb60O2BpvOaovCi82KQfP+ukAXPUeP87X1Xg4fbsbYUJMkAR9MklNCS0pHcLJ95fng1mzoZRBnRAhUlbMDmjPuNtFCJwDqFWD7MazYMr8mX8NRjHCD/JVAfAPQNhi9mnlTLJ9CunTqJSxCiLF7E4oR+As7/3uvs8CHgll2nJuw0t0PkW0x5SzBqIx1bqLhFXy85OIz+96a5vnfLa6L9XsFGTIhQfTE/rVNOSMPT90D0H9yoDcN+RRRd+U1oYsj2Nh3dExm8GcJBD8dQomCyI9Hf7HP2pHOJ5privP5lnU2HwLr4LLybsz7+ro9FZWmTo0FlLSLENggEC49YOs/B+X0sZUk+SlZ3GN0R3kNV72DqQraxpt6QBE1ZQdzHTY43Y65MKIg/Ab66MUJYT6q1lMzLgScXV5/eXx41/7jh/w9wcG6u3j3ELTOhMU1oO0S7VuFAadla37PL1D0v0rtIn3Ya5bHaWABBfoXIoVMZQJ3t6H2AFoJTgh2ipP9jDJdwcUCFRRtzJUNgIiyp8WhG0uNUTDjS7RHpYco8fonKLLVknGN5DUulfrqsHPLTtT+TPHj93jTsNZ/DpNNXh+hUcIZU+krxxH9wPKLIg6oKejej+FdVi7scxWcW7wlSuTje5aU8gNmF5p05BseUH2MnY97kaQz2oGwR8ZW4QKea/tY6Cq+BCWDPuBQzgJPJGtZKGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013JRsPw6v4PipN56hLStBtU",
      "input": {
        "note": "The white object stays to the right and slightly beyond the jaws; moving to the right arm's fence-side y limit and 3 cm farther out to see whether it is the pen cap and whether it is reachable.",
        "targets": {
          "right_x": 0.39,
          "right_y": -0.08,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_013JRsPw6v4PipN56hLStBtU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 0.8021, 1.0294, -1.0683, -0.0113, -0.0002, 0.9966, -0.2878, 1.4002, 0.8261, -0.2573, -0.1848, -0.2001, 0.9991]\nstate[eef_state]: left_x=0.2262 left_y=-0.0064 left_z=0.2317 left_yaw=-0.0486 left_pitch=-0.2718 left_roll=0.0063 left_gripper=0.9966 right_x=0.3725 right_y=-0.0727 right_z=0.1095 right_yaw=-0.0228 right_pitch=-0.2563 right_roll=-0.0023 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -0.4171, 6.188, 1.453, -0.0611, -0.0611, -0.0122, -0.6359, -6.2291, 9.7162, 1.7265, -0.2369, -0.1099, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9fcf77f2fb068d776d6cb09e96cea6602e60f353cf73e04219212673a26e988",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4f1c99c5349bd7661c141da93d9924d44421f8d12af029ff6c119fdd93e0861",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eed44ccd39deeba67e26ea23e08fe2dcb52d32694ef2fc7662126ff02f363808",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 14.81 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 0.7975, 1.0294, -1.0599, -0.0082, 0.0006, 0.9966, -0.0498, 0.7673, 1.0348, -0.9073, -0.0063, -0.0544, 0.9991]\nstate[eef_state]: left_x=0.2271 left_y=-0.007 left_z=0.234 left_yaw=-0.0517 left_pitch=-0.2588 left_roll=0.0044 left_gripper=0.9966 right_x=0.2484 right_y=-0.0077 right_z=0.2707 right_yaw=-0.0217 right_pitch=-0.0836 right_roll=-0.0403 right_gripper=0.9991\nstate[joint_eff]: [0.1846, -0.6085, 6.4479, 1.7167, 0.0415, 0.1343, -0.0024, -0.1846, -0.5402, 8.3214, 1.8144, -0.1832, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 0.7998, 1.0294, -1.0676, -0.0113, -0.0002, 0.9966, -0.2508, 1.1706, 0.7578, -0.342, -0.1593, -0.1734, 0.999]\nstate[eef_state]: left_x=0.226 left_y=-0.0064 left_z=0.2323 left_yaw=-0.0486 left_pitch=-0.2687 left_roll=0.0063 left_gripper=0.9966 right_x=0.3409 right_y=-0.0547 right_z=0.1445 right_yaw=-0.0264 right_pitch=-0.1863 right_roll=-0.0199 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -0.2667, 6.1197, 1.5018, -0.0464, -0.0611, -0.0122, -0.5675, -4.6701, 6.653, 2.0049, -0.232, -0.1197, -0.0171]",
      "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]: [-0.0528, 0.8021, 1.0294, -1.0683, -0.0113, -0.0002, 0.9966, -0.2878, 1.4002, 0.8261, -0.2573, -0.1848, -0.2001, 0.9991]\nstate[eef_state]: left_x=0.2262 left_y=-0.0064 left_z=0.2317 left_yaw=-0.0486 left_pitch=-0.2718 left_roll=0.0063 left_gripper=0.9966 right_x=0.3725 right_y=-0.0727 right_z=0.1095 right_yaw=-0.0228 right_pitch=-0.2563 right_roll=-0.0023 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -0.4171, 6.188, 1.453, -0.0611, -0.0611, -0.0122, -0.6359, -6.2291, 9.7162, 1.7265, -0.2369, -0.1099, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9fcf77f2fb068d776d6cb09e96cea6602e60f353cf73e04219212673a26e988",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4f1c99c5349bd7661c141da93d9924d44421f8d12af029ff6c119fdd93e0861",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eed44ccd39deeba67e26ea23e08fe2dcb52d32694ef2fc7662126ff02f363808",
        "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_01TBLBRhAX9wQASu4ZmgaJPf",
      "input": {
        "note": "Advancing the right gripper further out along the fence side and yawing the wrist toward the white object so I can see whether it is the pen cap and how far right it lies.",
        "targets": {
          "right_x": 0.44,
          "right_y": -0.08,
          "right_yaw": -0.5,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01TBLBRhAX9wQASu4ZmgaJPf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 0.8051, 1.0294, -1.0679, -0.0113, -0.0002, 0.9966, -0.2424, 1.4452, 0.8181, -0.2241, -0.1238, -0.1303, 0.9991]\nstate[eef_state]: left_x=0.2266 left_y=-0.0064 left_z=0.2311 left_yaw=-0.0486 left_pitch=-0.2744 left_roll=0.0063 left_gripper=0.9966 right_x=0.3772 right_y=-0.0671 right_z=0.0943 right_yaw=-0.0675 right_pitch=-0.286 right_roll=0.0051 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -0.5128, 6.1607, 1.453, -0.0513, -0.0513, -0.0122, -0.5265, -6.065, 6.4615, 1.8779, 0.105, 0.1783, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:428db7fa8272d33ce9751581107b356001e8f0dd10706f1a7289a4204ca4f9cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74ef6a61b0ce22185862c0ce65621da0283cbe3cccd0d4ed049aab75f3876843",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:108416eb7edda6e5b7517000fa24ddc91832e2b8521dcd56172d2def4d0f71b1",
        "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 · 35.56 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 0.7998, 1.0294, -1.0676, -0.0113, -0.0002, 0.9966, -0.2508, 1.1706, 0.7578, -0.342, -0.1593, -0.1734, 0.999]\nstate[eef_state]: left_x=0.226 left_y=-0.0064 left_z=0.2323 left_yaw=-0.0486 left_pitch=-0.2687 left_roll=0.0063 left_gripper=0.9966 right_x=0.3409 right_y=-0.0547 right_z=0.1445 right_yaw=-0.0264 right_pitch=-0.1863 right_roll=-0.0199 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -0.2667, 6.1197, 1.5018, -0.0464, -0.0611, -0.0122, -0.5675, -4.6701, 6.653, 2.0049, -0.232, -0.1197, -0.0171]",
      "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]: [-0.0528, 0.8021, 1.0294, -1.0683, -0.0113, -0.0002, 0.9966, -0.2878, 1.4002, 0.8261, -0.2573, -0.1848, -0.2001, 0.9991]\nstate[eef_state]: left_x=0.2262 left_y=-0.0064 left_z=0.2317 left_yaw=-0.0486 left_pitch=-0.2718 left_roll=0.0063 left_gripper=0.9966 right_x=0.3725 right_y=-0.0727 right_z=0.1095 right_yaw=-0.0228 right_pitch=-0.2563 right_roll=-0.0023 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -0.4171, 6.188, 1.453, -0.0611, -0.0611, -0.0122, -0.6359, -6.2291, 9.7162, 1.7265, -0.2369, -0.1099, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0528, 0.8051, 1.0294, -1.0679, -0.0113, -0.0002, 0.9966, -0.2424, 1.4452, 0.8181, -0.2241, -0.1238, -0.1303, 0.9991]\nstate[eef_state]: left_x=0.2266 left_y=-0.0064 left_z=0.2311 left_yaw=-0.0486 left_pitch=-0.2744 left_roll=0.0063 left_gripper=0.9966 right_x=0.3772 right_y=-0.0671 right_z=0.0943 right_yaw=-0.0675 right_pitch=-0.286 right_roll=0.0051 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -0.5128, 6.1607, 1.453, -0.0513, -0.0513, -0.0122, -0.5265, -6.065, 6.4615, 1.8779, 0.105, 0.1783, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:428db7fa8272d33ce9751581107b356001e8f0dd10706f1a7289a4204ca4f9cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74ef6a61b0ce22185862c0ce65621da0283cbe3cccd0d4ed049aab75f3876843",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:108416eb7edda6e5b7517000fa24ddc91832e2b8521dcd56172d2def4d0f71b1",
        "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_01MpAY6Tt78ynzyyXEibHh95",
      "input": {
        "note": "The right arm stalled short of the last target; retrying a cleaner pose farther out at the fence side with the wrist straight, to get above the white object.",
        "targets": {
          "right_x": 0.46,
          "right_y": -0.08,
          "right_yaw": 0.0,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01MpAY6Tt78ynzyyXEibHh95",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 0.8066, 1.029, -1.0756, -0.0116, -0.0002, 0.9966, -0.2424, 1.5494, 0.9306, -0.3077, -0.1432, -0.1562, 0.9991]\nstate[eef_state]: left_x=0.2253 left_y=-0.0063 left_z=0.2294 left_yaw=-0.0483 left_pitch=-0.284 left_roll=0.0066 left_gripper=0.9966 right_x=0.3912 right_y=-0.0671 right_z=0.087 right_yaw=-0.0311 right_pitch=-0.3566 right_roll=0.0185 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -0.3214, 6.2701, 1.5458, -0.0659, -0.0757, -0.0122, -0.335, -5.2855, 7.0906, 1.2869, -0.1148, 0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ee5be10229b950cc78f2f1f3e5ac9de6a7314c82384b1d172c82a3ef646aa92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d648a5a2ed74fbcd07a69aad534d5a2aacf26fe37ab646a247eee579b4cc8b5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e713bd81474cc3854ec61f91d0446e6e4c949f9e04eed6212c367f74dd8a900f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /messages · status 200 · 24.37 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 0.8021, 1.0294, -1.0683, -0.0113, -0.0002, 0.9966, -0.2878, 1.4002, 0.8261, -0.2573, -0.1848, -0.2001, 0.9991]\nstate[eef_state]: left_x=0.2262 left_y=-0.0064 left_z=0.2317 left_yaw=-0.0486 left_pitch=-0.2718 left_roll=0.0063 left_gripper=0.9966 right_x=0.3725 right_y=-0.0727 right_z=0.1095 right_yaw=-0.0228 right_pitch=-0.2563 right_roll=-0.0023 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -0.4171, 6.188, 1.453, -0.0611, -0.0611, -0.0122, -0.6359, -6.2291, 9.7162, 1.7265, -0.2369, -0.1099, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0528, 0.8051, 1.0294, -1.0679, -0.0113, -0.0002, 0.9966, -0.2424, 1.4452, 0.8181, -0.2241, -0.1238, -0.1303, 0.9991]\nstate[eef_state]: left_x=0.2266 left_y=-0.0064 left_z=0.2311 left_yaw=-0.0486 left_pitch=-0.2744 left_roll=0.0063 left_gripper=0.9966 right_x=0.3772 right_y=-0.0671 right_z=0.0943 right_yaw=-0.0675 right_pitch=-0.286 right_roll=0.0051 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -0.5128, 6.1607, 1.453, -0.0513, -0.0513, -0.0122, -0.5265, -6.065, 6.4615, 1.8779, 0.105, 0.1783, -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 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]: [-0.0528, 0.8066, 1.029, -1.0756, -0.0116, -0.0002, 0.9966, -0.2424, 1.5494, 0.9306, -0.3077, -0.1432, -0.1562, 0.9991]\nstate[eef_state]: left_x=0.2253 left_y=-0.0063 left_z=0.2294 left_yaw=-0.0483 left_pitch=-0.284 left_roll=0.0066 left_gripper=0.9966 right_x=0.3912 right_y=-0.0671 right_z=0.087 right_yaw=-0.0311 right_pitch=-0.3566 right_roll=0.0185 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -0.3214, 6.2701, 1.5458, -0.0659, -0.0757, -0.0122, -0.335, -5.2855, 7.0906, 1.2869, -0.1148, 0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ee5be10229b950cc78f2f1f3e5ac9de6a7314c82384b1d172c82a3ef646aa92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d648a5a2ed74fbcd07a69aad534d5a2aacf26fe37ab646a247eee579b4cc8b5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e713bd81474cc3854ec61f91d0446e6e4c949f9e04eed6212c367f74dd8a900f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TunKyHMSqkjRdjJU26yjYa",
      "input": {
        "note": "Backing the right arm off and yawing the wrist camera toward the unidentified white object on the right side of the table, to see clearly whether it is the pen cap and how far outside the workspace it lies.",
        "targets": {
          "right_x": 0.33,
          "right_y": -0.05,
          "right_yaw": -0.7,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01TunKyHMSqkjRdjJU26yjYa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 0.8108, 1.029, -1.0821, -0.0116, -0.0002, 0.9966, 0.0448, 1.3479, 1.1748, -0.8379, 0.3225, 0.5014, 0.999]\nstate[eef_state]: left_x=0.2246 left_y=-0.0062 left_z=0.2275 left_yaw=-0.0483 left_pitch=-0.2946 left_roll=0.0067 left_gripper=0.9966 right_x=0.3415 right_y=-0.0371 right_z=0.1851 right_yaw=-0.5423 right_pitch=-0.3772 right_roll=0.0189 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -0.7453, 6.065, 1.5116, -0.0757, -0.0317, -0.0122, -0.1299, -4.9436, 8.6496, 1.2869, 0.4615, 0.2173, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6276ffca48fd60a867679d6d8bba1ed53d1760e4961cc8b8892c0862c436690",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea179ef2319c0b77a31a74fab71d61d248609b1300fcc68b9d546707dc9e70fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:551f538fdd6e9fbb805a655c5ec7ec62b68662430a85b070817096d7ac6199dc",
        "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 · 8.983 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 0.8051, 1.0294, -1.0679, -0.0113, -0.0002, 0.9966, -0.2424, 1.4452, 0.8181, -0.2241, -0.1238, -0.1303, 0.9991]\nstate[eef_state]: left_x=0.2266 left_y=-0.0064 left_z=0.2311 left_yaw=-0.0486 left_pitch=-0.2744 left_roll=0.0063 left_gripper=0.9966 right_x=0.3772 right_y=-0.0671 right_z=0.0943 right_yaw=-0.0675 right_pitch=-0.286 right_roll=0.0051 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -0.5128, 6.1607, 1.453, -0.0513, -0.0513, -0.0122, -0.5265, -6.065, 6.4615, 1.8779, 0.105, 0.1783, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0528, 0.8066, 1.029, -1.0756, -0.0116, -0.0002, 0.9966, -0.2424, 1.5494, 0.9306, -0.3077, -0.1432, -0.1562, 0.9991]\nstate[eef_state]: left_x=0.2253 left_y=-0.0063 left_z=0.2294 left_yaw=-0.0483 left_pitch=-0.284 left_roll=0.0066 left_gripper=0.9966 right_x=0.3912 right_y=-0.0671 right_z=0.087 right_yaw=-0.0311 right_pitch=-0.3566 right_roll=0.0185 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -0.3214, 6.2701, 1.5458, -0.0659, -0.0757, -0.0122, -0.335, -5.2855, 7.0906, 1.2869, -0.1148, 0.0952, -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 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]: [-0.0528, 0.8108, 1.029, -1.0821, -0.0116, -0.0002, 0.9966, 0.0448, 1.3479, 1.1748, -0.8379, 0.3225, 0.5014, 0.999]\nstate[eef_state]: left_x=0.2246 left_y=-0.0062 left_z=0.2275 left_yaw=-0.0483 left_pitch=-0.2946 left_roll=0.0067 left_gripper=0.9966 right_x=0.3415 right_y=-0.0371 right_z=0.1851 right_yaw=-0.5423 right_pitch=-0.3772 right_roll=0.0189 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -0.7453, 6.065, 1.5116, -0.0757, -0.0317, -0.0122, -0.1299, -4.9436, 8.6496, 1.2869, 0.4615, 0.2173, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6276ffca48fd60a867679d6d8bba1ed53d1760e4961cc8b8892c0862c436690",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea179ef2319c0b77a31a74fab71d61d248609b1300fcc68b9d546707dc9e70fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:551f538fdd6e9fbb805a655c5ec7ec62b68662430a85b070817096d7ac6199dc",
        "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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FixuM2djaZXZY2hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019qLVfcqrr7rsbQqHLaheHr",
      "input": {
        "note": "Lifting the right arm high with the wrist pitched down to use its camera as an overhead survey of the right half of the table, so I can locate the pen cap properly.",
        "targets": {
          "right_pitch": 0.5,
          "right_x": 0.25,
          "right_y": -0.05,
          "right_yaw": 0.0,
          "right_z": 0.42
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 30 steps (3.0s)",
      "tool_use_id": "toolu_019qLVfcqrr7rsbQqHLaheHr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 0.8154, 1.029, -1.0889, -0.0116, -0.0002, 0.9966, -0.6388, 0.7105, 1.0752, -0.5396, -0.5842, -0.0532, 0.9991]\nstate[eef_state]: left_x=0.2238 left_y=-0.0062 left_z=0.2255 left_yaw=-0.0483 left_pitch=-0.3061 left_roll=0.0068 left_gripper=0.9966 right_x=0.2543 right_y=-0.063 right_z=0.39 right_yaw=-0.0794 right_pitch=0.4101 right_roll=0.0503 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -0.8, 6.2017, 1.4774, -0.0855, -0.0366, -0.0122, -0.3761, -0.0068, 8.7453, 2.0195, -0.0952, 0.1832, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12cd60c4808c903144b40cbd8a6b58ad7ff65c295f950b7ad1adbe2fa5cf699c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa48589101df7841b87b9ddcb777cacec6c467241976febe32df3a0beae7f2a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ae674676b7dc41058aaf4dfbb2009773ed4e807710618630feebd0f00c03d0d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /messages · status 200 · 32.29 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 0.8066, 1.029, -1.0756, -0.0116, -0.0002, 0.9966, -0.2424, 1.5494, 0.9306, -0.3077, -0.1432, -0.1562, 0.9991]\nstate[eef_state]: left_x=0.2253 left_y=-0.0063 left_z=0.2294 left_yaw=-0.0483 left_pitch=-0.284 left_roll=0.0066 left_gripper=0.9966 right_x=0.3912 right_y=-0.0671 right_z=0.087 right_yaw=-0.0311 right_pitch=-0.3566 right_roll=0.0185 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -0.3214, 6.2701, 1.5458, -0.0659, -0.0757, -0.0122, -0.335, -5.2855, 7.0906, 1.2869, -0.1148, 0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 0.8108, 1.029, -1.0821, -0.0116, -0.0002, 0.9966, 0.0448, 1.3479, 1.1748, -0.8379, 0.3225, 0.5014, 0.999]\nstate[eef_state]: left_x=0.2246 left_y=-0.0062 left_z=0.2275 left_yaw=-0.0483 left_pitch=-0.2946 left_roll=0.0067 left_gripper=0.9966 right_x=0.3415 right_y=-0.0371 right_z=0.1851 right_yaw=-0.5423 right_pitch=-0.3772 right_roll=0.0189 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -0.7453, 6.065, 1.5116, -0.0757, -0.0317, -0.0122, -0.1299, -4.9436, 8.6496, 1.2869, 0.4615, 0.2173, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0528, 0.8154, 1.029, -1.0889, -0.0116, -0.0002, 0.9966, -0.6388, 0.7105, 1.0752, -0.5396, -0.5842, -0.0532, 0.9991]\nstate[eef_state]: left_x=0.2238 left_y=-0.0062 left_z=0.2255 left_yaw=-0.0483 left_pitch=-0.3061 left_roll=0.0068 left_gripper=0.9966 right_x=0.2543 right_y=-0.063 right_z=0.39 right_yaw=-0.0794 right_pitch=0.4101 right_roll=0.0503 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -0.8, 6.2017, 1.4774, -0.0855, -0.0366, -0.0122, -0.3761, -0.0068, 8.7453, 2.0195, -0.0952, 0.1832, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12cd60c4808c903144b40cbd8a6b58ad7ff65c295f950b7ad1adbe2fa5cf699c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa48589101df7841b87b9ddcb777cacec6c467241976febe32df3a0beae7f2a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae674676b7dc41058aaf4dfbb2009773ed4e807710618630feebd0f00c03d0d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISmQkKjgEIEhgCKkCTNJ6geWj61em1WCqE5cCegFUT6DFNJaCfTWyg40oCTSWPF6uUtZKf2TujhoU7MSLyp47KNKYIGXumnA0QD/kpMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaaVzNUGEgxXyKbG6jBiBlXxVGkaDEGs6Rnnj2cN42bNdiIwUmNONJfFHJ9Z+KymlZYFNMn7LP7KRFbUwPkRn287jsjDnGvxviXXBO/dkUrOVlqSKrcHcbydqXH2pVeINrQhAyM7ZlHwVgxO2wOaxpu76QOPCe+XqQazSX6IG2vOXJmdKL0lwyNvlfbyyqrQ0Qqk48sVQlrzdZpV4z7wO0H1M3clDV8pKsOonBcYUzaV203jSukxEjCTMaO9miQLEky7XQSF5MXolkV0HLxsdY6C7D3siM/oX/nS43s6r8Lqn5e+KEPlX313bxwltujSFjydJ1NWa7XzslLGFaYWtidX/HVnJ0xGySlG2GGDjXKLtMLldYgTalzmvwssgFM1R1hAJYBkUAxj9V6Uh7id2o8AWHGDrzVDJud4R8O/dMHAdKWT802JGmdExQGXp9ZLhk1uhAsxnS7TRR0xmczB6TzuBFGKeOO3YYUn2HyuvvwCSD+HoIfrYJnCciB8SEyQkiGOvfY7IJrlTRr3yyesA82/K12Uw8jM9hrHxj9f9QTK1gldhCW/iBkL4B8MAsccMVvWxoZEwABKZ0a0QskFkyTC3hatYantshR9gFSSsZaj8tX6Y2QeIhoN9lNAeYH0HQ9USxgcbpTu5tukZ6vb2/TOochtYisPi2TLx/qjoU9LGvzqoHegNSkKh4jWb6F0QHGEIPeOyMnVN2vS2C+GdLfwmKLBzmJ6x0UbjCocITZJS8DaGU2QeB/k0q9nh8A7S0ATtl7U/qIM7Bzrh4pc+S+nTNxj8qWDrmY7hVc/Pb0fu5z1BEZAgx4Fm/FfOIpXlifkNlrPB/EpeYOI+MQVE1XnDV3OhEpe5yWK1HiI055UerzXdbzxVSwDWJUk+q68sH89s6UQrwNxeQgxiJRSSEDshVd6/dLAbatNTC31NhQNdx2t59WyUODTx/46aJ3LSmYN7oaIv367leS5+7WZ53nwSIGSCERMeefz+axjmNHU2uttZ05kdVOgh/SiE56yyqp5Rcgyf2pXlDYTE/fP+okfzrq8Q5J628bjjcyFBJAmUbcwDEOtmSfivvjkAtOLDZX9FdvJQHB28YVezr1UGSvjJG7Uo26iNWHvu2F7n2vouzKmVEveyWO+EHJ8TdxAaLqcPLLFRDUNfqiGtVh78K/uCZFP+EPZIbimHiiwFZeX4+OnDKuil/SsVbNsDvmeB+VN8+428/G52wjTScmRzEUgwyueNkDCDG+YrPUqD21rH05WNZZMps7taaR8vUO7lnwawYCMWQcp7m6BRLsbsABIIhtnqm/X6pSmKXElhr+6WjZbgsfh792GzsOWbfuzV8IbHW3zO1Yd9+oTIZ3YwHX1nQWMRfGatQkmnb85GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013hYCPutvuS18qxQrYx1ACB",
      "input": {
        "note": "Table survey shows only the pen; moving the right wrist camera above and just short of the pen to inspect it closely and see whether the cap lies beside it.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.38,
          "right_y": 0.2,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_013hYCPutvuS18qxQrYx1ACB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 0.8192, 1.029, -1.0897, -0.0116, -0.0002, 0.9966, 0.7097, 1.5002, 1.0912, -0.3435, 0.6022, 0.4835, 0.999]\nstate[eef_state]: left_x=0.2241 left_y=-0.0062 left_z=0.2246 left_yaw=-0.0483 left_pitch=-0.3107 left_roll=0.0068 left_gripper=0.9966 right_x=0.372 right_y=0.1924 right_z=0.1857 right_yaw=-0.0495 right_pitch=-0.0416 right_roll=-0.0034 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -0.5265, 6.2974, 1.3846, -0.0611, -0.0464, -0.0122, 0.5538, -6.9675, 9.1282, 1.5995, 0.5055, 0.1441, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7603112c82fb1327fb96cd81e06192ba1b7c31288f7ff8b5416b47bca426c012",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e970e6752b154d3213ff514472d0e67a505eb7e2cb8baef01443f1efba5cd9ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6ea3ab53677d180873123ea791da1062b7ccf356311d7397c62b7a1cac012d5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 9.322 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 0.8108, 1.029, -1.0821, -0.0116, -0.0002, 0.9966, 0.0448, 1.3479, 1.1748, -0.8379, 0.3225, 0.5014, 0.999]\nstate[eef_state]: left_x=0.2246 left_y=-0.0062 left_z=0.2275 left_yaw=-0.0483 left_pitch=-0.2946 left_roll=0.0067 left_gripper=0.9966 right_x=0.3415 right_y=-0.0371 right_z=0.1851 right_yaw=-0.5423 right_pitch=-0.3772 right_roll=0.0189 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -0.7453, 6.065, 1.5116, -0.0757, -0.0317, -0.0122, -0.1299, -4.9436, 8.6496, 1.2869, 0.4615, 0.2173, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.0528, 0.8154, 1.029, -1.0889, -0.0116, -0.0002, 0.9966, -0.6388, 0.7105, 1.0752, -0.5396, -0.5842, -0.0532, 0.9991]\nstate[eef_state]: left_x=0.2238 left_y=-0.0062 left_z=0.2255 left_yaw=-0.0483 left_pitch=-0.3061 left_roll=0.0068 left_gripper=0.9966 right_x=0.2543 right_y=-0.063 right_z=0.39 right_yaw=-0.0794 right_pitch=0.4101 right_roll=0.0503 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -0.8, 6.2017, 1.4774, -0.0855, -0.0366, -0.0122, -0.3761, -0.0068, 8.7453, 2.0195, -0.0952, 0.1832, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 0.8192, 1.029, -1.0897, -0.0116, -0.0002, 0.9966, 0.7097, 1.5002, 1.0912, -0.3435, 0.6022, 0.4835, 0.999]\nstate[eef_state]: left_x=0.2241 left_y=-0.0062 left_z=0.2246 left_yaw=-0.0483 left_pitch=-0.3107 left_roll=0.0068 left_gripper=0.9966 right_x=0.372 right_y=0.1924 right_z=0.1857 right_yaw=-0.0495 right_pitch=-0.0416 right_roll=-0.0034 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -0.5265, 6.2974, 1.3846, -0.0611, -0.0464, -0.0122, 0.5538, -6.9675, 9.1282, 1.5995, 0.5055, 0.1441, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7603112c82fb1327fb96cd81e06192ba1b7c31288f7ff8b5416b47bca426c012",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e970e6752b154d3213ff514472d0e67a505eb7e2cb8baef01443f1efba5cd9ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ea3ab53677d180873123ea791da1062b7ccf356311d7397c62b7a1cac012d5e",
        "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_018vhaKP6aMPsJQG8imwu3ag",
      "input": {
        "note": "The pen (a pencil) is the only object I can find; it runs diagonally just below the right jaws. I yaw the wrist 45° so the jaws close across the pen's axis and drop to 10 cm for a final alignment check.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.177,
          "right_yaw": 0.785,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_018vhaKP6aMPsJQG8imwu3ag",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 0.82, 1.029, -1.0901, -0.0116, -0.0002, 0.9966, 0.2943, 1.4635, 0.6975, 0.0521, -0.2138, -0.1562, 0.999]\nstate[eef_state]: left_x=0.2241 left_y=-0.0062 left_z=0.2244 left_yaw=-0.0483 left_pitch=-0.3118 left_roll=0.0068 left_gripper=0.9966 right_x=0.3646 right_y=0.1534 right_z=0.0891 right_yaw=0.5543 right_pitch=-0.138 right_roll=0.0192 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -0.5265, 6.065, 1.3993, -0.0757, -0.0317, -0.0122, -0.253, -5.7094, 6.2701, 1.6825, -0.3492, -0.1392, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32e2a35df3a672ef7c97c961e0fe55c4a0e9e01e1f32e462d7c58113ab3071d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85c33e00d4f18faad0a757e6c7862e02201754d42a9dccaf4c1d432d05995b1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b76912d52d945136a38c40c4b6556d8c3a5e11284e2752395a5acddff2258049",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /messages · status 200 · 7.707 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 0.8154, 1.029, -1.0889, -0.0116, -0.0002, 0.9966, -0.6388, 0.7105, 1.0752, -0.5396, -0.5842, -0.0532, 0.9991]\nstate[eef_state]: left_x=0.2238 left_y=-0.0062 left_z=0.2255 left_yaw=-0.0483 left_pitch=-0.3061 left_roll=0.0068 left_gripper=0.9966 right_x=0.2543 right_y=-0.063 right_z=0.39 right_yaw=-0.0794 right_pitch=0.4101 right_roll=0.0503 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -0.8, 6.2017, 1.4774, -0.0855, -0.0366, -0.0122, -0.3761, -0.0068, 8.7453, 2.0195, -0.0952, 0.1832, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 0.8192, 1.029, -1.0897, -0.0116, -0.0002, 0.9966, 0.7097, 1.5002, 1.0912, -0.3435, 0.6022, 0.4835, 0.999]\nstate[eef_state]: left_x=0.2241 left_y=-0.0062 left_z=0.2246 left_yaw=-0.0483 left_pitch=-0.3107 left_roll=0.0068 left_gripper=0.9966 right_x=0.372 right_y=0.1924 right_z=0.1857 right_yaw=-0.0495 right_pitch=-0.0416 right_roll=-0.0034 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -0.5265, 6.2974, 1.3846, -0.0611, -0.0464, -0.0122, 0.5538, -6.9675, 9.1282, 1.5995, 0.5055, 0.1441, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0528, 0.82, 1.029, -1.0901, -0.0116, -0.0002, 0.9966, 0.2943, 1.4635, 0.6975, 0.0521, -0.2138, -0.1562, 0.999]\nstate[eef_state]: left_x=0.2241 left_y=-0.0062 left_z=0.2244 left_yaw=-0.0483 left_pitch=-0.3118 left_roll=0.0068 left_gripper=0.9966 right_x=0.3646 right_y=0.1534 right_z=0.0891 right_yaw=0.5543 right_pitch=-0.138 right_roll=0.0192 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -0.5265, 6.065, 1.3993, -0.0757, -0.0317, -0.0122, -0.253, -5.7094, 6.2701, 1.6825, -0.3492, -0.1392, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32e2a35df3a672ef7c97c961e0fe55c4a0e9e01e1f32e462d7c58113ab3071d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85c33e00d4f18faad0a757e6c7862e02201754d42a9dccaf4c1d432d05995b1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b76912d52d945136a38c40c4b6556d8c3a5e11284e2752395a5acddff2258049",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISpgoKjgEIEhgCKkBdFQySwk+j6x44cROE98VG5H5kma5BA/eROSX0GlMekFDlXkbhj368+eRYBBWYDEW4/Vc6CkLa3Tjqn9S6lQk8Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdOVzNUGEgyffq/FZ4aAQ6IIKNYaDFpmXlklZq0b5XoSECIwfqtQZOBXByYmO0A4i7CzRGxt3rnV9gtYBNkqHsTVRAZFCwarTe304imsozrB+wYGKsQI1k9f0aYm3WWzagEP7qHJOglq9UPmxxUjluSj51zcgU669NL9CNyWgvPjSnHhcegk+2yBQrBaMGssR+wGAYVsBbiOwzf2MLz9Nng9211MyJw4XZIHSY4kI4hNVlfFfLqJwYjk4xDzCDN4ltSzDg3FJC3UfF5Tf+MWPxPYyKPw2TMpY9+j1/RH6RVc5SdP6hyKqY1ffh8vL4Ctmp9mB9hLNpnhMs5swYpRogES35/5XT2yqQoSO3JuddAkI+wV5MTdoXBX75yrSXYWEGeC0tC5hL+dtLPoNRB+2Zti9wxQsxw0GCMBYqtzQATXE4hq4I9kqX4IxsjDLJqOduvLNZiMuZrSYf+5KHg/GSvdmb5zgA7CdavJLnSSx3zRD+ak7OFXhWSJMCFXzTeND7xbYeo8/LdSik+hM+6PhXJVSsbesbXDN52rkcOt+bm6XXyrqwBOi+j7ke114JjW7kzJwSaIqEQ5NRjoM9ejceN657rEYIqzcgH9au2j5dLaG+qsriFW96QC3Os/N0GchT0+4vSTYw/x3SoHOJE74WCsrxhNsDQLpYlNsZQScdrd9vaqD0QveIFVXnBZTlJ/jOzpfxA+Vagle0k7DL27AY/hg3HHk+8xlbyKTPfaIXTZG7mZv2khqueEw7Z0yquViFa74tbrF2gK0ZoxPyFfjRE3SDL0QWB4axwsv/Tephd0GLSEGYSUbrN2+MUmBnK2BcqaUaD1eyRC0Me27W32mJXlFKLBB3MWAKVTmA87toH/QgDOAyBazwumm9kR+h8XvCcPwoMHTzoo/jHNAym2gzT00S4KHRaYWgVCnvzPrrqmzbatl703Gkb7f1CZHXj4kvCJr2JMXQJ6ra5YaBnTKWxVxMGrJ6H7pMe08iOvwc4J1SdKa1PHImDHgmeHmJAChkU8jQWTFJqvx296eoQz5e0iLwSoFh/eix+mMiyvMBiLUgSuqh5kn55pyiCgDRQ2AcV4614lwOrzf8B35BndXjqb0zwV3fRvB0qLoFfslFBgDB1FB16rpKhxVzh9C2GWdWhyACOlfVnlIfZkO/5iycKcarTCRRurG5Yl/ZT6pTeAN0xYvamk6JL87hknv5JFTZqlzCt7qlaCLMHPodPvXxpOTQotLFHEUl7gqvYhncIbpDKRZTIxkyIVR7oaXlr91JZJ4tbNHS8RQh5hln+j+5ru9IofQPx/aZPEGUXOc9HNJJj7h8+leUqCAGS1L+H+7sMmQcjdrEc4aplxjlJbWA569xb2okv7rszK9Vr/plQF/R2vTbIj3nrEM4y0IstUk3FxMZsuMg5L/vQmrgXIWox4rhFlNNj0gvcQf6bw2uCp2FRV92yqDP0WfQdrjLn7fGkHS3jUAtLMT4V1im8zJMHzXMJ/0N/Iu0IlgkrFFTPZoF/zxFTuyLJMFTSV6T2zSvdXyfXMfKNh1gALbUSskxOIthVaQ2DGePwbGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PvFhun5N2fP1jKYLgzKPpz",
      "input": {
        "note": "The pencil now runs vertically between the open jaws in the right wrist view; descending to table level to straddle its shaft before closing.",
        "targets": {
          "right_y": 0.148,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01PvFhun5N2fP1jKYLgzKPpz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 0.8219, 1.029, -1.0897, -0.0116, -0.0002, 0.9966, 0.281, 1.7294, 0.5446, 0.429, -0.2371, -0.1864, 0.999]\nstate[eef_state]: left_x=0.2244 left_y=-0.0062 left_z=0.2241 left_yaw=-0.0482 left_pitch=-0.3133 left_roll=0.0068 left_gripper=0.9966 right_x=0.3579 right_y=0.1502 right_z=0.0026 right_yaw=0.5785 right_pitch=-0.1736 right_roll=0.023 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -0.4308, 6.147, 1.4237, -0.0464, -0.0269, -0.0122, -0.759, -5.2991, 3.959, 0.9011, -0.0659, 0.3736, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2c2d53580a45e8ac34d0d80fe4c971aed094bca7d11249047940c7f490f4d71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:740dffcbb1d542299c8ae79886ce16f2b9a3ed24eab8d61cfba31daf070885b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:147803a128bc824616d65c810eca775a19ad325826d0edb14869304e1c78f404",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 13.7 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 0.8192, 1.029, -1.0897, -0.0116, -0.0002, 0.9966, 0.7097, 1.5002, 1.0912, -0.3435, 0.6022, 0.4835, 0.999]\nstate[eef_state]: left_x=0.2241 left_y=-0.0062 left_z=0.2246 left_yaw=-0.0483 left_pitch=-0.3107 left_roll=0.0068 left_gripper=0.9966 right_x=0.372 right_y=0.1924 right_z=0.1857 right_yaw=-0.0495 right_pitch=-0.0416 right_roll=-0.0034 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -0.5265, 6.2974, 1.3846, -0.0611, -0.0464, -0.0122, 0.5538, -6.9675, 9.1282, 1.5995, 0.5055, 0.1441, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.0528, 0.82, 1.029, -1.0901, -0.0116, -0.0002, 0.9966, 0.2943, 1.4635, 0.6975, 0.0521, -0.2138, -0.1562, 0.999]\nstate[eef_state]: left_x=0.2241 left_y=-0.0062 left_z=0.2244 left_yaw=-0.0483 left_pitch=-0.3118 left_roll=0.0068 left_gripper=0.9966 right_x=0.3646 right_y=0.1534 right_z=0.0891 right_yaw=0.5543 right_pitch=-0.138 right_roll=0.0192 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -0.5265, 6.065, 1.3993, -0.0757, -0.0317, -0.0122, -0.253, -5.7094, 6.2701, 1.6825, -0.3492, -0.1392, -0.0073]",
      "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]: [-0.0528, 0.8219, 1.029, -1.0897, -0.0116, -0.0002, 0.9966, 0.281, 1.7294, 0.5446, 0.429, -0.2371, -0.1864, 0.999]\nstate[eef_state]: left_x=0.2244 left_y=-0.0062 left_z=0.2241 left_yaw=-0.0482 left_pitch=-0.3133 left_roll=0.0068 left_gripper=0.9966 right_x=0.3579 right_y=0.1502 right_z=0.0026 right_yaw=0.5785 right_pitch=-0.1736 right_roll=0.023 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -0.4308, 6.147, 1.4237, -0.0464, -0.0269, -0.0122, -0.759, -5.2991, 3.959, 0.9011, -0.0659, 0.3736, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2c2d53580a45e8ac34d0d80fe4c971aed094bca7d11249047940c7f490f4d71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:740dffcbb1d542299c8ae79886ce16f2b9a3ed24eab8d61cfba31daf070885b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:147803a128bc824616d65c810eca775a19ad325826d0edb14869304e1c78f404",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqwcKjgEIEhgCKkAQVteiqRQjmmquXZpm7hdG/GcQQt+T7Dx51qbhZPEMlnKFstaPNatmLWor6FNSfsa/qFXD26llgKW02uooAsyfMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAduVzNUGEgwjYs59WnhCJiySIpoaDMtFbz9zwrVOIqw3ZiIw43p0uUyuGAGzjhbPdl2IICt+JciGIdHXTWsbgNqjnNEJYN/OFes9SM0GLyDASGrvKskFEnmwZvzkUeQdaVWh4W4Ug6tPUfVEOkMeM4UHRZCL3avdMfe8GybULPdCzoFxe2F7X4PDb4UpTCcdSyOFK9GWiAFHaKzVIl75QESo3e+ks07H8Poxs/1sWWbAsKB++v7Bl+/Oux9a4IkGazd/7vUhvKFixx+h2Ckwl02VeXWTUCtqN4ASYAbU1fo0ZV2XrBimHIEmY3fPHeNT8G4i1OI9SKo0O9aF0LHimVgWPjW+mczuNWfjXInWwEefNNiy+gfGAyufSc61UYFI5+U3u7w+gRTKk6lXKhzZA6jhigJ1bBbK9wyH58grVdqBsjL6IJ3JaSU1qo8xkt6KG+hWYMsHbYOvwBdyqAwEUDxX+1+SVv0mFSbPr08TqlPgIea4S4Ip4k7MRt4M88rXenpsLt8SgqRoLlWR5BDqijZ31JZSLDOVHhs75vMDPSjXfIJYieKTL+V8sj/20NSTa/+SJ0ndKkni2wmLinCSRAiq0EyBDwPXW3pqwdwSSkj1vZnjB5gkwFOWqiM9WCws+3TTLVyghOZY7S+zLCvMsikY8VMnExii2SEAudb92Gix9z+DaD5y/MvphA1TNJI99XfMXTMbhs1PtDBcouYjDt61IEw/raSEZo6S4byLkIuajYGgvwJJuhoML94yBQ4gYfvjMfiE/E4c0FfHxtt03+4nGNqKwjw/wuTFAhIp7v/YIZIYnO8XyKU3oWXqHG+PdWoq7uRF/c2L1LHqu13ru9sPEu6te/FSetkPI+HConwG9L4RgTHFcy+DdnRC4rQBwWuTx2AADOM+Rsya3pXtVkkpUrwekHMmYszeg018aX8+M0sDnWsrAVueRjPzjd7OpD0cTl9APhZuXCI0TJU5qvOwG/jhVAEG/Yd2lN2MXndrr3WcvDVFY0aah7fvcbEldXF1eH5DT9bNyM3PyTT+bTahHAJt2/LwH+dOh04UqjgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KRUuLcHDWVrRhQ85WVKKGg",
      "input": {
        "note": "The pencil sits ~1.7 cm to the right of the jaw centre line; shifting the right gripper over to centre it before closing.",
        "targets": {
          "right_y": 0.133
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01KRUuLcHDWVrRhQ85WVKKGg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 0.8223, 1.029, -1.0897, -0.0116, -0.0002, 0.9966, 0.2443, 1.7401, 0.5339, 0.4694, -0.2619, -0.207, 0.9991]\nstate[eef_state]: left_x=0.2245 left_y=-0.0062 left_z=0.224 left_yaw=-0.0482 left_pitch=-0.3137 left_roll=0.0068 left_gripper=0.9966 right_x=0.3629 right_y=0.1413 right_z=0.0031 right_yaw=0.5727 right_pitch=-0.1499 right_roll=0.0175 right_gripper=0.9991\nstate[joint_eff]: [-0.0479, -0.3624, 6.0923, 1.4139, -0.0464, -0.0611, -0.0122, -0.5538, -8.1026, 4.3556, 1.619, -0.1685, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf8a538dc579b8901ca972adaa91447cd745cf2fdbb90ba9d62bbe6d80383e98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1190a5b75a2651f5fc3d51ba03e426e4fbd14d10013eb71bcd0ac0aa7bff98d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1071325b2c55cea9ad18e149ee0c1a5ccbb6c0227a5d82823ad9bc02c65f30b5",
        "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 · 9.721 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 0.82, 1.029, -1.0901, -0.0116, -0.0002, 0.9966, 0.2943, 1.4635, 0.6975, 0.0521, -0.2138, -0.1562, 0.999]\nstate[eef_state]: left_x=0.2241 left_y=-0.0062 left_z=0.2244 left_yaw=-0.0483 left_pitch=-0.3118 left_roll=0.0068 left_gripper=0.9966 right_x=0.3646 right_y=0.1534 right_z=0.0891 right_yaw=0.5543 right_pitch=-0.138 right_roll=0.0192 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -0.5265, 6.065, 1.3993, -0.0757, -0.0317, -0.0122, -0.253, -5.7094, 6.2701, 1.6825, -0.3492, -0.1392, -0.0073]",
      "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]: [-0.0528, 0.8219, 1.029, -1.0897, -0.0116, -0.0002, 0.9966, 0.281, 1.7294, 0.5446, 0.429, -0.2371, -0.1864, 0.999]\nstate[eef_state]: left_x=0.2244 left_y=-0.0062 left_z=0.2241 left_yaw=-0.0482 left_pitch=-0.3133 left_roll=0.0068 left_gripper=0.9966 right_x=0.3579 right_y=0.1502 right_z=0.0026 right_yaw=0.5785 right_pitch=-0.1736 right_roll=0.023 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -0.4308, 6.147, 1.4237, -0.0464, -0.0269, -0.0122, -0.759, -5.2991, 3.959, 0.9011, -0.0659, 0.3736, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0528, 0.8223, 1.029, -1.0897, -0.0116, -0.0002, 0.9966, 0.2443, 1.7401, 0.5339, 0.4694, -0.2619, -0.207, 0.9991]\nstate[eef_state]: left_x=0.2245 left_y=-0.0062 left_z=0.224 left_yaw=-0.0482 left_pitch=-0.3137 left_roll=0.0068 left_gripper=0.9966 right_x=0.3629 right_y=0.1413 right_z=0.0031 right_yaw=0.5727 right_pitch=-0.1499 right_roll=0.0175 right_gripper=0.9991\nstate[joint_eff]: [-0.0479, -0.3624, 6.0923, 1.4139, -0.0464, -0.0611, -0.0122, -0.5538, -8.1026, 4.3556, 1.619, -0.1685, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf8a538dc579b8901ca972adaa91447cd745cf2fdbb90ba9d62bbe6d80383e98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1190a5b75a2651f5fc3d51ba03e426e4fbd14d10013eb71bcd0ac0aa7bff98d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1071325b2c55cea9ad18e149ee0c1a5ccbb6c0227a5d82823ad9bc02c65f30b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HXb6CW8Cc9b19NomMbQSto",
      "input": {
        "note": "The pencil still lies right of the jaw centre; shifting the gripper along its image-right axis (accounting for the 33° wrist yaw) to centre the shaft between the jaws.",
        "targets": {
          "right_x": 0.377,
          "right_y": 0.118
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01HXb6CW8Cc9b19NomMbQSto",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 0.8257, 1.029, -1.0897, -0.0116, -0.0002, 0.9966, 0.2115, 1.7306, 0.5339, 0.4438, -0.2733, -0.2329, 0.9991]\nstate[eef_state]: left_x=0.2248 left_y=-0.0062 left_z=0.2233 left_yaw=-0.0482 left_pitch=-0.3172 left_roll=0.0068 left_gripper=0.9966 right_x=0.3634 right_y=0.1305 right_z=0.0024 right_yaw=0.5642 right_pitch=-0.1621 right_roll=0.0105 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -0.8274, 6.2564, 1.3895, -0.0806, -0.0757, -0.0122, 0.1026, -7.9385, 4.2872, 1.2527, -0.2662, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:313303c1bedfdea1ec6ce481cb6bf664f90fb609fe4daaadc07ab43e1458d463",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecbfdb9261b42d2f69eca1799465a429e6002dfee06368d09fcc0844fa393211",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aa5308695bbe7e13c2fe333f804e374b2c373053fc20b0cebffe03d2dd31d6ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 4.825 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 0.8219, 1.029, -1.0897, -0.0116, -0.0002, 0.9966, 0.281, 1.7294, 0.5446, 0.429, -0.2371, -0.1864, 0.999]\nstate[eef_state]: left_x=0.2244 left_y=-0.0062 left_z=0.2241 left_yaw=-0.0482 left_pitch=-0.3133 left_roll=0.0068 left_gripper=0.9966 right_x=0.3579 right_y=0.1502 right_z=0.0026 right_yaw=0.5785 right_pitch=-0.1736 right_roll=0.023 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -0.4308, 6.147, 1.4237, -0.0464, -0.0269, -0.0122, -0.759, -5.2991, 3.959, 0.9011, -0.0659, 0.3736, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0528, 0.8223, 1.029, -1.0897, -0.0116, -0.0002, 0.9966, 0.2443, 1.7401, 0.5339, 0.4694, -0.2619, -0.207, 0.9991]\nstate[eef_state]: left_x=0.2245 left_y=-0.0062 left_z=0.224 left_yaw=-0.0482 left_pitch=-0.3137 left_roll=0.0068 left_gripper=0.9966 right_x=0.3629 right_y=0.1413 right_z=0.0031 right_yaw=0.5727 right_pitch=-0.1499 right_roll=0.0175 right_gripper=0.9991\nstate[joint_eff]: [-0.0479, -0.3624, 6.0923, 1.4139, -0.0464, -0.0611, -0.0122, -0.5538, -8.1026, 4.3556, 1.619, -0.1685, -0.0269, -0.0122]",
      "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]: [-0.0528, 0.8257, 1.029, -1.0897, -0.0116, -0.0002, 0.9966, 0.2115, 1.7306, 0.5339, 0.4438, -0.2733, -0.2329, 0.9991]\nstate[eef_state]: left_x=0.2248 left_y=-0.0062 left_z=0.2233 left_yaw=-0.0482 left_pitch=-0.3172 left_roll=0.0068 left_gripper=0.9966 right_x=0.3634 right_y=0.1305 right_z=0.0024 right_yaw=0.5642 right_pitch=-0.1621 right_roll=0.0105 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -0.8274, 6.2564, 1.3895, -0.0806, -0.0757, -0.0122, 0.1026, -7.9385, 4.2872, 1.2527, -0.2662, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:313303c1bedfdea1ec6ce481cb6bf664f90fb609fe4daaadc07ab43e1458d463",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecbfdb9261b42d2f69eca1799465a429e6002dfee06368d09fcc0844fa393211",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa5308695bbe7e13c2fe333f804e374b2c373053fc20b0cebffe03d2dd31d6ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS6QkKjgEIEhgCKkD5MqzRnl/0bQy38YIplPDlTJ6/QNShDeUt1zvO5hE+18aLZtBX9yqX3nDoTskCMcnHc9evIdFdtvNWZzZymTpRMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfOVzNUGEgxmTr3jLDa4mjJSVzgaDDQ7T/ZIGtc0dsfnIiIwtOcnvtLArQSjg/h1UGBtEyhLxivKqx5i07suw3MSJdrtB3ogIj6EF+qbbwb+0HRxKocIGFjCxcxjrc4moJ8j6TjDJjxxwpCQMmgQacetDgV7NVPWKx24UV92QfTykaKW/vlJLlluGN/2+7d7z/e6h4VgjIA94rrUePjeYwvsB7wuq93uu7NI3X9OUzFg7mR0ZgiMLWkwL5MDbWgvBY3m/nRvPZt9OLMjDxC20CpY8IHcdQBU7yASe9rfzypo7TU762bOyVU+SUBkJ1ngQiKAMAOK3hV39fOWU6iIwJQnGuhUg4xIEMjBw2w6/EKf7XCSiFjYy0akREOHwJByjJ9PNEtc/R1GT22R4qhxBgF8fZUe0T2hmgmIFaIDtm2pqduTM+QIZIw8Sx1+lFHdUORoEOTP24PKrbfOgEKmmqofrzepe3qXyyNEmSgSPz4glA0hzDVumFPROVBikfve/rOEfYblgCvurIU4RY5fy/h5EH7tQVFzG+QEaIA3atKSR4vufxWoC9/4Nw193VBeXphpDNjQFed8e+0T075CKsvG8wT9AQPlyrK/sRtOUidxwI/IkU9P25UNW34XazRiCmspqvfnGRdXPzWm+HkQv3K7di0QemPyYSY5xqSNk25Eic8dn3eenuCqPybpssgmnZx40Jq+PtSnGos+AOkRVib5xRTTZT/z9kFjMRoGx5tuHKYQuSlmxMZjDFdrnsucgsFfxZWQV43JKKRmK/8FOb4NBIYVs4hVdBd1rQJOFv3AIfcvYyuPv3Ws8SrYzW9f9Ni0V/Huhcm3uiZwK+rd34eLXF3CFIOeSJ/LDgTGTSdzpaxn4EPY8ba3zPOux5+K+GmVi4Ze4XxjymDB9ey0VkWaiYs3ft4YPhzAuVuenenubzMFpkosUYVOLjxs1FqNbRo7L/+0V/+GO2zGy75YiNrMuMsnkVJNL1sXpwgjC9jhbflr4ibAkgJLkn6i72SmvJRN6kSweZFK5MDL2Fo4go36iYBXWxNbZpaswRNQP8yVAaQaTRS5ZCXIb5NPbFq0no7gP8FLn2t0Kjt6r5rqfhEf/rFvgE6aVRlrDNdTIltmjjbRuYSM4NzmhTPwFJOZO2f3o5hef9wmqtL70+luoToQ7eaYWy/58sfAriW5837TzeT7t93FNXuXUJpoa/g4PG/eoRcxy8QygtGM/Nj/WkkCuh6hDpDwFvpH3dVXgqZncvTmXQe2fASLQso5R9PBLEZNRC6JCotVqmSDMzrCB6FHDJJoAFi/1Uhzoj9siSgId15vwmaLHAPyF0WfDq07IJXwAL1Jx2FCIDTSZzDy8yGekgu52QDR91JvMNHgfLfBZsdJ7z4xRGI1go51OMXepW0aGYuw6X7b0Dgl9pheF6Ged7qGuSNmsV7J7tRCs/euAjwFmJZV+dNRmUd1CKav2Uj3kMSWRPRiooxV2o8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017ujfE4WjEyuGGww1cpRR27",
      "input": {
        "note": "The x-move stalled, so I correct laterally only: moving the right gripper 3 cm toward its right to bring the pencil shaft onto the jaw centre line.",
        "targets": {
          "right_y": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_017ujfE4WjEyuGGww1cpRR27",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 0.8265, 1.029, -1.0893, -0.0116, -0.0002, 0.9966, 0.2115, 1.7306, 0.5339, 0.4435, -0.2733, -0.2333, 0.999]\nstate[eef_state]: left_x=0.225 left_y=-0.0062 left_z=0.2232 left_yaw=-0.0482 left_pitch=-0.3175 left_roll=0.0068 left_gripper=0.9966 right_x=0.3634 right_y=0.1305 right_z=0.0024 right_yaw=0.5644 right_pitch=-0.1624 right_roll=0.0103 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -0.5812, 6.0786, 1.4139, -0.0366, -0.0806, -0.0122, 0.0342, -8.1299, 4.2872, 1.2625, -0.2857, -0.0708, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a015726bda6dbfb19ec42bd2c2774c3969750766b55134e595e96ba998fc6777",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02d30694d74efdca574d3429355a9a00bc24e0579ecd2c4b6c5fdc6a4ff1f0e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c2a4d8641a0336954558ccb6ff210de84ab473d5510b00b72ea485fa9cd24e4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 6.37 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 0.8223, 1.029, -1.0897, -0.0116, -0.0002, 0.9966, 0.2443, 1.7401, 0.5339, 0.4694, -0.2619, -0.207, 0.9991]\nstate[eef_state]: left_x=0.2245 left_y=-0.0062 left_z=0.224 left_yaw=-0.0482 left_pitch=-0.3137 left_roll=0.0068 left_gripper=0.9966 right_x=0.3629 right_y=0.1413 right_z=0.0031 right_yaw=0.5727 right_pitch=-0.1499 right_roll=0.0175 right_gripper=0.9991\nstate[joint_eff]: [-0.0479, -0.3624, 6.0923, 1.4139, -0.0464, -0.0611, -0.0122, -0.5538, -8.1026, 4.3556, 1.619, -0.1685, -0.0269, -0.0122]",
      "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]: [-0.0528, 0.8257, 1.029, -1.0897, -0.0116, -0.0002, 0.9966, 0.2115, 1.7306, 0.5339, 0.4438, -0.2733, -0.2329, 0.9991]\nstate[eef_state]: left_x=0.2248 left_y=-0.0062 left_z=0.2233 left_yaw=-0.0482 left_pitch=-0.3172 left_roll=0.0068 left_gripper=0.9966 right_x=0.3634 right_y=0.1305 right_z=0.0024 right_yaw=0.5642 right_pitch=-0.1621 right_roll=0.0105 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -0.8274, 6.2564, 1.3895, -0.0806, -0.0757, -0.0122, 0.1026, -7.9385, 4.2872, 1.2527, -0.2662, -0.0269, -0.0171]",
      "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]: [-0.0528, 0.8265, 1.029, -1.0893, -0.0116, -0.0002, 0.9966, 0.2115, 1.7306, 0.5339, 0.4435, -0.2733, -0.2333, 0.999]\nstate[eef_state]: left_x=0.225 left_y=-0.0062 left_z=0.2232 left_yaw=-0.0482 left_pitch=-0.3175 left_roll=0.0068 left_gripper=0.9966 right_x=0.3634 right_y=0.1305 right_z=0.0024 right_yaw=0.5644 right_pitch=-0.1624 right_roll=0.0103 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -0.5812, 6.0786, 1.4139, -0.0366, -0.0806, -0.0122, 0.0342, -8.1299, 4.2872, 1.2625, -0.2857, -0.0708, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a015726bda6dbfb19ec42bd2c2774c3969750766b55134e595e96ba998fc6777",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02d30694d74efdca574d3429355a9a00bc24e0579ecd2c4b6c5fdc6a4ff1f0e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2a4d8641a0336954558ccb6ff210de84ab473d5510b00b72ea485fa9cd24e4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwgMKjgEIEhgCKkAnhuZTQIWNP+LBM0OaXGxi+RAqlP07BX7RELrz6xctwDOxB9tKP6CRnNgPt6+5VoaRgtHbfF+ds3sR5IGlabzWMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfiVzNUGEgwCxCacSYC9sd1hg90aDB2SWjwlvEltkfT7aiIwEFKWWjWXxTjAJ7Pn+p3Lbcw1vZpA15ByNEL1idwcr07FiKfix0gXVA/mu40M1RM8KuABbzLMqvIrj4njl9/SjinMN+NdO3lToC+xPQ5HVEoGlWc2hvCxsON6KHLA9H8OiWMHJuc6f5ie7PZt7/4mcsSV6pwAARnCt0M5BYMKgtfoDJ/FP3uEDocyW2dnT66Y/1rAnPF0TIENbbady9NvFfRedxpwjVI/rjd5XFhzctrfKB/PcsdMj+1aKpeLCcOBCWQUbmKAJbGagXDF3tlbUiVFKWv3msDilNMGiRmyoKs+4Z1sUQ9wpUq0hi4gq1x4/odN8+5JCiM45Fy5ghircq+4NBeO7y0usX+HkhHXmoI40HkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014tF8axZcJvzGyRbMUjLLpK",
      "input": {
        "note": "The arm refused to move sideways while pressed at table level, so I lift 4 cm and shift 3 cm right at the same time.",
        "targets": {
          "right_y": 0.1,
          "right_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_014tF8axZcJvzGyRbMUjLLpK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 0.8268, 1.029, -1.0897, -0.0116, -0.0002, 0.9966, 0.2115, 1.7306, 0.5335, 0.4435, -0.2733, -0.2329, 0.999]\nstate[eef_state]: left_x=0.225 left_y=-0.0062 left_z=0.223 left_yaw=-0.0482 left_pitch=-0.3183 left_roll=0.0068 left_gripper=0.9966 right_x=0.3632 right_y=0.1304 right_z=0.0023 right_yaw=0.5642 right_pitch=-0.1628 right_roll=0.0108 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -0.4444, 6.0923, 1.3846, -0.0757, -0.0464, -0.0122, 0.1573, -7.9248, 4.3009, 1.2479, -0.2418, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:384eb0fbd8bbee71f1e1856ef1bd0a3096447d16a6332a5c4d82bbf1d44f0f38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee230d6ff17cdb933fcfb569c55d3fd91f36555f978d78e4b395b8ae2b1b6ed7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6ace8160eea52c5a635f2b85e06a2e4e250bbe6b69da6e1269bfc0aec03239b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 16.88 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 0.8257, 1.029, -1.0897, -0.0116, -0.0002, 0.9966, 0.2115, 1.7306, 0.5339, 0.4438, -0.2733, -0.2329, 0.9991]\nstate[eef_state]: left_x=0.2248 left_y=-0.0062 left_z=0.2233 left_yaw=-0.0482 left_pitch=-0.3172 left_roll=0.0068 left_gripper=0.9966 right_x=0.3634 right_y=0.1305 right_z=0.0024 right_yaw=0.5642 right_pitch=-0.1621 right_roll=0.0105 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -0.8274, 6.2564, 1.3895, -0.0806, -0.0757, -0.0122, 0.1026, -7.9385, 4.2872, 1.2527, -0.2662, -0.0269, -0.0171]",
      "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]: [-0.0528, 0.8265, 1.029, -1.0893, -0.0116, -0.0002, 0.9966, 0.2115, 1.7306, 0.5339, 0.4435, -0.2733, -0.2333, 0.999]\nstate[eef_state]: left_x=0.225 left_y=-0.0062 left_z=0.2232 left_yaw=-0.0482 left_pitch=-0.3175 left_roll=0.0068 left_gripper=0.9966 right_x=0.3634 right_y=0.1305 right_z=0.0024 right_yaw=0.5644 right_pitch=-0.1624 right_roll=0.0103 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -0.5812, 6.0786, 1.4139, -0.0366, -0.0806, -0.0122, 0.0342, -8.1299, 4.2872, 1.2625, -0.2857, -0.0708, -0.022]",
      "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]: [-0.0528, 0.8268, 1.029, -1.0897, -0.0116, -0.0002, 0.9966, 0.2115, 1.7306, 0.5335, 0.4435, -0.2733, -0.2329, 0.999]\nstate[eef_state]: left_x=0.225 left_y=-0.0062 left_z=0.223 left_yaw=-0.0482 left_pitch=-0.3183 left_roll=0.0068 left_gripper=0.9966 right_x=0.3632 right_y=0.1304 right_z=0.0023 right_yaw=0.5642 right_pitch=-0.1628 right_roll=0.0108 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -0.4444, 6.0923, 1.3846, -0.0757, -0.0464, -0.0122, 0.1573, -7.9248, 4.3009, 1.2479, -0.2418, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:384eb0fbd8bbee71f1e1856ef1bd0a3096447d16a6332a5c4d82bbf1d44f0f38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee230d6ff17cdb933fcfb569c55d3fd91f36555f978d78e4b395b8ae2b1b6ed7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ace8160eea52c5a635f2b85e06a2e4e250bbe6b69da6e1269bfc0aec03239b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlQUKjgEIEhgCKkAeWqsXBf83iHZZT+IXDAH9meBEyM3yzlGjwcZdNlDNArTnmLdNi17VAIy2r0XXE/bDgfHimIDjb5xfgNCDR0VOMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf6VzNUGEgz43FMRY8LAbOmUcU0aDCDqJtf7lHtGqo6U2yIw11Cs7TfoFw0NA8NzwU6yeHzh+1u2FH8MI+FR7sbu5jsEkZS4jgdHruBe52+AZR1cKrMDnTUbo/olBu8/QTDPAsLrd+y7Zb8OPdoca6lksnHwNLP5RowDMPWxS0dQUPKMPgSp6LoQ9OLcQiW+o6k2Lzjgisqr/GlAr2R2TNdhrXoffgcRXnlOS0D0vaTPUE0eAPVB16feXfS3/N4ot8R5VHb/0A9SvKlU6LoxmghtetpcGWh/z35Mp9xv23zHxuo8JtKbbvHlI1oLaW7BS7PYDtkOSXybsr9b/z8toeKytbVmUN/ZE/zNI1d/+gye3zElyMlS7WIR579yUrxu4N3IhFd4UUw7tmVM27O9wA3TAJhdOAcVu6V3PUQtIEe4LXSpSOMb2t9fX+Rm7rFlBPCpqXgnQ9+uFsBbq/bFRgl5hI6ADWSAcHIVQK6sffDr6bXX6gET7PKHCasMIZL9cI9xOxAhrNy+NC8C3bv7wfrCk6ziSe7yIfbmcj7n2p9Gz/5R3nsV5EtISZ3wOFEl1Zwax4L8Q3AywIr+PUsUyZ3Ou+UDDpThScR1EHi7mLwtIXHikYWpCGCx3IFOUGYysnAKPL8g3RrxcE9HL9yQP4rJj+MFNMG8A8QTTAJDS38S5w4h/U8AziiKGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VvHpCd41S7WZjP4arhiHLW",
      "input": {
        "note": "The right arm has stopped responding at table level; commanding a larger retreat (up and back, wrist partly unwound) to break it out of the stuck pose.",
        "targets": {
          "right_x": 0.32,
          "right_yaw": 0.3,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01VvHpCd41S7WZjP4arhiHLW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 0.8314, 1.029, -1.0893, -0.0116, -0.0002, 0.9966, 0.4049, 1.1599, 0.8177, -0.3706, 0.0303, 0.0357, 0.999]\nstate[eef_state]: left_x=0.2255 left_y=-0.0063 left_z=0.2222 left_yaw=-0.0482 left_pitch=-0.3225 left_roll=0.0068 left_gripper=0.9966 right_x=0.3244 right_y=0.1371 right_z=0.1672 right_yaw=0.3536 right_pitch=-0.1558 right_roll=0.0065 right_gripper=0.999\nstate[joint_eff]: [-0.2803, -0.8274, 6.3111, 1.4335, -0.0611, -0.0513, -0.0122, 0.3897, -5.0393, 8.9915, 1.4481, 0.1832, 0.1538, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d394c0c27a2ce524ba01388c0a91aea835d4a61b447b1053fe24d6aa6eddbeee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b72571de2a05f8da0b3aa8dd0b3d6b1d9b610f78cf454ff5424aa1a9e417ae6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:991e71300142e714e6343326c794cc942952e9c3473e5b8d47c0ddecfb8b1808",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /messages · status 200 · 19.32 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 0.8265, 1.029, -1.0893, -0.0116, -0.0002, 0.9966, 0.2115, 1.7306, 0.5339, 0.4435, -0.2733, -0.2333, 0.999]\nstate[eef_state]: left_x=0.225 left_y=-0.0062 left_z=0.2232 left_yaw=-0.0482 left_pitch=-0.3175 left_roll=0.0068 left_gripper=0.9966 right_x=0.3634 right_y=0.1305 right_z=0.0024 right_yaw=0.5644 right_pitch=-0.1624 right_roll=0.0103 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -0.5812, 6.0786, 1.4139, -0.0366, -0.0806, -0.0122, 0.0342, -8.1299, 4.2872, 1.2625, -0.2857, -0.0708, -0.022]",
      "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]: [-0.0528, 0.8268, 1.029, -1.0897, -0.0116, -0.0002, 0.9966, 0.2115, 1.7306, 0.5335, 0.4435, -0.2733, -0.2329, 0.999]\nstate[eef_state]: left_x=0.225 left_y=-0.0062 left_z=0.223 left_yaw=-0.0482 left_pitch=-0.3183 left_roll=0.0068 left_gripper=0.9966 right_x=0.3632 right_y=0.1304 right_z=0.0023 right_yaw=0.5642 right_pitch=-0.1628 right_roll=0.0108 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -0.4444, 6.0923, 1.3846, -0.0757, -0.0464, -0.0122, 0.1573, -7.9248, 4.3009, 1.2479, -0.2418, -0.0317, -0.0073]",
      "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]: [-0.0528, 0.8314, 1.029, -1.0893, -0.0116, -0.0002, 0.9966, 0.4049, 1.1599, 0.8177, -0.3706, 0.0303, 0.0357, 0.999]\nstate[eef_state]: left_x=0.2255 left_y=-0.0063 left_z=0.2222 left_yaw=-0.0482 left_pitch=-0.3225 left_roll=0.0068 left_gripper=0.9966 right_x=0.3244 right_y=0.1371 right_z=0.1672 right_yaw=0.3536 right_pitch=-0.1558 right_roll=0.0065 right_gripper=0.999\nstate[joint_eff]: [-0.2803, -0.8274, 6.3111, 1.4335, -0.0611, -0.0513, -0.0122, 0.3897, -5.0393, 8.9915, 1.4481, 0.1832, 0.1538, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d394c0c27a2ce524ba01388c0a91aea835d4a61b447b1053fe24d6aa6eddbeee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b72571de2a05f8da0b3aa8dd0b3d6b1d9b610f78cf454ff5424aa1a9e417ae6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:991e71300142e714e6343326c794cc942952e9c3473e5b8d47c0ddecfb8b1808",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01B9JbB6nerCvvMfcVH53cNs",
      "input": {
        "note": "The arm is free again and the pen is centred in the wrist view; moving to a hover 5 cm above the pen, shifted 2 cm right and yawed so the jaws cross its axis.",
        "targets": {
          "right_x": 0.35,
          "right_y": 0.115,
          "right_yaw": 0.65,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01B9JbB6nerCvvMfcVH53cNs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 0.8349, 1.029, -1.0897, -0.0116, -0.0002, 0.9966, 0.1341, 1.4784, 0.5827, 0.0479, -0.3321, -0.2996, 0.9991]\nstate[eef_state]: left_x=0.2258 left_y=-0.0063 left_z=0.2214 left_yaw=-0.0482 left_pitch=-0.3263 left_roll=0.0068 left_gripper=0.9966 right_x=0.3412 right_y=0.1078 right_z=0.0435 right_yaw=0.5788 right_pitch=-0.2321 right_roll=0.0381 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -0.6085, 6.1607, 1.3895, -0.0317, -0.0464, -0.0122, -0.5812, -5.641, 5.5453, 1.79, -0.4078, -0.0659, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efe8cc16eedbcb912d922e3e969a2f56672b0e421f30298ba3d5caaa86d3609d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:608863ab0d831f55d0c8a0c2225f9fc2804850c0af8e6ea9bab20548b9d8a7fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a8b654ff1b8f85341ddb15c9054455b35a646a591e50f658f38df8f50c59dd76",
        "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 · 6.675 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 0.8268, 1.029, -1.0897, -0.0116, -0.0002, 0.9966, 0.2115, 1.7306, 0.5335, 0.4435, -0.2733, -0.2329, 0.999]\nstate[eef_state]: left_x=0.225 left_y=-0.0062 left_z=0.223 left_yaw=-0.0482 left_pitch=-0.3183 left_roll=0.0068 left_gripper=0.9966 right_x=0.3632 right_y=0.1304 right_z=0.0023 right_yaw=0.5642 right_pitch=-0.1628 right_roll=0.0108 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -0.4444, 6.0923, 1.3846, -0.0757, -0.0464, -0.0122, 0.1573, -7.9248, 4.3009, 1.2479, -0.2418, -0.0317, -0.0073]",
      "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]: [-0.0528, 0.8314, 1.029, -1.0893, -0.0116, -0.0002, 0.9966, 0.4049, 1.1599, 0.8177, -0.3706, 0.0303, 0.0357, 0.999]\nstate[eef_state]: left_x=0.2255 left_y=-0.0063 left_z=0.2222 left_yaw=-0.0482 left_pitch=-0.3225 left_roll=0.0068 left_gripper=0.9966 right_x=0.3244 right_y=0.1371 right_z=0.1672 right_yaw=0.3536 right_pitch=-0.1558 right_roll=0.0065 right_gripper=0.999\nstate[joint_eff]: [-0.2803, -0.8274, 6.3111, 1.4335, -0.0611, -0.0513, -0.0122, 0.3897, -5.0393, 8.9915, 1.4481, 0.1832, 0.1538, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0528, 0.8349, 1.029, -1.0897, -0.0116, -0.0002, 0.9966, 0.1341, 1.4784, 0.5827, 0.0479, -0.3321, -0.2996, 0.9991]\nstate[eef_state]: left_x=0.2258 left_y=-0.0063 left_z=0.2214 left_yaw=-0.0482 left_pitch=-0.3263 left_roll=0.0068 left_gripper=0.9966 right_x=0.3412 right_y=0.1078 right_z=0.0435 right_yaw=0.5788 right_pitch=-0.2321 right_roll=0.0381 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -0.6085, 6.1607, 1.3895, -0.0317, -0.0464, -0.0122, -0.5812, -5.641, 5.5453, 1.79, -0.4078, -0.0659, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efe8cc16eedbcb912d922e3e969a2f56672b0e421f30298ba3d5caaa86d3609d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:608863ab0d831f55d0c8a0c2225f9fc2804850c0af8e6ea9bab20548b9d8a7fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8b654ff1b8f85341ddb15c9054455b35a646a591e50f658f38df8f50c59dd76",
        "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_0175vh8LZzj6BfdjG1oSuPNv",
      "input": {
        "note": "Pen is centred but sits beyond the fingertips; advancing ~3 cm along the camera's forward axis and holding the lateral offset so the pen's rear half comes to the jaw point.",
        "targets": {
          "right_x": 0.368,
          "right_y": 0.118,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_0175vh8LZzj6BfdjG1oSuPNv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 0.8379, 1.029, -1.0897, -0.0116, -0.0002, 0.9966, 0.1532, 1.6093, 0.6292, 0.1127, -0.3435, -0.3134, 0.999]\nstate[eef_state]: left_x=0.2262 left_y=-0.0063 left_z=0.2208 left_yaw=-0.0482 left_pitch=-0.3294 left_roll=0.0069 left_gripper=0.9966 right_x=0.3555 right_y=0.1187 right_z=0.0256 right_yaw=0.6168 right_pitch=-0.2454 right_roll=0.045 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -0.6085, 6.0923, 1.3797, -0.0659, -0.0562, -0.0122, 0.2393, -6.5846, 7.3231, 1.5556, -0.0611, 0.1441, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b59da5edb7de045db08273304e0d06584bef1e0896eca3b0b762a970a85f858",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:685e303881d1798c242d072a9e958627475f736358844a8720b27bb89a017f86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:41e27d572cb282c9505334ebf6a3c7a58c00431a0931a09f7fe0ca0d93473b07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /messages · status 200 · 5.111 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 0.8314, 1.029, -1.0893, -0.0116, -0.0002, 0.9966, 0.4049, 1.1599, 0.8177, -0.3706, 0.0303, 0.0357, 0.999]\nstate[eef_state]: left_x=0.2255 left_y=-0.0063 left_z=0.2222 left_yaw=-0.0482 left_pitch=-0.3225 left_roll=0.0068 left_gripper=0.9966 right_x=0.3244 right_y=0.1371 right_z=0.1672 right_yaw=0.3536 right_pitch=-0.1558 right_roll=0.0065 right_gripper=0.999\nstate[joint_eff]: [-0.2803, -0.8274, 6.3111, 1.4335, -0.0611, -0.0513, -0.0122, 0.3897, -5.0393, 8.9915, 1.4481, 0.1832, 0.1538, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 0.8349, 1.029, -1.0897, -0.0116, -0.0002, 0.9966, 0.1341, 1.4784, 0.5827, 0.0479, -0.3321, -0.2996, 0.9991]\nstate[eef_state]: left_x=0.2258 left_y=-0.0063 left_z=0.2214 left_yaw=-0.0482 left_pitch=-0.3263 left_roll=0.0068 left_gripper=0.9966 right_x=0.3412 right_y=0.1078 right_z=0.0435 right_yaw=0.5788 right_pitch=-0.2321 right_roll=0.0381 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -0.6085, 6.1607, 1.3895, -0.0317, -0.0464, -0.0122, -0.5812, -5.641, 5.5453, 1.79, -0.4078, -0.0659, -0.0073]",
      "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]: [-0.0528, 0.8379, 1.029, -1.0897, -0.0116, -0.0002, 0.9966, 0.1532, 1.6093, 0.6292, 0.1127, -0.3435, -0.3134, 0.999]\nstate[eef_state]: left_x=0.2262 left_y=-0.0063 left_z=0.2208 left_yaw=-0.0482 left_pitch=-0.3294 left_roll=0.0069 left_gripper=0.9966 right_x=0.3555 right_y=0.1187 right_z=0.0256 right_yaw=0.6168 right_pitch=-0.2454 right_roll=0.045 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -0.6085, 6.0923, 1.3797, -0.0659, -0.0562, -0.0122, 0.2393, -6.5846, 7.3231, 1.5556, -0.0611, 0.1441, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b59da5edb7de045db08273304e0d06584bef1e0896eca3b0b762a970a85f858",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:685e303881d1798c242d072a9e958627475f736358844a8720b27bb89a017f86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41e27d572cb282c9505334ebf6a3c7a58c00431a0931a09f7fe0ca0d93473b07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISsAYKjgEIEhgCKkCsst3ye+GdqdKabJnHpJDivwOnMEAXz5tG88ZBz1c7+64V14dDWjQ+NZVt3OdNLFl5ihAcxKobsf32JzxuCruRMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAauWzNUGEgw3u3GdBeBX7xMQJREaDMfN3E/vS+EuwemW7SIwblPgqYNChEBlWX1/V8nS3oVEgb+kNdAxvOWlojQCTf10bN4Lg1Jt1Ht4yc3l3N5BKs4EoUpLWZnY59XNJJjx58DAusfE0xglaKwqrG48VapusS6gsrKVHIJ8e+KXx3DTaAo+dL+LSRZzzuTdjgLMiRqDIZFExR8kkJkD6nGr7qGtLNg3ArJJtqPKresCZbFeO1Zj/MdwiCg+NdH6zZBG3ip6t7t4at2KPjlkod7ANsTBycXF88AxzVIATzRAuSkhYnwHk9NBNVZrwEgzOQRIo5cyuUIAApwba2HkblBngydjEhRGyg7iDkgkzyDorbk5e557GN5NbZPky0p2dN1wGkrnC0KWAPyNWBS0MDx6o0YF+VFCzpjkrFPEX4vD51UQvmJIyk7UFBFaNsbg3YVjzrJ7s6e7QTRCAlwjkE0ZHyVoQrDj4vlDnYf6Z1aQz8CbUfh5nDePxsqMKBn7x0BCJpV5XiBIAQz4VMF+rvdLdhfWUe91CS3SZu3jjU+kV541UZpr5OUzI6Afn1z7JgLryotajyww8aEw8p5+PUhLRzvaTtg8rom5nN/rejJ15Olvlkp+6xg7V/M+7G+EieMkCYQMncgDkD+PeKJcSJnYkJjF4E6MOv8/nt3R9Y6ueCL31jRkfDrFCx0ZbilzqsgimWwH5TAs2Hzq2ZddCksv02JDZ4COd9tiPraM7r+/qF633Qqk251VrqGL9X+pOPsjjZWAMQdaVD+quNRY9uXhNnXeWVI/b8F0/rn280a5hPMmR+sONDcIqPW4aXy0pQoxJpcUYnBtWey5Gjcrh0ZkO4ddNiO/SpJkYQEFI4MKRscJ5m+w5nFk1JqNdGoAurdPLTMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Gnfrz17g89hTGXV3JJDgQo",
      "input": {
        "note": "Pen's lower shaft is 1 cm right of the jaw centre; nudging over and descending to table level to straddle the shaft.",
        "targets": {
          "right_x": 0.362,
          "right_y": 0.11,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Gnfrz17g89hTGXV3JJDgQo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 0.8394, 1.029, -1.0893, -0.0116, -0.0002, 0.9966, 0.139, 1.6775, 0.6296, 0.1726, -0.3462, -0.3176, 0.999]\nstate[eef_state]: left_x=0.2264 left_y=-0.0063 left_z=0.2205 left_yaw=-0.0482 left_pitch=-0.3305 left_roll=0.0069 left_gripper=0.9966 right_x=0.3615 right_y=0.1147 right_z=0.011 right_yaw=0.6081 right_pitch=-0.2515 right_roll=0.0476 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -0.8, 6.2017, 1.4188, -0.0415, -0.0708, -0.0122, -0.8, -6.3521, 3.7949, 1.3993, -0.3053, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:490001f0ceb1e8baf692000f768eb637dbf062c694d43cd67b2bda424fd7f652",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e779ebf48aaaffc1036e11e35793c70d5a33c8ebd18354a46220492d47e3759",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4f57b772e5ee53a09640f2891070dcb94ab463236830560f23d51226420d6b5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 9.322 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 0.8349, 1.029, -1.0897, -0.0116, -0.0002, 0.9966, 0.1341, 1.4784, 0.5827, 0.0479, -0.3321, -0.2996, 0.9991]\nstate[eef_state]: left_x=0.2258 left_y=-0.0063 left_z=0.2214 left_yaw=-0.0482 left_pitch=-0.3263 left_roll=0.0068 left_gripper=0.9966 right_x=0.3412 right_y=0.1078 right_z=0.0435 right_yaw=0.5788 right_pitch=-0.2321 right_roll=0.0381 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -0.6085, 6.1607, 1.3895, -0.0317, -0.0464, -0.0122, -0.5812, -5.641, 5.5453, 1.79, -0.4078, -0.0659, -0.0073]",
      "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]: [-0.0528, 0.8379, 1.029, -1.0897, -0.0116, -0.0002, 0.9966, 0.1532, 1.6093, 0.6292, 0.1127, -0.3435, -0.3134, 0.999]\nstate[eef_state]: left_x=0.2262 left_y=-0.0063 left_z=0.2208 left_yaw=-0.0482 left_pitch=-0.3294 left_roll=0.0069 left_gripper=0.9966 right_x=0.3555 right_y=0.1187 right_z=0.0256 right_yaw=0.6168 right_pitch=-0.2454 right_roll=0.045 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -0.6085, 6.0923, 1.3797, -0.0659, -0.0562, -0.0122, 0.2393, -6.5846, 7.3231, 1.5556, -0.0611, 0.1441, -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 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]: [-0.0528, 0.8394, 1.029, -1.0893, -0.0116, -0.0002, 0.9966, 0.139, 1.6775, 0.6296, 0.1726, -0.3462, -0.3176, 0.999]\nstate[eef_state]: left_x=0.2264 left_y=-0.0063 left_z=0.2205 left_yaw=-0.0482 left_pitch=-0.3305 left_roll=0.0069 left_gripper=0.9966 right_x=0.3615 right_y=0.1147 right_z=0.011 right_yaw=0.6081 right_pitch=-0.2515 right_roll=0.0476 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -0.8, 6.2017, 1.4188, -0.0415, -0.0708, -0.0122, -0.8, -6.3521, 3.7949, 1.3993, -0.3053, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:490001f0ceb1e8baf692000f768eb637dbf062c694d43cd67b2bda424fd7f652",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e779ebf48aaaffc1036e11e35793c70d5a33c8ebd18354a46220492d47e3759",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f57b772e5ee53a09640f2891070dcb94ab463236830560f23d51226420d6b5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISuAQKjgEIEhgCKkCUpxrR3EE4KAoDIiD2bfE8CZmxi7n3TG3/AvlfyTCPAyObSbpBrzVF421XvvwNQDLx7YIgRi2uraGr7YmwZDtYMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbGWzNUGEgzYNppOtuX8xV7377waDAMaJmlSEdBWb4ovLiIwBhNj4sHmQjNbTTb8uIP1arHgzmc/MW9vtv5+qgtHFc3V4Nh5ljfnnLegW3PWp6zQKtYCriCV/MW0UITrOm81gWsQDNufKrM63vCs1wSJUET549pWJscj1WQ7hmqEWf9PtPYwi4NMrJZRz7/VZuA3C9E7COtR4lrcRoX+oAByb5oh8mlMZOu4SAQ2Ww4VYtOXJM9FexkO1xqporrezpWOuvLSXAFuzzmlD1fnXAHv4xLmP3JDAdISIaqOBwagbjkzzyIQoB5M3UtNzS4JvRwfnPH0xLT2WMIFhYm+Pnf6gHeuKA0qgtca0OVNgZH5EIIpFCR+cg/6zGbClGVPYZ/nYb6yLaRBJDt5JEpwSTCe/byY9/yJ8+2A+fW6C4mjdbDOE6NNjoTjnRqQMs9R/mL1rVSwxh204Fr+8x4teBcFBaQTdP7YpuH/kRRRZlRgufUnOU0Nv/BprxH35shmsWBfh2mxRt12VBtGrfjgltQ15Fc4yYN91HbFVcONtQ+KVEp5bqmCyAqfNTKTGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XsEsT2A6R3aKiZUdCo5zup",
      "input": {
        "note": "The pen's lower shaft is between the open jaws at table level; closing the right gripper to grasp the pen.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01XsEsT2A6R3aKiZUdCo5zup",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 0.844, 1.0267, -1.0977, -0.0116, -0.0002, 0.9966, 0.1192, 1.7077, 0.6193, 0.2539, -0.3748, -0.3492, 0.0111]\nstate[eef_state]: left_x=0.2251 left_y=-0.0063 left_z=0.2174 left_yaw=-0.0482 left_pitch=-0.3458 left_roll=0.0069 left_gripper=0.9966 right_x=0.3695 right_y=0.113 right_z=0.0107 right_yaw=0.6242 right_pitch=-0.2046 right_roll=0.0245 right_gripper=0.0111\nstate[joint_eff]: [-0.212, -0.5402, 6.2974, 1.453, -0.0708, -0.0464, -0.0122, -0.1846, -5.5863, 4.1778, 1.0818, -0.2857, 0.0757, 0.4664]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d10c17b43ba731585d17fb729942b01badf9672d1fd86d5f132bb4a2be6486e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c919d44395c902bbaa4e7b1238146096aadf67dd4de389ce25081a01aeb7991a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eb941e8488e968c7fb2d8b467b0c7c73066165a7e46d4093bbc4b9e5823d808e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /messages · status 200 · 18.9 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 0.8379, 1.029, -1.0897, -0.0116, -0.0002, 0.9966, 0.1532, 1.6093, 0.6292, 0.1127, -0.3435, -0.3134, 0.999]\nstate[eef_state]: left_x=0.2262 left_y=-0.0063 left_z=0.2208 left_yaw=-0.0482 left_pitch=-0.3294 left_roll=0.0069 left_gripper=0.9966 right_x=0.3555 right_y=0.1187 right_z=0.0256 right_yaw=0.6168 right_pitch=-0.2454 right_roll=0.045 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -0.6085, 6.0923, 1.3797, -0.0659, -0.0562, -0.0122, 0.2393, -6.5846, 7.3231, 1.5556, -0.0611, 0.1441, -0.0171]\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]: [-0.0528, 0.8394, 1.029, -1.0893, -0.0116, -0.0002, 0.9966, 0.139, 1.6775, 0.6296, 0.1726, -0.3462, -0.3176, 0.999]\nstate[eef_state]: left_x=0.2264 left_y=-0.0063 left_z=0.2205 left_yaw=-0.0482 left_pitch=-0.3305 left_roll=0.0069 left_gripper=0.9966 right_x=0.3615 right_y=0.1147 right_z=0.011 right_yaw=0.6081 right_pitch=-0.2515 right_roll=0.0476 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -0.8, 6.2017, 1.4188, -0.0415, -0.0708, -0.0122, -0.8, -6.3521, 3.7949, 1.3993, -0.3053, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 0.844, 1.0267, -1.0977, -0.0116, -0.0002, 0.9966, 0.1192, 1.7077, 0.6193, 0.2539, -0.3748, -0.3492, 0.0111]\nstate[eef_state]: left_x=0.2251 left_y=-0.0063 left_z=0.2174 left_yaw=-0.0482 left_pitch=-0.3458 left_roll=0.0069 left_gripper=0.9966 right_x=0.3695 right_y=0.113 right_z=0.0107 right_yaw=0.6242 right_pitch=-0.2046 right_roll=0.0245 right_gripper=0.0111\nstate[joint_eff]: [-0.212, -0.5402, 6.2974, 1.453, -0.0708, -0.0464, -0.0122, -0.1846, -5.5863, 4.1778, 1.0818, -0.2857, 0.0757, 0.4664]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d10c17b43ba731585d17fb729942b01badf9672d1fd86d5f132bb4a2be6486e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c919d44395c902bbaa4e7b1238146096aadf67dd4de389ce25081a01aeb7991a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb941e8488e968c7fb2d8b467b0c7c73066165a7e46d4093bbc4b9e5823d808e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISjQkKjgEIEhgCKkCWRcq1l6+0CobG80ds+CFw0V+na8pibENoOsgdonOzfgTBh1nR13n6hlX8z+mgc+xq4AKXLcSVzvJm0serEv/LMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbuWzNUGEgxuYuVpvGLd/lwZznwaDNgHpqeK1PCM8SjBMiIwnum+xSdwGqv8vjNHNftefmD+7RixMHR2kRzUVeLoG9lR7udW4vahmLyTqu4RAcPkKqsHH2Pf8al3cYyISrdkRaxo2VgPYkzIt82ik4dPowsWRQdLO7NYDgYAFRPXECU3P25VIcd6FgMYc1Q7F9lkE2llIoamkkMPHMf6L/yBcB9fQbIrg85/PdYtu6yfl1vRyBpgSn0413XsUwBYFVSwvTLW+AU65PgMZJd6mNOoJZJwgsj8vUoXSkyZjEm7fOPwQYT9UCXUxp12Atym1MzxaQIO+pdDGx3K/2b5ezop62WTFxdKo2heLo2Aty10UaY0v+RAHWt5rU8JlET1n3Vy3wctXNci17oEpwjadB7pjZrXJu2ELPLt5fFpN461t/b+DJHcsdhPXm1Xeaf+t9zGSAamqelHYEX+/vZRAEIzp6PbTP3Wwud01Jhf2YRlfPBfh/o3mSfYWrIXmDCVz4xIhZYxN18X/UIvL5jdYO1lI5SY7D77uywSgNTQr/iXmdERQAKCuH6ZFDIGBm2Nx463nwwNfBncDcbwixhWUFfOblAXFFW3Txiuk9uz+DR0wgkPOxCvXtXo1Hnr5FLBGRxeINMRBNci7oTKRM6QFFG/W2m9c2ta6CkFQlAZ/jgHlo2e3TcqAFYtJuV+okeuyVhbGtEd7/vo3NoBLiWQeNu2M728z5PEt5Vb5rk/lEsLpe9WqrvXFKhSbebybbos9lgTSOarXzvZN6eZityjCZrTC/ddXvIWkYO3EGYNvJMdY2zstYEyiWk6TJOZH3tN0FahBk2nXsKaSug1u7EJ0hjKpsiUD4Z9iHky4J2cIf8EoHF6I3lyGw3zrIuNVsDN5MG5TnRYaIDorD8yoZlMBarrmFTqzZQOrDzSEBl7m6n8qW3aye3ESyqlH/qsSBZhVcp7+QUhWVD7gtTvDAg9Us+9wo0lCSOpmtrEirViX0L/1pBC4X3rNQLRQhWjBU2XLslJiK5HA/xoMqmQ0g2OjlgEbosDtfNOU78IRVOL98j+cMmXaycA2MTQw6QhND7xjPEsXIVynwfieAf/Ix623QXp4/JhaKD+SHR8+GMBrANcV69QXnOQfMbUgD2Yx53f+d6v8bXECUUr+0JSfzgETcR51OhuUrBWW0mYRQgw1tA1/RKiGSpdVOzQl/J0KZy4Uvh6j9abGLvuypcAC4fdY6yWcqGsIr2kJBfjUmi3jQEVdq9JRz4RJiuo8Au89yUiSMAAuBNa2cRVMaO8wH4VX8kYQ7lexUekrK2W+AasPYbsoAgwRyetx4kU48Id4FGXAGl+Jj5HtLtsoBx+UtkwDBzRGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011WD2Ag18R2Zr8w7mLsF6cE",
      "input": {
        "note": "Gripper closed to 0.011 which reads empty, yet the pen fills the wrist view; lifting 7 cm to check whether the pen actually came up with the jaws.",
        "targets": {
          "right_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_011WD2Ag18R2Zr8w7mLsF6cE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 0.8463, 1.0267, -1.1, -0.0116, -0.0002, 0.9966, 0.1192, 1.5356, 0.7254, -0.0124, -0.3714, -0.35, 0.0133]\nstate[eef_state]: left_x=0.2249 left_y=-0.0062 left_z=0.2166 left_yaw=-0.0482 left_pitch=-0.3503 left_roll=0.007 left_gripper=0.9966 right_x=0.372 right_y=0.1127 right_z=0.0678 right_yaw=0.6207 right_pitch=-0.1954 right_roll=0.0159 right_gripper=0.0133\nstate[joint_eff]: [-0.1983, -0.5402, 6.2701, 1.3651, 0.0073, -0.0562, -0.0122, -0.3487, -7.788, 7.7607, 1.409, -0.1832, -0.0171, 0.2125]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3360c71669f099e0ba04390f40582a037e748b49f037975653acada904f5f274",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d75915a0ef0377991f34ed51cbe86ac16dd60f5fddd32983b29588f53c7a475",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3c92fe8669b52061ad75d1596a5e5c40a23105d5c2dd8b07b818ecfb373e40d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /messages · status 200 · 18.75 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 0.8394, 1.029, -1.0893, -0.0116, -0.0002, 0.9966, 0.139, 1.6775, 0.6296, 0.1726, -0.3462, -0.3176, 0.999]\nstate[eef_state]: left_x=0.2264 left_y=-0.0063 left_z=0.2205 left_yaw=-0.0482 left_pitch=-0.3305 left_roll=0.0069 left_gripper=0.9966 right_x=0.3615 right_y=0.1147 right_z=0.011 right_yaw=0.6081 right_pitch=-0.2515 right_roll=0.0476 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -0.8, 6.2017, 1.4188, -0.0415, -0.0708, -0.0122, -0.8, -6.3521, 3.7949, 1.3993, -0.3053, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 0.844, 1.0267, -1.0977, -0.0116, -0.0002, 0.9966, 0.1192, 1.7077, 0.6193, 0.2539, -0.3748, -0.3492, 0.0111]\nstate[eef_state]: left_x=0.2251 left_y=-0.0063 left_z=0.2174 left_yaw=-0.0482 left_pitch=-0.3458 left_roll=0.0069 left_gripper=0.9966 right_x=0.3695 right_y=0.113 right_z=0.0107 right_yaw=0.6242 right_pitch=-0.2046 right_roll=0.0245 right_gripper=0.0111\nstate[joint_eff]: [-0.212, -0.5402, 6.2974, 1.453, -0.0708, -0.0464, -0.0122, -0.1846, -5.5863, 4.1778, 1.0818, -0.2857, 0.0757, 0.4664]",
      "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]: [-0.0528, 0.8463, 1.0267, -1.1, -0.0116, -0.0002, 0.9966, 0.1192, 1.5356, 0.7254, -0.0124, -0.3714, -0.35, 0.0133]\nstate[eef_state]: left_x=0.2249 left_y=-0.0062 left_z=0.2166 left_yaw=-0.0482 left_pitch=-0.3503 left_roll=0.007 left_gripper=0.9966 right_x=0.372 right_y=0.1127 right_z=0.0678 right_yaw=0.6207 right_pitch=-0.1954 right_roll=0.0159 right_gripper=0.0133\nstate[joint_eff]: [-0.1983, -0.5402, 6.2701, 1.3651, 0.0073, -0.0562, -0.0122, -0.3487, -7.788, 7.7607, 1.409, -0.1832, -0.0171, 0.2125]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3360c71669f099e0ba04390f40582a037e748b49f037975653acada904f5f274",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d75915a0ef0377991f34ed51cbe86ac16dd60f5fddd32983b29588f53c7a475",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c92fe8669b52061ad75d1596a5e5c40a23105d5c2dd8b07b818ecfb373e40d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017nX7G9X4Ldo7ygYEgPeb4v",
      "input": {
        "note": "The pen is now held in the right gripper; swinging it up and toward the centre so the overhead camera can show the right-hand part of the table where an unidentified white object sits, in the hope it is the cap.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.3,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_017nX7G9X4Ldo7ygYEgPeb4v",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 0.8482, 1.0264, -1.1122, -0.0116, -0.0002, 0.9966, 0.8185, 1.478, 1.3682, -0.651, 0.1009, 0.1097, 0.0155]\nstate[eef_state]: left_x=0.2226 left_y=-0.0061 left_z=0.2143 left_yaw=-0.0482 left_pitch=-0.3648 left_roll=0.007 left_gripper=0.9966 right_x=0.3 right_y=0.2997 right_z=0.2383 right_yaw=0.6658 right_pitch=-0.1995 right_roll=0.0094 right_gripper=0.0155\nstate[joint_eff]: [-0.0752, -0.7179, 6.1197, 1.4579, -0.0611, -0.0513, -0.0122, 0.2803, -6.2974, 9.2239, 1.3846, 0.1929, 0.1929, 0.2271]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01c3f614707b612d7ea575c1bd9e3645b5f2bd106ca72e8cf584c8c1accc74ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64b92769415bfcc8dfa43b12d7671baeeab315cee7eecf2d55c07090b787d0e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fff3b6516d31ff00cd7d8772341a4f3f1558d849f895098d7067fc7abd91a175",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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