adhoc

completed
2026-09-22T20:46:51.755110+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (70 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
293.5 s
total steps
231
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent notePen cap lies left-centre of the table (top cam ~73,108), pen right-centre. Moving left arm above the cap, yawed to align jaws across the cap.
move_to
left_x0.3600left_y-0.1900left_z0.1200left_yaw-0.9600left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.7937, 0.6022, -0.3798, -0.0216, -0.025, 0.9996, -0.0151, 0.7914, 0.6102, -0.3763, -0.0227, -0.0147, 0.9993] state[eef_state]: left_x=0.2946 left_y=0.0014 left_z=0.1793 left_yaw=-0.0002 left_pitch=0.0 left_roll=-0.0003 left_gripper=0.9996 right_x=0.2958 right_y=0.0031 right_z=0.1843 right_yaw=0.0003 right_pitch=0.0004 right_roll=0.0002 right_gripper=0.9993 state[joint_eff]: [-0.5538, -1.3744, 10.5641, 1.7656, -0.0073, 0.0659, -0.0611, -0.8547, -1.2239, 9.8667, 1.7411, -0.0024, 0.0024, -0.0806] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.19, "left_z": 0.12, "left_yaw": -0.96, "left_gripper": 1}, "note": "Pen cap lies left-centre of the table (top cam ~73,108), pen right-centre. Moving left arm above the cap, yawed to align jaws across the cap."})
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 noteWrist cam shows the cap near bottom-left, aligned across the jaws; shifting ~3 cm toward the tool's left to centre it on the jaw column.
move_to
left_x0.3720left_y-0.1570left_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]: [-0.252, 1.4971, 0.7486, -0.0216, 0.5121, 0.3588, 0.9996, -0.0181, 0.7975, 0.6132, -0.3901, -0.0227, -0.0147, 0.9993] state[eef_state]: left_x=0.3491 left_y=-0.1756 left_z=0.0967 left_yaw=-0.8817 left_pitch=-0.0818 left_roll=-0.0595 left_gripper=0.9996 right_x=0.2948 right_y=0.0023 right_z=0.1812 right_yaw=-0.0027 right_pitch=-0.0164 right_roll=0.0005 right_gripper=0.9993 state[joint_eff]: [-0.4855, -6.5299, 9.3333, 1.7851, 0.4713, 0.1538, -0.0611, -0.0205, -1.7299, 6.8171, 1.8242, -0.0513, -0.022, -0.0122] 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": 0.372, "left_y": -0.157, "left_z": 0.08}, "note": "Wrist cam shows the cap near bottom-left, aligned across the jaws; shifting ~3 cm toward the tool's left to centre it on the jaw column."})
tool
executing move_to over 2 steps (0.2s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent notePrevious move was clamped short; continuing the shift toward the cap and lowering.
move_to
left_x0.3720left_y-0.1570left_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]: [-0.2127, 1.5635, 0.7677, -0.0029, 0.5575, 0.403, 0.9995, -0.0181, 0.7979, 0.6132, -0.3916, -0.0227, -0.0147, 0.9993] state[eef_state]: left_x=0.3583 left_y=-0.1693 left_z=0.0855 left_yaw=-0.9021 left_pitch=-0.0835 left_roll=-0.0673 left_gripper=0.9995 right_x=0.2946 right_y=0.0023 right_z=0.1807 right_yaw=-0.0027 right_pitch=-0.0183 right_roll=0.0005 right_gripper=0.9993 state[joint_eff]: [1.0598, -5.2581, 8.1573, 1.5897, 0.3492, 0.0806, -0.0171, -0.2393, -1.2376, 7.0222, 1.7509, -0.0562, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.372, "left_y": -0.157, "left_z": 0.05}, "note": "Previous move was clamped short; continuing the shift toward the cap and lowering."})
tool
executing move_to over 3 steps (0.3s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteCap visible just left of the jaw column in the wrist view; small shift toward it while descending.
move_to
left_x0.3740left_y-0.1430left_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]: [-0.1707, 1.6245, 0.7689, -0.0101, 0.5549, 0.4065, 0.9995, -0.0181, 0.7998, 0.6132, -0.3931, -0.0227, -0.0147, 0.9993] state[eef_state]: left_x=0.3621 left_y=-0.1532 left_z=0.0624 left_yaw=-0.8648 left_pitch=-0.1363 left_roll=-0.1061 left_gripper=0.9995 right_x=0.2945 right_y=0.0023 right_z=0.1799 right_yaw=-0.0027 right_pitch=-0.0217 right_roll=0.0005 right_gripper=0.9993 state[joint_eff]: [-0.294, -7.9932, 7.5692, 1.5897, 0.3199, 0.2076, -0.0122, -0.1709, -1.265, 7.2137, 1.7509, -0.0562, -0.0513, -0.0122] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.374, "left_y": -0.143, "left_z": 0.03}, "note": "Cap visible just left of the jaw column in the wrist view; small shift toward it while descending."})
tool
executing move_to over 3 steps (0.3s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteLast move didn't execute (arm held); re-commanding with pitch/roll explicitly zeroed to help the IK.
move_to
left_x0.3720left_y-0.1450left_z0.0300left_pitch0.0000left_roll0.0000left_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]: [-0.1707, 1.6241, 0.7689, -0.0101, 0.5549, 0.4065, 0.9995, -0.0181, 0.8036, 0.6132, -0.3954, -0.0227, -0.0147, 0.9993] state[eef_state]: left_x=0.3621 left_y=-0.1532 left_z=0.0625 left_yaw=-0.8647 left_pitch=-0.136 left_roll=-0.1059 left_gripper=0.9995 right_x=0.2945 right_y=0.0023 right_z=0.1784 right_yaw=-0.0027 right_pitch=-0.0278 right_roll=0.0006 right_gripper=0.9993 state[joint_eff]: [-0.0479, -8.1026, 7.5829, 1.6386, 0.3199, 0.1587, -0.0122, -0.1436, -1.6068, 7.0222, 1.7753, -0.0513, -0.0513, -0.0122] camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.372, "left_y": -0.145, "left_z": 0.03, "left_pitch": 0, "left_roll": 0, "left_yaw": -0.9}, "note": "Last move didn't execute (arm held); re-commanding with pitch/roll explicitly zeroed to help the IK."})
tool
executing move_to over 5 steps (0.5s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteLeft arm is refusing to move from its pose; trying a pure lift to unstick the IK.
move_to
left_z0.1200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1707, 1.6241, 0.7689, -0.0101, 0.5549, 0.4061, 0.9995, -0.0181, 0.8036, 0.6132, -0.3969, -0.0223, -0.0147, 0.9993] state[eef_state]: left_x=0.3621 left_y=-0.1532 left_z=0.0625 left_yaw=-0.8645 left_pitch=-0.136 left_roll=-0.1062 left_gripper=0.9995 right_x=0.2943 right_y=0.0022 right_z=0.1781 right_yaw=-0.003 right_pitch=-0.0294 right_roll=0.0004 right_gripper=0.9993 state[joint_eff]: [-0.3214, -7.8838, 7.5556, 1.6532, 0.3199, 0.1294, -0.0122, -0.3624, -1.2786, 7.0222, 1.7363, -0.022, -0.0757, -0.0122] camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.12}, "note": "Left arm is refusing to move from its pose; trying a pure lift to unstick the IK."})
tool
executing move_to over 4 steps (0.4s)
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 noteArm unstuck after lifting; now descending onto the cap with a small shift toward it (cap slightly left of jaw column in wrist view).
move_to
left_x0.3700left_y-0.1450left_z0.0100
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1703, 1.5444, 0.8639, -0.197, 0.5503, 0.4019, 0.9995, -0.0185, 0.8036, 0.6132, -0.3973, -0.0227, -0.0147, 0.9993] state[eef_state]: left_x=0.3617 left_y=-0.1523 left_z=0.0988 left_yaw=-0.8597 left_pitch=-0.1479 left_roll=-0.1145 left_gripper=0.9995 right_x=0.2942 right_y=0.0022 right_z=0.178 right_yaw=-0.0031 right_pitch=-0.0297 right_roll=0.0007 right_gripper=0.9993 state[joint_eff]: [0.0615, -8.1709, 8.8547, 1.453, 0.2271, 0.0269, -0.0122, -0.294, -1.306, 7.0085, 1.746, -0.0122, -0.022, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). 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": 0.37, "left_y": -0.145, "left_z": 0.01}, "note": "Arm unstuck after lifting; now descending onto the cap with a small shift toward it (cap slightly left of jaw column in wrist view)."})
tool
executing move_to over 6 steps (0.6s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteAt table level the cap appears ahead of and left of the jaws in the wrist view (~4 cm forward in arm x); lifting slightly and moving forward over it.
move_to
left_x0.3950left_y-0.1460left_z0.0300left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1463, 1.7844, 0.7307, 0.0982, 0.5606, 0.4129, 0.9994, -0.0181, 0.8062, 0.6132, -0.4004, -0.0223, -0.0143, 0.9993] state[eef_state]: left_x=0.3589 left_y=-0.1442 left_z=0.0075 left_yaw=-0.8579 left_pitch=-0.2013 left_roll=-0.1635 left_gripper=0.9994 right_x=0.294 right_y=0.0022 right_z=0.1766 right_yaw=-0.0032 right_pitch=-0.0355 right_roll=0.0009 right_gripper=0.9993 state[joint_eff]: [0.2803, -6.8581, 4.4923, 0.9158, 0.0366, -0.1343, -0.0171, -0.1709, -1.4974, 7.0496, 1.7558, -0.0122, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.395, "left_y": -0.146, "left_z": 0.03, "left_pitch": 0, "left_roll": 0}, "note": "At table level the cap appears ahead of and left of the jaws in the wrist view (~4 cm forward in arm x); lifting slightly and moving forward over it."})
tool
executing move_to over 7 steps (0.7s)
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 noteCap is now centred on the jaw column and aligned across the jaws; descending to table level.
move_to
left_x0.3920left_y-0.1430left_z-0.0100
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.131, 1.8202, 0.6998, 0.334, 0.5591, 0.4137, 0.9994, -0.0185, 0.807, 0.6132, -0.4118, -0.0223, -0.0147, 0.9993] state[eef_state]: left_x=0.386 left_y=-0.1418 left_z=0.0179 left_yaw=-0.8268 left_pitch=-0.0731 left_roll=-0.0518 left_gripper=0.9994 right_x=0.2924 right_y=0.0021 right_z=0.1741 right_yaw=-0.0034 right_pitch=-0.0477 right_roll=0.0007 right_gripper=0.9993 state[joint_eff]: [0.1573, -7.2547, 4.6974, 1.7851, 0.5153, 0.2125, -0.0073, -0.3624, -1.3607, 7.1453, 1.8339, -0.0269, -0.0708, -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_x": 0.392, "left_y": -0.143, "left_z": -0.01}, "note": "Cap is now centred on the jaw column and aligned across the jaws; descending to table level."})
tool
executing move_to over 2 steps (0.2s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteCap centred between the jaws at table level; 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]: [-0.1314, 1.8881, 0.6998, 0.4294, 0.5571, 0.4099, 0.9994, -0.0181, 0.807, 0.6132, -0.4126, -0.0223, -0.0143, 0.9993] state[eef_state]: left_x=0.3939 left_y=-0.1427 left_z=0.0067 left_yaw=-0.8226 left_pitch=-0.0529 left_roll=-0.0362 left_gripper=0.9994 right_x=0.2923 right_y=0.0022 right_z=0.1739 right_yaw=-0.0032 right_pitch=-0.0484 right_roll=0.001 right_gripper=0.9993 state[joint_eff]: [-0.3761, -7.1863, 5.2718, 1.3455, 0.2125, -0.0122, -0.0122, -0.1846, -1.2786, 7.0085, 1.663, -0.0366, -0.0317, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Cap centred between the jaws at table level; closing the gripper."})
tool
executing move_to over 10 steps (1.0s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteGripper settled at ~0.047 (possibly holding the thin cap); lifting to verify in the overhead view.
move_to
left_z0.1200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1314, 1.9083, 0.701, 0.4381, 0.5552, 0.4026, 0.0474, -0.0185, 0.8108, 0.6132, -0.4129, -0.0223, -0.0147, 0.9993] state[eef_state]: left_x=0.3936 left_y=-0.1423 left_z=0.0004 left_yaw=-0.8176 left_pitch=-0.0618 left_roll=-0.0476 left_gripper=0.0474 right_x=0.2925 right_y=0.0021 right_z=0.1728 right_yaw=-0.0034 right_pitch=-0.0526 right_roll=0.0008 right_gripper=0.9993 state[joint_eff]: [-0.3761, -9.853, 4.4103, 1.4628, 0.2515, 0.0757, 1.1209, -0.3487, -1.6615, 7.0769, 1.7363, -0.0464, -0.0562, -0.0122] camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.12}, "note": "Gripper settled at ~0.047 (possibly holding the thin cap); lifting to verify in the overhead view."})
tool
executing move_to over 8 steps (0.8s)
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 noteCap appears held by the left gripper (reading 0.054, cap gone from table). Moving the right arm above the pen, yawed to align jaws across the pen.
move_to
right_x0.3400right_y0.2600right_z0.1000right_yaw0.4000right_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]: [-0.1314, 1.6093, 0.8589, -0.0452, 0.5503, 0.4015, 0.054, -0.0181, 0.812, 0.6132, -0.4129, -0.0227, -0.0143, 0.9993] state[eef_state]: left_x=0.3896 left_y=-0.1411 left_z=0.0952 left_yaw=-0.8145 left_pitch=-0.0844 left_roll=-0.0625 left_gripper=0.054 right_x=0.2926 right_y=0.0023 right_z=0.1725 right_yaw=-0.0029 right_pitch=-0.0538 right_roll=0.0013 right_gripper=0.9993 state[joint_eff]: [-0.2667, -8.9641, 9.5658, 1.5067, 0.1929, -0.0366, 1.0379, -0.1026, -1.4154, 7.0085, 1.6874, -0.0317, -0.0513, -0.0073] 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": {"right_x": 0.34, "right_y": 0.26, "right_z": 0.1, "right_yaw": 0.4, "right_gripper": 1}, "note": "Cap appears held by the left gripper (reading 0.054, cap gone from table). Moving the right arm above the pen, yawed to align jaws across the pen."})
tool
executing move_to over 22 steps (2.2s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteRight wrist cam shows the pen aligned along the image vertical (across the jaws) but a few cm ahead; moving forward ~3 cm and descending.
move_to
right_x0.3630right_y0.2440right_z0.0200right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1314, 1.6119, 0.857, -0.0639, 0.5503, 0.4015, 0.054, 0.7483, 1.552, 0.7383, 0.0998, 0.2691, 0.1913, 0.9993] state[eef_state]: left_x=0.3861 left_y=-0.1406 left_z=0.0906 left_yaw=-0.8158 left_pitch=-0.1025 left_roll=-0.0773 left_gripper=0.054 right_x=0.329 right_y=0.2463 right_z=0.0818 right_yaw=0.4053 right_pitch=-0.1253 right_roll=-0.0283 right_gripper=0.9993 state[joint_eff]: [-0.1573, -7.4188, 6.3521, 1.5507, 0.2515, -0.0464, 1.0281, 0.4718, -6.6256, 8.4991, 1.9316, 0.2125, 0.149, -0.0806] camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.363, "right_y": 0.244, "right_z": 0.02, "right_pitch": 0, "right_roll": 0}, "note": "Right wrist cam shows the pen aligned along the image vertical (across the jaws) but a few cm ahead; moving forward ~3 cm and descending."})
tool
executing move_to over 5 steps (0.5s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent notePen passes under the jaws but ~2 cm right of the jaw centre; shifting tool-right slightly above the table.
move_to
right_x0.3580right_y0.2220right_z0.0150
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1314, 1.6131, 0.857, -0.0715, 0.5503, 0.4015, 0.054, 0.6739, 1.842, 0.6231, 0.5201, 0.2245, 0.152, 0.9993] state[eef_state]: left_x=0.3848 left_y=-0.1404 left_z=0.089 left_yaw=-0.8164 left_pitch=-0.1093 left_roll=-0.0829 left_gripper=0.054 right_x=0.3482 right_y=0.2324 right_z=0.0014 right_yaw=0.3898 right_pitch=-0.1199 right_roll=-0.0265 right_gripper=0.9993 state[joint_eff]: [-0.1162, -7.3231, 6.2291, 1.4432, 0.2466, -0.0659, 1.0281, -0.2803, -8.0205, 4.7111, 1.4042, 0.149, -0.315, -0.0171] camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.358, "right_y": 0.222, "right_z": 0.015}, "note": "Pen passes under the jaws but ~2 cm right of the jaw centre; shifting tool-right slightly above the table."})
tool
executing move_to over 1 steps (0.1s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent notePrevious shift was clamped; re-commanding the ~2 cm tool-right shift to centre the pen between the jaws.
move_to
right_x0.3600right_y0.2250right_z0.0100
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1314, 1.6131, 0.857, -0.0711, 0.5499, 0.4019, 0.054, 0.6735, 1.8614, 0.6186, 0.6441, 0.2058, 0.1413, 0.9993] state[eef_state]: left_x=0.3849 left_y=-0.1404 left_z=0.089 left_yaw=-0.8163 left_pitch=-0.1091 left_roll=-0.0821 left_gripper=0.054 right_x=0.3581 right_y=0.2442 right_z=0.0155 right_yaw=0.4128 right_pitch=-0.0267 right_roll=0.0027 right_gripper=0.9993 state[joint_eff]: [-0.2256, -7.1453, 6.3385, 1.5067, 0.2418, -0.0464, 1.0232, -0.5812, -7.4598, 4.6564, 1.9805, 0.0855, -0.1294, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.225, "right_z": 0.01}, "note": "Previous shift was clamped; re-commanding the ~2 cm tool-right shift to centre the pen between the jaws."})
tool
executing move_to over 2 steps (0.2s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent notePen now runs straight through the jaw centre; pressing to table level before closing.
move_to
right_z-0.0100
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1314, 1.6135, 0.857, -0.0719, 0.5495, 0.4019, 0.054, 0.6228, 1.8431, 0.5808, 0.6296, 0.1799, 0.1188, 0.9993] state[eef_state]: left_x=0.3848 left_y=-0.1403 left_z=0.0887 left_yaw=-0.8161 left_pitch=-0.1102 left_roll=-0.0826 left_gripper=0.054 right_x=0.357 right_y=0.2218 right_z=0.007 right_yaw=0.3955 right_pitch=-0.0631 right_roll=-0.0095 right_gripper=0.9993 state[joint_eff]: [-0.3487, -7.2684, 6.3795, 1.4432, 0.1734, -0.0171, 1.0232, -0.8274, -6.0513, 4.2872, 1.917, -0.0611, -0.1294, -0.0171] camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": -0.01}, "note": "Pen now runs straight through the jaw centre; pressing to table level before closing."})
tool
executing move_to over 2 steps (0.2s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteJaws straddle the pen near table level; closing the right gripper.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1314, 1.6131, 0.857, -0.0719, 0.5499, 0.4019, 0.054, 0.6212, 1.8442, 0.5724, 0.6674, 0.1562, 0.1158, 0.9993] state[eef_state]: left_x=0.3848 left_y=-0.1404 left_z=0.0889 left_yaw=-0.8164 left_pitch=-0.1097 left_roll=-0.0826 left_gripper=0.054 right_x=0.3572 right_y=0.2263 right_z=0.0109 right_yaw=0.4158 right_pitch=-0.0384 right_roll=0.0074 right_gripper=0.9993 state[joint_eff]: [-0.3761, -7.1453, 6.3248, 1.4335, 0.1587, -0.0366, 1.0281, -0.7726, -6.4068, 4.4923, 2.0049, -0.0122, -0.1148, -0.0171] camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Jaws straddle the pen near table level; closing the right gripper."})
tool
executing move_to over 10 steps (1.0s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteRight gripper closed empty (0.01) — likely the fingertips were ~1 cm above the table, over the thin pen. Reopening to retry lower.
move_to
right_gripper1.0000right_z0.0200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1314, 1.6135, 0.857, -0.0719, 0.5499, 0.4015, 0.054, 0.6212, 1.8442, 0.5716, 0.6628, 0.1551, 0.1066, 0.0098] state[eef_state]: left_x=0.3848 left_y=-0.1404 left_z=0.0888 left_yaw=-0.8162 left_pitch=-0.11 left_roll=-0.0831 left_gripper=0.054 right_x=0.3564 right_y=0.2259 right_z=0.0097 right_yaw=0.4216 right_pitch=-0.0437 right_roll=-0.0006 right_gripper=0.0098 state[joint_eff]: [-0.3761, -7.2684, 6.1333, 1.453, 0.1832, -0.0464, 1.0281, -0.0342, -7.6103, 4.4513, 1.8046, 0.1099, 0.0415, 0.7595] camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_z": 0.02}, "note": "Right gripper closed empty (0.01) \u2014 likely the fingertips were ~1 cm above the table, over the thin pen. Reopening to retry lower."})
tool
executing move_to over 10 steps (1.0s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent notePen runs into the jaw area slightly right of centre; shifting ~1 cm tool-right/forward and pressing down to the table floor.
move_to
right_x0.3640right_y0.2170right_z-0.0200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1314, 1.6142, 0.8562, -0.0788, 0.5499, 0.4015, 0.0597, 0.6212, 1.8294, 0.5709, 0.6159, 0.152, 0.1005, 0.9944] state[eef_state]: left_x=0.3835 left_y=-0.1402 left_z=0.0872 left_yaw=-0.8168 left_pitch=-0.1165 left_roll=-0.0885 left_gripper=0.0597 right_x=0.3517 right_y=0.2232 right_z=0.006 right_yaw=0.427 right_pitch=-0.0762 right_roll=-0.0102 right_gripper=0.9944 state[joint_eff]: [-0.2393, -7.2547, 6.188, 1.5116, 0.1587, -0.0562, 1.033, -0.0889, -9.9624, 5.2308, 1.7949, 0.1148, 0.0513, 0.1245] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.364, "right_y": 0.217, "right_z": -0.02}, "note": "Pen runs into the jaw area slightly right of centre; shifting ~1 cm tool-right/forward and pressing down to the table floor."})
tool
executing move_to over 2 steps (0.2s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteFingertips now at table level with the pen running through the jaw gap; closing.
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]: [-0.1314, 1.6138, 0.8562, -0.0795, 0.5503, 0.4015, 0.0597, 0.6037, 1.9057, 0.5827, 0.7162, 0.1432, 0.0742, 0.9948] state[eef_state]: left_x=0.3833 left_y=-0.1402 left_z=0.0872 left_yaw=-0.8171 left_pitch=-0.1166 left_roll=-0.0889 left_gripper=0.0597 right_x=0.3633 right_y=0.2242 right_z=-0.0009 right_yaw=0.4312 right_pitch=-0.0418 right_roll=-0.0201 right_gripper=0.9948 state[joint_eff]: [-0.335, -7.1863, 6.5709, 1.3114, 0.2466, -0.0513, 1.033, -1.1556, -5.7778, 3.4667, 0.3101, -0.3053, 0.3639, 0.022] camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Fingertips now at table level with the pen running through the jaw gap; closing."})
tool
executing move_to over 10 steps (1.0s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent notePen is held by the right gripper (0.049, pen tip visible pointing forward) and the cap by the left. Lifting both and starting to rotate so the pen tip and cap opening face each other along the y axis.
move_to
right_z0.1500right_yaw1.0000left_z0.1700left_yaw0.2000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1314, 1.6169, 0.8558, -0.0875, 0.5499, 0.4019, 0.0597, 0.598, 1.9179, 0.5865, 0.7475, 0.136, 0.0708, 0.0487] state[eef_state]: left_x=0.3818 left_y=-0.14 left_z=0.0847 left_yaw=-0.8179 left_pitch=-0.1257 left_roll=-0.0957 left_gripper=0.0597 right_x=0.3675 right_y=0.2257 right_z=0.0015 right_yaw=0.4336 right_pitch=-0.0199 right_roll=-0.0151 right_gripper=0.0487 state[joint_eff]: [-0.2667, -7.3368, 6.2291, 1.4628, 0.1636, -0.0659, 1.0379, 0.3214, -8.8957, 3.8222, 1.4237, 0.1148, 0.0171, 1.1209] camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.15, "right_yaw": 1.0, "left_z": 0.17, "left_yaw": 0.2}, "note": "Pen is held by the right gripper (0.049, pen tip visible pointing forward) and the cap by the left. Lifting both and starting to rotate so the pen tip and cap opening face each other along the y axis."})
tool
executing move_to over 10 steps (1.0s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteBoth objects held. Finishing rotation so the pen tip points toward the left arm (+y) and the cap's rear (presumed open) end points toward the pen.
move_to
right_yaw1.5700right_z0.1600left_yaw1.5700left_z0.1700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5671, 1.4727, 1.0302, -0.3473, -0.4015, -0.5186, 0.064, 0.3374, 1.5753, 0.9199, -0.0071, -0.469, -0.3691, 0.0535] state[eef_state]: left_x=0.3807 left_y=-0.1564 left_z=0.1589 left_yaw=0.0421 left_pitch=-0.1445 left_roll=-0.1018 left_gripper=0.064 right_x=0.3797 right_y=0.2216 right_z=0.1344 right_yaw=0.9129 right_pitch=-0.0229 right_roll=-0.0248 right_gripper=0.0535 state[joint_eff]: [-0.294, -6.0923, 8.6769, 1.3553, -0.315, -0.0122, 1.0281, -0.5538, -9.4701, 8.0342, 1.3846, -0.3248, -0.0122, 1.0281] camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_yaw": 1.57, "right_z": 0.16, "left_yaw": 1.57, "left_z": 0.17}, "note": "Both objects held. Finishing rotation so the pen tip points toward the left arm (+y) and the cap's rear (presumed open) end points toward the pen."})
tool
executing move_to over 10 steps (1.0s)
step 152
top_cam
camera top_cam step 152
left_cam
camera left_cam step 152
right_cam
camera right_cam step 152
assistant
agent noteBoth tools now point +y. Bringing the arms toward the centre line at matched x and height, leaving a few cm gap between pen tip and cap.
move_to
left_x0.3800left_y-0.2000left_z0.1900left_yaw1.5700right_x0.3800right_y0.2500right_z0.1600right_yaw1.5700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4644, 2.225, 1.9251, -1.504, -0.7895, -2.0155, 0.0666, 0.1909, 1.9202, 1.5169, -0.7578, -0.9031, -1.1271, 0.0535] state[eef_state]: left_x=0.404 left_y=-0.0581 left_z=0.1175 left_yaw=1.387 left_pitch=-0.1858 left_roll=-0.0835 left_gripper=0.0666 right_x=0.3959 right_y=0.2215 right_z=0.1547 right_yaw=1.4783 right_pitch=-0.0464 right_roll=-0.0506 right_gripper=0.0535 state[joint_eff]: [0.4034, -11.6581, 7.3094, -0.3346, -0.5495, -0.0269, 1.033, -0.8274, -9.5111, 7.5692, 0.5934, -0.8181, -0.1783, 1.0281] camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.2, "left_z": 0.19, "left_yaw": 1.57, "right_x": 0.38, "right_y": 0.25, "right_z": 0.16, "right_yaw": 1.57}, "note": "Both tools now point +y. Bringing the arms toward the centre line at matched x and height, leaving a few cm gap between pen tip and cap."})
tool
executing move_to over 13 steps (1.3s)
step 165
top_cam
camera top_cam step 165
assistant
agent noteLeft arm did not track (stuck near y=-0.07, z=0.10). Trying a smaller step toward the centre with more height.
move_to
left_x0.3600left_y-0.1400left_z0.2000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4835, 2.2745, 1.9629, -1.5536, -0.7425, -2.0933, 0.0666, 0.2562, 1.9423, 1.5387, -0.8043, -0.8978, -1.1595, 0.0535] state[eef_state]: left_x=0.3972 left_y=-0.0696 left_z=0.1039 left_yaw=1.4377 left_pitch=-0.2126 left_roll=-0.0666 left_gripper=0.0666 right_x=0.3787 right_y=0.2457 right_z=0.1486 right_yaw=1.5611 right_pitch=-0.0643 right_roll=-0.0332 right_gripper=0.0535 state[joint_eff]: [3.3026, -15.6786, 5.2718, -0.3053, -0.398, -0.0562, 1.0281, 0.5538, -10.6325, 8.6906, 0.7888, -0.5495, -0.0513, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.14, "left_z": 0.2}, "note": "Left arm did not track (stuck near y=-0.07, z=0.10). Trying a smaller step toward the centre with more height."})
tool
executing move_to over 7 steps (0.7s)
step 172
assistant
agent noteLeft arm stalls at y≈-0.065 with yaw 1.42 (likely wrist joint limit). Easing the yaw back to 1.1 while moving toward the centre to see if it tracks.
move_to
left_y-0.1500left_z0.1800left_yaw1.1000left_x0.3700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5045, 2.1223, 1.8252, -1.5581, -0.7254, -2.0937, 0.0666, 0.2569, 1.9427, 1.5383, -0.8032, -0.8936, -1.1591, 0.0585] state[eef_state]: left_x=0.3675 left_y=-0.065 left_z=0.1286 left_yaw=1.421 left_pitch=-0.2315 left_roll=-0.0706 left_gripper=0.0666 right_x=0.379 right_y=0.2456 right_z=0.1479 right_yaw=1.5601 right_pitch=-0.068 right_roll=-0.0343 right_gripper=0.0585 state[joint_eff]: [-0.9778, -12.4103, 4.8615, -0.3394, -0.4762, -0.0415, 1.0281, -0.2393, -10.1128, 6.2291, 0.8962, -0.442, -0.0122, 1.0281] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.15, "left_z": 0.18, "left_yaw": 1.1, "left_x": 0.37}, "note": "Left arm stalls at y\u2248-0.065 with yaw 1.42 (likely wrist joint limit). Easing the yaw back to 1.1 while moving toward the centre to see if it tracks."})
tool
executing move_to over 8 steps (0.8s)
step 180
assistant
agent noteLeft arm now tracks at yaw 1.15. Matching the pen's yaw to the cap's and placing the pen on the cap's axis, with the tip ~3 cm short of the cap opening.
move_to
right_x0.3170right_y0.4000right_z0.1550right_yaw1.1500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6693, 2.1159, 1.9125, -1.5578, -0.7265, -1.9491, 0.0666, 0.2569, 1.9427, 1.5368, -0.8032, -0.8913, -1.1595, 0.0585] state[eef_state]: left_x=0.3656 left_y=-0.135 left_z=0.1488 left_yaw=1.1531 left_pitch=-0.2541 left_roll=-0.0613 left_gripper=0.0666 right_x=0.3788 right_y=0.2453 right_z=0.1471 right_yaw=1.5596 right_pitch=-0.0705 right_roll=-0.0337 right_gripper=0.0585 state[joint_eff]: [-0.4718, -12.3009, 7.9521, -0.1685, -0.7546, 0.2759, 1.0379, -0.2256, -10.0718, 6.3248, 0.8669, -0.5055, -0.022, 1.033] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.317, "right_y": 0.4, "right_z": 0.155, "right_yaw": 1.15}, "note": "Left arm now tracks at yaw 1.15. Matching the pen's yaw to the cap's and placing the pen on the cap's axis, with the tip ~3 cm short of the cap opening."})
tool
executing move_to over 13 steps (1.3s)
step 193
assistant
agent noteRight arm stalled ~5 cm below the left gripper (arms nearly touching in top view). Raising the pen to match the cap's height.
move_to
right_z0.2000right_y0.3600right_x0.3100
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6266, 2.1094, 1.9137, -1.6073, -0.7357, -1.9388, 0.0703, 0.73, 1.8027, 1.2205, -0.2771, -0.3084, -0.3, 0.0605] state[eef_state]: left_x=0.3639 left_y=-0.1127 left_z=0.1544 left_yaw=1.1977 left_pitch=-0.2348 left_roll=-0.0145 left_gripper=0.0703 right_x=0.3151 right_y=0.3587 right_z=0.1039 right_yaw=1.1508 right_pitch=-0.249 right_roll=0.0252 right_gripper=0.0605 state[joint_eff]: [-3.7402, -10.1949, 5.3538, 0.5836, -0.1343, -0.0952, 1.033, 4.1641, -11.1658, 10.4137, 2.801, -0.3492, -0.1343, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2, "right_y": 0.36, "right_x": 0.31}, "note": "Right arm stalled ~5 cm below the left gripper (arms nearly touching in top view). Raising the pen to match the cap's height."})
tool
executing move_to over 7 steps (0.7s)
step 200
assistant
agent noteThe two grippers appear to be touching in the top view and the right arm is stalled and pitched; backing the pen arm off to separate and re-assess the pen-tip/cap geometry.
move_to
right_x0.3300right_y0.2800right_z0.1800right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5957, 2.093, 1.8801, -1.5784, -0.7399, -1.9354, 0.0703, 0.7353, 1.7981, 1.4216, -0.7227, -0.2779, -0.3035, 0.0605] state[eef_state]: left_x=0.3666 left_y=-0.1003 left_z=0.1523 left_yaw=1.2228 left_pitch=-0.2338 left_roll=-0.0249 left_gripper=0.0703 right_x=0.2902 right_y=0.3327 right_z=0.1213 right_yaw=1.1702 right_pitch=-0.4778 right_roll=0.1046 right_gripper=0.0605 state[joint_eff]: [-1.7573, -10.5094, 4.4786, -0.0855, -0.3394, 0.0317, 1.0379, 0.335, -14.3111, 13.7231, 2.7521, -0.4274, 0.1001, 1.033] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.28, "right_z": 0.18, "right_pitch": 0, "right_roll": 0}, "note": "The two grippers appear to be touching in the top view and the right arm is stalled and pitched; backing the pen arm off to separate and re-assess the pen-tip/cap geometry."})
tool
executing move_to over 16 steps (1.6s)
step 216
assistant
agent noteArms separated. Matching pen height and yaw to the cap and stepping the pen 5 cm toward the cap to gauge approach in the top view.
move_to
right_y0.3100right_x0.3200right_z0.1750right_yaw1.2200right_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]: [-0.5941, 2.0865, 1.8751, -1.5661, -0.7319, -1.9354, 0.0703, 0.4721, 1.552, 1.0729, -0.4404, -0.4763, -0.4057, 0.0633] state[eef_state]: left_x=0.367 left_y=-0.1011 left_z=0.152 left_yaw=1.2232 left_pitch=-0.2447 left_roll=-0.0366 left_gripper=0.0703 right_x=0.3158 right_y=0.2562 right_z=0.1358 right_yaw=1.0916 right_pitch=-0.2319 right_roll=0.0965 right_gripper=0.0633 state[joint_eff]: [-0.3077, -10.3726, 5.1761, -0.1245, -0.4957, -0.0317, 1.0379, 4.506, -6.5162, 8.1709, 1.9463, -0.8816, -0.1197, 1.0085] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 216): [image omitted: streamed camera frame] camera 'left_cam' (step 216): [image omitted: streamed camera frame] camera 'right_cam' (step 216): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.31, "right_x": 0.32, "right_z": 0.175, "right_yaw": 1.22, "right_pitch": 0}, "note": "Arms separated. Matching pen height and yaw to the cap and stepping the pen 5 cm toward the cap to gauge approach in the top view."})
tool
executing move_to over 8 steps (0.8s)
step 224
assistant
agent noteTop view shows the pen tip level with the cap horizontally but ~4 cm nearer the base; backing off in y slightly while shifting the pen forward in x to line up with the cap axis.
move_to
right_x0.3500right_y0.2800right_z0.1750
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5941, 2.0865, 1.8732, -1.5589, -0.7254, -1.9354, 0.0703, 0.5179, 1.5879, 1.0687, -0.271, -0.5938, -0.3771, 0.0635] state[eef_state]: left_x=0.3673 left_y=-0.1024 left_z=0.1505 left_yaw=1.2236 left_pitch=-0.2522 left_roll=-0.0403 left_gripper=0.0703 right_x=0.3137 right_y=0.2966 right_z=0.1528 right_yaw=1.1982 right_pitch=-0.0773 right_roll=0.1108 right_gripper=0.0635 state[joint_eff]: [-0.3214, -10.6462, 5.8325, -0.1685, -0.5201, -0.0562, 1.0379, 0.5949, -6.8034, 9.894, 1.6923, -0.4615, 0.1832, 0.9451] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.35, "right_y": 0.28, "right_z": 0.175}, "note": "Top view shows the pen tip level with the cap horizontally but ~4 cm nearer the base; backing off in y slightly while shifting the pen forward in x to line up with the cap axis."})
tool
executing move_to over 3 steps (0.3s)
step 227
assistant
agent noteRight wrist cam now shows the left gripper just ahead of the pen tip; pushing the pen ~3 cm along its own axis toward the cap.
move_to
right_x0.3590right_y0.3120right_z0.1750
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5941, 2.0865, 1.8732, -1.5558, -0.725, -1.9354, 0.0703, 0.4416, 1.6604, 1.2068, -0.3679, -0.6331, -0.4313, 0.0635] state[eef_state]: left_x=0.3677 left_y=-0.1027 left_z=0.1504 left_yaw=1.223 left_pitch=-0.2533 left_roll=-0.0433 left_gripper=0.0703 right_x=0.347 right_y=0.2836 right_z=0.1661 right_yaw=1.181 right_pitch=-0.0789 right_roll=0.1091 right_gripper=0.0635 state[joint_eff]: [-0.1162, -10.5231, 5.4359, -0.1538, -0.4274, -0.0366, 1.0379, -0.3624, -8.1299, 8.1846, 1.0965, -0.5446, -0.0464, 0.9792] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.359, "right_y": 0.312, "right_z": 0.175}, "note": "Right wrist cam now shows the left gripper just ahead of the pen tip; pushing the pen ~3 cm along its own axis toward the cap."})
tool
executing move_to over 3 steps (0.3s)
step 230
assistant
agent noteI didn't get the cap onto the pen. Each arm picked up its part: the cap is in the left gripper (settled reading 0.07) and the pen is in the right gripper (0.06). I couldn't line them up in mid-air. The left arm stalled and wouldn't go past left_y ≈ -0.07 with yaw ≈ 1.4, so I had to back its yaw off to 1.15–1.22. The right arm then stalled, sagged about 5 cm and pitched over whenever the grippers got close. With no view along the pen/cap axis I couldn't check tip-to-opening alignment, and I ran out of calls.
give_up
hindsight- Grasping lying objects: a yaw that lines tool x up with the object's long axis worked for both the pen and the cap. The best descent guide was the wrist cam, centring the object on jaw column x≈110 near the bottom rows. The pen needed fingertip z ≈ 0: the first close at z≈0.01 came up empty (0.01). Held thin objects settle at gripper ≈0.05–0.07. - A move target sometimes isn't executed, or gets clamped to 1–3 steps. Re-sending sometimes finishes it. If the arm won't move at all, lift z first. - Mid-air rotations: with left_yaw near +1.4–1.57 the left arm stalls (wrist joint 6 ≈ -2.1) and won't go toward the centre. Right_yaw ≈ +1.57 was fine. Plan capping so neither arm needs an extreme yaw, e.g. keep yaw within ±1.2, or pick the cap up already rotated. - Grasp readbacks said the grippers were ~20 cm apart when they looked touching in the top cam. So using the 0.65 m base spacing to get relative positions between arms is unreliable at height. Servo with the cameras instead: the right wrist cam can see the left gripper when the pen points at it. - For capping, work out early which end of the cap is open. Grab the cap near its closed end so the open end sticks out past the jaws, and grab the pen far from its tip. Also consider standing the cap on the table and lowering the pen into it; with pitch limited to ±0.6 that may be hard, but it avoids the mid-air two-arm alignment and IK stalls. - Budget: the two pick-ups took ~20 calls. Leave at least 15 for the insertion.
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5877, 2.0865, 1.8729, -1.5604, -0.7212, -1.935, 0.0703, 0.4831, 1.7214, 1.2823, -0.411, -0.6052, -0.4137, 0.0635] state[eef_state]: left_x=0.3672 left_y=-0.1002 left_z=0.15 left_yaw=1.2315 left_pitch=-0.2557 left_roll=-0.0371 left_gripper=0.0703 right_x=0.3493 right_y=0.3008 right_z=0.1615 right_yaw=1.195 right_pitch=-0.1152 right_roll=0.1266 right_gripper=0.0635 state[joint_eff]: [-1.265, -10.5915, 5.5043, 0.1636, -0.569, -0.0415, 1.033, 0.4718, -7.665, 9.7299, 1.6679, -0.315, 0.1197, 0.9988] camera 'top_cam' (step 230): [image omitted: streamed camera frame] camera 'left_cam' (step 230): [image omitted: streamed camera frame] camera 'right_cam' (step 230): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I didn't get the cap onto the pen. Each arm picked up its part: the cap is in the left gripper (settled reading 0.07) and the pen is in the right gripper (0.06). I couldn't line them up in mid-air. The left arm stalled and wouldn't go past left_y \u2248 -0.07 with yaw \u2248 1.4, so I had to back its yaw off to 1.15\u20131.22. The right arm then stalled, sagged about 5 cm and pitched over whenever the grippers got close. With no view along the pen/cap axis I couldn't check tip-to-opening alignment, and I ran out of calls.", "hindsight": "- Grasping lying objects: a yaw that lines tool x up with the object's long axis worked for both the pen and the cap. The best descent guide was the wrist cam, centring the object on jaw column x\u2248110 near the bottom rows. The pen needed fingertip z \u2248 0: the first close at z\u22480.01 came up empty (0.01). Held thin objects settle at gripper \u22480.05\u20130.07.\n- A move target sometimes isn't executed, or gets clamped to 1\u20133 steps. Re-sending sometimes finishes it. If the arm won't move at all, lift z first.\n- Mid-air rotations: with left_yaw near +1.4\u20131.57 the left arm stalls (wrist joint 6 \u2248 -2.1) and won't go toward the centre. Right_yaw \u2248 +1.57 was fine. Plan capping so neither arm needs an extreme yaw, e.g. keep yaw within \u00b11.2, or pick the cap up already rotated.\n- Grasp readbacks said the grippers were ~20 cm apart when they looked touching in the top cam. So using the 0.65 m base spacing to get relative positions between arms is unreliable at height. Servo with the cameras instead: the right wrist cam can see the left gripper when the pen points at it.\n- For capping, work out early which end of the cap is open. Grab the cap near its closed end so the open end sticks out past the jaws, and grab the pen far from its tip. Also consider standing the cap on the table and lowering the pen into it; with pitch limited to \u00b10.6 that may be hard, but it avoids the mid-air two-arm alignment and IK stalls.\n- Budget: the two pick-ups took ~20 calls. Leave at least 15 for the insertion."})
tool
give_up: I didn't get the cap onto the pen. Each arm picked up its part: the cap is in the left gripper (settled reading 0.07) and the pen is in the right gripper (0.06). I couldn't line them up in mid-air. The left arm stalled and wouldn't go past left_y ≈ -0.07 with yaw ≈ 1.4, so I had to back its yaw off to 1.15–1.22. The right arm then stalled, sagged about 5 cm and pitched over whenever the grippers got close. With no view along the pen/cap axis I couldn't check tip-to-opening alignment, and I ran out of calls.
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 · 23.37 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Pick up the pen and the pen cap, then put the cap on the pen.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7937, 0.6022, -0.3798, -0.0216, -0.025, 0.9996, -0.0151, 0.7914, 0.6102, -0.3763, -0.0227, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.2946 left_y=0.0014 left_z=0.1793 left_yaw=-0.0002 left_pitch=0.0 left_roll=-0.0003 left_gripper=0.9996 right_x=0.2958 right_y=0.0031 right_z=0.1843 right_yaw=0.0003 right_pitch=0.0004 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.5538, -1.3744, 10.5641, 1.7656, -0.0073, 0.0659, -0.0611, -0.8547, -1.2239, 9.8667, 1.7411, -0.0024, 0.0024, -0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:998a8ac304f23beaadc887c851d79d14e746b07a38865c2998e9437512032923",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b71709be9c18c02be77dedb221d4056976b5b6296f99544f441a1ba5d79ed0cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6b78c1b57ae5f1e7c9046980efd07ec7f8abe062d3a77d060a30050bbd635897",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 8.579 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7937, 0.6022, -0.3798, -0.0216, -0.025, 0.9996, -0.0151, 0.7914, 0.6102, -0.3763, -0.0227, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.2946 left_y=0.0014 left_z=0.1793 left_yaw=-0.0002 left_pitch=0.0 left_roll=-0.0003 left_gripper=0.9996 right_x=0.2958 right_y=0.0031 right_z=0.1843 right_yaw=0.0003 right_pitch=0.0004 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.5538, -1.3744, 10.5641, 1.7656, -0.0073, 0.0659, -0.0611, -0.8547, -1.2239, 9.8667, 1.7411, -0.0024, 0.0024, -0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:998a8ac304f23beaadc887c851d79d14e746b07a38865c2998e9437512032923",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b71709be9c18c02be77dedb221d4056976b5b6296f99544f441a1ba5d79ed0cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b78c1b57ae5f1e7c9046980efd07ec7f8abe062d3a77d060a30050bbd635897",
        "media_type": "image/png",
        "type": "base64"
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  "role": "user"
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018JTuUCQKT7ToJMWeE76yps",
      "input": {
        "note": "Pen cap lies left-centre of the table (top cam ~73,108), pen right-centre. Moving left arm above the cap, yawed to align jaws across the cap.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.36,
          "left_y": -0.19,
          "left_yaw": -0.96,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_018JTuUCQKT7ToJMWeE76yps",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.252, 1.4971, 0.7486, -0.0216, 0.5121, 0.3588, 0.9996, -0.0181, 0.7975, 0.6132, -0.3901, -0.0227, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3491 left_y=-0.1756 left_z=0.0967 left_yaw=-0.8817 left_pitch=-0.0818 left_roll=-0.0595 left_gripper=0.9996 right_x=0.2948 right_y=0.0023 right_z=0.1812 right_yaw=-0.0027 right_pitch=-0.0164 right_roll=0.0005 right_gripper=0.9993\nstate[joint_eff]: [-0.4855, -6.5299, 9.3333, 1.7851, 0.4713, 0.1538, -0.0611, -0.0205, -1.7299, 6.8171, 1.8242, -0.0513, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76efb7b44511df677942bde0c47fac69c7063fa8568aee5d40e0f6765dcfbfe3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0dc8ca530d7dc8a57e0577ea8504911e7771c3ccd6df2df36303010952794251",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0b7a9da925473e937198a64c75fb596aa9b14dea676d5c7c78bc9660ddad4398",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 3.865 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7937, 0.6022, -0.3798, -0.0216, -0.025, 0.9996, -0.0151, 0.7914, 0.6102, -0.3763, -0.0227, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.2946 left_y=0.0014 left_z=0.1793 left_yaw=-0.0002 left_pitch=0.0 left_roll=-0.0003 left_gripper=0.9996 right_x=0.2958 right_y=0.0031 right_z=0.1843 right_yaw=0.0003 right_pitch=0.0004 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.5538, -1.3744, 10.5641, 1.7656, -0.0073, 0.0659, -0.0611, -0.8547, -1.2239, 9.8667, 1.7411, -0.0024, 0.0024, -0.0806]",
      "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]: [-0.252, 1.4971, 0.7486, -0.0216, 0.5121, 0.3588, 0.9996, -0.0181, 0.7975, 0.6132, -0.3901, -0.0227, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3491 left_y=-0.1756 left_z=0.0967 left_yaw=-0.8817 left_pitch=-0.0818 left_roll=-0.0595 left_gripper=0.9996 right_x=0.2948 right_y=0.0023 right_z=0.1812 right_yaw=-0.0027 right_pitch=-0.0164 right_roll=0.0005 right_gripper=0.9993\nstate[joint_eff]: [-0.4855, -6.5299, 9.3333, 1.7851, 0.4713, 0.1538, -0.0611, -0.0205, -1.7299, 6.8171, 1.8242, -0.0513, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76efb7b44511df677942bde0c47fac69c7063fa8568aee5d40e0f6765dcfbfe3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0dc8ca530d7dc8a57e0577ea8504911e7771c3ccd6df2df36303010952794251",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b7a9da925473e937198a64c75fb596aa9b14dea676d5c7c78bc9660ddad4398",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012w1W8K5LAYycosjFZwa1M3",
      "input": {
        "note": "Wrist cam shows the cap near bottom-left, aligned across the jaws; shifting ~3 cm toward the tool's left to centre it on the jaw column.",
        "targets": {
          "left_x": 0.372,
          "left_y": -0.157,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_012w1W8K5LAYycosjFZwa1M3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2127, 1.5635, 0.7677, -0.0029, 0.5575, 0.403, 0.9995, -0.0181, 0.7979, 0.6132, -0.3916, -0.0227, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3583 left_y=-0.1693 left_z=0.0855 left_yaw=-0.9021 left_pitch=-0.0835 left_roll=-0.0673 left_gripper=0.9995 right_x=0.2946 right_y=0.0023 right_z=0.1807 right_yaw=-0.0027 right_pitch=-0.0183 right_roll=0.0005 right_gripper=0.9993\nstate[joint_eff]: [1.0598, -5.2581, 8.1573, 1.5897, 0.3492, 0.0806, -0.0171, -0.2393, -1.2376, 7.0222, 1.7509, -0.0562, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7956634bd3542775265ed45176bb62f94a183097f8ba49f9ab6e67debd3b8411",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae4983ad7fdac9098743456c9dda1ab74b5809fc340dfd0de368d5f5740298de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9ad8c5f530754d13977c01d3c05d144c71f331fb51d34e1d84e794779f715374",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 5.625 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7937, 0.6022, -0.3798, -0.0216, -0.025, 0.9996, -0.0151, 0.7914, 0.6102, -0.3763, -0.0227, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.2946 left_y=0.0014 left_z=0.1793 left_yaw=-0.0002 left_pitch=0.0 left_roll=-0.0003 left_gripper=0.9996 right_x=0.2958 right_y=0.0031 right_z=0.1843 right_yaw=0.0003 right_pitch=0.0004 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.5538, -1.3744, 10.5641, 1.7656, -0.0073, 0.0659, -0.0611, -0.8547, -1.2239, 9.8667, 1.7411, -0.0024, 0.0024, -0.0806]",
      "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]: [-0.252, 1.4971, 0.7486, -0.0216, 0.5121, 0.3588, 0.9996, -0.0181, 0.7975, 0.6132, -0.3901, -0.0227, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3491 left_y=-0.1756 left_z=0.0967 left_yaw=-0.8817 left_pitch=-0.0818 left_roll=-0.0595 left_gripper=0.9996 right_x=0.2948 right_y=0.0023 right_z=0.1812 right_yaw=-0.0027 right_pitch=-0.0164 right_roll=0.0005 right_gripper=0.9993\nstate[joint_eff]: [-0.4855, -6.5299, 9.3333, 1.7851, 0.4713, 0.1538, -0.0611, -0.0205, -1.7299, 6.8171, 1.8242, -0.0513, -0.022, -0.0122]",
      "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]: [-0.2127, 1.5635, 0.7677, -0.0029, 0.5575, 0.403, 0.9995, -0.0181, 0.7979, 0.6132, -0.3916, -0.0227, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3583 left_y=-0.1693 left_z=0.0855 left_yaw=-0.9021 left_pitch=-0.0835 left_roll=-0.0673 left_gripper=0.9995 right_x=0.2946 right_y=0.0023 right_z=0.1807 right_yaw=-0.0027 right_pitch=-0.0183 right_roll=0.0005 right_gripper=0.9993\nstate[joint_eff]: [1.0598, -5.2581, 8.1573, 1.5897, 0.3492, 0.0806, -0.0171, -0.2393, -1.2376, 7.0222, 1.7509, -0.0562, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7956634bd3542775265ed45176bb62f94a183097f8ba49f9ab6e67debd3b8411",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae4983ad7fdac9098743456c9dda1ab74b5809fc340dfd0de368d5f5740298de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ad8c5f530754d13977c01d3c05d144c71f331fb51d34e1d84e794779f715374",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShQcKEAgSGAI4AUIIdGhpbmtpbmcSDDAfnYkr8KTWm1wPjRoMwK5Skt+TAbjHVM+kIjBg55TzWh6TvcMhIyYO3/IcNYF5BcklLP4yxjA6OqbwTxgJT4hWhTrDbIdNKuYDVLsqoga9xBaoNTO2MYgU/MrIgWKesuIFKRqr2DzKDzxL3ZmtkeUUObcutkLSCs5+Zl1lTXIsXubYSW9eB9lXH4ei+wqGF562mRFmzDKrm5kWdll+Tif2yvsPPFiQXCmBNRpOb3h/LUUDSgA+6EJSPZKfEhaMemu1Lyb9J8vw97Ch0MehWKq1ZujPUztuLUVjKLykyhPMsaRznnYheJwifaWWFGzB0PPViHAUjVPwnycvrpL3etSCB2Ss3beRYmc8s9cPQcUPn7C3gRbrGUMfAQYJzWADnBbHuwL5ZXpk3sad6EakXs6enHBGUNh7jqdRYuDv42zYBt2QcPoxw3fJDx8pR6uRPmB25vxUtwlzDrWFmSbMBrTSrnIB5n9C5v3PLhiscTqoLkY0GqlWg5dDjbmzU/dehSzPbeUtL78UJlc+mHrvBtbHcAVy3u/Zb0wHbW/ZC3oqbzH/mDjLQU9RlumnR+k6ZaoZfVXPfa5kqNFvEzGcsuxJshjC+KdH6016dVop5NbfZ7ckTED8UZm17BFD5Epis2OnG8tm5EJ4/zHxuW7Ssc4dLRi7B5WAS4RRcHZb8QNGtlLce68P1iL5mRbA9pkVTkLtxWPT50TQZYGOTOu8dNzMBS/j5bVDPKkP8EbAnx/YDm99BKO1Zrm6B4MREJ2xqmrlVE80oCu4VU66pPpirBr1itmabyqg3we07qqWRZ2mEXSYSyb8LtCJtktmezZyMYYLG9EdrkHkWeaL7Q0r29lZvoEdo+wb84D3MpJRPnU1zjESEkrgj3S0o5Xx2gThYwUotowMHCX/87VsesMye4ZILSXzCejOXnBHlfdyIytn+an/oal1g46d5akP4PUcigQkvlfrTjK2RyZgnfHd3vXxH+0eMr1Dah+mEEYVO26pcofsbVwR9a3wdwuzxxMRAmeba0C5Gon8sx2AwE/CdC6yFuls7o7eXzbV6BIchWvofOPQbZj3VFEXXaAeEHcLBTwcm0NmJOPN2p6yLmaPTQddiACajjPxosdBr3Uv/xAjALq0c81rFbNYWPxbgo+k0EA3CySlnVhmHFkcegZw0ApyGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01S6k9FzrMo3rCfEqLmTEaJw",
      "input": {
        "note": "Previous move was clamped short; continuing the shift toward the cap and lowering.",
        "targets": {
          "left_x": 0.372,
          "left_y": -0.157,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01S6k9FzrMo3rCfEqLmTEaJw",
      "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]: [-0.1707, 1.6245, 0.7689, -0.0101, 0.5549, 0.4065, 0.9995, -0.0181, 0.7998, 0.6132, -0.3931, -0.0227, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3621 left_y=-0.1532 left_z=0.0624 left_yaw=-0.8648 left_pitch=-0.1363 left_roll=-0.1061 left_gripper=0.9995 right_x=0.2945 right_y=0.0023 right_z=0.1799 right_yaw=-0.0027 right_pitch=-0.0217 right_roll=0.0005 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -7.9932, 7.5692, 1.5897, 0.3199, 0.2076, -0.0122, -0.1709, -1.265, 7.2137, 1.7509, -0.0562, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6565146674e0d8ecbe6f58a22f1696b0f8f91ccb5e0cc46cdfbba09cf940b28a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cff20b7b99edb30ec79103fcd1e7fa654633c92d5ceeca2b649fa24542cee25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b9bf8ad68938513cdece6edddf04df69f9d953066c847d8dc471575794f49144",
        "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 · 4.548 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.252, 1.4971, 0.7486, -0.0216, 0.5121, 0.3588, 0.9996, -0.0181, 0.7975, 0.6132, -0.3901, -0.0227, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3491 left_y=-0.1756 left_z=0.0967 left_yaw=-0.8817 left_pitch=-0.0818 left_roll=-0.0595 left_gripper=0.9996 right_x=0.2948 right_y=0.0023 right_z=0.1812 right_yaw=-0.0027 right_pitch=-0.0164 right_roll=0.0005 right_gripper=0.9993\nstate[joint_eff]: [-0.4855, -6.5299, 9.3333, 1.7851, 0.4713, 0.1538, -0.0611, -0.0205, -1.7299, 6.8171, 1.8242, -0.0513, -0.022, -0.0122]",
      "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]: [-0.2127, 1.5635, 0.7677, -0.0029, 0.5575, 0.403, 0.9995, -0.0181, 0.7979, 0.6132, -0.3916, -0.0227, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3583 left_y=-0.1693 left_z=0.0855 left_yaw=-0.9021 left_pitch=-0.0835 left_roll=-0.0673 left_gripper=0.9995 right_x=0.2946 right_y=0.0023 right_z=0.1807 right_yaw=-0.0027 right_pitch=-0.0183 right_roll=0.0005 right_gripper=0.9993\nstate[joint_eff]: [1.0598, -5.2581, 8.1573, 1.5897, 0.3492, 0.0806, -0.0171, -0.2393, -1.2376, 7.0222, 1.7509, -0.0562, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.1707, 1.6245, 0.7689, -0.0101, 0.5549, 0.4065, 0.9995, -0.0181, 0.7998, 0.6132, -0.3931, -0.0227, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3621 left_y=-0.1532 left_z=0.0624 left_yaw=-0.8648 left_pitch=-0.1363 left_roll=-0.1061 left_gripper=0.9995 right_x=0.2945 right_y=0.0023 right_z=0.1799 right_yaw=-0.0027 right_pitch=-0.0217 right_roll=0.0005 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -7.9932, 7.5692, 1.5897, 0.3199, 0.2076, -0.0122, -0.1709, -1.265, 7.2137, 1.7509, -0.0562, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6565146674e0d8ecbe6f58a22f1696b0f8f91ccb5e0cc46cdfbba09cf940b28a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cff20b7b99edb30ec79103fcd1e7fa654633c92d5ceeca2b649fa24542cee25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9bf8ad68938513cdece6edddf04df69f9d953066c847d8dc471575794f49144",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS+ggKEAgSGAI4AUIIdGhpbmtpbmcSDCzjnCbxhllePRVMkRoMVWHkd44SalRNcyuxIjDaHTqzHqhbacvPbhj0D0mcMTVjDoU3fU8IO1FsGvsPkPSJQqfWNn/U6wDC5pJjAUgqlwhn9r9KNefQ+QJjgobovcYyb1ltrp3OLje0XLygPsYOcP8M85bpUzFOFQSGwPJe+CoDVYSdlWI0zeXRRWPiWugLU9pr2DXbAWiFwYZIVjzRp8TbKNTuTXwBIZcRuCKBk7T77aZPC0sKcboxXcHLRF+NjlboAFz+OIk1/sEKffgXx7NEPjiGKcUBK+RKRKEW43NF2yvztUh74hJH3oF/7V6WKDbEn64PJ2TiYlBzS3rR7ufGqMo0+VL3LiCH1o1JZKHAVD5p3ZBlGZyIz8C7PFppFwWEIHBJ/RFESCS4UoswADbgTbLsLz7kDQCOCI3yVb3nDNyUebepsErek3L5ZAr6TrKvWww0aSpfw6OgVEpZfCLy9/FSRLrmHfqIGwJ/ROu9ok5kl78KZiWaZ879r6NurOzHe+zFsgUjJGJJQvS7we+QgavGFfyrASf8qRDPrD8lBsmwlZHv3VesZ3b0HZ4qBZSRW69vgXODI53c6gnUsd5J1+iq7oY3wymKsGrhAsSO/iIEd0Nrgu75FRXZmq7BN6gcpiuMCEz5hGwBYnSamH24WNDCxPp5pX2wVE6oJ0Ah25EesVARagzPP6yMvO9vOnN+Ry8pI28QoiCEaQtlZnQBkjz8F8m589pIiRVqyjSlMgsNYaqsO7zNg1cV6azEMvUaDYg9cVaWfQCchRAt9L7vLKFXodsQ5LixGcM705HPluITm9TOs8zlsrTxXw+8+fRQ/YHeAwffJDymairnxOllFDaWJTMdWENAGn1MAF9SesjYMET8HRKTM8Qjf/fcsNBegE9kISKzbwqQxXUC7+PrpWtlo3LP5Sl5Md7bzkpu99aPM9FiaznpA1KlVSmJv86p/vvyMBhcNZun5PSNG4tubW+8zfiGVOdLlXcWSsh6JUnAEJT8qlf0oOabeHg9yVeW/RzSez5/lHpB7sVQ65uyHKv/kX9DHA72533o7mVYYbVKdWlfj/+UXrNajlafX7+zsCheSAsbUsIGwF6IiIiOgdFjNVgwCUK2ock9+pvuDrVAt5BcpCm0OVoo22UFepryg9C0THfahOOtSwchfh/8gY92Wz1jvTSd+y2ruO8Jr6y59cHj7ma41TXeShoNgjO8k0yySzbCKmAypjbjm2xEeqs8j1/ij4AoGhl1BxKIK0IDmiW16cH+STEVYaOKRYHI2huzQSPR/FrmGd5GVoXDl/5YrzRZq7sZbM6uZvPLeksbsRtmJoXByzwb1Q153zpka9H5Itqob7rl48U14HrxNFCDYg00lWVf++A8de1NKy/HDVOz9Dy+E86iE+BZNuUP87Fw6kLYMOIkPrFjVxajW7U6+ztJjpXwLPQalgqIqHbYGK26vx12ObRNzQeJsU9VUgmoIQL93XgpuiiSAUo56rNg3loYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0131did6rUZeph28CSooNkTe",
      "input": {
        "note": "Cap visible just left of the jaw column in the wrist view; small shift toward it while descending.",
        "targets": {
          "left_x": 0.374,
          "left_y": -0.143,
          "left_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_0131did6rUZeph28CSooNkTe",
      "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]: [-0.1707, 1.6241, 0.7689, -0.0101, 0.5549, 0.4065, 0.9995, -0.0181, 0.8036, 0.6132, -0.3954, -0.0227, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3621 left_y=-0.1532 left_z=0.0625 left_yaw=-0.8647 left_pitch=-0.136 left_roll=-0.1059 left_gripper=0.9995 right_x=0.2945 right_y=0.0023 right_z=0.1784 right_yaw=-0.0027 right_pitch=-0.0278 right_roll=0.0006 right_gripper=0.9993\nstate[joint_eff]: [-0.0479, -8.1026, 7.5829, 1.6386, 0.3199, 0.1587, -0.0122, -0.1436, -1.6068, 7.0222, 1.7753, -0.0513, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc47ae3d54be4e86617899f6601301e9b9a8b1d8117c8016642dba5cef81e510",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f7b4355a73e258be1bd174e43ba9a34b03f37c7599fe6bef863f920fc6caa97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:46f63df5a754fa6e79c3f15ffc125fde64392afc7433d7910e9f350406300995",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 4.081 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2127, 1.5635, 0.7677, -0.0029, 0.5575, 0.403, 0.9995, -0.0181, 0.7979, 0.6132, -0.3916, -0.0227, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3583 left_y=-0.1693 left_z=0.0855 left_yaw=-0.9021 left_pitch=-0.0835 left_roll=-0.0673 left_gripper=0.9995 right_x=0.2946 right_y=0.0023 right_z=0.1807 right_yaw=-0.0027 right_pitch=-0.0183 right_roll=0.0005 right_gripper=0.9993\nstate[joint_eff]: [1.0598, -5.2581, 8.1573, 1.5897, 0.3492, 0.0806, -0.0171, -0.2393, -1.2376, 7.0222, 1.7509, -0.0562, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1707, 1.6245, 0.7689, -0.0101, 0.5549, 0.4065, 0.9995, -0.0181, 0.7998, 0.6132, -0.3931, -0.0227, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3621 left_y=-0.1532 left_z=0.0624 left_yaw=-0.8648 left_pitch=-0.1363 left_roll=-0.1061 left_gripper=0.9995 right_x=0.2945 right_y=0.0023 right_z=0.1799 right_yaw=-0.0027 right_pitch=-0.0217 right_roll=0.0005 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -7.9932, 7.5692, 1.5897, 0.3199, 0.2076, -0.0122, -0.1709, -1.265, 7.2137, 1.7509, -0.0562, -0.0513, -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]: [-0.1707, 1.6241, 0.7689, -0.0101, 0.5549, 0.4065, 0.9995, -0.0181, 0.8036, 0.6132, -0.3954, -0.0227, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3621 left_y=-0.1532 left_z=0.0625 left_yaw=-0.8647 left_pitch=-0.136 left_roll=-0.1059 left_gripper=0.9995 right_x=0.2945 right_y=0.0023 right_z=0.1784 right_yaw=-0.0027 right_pitch=-0.0278 right_roll=0.0006 right_gripper=0.9993\nstate[joint_eff]: [-0.0479, -8.1026, 7.5829, 1.6386, 0.3199, 0.1587, -0.0122, -0.1436, -1.6068, 7.0222, 1.7753, -0.0513, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc47ae3d54be4e86617899f6601301e9b9a8b1d8117c8016642dba5cef81e510",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f7b4355a73e258be1bd174e43ba9a34b03f37c7599fe6bef863f920fc6caa97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46f63df5a754fa6e79c3f15ffc125fde64392afc7433d7910e9f350406300995",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuAcKEAgSGAI4AUIIdGhpbmtpbmcSDKNU7kLsXTnlRTRRjRoMjlysLkwMiFIhhlEGIjByXseZZhkPaZ4e8CPF4pNoTlbizTGGMeuKNmp0maeeeXE7uq4t0HGlAROU1tZr0+Qq1QbYvJPeZ9Cv5GmLe5kOwEiC6bvjffZfouTNhFy9sJJdcJXeQ8ECCg/P2mPjBNhYkN/H4vr9LTiOBdy8B8v4lY3fqtyj9i++Ew+ZNlKlWUgMtJTT1bYYeoZB08B4f9EP6HSOdsMCXdtq+PXixw9mQ5dzLhLzkqE0u3MIrTz6e51fO6MApL95uEApoNPy/ZW470ZxWJpwQ0Pn9itgpI4gLZCVG3VxqO1GTbQUaH2VeSoAj93ke0o6iPZkFmmIwEg8dYa5qKV12xd9MX65x7/IjuKNfh7bkwx1HvKVDsu7Nh3pmfE92f+Q24O4sIZi9+4vbm9SeDpMKALtgiNiBauanz++pj/vqGD0ZHySgVXGy/Ap0HJOG/l2Oe0FfXVkq1MlIOjzgpNO37ri+H75I3rQRrKcrwY0yF18Po+7p4jzy2CTAwfojRGjwIQQZ+3FijYotXgRwmCVUtEKha/3pr5Imm9tAbiQgzuCVpmrPN/zLp/0FwPTYEXNVwVG+UMm0ZXAwMfEccbi4vg0qlO1S15/0A2MFxMG1F8dZRrO6OxqvVmLxwuHt5k48GkMDtR+1wLtJLIqPL1/noYexdyvmuiTPu5aLpAct4jjKxaXyFHuWuG2jtI6AdT/5J23bu8LvMcZ1fCyKaa8oQpsw8Z3QVFpEbWKO1vXT5moDp80uLfOHFZeLzf/b49IU0y9r8tVFEm51QliGZTfmLQcqZ43rX84bIGoTIaJkQJuxNL8o6GwkxsMct5nXtn2HECww8FeJJlr1KTxw6EGAe+97Yjmk0R4qNG3N4aiZaaj/im9LlLvoobzTApLC5rxJfhs7/Xqe9tyIZYZfVEEMwZYJRjWnn4fmHe9nrEIowwA3/Zpk34HbSeuTdc+KqSgOlpr/oLWQYHsJBAs7coDF/Z/klKR7GarTGgzjAgZkzt61v8Q8wkIzK9m7tkr+JQROGaJWBKzSQlO84nDR/+V9iDvDRO5xpmDHty0Tgk2BFYNw+yqRoBHFTxrWzqUQZzYN5QFqJpmAuQCfdks1urApTqaYkV1y6w6BC4NHkl8c5i9GlS0L0t693rpokR2AAF+RgTWdjjhJ45R5RHH8w5wTZK/luHn1rhfx5CBo6nuOrYD1xdouh82m3/PMEs5SeO/GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UpomQS9joei4fPESYVQWPe",
      "input": {
        "note": "Last move didn't execute (arm held); re-commanding with pitch/roll explicitly zeroed to help the IK.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.372,
          "left_y": -0.145,
          "left_yaw": -0.9,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01UpomQS9joei4fPESYVQWPe",
      "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]: [-0.1707, 1.6241, 0.7689, -0.0101, 0.5549, 0.4061, 0.9995, -0.0181, 0.8036, 0.6132, -0.3969, -0.0223, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3621 left_y=-0.1532 left_z=0.0625 left_yaw=-0.8645 left_pitch=-0.136 left_roll=-0.1062 left_gripper=0.9995 right_x=0.2943 right_y=0.0022 right_z=0.1781 right_yaw=-0.003 right_pitch=-0.0294 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -7.8838, 7.5556, 1.6532, 0.3199, 0.1294, -0.0122, -0.3624, -1.2786, 7.0222, 1.7363, -0.022, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5adc5bf6041b47e7a615dc3c299afcca86c1ada62d8f10f571a710767b3e1d06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:166cbeb167bf68086aae4fb6508c65fde604f23b5274bd9a4207c5dd47d00048",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:391be4188635bf4b7922f5b6f331855a1ec6c80428622e0e9cc054cb6ec34f79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 5.142 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1707, 1.6245, 0.7689, -0.0101, 0.5549, 0.4065, 0.9995, -0.0181, 0.7998, 0.6132, -0.3931, -0.0227, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3621 left_y=-0.1532 left_z=0.0624 left_yaw=-0.8648 left_pitch=-0.1363 left_roll=-0.1061 left_gripper=0.9995 right_x=0.2945 right_y=0.0023 right_z=0.1799 right_yaw=-0.0027 right_pitch=-0.0217 right_roll=0.0005 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -7.9932, 7.5692, 1.5897, 0.3199, 0.2076, -0.0122, -0.1709, -1.265, 7.2137, 1.7509, -0.0562, -0.0513, -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]: [-0.1707, 1.6241, 0.7689, -0.0101, 0.5549, 0.4065, 0.9995, -0.0181, 0.8036, 0.6132, -0.3954, -0.0227, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3621 left_y=-0.1532 left_z=0.0625 left_yaw=-0.8647 left_pitch=-0.136 left_roll=-0.1059 left_gripper=0.9995 right_x=0.2945 right_y=0.0023 right_z=0.1784 right_yaw=-0.0027 right_pitch=-0.0278 right_roll=0.0006 right_gripper=0.9993\nstate[joint_eff]: [-0.0479, -8.1026, 7.5829, 1.6386, 0.3199, 0.1587, -0.0122, -0.1436, -1.6068, 7.0222, 1.7753, -0.0513, -0.0513, -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]: [-0.1707, 1.6241, 0.7689, -0.0101, 0.5549, 0.4061, 0.9995, -0.0181, 0.8036, 0.6132, -0.3969, -0.0223, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3621 left_y=-0.1532 left_z=0.0625 left_yaw=-0.8645 left_pitch=-0.136 left_roll=-0.1062 left_gripper=0.9995 right_x=0.2943 right_y=0.0022 right_z=0.1781 right_yaw=-0.003 right_pitch=-0.0294 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -7.8838, 7.5556, 1.6532, 0.3199, 0.1294, -0.0122, -0.3624, -1.2786, 7.0222, 1.7363, -0.022, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5adc5bf6041b47e7a615dc3c299afcca86c1ada62d8f10f571a710767b3e1d06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:166cbeb167bf68086aae4fb6508c65fde604f23b5274bd9a4207c5dd47d00048",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:391be4188635bf4b7922f5b6f331855a1ec6c80428622e0e9cc054cb6ec34f79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSkgcKEAgSGAI4AUIIdGhpbmtpbmcSDO8rBCKA59vqQNzSyBoMRdnYZol4YKVuyjnfIjAg5uCiT6+UuttgtEhtNLPhyz4HEj4WuI972CMr42BbIqYAS0jPO3VlTNZJVyysnUwqrwZIJ6XoUscOtbw7ReDL4KpPN/epgveSEexzudjR4+C1OCrg1VMQNFYdqgAskSHkaJhD7cJU0b7ZFCQD5kT/WiWUDxTlLlLf4GM5dPEvdcBcU2ewCQB9RAs2f4f1KpmWzYeucr7xwXXM69SVlfdFEHh/nfBrsxw5YugrjVxoMmETPVK1JnJniOdGaSgzJFryhE1/nf5S1acg8E3ugQBl/b1JVDO1/HigcxzTv5sYD03mYSKPfH8OPthpVYAUF2+wuTOIJ2YDo5jKP9ekd+ljP+70xAUPMsugLrhgEzmmKdnMC+3C6GAgVi9IYILkKBU5xH8SUvxklLgJElUZYLE9AZiZEJgB85VbliPRIQlsEVOgxQuA7mNDW4UPGq2v5zTh5xyF//rtJhs+kADo9d0qD6+4F9RJp7X1DHsNuBYNCzjb84TXa8RuGIOLBdT6ezPyG2/nkiRdS3JkNfPCUOHdUy4vjI0c9jBL+3tkkmUW/YIUNM+w3tQXzxuYdJXQ2J08oPl1t9603GlNW0OiCS6oJzIXqZbcDQYc0i/VJJ5LZ3nF0+VoIC8UuJjtLQd094jwf2ZOKmZqHAPAG9okOsypXjyx0UkQ2+2SEO2Om0LpnuUjWVN2Qv5k8lCqHFMw9uHgB0/xhHkMkZdgUq7TMhJwnUL3Ep1jTdUIThjr53fdg9KSVMA5qe6VCA8ishb92DfjX5aOPrrdWYUHmSkY3WoVl/4wCpkt2Ny+IkY8gBi/uyi5nZ08IMOxuRKYf4UI2NFGuriWwXxV7HiXdFi7yk7IuaVn+54hy0auz0IPFgrB8DhGGXaLPxs203ec4Hy4ew8UylUUl3v0ki36ldtTIRk9O5cEbo/H2vLDMNMnW8TuUwrJ3xufg/1Do5PlU2uuVqyQsTUMmYG1eT+FGLKGf32EIb2OyMFJ1Q/GdY13RoHmnJ/6YQDKUmVKI00WLC3iDTovbNNkwHCyqi0of3pb4zjQjbYckz7fazXelIMtxNTznbVZMEMcyxLsz/LW88hRerFImg39JEvkyz5FISLZqdJRTdItoVrqo6LsgmJ1YYFZUg5qPTZ+Zdc+cTdbzLewYngACBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019JMyGspCY7U5eBZaAJ6y3v",
      "input": {
        "note": "Left arm is refusing to move from its pose; trying a pure lift to unstick the IK.",
        "targets": {
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_019JMyGspCY7U5eBZaAJ6y3v",
      "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]: [-0.1703, 1.5444, 0.8639, -0.197, 0.5503, 0.4019, 0.9995, -0.0185, 0.8036, 0.6132, -0.3973, -0.0227, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3617 left_y=-0.1523 left_z=0.0988 left_yaw=-0.8597 left_pitch=-0.1479 left_roll=-0.1145 left_gripper=0.9995 right_x=0.2942 right_y=0.0022 right_z=0.178 right_yaw=-0.0031 right_pitch=-0.0297 right_roll=0.0007 right_gripper=0.9993\nstate[joint_eff]: [0.0615, -8.1709, 8.8547, 1.453, 0.2271, 0.0269, -0.0122, -0.294, -1.306, 7.0085, 1.746, -0.0122, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06ae2b72e10ef501b39d0609bd82d28e23ec4810b4f7f9e953434fda9d40b752",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:142729358df781765a8049670e7e08c62709ecee544880fcd564741da6011ff6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:76d08b56ed017e2c7065ab3afd0ba0f81e4ba9d6911166e06f355b174285e8f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 8.008 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1707, 1.6241, 0.7689, -0.0101, 0.5549, 0.4065, 0.9995, -0.0181, 0.8036, 0.6132, -0.3954, -0.0227, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3621 left_y=-0.1532 left_z=0.0625 left_yaw=-0.8647 left_pitch=-0.136 left_roll=-0.1059 left_gripper=0.9995 right_x=0.2945 right_y=0.0023 right_z=0.1784 right_yaw=-0.0027 right_pitch=-0.0278 right_roll=0.0006 right_gripper=0.9993\nstate[joint_eff]: [-0.0479, -8.1026, 7.5829, 1.6386, 0.3199, 0.1587, -0.0122, -0.1436, -1.6068, 7.0222, 1.7753, -0.0513, -0.0513, -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]: [-0.1707, 1.6241, 0.7689, -0.0101, 0.5549, 0.4061, 0.9995, -0.0181, 0.8036, 0.6132, -0.3969, -0.0223, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3621 left_y=-0.1532 left_z=0.0625 left_yaw=-0.8645 left_pitch=-0.136 left_roll=-0.1062 left_gripper=0.9995 right_x=0.2943 right_y=0.0022 right_z=0.1781 right_yaw=-0.003 right_pitch=-0.0294 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -7.8838, 7.5556, 1.6532, 0.3199, 0.1294, -0.0122, -0.3624, -1.2786, 7.0222, 1.7363, -0.022, -0.0757, -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]: [-0.1703, 1.5444, 0.8639, -0.197, 0.5503, 0.4019, 0.9995, -0.0185, 0.8036, 0.6132, -0.3973, -0.0227, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3617 left_y=-0.1523 left_z=0.0988 left_yaw=-0.8597 left_pitch=-0.1479 left_roll=-0.1145 left_gripper=0.9995 right_x=0.2942 right_y=0.0022 right_z=0.178 right_yaw=-0.0031 right_pitch=-0.0297 right_roll=0.0007 right_gripper=0.9993\nstate[joint_eff]: [0.0615, -8.1709, 8.8547, 1.453, 0.2271, 0.0269, -0.0122, -0.294, -1.306, 7.0085, 1.746, -0.0122, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06ae2b72e10ef501b39d0609bd82d28e23ec4810b4f7f9e953434fda9d40b752",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:142729358df781765a8049670e7e08c62709ecee544880fcd564741da6011ff6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76d08b56ed017e2c7065ab3afd0ba0f81e4ba9d6911166e06f355b174285e8f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjwkKEAgSGAI4AUIIdGhpbmtpbmcSDLKOmzFvyKCAcYUEPhoMjHGjyk5eQO3B0FQTIjBR5Hs0ORR5DPOgeZfKDs7AIb5xiZ9Uou4RTCtxDZ/JmkXNNnfgPMjMZsVSS0072eAqrAjP3drYfWBvT1+wzsL6PI1ppMrj7DDwiTKjtSQ7NQm7bHC4u0PglTFmC4TpOHMmwvx2B7XDU4LWYS9d6mqXO79Xzkol6X8yMy3OPLXl3NwZgDF7MXqucUbjGjhTgiNzxExQrOzQY2DwAlzjv4/gIewSVKD9cQ9MEVP1abF9eeTZ0K1zZLgruqwMH7xhFWQ1AKb0F9Iqj70OXc/BSPNKj9GjiupPLJ2wsLmq2FijuekSDhVfFxVxqRK3FVwr7/xnENcB2QyF6vaOL+Dyj7Dfytg0HMl32X5cCXu03FB8vLMV0wIM1MopYMKYdF+Ts9yKM2N12kf9pLEvDlcL5niWiKiW4IXMG8/4vKJadeP/7+6WixpgxmVYrq8EFvbGmHf6JR40M5BwpcVZx6ManQi3hZbSeiATX8lTBc90MQLoVG5RMHM+4f9M0KbXvbnB3TY2ZDgr/cFr1WKQNG4tnsK2BQzPZbps4D6Uva3Qj8HfiYhadk4DXCzVCg6OewebIw3jWTvfjU5K8Il5IkCFZSfSejQfliG8+qxmqnrtNiIKG2kzJkqRe4KJnZuiJacWRQ05ko1y9Gma4ClrhuJ1eC38XEohCzsCifc1pswHVaXE9s//WjIsghaD1NvWq1Z8cJwbzd2tuKf6Og58g0plo4IqGKIpiC+MJDhkvdDyE43McNrwCNE3oKpvUTMJcb2gqCzG4VFvQZoWdqTNWLX5fLs/hpVnJ6B7K0gLmNjK8BK9pkwBREa3kmeRJXjQ4j+Ez9uOOui6q+XKhaTpYGRlDy41e+5FjQwPIq+tfACdu3+xEN3RyFsslf7euLG86/Q6bTWwbd9FHN5QGMYwLO9MiFDWVna+E+O+ipbg2wcIFYsXj3zT/8eDgD9SWQVWxfoAiLv/Jcad17q2ZdANW/0gflVFUJ/SzADtPwzYHO+UDUvSmQ3pVrnS6nNkotcsOPPzu+vtaUbl+zQ/pQ/1FuzDOc7YCsowwap44SjT4mAlytZAB2aecYEXdTLfAoGZu/1AWaKDWihFLXtQTYT314wpR1+eFf8e1AhBPCfaCK1vH/MqPNXi0p1GrYgKwaZQE/2rNse+RFbGlf4/5DrCnfz7zhuPFmUHlZ5/XjePN0/r8Qqx3XPC0dC3TReoBWIAaeI6VV4SyjV0WA+x9uhQ5BYGUskOm9xNwZJRnk/9wZXC+/3/oVUOWxzDA3osc/M0TUjqLalqNL5053T8goSSH1+ArPaZNQKyPS09hZE+pp3ucwzAFKTdhdFGGkKzK46Pus9636oDBPsu90WQh7qI+BdmR4EDqwa3pYetaq4tdN0/epEo79QJXw2vv0VtoNMqeXrMa7M9FbxSVXRrIr2mh1xvgkKpwPMXIGHl5jQB4cVjs56WfIvKN3jr524sPHnxGYjSw0O/SYeVUaeqxaprO74/dkQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SBUpoMqjyVMmjYXMHPfeU1",
      "input": {
        "note": "Arm unstuck after lifting; now descending onto the cap with a small shift toward it (cap slightly left of jaw column in wrist view).",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.145,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01SBUpoMqjyVMmjYXMHPfeU1",
      "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]: [-0.1463, 1.7844, 0.7307, 0.0982, 0.5606, 0.4129, 0.9994, -0.0181, 0.8062, 0.6132, -0.4004, -0.0223, -0.0143, 0.9993]\nstate[eef_state]: left_x=0.3589 left_y=-0.1442 left_z=0.0075 left_yaw=-0.8579 left_pitch=-0.2013 left_roll=-0.1635 left_gripper=0.9994 right_x=0.294 right_y=0.0022 right_z=0.1766 right_yaw=-0.0032 right_pitch=-0.0355 right_roll=0.0009 right_gripper=0.9993\nstate[joint_eff]: [0.2803, -6.8581, 4.4923, 0.9158, 0.0366, -0.1343, -0.0171, -0.1709, -1.4974, 7.0496, 1.7558, -0.0122, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7523eaa32cd469be160987b0bcbd9d7b3dd0d054e6b07550b8d2effbe9ea16e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e9870532eb4733a12a016167e1a05706c0407f26bbb73d4e1d47bc94bbe8d22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:01c00d068b9f6c41de5e6f4df2767e20ebeb1088b22effe3d55902bdeae89014",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 3.969 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1707, 1.6241, 0.7689, -0.0101, 0.5549, 0.4061, 0.9995, -0.0181, 0.8036, 0.6132, -0.3969, -0.0223, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3621 left_y=-0.1532 left_z=0.0625 left_yaw=-0.8645 left_pitch=-0.136 left_roll=-0.1062 left_gripper=0.9995 right_x=0.2943 right_y=0.0022 right_z=0.1781 right_yaw=-0.003 right_pitch=-0.0294 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -7.8838, 7.5556, 1.6532, 0.3199, 0.1294, -0.0122, -0.3624, -1.2786, 7.0222, 1.7363, -0.022, -0.0757, -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]: [-0.1703, 1.5444, 0.8639, -0.197, 0.5503, 0.4019, 0.9995, -0.0185, 0.8036, 0.6132, -0.3973, -0.0227, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3617 left_y=-0.1523 left_z=0.0988 left_yaw=-0.8597 left_pitch=-0.1479 left_roll=-0.1145 left_gripper=0.9995 right_x=0.2942 right_y=0.0022 right_z=0.178 right_yaw=-0.0031 right_pitch=-0.0297 right_roll=0.0007 right_gripper=0.9993\nstate[joint_eff]: [0.0615, -8.1709, 8.8547, 1.453, 0.2271, 0.0269, -0.0122, -0.294, -1.306, 7.0085, 1.746, -0.0122, -0.022, -0.0122]\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 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]: [-0.1463, 1.7844, 0.7307, 0.0982, 0.5606, 0.4129, 0.9994, -0.0181, 0.8062, 0.6132, -0.4004, -0.0223, -0.0143, 0.9993]\nstate[eef_state]: left_x=0.3589 left_y=-0.1442 left_z=0.0075 left_yaw=-0.8579 left_pitch=-0.2013 left_roll=-0.1635 left_gripper=0.9994 right_x=0.294 right_y=0.0022 right_z=0.1766 right_yaw=-0.0032 right_pitch=-0.0355 right_roll=0.0009 right_gripper=0.9993\nstate[joint_eff]: [0.2803, -6.8581, 4.4923, 0.9158, 0.0366, -0.1343, -0.0171, -0.1709, -1.4974, 7.0496, 1.7558, -0.0122, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7523eaa32cd469be160987b0bcbd9d7b3dd0d054e6b07550b8d2effbe9ea16e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e9870532eb4733a12a016167e1a05706c0407f26bbb73d4e1d47bc94bbe8d22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01c00d068b9f6c41de5e6f4df2767e20ebeb1088b22effe3d55902bdeae89014",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GJvKwhcypb6QRAzHTnkrdZ",
      "input": {
        "note": "At table level the cap appears ahead of and left of the jaws in the wrist view (~4 cm forward in arm x); lifting slightly and moving forward over it.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.395,
          "left_y": -0.146,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01GJvKwhcypb6QRAzHTnkrdZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.131, 1.8202, 0.6998, 0.334, 0.5591, 0.4137, 0.9994, -0.0185, 0.807, 0.6132, -0.4118, -0.0223, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.386 left_y=-0.1418 left_z=0.0179 left_yaw=-0.8268 left_pitch=-0.0731 left_roll=-0.0518 left_gripper=0.9994 right_x=0.2924 right_y=0.0021 right_z=0.1741 right_yaw=-0.0034 right_pitch=-0.0477 right_roll=0.0007 right_gripper=0.9993\nstate[joint_eff]: [0.1573, -7.2547, 4.6974, 1.7851, 0.5153, 0.2125, -0.0073, -0.3624, -1.3607, 7.1453, 1.8339, -0.0269, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a92a09df0ebe1f7d1df0c6f2c891ef58496c5138d99d909bbdf903d5444814aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d88e68f9f2c005fd05f3d232335720cb53757e36b527a271f1ae24a590e2b45a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1f3f0c471e222d493034c1d0f5ef3dc141ae4fe050921d6684430ad5e61eee79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 4.713 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1703, 1.5444, 0.8639, -0.197, 0.5503, 0.4019, 0.9995, -0.0185, 0.8036, 0.6132, -0.3973, -0.0227, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3617 left_y=-0.1523 left_z=0.0988 left_yaw=-0.8597 left_pitch=-0.1479 left_roll=-0.1145 left_gripper=0.9995 right_x=0.2942 right_y=0.0022 right_z=0.178 right_yaw=-0.0031 right_pitch=-0.0297 right_roll=0.0007 right_gripper=0.9993\nstate[joint_eff]: [0.0615, -8.1709, 8.8547, 1.453, 0.2271, 0.0269, -0.0122, -0.294, -1.306, 7.0085, 1.746, -0.0122, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.1463, 1.7844, 0.7307, 0.0982, 0.5606, 0.4129, 0.9994, -0.0181, 0.8062, 0.6132, -0.4004, -0.0223, -0.0143, 0.9993]\nstate[eef_state]: left_x=0.3589 left_y=-0.1442 left_z=0.0075 left_yaw=-0.8579 left_pitch=-0.2013 left_roll=-0.1635 left_gripper=0.9994 right_x=0.294 right_y=0.0022 right_z=0.1766 right_yaw=-0.0032 right_pitch=-0.0355 right_roll=0.0009 right_gripper=0.9993\nstate[joint_eff]: [0.2803, -6.8581, 4.4923, 0.9158, 0.0366, -0.1343, -0.0171, -0.1709, -1.4974, 7.0496, 1.7558, -0.0122, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.131, 1.8202, 0.6998, 0.334, 0.5591, 0.4137, 0.9994, -0.0185, 0.807, 0.6132, -0.4118, -0.0223, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.386 left_y=-0.1418 left_z=0.0179 left_yaw=-0.8268 left_pitch=-0.0731 left_roll=-0.0518 left_gripper=0.9994 right_x=0.2924 right_y=0.0021 right_z=0.1741 right_yaw=-0.0034 right_pitch=-0.0477 right_roll=0.0007 right_gripper=0.9993\nstate[joint_eff]: [0.1573, -7.2547, 4.6974, 1.7851, 0.5153, 0.2125, -0.0073, -0.3624, -1.3607, 7.1453, 1.8339, -0.0269, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a92a09df0ebe1f7d1df0c6f2c891ef58496c5138d99d909bbdf903d5444814aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d88e68f9f2c005fd05f3d232335720cb53757e36b527a271f1ae24a590e2b45a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f3f0c471e222d493034c1d0f5ef3dc141ae4fe050921d6684430ad5e61eee79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6wcKEAgSGAI4AUIIdGhpbmtpbmcSDAaIfjPXc3R3nILY3xoMlLzy487GU5YFNi5YIjBXqH3W6R4Z3rzV5Qn2qY7Yn2ROP/A1jk2zrzokDIuE3Slup3bWmDbpcFGFYGZ+2r4qiAfwWJR4q92hG8WB0mzUg1ki/NDltp70aeUnM5Qm8vjRe7wGVk0RP4b4zJz4u2Rz5D4GO+cp4qXxV53R3Ev2zoV5ySeuq6VuMqkkzr/CM1TYbKUXK09fsKCoSLPTXNO9Kv/qr+UsJBikWKFLhLuuksiGVne7MCWgOXE1H2P1lOwsBq2SclKYo4zrXjGXrGEIElydijImdlitNrUU+EN2trbQzlFJ3/H5S7yBOpp9kr2M2qdwQUvv6wHDAt+Kx/MgNMiIDl1euB4tsWMUEh7bSZq0lg+Epasf7UFavZXZnWuOkasXqD7JECSym020Ns5LIs67An9dTvjZNeXSGps8CAmMNSrA06YZOUkGqGY1IMmaPS5cJk2SoZnaDCNqshH1IYYHHGSvYiXL81oBXJ0BRsPxmdnxLFzkvsgDhgv5OdNd1Qkf2gWk1eCm0yblFnsK4VRWh3fZuMKTPc60dyqdJW7R5TCk5G0RIUHD29lNd3CicUInQr+zi0UO5Z3+7yrzXlDUYwnLAu1URZBP5tw9Ufv7mcWpqWZi0KYmWLgUuELc5N37i5ZfjSONzXunu0RktIt9XxgeVshfUYJbd05j7BUJxjndoZlxdfiznm3+ETxz2CpBMjSwLaCrqZO6SGbW/fv8wTIpsZtFGVIgV9aC155PoQgRXVmyjsG49vXCL1mvJyUSmBcR5LIGGwNufh2HLXE51mcezCvN+7Hwc8Qi+AKLF1gOLGRpXAItJVn9d+yo71Ahqsb3s9VBJIsJ1zYbhXM8Yq2OutaXaeazhXCZvViWGly3Z9fpb/pNiMxO4uo89dibkmOqKMYibfCQL0H9k4Sb0Tonzwx+vfTo2U2gEARkQAsW7o7dzxw01gBiClfiO/8gFHKNe82uLI5QXiMZXizSB3Lz/6z1efk4uDSUUhlr3wMiiFC6qIFIpmRF73h09l3If0xSzwJ+BlYa5C+CytyMpYTeWpfb9WyqwuSvFNmwMBgjUMj9eErWrptcJtIUJEWjeAqRhQlKakDWKX7aRDLhsKePjZGy0I1AEyFXcMBEGUF1CEHPWWeJiILEA/YAP/JX41wt/yBuhebzWWNwY4dXk9QYWKzaymyq2nlYZagenf+FlqjKTCv6KnrTs/F1PwYdRGW4xURHCfBzmjwSpiKWEVmG6b7DjFEpXWVJSYwGPI6pX9VzH93qfaWLEgtf+/0xL024uEAtGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01V98S9yHBjzk72FADDWJoP5",
      "input": {
        "note": "Cap is now centred on the jaw column and aligned across the jaws; descending to table level.",
        "targets": {
          "left_x": 0.392,
          "left_y": -0.143,
          "left_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01V98S9yHBjzk72FADDWJoP5",
      "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]: [-0.1314, 1.8881, 0.6998, 0.4294, 0.5571, 0.4099, 0.9994, -0.0181, 0.807, 0.6132, -0.4126, -0.0223, -0.0143, 0.9993]\nstate[eef_state]: left_x=0.3939 left_y=-0.1427 left_z=0.0067 left_yaw=-0.8226 left_pitch=-0.0529 left_roll=-0.0362 left_gripper=0.9994 right_x=0.2923 right_y=0.0022 right_z=0.1739 right_yaw=-0.0032 right_pitch=-0.0484 right_roll=0.001 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -7.1863, 5.2718, 1.3455, 0.2125, -0.0122, -0.0122, -0.1846, -1.2786, 7.0085, 1.663, -0.0366, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:720ece7aa8ce26b79427ed55c726c67a57bfcb1e3599f943072bb0687696ae88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa0b2ed14431f7b30a5fa25d11cf1c5b5910cb35ec7ca86a02a95173f93fc2c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6a80e154462e219b952b24fc6309baab26d7f1e160d076501a0fb068f45476d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 3.944 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1463, 1.7844, 0.7307, 0.0982, 0.5606, 0.4129, 0.9994, -0.0181, 0.8062, 0.6132, -0.4004, -0.0223, -0.0143, 0.9993]\nstate[eef_state]: left_x=0.3589 left_y=-0.1442 left_z=0.0075 left_yaw=-0.8579 left_pitch=-0.2013 left_roll=-0.1635 left_gripper=0.9994 right_x=0.294 right_y=0.0022 right_z=0.1766 right_yaw=-0.0032 right_pitch=-0.0355 right_roll=0.0009 right_gripper=0.9993\nstate[joint_eff]: [0.2803, -6.8581, 4.4923, 0.9158, 0.0366, -0.1343, -0.0171, -0.1709, -1.4974, 7.0496, 1.7558, -0.0122, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.131, 1.8202, 0.6998, 0.334, 0.5591, 0.4137, 0.9994, -0.0185, 0.807, 0.6132, -0.4118, -0.0223, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.386 left_y=-0.1418 left_z=0.0179 left_yaw=-0.8268 left_pitch=-0.0731 left_roll=-0.0518 left_gripper=0.9994 right_x=0.2924 right_y=0.0021 right_z=0.1741 right_yaw=-0.0034 right_pitch=-0.0477 right_roll=0.0007 right_gripper=0.9993\nstate[joint_eff]: [0.1573, -7.2547, 4.6974, 1.7851, 0.5153, 0.2125, -0.0073, -0.3624, -1.3607, 7.1453, 1.8339, -0.0269, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1314, 1.8881, 0.6998, 0.4294, 0.5571, 0.4099, 0.9994, -0.0181, 0.807, 0.6132, -0.4126, -0.0223, -0.0143, 0.9993]\nstate[eef_state]: left_x=0.3939 left_y=-0.1427 left_z=0.0067 left_yaw=-0.8226 left_pitch=-0.0529 left_roll=-0.0362 left_gripper=0.9994 right_x=0.2923 right_y=0.0022 right_z=0.1739 right_yaw=-0.0032 right_pitch=-0.0484 right_roll=0.001 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -7.1863, 5.2718, 1.3455, 0.2125, -0.0122, -0.0122, -0.1846, -1.2786, 7.0085, 1.663, -0.0366, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:720ece7aa8ce26b79427ed55c726c67a57bfcb1e3599f943072bb0687696ae88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa0b2ed14431f7b30a5fa25d11cf1c5b5910cb35ec7ca86a02a95173f93fc2c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a80e154462e219b952b24fc6309baab26d7f1e160d076501a0fb068f45476d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjgcKEAgSGAI4AUIIdGhpbmtpbmcSDO2971XXSZGPE+lJjBoMMZiApPm6jetmcxbPIjCop600hqTduhjV7TN+tPwW1zVtMQcgn+3HuqRDID047j/fqoxWNwW3/3l7ZSWp2vYqqwbBbGs/5AoSR12nmZVYf/sxFYyNE00JsYHhXcJhFjfAuj+hjff2QhoOl6iqrPxXeYJXMr9A1e3amk8lsvAdh7a7cWDooHZGs+1An0Y03Xr2mCosADxsjoPgnsvf3eEzzl0Be8FN8JbbjIG3bZCqGb0+2aGuH0yYQfYtPgEGaTrv3ONFGFbBv1/LE88fWlWrvGN/1PQAY1gDtVOiDqgyF1CSiNKIsVxuWJb2jr0rr/SIQg2AVwXKOBtV9thVZT0cnkpzkeqInYxTJN77D86CTTdXfcUX4fXw8Vs+Q8Fm4f4/wR1LvY5ea5QKDtyU2uw93V4epgUiTsAvJgCr3bJQp9p4ywz4/O/Rsfpvnxe0bT2hYkM6R1+0FGOKMQFB284xAVFTcJjMnJE+af99QPupSOGfEVp+73J68gk5uVHXlC4s66qhdaXLj4a5hqm251YvusgRJMG6KKyeCvoUjQqy/5QI9OmA9dBT2+u5iayx6tQKaMWFPtc3Am9JzES9goKvV9aO2ZqIT+2f7INhym1UMhKFyJ5kLLxFQ6NsEWR/6ccKx34ZKXTbl7uFrfmMg9OPpT0pkFNXlpw4YkQn9FvQb3JJiKhhzgl0JpXOhaNEPUBV+QeAkrLIuFdgSc7ttduYD6JkzimHjxNFALgUeFC+Jvos/IzHMcdZvNXfjMTK8nwxx4+MIMwvoMyms4Sk7fen5XzOd+zjrHoctUtrHAvG6yzbXLeOKa2NS6m0uCsHkuQ5npeD2T0OerYbJhqTsYDDbEJnlS+l2cg6da6sAR4YI6p0lot8hycK7YHGmMgeWegvrj4tqhKz93R1uj85lJKhgCgJqeb3iEhIfmAf2Ap7rYlXlChuPNEXMos/0yPDteKisi1q2tFBec/veItOeyvWKF9zKOHfYL9DA1/pGxG/E/wUFEBT62+al80wkg6MsIQazDJFaHeZPvgWSI7gg1avxl2WcyO+MboaAG/a6Aed0kX4T9YBYA/X9lS7UyDq8drZQzzv2r3ubXsD2iuh98Zfoad5UIAt73fNGZgLmI8CllQn70sp5LfWkWTi+KqSM2Sp9Q/2P9m4u12weVQlGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TBQnwSvQCoJzv2kEJmDt25",
      "input": {
        "note": "Cap centred between the jaws at table level; closing the gripper.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01TBQnwSvQCoJzv2kEJmDt25",
      "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]: [-0.1314, 1.9083, 0.701, 0.4381, 0.5552, 0.4026, 0.0474, -0.0185, 0.8108, 0.6132, -0.4129, -0.0223, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3936 left_y=-0.1423 left_z=0.0004 left_yaw=-0.8176 left_pitch=-0.0618 left_roll=-0.0476 left_gripper=0.0474 right_x=0.2925 right_y=0.0021 right_z=0.1728 right_yaw=-0.0034 right_pitch=-0.0526 right_roll=0.0008 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -9.853, 4.4103, 1.4628, 0.2515, 0.0757, 1.1209, -0.3487, -1.6615, 7.0769, 1.7363, -0.0464, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5525ce6f809a30932543ceebf02479fa43be5f531aa4c05e531286ede79279ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee4812d989ff765b8780b792ed76158573f68b0ca382995acd5c7532ab8db36f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:db7f371b1bf7a4acaa429f49377a0f73e27d5fa8bca6060aa55584423f2b4780",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 8.179 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.131, 1.8202, 0.6998, 0.334, 0.5591, 0.4137, 0.9994, -0.0185, 0.807, 0.6132, -0.4118, -0.0223, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.386 left_y=-0.1418 left_z=0.0179 left_yaw=-0.8268 left_pitch=-0.0731 left_roll=-0.0518 left_gripper=0.9994 right_x=0.2924 right_y=0.0021 right_z=0.1741 right_yaw=-0.0034 right_pitch=-0.0477 right_roll=0.0007 right_gripper=0.9993\nstate[joint_eff]: [0.1573, -7.2547, 4.6974, 1.7851, 0.5153, 0.2125, -0.0073, -0.3624, -1.3607, 7.1453, 1.8339, -0.0269, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1314, 1.8881, 0.6998, 0.4294, 0.5571, 0.4099, 0.9994, -0.0181, 0.807, 0.6132, -0.4126, -0.0223, -0.0143, 0.9993]\nstate[eef_state]: left_x=0.3939 left_y=-0.1427 left_z=0.0067 left_yaw=-0.8226 left_pitch=-0.0529 left_roll=-0.0362 left_gripper=0.9994 right_x=0.2923 right_y=0.0022 right_z=0.1739 right_yaw=-0.0032 right_pitch=-0.0484 right_roll=0.001 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -7.1863, 5.2718, 1.3455, 0.2125, -0.0122, -0.0122, -0.1846, -1.2786, 7.0085, 1.663, -0.0366, -0.0317, -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 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]: [-0.1314, 1.9083, 0.701, 0.4381, 0.5552, 0.4026, 0.0474, -0.0185, 0.8108, 0.6132, -0.4129, -0.0223, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3936 left_y=-0.1423 left_z=0.0004 left_yaw=-0.8176 left_pitch=-0.0618 left_roll=-0.0476 left_gripper=0.0474 right_x=0.2925 right_y=0.0021 right_z=0.1728 right_yaw=-0.0034 right_pitch=-0.0526 right_roll=0.0008 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -9.853, 4.4103, 1.4628, 0.2515, 0.0757, 1.1209, -0.3487, -1.6615, 7.0769, 1.7363, -0.0464, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5525ce6f809a30932543ceebf02479fa43be5f531aa4c05e531286ede79279ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee4812d989ff765b8780b792ed76158573f68b0ca382995acd5c7532ab8db36f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db7f371b1bf7a4acaa429f49377a0f73e27d5fa8bca6060aa55584423f2b4780",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9QYKEAgSGAI4AUIIdGhpbmtpbmcSDJNR2yLb01wWc1MqSxoM8F10+dI90Ojs/rWPIjBHO+f0ZexSFCDwfyUOw0RiObpp5HoGCbUmbmDIq4UO2tx5XubYn0f5NmtEb2MinfIqkgZ5qknU1no/2cN5QG3W6StJO+py5/LTTZRopxrmL6X1AVqwY9GrUtoiyMcReTh291E+drjhibMnaSySvi0aB4XW2fPvmXem6qCJTLnZDlOxX33tY7V9wJEe/HJfDZK822HhAPS7BJx/wAs099TGsR4BKnb6K0yoq05ZsRzOzDH3bwhuyJrSIvv/lyzdMfNfKfSRu/RHFxKvs+UfIcQuvZyCDSvKM2fbWn8LSjfSIbu8SgglxSw29oFCVFbiYxzijsyqkjglVNW5xfElbtzn1KGPMcojgcpfeMQlVxNJlZlMZeTND3+XoQGEOwBpvM5coixmq6QON+WMEAuLdjGk0UIdfb79WZcoVzrHTEOep5wJdeh3Mvz6PSTLL7wJNyclEFVossiLv6Bl3Qu0YvtTsQan9jRItiqREN+Yi8oL5z0GllaR3EDFq/JEmLNsDk3j0LJsU7Hm1/F4ZkVnQrM7oNEHQtT4A/MSUq4g3KjAOboECx1Xdo0chGOHp0NKtHgxRFmgB9TMlPZi4Cfwo0C1vhPsJHuMCOdKaB7t/OefgeJaNTFwthorBrXflrCsb1OWPEjfqsQb9Cw75xvYm4qoyRM/EOwguftfeTf7TbxnmSd0vFq9wp9FRmJE4U4U0xdjxnyVOcmYlHBZ4ScxFTkYESWFDVEo9OA/8BziExCgltfvxdMZzJgP8BSAK0u77qZvZibBrgxpZzgCMZsunVCQnaJupi5mAsYqaW8uFD1xZoP4lNv4cl8LPkcLJL9Ehpo1vedt6QNcQo+VYXarywLXWgyEuS0lwKyKORMR7GdLFo1J1Dhro/Fkmv70B2Y4niuIHR+cA5XvfM6DnVhGM23vyGboBzgzuwUZVvQugJrxL42dXc2p9y6NODunwJH/APzmP9riPEPF2xEvfe+Gb1i1ylnZG2FQYOYY1OI/mNoeO2BEFtE0pCREcmM6Cxmq++mtxBFQvTnzGjRPGubhWoUBQggGohZ2/Q6inj/x107YdcSEmxM6B0V1sJ9D6GXSKtHnxZrSGRqMI4HJlMEEdWjQpBoc950YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KAKK3ZS9ey7S7D6JReLXaW",
      "input": {
        "note": "Gripper settled at ~0.047 (possibly holding the thin cap); lifting to verify in the overhead view.",
        "targets": {
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01KAKK3ZS9ey7S7D6JReLXaW",
      "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]: [-0.1314, 1.6093, 0.8589, -0.0452, 0.5503, 0.4015, 0.054, -0.0181, 0.812, 0.6132, -0.4129, -0.0227, -0.0143, 0.9993]\nstate[eef_state]: left_x=0.3896 left_y=-0.1411 left_z=0.0952 left_yaw=-0.8145 left_pitch=-0.0844 left_roll=-0.0625 left_gripper=0.054 right_x=0.2926 right_y=0.0023 right_z=0.1725 right_yaw=-0.0029 right_pitch=-0.0538 right_roll=0.0013 right_gripper=0.9993\nstate[joint_eff]: [-0.2667, -8.9641, 9.5658, 1.5067, 0.1929, -0.0366, 1.0379, -0.1026, -1.4154, 7.0085, 1.6874, -0.0317, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9f2470cfe6f5688905fe117b12f3d7b68132644e320f95dac3c286c66572e68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec02e4f242813642abff2430d7337f48a5cbd9906d80567ac232606abc7f67fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5c9cf80e21d1e76cd66ee920266dec2803fb6df3822b53a46e476269bffb43a4",
        "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 · 7.658 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1314, 1.8881, 0.6998, 0.4294, 0.5571, 0.4099, 0.9994, -0.0181, 0.807, 0.6132, -0.4126, -0.0223, -0.0143, 0.9993]\nstate[eef_state]: left_x=0.3939 left_y=-0.1427 left_z=0.0067 left_yaw=-0.8226 left_pitch=-0.0529 left_roll=-0.0362 left_gripper=0.9994 right_x=0.2923 right_y=0.0022 right_z=0.1739 right_yaw=-0.0032 right_pitch=-0.0484 right_roll=0.001 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -7.1863, 5.2718, 1.3455, 0.2125, -0.0122, -0.0122, -0.1846, -1.2786, 7.0085, 1.663, -0.0366, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1314, 1.9083, 0.701, 0.4381, 0.5552, 0.4026, 0.0474, -0.0185, 0.8108, 0.6132, -0.4129, -0.0223, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3936 left_y=-0.1423 left_z=0.0004 left_yaw=-0.8176 left_pitch=-0.0618 left_roll=-0.0476 left_gripper=0.0474 right_x=0.2925 right_y=0.0021 right_z=0.1728 right_yaw=-0.0034 right_pitch=-0.0526 right_roll=0.0008 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -9.853, 4.4103, 1.4628, 0.2515, 0.0757, 1.1209, -0.3487, -1.6615, 7.0769, 1.7363, -0.0464, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1314, 1.6093, 0.8589, -0.0452, 0.5503, 0.4015, 0.054, -0.0181, 0.812, 0.6132, -0.4129, -0.0227, -0.0143, 0.9993]\nstate[eef_state]: left_x=0.3896 left_y=-0.1411 left_z=0.0952 left_yaw=-0.8145 left_pitch=-0.0844 left_roll=-0.0625 left_gripper=0.054 right_x=0.2926 right_y=0.0023 right_z=0.1725 right_yaw=-0.0029 right_pitch=-0.0538 right_roll=0.0013 right_gripper=0.9993\nstate[joint_eff]: [-0.2667, -8.9641, 9.5658, 1.5067, 0.1929, -0.0366, 1.0379, -0.1026, -1.4154, 7.0085, 1.6874, -0.0317, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9f2470cfe6f5688905fe117b12f3d7b68132644e320f95dac3c286c66572e68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec02e4f242813642abff2430d7337f48a5cbd9906d80567ac232606abc7f67fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c9cf80e21d1e76cd66ee920266dec2803fb6df3822b53a46e476269bffb43a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7A0KEAgSGAI4AUIIdGhpbmtpbmcSDBPFOFakhKpjSI66dRoMyQr9qD4aPniC1+bgIjD0L6EPTSdb0d5skLrYnxvp4UU9hst/N1C6MjRz1dQ+uDNrRfCCDPkg97460BTKX7YqiQ3U42kdTliroJD4YwiOAd+r4Ozfcgq1cgMdbMoBzyEQQSni0kxLgQRtkdwwWV6gTdt+hvWaAzjGAxfqrbsv+nC4o0D0x9kcRhZO+ztQT2evw92YPYV1qx8oEzz6Q9IU5uCpFoQKr1PKRshcBaqqfNH9c2QYt2uH1/Qlw0StaB1BZDkg9nc8KgB/7Ix5KG4f/fPdr+KtqlDznzuOtNkBdouvZYF7fArCEDILZbdUossUaCm3I/Acvb55zR/btYeB3AMmuQUOSVnwnPt35ClSuFkVPftxZdIZaWqLS0djPSHh8sFKFmHk5SNSX2+rd62oUt781KRzVhQX+4petO2ilraTMF5TLeLqZoc8WndC23cnEEedQzC1Ke9KCVaWeiAZ44IymdyrBK/S71XwNvDPb85MKboqWMcQ/8vB07KgJtATEX1EqhzjvUyJxd1jV+/i6DD8DOVbHjB5hHD8uI6ZTiqWTsM+Up7mVKtXjXJ+89OUb9rf7NWmr9SvYxLz/8TrMo7+9Od5ft1I78reVYwSzrijU227L6wzvoKf9/0jwkjWob6GQ4IekYQMN5b0HwTpKNbhju2lr0BSboXkY74q8ElDjqqMSPRuhMRu56gPi/7F1UZGzLZrSilYYlVC0+AraVKUZuHFoaDSHl640Xxhabr++XzYtEV6+jfNS6XVlA85NzxAFbxf47kdVqYxTlOl4pEDrvPmc0FoW8MWQcLTIaokuUUqGkbE6Ie1m0yvT1wUWv7Vin9ZL9IeELG2NtY5ChC+gj7swDDPjAH7c3pK7SBL4N7q0BxO8XgEgU4L6NUhnRK7B8NeXX2/WJSM7umMxRgmJaILT8DkAigBgRvnf0L4PE5gMH2EVkmBI0UH/kgUP2Li4y21Y7pZZ2jAgaI70Asz8MPPY2JDW2jESuoqvYELzBGJpdaRAcZ3fu5urGuWrXOg2D/v5fDeNGUqb3MFZxo4pQ8iV6wVO5wKQ1J+PWk00f0PfDlu4OXyecKYL+waxFnuC4/JiwhY40PhE4y7ldT32JRnn4miF756OUgIK20oK5SdYZrnSQXgtrZwhpRPuQ8xbZvNLMRS4QfdkfL7DQdm8hMX6yhqaDpSYBOP/qYoGVmkAb5LJTejD/oBYBVeNKItSR+ymidAeFzE3qxyWP9jO/S3yghWIZA5hCaZibteDS2gbtaSnjRypicQcXiiJoEZzhIDGs7UHm4iMleTR/F9FYElsvlGCIagAf5X/dORcWMbBbIHrGA028rxdBz3IRW7Yj/cONurvLf+ipDPBsVwa0VubJwQ29aakLXTM+4Jqq9sEN8QfNLqygVdL1fq3L87kYfUiejT5DZNhZKK2J/O4Trr1IqQCckc7mGH76wzfNPbQxgCtOmCvZoNwxapmE/grHxK+pHeJLbZrPc/OtOpcaENGoq8yT+fIMhsGRzVGYvEeLaoIPDwf103QMzG06kdPpKW7M1y//0LBKKjJUPYjCP57GEWsXilGefyiXFG79Pn9uKnuxpVV+m9X2RnGEPKp6I/WoKyaXWOlYOMw9aCUlvKOiPbz2mXoWqnq15e1X6MXZDF+ZG66WgrVBOYgVxy9LUTQa9QUH56aZ0J8LfROkCK6xrToXIsjKHBpIyIG7UJM8AOPGx9ugD5jGloPL3D5T5iBrZwqJhEtsprF/aFOV4YOScZcHlgTN8mKLFeQDtBHsN5jDgZrux7mJfEaXSYfF9yNvpVo5LC9yVLr96++KpE5RUMqns3AONpueKS16cZCcqnrujV3K07aRdqL4mOVp7/WrviXbkk484QHXf3q96OpbVdsfKsAYu7OTsf/ruMnHpYePjtq+8mImQlDtosXEBn3ux2tiDS3ziXRTwcf9TTBt5qTal369XHqB5MNtHKfbsy+QolZ90G/N9vm01hmmU9EjJVqGM7trQQshBQ+bx5qSfS6XE1VLTUl5qklt5IundXFv7JVjsrWiQxzXykC7M5g+l8yp5ANvvZ9q9ru0h6ZWxYfhUJhsZiWFYt9xY7JBd3oeW6VWF0QBMas+24Da7OxiagyBhwGezpzN3v8ygyJnyyt/gX4iBEQF40eTnSFUnwZzLefwVOgQselLtVdiAr0MmJuh0ml77kxLG98nz48A/2fyloBfh8p+h5BilE4tFSoXCa1MgDkvrSOykMmFjW6IcvZIVj9gzQtkXrDZYoAt9wc+JfaQM2Sd839BK1TCNMbBmqalreWfvz9EBComVsIPdsfRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019XLWTeDpqp8AKeyB3rSEQz",
      "input": {
        "note": "Cap appears held by the left gripper (reading 0.054, cap gone from table). Moving the right arm above the pen, yawed to align jaws across the pen.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.34,
          "right_y": 0.26,
          "right_yaw": 0.4,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_019XLWTeDpqp8AKeyB3rSEQz",
      "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]: [-0.1314, 1.6119, 0.857, -0.0639, 0.5503, 0.4015, 0.054, 0.7483, 1.552, 0.7383, 0.0998, 0.2691, 0.1913, 0.9993]\nstate[eef_state]: left_x=0.3861 left_y=-0.1406 left_z=0.0906 left_yaw=-0.8158 left_pitch=-0.1025 left_roll=-0.0773 left_gripper=0.054 right_x=0.329 right_y=0.2463 right_z=0.0818 right_yaw=0.4053 right_pitch=-0.1253 right_roll=-0.0283 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -7.4188, 6.3521, 1.5507, 0.2515, -0.0464, 1.0281, 0.4718, -6.6256, 8.4991, 1.9316, 0.2125, 0.149, -0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:895126a536329041d909003c642416f87ad02ec4f7549a6acf04223aed7b5370",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02a40db91af7c977e84ce34c0e8ea6636dd329902c3dae0010479c730486f770",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:91ff632c536a42e1413b5602a4a54bee291898a07b2c7b8828f123050b949d2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 5.512 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1314, 1.9083, 0.701, 0.4381, 0.5552, 0.4026, 0.0474, -0.0185, 0.8108, 0.6132, -0.4129, -0.0223, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3936 left_y=-0.1423 left_z=0.0004 left_yaw=-0.8176 left_pitch=-0.0618 left_roll=-0.0476 left_gripper=0.0474 right_x=0.2925 right_y=0.0021 right_z=0.1728 right_yaw=-0.0034 right_pitch=-0.0526 right_roll=0.0008 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -9.853, 4.4103, 1.4628, 0.2515, 0.0757, 1.1209, -0.3487, -1.6615, 7.0769, 1.7363, -0.0464, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1314, 1.6093, 0.8589, -0.0452, 0.5503, 0.4015, 0.054, -0.0181, 0.812, 0.6132, -0.4129, -0.0227, -0.0143, 0.9993]\nstate[eef_state]: left_x=0.3896 left_y=-0.1411 left_z=0.0952 left_yaw=-0.8145 left_pitch=-0.0844 left_roll=-0.0625 left_gripper=0.054 right_x=0.2926 right_y=0.0023 right_z=0.1725 right_yaw=-0.0029 right_pitch=-0.0538 right_roll=0.0013 right_gripper=0.9993\nstate[joint_eff]: [-0.2667, -8.9641, 9.5658, 1.5067, 0.1929, -0.0366, 1.0379, -0.1026, -1.4154, 7.0085, 1.6874, -0.0317, -0.0513, -0.0073]",
      "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]: [-0.1314, 1.6119, 0.857, -0.0639, 0.5503, 0.4015, 0.054, 0.7483, 1.552, 0.7383, 0.0998, 0.2691, 0.1913, 0.9993]\nstate[eef_state]: left_x=0.3861 left_y=-0.1406 left_z=0.0906 left_yaw=-0.8158 left_pitch=-0.1025 left_roll=-0.0773 left_gripper=0.054 right_x=0.329 right_y=0.2463 right_z=0.0818 right_yaw=0.4053 right_pitch=-0.1253 right_roll=-0.0283 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -7.4188, 6.3521, 1.5507, 0.2515, -0.0464, 1.0281, 0.4718, -6.6256, 8.4991, 1.9316, 0.2125, 0.149, -0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:895126a536329041d909003c642416f87ad02ec4f7549a6acf04223aed7b5370",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02a40db91af7c977e84ce34c0e8ea6636dd329902c3dae0010479c730486f770",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91ff632c536a42e1413b5602a4a54bee291898a07b2c7b8828f123050b949d2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7QoKEAgSGAI4AUIIdGhpbmtpbmcSDPjDHKJm5apt5/aDzRoM7mmeLubITZxh4jzVIjCqj0VwgHqtb48iihAjV0zISWOXXiouUp5ME57xKyHmeZxlvAGm/vmBz2ZH8+N6OXcqigpUdBxqPyETsGnxQYHGH3Z1VASxzW+TZdMshkrqEFAaxV7qa404hf/xP5gjEuJ5mqxhMKjagjZUKrXZr61gw8LXtw0HzIWQ0Vikgu3gYJ74RUDSKrr7M5H34PSN+sCgDFHEhwqHlJmZsF8ihBowFXbTJ2Al8dp4v4wBVUw1smWq8xKt7Dog04aSQ7ZNVkyGh9PUCwbYBHnf4Cr5YoTmEnZF/dnuJwPF7Y6FGLGewIErNCEvBikbwpWKkWqD23ictYnvMawJKqgHvP9uoywF0rOEnSAv7QYFaav+3IIRlYpPAX3kLq9DTHb+HaLHHYfg69GunueDQ3LMkpaTOpjW5O+jKAxKHKWvXpDyYsAgme2RzDpaOEVThEtR4e2x5itNpJj7iZm2+4KNd3cukSTeQf82ZZaGn085t5sNfrKojgOByHANWiubZNlgV6XG1RI5LvRYchFTSH02kssuXbi3dbMeptjPVDFE1IZhCMBjt7bXxTTuZ/tkKYLrCCyCsexl6SohYfC2ftOBfTM9P8Z5IOtvnvE89pbUmX4sQBRA7x3cA/yuMrFpmWhhCAOHAMN9MjeuZJrgKR4oYYRrNLOU9q9jPH8R3rhAMATk6/HZqRH0Ow3FHQfDg4U8YP59J3ziRT0Vy6Dn8h3gXXCdktlsCphcO/InY/PHozUHwpooc3k1yI+Ike6y1TAHKQ44NWZjAZTCvNMm/Iw1o/aw9w1uGnrQPxFJlcFkOrGTPhK16eWUEm2seeTYRzvtXDbzHLJwi/VnLTeuZSVy7V9iKzX4DuDFIf0FRDxpkE1LJ+NZx7fdO1L1MkRM9u2bK1F44Rbs5PTX7fT2JDx6qxtB7CUg2wAC595B5K0zsqh+qg3Ew/q39kCCfz6s80xTtTh+9m8dE1oEMk0B6onv85tXZjmcXYsfO5gEEkucs5bbdBqiqYZ5guOcp0LosfYwLQcEYvkC2RSN7HFtwwdmK9CBoRwAgM/aHNP1If9g1hw/8Mq9FrnxPKw8Sn7czfh933IlPTM/qRNg0RT2xo2LFCCw+Xv544qVIVdRT0M0H5Up47GJwWuBfNWtGAURrQyJBwpoG7ROxX1cXxO+cZLOnxRlazc+YIHObB3y3OZY90OQQN/6cCuD92ssYTfSFkTRXx8piUJTi6WY/Zm04hFP8zTB22pfMzhtLjmtNFRIsn9UND9KbMPdF0K02fdgSWiXRsahSgVkKh44LOgE0KQZPYRcVojPKN8u1u+EO2yYloKcbPX3V+RjNLbqPWcvUd6QKrEHECtNCufzGRG9F6qFMoTgDHfGsu4PTjWmXp+UpWPZbbG18jMSsrvKE00cTsMc5DKEgQ5z5G++V6XqMToZjskaRkN5YSnHs8jzEr+TXwX+TuJuu4Nn/G73zoDMkZZwWrkjGDWCKgE69251/IH8CS2ho4MfHKpFhgH+37u/b1CW7euttm28xI5QgF/C+tpWUuiBnKevgdGCtcrKfC07/pTR8ZWgB2cxzaA2EtDb5zRXEOtQ+2hXG2omr4/Rok45/w8LEmnu2SK0IbeOJe/yjcyM3TIVzeMTWf/O4VE3bbvpESKZ5fkiCrSE5MqZSg2qpxZZWD84uoRc9tHXje0cKoarK+Q9Lw3rXLj0PpvL8H/QVoIUHsGNr8dVdYisyef/Mp/p2/Ur34rESaCa81gVdMpiNSA9JbWQ6xjoez6T4DyklMCkM7EkF9ndufE1aZ195ZoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Dw5LzYJFUShYSGEK5jk1Gr",
      "input": {
        "note": "Right wrist cam shows the pen aligned along the image vertical (across the jaws) but a few cm ahead; moving forward ~3 cm and descending.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.363,
          "right_y": 0.244,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Dw5LzYJFUShYSGEK5jk1Gr",
      "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]: [-0.1314, 1.6131, 0.857, -0.0715, 0.5503, 0.4015, 0.054, 0.6739, 1.842, 0.6231, 0.5201, 0.2245, 0.152, 0.9993]\nstate[eef_state]: left_x=0.3848 left_y=-0.1404 left_z=0.089 left_yaw=-0.8164 left_pitch=-0.1093 left_roll=-0.0829 left_gripper=0.054 right_x=0.3482 right_y=0.2324 right_z=0.0014 right_yaw=0.3898 right_pitch=-0.1199 right_roll=-0.0265 right_gripper=0.9993\nstate[joint_eff]: [-0.1162, -7.3231, 6.2291, 1.4432, 0.2466, -0.0659, 1.0281, -0.2803, -8.0205, 4.7111, 1.4042, 0.149, -0.315, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e21c837c740aec41ceaf0cc2c1d8e856856804cb58e91d3eb86feb6058d1fe9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eabb2c5eaddd5f7b0f5844091c2ff5296b7b84263947e4dd0c5905222ce7d653",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cd1bc89fdb0c5ef562bb6edbad09876636345db702faf315dfa8bd924d8eb2a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 3.975 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1314, 1.6093, 0.8589, -0.0452, 0.5503, 0.4015, 0.054, -0.0181, 0.812, 0.6132, -0.4129, -0.0227, -0.0143, 0.9993]\nstate[eef_state]: left_x=0.3896 left_y=-0.1411 left_z=0.0952 left_yaw=-0.8145 left_pitch=-0.0844 left_roll=-0.0625 left_gripper=0.054 right_x=0.2926 right_y=0.0023 right_z=0.1725 right_yaw=-0.0029 right_pitch=-0.0538 right_roll=0.0013 right_gripper=0.9993\nstate[joint_eff]: [-0.2667, -8.9641, 9.5658, 1.5067, 0.1929, -0.0366, 1.0379, -0.1026, -1.4154, 7.0085, 1.6874, -0.0317, -0.0513, -0.0073]",
      "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]: [-0.1314, 1.6119, 0.857, -0.0639, 0.5503, 0.4015, 0.054, 0.7483, 1.552, 0.7383, 0.0998, 0.2691, 0.1913, 0.9993]\nstate[eef_state]: left_x=0.3861 left_y=-0.1406 left_z=0.0906 left_yaw=-0.8158 left_pitch=-0.1025 left_roll=-0.0773 left_gripper=0.054 right_x=0.329 right_y=0.2463 right_z=0.0818 right_yaw=0.4053 right_pitch=-0.1253 right_roll=-0.0283 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -7.4188, 6.3521, 1.5507, 0.2515, -0.0464, 1.0281, 0.4718, -6.6256, 8.4991, 1.9316, 0.2125, 0.149, -0.0806]",
      "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]: [-0.1314, 1.6131, 0.857, -0.0715, 0.5503, 0.4015, 0.054, 0.6739, 1.842, 0.6231, 0.5201, 0.2245, 0.152, 0.9993]\nstate[eef_state]: left_x=0.3848 left_y=-0.1404 left_z=0.089 left_yaw=-0.8164 left_pitch=-0.1093 left_roll=-0.0829 left_gripper=0.054 right_x=0.3482 right_y=0.2324 right_z=0.0014 right_yaw=0.3898 right_pitch=-0.1199 right_roll=-0.0265 right_gripper=0.9993\nstate[joint_eff]: [-0.1162, -7.3231, 6.2291, 1.4432, 0.2466, -0.0659, 1.0281, -0.2803, -8.0205, 4.7111, 1.4042, 0.149, -0.315, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e21c837c740aec41ceaf0cc2c1d8e856856804cb58e91d3eb86feb6058d1fe9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eabb2c5eaddd5f7b0f5844091c2ff5296b7b84263947e4dd0c5905222ce7d653",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd1bc89fdb0c5ef562bb6edbad09876636345db702faf315dfa8bd924d8eb2a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSigoKEAgSGAI4AUIIdGhpbmtpbmcSDIXIO2S7bqbcyJQHWxoM87fyTeZZ7uEODEVnIjCQvCQ1/4PxSIdSpFhA3O/HOcBEwPE+YBQ6fDH8co+9NDYdRdaSKMOKWmk3Pcjs2qUqpwkUmlML077h7AvsSLNROxf/Cp6EV/oBjQGGskJ4u65cbwzs04EGLjhhK3JywvrQDF1J8psX3J3PPb520cApZMO/XUI3pRpaoNu0Dfesx0Jydjw4XdMFgXXM8pHu5xhHTMj0vjAzQ2w7gz8YbHGQzo1bBORQh2bcmzscuBg0xKWK1rcC56X0WwX/miWMT9Bg7iSp7SUqFi+Ba3o6+Sz2YQj3fOCMW129rVIU0BC6KwzrIUtvwc20Htk+dTPWqUwGbI5dq2XXOxu37knI15aqoCLbpwvQG9JvqEmLJ6VCs7stcHpgOxzByVJaEpiTauGj/tskEGrWzI9BkvcAlTF+o78nFA57g4BO0CR0J7O4qzOJl5eaau+PmcJhyAmIqMFrTyoOf2p0HJt008PHwkFkNEQZQBqi0SHY7DBnsOWWxNMaGNB6cMtAJYwKGrnXfgLoFH8T4M4M1R+Vrz/cAvJUz4h9rTsLneqBNGkBl5oJhZ9fOSoKZqV+NWMYF0ZFNdkficKP8yO/9oPYIkKl+OMivrEQyNUNv0Aer0yVJ3hk/MQ6tk7YCYQDwu8xptv+lbQs7o15XPTEa/3b0SrZecTlF71gnR6fLA+WEAa5APKTxcyfT7PRcn+xWChMx8ZlUv32hUvSx1tLUqXYMYQ+4kbF51yekTspMvITf6Cy+7xLf5GgL3KXWI+JExvNMKprj47Lswg2LygBRQ2oWriRgGM7JItoTiIK1F4d0kuETaQHXobMJ1YjGAR+ttwQ2XyWf8b1Fu3X3tnKE4PsM3tt/Indm+K4JoXBLdUb/ZfLeMhNPRMHWCUMa37eQh88s+ZM6J7HzV9zrwbsojkGwJISPETTiVdJ0lH9zTzO22/QKcdfym8+JxJxRvMJmgl0f6QiN3sm+19L094H4qrzN+TZvdDD7iRb61gaJpOImJxnCe/LIJHA5a0tJ0NXGHf8Upv7lepskHYa5O7vf++jaGpMDh5hvNTcW5KtzZENuNLddXV3ibhgWJvdKThJRt1p5hxatdaly82MGv5gYQCpxcmZBuItndQ3sOEEX3sET+4o4nek3nYYOzWsDRGX9bHZmFu43dAQMJVnpPhjs1m+Us7SM6s+AKO/+LQXkQyPLC6LQp05D7cRzF5gKqBwkj9MST/SQgL8duW/zYV/1W0jRs7lqXSuu9PFO/TiZFQzcYioxK7ltE5khPDNPWVEZpwRTnqi2dnSI3RDKLRdhSJyYgMRjrwJDKSzBmGWJwgo6p8+Q//bgns9kUM0HQ+EFq2LNQOhIdiSg5v7gYGHglMdA56CaxybfXFPxMypOGgzCb/xifScUJ0mNi5mciK6HVtusj+sNHb4OtqF0ff0MMznGVfP558NqbfOHsKI2qsMf8ZI0jLdD+BcTXUWTHjgFR3zitPwbfHnQKUXvNUBQebyEB4ZsvXUpZYEkvCyLKhKySV6wl2VMu8BBHydsHU0aDHUEltmVal+WlUL3RgFYK+tpwg882eo8N4nMbWh/LK0KYbIfGkscRUIsjP3rGg+1Sns31xBboZHK9rH8Q+0YyvRSUAIPKMjguRxjYow5fZqyB0smerxwl6TY2hN2BszsTUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011tKiBAYzcToGb5iDPPDhNe",
      "input": {
        "note": "Pen passes under the jaws but ~2 cm right of the jaw centre; shifting tool-right slightly above the table.",
        "targets": {
          "right_x": 0.358,
          "right_y": 0.222,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 1 steps (0.1s)",
      "tool_use_id": "toolu_011tKiBAYzcToGb5iDPPDhNe",
      "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]: [-0.1314, 1.6131, 0.857, -0.0711, 0.5499, 0.4019, 0.054, 0.6735, 1.8614, 0.6186, 0.6441, 0.2058, 0.1413, 0.9993]\nstate[eef_state]: left_x=0.3849 left_y=-0.1404 left_z=0.089 left_yaw=-0.8163 left_pitch=-0.1091 left_roll=-0.0821 left_gripper=0.054 right_x=0.3581 right_y=0.2442 right_z=0.0155 right_yaw=0.4128 right_pitch=-0.0267 right_roll=0.0027 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -7.1453, 6.3385, 1.5067, 0.2418, -0.0464, 1.0232, -0.5812, -7.4598, 4.6564, 1.9805, 0.0855, -0.1294, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0b4cb5d0421ec8186485a6cd4260d9bf625846eeaf09e70e29ed0fe905e7996",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84c948dfbb3aec9687f4e2c3fc0d1fd53884922bbe8d229cd5e639908fbb6186",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0b397efb1ef59cb52f5623dfa7efed14d93907e0cf30bd41f031026a3caa9efb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 4.327 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1314, 1.6119, 0.857, -0.0639, 0.5503, 0.4015, 0.054, 0.7483, 1.552, 0.7383, 0.0998, 0.2691, 0.1913, 0.9993]\nstate[eef_state]: left_x=0.3861 left_y=-0.1406 left_z=0.0906 left_yaw=-0.8158 left_pitch=-0.1025 left_roll=-0.0773 left_gripper=0.054 right_x=0.329 right_y=0.2463 right_z=0.0818 right_yaw=0.4053 right_pitch=-0.1253 right_roll=-0.0283 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -7.4188, 6.3521, 1.5507, 0.2515, -0.0464, 1.0281, 0.4718, -6.6256, 8.4991, 1.9316, 0.2125, 0.149, -0.0806]",
      "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]: [-0.1314, 1.6131, 0.857, -0.0715, 0.5503, 0.4015, 0.054, 0.6739, 1.842, 0.6231, 0.5201, 0.2245, 0.152, 0.9993]\nstate[eef_state]: left_x=0.3848 left_y=-0.1404 left_z=0.089 left_yaw=-0.8164 left_pitch=-0.1093 left_roll=-0.0829 left_gripper=0.054 right_x=0.3482 right_y=0.2324 right_z=0.0014 right_yaw=0.3898 right_pitch=-0.1199 right_roll=-0.0265 right_gripper=0.9993\nstate[joint_eff]: [-0.1162, -7.3231, 6.2291, 1.4432, 0.2466, -0.0659, 1.0281, -0.2803, -8.0205, 4.7111, 1.4042, 0.149, -0.315, -0.0171]",
      "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]: [-0.1314, 1.6131, 0.857, -0.0711, 0.5499, 0.4019, 0.054, 0.6735, 1.8614, 0.6186, 0.6441, 0.2058, 0.1413, 0.9993]\nstate[eef_state]: left_x=0.3849 left_y=-0.1404 left_z=0.089 left_yaw=-0.8163 left_pitch=-0.1091 left_roll=-0.0821 left_gripper=0.054 right_x=0.3581 right_y=0.2442 right_z=0.0155 right_yaw=0.4128 right_pitch=-0.0267 right_roll=0.0027 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -7.1453, 6.3385, 1.5067, 0.2418, -0.0464, 1.0232, -0.5812, -7.4598, 4.6564, 1.9805, 0.0855, -0.1294, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0b4cb5d0421ec8186485a6cd4260d9bf625846eeaf09e70e29ed0fe905e7996",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84c948dfbb3aec9687f4e2c3fc0d1fd53884922bbe8d229cd5e639908fbb6186",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b397efb1ef59cb52f5623dfa7efed14d93907e0cf30bd41f031026a3caa9efb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3QYKEAgSGAI4AUIIdGhpbmtpbmcSDPUOkNxnr40qFPMoxhoM7KyAMUimzXdYyCFCIjDZQ+HUuMXueULonR6VXUdqeHpQvipYLm5ORQApDN1fM19+J99dpwVeFnRgwRpjNUUq+gW8cDvoZHvIUBg1hRKLkd1JQ3R/u4xOTK0lVGT7iZwyNNooZc9jC2VIkhmb9alDfCGEoKVefa/Wct8Kl9MwqxfzCrEDl2+BOU7vW4H/+AfZPnKcBiNI3duikfgoyyTNd85bbISnKN7xzdudXhQSgPTa4mH/alZNIaLSquRfTzlEONCnPjI1fYECUYWPGo0W8lGyXodX81AtYvHBcKMfVFpbkS1uq+SwqbVmlldlSFgYT0vlmgKjdp2Th9e5dsRi8WrNQHPHHUD9ISJp95HVxqcApShn6jXkeVlapfieT3UE9plgBxRJLsSlbCDSbCmEZDRJAJ5MTIVuzpazewLWX7gXhivBjUpD1izT6qLYH51OymJfkBYWn2pVT0liXywx71Sx2KENDiEKy/GjTt8h9tSfn7Kbmr7lQznvRRfH9/sWW9deHYIuohkzfFvqaPyROaVSZ9vWgjJrhguGiyPi5Lb1AnKmUi/P/IJWSVgk8Uhyw1gdzbyf7PRICc6kR5n6G1xF0giApwzTFiuYR3oKnVrhpTP0Kfc0ZhAOg83ZcgXMJ96vDbDmwvPFRZhJAe8tiWIWww3sa/kQV0Q/UnpisHHPaAaSoJu86oH8sgGcxBlq9Uk6GC83nQlBSBeal1lNwfABHApW0wvARmRWGRnyACBnSfDiGDLpotQaLge9qqZhhe0ZxDxABvm//wGi30SMoZ+MGoBQy0W7BDuwujEtEEsmVXBB6+cec7gIhdD76qy7/NgMJdY1+6SzMI9GCQ4IEqpTu3hX3RrTLr/DcNF1mqDL9VFEkZHMKY9ngev/7FEjvebITMP2ZNJ3YFW0S/xvBptqhXgL22waHvGIhUOGK0ieKDlC3AeBBOLbnslLFgBbjT1yOOHXyfacSlm0KmXFOBSbQ+QSPXRiscHCgoCMx1TSwIimcz6rpsiUiP4R7Ah2xl1JLid3XiKEGfK2EqD9WhKstGHEJHqPdUmeLoHyr1ToDkaXxeOC+uV5d+qgW6UXAtvJaycOsOL3AVQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KvCYPCb1o6nVYYFTEQ88Ro",
      "input": {
        "note": "Previous shift was clamped; re-commanding the ~2 cm tool-right shift to centre the pen between the jaws.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.225,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01KvCYPCb1o6nVYYFTEQ88Ro",
      "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]: [-0.1314, 1.6135, 0.857, -0.0719, 0.5495, 0.4019, 0.054, 0.6228, 1.8431, 0.5808, 0.6296, 0.1799, 0.1188, 0.9993]\nstate[eef_state]: left_x=0.3848 left_y=-0.1403 left_z=0.0887 left_yaw=-0.8161 left_pitch=-0.1102 left_roll=-0.0826 left_gripper=0.054 right_x=0.357 right_y=0.2218 right_z=0.007 right_yaw=0.3955 right_pitch=-0.0631 right_roll=-0.0095 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -7.2684, 6.3795, 1.4432, 0.1734, -0.0171, 1.0232, -0.8274, -6.0513, 4.2872, 1.917, -0.0611, -0.1294, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a36eea4b70dbe4a1f5b41d4742939e4ed0e843ea6b24f2804fbb77e3f03c5cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5504d1d7d71823879528220340e6bb12ed9471c7b1276a7ad55366e6f2e3a7a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0aa0f0a669fef56a9d56febf063ea28e25de59fda19a70821b315b776327a36f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 5.15 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1314, 1.6131, 0.857, -0.0715, 0.5503, 0.4015, 0.054, 0.6739, 1.842, 0.6231, 0.5201, 0.2245, 0.152, 0.9993]\nstate[eef_state]: left_x=0.3848 left_y=-0.1404 left_z=0.089 left_yaw=-0.8164 left_pitch=-0.1093 left_roll=-0.0829 left_gripper=0.054 right_x=0.3482 right_y=0.2324 right_z=0.0014 right_yaw=0.3898 right_pitch=-0.1199 right_roll=-0.0265 right_gripper=0.9993\nstate[joint_eff]: [-0.1162, -7.3231, 6.2291, 1.4432, 0.2466, -0.0659, 1.0281, -0.2803, -8.0205, 4.7111, 1.4042, 0.149, -0.315, -0.0171]",
      "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]: [-0.1314, 1.6131, 0.857, -0.0711, 0.5499, 0.4019, 0.054, 0.6735, 1.8614, 0.6186, 0.6441, 0.2058, 0.1413, 0.9993]\nstate[eef_state]: left_x=0.3849 left_y=-0.1404 left_z=0.089 left_yaw=-0.8163 left_pitch=-0.1091 left_roll=-0.0821 left_gripper=0.054 right_x=0.3581 right_y=0.2442 right_z=0.0155 right_yaw=0.4128 right_pitch=-0.0267 right_roll=0.0027 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -7.1453, 6.3385, 1.5067, 0.2418, -0.0464, 1.0232, -0.5812, -7.4598, 4.6564, 1.9805, 0.0855, -0.1294, -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]: [-0.1314, 1.6135, 0.857, -0.0719, 0.5495, 0.4019, 0.054, 0.6228, 1.8431, 0.5808, 0.6296, 0.1799, 0.1188, 0.9993]\nstate[eef_state]: left_x=0.3848 left_y=-0.1403 left_z=0.0887 left_yaw=-0.8161 left_pitch=-0.1102 left_roll=-0.0826 left_gripper=0.054 right_x=0.357 right_y=0.2218 right_z=0.007 right_yaw=0.3955 right_pitch=-0.0631 right_roll=-0.0095 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -7.2684, 6.3795, 1.4432, 0.1734, -0.0171, 1.0232, -0.8274, -6.0513, 4.2872, 1.917, -0.0611, -0.1294, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a36eea4b70dbe4a1f5b41d4742939e4ed0e843ea6b24f2804fbb77e3f03c5cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5504d1d7d71823879528220340e6bb12ed9471c7b1276a7ad55366e6f2e3a7a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0aa0f0a669fef56a9d56febf063ea28e25de59fda19a70821b315b776327a36f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5gcKEAgSGAI4AUIIdGhpbmtpbmcSDO63DJHJVuEMrnNebhoMv5tB2KzNI6vtVVtVIjASKlFi7IM4Zrq7oXg28TyxDSjPJJ87VxCYnsh1YhDSS5pptM0/h/t8xJXsBVGelsQqgwebJgYuK/gHjM/cygy5ep+E/5qPqDtcxyeKgt67k7uCkM326eGOn6XnMXWhmfpSaYDgdzOppIavwTd8y95meGpl0QhzwoIiIFZjZ1IZwGktK7lJ/zAxLgDwa5bMybwgjQ6LHRzqQi9EdbKNMo6JY06umh6FUGCSMx52vza3KYWYBy7EMX2fMsDuBvglRG5xhHQtiCTawLU3ZxMZWm5ZxdH/WfRBoJ3J6DhI2xvR5h+pBnkm8ks1cgCg4pnjVy3SqeMcRYBAVHpJCzPgmBX2u/JBOHSbDoi7f9C1DmDUpUCcawFS6M+Lh9CbqszhK4xuMtqHK02uM1OjNKNl8DtKiUfKsG85WGmdIyZYTPV+79tNDiFP/bNxZFSFalbMNQ5LHkzomRe/A6Fet1tnV+zBsBqNLkgspaVsFVN3UFN0Owh+I5HedDpkgrglWicXWlpK+Cdln8ooBHVeOcGXc96CSN3hnoFLeppTFQJ+zbyv8CJ+LJUQwhBxO7oNOf72lm/Xt58fTIKjW/rRcP8qg24sdiMTmo6TClOyhDuCQpfMVkuMnCTP3hbfWjKbOimIcJwhBdi3u2PTgdyOkBIRljT6USTYae8GzAqS0gos0eiWZADtzf5p2XNNQdvpm21J9gdfQRQQWwT3t3kd4e+cOeCdsPumDES5yR1A+Vbmpq/Cn7kgyli0jpknri5+1dDg57c99k54GtZWzzhuB7wL/idbxkLsbEf4vbeju0HUhf87/SxJSp/VV2KQHjVWlllhZW4RdxprwGUP7cgy4iAh8+hIuI4T656v+Dze9BCnrzIOS2GeCISeVe8DRCR7a9nQstQ7GP6EQ6/cTdZTYlpJcUgK/GyZTE5Ch+HeYBCq9OKBnLiM2oNs17FF7zKe2GxRy8B2XfGNpbh4V6SbMC68fwcpFgFasyjNx1HHhQ9QfyCo4/gJYcMbo4gU+R3qQdDjW1/j25FdDtftO3fXbn9snkTfHEb2rUoHmrgjB6PPtmsdi2XovDpV93DUAZXKvsX6P+hJ97ILhfCFqO5/Su2+qPaRpYTnGZmVpNeXImQB7IBrbY0D9hvypNIBN7F0sENKTU8E1h4xKvm1RS45RL48of8UjT7J790x6Z2UMx+AcV7TwPUck8gKF6ZbO9h9rAhpjMfUUfYxs8FynAqG9SU0asydFnK8OJ5lNJT24+kjwJ7yE9MXNp9k0xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Nza7Jy4L5fLFCgARYLrXUR",
      "input": {
        "note": "Pen now runs straight through the jaw centre; pressing to table level before closing.",
        "targets": {
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Nza7Jy4L5fLFCgARYLrXUR",
      "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]: [-0.1314, 1.6131, 0.857, -0.0719, 0.5499, 0.4019, 0.054, 0.6212, 1.8442, 0.5724, 0.6674, 0.1562, 0.1158, 0.9993]\nstate[eef_state]: left_x=0.3848 left_y=-0.1404 left_z=0.0889 left_yaw=-0.8164 left_pitch=-0.1097 left_roll=-0.0826 left_gripper=0.054 right_x=0.3572 right_y=0.2263 right_z=0.0109 right_yaw=0.4158 right_pitch=-0.0384 right_roll=0.0074 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -7.1453, 6.3248, 1.4335, 0.1587, -0.0366, 1.0281, -0.7726, -6.4068, 4.4923, 2.0049, -0.0122, -0.1148, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c387764b68e28fc54cc0d330f289546dd0fd9da7a3744fdf196df8a308aef69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2f8505a2e477cd3fba862240c620e196d961517878654d9eb5c0137ffeaa3e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:89b467943bcf503241990be8322e6fab03befae79f9731015953d8eee9dc1434",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 10.68 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1314, 1.6131, 0.857, -0.0711, 0.5499, 0.4019, 0.054, 0.6735, 1.8614, 0.6186, 0.6441, 0.2058, 0.1413, 0.9993]\nstate[eef_state]: left_x=0.3849 left_y=-0.1404 left_z=0.089 left_yaw=-0.8163 left_pitch=-0.1091 left_roll=-0.0821 left_gripper=0.054 right_x=0.3581 right_y=0.2442 right_z=0.0155 right_yaw=0.4128 right_pitch=-0.0267 right_roll=0.0027 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -7.1453, 6.3385, 1.5067, 0.2418, -0.0464, 1.0232, -0.5812, -7.4598, 4.6564, 1.9805, 0.0855, -0.1294, -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]: [-0.1314, 1.6135, 0.857, -0.0719, 0.5495, 0.4019, 0.054, 0.6228, 1.8431, 0.5808, 0.6296, 0.1799, 0.1188, 0.9993]\nstate[eef_state]: left_x=0.3848 left_y=-0.1403 left_z=0.0887 left_yaw=-0.8161 left_pitch=-0.1102 left_roll=-0.0826 left_gripper=0.054 right_x=0.357 right_y=0.2218 right_z=0.007 right_yaw=0.3955 right_pitch=-0.0631 right_roll=-0.0095 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -7.2684, 6.3795, 1.4432, 0.1734, -0.0171, 1.0232, -0.8274, -6.0513, 4.2872, 1.917, -0.0611, -0.1294, -0.0171]",
      "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]: [-0.1314, 1.6131, 0.857, -0.0719, 0.5499, 0.4019, 0.054, 0.6212, 1.8442, 0.5724, 0.6674, 0.1562, 0.1158, 0.9993]\nstate[eef_state]: left_x=0.3848 left_y=-0.1404 left_z=0.0889 left_yaw=-0.8164 left_pitch=-0.1097 left_roll=-0.0826 left_gripper=0.054 right_x=0.3572 right_y=0.2263 right_z=0.0109 right_yaw=0.4158 right_pitch=-0.0384 right_roll=0.0074 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -7.1453, 6.3248, 1.4335, 0.1587, -0.0366, 1.0281, -0.7726, -6.4068, 4.4923, 2.0049, -0.0122, -0.1148, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c387764b68e28fc54cc0d330f289546dd0fd9da7a3744fdf196df8a308aef69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2f8505a2e477cd3fba862240c620e196d961517878654d9eb5c0137ffeaa3e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89b467943bcf503241990be8322e6fab03befae79f9731015953d8eee9dc1434",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS/AgKEAgSGAI4AUIIdGhpbmtpbmcSDJapo4f/uZOaw0mojRoM6T4vQ+WkeLESK+nFIjDmzv3hq55iqRada0jgzqGcTZiTVjufMNNVXQEt6FFu0zA4QNTQamE0yPT0C0OojSwqmQg2OZNC3boWHMXxFEAW45AUlZJGOoztHcgsuYXn9+oBcfpueA8QOHzJ67BFgJrcHyPchfDdj3Ay1tnFmAuYDJ9Ke7IGSzVd61OHVrjQ2HRbiu2CkzLMUlJ/fN6OWPt/hFAbW5IMwaipG4kMjKCsHuSBZTlpcxJBJaoiY5VEBiWblkm7FePM1MBMkoHyjBulSpHEWQXmrzj5d4XWElL1VBPqrcUFktqowvA9Sm45GTudexJiYCfSBRLDsG9JAgjk8ofZo/8TDEyi71CrczzC62oIZl34uF+3loT2Mpyl6q5vYhnVdnvkeXR2jjsSc18CDubrgCkFOoLfAk4pDXc50bnz8h+8LExW3pkEx7zEK1MBDuDuC2AyqiFgUMSQhtdSe9ERImrQBpqBzd7YkCL2yftOgS3Dfcc4shGLLj+iknr4vhJtK3YYyebQXwsg0a9U+qhNeJgRCtaZUT2i2eHLggE6OxvaTO/pztmSI2SOtGc6j3yRfID9Ni7OwCzv2s01mmCmvmvrzF/bXtJjLGLrP1qAEPQo/e2t/i4c4uFaIhjGgPZs4qs7bZaMb+cyyGPwr+bDQC0p8z3rXFH6UOi6NrSpNp+cRO1LW/JApW0T1fVSfZuWWM0vmp9onGh3xTF448ov56Don8lEtV0DhmtqnC5PF0Mosr+2wqTTOOEd6xNbecSCi6YEr4vNW/ImWJ+lNBcXWcAxTagaYWRv34Rn1fmal8YM4Hph7gebbN0iWNbP2jaxZUWqQlb+2veO13cwMat6+AvW1mHNpsfKS3eBqlX3jjGUKvuHy6zoTq76FDTeRWVRs3SSJtXVDjnOfv6h8EFEmvFFqQyzZBUiUjoZpTDi+M6u+rk3yATRAXhxrWPSH7Bjzuqarrjjg78ShmEs/fY2duQvEnCspj20dzMTUFCI/7EfkDixzQ86UF3SgqdxvdgpUqQheJ2/WA4PcoagXV5vOElbYv6KD8gVxaWkTGfdUMqKzhCIayzkY2Klx8zbltD36rV+aXj4iraNZXfX59+1XEPNs1e0k6HRmvaxeS45x/X3zEMVyBCWr8B55cQuLmLxetHuqk1t5Kvmgs2lUdWeiRCWJWVlXBXoRjQ/66WvhIkKzuGTo3yUTWenJPcgNJ+xOuyzeEFS379QEsQ7eGywydfxldXxgSplVT5vqjUPJ4h7wKHwBSOZmViqCf35swH+0FbJj+gEoJuz0t/cfuhO3rQbB7uGtiq77W27iT0q88dM7zjU6hTmRo8mtRlamgEnczVTXXeBEg7gh064wMP0J4PEC/m8Z4ziqWehOOhtAVwbPWlC2inEvD+MsEBNL/RuQtp/TKvGRtezrvSJWd+HUEyiZDb8/Ie78F3iPrEk6BIR4RZ5SdyvKv56F1FlDmZdyLwsOdNXthgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AunadDdNwz7karzHqND2KV",
      "input": {
        "note": "Jaws straddle the pen near table level; closing the right gripper.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01AunadDdNwz7karzHqND2KV",
      "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]: [-0.1314, 1.6135, 0.857, -0.0719, 0.5499, 0.4015, 0.054, 0.6212, 1.8442, 0.5716, 0.6628, 0.1551, 0.1066, 0.0098]\nstate[eef_state]: left_x=0.3848 left_y=-0.1404 left_z=0.0888 left_yaw=-0.8162 left_pitch=-0.11 left_roll=-0.0831 left_gripper=0.054 right_x=0.3564 right_y=0.2259 right_z=0.0097 right_yaw=0.4216 right_pitch=-0.0437 right_roll=-0.0006 right_gripper=0.0098\nstate[joint_eff]: [-0.3761, -7.2684, 6.1333, 1.453, 0.1832, -0.0464, 1.0281, -0.0342, -7.6103, 4.4513, 1.8046, 0.1099, 0.0415, 0.7595]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e817410baff90f68b7221d7a02f915b7ca2148899c9300028048f70a0d4a225f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69e6d75c8ef539b8ea001028681337f737a74773dfd7c7935abdfe5ab4d293bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6812f0e4c3f94c6a40d4445235d56fe07300c35865074d07b6a523df77319d46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 7.489 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1314, 1.6135, 0.857, -0.0719, 0.5495, 0.4019, 0.054, 0.6228, 1.8431, 0.5808, 0.6296, 0.1799, 0.1188, 0.9993]\nstate[eef_state]: left_x=0.3848 left_y=-0.1403 left_z=0.0887 left_yaw=-0.8161 left_pitch=-0.1102 left_roll=-0.0826 left_gripper=0.054 right_x=0.357 right_y=0.2218 right_z=0.007 right_yaw=0.3955 right_pitch=-0.0631 right_roll=-0.0095 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -7.2684, 6.3795, 1.4432, 0.1734, -0.0171, 1.0232, -0.8274, -6.0513, 4.2872, 1.917, -0.0611, -0.1294, -0.0171]",
      "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]: [-0.1314, 1.6131, 0.857, -0.0719, 0.5499, 0.4019, 0.054, 0.6212, 1.8442, 0.5724, 0.6674, 0.1562, 0.1158, 0.9993]\nstate[eef_state]: left_x=0.3848 left_y=-0.1404 left_z=0.0889 left_yaw=-0.8164 left_pitch=-0.1097 left_roll=-0.0826 left_gripper=0.054 right_x=0.3572 right_y=0.2263 right_z=0.0109 right_yaw=0.4158 right_pitch=-0.0384 right_roll=0.0074 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -7.1453, 6.3248, 1.4335, 0.1587, -0.0366, 1.0281, -0.7726, -6.4068, 4.4923, 2.0049, -0.0122, -0.1148, -0.0171]",
      "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]: [-0.1314, 1.6135, 0.857, -0.0719, 0.5499, 0.4015, 0.054, 0.6212, 1.8442, 0.5716, 0.6628, 0.1551, 0.1066, 0.0098]\nstate[eef_state]: left_x=0.3848 left_y=-0.1404 left_z=0.0888 left_yaw=-0.8162 left_pitch=-0.11 left_roll=-0.0831 left_gripper=0.054 right_x=0.3564 right_y=0.2259 right_z=0.0097 right_yaw=0.4216 right_pitch=-0.0437 right_roll=-0.0006 right_gripper=0.0098\nstate[joint_eff]: [-0.3761, -7.2684, 6.1333, 1.453, 0.1832, -0.0464, 1.0281, -0.0342, -7.6103, 4.4513, 1.8046, 0.1099, 0.0415, 0.7595]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e817410baff90f68b7221d7a02f915b7ca2148899c9300028048f70a0d4a225f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69e6d75c8ef539b8ea001028681337f737a74773dfd7c7935abdfe5ab4d293bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6812f0e4c3f94c6a40d4445235d56fe07300c35865074d07b6a523df77319d46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KHWsz35Y8GkDfP7ZrFsGYE",
      "input": {
        "note": "Right gripper closed empty (0.01) — likely the fingertips were ~1 cm above the table, over the thin pen. Reopening to retry lower.",
        "targets": {
          "right_gripper": 1.0,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01KHWsz35Y8GkDfP7ZrFsGYE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1314, 1.6142, 0.8562, -0.0788, 0.5499, 0.4015, 0.0597, 0.6212, 1.8294, 0.5709, 0.6159, 0.152, 0.1005, 0.9944]\nstate[eef_state]: left_x=0.3835 left_y=-0.1402 left_z=0.0872 left_yaw=-0.8168 left_pitch=-0.1165 left_roll=-0.0885 left_gripper=0.0597 right_x=0.3517 right_y=0.2232 right_z=0.006 right_yaw=0.427 right_pitch=-0.0762 right_roll=-0.0102 right_gripper=0.9944\nstate[joint_eff]: [-0.2393, -7.2547, 6.188, 1.5116, 0.1587, -0.0562, 1.033, -0.0889, -9.9624, 5.2308, 1.7949, 0.1148, 0.0513, 0.1245]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71a21da43e7329f7a7caae7e7a4ded4c9c7ff772c5393e7f3a31f14c659293b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b1a92e4a50f0633bb0212f6d9ec366916520367e83af98a01793ec2573badb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6d06627a5669e6ed04d335ed178994c62acf6746b797cd302648e26b012fb5ff",
        "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 · 3.622 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1314, 1.6131, 0.857, -0.0719, 0.5499, 0.4019, 0.054, 0.6212, 1.8442, 0.5724, 0.6674, 0.1562, 0.1158, 0.9993]\nstate[eef_state]: left_x=0.3848 left_y=-0.1404 left_z=0.0889 left_yaw=-0.8164 left_pitch=-0.1097 left_roll=-0.0826 left_gripper=0.054 right_x=0.3572 right_y=0.2263 right_z=0.0109 right_yaw=0.4158 right_pitch=-0.0384 right_roll=0.0074 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -7.1453, 6.3248, 1.4335, 0.1587, -0.0366, 1.0281, -0.7726, -6.4068, 4.4923, 2.0049, -0.0122, -0.1148, -0.0171]",
      "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]: [-0.1314, 1.6135, 0.857, -0.0719, 0.5499, 0.4015, 0.054, 0.6212, 1.8442, 0.5716, 0.6628, 0.1551, 0.1066, 0.0098]\nstate[eef_state]: left_x=0.3848 left_y=-0.1404 left_z=0.0888 left_yaw=-0.8162 left_pitch=-0.11 left_roll=-0.0831 left_gripper=0.054 right_x=0.3564 right_y=0.2259 right_z=0.0097 right_yaw=0.4216 right_pitch=-0.0437 right_roll=-0.0006 right_gripper=0.0098\nstate[joint_eff]: [-0.3761, -7.2684, 6.1333, 1.453, 0.1832, -0.0464, 1.0281, -0.0342, -7.6103, 4.4513, 1.8046, 0.1099, 0.0415, 0.7595]",
      "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]: [-0.1314, 1.6142, 0.8562, -0.0788, 0.5499, 0.4015, 0.0597, 0.6212, 1.8294, 0.5709, 0.6159, 0.152, 0.1005, 0.9944]\nstate[eef_state]: left_x=0.3835 left_y=-0.1402 left_z=0.0872 left_yaw=-0.8168 left_pitch=-0.1165 left_roll=-0.0885 left_gripper=0.0597 right_x=0.3517 right_y=0.2232 right_z=0.006 right_yaw=0.427 right_pitch=-0.0762 right_roll=-0.0102 right_gripper=0.9944\nstate[joint_eff]: [-0.2393, -7.2547, 6.188, 1.5116, 0.1587, -0.0562, 1.033, -0.0889, -9.9624, 5.2308, 1.7949, 0.1148, 0.0513, 0.1245]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71a21da43e7329f7a7caae7e7a4ded4c9c7ff772c5393e7f3a31f14c659293b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b1a92e4a50f0633bb0212f6d9ec366916520367e83af98a01793ec2573badb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d06627a5669e6ed04d335ed178994c62acf6746b797cd302648e26b012fb5ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqQoKEAgSGAI4AUIIdGhpbmtpbmcSDPa9cpyY0Us/3QfS0RoMu6SDtaaVTup4oI0AIjDcXdZ8VFyiL3jIevYhxIFbU7atdlZHLIYRrd//uwGg0DNM5Eocj535C5YMQmsDvLYqxgl9cP5/pzOeJg/M+xt2L02OjLeYX6JpNZgxMW9j7uoTNjSEpc2PfVSJQS/NEidaq4WHzPMOF+dYUDHk79gNLPPIXQkuOzkfnUqxEMB5wIVGwJlzbD7/PJzC4TVVZk+WmPh81N2gKt9XcM0HcoDfsD3tvSnEZ2QyGrkj9GT9RhBA+M6rD0yxUYL21UqqetVz5snBki4+nPj+7KmAnS0V9S0277xqOxtxzZ29m7EdXwu3SpNg/kqf/bSMFd7bdoG6lVKGV9TTlXTJOkFFtmlguDxNXxhRqKIhWGiuoLikr4rt+bzy6s6N0GGQUh744NQr0ZtB18PkGHlQ9y1intfuw1cXr3FAztuQrdYrx22wcJtS/OQcaQMzTsUfj0urkpsgKeFSunHWWVhRqJxWMx/sRolWRusLO23kxM8EA7RPKa3NXMOYh0zkp68l3pXoo2Bw3p2xCkOTHwl94G1Hpvto3ao6SWLbkEUtVUVbmrpHYFjJLk2H7SPAyQk/Tav0ezqfBz27Y9MnydTRX2nDsiHuEK1u5SNPczwGrymEMEcLi3C0lLB1keHFClfWh4OaMykJVM6KfE3oKEeK8kL2STTOM8UB5K9PhuucPMMvqcykqqWQ0cy52iKmgC2pQjWsweA908jUx7OkYYCUcz1TFRsMcekfm6OJ35kMfrPjIyKlSfbYdBleFV7ycMBP20rpWJj4POV6iVQg8UYOmTFPPvBS/F8Kj3F6ELFuQY69LolcO6HvjoDPreDe13Hg5zQObfgmunDVxxbtQFmfN19jxFMzkJWuJWms/UDitjKvGquHUdTW6pRajv3WAHvzU9nDFRVkcqzlpMvtzgR0uiKjPSikUJ4l7en8iagTICsjnF9PDphacW+ZOLlLUdBLcb1Vrtf97Uq8gReV5OvWrW7Gl/DgJfALCQ/UlaU+g1sNyV/Ole/mbEP4cvIS3e78OFrwI5Eg3Vz45MrEt+DYtByBFOHkYm1EjMnHWMOt4EIkXSrTp0zwX5OkR4FXQfpE+EoQVhTwpQHyfkoGHXYEYjLc2Nkujvt2ZhaVf9VQ3tUmknlx/ASntOwwdKqxBAslnqmsSXym8nGvD9wVxdru1ZfsrEMe5uCsqSdH6doZmgM2rHWptyVjDxqPxPDHqlk37bz+tMPMIq/PMOLGNPJuX2+SKQqIDJ3E+ciAA7n7P8mqrLGq4IGWyMdEuF+qWpEAOhiXtqoGtBaHwnRQ/x+KUv9Ey+g5Mx/fH4bQACV9ZXE7f19GPlBEZTSWAMV9FZYNso1qftMKzRgS/cgYGV+qFJmvFt2gxJw3J+0IU85RbRtsHJBB9FBoE0RGZKOV5I4Z9cuhXLCjDWQu/Epf55Zlb3Ls3IT+McZ7hzBWcdGzTxeWN/uxcoOj5LgL87Y6YZ0CFbYRnJIklGyoKTYrFcfRnz/MJiANsFpIpl32R+JHnODRA3xxn2TKSORo5yGvTN3SbvOEvH4PZnX2i9wb2ZQCJfKYogeSf6ndt6apI4Erzqo3zOOiaT/kAKce/nriagsuGy63sg/20C5q06sbQ4MGmrPdgq06vstbMA4z5sVC3nsuvNhYIaLHzae42NK9fpMHaitOWctTzwb/nPF8q6nu7cLq/6ShSmtsdGr5SzomGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Bm9GGgrYUAMueYb7HcjCkc",
      "input": {
        "note": "Pen runs into the jaw area slightly right of centre; shifting ~1 cm tool-right/forward and pressing down to the table floor.",
        "targets": {
          "right_x": 0.364,
          "right_y": 0.217,
          "right_z": -0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Bm9GGgrYUAMueYb7HcjCkc",
      "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]: [-0.1314, 1.6138, 0.8562, -0.0795, 0.5503, 0.4015, 0.0597, 0.6037, 1.9057, 0.5827, 0.7162, 0.1432, 0.0742, 0.9948]\nstate[eef_state]: left_x=0.3833 left_y=-0.1402 left_z=0.0872 left_yaw=-0.8171 left_pitch=-0.1166 left_roll=-0.0889 left_gripper=0.0597 right_x=0.3633 right_y=0.2242 right_z=-0.0009 right_yaw=0.4312 right_pitch=-0.0418 right_roll=-0.0201 right_gripper=0.9948\nstate[joint_eff]: [-0.335, -7.1863, 6.5709, 1.3114, 0.2466, -0.0513, 1.033, -1.1556, -5.7778, 3.4667, 0.3101, -0.3053, 0.3639, 0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:148f7de39a99c08a6f2adef3af8aabce0c2dc8224045be9f8f8a25ad04715a49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93cd541f708ac5a96245472c6c964ea5dd850311f81dc88630a9b5790da43bff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4e6703cc7a9aa944172b2a5204823a160d240d105fabf4df6db262fb13576404",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 22.39 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1314, 1.6135, 0.857, -0.0719, 0.5499, 0.4015, 0.054, 0.6212, 1.8442, 0.5716, 0.6628, 0.1551, 0.1066, 0.0098]\nstate[eef_state]: left_x=0.3848 left_y=-0.1404 left_z=0.0888 left_yaw=-0.8162 left_pitch=-0.11 left_roll=-0.0831 left_gripper=0.054 right_x=0.3564 right_y=0.2259 right_z=0.0097 right_yaw=0.4216 right_pitch=-0.0437 right_roll=-0.0006 right_gripper=0.0098\nstate[joint_eff]: [-0.3761, -7.2684, 6.1333, 1.453, 0.1832, -0.0464, 1.0281, -0.0342, -7.6103, 4.4513, 1.8046, 0.1099, 0.0415, 0.7595]",
      "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]: [-0.1314, 1.6142, 0.8562, -0.0788, 0.5499, 0.4015, 0.0597, 0.6212, 1.8294, 0.5709, 0.6159, 0.152, 0.1005, 0.9944]\nstate[eef_state]: left_x=0.3835 left_y=-0.1402 left_z=0.0872 left_yaw=-0.8168 left_pitch=-0.1165 left_roll=-0.0885 left_gripper=0.0597 right_x=0.3517 right_y=0.2232 right_z=0.006 right_yaw=0.427 right_pitch=-0.0762 right_roll=-0.0102 right_gripper=0.9944\nstate[joint_eff]: [-0.2393, -7.2547, 6.188, 1.5116, 0.1587, -0.0562, 1.033, -0.0889, -9.9624, 5.2308, 1.7949, 0.1148, 0.0513, 0.1245]\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 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]: [-0.1314, 1.6138, 0.8562, -0.0795, 0.5503, 0.4015, 0.0597, 0.6037, 1.9057, 0.5827, 0.7162, 0.1432, 0.0742, 0.9948]\nstate[eef_state]: left_x=0.3833 left_y=-0.1402 left_z=0.0872 left_yaw=-0.8171 left_pitch=-0.1166 left_roll=-0.0889 left_gripper=0.0597 right_x=0.3633 right_y=0.2242 right_z=-0.0009 right_yaw=0.4312 right_pitch=-0.0418 right_roll=-0.0201 right_gripper=0.9948\nstate[joint_eff]: [-0.335, -7.1863, 6.5709, 1.3114, 0.2466, -0.0513, 1.033, -1.1556, -5.7778, 3.4667, 0.3101, -0.3053, 0.3639, 0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:148f7de39a99c08a6f2adef3af8aabce0c2dc8224045be9f8f8a25ad04715a49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93cd541f708ac5a96245472c6c964ea5dd850311f81dc88630a9b5790da43bff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e6703cc7a9aa944172b2a5204823a160d240d105fabf4df6db262fb13576404",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS5wYKEAgSGAI4AUIIdGhpbmtpbmcSDG0WLXqbRmwrJtXAzRoM7AxaNBGseqL5lAaBIjADTtgRJzjQQB2tM3XYjK5XISxQsorSKuM9T3Hgpk2L/OIIvduN5mamzGFEoz3BjXcqhAZ/bLejSTQhiXQAfCPQl//1Uxv3J/W5jRCTEngEQtfqjHN1Xeo5c3089GjznVgl4sWvoTGhN8iAc3WnfLagJZSj1M75cZGtPVZG/CsExL+RR9eggnB9gvqgrpBygdIeDA7a4TEZGHTiYR/1ZrXpDzQe89o/qJz6hjUNGw0YryK/4FHh4WEaRmn86bojFPtOi7/CIkltaQaw1PbiLp5rqa5+AR4NwWllFsql69XBXM//SiYuR0Sii/hS6usSkOop+ewKUFPMnvG02xodqDOZKTW7inUomlYQaLJu1jY9IgvMFAZ0Gcm89tM1UKpgpW9H4Yzjq9wPxQABQ9ahbO0trP5ki6zSGem+XyLIOMJnP6D7oKkwWwTpi53Brkm7uDxaQa/zLPxlaUeb3L1IAl8BJ2P/IwYzB6nsiDwp62F6uSWE3u17KM5tiq+6zQV7sT357MyKb763B4sD3x5iXm5wiHKrc/13l5mVzclupHmrwbJMqA1qfYrQ97wfMvSpylA4LlS5JaMJJWDBqjeRV0A6O8dCPmpDK7MTEM0Mp1uMcSdWx7r83upKk0bBFyKb0G5fRBa0cEPrUS8hfcjqYLfFA5MqPyjA92lYe6R1c/Pujni0rJpFhFxJTrPrh7QCG+jcDe/Fy7weMLdMtVOjF8JWkJyT2lMY+khPbHRoKv+3if6Bxg4ORnUlBcRU36Ot7RHKk48spjb46Nc7Hf6cshdQg51XGUtUQMax55hGsfdq2agU/7xXdkC8TXlWrU3RduBiioVYwbvf4IER5TPIN+lS4s/6huSvCe//YQJW4ghbAqgvE/bDJi88S6YRbDXU5pKDnzREaiSLCjw811pzffNAO6724rgTyK9KjDuRy27qUA+kCYXhqKPgrg+LzZRDLzoxb30FNMVQ7JRaUuvxvlaHj0rr8GMLUPpO/J9CVg97b/HA1tC28TciaIJk+gVzXeLJQLiGrZw9PeCSCImiw6EkgC3gZKhXR0yu27QVhJ/ig96WeLwRqPH26CQ+Kqw5AQaJK98K/yfTGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BoTHAyTgoC7ANyfmLoSF5i",
      "input": {
        "note": "Fingertips now at table level with the pen running through the jaw gap; closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01BoTHAyTgoC7ANyfmLoSF5i",
      "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]: [-0.1314, 1.6169, 0.8558, -0.0875, 0.5499, 0.4019, 0.0597, 0.598, 1.9179, 0.5865, 0.7475, 0.136, 0.0708, 0.0487]\nstate[eef_state]: left_x=0.3818 left_y=-0.14 left_z=0.0847 left_yaw=-0.8179 left_pitch=-0.1257 left_roll=-0.0957 left_gripper=0.0597 right_x=0.3675 right_y=0.2257 right_z=0.0015 right_yaw=0.4336 right_pitch=-0.0199 right_roll=-0.0151 right_gripper=0.0487\nstate[joint_eff]: [-0.2667, -7.3368, 6.2291, 1.4628, 0.1636, -0.0659, 1.0379, 0.3214, -8.8957, 3.8222, 1.4237, 0.1148, 0.0171, 1.1209]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:089dd13b71c514a277b160b8ace04642f88697a1a2f8ed22dcce6195c2ebb8b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13891f1ec228f2d05a0b961584b0c8af8ab46adaea48c0fa9f92cb6b225cc242",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f569fd567a5928c79e76585ebc8e57711441c6c58cd038f518c13445fce48a8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /messages · status 200 · 4.999 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1314, 1.6142, 0.8562, -0.0788, 0.5499, 0.4015, 0.0597, 0.6212, 1.8294, 0.5709, 0.6159, 0.152, 0.1005, 0.9944]\nstate[eef_state]: left_x=0.3835 left_y=-0.1402 left_z=0.0872 left_yaw=-0.8168 left_pitch=-0.1165 left_roll=-0.0885 left_gripper=0.0597 right_x=0.3517 right_y=0.2232 right_z=0.006 right_yaw=0.427 right_pitch=-0.0762 right_roll=-0.0102 right_gripper=0.9944\nstate[joint_eff]: [-0.2393, -7.2547, 6.188, 1.5116, 0.1587, -0.0562, 1.033, -0.0889, -9.9624, 5.2308, 1.7949, 0.1148, 0.0513, 0.1245]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.1314, 1.6138, 0.8562, -0.0795, 0.5503, 0.4015, 0.0597, 0.6037, 1.9057, 0.5827, 0.7162, 0.1432, 0.0742, 0.9948]\nstate[eef_state]: left_x=0.3833 left_y=-0.1402 left_z=0.0872 left_yaw=-0.8171 left_pitch=-0.1166 left_roll=-0.0889 left_gripper=0.0597 right_x=0.3633 right_y=0.2242 right_z=-0.0009 right_yaw=0.4312 right_pitch=-0.0418 right_roll=-0.0201 right_gripper=0.9948\nstate[joint_eff]: [-0.335, -7.1863, 6.5709, 1.3114, 0.2466, -0.0513, 1.033, -1.1556, -5.7778, 3.4667, 0.3101, -0.3053, 0.3639, 0.022]",
      "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]: [-0.1314, 1.6169, 0.8558, -0.0875, 0.5499, 0.4019, 0.0597, 0.598, 1.9179, 0.5865, 0.7475, 0.136, 0.0708, 0.0487]\nstate[eef_state]: left_x=0.3818 left_y=-0.14 left_z=0.0847 left_yaw=-0.8179 left_pitch=-0.1257 left_roll=-0.0957 left_gripper=0.0597 right_x=0.3675 right_y=0.2257 right_z=0.0015 right_yaw=0.4336 right_pitch=-0.0199 right_roll=-0.0151 right_gripper=0.0487\nstate[joint_eff]: [-0.2667, -7.3368, 6.2291, 1.4628, 0.1636, -0.0659, 1.0379, 0.3214, -8.8957, 3.8222, 1.4237, 0.1148, 0.0171, 1.1209]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:089dd13b71c514a277b160b8ace04642f88697a1a2f8ed22dcce6195c2ebb8b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13891f1ec228f2d05a0b961584b0c8af8ab46adaea48c0fa9f92cb6b225cc242",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f569fd567a5928c79e76585ebc8e57711441c6c58cd038f518c13445fce48a8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VwHQLAszoPxnHY6oLY861f",
      "input": {
        "note": "Pen is held by the right gripper (0.049, pen tip visible pointing forward) and the cap by the left. Lifting both and starting to rotate so the pen tip and cap opening face each other along the y axis.",
        "targets": {
          "left_yaw": 0.2,
          "left_z": 0.17,
          "right_yaw": 1.0,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01VwHQLAszoPxnHY6oLY861f",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5671, 1.4727, 1.0302, -0.3473, -0.4015, -0.5186, 0.064, 0.3374, 1.5753, 0.9199, -0.0071, -0.469, -0.3691, 0.0535]\nstate[eef_state]: left_x=0.3807 left_y=-0.1564 left_z=0.1589 left_yaw=0.0421 left_pitch=-0.1445 left_roll=-0.1018 left_gripper=0.064 right_x=0.3797 right_y=0.2216 right_z=0.1344 right_yaw=0.9129 right_pitch=-0.0229 right_roll=-0.0248 right_gripper=0.0535\nstate[joint_eff]: [-0.294, -6.0923, 8.6769, 1.3553, -0.315, -0.0122, 1.0281, -0.5538, -9.4701, 8.0342, 1.3846, -0.3248, -0.0122, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f1dbe5303d43f00b2bc8c1e8787be4a421b519eaa87737f44d024d28f724c4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4af32ffbe6f02d4feac58a8c5383bca1371f7a044d119b6669e9085550f220d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ef0f208638bebd14a7e0d2354d3b1e81e2aea89ec68e2e8b7a7f64a398220804",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /messages · status 200 · 11.12 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1314, 1.6138, 0.8562, -0.0795, 0.5503, 0.4015, 0.0597, 0.6037, 1.9057, 0.5827, 0.7162, 0.1432, 0.0742, 0.9948]\nstate[eef_state]: left_x=0.3833 left_y=-0.1402 left_z=0.0872 left_yaw=-0.8171 left_pitch=-0.1166 left_roll=-0.0889 left_gripper=0.0597 right_x=0.3633 right_y=0.2242 right_z=-0.0009 right_yaw=0.4312 right_pitch=-0.0418 right_roll=-0.0201 right_gripper=0.9948\nstate[joint_eff]: [-0.335, -7.1863, 6.5709, 1.3114, 0.2466, -0.0513, 1.033, -1.1556, -5.7778, 3.4667, 0.3101, -0.3053, 0.3639, 0.022]",
      "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]: [-0.1314, 1.6169, 0.8558, -0.0875, 0.5499, 0.4019, 0.0597, 0.598, 1.9179, 0.5865, 0.7475, 0.136, 0.0708, 0.0487]\nstate[eef_state]: left_x=0.3818 left_y=-0.14 left_z=0.0847 left_yaw=-0.8179 left_pitch=-0.1257 left_roll=-0.0957 left_gripper=0.0597 right_x=0.3675 right_y=0.2257 right_z=0.0015 right_yaw=0.4336 right_pitch=-0.0199 right_roll=-0.0151 right_gripper=0.0487\nstate[joint_eff]: [-0.2667, -7.3368, 6.2291, 1.4628, 0.1636, -0.0659, 1.0379, 0.3214, -8.8957, 3.8222, 1.4237, 0.1148, 0.0171, 1.1209]",
      "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]: [-0.5671, 1.4727, 1.0302, -0.3473, -0.4015, -0.5186, 0.064, 0.3374, 1.5753, 0.9199, -0.0071, -0.469, -0.3691, 0.0535]\nstate[eef_state]: left_x=0.3807 left_y=-0.1564 left_z=0.1589 left_yaw=0.0421 left_pitch=-0.1445 left_roll=-0.1018 left_gripper=0.064 right_x=0.3797 right_y=0.2216 right_z=0.1344 right_yaw=0.9129 right_pitch=-0.0229 right_roll=-0.0248 right_gripper=0.0535\nstate[joint_eff]: [-0.294, -6.0923, 8.6769, 1.3553, -0.315, -0.0122, 1.0281, -0.5538, -9.4701, 8.0342, 1.3846, -0.3248, -0.0122, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f1dbe5303d43f00b2bc8c1e8787be4a421b519eaa87737f44d024d28f724c4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4af32ffbe6f02d4feac58a8c5383bca1371f7a044d119b6669e9085550f220d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef0f208638bebd14a7e0d2354d3b1e81e2aea89ec68e2e8b7a7f64a398220804",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSlAkKEAgSGAI4AUIIdGhpbmtpbmcSDP+cUbsb9Zsg4ckkJBoMSw6zOyTyy/QTqaW0IjD1HbKy9ZfzBD+ebLcLbWzfYaCt/7UphhjslAakQjsDI6pyFgJFgNVXi41T+v8E8XEqsQj+UYTLz3EpVNbkqlDKcOBij+XcAWnk48r/v6VEw4gplroCHEjdwcEP9DQRfK19+Q8J1Q48hbUF1tBSL+50o6QFh0Q8vejTU/WiBu+8xTTJWG1mAdbRxSo2Krw84My4yGHrYTxsd8FehikDTubA6j0hT1PRgUtjTi0d9Up+41zP19A8pr8hvf5Gf7ww+CQ/Pms2utS7IRgZl8RZSRhiyRf8VeMM9v2tO7KMxzk5Xd4CiR9bWnvecaXnO3IHxl0g5/8NmGA96JJdJZYpCDiCYEtolnJLG69QFqGToOFCtSl9/6Oy+G2bDJSU7fXkDh8a/h5sJzHeZNlW8NDeHBepT7yQHoReGMnVTyi+bslxkm9wpR554Oy+l8MCfTGNIVzQAvENc7Y4g4Ly4gMhQJtv+Qcnpkuv0l8n2lxWHA9QFqAEQUVktt8FhOOmELG2j+Koo708fS99DNv+xigbaYOyBk5Id68Vwzv+JS1xUgIMPl6iiwN9ZbSfW7+A+geLb37sgv5lIKOVYUIioV4HoJvIq9N9ei/toVXn1rZ4Cvvc3C+pU6RXo2+VDVdBPiRUxSY7QQI0x9nC52RPKelifPam1WkdZJHl0CRFudkhznE1CN1j1Pr7DDkzLbwKFBQTCcm0ID9U3RLBzdJkT+o49pxEWRYnUVvm3YbWCTYi8H+t5rUboez9f4qjRHt0GKo2gxyoRVD9MQrLrgrg1w34OywugNyo6qeeoCmVQEiSIQa1mjpO4B05zubUd2OAevj9A0XQAVWlbqAEez+QWeZcyKklaLS0fQO5C4HOrafkKJFUdsEWquY83HbCYaExvGVW2cbn5/6d0EUILgKSnLmQbxH1b+7XgTNjpnbeOUxb4sPRb6cBzEBqBqVmULaT9pNqI59JKDtBgi7ylXSIHc8IQSrkPT6rddMMEvAGGxy+Yy2Id+K/yW6bsKIKvtt/RWo5PbXFOnfjhrUqVRufHpT2xhDr1PZMBAkpz9nuzHrrgtFN+rO4w4YnLp+iVz0Zx42hYvJ2e7SvAx6wpe2qCofYoh2zWaXPdo0cfTmoZ/M9ikyGq0ydj4e7HAB9KBEA1s3rjF5FGui4IK8rd7lnNqKLjdjxX0GX1f3t6B4LwRaCoOc8ysCn762w8vjDbqjqjFeJ7MHhgLK/eJ5bML96QAosMPQYbD87tU9fuis6PlUH3YnWRkOYSxnaxVT1HW1iTP3vFIeCTPurcPOdSvRI6T93Xlr0fEMKKwFoQ1DTzAbyIV7DZkkrqBf8bb07vcLVcuz3FKkOqwVKdZCdlYUCtBzQe27RA57+ptXtv/HsZGPijAgYWb9WtO3i/HdY5fmJuN8Vk++4Op21rYnKkN+T+TJQF3cIUQojOiB4DjvAIfZsYc+uO6iGAxclFvoId2/M1/7OzDwyAuItHRqxRHg24xSUbE70u+KNjhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ReKnCuRFzC8zcpmRs6G3mA",
      "input": {
        "note": "Both objects held. Finishing rotation so the pen tip points toward the left arm (+y) and the cap's rear (presumed open) end points toward the pen.",
        "targets": {
          "left_yaw": 1.57,
          "left_z": 0.17,
          "right_yaw": 1.57,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01ReKnCuRFzC8zcpmRs6G3mA",
      "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]: [-0.4644, 2.225, 1.9251, -1.504, -0.7895, -2.0155, 0.0666, 0.1909, 1.9202, 1.5169, -0.7578, -0.9031, -1.1271, 0.0535]\nstate[eef_state]: left_x=0.404 left_y=-0.0581 left_z=0.1175 left_yaw=1.387 left_pitch=-0.1858 left_roll=-0.0835 left_gripper=0.0666 right_x=0.3959 right_y=0.2215 right_z=0.1547 right_yaw=1.4783 right_pitch=-0.0464 right_roll=-0.0506 right_gripper=0.0535\nstate[joint_eff]: [0.4034, -11.6581, 7.3094, -0.3346, -0.5495, -0.0269, 1.033, -0.8274, -9.5111, 7.5692, 0.5934, -0.8181, -0.1783, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8261f9cb08f67b3710b217ced7fedcdf04a8f7dd12d537349b1d61f8f9784df9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ad407c3f6837c866ad2d14731393dc54b7cc83580e10a907f544dc614264277",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fd83318a8018a46fec6ee21ba0cf99cab45ada229f829d09e7046228e8085aa3",
        "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 · 5.134 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1314, 1.6169, 0.8558, -0.0875, 0.5499, 0.4019, 0.0597, 0.598, 1.9179, 0.5865, 0.7475, 0.136, 0.0708, 0.0487]\nstate[eef_state]: left_x=0.3818 left_y=-0.14 left_z=0.0847 left_yaw=-0.8179 left_pitch=-0.1257 left_roll=-0.0957 left_gripper=0.0597 right_x=0.3675 right_y=0.2257 right_z=0.0015 right_yaw=0.4336 right_pitch=-0.0199 right_roll=-0.0151 right_gripper=0.0487\nstate[joint_eff]: [-0.2667, -7.3368, 6.2291, 1.4628, 0.1636, -0.0659, 1.0379, 0.3214, -8.8957, 3.8222, 1.4237, 0.1148, 0.0171, 1.1209]",
      "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]: [-0.5671, 1.4727, 1.0302, -0.3473, -0.4015, -0.5186, 0.064, 0.3374, 1.5753, 0.9199, -0.0071, -0.469, -0.3691, 0.0535]\nstate[eef_state]: left_x=0.3807 left_y=-0.1564 left_z=0.1589 left_yaw=0.0421 left_pitch=-0.1445 left_roll=-0.1018 left_gripper=0.064 right_x=0.3797 right_y=0.2216 right_z=0.1344 right_yaw=0.9129 right_pitch=-0.0229 right_roll=-0.0248 right_gripper=0.0535\nstate[joint_eff]: [-0.294, -6.0923, 8.6769, 1.3553, -0.315, -0.0122, 1.0281, -0.5538, -9.4701, 8.0342, 1.3846, -0.3248, -0.0122, 1.0281]",
      "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]: [-0.4644, 2.225, 1.9251, -1.504, -0.7895, -2.0155, 0.0666, 0.1909, 1.9202, 1.5169, -0.7578, -0.9031, -1.1271, 0.0535]\nstate[eef_state]: left_x=0.404 left_y=-0.0581 left_z=0.1175 left_yaw=1.387 left_pitch=-0.1858 left_roll=-0.0835 left_gripper=0.0666 right_x=0.3959 right_y=0.2215 right_z=0.1547 right_yaw=1.4783 right_pitch=-0.0464 right_roll=-0.0506 right_gripper=0.0535\nstate[joint_eff]: [0.4034, -11.6581, 7.3094, -0.3346, -0.5495, -0.0269, 1.033, -0.8274, -9.5111, 7.5692, 0.5934, -0.8181, -0.1783, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8261f9cb08f67b3710b217ced7fedcdf04a8f7dd12d537349b1d61f8f9784df9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ad407c3f6837c866ad2d14731393dc54b7cc83580e10a907f544dc614264277",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd83318a8018a46fec6ee21ba0cf99cab45ada229f829d09e7046228e8085aa3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSoBAKEAgSGAI4AUIIdGhpbmtpbmcSDA/QnUtJd1/SzzZtzxoM4w9g2dDZR5nboBV4IjCabfpGK0eBlHLXFARmEw1jSNZfehIXPVlFqab2AHi1SZgXzaOuzOwMQYf0zccZjpMqvQ+Kp7QIJUH3M1wNPL9/+2s7QvaBIsRTsAkja7ldGkIAjy6CiSKWoSzT9JOjgtMLOBohTsAN+Gv+y3Itj66CaOXHsqX9rsYVlOttHp2zGJSv9wB5j63pEn4PF+7YRpItubkY4K2SE1sGD0cytsa2JChiRBxyPevUM9On3PI+jVSxPVegtjbgJuWbt8IZroIlnGbenENQ/jnjqrmJih0V4jlRvOgx34TGYKknTr0twNfPNWYocEtgMCsPPFCFkWSPZu7/+Yum9uUwwX+BJ0GRyC8hDnR5HLcIvUFB3GKb6gbERBhIxp9YK+6R0+0kF1fj/LVfViS+KBPuJa6Hr8qdYznKOwbocgooac5yPsiIXU469vA1ZOY8B5ZWb/G7JePae6AaYZdrI8HSM//ENMnaDddjE6s8ZDQHDCnAt3xfnp8ekWvUwfavP+U5y1dPcZ53+GbfBjLPy25Y97BR31QY2ZCWbg0MDioaiFhAg5XcmIiqjps9AeU1B1IHG/d7Kl42r1ooNFuHVqC3GuFltCu09VyGUhvVOKNG+Ao4L2KePJu2k/VQSBC1jBYW0z51T3/Fd/mm9wVGsxl5H3X1olIwhGKESvGxueWMGgjFDTadyd+ihjE1bXYdNkMdHpk3brRZnwUrfltvpAA3zG2dReKwhK2Lufqew8dO6cPlnu9y4XYQ3BxoHkNO0tjWRRFiR6euEiMWNjfbIUJJzUQmsIqlqdR/0c/IMS+gNVroaUIr/4axqOYp7VNgxI5N9H9v34T5Mv8oYV+tvrDNX+GjyByC8KAaPyPyaAwd4oFe+7d7/pJ5CVItJMjYy+EvA6LrQn/0ozbcmaWZDujWqpV5sMaVB5HcqlnGJ0VbGmhrvl/Yiv5ihLrbpaA5x1xqEQB/bp+P7u28noO+bevuclEyiltNFELqYq4y3VIr+VusriiRVAV9Kxcs3iU06YR1ZQKScHoyGMfM6XgPfL1PtodjxLuZZUAk95CcDoUzbClI7ctYWWXqZaPxsWT1xhnLPmagODJrtkSZlMiqJY/sCm4lVtn+RmPFz6ROKloaqvXUHjsTPrPF4lORA4T9CvBlPebRtI6Z/SihF6NuDCtR9eKTasfLHQH3MO+RyBxTUYyDQnuCVhk5uNxdzaLj7rdRKJNJNxz4xqCe1fGPuJHeykNcqDKbA940wgEWf8pQ8tFpXije5bydHYKW47UHNi34Ilc3wFOewMO245qBktiFqZkV9HjV32s8nPF66bmXNGufWXravw0PoepbygLCvz4fUjqikNv8i1KTjUnZuEfWRIPaGOW7QEpijYb2SgDeEp2e3XHhE5McHaJfjReADyJggB3SIrba7HuPS23Wonn+NnxbEZpqZ/PuSqvqroHvkequReXHzwk079zV6qYczV9qqYLjkNzejGzJtlokNHtSbKTo9r538Ud/KazKM/nR1Nm/fGRQXiL3eMLvHit3uWCHmvW1yfgr/pr1SSOUz8R/NB8sSJcBE3ILf+yS8jvjuMa5NqLt9SHJeUrrMVvbUh/qLeosDHwaISq0r7gZLaPbK72w9FLAJuax6OAGUHbe1+0c1YMfNLrT8jENxIHMtqc1Yqi3363wRBpAyzZag2j1muvKoF1GmwXuutrj1j5kahWFXNs/p1zmFLMYKT0ii3hT6YLH8QsI0ZpWfCND+f/4lK9DdqtrNLToZeL6DmWdyzeAmG10J+iqMomH7pq4MUG7WSyIJ6pm+Jd1dwVj83zbtw3c5dPEQmggzZt5WN6QIU/GXT8DZwo5Fh2WMbK1tFei4MRhUATsBbGxwkZ0VJDoFpkBvRuNsAOIjlAWzeudgnQ3nNxEV2Qq7TiGWL+s7I0xIrX5bpOl+6QBn+fk4ofktTW2xroNNNq1/tCSgJ7ImgqfqLygJ8dUhvl1zUfQxhiSnqwOKS9zNdmxItBBeapamSs7X2Nuz/+fbzXtNcmgsF+nTNzfUSoWmgCjo7uWvRC7cZ3iAL0dIh2lSDKaS6zRQBTsv0qlNAxfw+X2TPBNpd1NxVlFvaV035Pvv/IyM0MgbmIIIOMRFgukdB+nD9JnPqUQM2Xn65B3moL4bOtCmM7tdtulYmQT7KwHZNjwt2uEmuAkU6OaX/g8ELiBKMe5MC86Z84TZ1tyzWuDSpzq77R1dcHKNqwpTnf4EXR5hklEsPK2sdoJNh7H8ecYXu6/IsXrr2vQhT6Fu3MzG8O7m5LOO/BsdYzGa3eIHGT84hOD9FHEePc2+q41U3fOkl0FYMbbS/CdBZy1zvHwx4fukhVJ8hKV1iLSC6NZctxSMCt7EEZNz7v9iT+1wbavTp8qF/xYji8HflXmGaAi3OEYQGAL/po7qGu/mbbBc1ntrrlx9GnaBTh6Gx5Sg0gg3AASGPWJkr5PB90JiecPrycfuW02JRh63M/WbdfdgleXBcOXKstbeeMwLNxRMLktdpSONekzkygoCKyGEejXOGcef09Gyyz8UVtW4Di34hWq0IW2/OLEyvDoE4Me5lQChPAVFucEW9fVKsXStE79o7GF8N/bGSEYW8DpD/BxLUTNDYrfXW87pINAh+hgMwXG6TXX2KjZ3Roc89IfCAfDfYnHepTQBnRlEyuKiy3Kwf3+kqRV4QXnuXJUbGMwNoyMu1u/D+zPGzUuGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LY4fkP6JNwRVsVJ6ZKHpMh",
      "input": {
        "note": "Both tools now point +y. Bringing the arms toward the centre line at matched x and height, leaving a few cm gap between pen tip and cap.",
        "targets": {
          "left_x": 0.38,
          "left_y": -0.2,
          "left_yaw": 1.57,
          "left_z": 0.19,
          "right_x": 0.38,
          "right_y": 0.25,
          "right_yaw": 1.57,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01LY4fkP6JNwRVsVJ6ZKHpMh",
      "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]: [-0.4835, 2.2745, 1.9629, -1.5536, -0.7425, -2.0933, 0.0666, 0.2562, 1.9423, 1.5387, -0.8043, -0.8978, -1.1595, 0.0535]\nstate[eef_state]: left_x=0.3972 left_y=-0.0696 left_z=0.1039 left_yaw=1.4377 left_pitch=-0.2126 left_roll=-0.0666 left_gripper=0.0666 right_x=0.3787 right_y=0.2457 right_z=0.1486 right_yaw=1.5611 right_pitch=-0.0643 right_roll=-0.0332 right_gripper=0.0535\nstate[joint_eff]: [3.3026, -15.6786, 5.2718, -0.3053, -0.398, -0.0562, 1.0281, 0.5538, -10.6325, 8.6906, 0.7888, -0.5495, -0.0513, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3dcdf43b7f66a1aaa11832e5043d0c1e415a3956dcc8eacc36b18a4a3cc6f58b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3758f8e2fbed878946df6a48282efb047a7b439dcd605b9b79c1f4b3c39ca0fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:33fae4dd8dfbad1044f051de00ff74d0c064577887498a104002e7227d071dc0",
        "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 · 10.83 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5671, 1.4727, 1.0302, -0.3473, -0.4015, -0.5186, 0.064, 0.3374, 1.5753, 0.9199, -0.0071, -0.469, -0.3691, 0.0535]\nstate[eef_state]: left_x=0.3807 left_y=-0.1564 left_z=0.1589 left_yaw=0.0421 left_pitch=-0.1445 left_roll=-0.1018 left_gripper=0.064 right_x=0.3797 right_y=0.2216 right_z=0.1344 right_yaw=0.9129 right_pitch=-0.0229 right_roll=-0.0248 right_gripper=0.0535\nstate[joint_eff]: [-0.294, -6.0923, 8.6769, 1.3553, -0.315, -0.0122, 1.0281, -0.5538, -9.4701, 8.0342, 1.3846, -0.3248, -0.0122, 1.0281]",
      "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]: [-0.4644, 2.225, 1.9251, -1.504, -0.7895, -2.0155, 0.0666, 0.1909, 1.9202, 1.5169, -0.7578, -0.9031, -1.1271, 0.0535]\nstate[eef_state]: left_x=0.404 left_y=-0.0581 left_z=0.1175 left_yaw=1.387 left_pitch=-0.1858 left_roll=-0.0835 left_gripper=0.0666 right_x=0.3959 right_y=0.2215 right_z=0.1547 right_yaw=1.4783 right_pitch=-0.0464 right_roll=-0.0506 right_gripper=0.0535\nstate[joint_eff]: [0.4034, -11.6581, 7.3094, -0.3346, -0.5495, -0.0269, 1.033, -0.8274, -9.5111, 7.5692, 0.5934, -0.8181, -0.1783, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4835, 2.2745, 1.9629, -1.5536, -0.7425, -2.0933, 0.0666, 0.2562, 1.9423, 1.5387, -0.8043, -0.8978, -1.1595, 0.0535]\nstate[eef_state]: left_x=0.3972 left_y=-0.0696 left_z=0.1039 left_yaw=1.4377 left_pitch=-0.2126 left_roll=-0.0666 left_gripper=0.0666 right_x=0.3787 right_y=0.2457 right_z=0.1486 right_yaw=1.5611 right_pitch=-0.0643 right_roll=-0.0332 right_gripper=0.0535\nstate[joint_eff]: [3.3026, -15.6786, 5.2718, -0.3053, -0.398, -0.0562, 1.0281, 0.5538, -10.6325, 8.6906, 0.7888, -0.5495, -0.0513, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3dcdf43b7f66a1aaa11832e5043d0c1e415a3956dcc8eacc36b18a4a3cc6f58b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3758f8e2fbed878946df6a48282efb047a7b439dcd605b9b79c1f4b3c39ca0fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33fae4dd8dfbad1044f051de00ff74d0c064577887498a104002e7227d071dc0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlAkKEAgSGAI4AUIIdGhpbmtpbmcSDFCHv+mC0jN4CZsQeBoMpEeK3vwmL0LF/v5YIjDSDmR0h3m+GJ0BqHtrKY+hS+6CFWAiLAn9b8Cropxmhdil5p+//bCiXKVhCwOcNQEqsQiRJViYqmi7eq0M+P3tcA/CoZxsZ0e0MM96jPNGRKTdf28w2AShpis6ilLvW14/FhTs6dm12QlShn3hmgFFw/j3x+kRX5lrTL72SMNocszXvxItZeZTLFqH24ZKgbt/DFS48V+ijys4EZ2NRMqudsBbi5JLqlq2AZ1TCARjA66gMMffHa9mb2GpYLuJx/4THvZ43g5RtG5p11GHvpjOhFkxmh9G8YKE70DDfc3WSimDSc2CYO8fZl+Zl4bMRI8o1mNTmz8Ne8nJqysXHHmLALwxLCd+UAIC9K3EAWzOHanL/dmz2pnfxjFZiILW8rBGuCEbGvC4uq4KWi/LBldEmoLIymLnN+gHOYicOKQoDnxpksKW/PojtU9I9AO2sw+iBd32j3jsJ2pEeKUSWYo7tUYnRCYVUchQ1ocLWoTmvUOQj8fLf4O2hPSA1jVoUZLoFHfM3kmIje4U0OY6V2hGv/oLMaU4I7jDsCO+dtwJmS2IH8cLmiJrX7PQ26rWSoGrB7/i6tjNHsgg+6VA5KfTKyoXWyfFmGH3KefzqRNJnPRND9mUciFZ7xrVYmBiv06NdPA3uS11x8kRgGAdQ/XkxSo5L1rgFwmGOpuZaLJ5UfU2Uzr5DMPixZCjXBZrEuYOBDhlmbb/p9mOkYNVZziVxqeth7+V2BoPQCEelTLHwF1eXthGM8NDppRDr4qZRTz9B2qNb4qEgQww/JQ0xcSrpv760Fkf334HQ5LvWWdYdXjhQHM6Ev5vFH6ZO+3jl0KDDb2aQ8wJj+vW8CwMVU5CtzeLIx5Bibc6E0gUpmS6pM61i1/MrdJBsSLn8jdfWpqw8MRzDHPm+roIbpzI9br2ejm9opCJJV0FxJeTKK/CywqVVwl9lBpJGiOsFNQmwcbhXTNU+XBgyH2iD666+GZlLyRTNcRVU41/UT9D6hGSCSWPaa0cnxEPYkZ9OG8bmHXP6+H3I+7ShdZWinRk15dnUrj/jJwrjqiQxE71uQPk7ZTZCG+VswCfF5Ho2QA10f+ZU8LktqHowXqD792790vkanb/8VhMu+RKCHV+lt1UnHzXnfcJpuRa2bTIhw2LHIqXtzKzUYeQ48A4OymT9tEh3xEU8J4bbW7gMIj7yn8qhPP0BKzhHEAw9HvgKhvI6jBYPzNBlqMzJK42OfM7pypDEE2hG9CLp6z5PqT6XLhJraZGSzppyIC/dlA8Vw2YKbiOwGioHaIjwwWdDoM5eYeu5xCd54/JAvJhz6iJ49jnH7nblgbKN8Su8HvD1nWrGjku8BOkq49oWh03l+KYNMSvg/bFWSpb/6YH+7Uy4KDE9ISSmBo6vjDR3fvyxoctCsuHj3TBdAWri0TBYK9rRJ7ErIPIOvpVqzhDRZmNfOGh7pRF2CDskoQeW3uA8tYz4/UBDi02UP0ixaVy3zY7e79JK2sX+xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QgWUxss5gzxCxmzzVeByGQ",
      "input": {
        "note": "Left arm did not track (stuck near y=-0.07, z=0.10). Trying a smaller step toward the centre with more height.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.14,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01QgWUxss5gzxCxmzzVeByGQ",
      "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]: [-0.5045, 2.1223, 1.8252, -1.5581, -0.7254, -2.0937, 0.0666, 0.2569, 1.9427, 1.5383, -0.8032, -0.8936, -1.1591, 0.0585]\nstate[eef_state]: left_x=0.3675 left_y=-0.065 left_z=0.1286 left_yaw=1.421 left_pitch=-0.2315 left_roll=-0.0706 left_gripper=0.0666 right_x=0.379 right_y=0.2456 right_z=0.1479 right_yaw=1.5601 right_pitch=-0.068 right_roll=-0.0343 right_gripper=0.0585\nstate[joint_eff]: [-0.9778, -12.4103, 4.8615, -0.3394, -0.4762, -0.0415, 1.0281, -0.2393, -10.1128, 6.2291, 0.8962, -0.442, -0.0122, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac444d111c60ed3551eb874905958d2b51b6ad9b859e47ba8c7cbeb09572abb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a495a4e48ed3efd95470a9eaa0e65acf72039051371ee947292e0c050f9428e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8b7c4648eea3c32e1dbd20f87554401b2b16e4e9be4af3f1b54fd21bfcdb113d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 25 attempt 0 · /messages · status 200 · 15.65 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4644, 2.225, 1.9251, -1.504, -0.7895, -2.0155, 0.0666, 0.1909, 1.9202, 1.5169, -0.7578, -0.9031, -1.1271, 0.0535]\nstate[eef_state]: left_x=0.404 left_y=-0.0581 left_z=0.1175 left_yaw=1.387 left_pitch=-0.1858 left_roll=-0.0835 left_gripper=0.0666 right_x=0.3959 right_y=0.2215 right_z=0.1547 right_yaw=1.4783 right_pitch=-0.0464 right_roll=-0.0506 right_gripper=0.0535\nstate[joint_eff]: [0.4034, -11.6581, 7.3094, -0.3346, -0.5495, -0.0269, 1.033, -0.8274, -9.5111, 7.5692, 0.5934, -0.8181, -0.1783, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4835, 2.2745, 1.9629, -1.5536, -0.7425, -2.0933, 0.0666, 0.2562, 1.9423, 1.5387, -0.8043, -0.8978, -1.1595, 0.0535]\nstate[eef_state]: left_x=0.3972 left_y=-0.0696 left_z=0.1039 left_yaw=1.4377 left_pitch=-0.2126 left_roll=-0.0666 left_gripper=0.0666 right_x=0.3787 right_y=0.2457 right_z=0.1486 right_yaw=1.5611 right_pitch=-0.0643 right_roll=-0.0332 right_gripper=0.0535\nstate[joint_eff]: [3.3026, -15.6786, 5.2718, -0.3053, -0.398, -0.0562, 1.0281, 0.5538, -10.6325, 8.6906, 0.7888, -0.5495, -0.0513, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.5045, 2.1223, 1.8252, -1.5581, -0.7254, -2.0937, 0.0666, 0.2569, 1.9427, 1.5383, -0.8032, -0.8936, -1.1591, 0.0585]\nstate[eef_state]: left_x=0.3675 left_y=-0.065 left_z=0.1286 left_yaw=1.421 left_pitch=-0.2315 left_roll=-0.0706 left_gripper=0.0666 right_x=0.379 right_y=0.2456 right_z=0.1479 right_yaw=1.5601 right_pitch=-0.068 right_roll=-0.0343 right_gripper=0.0585\nstate[joint_eff]: [-0.9778, -12.4103, 4.8615, -0.3394, -0.4762, -0.0415, 1.0281, -0.2393, -10.1128, 6.2291, 0.8962, -0.442, -0.0122, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac444d111c60ed3551eb874905958d2b51b6ad9b859e47ba8c7cbeb09572abb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a495a4e48ed3efd95470a9eaa0e65acf72039051371ee947292e0c050f9428e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b7c4648eea3c32e1dbd20f87554401b2b16e4e9be4af3f1b54fd21bfcdb113d",
        "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_019Dj52Bmo1xvavkx9ymzQwL",
      "input": {
        "note": "Left arm stalls at y≈-0.065 with yaw 1.42 (likely wrist joint limit). Easing the yaw back to 1.1 while moving toward the centre to see if it tracks.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.15,
          "left_yaw": 1.1,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_019Dj52Bmo1xvavkx9ymzQwL",
      "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]: [-0.6693, 2.1159, 1.9125, -1.5578, -0.7265, -1.9491, 0.0666, 0.2569, 1.9427, 1.5368, -0.8032, -0.8913, -1.1595, 0.0585]\nstate[eef_state]: left_x=0.3656 left_y=-0.135 left_z=0.1488 left_yaw=1.1531 left_pitch=-0.2541 left_roll=-0.0613 left_gripper=0.0666 right_x=0.3788 right_y=0.2453 right_z=0.1471 right_yaw=1.5596 right_pitch=-0.0705 right_roll=-0.0337 right_gripper=0.0585\nstate[joint_eff]: [-0.4718, -12.3009, 7.9521, -0.1685, -0.7546, 0.2759, 1.0379, -0.2256, -10.0718, 6.3248, 0.8669, -0.5055, -0.022, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ca06fdf18372283336fb942f421720624ee8a3611ab1934908894f71ce9729d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4891a1a40fee9dd71722f886f29b2cafb473e5856aa18464e001a7b16e07db00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0a5b23fc78d8a51b2b828851ad79708bf782f975c1fe2a30d8096d4c56810839",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 8.162 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4835, 2.2745, 1.9629, -1.5536, -0.7425, -2.0933, 0.0666, 0.2562, 1.9423, 1.5387, -0.8043, -0.8978, -1.1595, 0.0535]\nstate[eef_state]: left_x=0.3972 left_y=-0.0696 left_z=0.1039 left_yaw=1.4377 left_pitch=-0.2126 left_roll=-0.0666 left_gripper=0.0666 right_x=0.3787 right_y=0.2457 right_z=0.1486 right_yaw=1.5611 right_pitch=-0.0643 right_roll=-0.0332 right_gripper=0.0535\nstate[joint_eff]: [3.3026, -15.6786, 5.2718, -0.3053, -0.398, -0.0562, 1.0281, 0.5538, -10.6325, 8.6906, 0.7888, -0.5495, -0.0513, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.5045, 2.1223, 1.8252, -1.5581, -0.7254, -2.0937, 0.0666, 0.2569, 1.9427, 1.5383, -0.8032, -0.8936, -1.1591, 0.0585]\nstate[eef_state]: left_x=0.3675 left_y=-0.065 left_z=0.1286 left_yaw=1.421 left_pitch=-0.2315 left_roll=-0.0706 left_gripper=0.0666 right_x=0.379 right_y=0.2456 right_z=0.1479 right_yaw=1.5601 right_pitch=-0.068 right_roll=-0.0343 right_gripper=0.0585\nstate[joint_eff]: [-0.9778, -12.4103, 4.8615, -0.3394, -0.4762, -0.0415, 1.0281, -0.2393, -10.1128, 6.2291, 0.8962, -0.442, -0.0122, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.6693, 2.1159, 1.9125, -1.5578, -0.7265, -1.9491, 0.0666, 0.2569, 1.9427, 1.5368, -0.8032, -0.8913, -1.1595, 0.0585]\nstate[eef_state]: left_x=0.3656 left_y=-0.135 left_z=0.1488 left_yaw=1.1531 left_pitch=-0.2541 left_roll=-0.0613 left_gripper=0.0666 right_x=0.3788 right_y=0.2453 right_z=0.1471 right_yaw=1.5596 right_pitch=-0.0705 right_roll=-0.0337 right_gripper=0.0585\nstate[joint_eff]: [-0.4718, -12.3009, 7.9521, -0.1685, -0.7546, 0.2759, 1.0379, -0.2256, -10.0718, 6.3248, 0.8669, -0.5055, -0.022, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ca06fdf18372283336fb942f421720624ee8a3611ab1934908894f71ce9729d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4891a1a40fee9dd71722f886f29b2cafb473e5856aa18464e001a7b16e07db00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a5b23fc78d8a51b2b828851ad79708bf782f975c1fe2a30d8096d4c56810839",
        "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_01Ev8XSo1vr2DKWBwaS9M1Rt",
      "input": {
        "note": "Left arm now tracks at yaw 1.15. Matching the pen's yaw to the cap's and placing the pen on the cap's axis, with the tip ~3 cm short of the cap opening.",
        "targets": {
          "right_x": 0.317,
          "right_y": 0.4,
          "right_yaw": 1.15,
          "right_z": 0.155
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01Ev8XSo1vr2DKWBwaS9M1Rt",
      "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]: [-0.6266, 2.1094, 1.9137, -1.6073, -0.7357, -1.9388, 0.0703, 0.73, 1.8027, 1.2205, -0.2771, -0.3084, -0.3, 0.0605]\nstate[eef_state]: left_x=0.3639 left_y=-0.1127 left_z=0.1544 left_yaw=1.1977 left_pitch=-0.2348 left_roll=-0.0145 left_gripper=0.0703 right_x=0.3151 right_y=0.3587 right_z=0.1039 right_yaw=1.1508 right_pitch=-0.249 right_roll=0.0252 right_gripper=0.0605\nstate[joint_eff]: [-3.7402, -10.1949, 5.3538, 0.5836, -0.1343, -0.0952, 1.033, 4.1641, -11.1658, 10.4137, 2.801, -0.3492, -0.1343, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca457c47b84484cef472d8c24fe704451ffe66f5e310a50ec5fbd3e3f69cdfca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c64b43d557bae7010b8364cc3c3c8d7f5d0285f8813ea247e603b6582757fd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f0d33e1051e29ea27385dd36866ad0be74928e205c33257922206354dae79c7b",
        "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 · 13.3 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5045, 2.1223, 1.8252, -1.5581, -0.7254, -2.0937, 0.0666, 0.2569, 1.9427, 1.5383, -0.8032, -0.8936, -1.1591, 0.0585]\nstate[eef_state]: left_x=0.3675 left_y=-0.065 left_z=0.1286 left_yaw=1.421 left_pitch=-0.2315 left_roll=-0.0706 left_gripper=0.0666 right_x=0.379 right_y=0.2456 right_z=0.1479 right_yaw=1.5601 right_pitch=-0.068 right_roll=-0.0343 right_gripper=0.0585\nstate[joint_eff]: [-0.9778, -12.4103, 4.8615, -0.3394, -0.4762, -0.0415, 1.0281, -0.2393, -10.1128, 6.2291, 0.8962, -0.442, -0.0122, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.6693, 2.1159, 1.9125, -1.5578, -0.7265, -1.9491, 0.0666, 0.2569, 1.9427, 1.5368, -0.8032, -0.8913, -1.1595, 0.0585]\nstate[eef_state]: left_x=0.3656 left_y=-0.135 left_z=0.1488 left_yaw=1.1531 left_pitch=-0.2541 left_roll=-0.0613 left_gripper=0.0666 right_x=0.3788 right_y=0.2453 right_z=0.1471 right_yaw=1.5596 right_pitch=-0.0705 right_roll=-0.0337 right_gripper=0.0585\nstate[joint_eff]: [-0.4718, -12.3009, 7.9521, -0.1685, -0.7546, 0.2759, 1.0379, -0.2256, -10.0718, 6.3248, 0.8669, -0.5055, -0.022, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6266, 2.1094, 1.9137, -1.6073, -0.7357, -1.9388, 0.0703, 0.73, 1.8027, 1.2205, -0.2771, -0.3084, -0.3, 0.0605]\nstate[eef_state]: left_x=0.3639 left_y=-0.1127 left_z=0.1544 left_yaw=1.1977 left_pitch=-0.2348 left_roll=-0.0145 left_gripper=0.0703 right_x=0.3151 right_y=0.3587 right_z=0.1039 right_yaw=1.1508 right_pitch=-0.249 right_roll=0.0252 right_gripper=0.0605\nstate[joint_eff]: [-3.7402, -10.1949, 5.3538, 0.5836, -0.1343, -0.0952, 1.033, 4.1641, -11.1658, 10.4137, 2.801, -0.3492, -0.1343, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca457c47b84484cef472d8c24fe704451ffe66f5e310a50ec5fbd3e3f69cdfca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c64b43d557bae7010b8364cc3c3c8d7f5d0285f8813ea247e603b6582757fd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0d33e1051e29ea27385dd36866ad0be74928e205c33257922206354dae79c7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2goKEAgSGAI4AUIIdGhpbmtpbmcSDPpumJ5m+s1l9KzqUhoMq+r1qNxzEHmJyzs5IjDEKqZBhY12AB+V/rvLqPzy8eUHgXBN3jkpC2TgASWkw94wRL9jiSj4dljUPzWmA6Qq9wleH7pv+g6mjc/oEbcffB5uphG/Uq4pkCL+Fa1OP6j8dE64Amt7qT68JIbUNkC69RBPsrS2tCJs/obGqprk/dFyCn4GuOpteBg97Q7CfgY1njPyGYfRMD05JKG+Z6c3sstrH7JM5o75sw/awX0CpEXkv00McPwN84/SDiobnNbGFhZfpG5UiAzGxJxlkLW02unWquXm9HE5HsqbvZRasOGTqpcmHPL1xvW2FgoI/o/8eCs4oSjZJyyUqvVOZixarOg25eZk0YTZfaGZ8KTNAUazw9UGZJrZ74FUQU4WMlJEoI34Rv6+w3czmRPozL6RhaGT1h1HpRCP/pgQ5B/6CS9gFJxdBREASIDSb1yowzN+MZeyaw1y0HiRFPgWUKSsE4f2n2VVp/KEl0bX3/hH9SyFq/6mykcpjdvU2dGoywAYPBc9XuYZTldjAiCbSMijb5fcMb5K6OHod0sP6WBMBRkWZ2I3lOtttQ6cgcNJow6PYLTdBZPYPTHu2VltrSBmW7Z5SD2JssUJAmMPYQM+jYqj7uTr0TqzxiX23p/UHPUPnSOVyGSGdZq1c1HOWXNy2SLTvaplz6+MH09BMroFRYkf2YL1qsb0TxEa/d4sDl7R2qraunNF/mQEfzFo5CkVUj1h9Ci57Hrgzl5wBzzRg5RsPvjsgimyK5TP9CJJn6sivEpJT7x40VosuzKaFO7NXo2vR3/tN9dxyDm8xHpwvfYnAHwIwntYjBccTwxdNuVD1neaRu5gbn4SRy3xH5cUkXiQpDppHPCsDXFo0fqjhWYacDqoxICahrdG+yLPmhBP5Gno2gkTU/xhXfNfauQ7a+8m4iCx2qN66EkkaqV1tQ/lVK4olac9leQEhfVsFd4goTCpAdSwL+sQWe8gJviV6kKyHdemLmqL00uHHUWHgQTFfB10tSogF3SUztPadEAWr/1bXGTvIdlAPGBE+cqAC7uE01qpyu/f0acGpeN3pTl6fztOomojzpo8D+sCHAQRSFs91lgxXpG3N8xwTU0f/0gXB1oMoP1tWP/Bl61nDPe3J7uESAukeQx8somMDIhH8WJ/7K4HUgE9VmWPHyaYm1LbgRlVQ3Wzi1XNUkh45K0c3rPrAVh2NC7k8NqFOdNOruA3c3n8s9cj29dsp/4q7yfolJGQysw0hjpucP1CWQzFuwSPyQDR3Gil9eLqYAg8qkk3OyXpVWVfaDpSXzwHuZpVOwUTYmLG9LxMn2d3EmEHz035xxRNZpsN6XbhPoquLTPzYlsNI9pOVSvr5ywH/8IKIrcOafmD4PYz8aHAKhULj/I58vPYkv70FrKU5I93hteeTloj5DQaZUraBmCBQAVZXozkwj48aFUuNQHeThymsEsD/hOatXkw99Ns2ZO7qjtqzLQ3TpwcZMCV6bcREHtYQr9cLoMics8CRuA4lpvrAVv0WFkstoDifKfuQpj3nkKnJ4Cpc9v9koZzvufUEkhhkFTZTyROcnO6pJaJ2LSVJibimFUFq+r7H9iE3GJgTZ7STKvY3xwq53SmnNSBHb01vuTGV+7vt/0vSVhQqDXMAIktdJKSQszwqlyUmnSdMGXNsdwme0DazFftHtpLLZ2pKj7kpItOf2Sa2sOmOdz/VSZfwJOqzsnRL5RdeNSkib1noOiP1T7qoD6XukXKttSgVOFWMU6637XQDhc8/wsLEgs2rTsKDRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RKk1UDUUnd5VxCqhNQiR5v",
      "input": {
        "note": "Right arm stalled ~5 cm below the left gripper (arms nearly touching in top view). Raising the pen to match the cap's height.",
        "targets": {
          "right_x": 0.31,
          "right_y": 0.36,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01RKk1UDUUnd5VxCqhNQiR5v",
      "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]: [-0.5957, 2.093, 1.8801, -1.5784, -0.7399, -1.9354, 0.0703, 0.7353, 1.7981, 1.4216, -0.7227, -0.2779, -0.3035, 0.0605]\nstate[eef_state]: left_x=0.3666 left_y=-0.1003 left_z=0.1523 left_yaw=1.2228 left_pitch=-0.2338 left_roll=-0.0249 left_gripper=0.0703 right_x=0.2902 right_y=0.3327 right_z=0.1213 right_yaw=1.1702 right_pitch=-0.4778 right_roll=0.1046 right_gripper=0.0605\nstate[joint_eff]: [-1.7573, -10.5094, 4.4786, -0.0855, -0.3394, 0.0317, 1.0379, 0.335, -14.3111, 13.7231, 2.7521, -0.4274, 0.1001, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d305a57a810673a6bc8cd1864878c6015e78c15df125b1d2da1bb5375fc80d3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ef74cb273adc254c6e614f0774075e2fe3d0009b5190743535676f9719537d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6c6a76d55a139665123f54c32ad7101cdf69ac79df69b8908f18cdc058f959cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 12.38 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6693, 2.1159, 1.9125, -1.5578, -0.7265, -1.9491, 0.0666, 0.2569, 1.9427, 1.5368, -0.8032, -0.8913, -1.1595, 0.0585]\nstate[eef_state]: left_x=0.3656 left_y=-0.135 left_z=0.1488 left_yaw=1.1531 left_pitch=-0.2541 left_roll=-0.0613 left_gripper=0.0666 right_x=0.3788 right_y=0.2453 right_z=0.1471 right_yaw=1.5596 right_pitch=-0.0705 right_roll=-0.0337 right_gripper=0.0585\nstate[joint_eff]: [-0.4718, -12.3009, 7.9521, -0.1685, -0.7546, 0.2759, 1.0379, -0.2256, -10.0718, 6.3248, 0.8669, -0.5055, -0.022, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6266, 2.1094, 1.9137, -1.6073, -0.7357, -1.9388, 0.0703, 0.73, 1.8027, 1.2205, -0.2771, -0.3084, -0.3, 0.0605]\nstate[eef_state]: left_x=0.3639 left_y=-0.1127 left_z=0.1544 left_yaw=1.1977 left_pitch=-0.2348 left_roll=-0.0145 left_gripper=0.0703 right_x=0.3151 right_y=0.3587 right_z=0.1039 right_yaw=1.1508 right_pitch=-0.249 right_roll=0.0252 right_gripper=0.0605\nstate[joint_eff]: [-3.7402, -10.1949, 5.3538, 0.5836, -0.1343, -0.0952, 1.033, 4.1641, -11.1658, 10.4137, 2.801, -0.3492, -0.1343, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.5957, 2.093, 1.8801, -1.5784, -0.7399, -1.9354, 0.0703, 0.7353, 1.7981, 1.4216, -0.7227, -0.2779, -0.3035, 0.0605]\nstate[eef_state]: left_x=0.3666 left_y=-0.1003 left_z=0.1523 left_yaw=1.2228 left_pitch=-0.2338 left_roll=-0.0249 left_gripper=0.0703 right_x=0.2902 right_y=0.3327 right_z=0.1213 right_yaw=1.1702 right_pitch=-0.4778 right_roll=0.1046 right_gripper=0.0605\nstate[joint_eff]: [-1.7573, -10.5094, 4.4786, -0.0855, -0.3394, 0.0317, 1.0379, 0.335, -14.3111, 13.7231, 2.7521, -0.4274, 0.1001, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d305a57a810673a6bc8cd1864878c6015e78c15df125b1d2da1bb5375fc80d3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ef74cb273adc254c6e614f0774075e2fe3d0009b5190743535676f9719537d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c6a76d55a139665123f54c32ad7101cdf69ac79df69b8908f18cdc058f959cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5RcKEAgSGAI4AUIIdGhpbmtpbmcSDB3Qf+ouLqx4a5K5wBoMuFujr7Z+EXSf7qNVIjBUVoQ8cKHmZTzf1TpK2e16BEw0ZalOGq7KGpf/zQlmcLiYXJe6CzI+H0PaJdcqPJIqghdUYNyw7p221eoF7vGcc20mrE0bYRjc3U3x+85PXv+qsp70SmZIaya9YnPEngsX8/p1PUzRw/iEy0Gng0EyMA/4m5CzP0nnEa9mIYdZ7kVp2LI1MyACVKWJGavCIv42ikLXxTkK7K77iiCRj7kFGNEuqwYvvY3FUK3bkFQa/cZL3CL2BNQcEzupy13Wgs65DaCH/0DwM7NpbQAI1uMJDXgoCPhiOXs3uy1wF23VnBn995YFDz7Qmv6VYSaW8sezy47c7b1xln+iiD6TYvPqWqoSU1asynJ8lYiMtL0+JUGJ00MPEUn31dPXdsVXM42AgKSvrk1BIDtqJoaApUE6eJvPfryLunwbCm9puWjtAKU0g3PGsV8UsTGUsRyKmez1+BpoU/aSDboYkFZEx7TLwVXebhFkXTl/fFwC7HEr7USbOECFNPsQoG7hB7mb9C2/EfvMZpOWTPdl7FoFWt8KNz9nneTSZYqYPB/3kZlTm7vMDBtJl7G/02mYZP5q52fjGOYFgXsjVoJN0yUurjezum8oejAL4cLkvCBWuHilBeNJKmqYJUnSTBAW7+oujT1pd/OY7SctXOKMdFc0aelubQ6Qoa354BaEkjnsZORZDRo64kgTBlUtOPl9Trhh85nWC1nRyJ0OLdPxXrXumyUkszo18LBmeHmlQBpm1z0lpW2DYq2C7jfqD1XY0USXpN2Z4h7VQOX1xYYtE6HZskeemY4uecpWguRTl7RquuSDs3Q341IVI40XLH7VcBKVYgO6OuY1ssITuKhoR3VZqE2ivlCGZpQCpxTj4em7rwO/8F8Hx0jZ22hnQUSmL2jK77CC+jQjd2LexqPYrwyhAlAtWNfGYUWmyv5dFCCEFlCjQabOwsAH8J540NsSvDzSY1a55+4n7RNgu5u5mCIivuPoNAhPbOr1tNmQFy56hJrk02ihBcpFlA6NAFtJ520L/oC7UnmrrnEv3Kgsos7MCcPAWijz0qiZixUuAW43yRhtsTdNu3777vksjjYYjc3d/OMm9MoTVF7U0mqe7qFwBYYSi8nuSBCPckuHiZnYr1Q8QUEjJrkHaNbA30WHwyv9uek0RmaufdXhmM+V86e367iPbbrTAMsGPJ5zpMaOPyZm9nCoElpQZVLR5+35wlDAa/wIHNsYJtlNCzOCnDowtu0lQZzxhvXVdDZB6Jz/tqOcPqrvf349NVS748dPY0D8iTRSfGtdr/2uiKqR7Qkn8n/XdqRoYEneUcjrr8tn5tV4pZCKtrPLWNwoQBl/N8UxhJZVBeKbLGqYHsaLDHlUnCRp88ZNOaths1DTuFuOx9rbF9LDUCVbP9mez15toaClNM4Y7OITpkqfK7iTLKGIZAl5OXcmKuIWI1vU6UvYeYnwvTi7b/u5R2Fqe6VRPTYO4t07bNAqpc/e+KYsPFlW6YwTD7YCsQ3Z91+cqyyPEM+cMHLJK4qNmgHzAf1vbi7D4sUET0y5hkxVZLWcNmmTpr2k+bAAF6+l5w5eHQpW6jobR2aFDSz+tU0bZRXsPOKx43ZMdG7DZSPN9aqqqqD4BlMLzhm4qRjmAvgqfy5qEMB3rR7BVKMQYSKGM6ZUJOZtSNbxGXcpMvwIjiAwSbAVQ6/NTU3QeEx7Knfw+vMv1F2zP6co7b5Lc9RT6qMTj6HR6JtsVx52K3OcjGEL0PgaImwZ65KLOqao6IMKevXgbF9kl5ZP55fyNU+b9o4gpKS22p1WQANsy1JTVo0BWF1aJ/AoPw+BGSpFB2i/uzRyOL1nyfYKr9EUyYWPQBvwVdJ+6OTIlLapwXiN5vY+vpJjqAR3B3fHrMva0xgehZhJOTuDwAv1QOCPxifzCuGP+na3k8QgJDM6PvIG2VCcWBS4sYzgFVL841YEF/QVdQgAip/d/CfoPt4AIbCn0tkr24UiIONEdaglgMwGTyupvJbYjdIfY/9GToGwe6BF4LppwW6W0kvxuVlyDgeUE8f3X++Ogrs64GeYI/2hN9hlK1yuBTwKWiqgN1p+5KJxKRFVqd3FgUZwISvOxdoocmAtQuPNSY/nnxWkSqOFz2w0TNsAwBsFCMfrFeqLBAvzN6Y7ml7VerIkpvzcAy+ILXfPmsxQvdAp86SU/2LqJ/b6WBEFIxA77Hljg4lrOr11sJajuI0bXSttkF+alvIq4FR+FtWf+NwX6kVL1ypRK1JecF7+FHgqG0Qg2yZY9lG+dcaim/0wf1ngcQOsFbpRYRdxnFPx15MaenIs08UhXIf/XossQL/ARW6aMoult4Vhwg5orXfQu9seJzvJuPUkgw8YrnstxZOkyd1/wyU9vedRddL+TQJQP6nOURGFtJeAaBtd+4m/AYV3dK0erZTtx3A2cYczO39rVztKibP4JpxcetaQ+GAy7xZzyxqpgc9TZbH8VdAqnYMR14gGnaesIy0VWl9rynOaa5VeCLWDNC4uFrmt9fg33TgVuk9w1L0+qtnfdPU+0x5JCRAX/F6krSxVJPgU5AsqfeS8GqTZ851JOCc6K4tH/XmvKZICAVlYp7QpKg6y5Fb6MuJgKDQv5hysXfrk01wo+tfSlaLa5RYQcUJ9RXZle5z6VdWrs/+L8R3U8TPm2nlWbKsYTduncUcQ9twrtm6GDdfiHDlmVip0O1uPaHuWpyQRdaysJXfnL+yXVoiYRbSdtcaE1VkyHGvDwbHhCQ3YUcOhiavEQx+vWBRpUY7+woGvEini+PeWH9ydFxEj2OMAOGUVycjbAThO6N+LERSF+6OYn7B7VqegXuaaKrTALSd7uD00br4sO7rzd7FSI4IpSEJEH9wsrWXHcSdM6WeoHfAF0SePmVSjmiVTwx3MK5DjHSzx3jEX8CI+Q6mXwDYnnH3t97iolQ/ndHgf4Pr+KlgVUzdBlUdvZ4zCeJ3Q9e8lcj5yOoXMfpbt60/ZlFgbyhTrqlhI0seJAZowkHuUBEnO9okwyCLiBEK/rj4cP0MiAOaqEjrdSFIpwcGQyvYOlWENAjDRNTziqJRptxqeijyPFelxb25gdpLQWEjxdkeeJBh5EttgvMfgnnnjfwoPnlN++PkUHjRQjJDI1a6Q7GgUAeqwJPzFysztZytES0ydVptBFKm+4J5COPNzBCLls78+RW4wSlAITxu9ve/qim6Rbcrl77xEWpfPJY6fytrsMxnS8StIcbyrCvzFceNFfjH+C+Ik/2rsWXCN7BHXbifUqnm8gweT27VtoK2JpmyH0VoSAeJiSAm6Grxfyj9JONbleI0UUTdzjfwtI9c9R5dPsFLeUxakZFQMGznaWJtbTx822J037Ww0UVpIp5asIPTV3Um2emw3L3/yUW2Mef7IjePV1v2xeH/YCIWs2Lbtbi17e3g0hR9kdO+3m2MZufEQJmOeqO+Xg0BlgezQw+cObVyoZBXWNOfH2JfUF8LczWc4oc9oLsyGwYZXQiAk5qxNVX0blXUd7jLFHq16xK5W58niTyXURmeJW6GqvxT2ix9VF+cJD0HIZKisW2PZbbT7LB9IWIyeJanB4ZwuSe21KZBpVqwK0VCfYKRu8w0Pb80HM1Fzb1/IbmfRe0JUNVLDXZDGEzb0LwPLoStIHE2x2Q9Ye4nmDD2k46Va5ORRlVf1jIfJCZItQNOK95x0NEAdfuERcMG5AUxlhqvjELd0sbxDtIpuIna/XYjELKCktKeDl/55EPtjJLbvMLZPhrYjl+9SDL2xXtXXqoGENnKukrOt+ysESZQccYMbpOlMoRnt/ioTYIQ1F8sAYfWHPVjZtmIZoYf9NcTujFkG63nFvDv5QykSnz6AlIuh+/bw2l2/2ssvGYJK0Y4+DipoZ0aRx6h1mIoLbxLMuCyJ7qbo4Pa+Urxndu1sT/+kXehxA3mJnEtKSoxqMgIOxZyZZd+dsMOa7o0Ikcc7AVGihnXIIODmpL8SyNKMtJ5nu0LojnYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012SpZscnRQkUeFHDYSfipB8",
      "input": {
        "note": "The two grippers appear to be touching in the top view and the right arm is stalled and pitched; backing the pen arm off to separate and re-assess the pen-tip/cap geometry.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.33,
          "right_y": 0.28,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_012SpZscnRQkUeFHDYSfipB8",
      "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]: [-0.5941, 2.0865, 1.8751, -1.5661, -0.7319, -1.9354, 0.0703, 0.4721, 1.552, 1.0729, -0.4404, -0.4763, -0.4057, 0.0633]\nstate[eef_state]: left_x=0.367 left_y=-0.1011 left_z=0.152 left_yaw=1.2232 left_pitch=-0.2447 left_roll=-0.0366 left_gripper=0.0703 right_x=0.3158 right_y=0.2562 right_z=0.1358 right_yaw=1.0916 right_pitch=-0.2319 right_roll=0.0965 right_gripper=0.0633\nstate[joint_eff]: [-0.3077, -10.3726, 5.1761, -0.1245, -0.4957, -0.0317, 1.0379, 4.506, -6.5162, 8.1709, 1.9463, -0.8816, -0.1197, 1.0085]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c92c57d546103d486279a0a4d0be0b17c14adbe0a02039f847a61444847d5838",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c5f4920c476596396da01e4b5430f5cb63fe145045ffe71037e80d023c8c8d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:12655a3e7f517bcf7273c2ea4e82322fbd418c0479f9ba9dcd2e5820cd99495a",
        "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 · 8.055 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6266, 2.1094, 1.9137, -1.6073, -0.7357, -1.9388, 0.0703, 0.73, 1.8027, 1.2205, -0.2771, -0.3084, -0.3, 0.0605]\nstate[eef_state]: left_x=0.3639 left_y=-0.1127 left_z=0.1544 left_yaw=1.1977 left_pitch=-0.2348 left_roll=-0.0145 left_gripper=0.0703 right_x=0.3151 right_y=0.3587 right_z=0.1039 right_yaw=1.1508 right_pitch=-0.249 right_roll=0.0252 right_gripper=0.0605\nstate[joint_eff]: [-3.7402, -10.1949, 5.3538, 0.5836, -0.1343, -0.0952, 1.033, 4.1641, -11.1658, 10.4137, 2.801, -0.3492, -0.1343, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.5957, 2.093, 1.8801, -1.5784, -0.7399, -1.9354, 0.0703, 0.7353, 1.7981, 1.4216, -0.7227, -0.2779, -0.3035, 0.0605]\nstate[eef_state]: left_x=0.3666 left_y=-0.1003 left_z=0.1523 left_yaw=1.2228 left_pitch=-0.2338 left_roll=-0.0249 left_gripper=0.0703 right_x=0.2902 right_y=0.3327 right_z=0.1213 right_yaw=1.1702 right_pitch=-0.4778 right_roll=0.1046 right_gripper=0.0605\nstate[joint_eff]: [-1.7573, -10.5094, 4.4786, -0.0855, -0.3394, 0.0317, 1.0379, 0.335, -14.3111, 13.7231, 2.7521, -0.4274, 0.1001, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.5941, 2.0865, 1.8751, -1.5661, -0.7319, -1.9354, 0.0703, 0.4721, 1.552, 1.0729, -0.4404, -0.4763, -0.4057, 0.0633]\nstate[eef_state]: left_x=0.367 left_y=-0.1011 left_z=0.152 left_yaw=1.2232 left_pitch=-0.2447 left_roll=-0.0366 left_gripper=0.0703 right_x=0.3158 right_y=0.2562 right_z=0.1358 right_yaw=1.0916 right_pitch=-0.2319 right_roll=0.0965 right_gripper=0.0633\nstate[joint_eff]: [-0.3077, -10.3726, 5.1761, -0.1245, -0.4957, -0.0317, 1.0379, 4.506, -6.5162, 8.1709, 1.9463, -0.8816, -0.1197, 1.0085]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c92c57d546103d486279a0a4d0be0b17c14adbe0a02039f847a61444847d5838",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c5f4920c476596396da01e4b5430f5cb63fe145045ffe71037e80d023c8c8d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12655a3e7f517bcf7273c2ea4e82322fbd418c0479f9ba9dcd2e5820cd99495a",
        "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_01Ei9SCMoeNNhJthxyuV4qwC",
      "input": {
        "note": "Arms separated. Matching pen height and yaw to the cap and stepping the pen 5 cm toward the cap to gauge approach in the top view.",
        "targets": {
          "right_pitch": 0,
          "right_x": 0.32,
          "right_y": 0.31,
          "right_yaw": 1.22,
          "right_z": 0.175
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01Ei9SCMoeNNhJthxyuV4qwC",
      "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]: [-0.5941, 2.0865, 1.8732, -1.5589, -0.7254, -1.9354, 0.0703, 0.5179, 1.5879, 1.0687, -0.271, -0.5938, -0.3771, 0.0635]\nstate[eef_state]: left_x=0.3673 left_y=-0.1024 left_z=0.1505 left_yaw=1.2236 left_pitch=-0.2522 left_roll=-0.0403 left_gripper=0.0703 right_x=0.3137 right_y=0.2966 right_z=0.1528 right_yaw=1.1982 right_pitch=-0.0773 right_roll=0.1108 right_gripper=0.0635\nstate[joint_eff]: [-0.3214, -10.6462, 5.8325, -0.1685, -0.5201, -0.0562, 1.0379, 0.5949, -6.8034, 9.894, 1.6923, -0.4615, 0.1832, 0.9451]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66065b3edeecb417df623fa00380eef556cd06d1ba058c6a16d3fd4a7f5a82df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c030a183d9cfc2cd592bdfc2f607d06f1c7eca876fea5b17f42cdd7225aeded2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:428973edabb6be85e7fad5a277ce2d625e47d5f548afb83f275f976429bbfccc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 7.83 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5957, 2.093, 1.8801, -1.5784, -0.7399, -1.9354, 0.0703, 0.7353, 1.7981, 1.4216, -0.7227, -0.2779, -0.3035, 0.0605]\nstate[eef_state]: left_x=0.3666 left_y=-0.1003 left_z=0.1523 left_yaw=1.2228 left_pitch=-0.2338 left_roll=-0.0249 left_gripper=0.0703 right_x=0.2902 right_y=0.3327 right_z=0.1213 right_yaw=1.1702 right_pitch=-0.4778 right_roll=0.1046 right_gripper=0.0605\nstate[joint_eff]: [-1.7573, -10.5094, 4.4786, -0.0855, -0.3394, 0.0317, 1.0379, 0.335, -14.3111, 13.7231, 2.7521, -0.4274, 0.1001, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.5941, 2.0865, 1.8751, -1.5661, -0.7319, -1.9354, 0.0703, 0.4721, 1.552, 1.0729, -0.4404, -0.4763, -0.4057, 0.0633]\nstate[eef_state]: left_x=0.367 left_y=-0.1011 left_z=0.152 left_yaw=1.2232 left_pitch=-0.2447 left_roll=-0.0366 left_gripper=0.0703 right_x=0.3158 right_y=0.2562 right_z=0.1358 right_yaw=1.0916 right_pitch=-0.2319 right_roll=0.0965 right_gripper=0.0633\nstate[joint_eff]: [-0.3077, -10.3726, 5.1761, -0.1245, -0.4957, -0.0317, 1.0379, 4.506, -6.5162, 8.1709, 1.9463, -0.8816, -0.1197, 1.0085]\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 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]: [-0.5941, 2.0865, 1.8732, -1.5589, -0.7254, -1.9354, 0.0703, 0.5179, 1.5879, 1.0687, -0.271, -0.5938, -0.3771, 0.0635]\nstate[eef_state]: left_x=0.3673 left_y=-0.1024 left_z=0.1505 left_yaw=1.2236 left_pitch=-0.2522 left_roll=-0.0403 left_gripper=0.0703 right_x=0.3137 right_y=0.2966 right_z=0.1528 right_yaw=1.1982 right_pitch=-0.0773 right_roll=0.1108 right_gripper=0.0635\nstate[joint_eff]: [-0.3214, -10.6462, 5.8325, -0.1685, -0.5201, -0.0562, 1.0379, 0.5949, -6.8034, 9.894, 1.6923, -0.4615, 0.1832, 0.9451]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66065b3edeecb417df623fa00380eef556cd06d1ba058c6a16d3fd4a7f5a82df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c030a183d9cfc2cd592bdfc2f607d06f1c7eca876fea5b17f42cdd7225aeded2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:428973edabb6be85e7fad5a277ce2d625e47d5f548afb83f275f976429bbfccc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSmA0KEAgSGAI4AUIIdGhpbmtpbmcSDJaqJnUel4wV99GZ7xoME98Mrli9RI6c3SWBIjDn/FicEimXyH07PPBa4DAbSVA5wt5yws+Ro74GCkFaPn0svxiIprhY6HBP2Di26GkqtQyOBFzTEQKN6WHOh48hDVV59Lt21FTIXTh3LqodqplBrNYWX80mGUTqG0aYHA5EeitmZ0CKpFVfsu3XV/nac2lN1KQ4Vc1MFWaTT55EHDCEnuRpFK9AtcxDbyzQEbWO0VoQuMFcqpVQKPduAfOIk3mzcoiDXdDnI134p0LJdT18Bt9CCIOXZLms9GVbGCRpyJv5cgknKrsPBlllJTwijGIgmR0MglJky2HI1Zn8gHYWv9KGxBA5MGdjkS0rDgKR3e5+HUee2K7nMWcFA1+joi/p9E2r2sVLoRM7P6o+trxHq57EDHXgd1JRE50A+SeDT0fuzLkFVbuHKpW2oo4PCckZOjbZY3veN5VP5UTjF6O5uPlHui91jK1APeqFFgNlRimizQAMvakeXfIwd4RQz9B3OfBxA4Y7tBLJXbaT+Vo3q1MNYeERjiLmKD1yGMdgqrEu3ULrvN11U5brpOSRgiVb/IR1pt8dhNMWMmMAWBs9T1uVzEE2V9QoS9aP5Ta0pfE5bf4EGUfX9COTB+4swiT1tDrEQM+vxLgV6TkRAxtLLX5CKSbp7F7p7jadI6jHNLM4LThEc0LdzxOZYErrVm7PIt1bBnmIwrLUDOk+6fB4+PyAhWXPPRxZSgEf3wCVxWLB6qtJ8Y6GBa3qM0UpWyoDd9Z7t8aU0csl0HqAaqj+26JMYS6MsUgLxYukFwLtB/O9sx3ophTL0YprVlsAD6wbY1k2CojFH4kwP9lxw3W1K6ecfgK+a5lEEhsbAdqc+19k3Kd6SVcZtkJbOuOa+SYSyaIoxs8hkC3Ra4mx12sIi3H6LMm7mQlXEG2WKd/ErWxgB6yV2/Pw05ojaUZqrRZ+Mmvce+2GU9oNplBU+l32MgI8xktjdrfJJJYglCFT/XlAZTlxPmzVXllkv7lMKrJIba6WOeM7vA+Q8asCmHhOSoBkuB7B3WBOz6AbUeGImvoLPKQmmlnrw7Gbsjj/qFhw7OLGvXlkO6K7BJZ2JWELXOPW35v17PgKJj+ap9fxzuUEk7vrIQy6kQ2t4PpvQTf3pAJE4SdQcdjHlJBvZvrMyBW/eLdz++uj6HYhI2thq2hAZ0cHMIngejATSMxs1WZG8PXyrsEVF7iGg8GbzAcRotrxUxXqAIJWvozDppYtmlglcJqpSy4X3o5K4DahIYqBdxC+2WJaFaan8k+/JaaS5FIxoY1+5mnkVgw/PcB863IfSq5KHKXFEnnRlB9T7Oa6UHF7ihecmup7eXJ4TWTqXV9VPIzGhcoysNHJRqlaGJ3zXqzOt7GHWS1cotfW/6FOASsuUZzyjb1wJNU0oao2kXs054ny93v/7C85StKYcqie1cfhmom/rudVvYLdZ6XYjCUhvTPf+o730q0EZd7IiosQyYoPr7/JL9HJhHur8cB4PaSD51FTWrQIPyGke/d/uxCZi2kx5jKW5iNopsxJCGyZptgJni9MhEErGCS1Fu5zVAz33XZVRvh2F/E27KcODghB97Hgl4DC573nGM3xD0xGd3Wl03y/Yg6yn13kMoApe2zpqwsKka/DPFlAuDMPCbiJ6IvfullLql8fUe30xtPDGgYe1s7XdNUXyCJAGlGQM4/TVCrELnMtVuTMohfEoYNFIZBv2howzoJGcQK7IMkNTgkBhv2Muew58ClznYW7d7QdmiSpemU39Jg8A491rz9u9Xz17vBxN2Mp1EcYXXKk7tVXo9ZCNVPTLmN0xSDu2G4IVYos7tyy1f7Jek8oreXSoR6EHZl7suMsTNzMGn+z4sduSJItUjvkCqHmC1RxZ+8af5s3kVG/kH8n8TOIMeSDfux7dwDlzWZW8ikGHDuGi2+sl9x80cQrMGQaeDIj1pprtqnk67gmjNEhR1VMUYrnd/Om9wHqJLdsd4P+R0Qww8+S/2hBO4jqi8nuJlenodjAzjNmdXdipYWND+K695dOr7g6eCexNzefnC/NCLXm20TJFJisQB8y7nOmUWhIcIbGWDcqiO17phChahD4OM9sz4HYMzSEGylJC2Aj8A52jPWzjshtJ3NpyKktWR6JUv8oGQKnjAE0cqjcKiPVrREAhL22gGPZ37c4OH04UV6ZPwYic7sUiPIFBHfxeiocZwSuCxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XuPfeEGvW3iox2hppsuNtg",
      "input": {
        "note": "Top view shows the pen tip level with the cap horizontally but ~4 cm nearer the base; backing off in y slightly while shifting the pen forward in x to line up with the cap axis.",
        "targets": {
          "right_x": 0.35,
          "right_y": 0.28,
          "right_z": 0.175
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01XuPfeEGvW3iox2hppsuNtg",
      "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]: [-0.5941, 2.0865, 1.8732, -1.5558, -0.725, -1.9354, 0.0703, 0.4416, 1.6604, 1.2068, -0.3679, -0.6331, -0.4313, 0.0635]\nstate[eef_state]: left_x=0.3677 left_y=-0.1027 left_z=0.1504 left_yaw=1.223 left_pitch=-0.2533 left_roll=-0.0433 left_gripper=0.0703 right_x=0.347 right_y=0.2836 right_z=0.1661 right_yaw=1.181 right_pitch=-0.0789 right_roll=0.1091 right_gripper=0.0635\nstate[joint_eff]: [-0.1162, -10.5231, 5.4359, -0.1538, -0.4274, -0.0366, 1.0379, -0.3624, -8.1299, 8.1846, 1.0965, -0.5446, -0.0464, 0.9792]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0163bcc0927526d39dd44ac522e697e182ca0c5cb8dc7ebf96c704c1dfef4c3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d104cce4b3428bdd1658ead1ccb66438efcc35bc008552571a8b70011cc2f2d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2bc8426804927ea8ca244670b77f19cda95c655612a479d0d5c6ccbbbf5b4beb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /messages · status 200 · 12.5 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5941, 2.0865, 1.8751, -1.5661, -0.7319, -1.9354, 0.0703, 0.4721, 1.552, 1.0729, -0.4404, -0.4763, -0.4057, 0.0633]\nstate[eef_state]: left_x=0.367 left_y=-0.1011 left_z=0.152 left_yaw=1.2232 left_pitch=-0.2447 left_roll=-0.0366 left_gripper=0.0703 right_x=0.3158 right_y=0.2562 right_z=0.1358 right_yaw=1.0916 right_pitch=-0.2319 right_roll=0.0965 right_gripper=0.0633\nstate[joint_eff]: [-0.3077, -10.3726, 5.1761, -0.1245, -0.4957, -0.0317, 1.0379, 4.506, -6.5162, 8.1709, 1.9463, -0.8816, -0.1197, 1.0085]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.5941, 2.0865, 1.8732, -1.5589, -0.7254, -1.9354, 0.0703, 0.5179, 1.5879, 1.0687, -0.271, -0.5938, -0.3771, 0.0635]\nstate[eef_state]: left_x=0.3673 left_y=-0.1024 left_z=0.1505 left_yaw=1.2236 left_pitch=-0.2522 left_roll=-0.0403 left_gripper=0.0703 right_x=0.3137 right_y=0.2966 right_z=0.1528 right_yaw=1.1982 right_pitch=-0.0773 right_roll=0.1108 right_gripper=0.0635\nstate[joint_eff]: [-0.3214, -10.6462, 5.8325, -0.1685, -0.5201, -0.0562, 1.0379, 0.5949, -6.8034, 9.894, 1.6923, -0.4615, 0.1832, 0.9451]\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 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]: [-0.5941, 2.0865, 1.8732, -1.5558, -0.725, -1.9354, 0.0703, 0.4416, 1.6604, 1.2068, -0.3679, -0.6331, -0.4313, 0.0635]\nstate[eef_state]: left_x=0.3677 left_y=-0.1027 left_z=0.1504 left_yaw=1.223 left_pitch=-0.2533 left_roll=-0.0433 left_gripper=0.0703 right_x=0.347 right_y=0.2836 right_z=0.1661 right_yaw=1.181 right_pitch=-0.0789 right_roll=0.1091 right_gripper=0.0635\nstate[joint_eff]: [-0.1162, -10.5231, 5.4359, -0.1538, -0.4274, -0.0366, 1.0379, -0.3624, -8.1299, 8.1846, 1.0965, -0.5446, -0.0464, 0.9792]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0163bcc0927526d39dd44ac522e697e182ca0c5cb8dc7ebf96c704c1dfef4c3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d104cce4b3428bdd1658ead1ccb66438efcc35bc008552571a8b70011cc2f2d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2bc8426804927ea8ca244670b77f19cda95c655612a479d0d5c6ccbbbf5b4beb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0193cKhUFU2Bv3BZynjhrkmu",
      "input": {
        "note": "Right wrist cam now shows the left gripper just ahead of the pen tip; pushing the pen ~3 cm along its own axis toward the cap.",
        "targets": {
          "right_x": 0.359,
          "right_y": 0.312,
          "right_z": 0.175
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_0193cKhUFU2Bv3BZynjhrkmu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5877, 2.0865, 1.8729, -1.5604, -0.7212, -1.935, 0.0703, 0.4831, 1.7214, 1.2823, -0.411, -0.6052, -0.4137, 0.0635]\nstate[eef_state]: left_x=0.3672 left_y=-0.1002 left_z=0.15 left_yaw=1.2315 left_pitch=-0.2557 left_roll=-0.0371 left_gripper=0.0703 right_x=0.3493 right_y=0.3008 right_z=0.1615 right_yaw=1.195 right_pitch=-0.1152 right_roll=0.1266 right_gripper=0.0635\nstate[joint_eff]: [-1.265, -10.5915, 5.5043, 0.1636, -0.569, -0.0415, 1.033, 0.4718, -7.665, 9.7299, 1.6679, -0.315, 0.1197, 0.9988]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15c0dc39975a8929b29253aff772157f5b3a49ed538a7725663df5ea84ba16e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:274e0c838dfd7f7b9350325d889af4b5e55db63945f428ea4ce384f916013cc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0ba8cc7474ba1fdb4c03dd9e6630164fb1bd0517389972b31449d898cdbb6425",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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