adhoc - adhoc_fd61e0e4.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.anthropic.com/v1
depth: render
effort: medium
image_horizon: 2
images: always
max_llm_calls: 40
max_output_tokens: 16000
max_speed_frac: 0.25
model: claude-opus-5
pre_check: null
prior_learnings: null
prior_learnings_sha256: null
replan_interval: null
speed: null
temperature: null
transcript_echo: false
wire: messages
wire_capture: true
seed: 0
max steps: 900
duration: 399.2 s
total steps: 324

operator

scenes

trials

errored

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a

Trial 0 transcript

Run video

step 0

system

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

user

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

Raw transcript

system

user

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

step 0

assistant

agent noteTop view shows a small dark cap on the left side of the table and a longer pen diagonally to the right of centre. Moving the right arm above the pen (yaw turned so the jaws close across the pen axis) to get a wrist-camera look.

move_to

right_x0.4200right_y0.2700right_z0.1500right_yaw-0.7000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.7929, 0.6018, -0.3805, -0.0216, -0.0246, 0.9998, -0.0193, 0.7906, 0.609, -0.3763, -0.0204, -0.0322, 0.9993] state[eef_state]: left_x=0.2944 left_y=0.0014 left_z=0.1791 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2956 right_y=0.0015 right_z=0.184 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993 state[joint_eff]: [-0.4034, -1.388, 10.5641, 1.8046, -0.0562, 0.0562, -0.0366, -0.6632, -1.1556, 9.8667, 1.7705, -0.0415, 0.1587, -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": {"right_x": 0.42, "right_y": 0.27, "right_z": 0.15, "right_yaw": -0.7, "right_gripper": 1}, "note": "Top view shows a small dark cap on the left side of the table and a longer pen diagonally to the right of centre. Moving the right arm above the pen (yaw turned so the jaws close across the pen axis) to get a wrist-camera look."})

tool

executing move_to over 23 steps (2.3s)

step 23

assistant

agent noteRight wrist camera shows the pen lying just right of and above the jaw column; shifting the gripper toward it and lowering to 8 cm for a closer look before descending onto it.

move_to

right_x0.4350right_y0.2400right_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]: [-0.02, 0.7982, 0.6029, -0.3828, -0.0216, -0.025, 0.9998, 0.8604, 2.4165, 2.2677, -1.2869, 0.981, 1.4342, 0.9993] state[eef_state]: left_x=0.2946 left_y=0.0015 left_z=0.1777 left_yaw=0.0006 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9998 right_x=0.429 right_y=0.2791 right_z=0.1435 right_yaw=-0.6491 right_pitch=-0.0266 right_roll=0.0374 right_gripper=0.9993 state[joint_eff]: [-0.0889, -1.5248, 6.9675, 1.7705, -0.0171, -0.0024, -0.0122, 0.759, -13.135, 5.9145, -0.4957, 0.7399, 0.2222, -0.0806] 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": {"right_x": 0.435, "right_y": 0.24, "right_z": 0.08}, "note": "Right wrist camera shows the pen lying just right of and above the jaw column; shifting the gripper toward it and lowering to 8 cm for a closer look before descending onto it."})

tool

executing move_to over 5 steps (0.5s)

step 28

assistant

agent notePen is now clearly visible in the right wrist view but lies nearly horizontal in the image, i.e. parallel to the jaw closing axis; rotating the wrist ~66° so the pen appears vertical (jaws across it) and nudging forward to centre it on the jaws.

move_to

right_x0.4400right_y0.2150right_z0.0800right_yaw0.4900

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3817, -0.0219, -0.0254, 0.9998, 0.8001, 2.3436, 1.8042, -0.9581, 0.9577, 1.3514, 0.9993] state[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1773 left_yaw=0.0011 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4199 right_y=0.2303 right_z=0.0556 right_yaw=-0.6655 right_pitch=-0.0556 right_roll=-0.0907 right_gripper=0.9993 state[joint_eff]: [-0.3487, -1.1145, 7.2, 1.707, -0.0464, -0.0513, -0.0171, -0.294, -16.9915, 6.8581, 0.7692, 0.525, -0.0904, -0.0122] camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.44, "right_y": 0.215, "right_z": 0.08, "right_yaw": 0.49}, "note": "Pen is now clearly visible in the right wrist view but lies nearly horizontal in the image, i.e. parallel to the jaw closing axis; rotating the wrist ~66\u00b0 so the pen appears vertical (jaws across it) and nudging forward to centre it on the jaws."})

tool

executing move_to over 8 steps (0.8s)

step 36

assistant

agent noteThe pen now appears vertical in the wrist view (good jaw alignment) but sits ~25 px left of the jaw column and a bit above it; translating the gripper to centre the pen shaft under the jaws.

move_to

right_x0.4600right_y0.1670right_z0.0800right_yaw0.2600

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8066, 0.6029, -0.382, -0.0216, -0.0254, 0.9998, 0.4812, 1.8465, 0.955, 0.1738, 0.2077, 0.057, 0.9993] state[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1756 left_yaw=0.0008 left_pitch=-0.0141 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4368 right_y=0.191 right_z=0.0535 right_yaw=0.2579 right_pitch=-0.1431 right_roll=-0.0792 right_gripper=0.9993 state[joint_eff]: [-0.1983, -1.6342, 7.0632, 1.7167, -0.0513, -0.0611, -0.0171, -0.4034, -11.8632, 5.3675, 1.7656, -0.0122, -0.0415, -0.0122] camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.46, "right_y": 0.167, "right_z": 0.08, "right_yaw": 0.26}, "note": "The pen now appears vertical in the wrist view (good jaw alignment) but sits ~25 px left of the jaw column and a bit above it; translating the gripper to centre the pen shaft under the jaws."})

tool

executing move_to over 3 steps (0.3s)

step 39

assistant

agent notePrevious step was clamped, so the pen is still ~30 px left of the jaw column; translating a further ~3.5 cm along the image-right direction to line the jaws up with the pen shaft.

move_to

right_x0.4680right_y0.1500right_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]: [-0.02, 0.807, 0.6029, -0.3824, -0.0216, -0.0254, 0.9998, 0.4133, 1.8355, 1.0039, 0.1112, 0.0982, -0.0422, 0.9993] state[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1754 left_yaw=0.0008 left_pitch=-0.0149 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4482 right_y=0.1816 right_z=0.0641 right_yaw=0.3362 right_pitch=-0.1604 right_roll=-0.0836 right_gripper=0.9993 state[joint_eff]: [-0.3624, -1.3607, 7.0222, 1.6923, -0.0024, -0.0464, -0.0171, -0.6906, -10.2769, 8.8137, 1.7265, 0.1734, 0.1245, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.468, "right_y": 0.15, "right_z": 0.08}, "note": "Previous step was clamped, so the pen is still ~30 px left of the jaw column; translating a further ~3.5 cm along the image-right direction to line the jaws up with the pen shaft."})

tool

executing move_to over 3 steps (0.3s)

step 42

assistant

agent noteI had the image-left/right sign backwards: the pen slid further left and is now at the frame edge. Moving the gripper back ~6.5 cm the other way to bring the pen onto the jaw column.

move_to

right_x0.4350right_y0.2290right_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]: [-0.02, 0.807, 0.6029, -0.3824, -0.0216, -0.0254, 0.9998, 0.3878, 1.8355, 1.0283, 0.0593, 0.1234, -0.0219, 0.9993] state[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1754 left_yaw=0.0008 left_pitch=-0.0149 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4529 right_y=0.1654 right_z=0.0646 right_yaw=0.2778 right_pitch=-0.1853 right_roll=-0.088 right_gripper=0.9993 state[joint_eff]: [-0.3077, -1.2923, 7.241, 1.7216, -0.0611, -0.0611, -0.0122, 0.0205, -10.3726, 7.7607, 1.6679, 0.1099, 0.1245, -0.0171] camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.435, "right_y": 0.229, "right_z": 0.08}, "note": "I had the image-left/right sign backwards: the pen slid further left and is now at the frame edge. Moving the gripper back ~6.5 cm the other way to bring the pen onto the jaw column."})

tool

executing move_to over 6 steps (0.6s)

step 48

assistant

agent noteThe arm did not actually move last time (state unchanged), so I am lifting to 15 cm while translating back over the pen to escape the stalled pose.

move_to

right_x0.4350right_y0.2290right_z0.1500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.807, 0.6029, -0.3824, -0.0216, -0.0254, 0.9998, 0.3878, 1.8355, 1.0283, 0.0593, 0.1234, -0.0143, 0.9993] state[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1754 left_yaw=0.0008 left_pitch=-0.0149 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4529 right_y=0.1654 right_z=0.0646 right_yaw=0.2737 right_pitch=-0.185 right_roll=-0.0823 right_gripper=0.9993 state[joint_eff]: [-0.1709, -1.3333, 7.1453, 1.707, -0.0708, -0.0757, -0.0171, 0.1436, -10.359, 7.6239, 1.6239, 0.1099, 0.0855, -0.0122] approver: 1 step(s) modified (delta_clamped). 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": {"right_x": 0.435, "right_y": 0.229, "right_z": 0.15}, "note": "The arm did not actually move last time (state unchanged), so I am lifting to 15 cm while translating back over the pen to escape the stalled pose."})

tool

executing move_to over 6 steps (0.6s)

step 54

assistant

agent noteThe pen now sits vertically on the jaw column at the bottom of the right wrist view — well aligned. Descending to table level to straddle the pen shaft.

move_to

right_z0.0050

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.807, 0.6029, -0.3824, -0.0216, -0.0254, 0.9998, 0.5655, 1.795, 1.2736, -0.2432, 0.2104, 0.0708, 0.9993] state[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1754 left_yaw=0.0008 left_pitch=-0.0149 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4369 right_y=0.2379 right_z=0.1314 right_yaw=0.3308 right_pitch=-0.1878 right_roll=-0.0814 right_gripper=0.9993 state[joint_eff]: [-0.294, -1.3333, 7.0222, 1.7363, -0.0757, -0.0562, -0.0171, -0.1709, -12.0274, 7.9795, 1.2625, 0.3346, 0.1832, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.005}, "note": "The pen now sits vertically on the jaw column at the bottom of the right wrist view \u2014 well aligned. Descending to table level to straddle the pen shaft."})

tool

executing move_to over 9 steps (0.9s)

step 63

assistant

agent noteGripper is at table level with the pen shaft between the jaws; closing to grasp the pen.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.807, 0.6029, -0.382, -0.0216, -0.0254, 0.9998, 0.569, 2.0144, 1.0401, 0.173, 0.2039, 0.075, 0.9993] state[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1755 left_yaw=0.0008 left_pitch=-0.0145 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4299 right_y=0.2368 right_z=0.007 right_yaw=0.3357 right_pitch=-0.2244 right_roll=-0.0824 right_gripper=0.9993 state[joint_eff]: [-0.3214, -1.3333, 7.0359, 1.6874, -0.0659, -0.0659, -0.0122, -0.4171, -8.5538, 5.6547, 0.9988, 0.1441, -0.1685, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0}, "note": "Gripper is at table level with the pen shaft between the jaws; closing to grasp the pen."})

tool

executing move_to over 10 steps (1.0s)

step 73

assistant

agent noteThe close came up empty (gripper reads 0.01), so the pen was just right of the jaws; reopening and shifting ~2 cm so the pen falls between the jaws.

move_to

right_gripper1.0000right_x0.4410right_y0.2210right_z0.0050

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.807, 0.6029, -0.382, -0.0219, -0.0254, 0.9998, 0.5694, 2.022, 1.0435, 0.2028, 0.2016, 0.0715, 0.0104] state[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1755 left_yaw=0.0011 left_pitch=-0.0145 left_roll=-0.0001 left_gripper=0.9998 right_x=0.4343 right_y=0.2403 right_z=0.0097 right_yaw=0.3412 right_pitch=-0.2 right_roll=-0.0773 right_gripper=0.0104 state[joint_eff]: [-0.1709, -0.9641, 7.2547, 1.7118, -0.0855, -0.0611, -0.0122, -0.0752, -10.4684, 5.2855, 1.3846, 0.0073, -0.0171, 0.4811] camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 1, "right_x": 0.441, "right_y": 0.221, "right_z": 0.005}, "note": "The close came up empty (gripper reads 0.01), so the pen was just right of the jaws; reopening and shifting ~2 cm so the pen falls between the jaws."})

tool

executing move_to over 10 steps (1.0s)

step 83

assistant

agent noteJaws are open at table level with the pen just under them (it is hidden in the wrist view, which happens when an object is nearer than the grasp point); closing to try the grasp.

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]: [-0.02, 0.807, 0.6029, -0.3824, -0.0219, -0.0254, 0.9998, 0.5228, 2.0212, 1.0241, 0.2329, 0.1616, 0.0376, 0.9949] state[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1754 left_yaw=0.0011 left_pitch=-0.0149 left_roll=-0.0001 left_gripper=0.9998 right_x=0.4411 right_y=0.2256 right_z=0.0074 right_yaw=0.3476 right_pitch=-0.1956 right_roll=-0.0723 right_gripper=0.9949 state[joint_eff]: [-0.0479, -1.3333, 7.0222, 1.7021, -0.0464, -0.0464, -0.0171, -0.841, -10.1675, 4.9436, 1.5946, 0.1245, -0.0513, -0.0708] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0}, "note": "Jaws are open at table level with the pen just under them (it is hidden in the wrist view, which happens when an object is nearer than the grasp point); closing to try the grasp."})

tool

executing move_to over 10 steps (1.0s)

step 93

assistant

agent noteSecond close was also empty, so my depth estimate is off; lifting the right arm to 18 cm to re-see the pen in the top and wrist views before retrying.

move_to

right_z0.1800right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.807, 0.6029, -0.382, -0.0216, -0.0254, 0.9998, 0.5194, 2.0212, 1.0225, 0.2237, 0.1558, 0.0334, 0.0087] state[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1755 left_yaw=0.0008 left_pitch=-0.0145 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4397 right_y=0.2239 right_z=0.0052 right_yaw=0.351 right_pitch=-0.2069 right_roll=-0.0733 right_gripper=0.0087 state[joint_eff]: [-0.0615, -1.3333, 7.0359, 1.7705, -0.0513, -0.0317, -0.0122, 0.1983, -10.2085, 5.5726, 1.6337, 0.1587, 0.0024, 0.6716] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.18, "right_gripper": 1}, "note": "Second close was also empty, so my depth estimate is off; lifting the right arm to 18 cm to re-see the pen in the top and wrist views before retrying."})

tool

executing move_to over 12 steps (1.2s)

step 105

assistant

agent noteFrom 15 cm up the pen tip appears right at the bottom edge of the wrist view, meaning it is a few cm farther out than the fingertips; moving ~3 cm outward and slightly left, and descending near the table for another attempt.

move_to

right_x0.4660right_y0.2510right_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]: [-0.02, 0.807, 0.6029, -0.382, -0.0219, -0.0254, 0.9998, 0.5194, 1.7943, 1.3842, -0.3939, 0.1532, 0.0208, 0.9953] state[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1755 left_yaw=0.0011 left_pitch=-0.0145 left_roll=-0.0001 left_gripper=0.9998 right_x=0.443 right_y=0.2264 right_z=0.1507 right_yaw=0.359 right_pitch=-0.2363 right_roll=-0.0854 right_gripper=0.9953 state[joint_eff]: [-0.1846, -1.306, 7.241, 1.6972, -0.0562, -0.0562, -0.0171, -0.2667, -13.094, 8.9094, 1.4774, 0.0122, 0.0757, -0.2173] camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.466, "right_y": 0.251, "right_z": 0.02}, "note": "From 15 cm up the pen tip appears right at the bottom edge of the wrist view, meaning it is a few cm farther out than the fingertips; moving ~3 cm outward and slightly left, and descending near the table for another attempt."})

tool

executing move_to over 9 steps (0.9s)

step 114

assistant

agent notePen is hidden beneath the jaws in the wrist view; pressing down to table level and closing to attempt the grasp.

move_to

right_z0.0050right_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]: [-0.02, 0.807, 0.6029, -0.3824, -0.0219, -0.0254, 0.9998, 0.5392, 2.0724, 1.2556, -0.0299, 0.1574, 0.0223, 0.9963] state[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1754 left_yaw=0.0011 left_pitch=-0.0149 left_roll=-0.0001 left_gripper=0.9998 right_x=0.459 right_y=0.2466 right_z=0.0229 right_yaw=0.3725 right_pitch=-0.2779 right_roll=-0.0947 right_gripper=0.9963 state[joint_eff]: [-0.3214, -1.306, 7.1043, 1.7265, -0.0806, -0.0415, -0.0171, 0.6085, -10.5094, 5.7231, 1.6923, 0.1538, 0.1636, 0.0855] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.005, "right_gripper": 0}, "note": "Pen is hidden beneath the jaws in the wrist view; pressing down to table level and closing to attempt the grasp."})

tool

executing move_to over 10 steps (1.0s)

step 124

assistant

agent noteThree empty closes — I suspect I have been reaching at the wrong spot. Retracting the right arm to home so the overhead camera shows the table unoccluded and I can re-locate both pen and cap.

move_to

right_x0.3000right_y0.0000right_z0.2000right_yaw0.0000right_gripper0.5000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.807, 0.6029, -0.382, -0.0216, -0.0254, 0.9998, 0.5385, 2.0998, 1.2354, 0.0071, 0.1558, 0.0181, 0.0094] state[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1755 left_yaw=0.0008 left_pitch=-0.0145 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4569 right_y=0.2452 right_z=0.0077 right_yaw=0.3749 right_pitch=-0.2888 right_roll=-0.0982 right_gripper=0.0094 state[joint_eff]: [-0.253, -1.2786, 7.1453, 1.6923, -0.0611, -0.0513, -0.0171, 0.0068, -10.3453, 5.7231, 1.5995, -0.0024, 0.0317, 0.6081] camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.3, "right_y": 0.0, "right_z": 0.2, "right_yaw": 0, "right_gripper": 0.5}, "note": "Three empty closes \u2014 I suspect I have been reaching at the wrong spot. Retracting the right arm to home so the overhead camera shows the table unoccluded and I can re-locate both pen and cap."})

tool

executing move_to over 21 steps (2.1s)

step 145

assistant

agent noteWith the arm parked I can see both objects: the pen lies right-of-centre running left-right in the image, and the cap is further left. Moving above the pen with the wrist yawed ~90° so the jaws close across the pen's axis.

move_to

right_x0.3800right_y0.2600right_z0.1500right_yaw1.4000right_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]: [-0.02, 0.8127, 0.6029, -0.3817, -0.0219, -0.0254, 0.9998, 0.0456, 1.0744, 0.9386, -0.7315, 0.0879, -0.0635, 0.4982] state[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.174 left_yaw=0.0011 left_pitch=-0.0198 left_roll=-0.0 left_gripper=0.9998 right_x=0.3046 right_y=0.002 right_z=0.1829 right_yaw=-0.0133 right_pitch=-0.3084 right_roll=-0.1018 right_gripper=0.4982 state[joint_eff]: [-0.1162, -1.4838, 7.0632, 1.7411, -0.0708, -0.0659, -0.0171, -0.294, -4.0137, 9.6615, 1.5409, -0.1099, -0.0513, -0.1099] camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.38, "right_y": 0.26, "right_z": 0.15, "right_yaw": 1.4, "right_gripper": 1}, "note": "With the arm parked I can see both objects: the pen lies right-of-centre running left-right in the image, and the cap is further left. Moving above the pen with the wrist yawed ~90\u00b0 so the jaws close across the pen's axis."})

tool

executing move_to over 22 steps (2.2s)

step 167

assistant

agent noteThe wrist view now shows the pen vertical right under the jaw column — good alignment. Nudging 1 cm sideways and descending to table level, ready to close.

move_to

right_x0.3950right_y0.2470right_z0.0050right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8192, 0.6029, -0.3828, -0.0219, -0.0257, 0.9998, 0.3824, 1.8477, 1.5185, -0.7452, -0.5026, -0.9012, 0.9986] state[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.172 left_yaw=0.0013 left_pitch=-0.0275 left_roll=-0.0002 left_gripper=0.9998 right_x=0.3848 right_y=0.2504 right_z=0.1459 right_yaw=1.3205 right_pitch=-0.3257 right_roll=-0.1055 right_gripper=0.9986 state[joint_eff]: [-0.1983, -1.7026, 7.241, 1.6923, -0.0562, -0.0757, -0.0171, 0.4581, -9.1556, 8.0342, 0.779, -0.6081, -0.0952, -0.0171] camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.395, "right_y": 0.247, "right_z": 0.005, "right_gripper": 1}, "note": "The wrist view now shows the pen vertical right under the jaw column \u2014 good alignment. Nudging 1 cm sideways and descending to table level, ready to close."})

tool

executing move_to over 10 steps (1.0s)

step 177

assistant

agent noteAt table level the pen's brass tip shows up about 3 cm to the image-right of the jaw midpoint; translating that way to straddle the pen shaft.

move_to

right_x0.4200right_y0.2400

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.82, 0.6029, -0.382, -0.0219, -0.0257, 0.9998, 0.3717, 2.0361, 1.2285, -0.3099, -0.5056, -0.9249, 0.9991] state[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1719 left_yaw=0.0013 left_pitch=-0.0275 left_roll=-0.0002 left_gripper=0.9998 right_x=0.3864 right_y=0.2463 right_z=0.0106 right_yaw=1.3373 right_pitch=-0.3496 right_roll=-0.0823 right_gripper=0.9991 state[joint_eff]: [-0.335, -1.4291, 7.3915, 1.6777, -0.0659, -0.0415, -0.0171, -0.8547, -9.4017, 5.4906, 1.116, -0.4176, 0.0317, -0.1001] camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.42, "right_y": 0.24}, "note": "At table level the pen's brass tip shows up about 3 cm to the image-right of the jaw midpoint; translating that way to straddle the pen shaft."})

tool

executing move_to over 3 steps (0.3s)

step 180

assistant

agent noteThe pen is now centred on the jaw column at table level; closing the gripper on the shaft.

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]: [-0.0204, 0.8219, 0.6029, -0.382, -0.0219, -0.025, 0.9998, 0.3435, 2.1147, 1.351, -0.3481, -0.5137, -0.952, 0.9991] state[eef_state]: left_x=0.2961 left_y=0.0014 left_z=0.1714 left_yaw=0.0005 left_pitch=-0.0294 left_roll=0.0005 left_gripper=0.9998 right_x=0.4161 right_y=0.2448 right_z=0.0112 right_yaw=1.3276 right_pitch=-0.3416 right_roll=-0.1009 right_gripper=0.9991 state[joint_eff]: [-0.3487, -1.5521, 7.0632, 1.7411, -0.0464, 0.0024, -0.0171, -0.7726, -10.2085, 6.7624, 0.7741, -0.4518, -0.1099, -0.0122] 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_gripper": 0}, "note": "The pen is now centred on the jaw column at table level; closing the gripper on the shaft."})

tool

executing move_to over 10 steps (1.0s)

step 190

assistant

agent noteEmpty close again: the wrist view shows the pen's tip now just left of the jaws, so I was closing on the tapered tip. Reopening and shifting ~3 cm left/back to grip further along the pen shaft.

move_to

right_gripper1.0000right_x0.3870right_y0.2300right_z0.0050

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8223, 0.6029, -0.382, -0.0216, -0.0254, 0.9998, 0.3412, 2.1231, 1.3548, -0.3481, -0.5171, -0.9546, 0.0083] state[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1713 left_yaw=0.0008 left_pitch=-0.0297 left_roll=-0.0 left_gripper=0.9998 right_x=0.4167 right_y=0.2445 right_z=0.0088 right_yaw=1.3303 right_pitch=-0.3417 right_roll=-0.0968 right_gripper=0.0083 state[joint_eff]: [-0.3897, -1.4564, 7.4051, 1.6777, -0.0366, -0.0415, -0.0171, 0.294, -11.7812, 5.9145, 1.0134, -0.2027, 0.0171, 0.6129] camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 1, "right_x": 0.387, "right_y": 0.23, "right_z": 0.005}, "note": "Empty close again: the wrist view shows the pen's tip now just left of the jaws, so I was closing on the tapered tip. Reopening and shifting ~3 cm left/back to grip further along the pen shaft."})

tool

executing move_to over 10 steps (1.0s)

step 200

assistant

agent notePen tip is ~1.5-2 cm to the image-right of the jaws; shifting that way and pre-closing the jaws to a 3 cm gap so the closing sweep can't knock the thin pen aside.

move_to

right_gripper0.3000right_x0.4080right_y0.2310

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8223, 0.6029, -0.382, -0.0219, -0.0254, 0.9998, 0.3351, 2.0445, 1.2015, -0.2626, -0.5335, -0.955, 0.9951] state[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1713 left_yaw=0.0011 left_pitch=-0.0297 left_roll=0.0002 left_gripper=0.9998 right_x=0.3922 right_y=0.2355 right_z=0.0055 right_yaw=1.3313 right_pitch=-0.3236 right_roll=-0.098 right_gripper=0.9951 state[joint_eff]: [-0.2393, -1.3744, 7.0769, 1.7607, -0.0611, -0.0611, -0.0122, -0.6222, -11.6034, 4.588, 0.906, -0.2125, -0.1001, -0.1783] approver: 10 step(s) modified (delta_clamped ×10). 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_gripper": 0.3, "right_x": 0.408, "right_y": 0.231}, "note": "Pen tip is ~1.5-2 cm to the image-right of the jaws; shifting that way and pre-closing the jaws to a 3 cm gap so the closing sweep can't knock the thin pen aside."})

tool

executing move_to over 7 steps (0.7s)

step 207

assistant

agent noteA glint of the pen is visible right between the half-closed jaws; closing fully to grasp it.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8227, 0.6029, -0.382, -0.0216, -0.0254, 0.9998, 0.318, 2.0697, 1.2495, -0.2913, -0.5358, -0.9779, 0.3052] state[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1712 left_yaw=0.0008 left_pitch=-0.0301 left_roll=-0.0 left_gripper=0.9998 right_x=0.4035 right_y=0.2315 right_z=0.0068 right_yaw=1.3299 right_pitch=-0.3261 right_roll=-0.1072 right_gripper=0.3052 state[joint_eff]: [-0.2667, -1.1966, 7.1179, 1.7265, -0.0122, -0.0513, -0.0171, -0.7043, -8.6496, 7.8017, 1.0085, -0.3932, -0.0464, 0.1392] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0}, "note": "A glint of the pen is visible right between the half-closed jaws; closing fully to grasp it."})

tool

executing move_to over 4 steps (0.4s)

step 211

assistant

agent noteI now believe the right arm has been fishing at an empty patch: the only object near it is a table scratch. The real pen is the dark dash left of centre in the top view, so I am bringing the left arm over it for a close look.

move_to

left_x0.4000left_y-0.2500left_z0.1500left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8223, 0.6029, -0.382, -0.0216, -0.0257, 0.9998, 0.3161, 2.0697, 1.2526, -0.3027, -0.5346, -0.9779, 0.0086] state[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1713 left_yaw=0.001 left_pitch=-0.0297 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4029 right_y=0.2302 right_z=0.0065 right_yaw=1.3297 right_pitch=-0.3314 right_roll=-0.1002 right_gripper=0.0086 state[joint_eff]: [-0.253, -1.1145, 7.2274, 1.6777, -0.0171, -0.0611, -0.0171, -0.1162, -10.4274, 5.4085, 1.1551, -0.2613, -0.0122, 0.7106] camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.4, "left_y": -0.25, "left_z": 0.15, "left_gripper": 1}, "note": "I now believe the right arm has been fishing at an empty patch: the only object near it is a table scratch. The real pen is the dark dash left of centre in the top view, so I am bringing the left arm over it for a close look."})

tool

executing move_to over 23 steps (2.3s)

step 234

assistant

agent noteThe left wrist camera clearly shows the pen down-left of the jaws, lying at about -38° in the image; moving the gripper toward it and yawing the wrist ~52° so the pen will appear vertical (jaws across it).

move_to

left_x0.4300left_y-0.2000left_z0.1300left_yaw0.9000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7811, 1.7329, 1.1572, -0.2497, -0.6052, -0.532, 0.9998, 0.3161, 2.0697, 1.251, -0.3058, -0.5282, -0.9775, 0.0107] state[eef_state]: left_x=0.3907 left_y=-0.2407 left_z=0.1314 left_yaw=-0.0079 left_pitch=-0.0777 left_roll=0.0244 left_gripper=0.9998 right_x=0.4023 right_y=0.229 right_z=0.0052 right_yaw=1.327 right_pitch=-0.3388 right_roll=-0.0991 right_gripper=0.0107 state[joint_eff]: [-0.5265, -8.7453, 9.6752, 1.4921, -0.4811, 0.1148, -0.0366, -0.3487, -10.7419, 5.7094, 1.0379, -0.3687, -0.0171, 0.2076] camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.43, "left_y": -0.2, "left_z": 0.13, "left_yaw": 0.9}, "note": "The left wrist camera clearly shows the pen down-left of the jaws, lying at about -38\u00b0 in the image; moving the gripper toward it and yawing the wrist ~52\u00b0 so the pen will appear vertical (jaws across it)."})

tool

executing move_to over 6 steps (0.6s)

step 240

assistant

agent noteThe pen still sits well to the lower-left of the jaws in the left wrist view; translating ~8 cm toward it (mostly +y, the image-left direction) to bring it under the jaw column.

move_to

left_x0.4300left_y-0.1600left_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]: [-0.7563, 2.3634, 2.0651, -1.1023, -0.8825, -1.4239, 0.9994, 0.313, 2.0693, 1.2488, -0.3065, -0.5255, -0.9775, 0.013] state[eef_state]: left_x=0.4529 left_y=-0.2348 left_z=0.1032 left_yaw=0.7042 left_pitch=-0.1055 left_roll=-0.0486 left_gripper=0.9994 right_x=0.4024 right_y=0.2271 right_z=0.0044 right_yaw=1.3231 right_pitch=-0.3422 right_roll=-0.0981 right_gripper=0.013 state[joint_eff]: [0.5949, -12.0957, 5.3812, -0.1294, -0.486, 0.0171, -0.0562, 0.1026, -10.6188, 5.7778, 1.0916, -0.2857, -0.0513, 0.2222] camera 'top_cam' (step 240): [image omitted: streamed camera frame] camera 'left_cam' (step 240): [image omitted: streamed camera frame] camera 'right_cam' (step 240): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.43, "left_y": -0.16, "left_z": 0.12}, "note": "The pen still sits well to the lower-left of the jaws in the left wrist view; translating ~8 cm toward it (mostly +y, the image-left direction) to bring it under the jaw column."})

tool

executing move_to over 7 steps (0.7s)

step 247

assistant

agent noteThe pen is now on the jaw column but lying parallel to the jaw closing axis; rotating the wrist -75° (I found the image rotates with the same sign as yaw) so the pen appears vertical.

move_to

left_yaw-0.5800

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6659, 2.088, 1.6196, -0.894, -0.8566, -1.3212, 0.9993, 0.3153, 2.0693, 1.2488, -0.3035, -0.5247, -0.9802, 0.0144] state[eef_state]: left_x=0.4264 left_y=-0.1606 left_z=0.1028 left_yaw=0.7291 left_pitch=-0.1241 left_roll=-0.0103 left_gripper=0.9993 right_x=0.4025 right_y=0.2282 right_z=0.0046 right_yaw=1.3255 right_pitch=-0.3413 right_roll=-0.103 right_gripper=0.0144 state[joint_eff]: [0.1299, -14.0239, 6.3658, 0.9304, -0.5299, 0.1978, -0.0269, -0.2803, -10.7282, 5.6547, 1.0672, -0.2808, -0.022, 0.1343] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 247): [image omitted: streamed camera frame] camera 'left_cam' (step 247): [image omitted: streamed camera frame] camera 'right_cam' (step 247): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_yaw": -0.58}, "note": "The pen is now on the jaw column but lying parallel to the jaw closing axis; rotating the wrist -75\u00b0 (I found the image rotates with the same sign as yaw) so the pen appears vertical."})

tool

executing move_to over 9 steps (0.9s)

step 256

assistant

agent noteThe pen is now vertical in the left wrist view on the jaw column, a few cm beyond the fingertips; advancing ~3 cm outward, descending to table level with the jaws pre-narrowed so they don't sweep the pen aside.

move_to

left_x0.4520left_y-0.1440left_z0.0050left_gripper0.3500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3031, 1.6783, 0.9428, -0.0505, 0.0296, -0.0189, 0.9993, 0.3153, 2.0693, 1.2488, -0.3038, -0.524, -0.981, 0.015] state[eef_state]: left_x=0.4239 left_y=-0.1343 left_z=0.0802 left_yaw=-0.3294 left_pitch=-0.2142 left_roll=-0.0284 left_gripper=0.9993 right_x=0.4025 right_y=0.228 right_z=0.0045 right_yaw=1.3256 right_pitch=-0.3421 right_roll=-0.1035 right_gripper=0.015 state[joint_eff]: [0.1436, -8.6496, 8.4855, 1.8974, 0.2662, 0.2662, -0.022, -0.1983, -10.7282, 5.6137, 0.9988, -0.2808, -0.0024, 0.0513] camera 'top_cam' (step 256): [image omitted: streamed camera frame] camera 'left_cam' (step 256): [image omitted: streamed camera frame] camera 'right_cam' (step 256): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.452, "left_y": -0.144, "left_z": 0.005, "left_gripper": 0.35}, "note": "The pen is now vertical in the left wrist view on the jaw column, a few cm beyond the fingertips; advancing ~3 cm outward, descending to table level with the jaws pre-narrowed so they don't sweep the pen aside."})

tool

executing move_to over 7 steps (0.7s)

step 263

assistant

agent noteThe pen now lies about 2 cm to the image-right of the jaw gap; shifting the gripper 2 cm that way so the pen falls between the jaws.

move_to

left_x0.4360left_y-0.1590

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3038, 1.9347, 0.931, 0.1791, 0.0277, -0.0227, 0.3543, 0.3153, 2.0693, 1.2488, -0.3042, -0.524, -0.9806, 0.0151] state[eef_state]: left_x=0.4421 left_y=-0.14 left_z=0.0033 left_yaw=-0.3266 left_pitch=-0.2528 left_roll=-0.0307 left_gripper=0.3543 right_x=0.4025 right_y=0.228 right_z=0.0045 right_yaw=1.3255 right_pitch=-0.3423 right_roll=-0.1029 right_gripper=0.0151 state[joint_eff]: [-0.253, -7.6923, 6.4752, 1.4823, 0.0269, 0.0659, 0.1783, -0.2393, -10.6462, 5.5726, 1.0085, -0.2662, -0.0317, -0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 263): [image omitted: streamed camera frame] camera 'left_cam' (step 263): [image omitted: streamed camera frame] camera 'right_cam' (step 263): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.436, "left_y": -0.159}, "note": "The pen now lies about 2 cm to the image-right of the jaw gap; shifting the gripper 2 cm that way so the pen falls between the jaws."})

tool

executing move_to over 2 steps (0.2s)

step 265

assistant

agent noteThe pen appears as a thin vertical dark line right in the jaw gap; closing to grasp it.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3294, 1.948, 0.9314, 0.2104, 0.0017, -0.0444, 0.3542, 0.3153, 2.0693, 1.2488, -0.3038, -0.524, -0.981, 0.0152] state[eef_state]: left_x=0.4439 left_y=-0.1483 left_z=0.0028 left_yaw=-0.3175 left_pitch=-0.2349 left_roll=-0.0265 left_gripper=0.3542 right_x=0.4025 right_y=0.228 right_z=0.0045 right_yaw=1.3256 right_pitch=-0.3421 right_roll=-0.1035 right_gripper=0.0152 state[joint_eff]: [-1.4017, -10.4821, 5.4359, 1.1941, 0.0415, 0.0024, 0.0073, -0.0889, -10.7692, 5.5863, 1.0037, -0.2808, -0.0317, -0.0073] camera 'top_cam' (step 265): [image omitted: streamed camera frame] camera 'left_cam' (step 265): [image omitted: streamed camera frame] camera 'right_cam' (step 265): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0}, "note": "The pen appears as a thin vertical dark line right in the jaw gap; closing to grasp it."})

tool

executing move_to over 4 steps (0.4s)

step 269

assistant

agent noteGripper settled at 0.097 (~0.9 cm), consistent with holding the pen; lifting 12 cm to confirm the pen came with the jaws.

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]: [-0.3256, 1.948, 0.931, 0.2234, -0.0086, -0.0593, 0.0965, 0.3153, 2.0693, 1.2488, -0.3038, -0.5243, -0.981, 0.0152] state[eef_state]: left_x=0.4471 left_y=-0.1456 left_z=0.0049 left_yaw=-0.2966 left_pitch=-0.2223 left_roll=-0.0298 left_gripper=0.0965 right_x=0.4025 right_y=0.2281 right_z=0.0045 right_yaw=1.3258 right_pitch=-0.3419 right_roll=-0.1033 right_gripper=0.0152 state[joint_eff]: [-0.2667, -9.2923, 5.4359, 1.37, 0.0317, 0.0659, 0.6374, -0.2256, -10.6188, 5.6, 1.0427, -0.3443, -0.0611, -0.0122] camera 'top_cam' (step 269): [image omitted: streamed camera frame] camera 'left_cam' (step 269): [image omitted: streamed camera frame] camera 'right_cam' (step 269): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.12}, "note": "Gripper settled at 0.097 (~0.9 cm), consistent with holding the pen; lifting 12 cm to confirm the pen came with the jaws."})

tool

executing move_to over 8 steps (0.8s)

step 277

assistant

agent noteSomething ~9 mm thick is held and the table under the left arm now looks clear, so I have the pen (or cap). Lifting both arms high and back to get an unobstructed overhead view and find the second object.

move_to

left_x0.3000left_y-0.1000left_z0.3000right_x0.2500right_y0.1000right_z0.3000right_yaw0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3275, 1.7493, 1.1084, -0.1928, -0.0116, -0.0704, 0.0967, 0.3153, 2.0693, 1.2488, -0.3038, -0.5243, -0.9806, 0.0157] state[eef_state]: left_x=0.4421 left_y=-0.1442 left_z=0.0909 left_yaw=-0.2894 left_pitch=-0.2624 left_roll=-0.034 left_gripper=0.0967 right_x=0.4025 right_y=0.2281 right_z=0.0045 right_yaw=1.3256 right_pitch=-0.3418 right_roll=-0.1031 right_gripper=0.0157 state[joint_eff]: [-0.1983, -11.0017, 9.4701, 1.6972, -0.0122, 0.0757, 0.0122, -0.253, -10.5778, 5.8188, 1.0134, -0.3346, -0.0464, 0.0513] camera 'top_cam' (step 277): [image omitted: streamed camera frame] camera 'left_cam' (step 277): [image omitted: streamed camera frame] camera 'right_cam' (step 277): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.3, "left_y": -0.1, "left_z": 0.3, "right_x": 0.25, "right_y": 0.1, "right_z": 0.3, "right_yaw": 0}, "note": "Something ~9 mm thick is held and the table under the left arm now looks clear, so I have the pen (or cap). Lifting both arms high and back to get an unobstructed overhead view and find the second object."})

tool

executing move_to over 20 steps (2.0s)

step 297

assistant

agent noteBoth wrist views reveal the pen still on the table near the centre, so the left gripper is holding the cap. Bringing the right arm above the pen (which runs radially, so jaws at yaw 0 close across it).

move_to

right_x0.4200right_y0.2700right_z0.1500right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3416, 1.2438, 1.4372, -1.058, -0.0196, -0.0891, 0.0981, 0.6262, 1.2156, 1.5082, -1.2606, 0.3477, 0.3073, 0.0165] state[eef_state]: left_x=0.3079 left_y=-0.102 left_z=0.2804 left_yaw=-0.2856 left_pitch=-0.2933 left_roll=-0.0391 left_gripper=0.0981 right_x=0.2595 right_y=0.1179 right_z=0.2932 right_yaw=0.1266 right_pitch=-0.3308 right_roll=-0.0904 right_gripper=0.0165 state[joint_eff]: [-0.5949, -5.2444, 9.1419, 1.5556, -0.0562, -0.0073, 0.1294, 0.4171, -2.5915, 7.0632, 1.0916, 0.3248, 0.1392, 0.0611] camera 'top_cam' (step 297): [image omitted: streamed camera frame] camera 'left_cam' (step 297): [image omitted: streamed camera frame] camera 'right_cam' (step 297): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.42, "right_y": 0.27, "right_z": 0.15, "right_yaw": 0, "right_gripper": 1}, "note": "Both wrist views reveal the pen still on the table near the centre, so the left gripper is holding the cap. Bringing the right arm above the pen (which runs radially, so jaws at yaw 0 close across it)."})

tool

executing move_to over 13 steps (1.3s)

step 310

assistant

agent noteThe pen is centred in the right wrist view but ~4-5 cm to the image-right of the jaw column; shifting that way, dropping to table level with jaws pre-narrowed for a clean grasp across the shaft.

move_to

right_y0.2150right_x0.4250right_z0.0200right_gripper0.4000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3428, 1.2518, 1.4368, -1.0817, -0.0196, -0.0895, 0.0996, 0.7158, 1.9648, 1.6855, -0.8299, 0.4377, 0.4801, 0.9958] state[eef_state]: left_x=0.3047 left_y=-0.1012 left_z=0.2741 left_yaw=-0.2859 left_pitch=-0.3253 left_roll=-0.0374 left_gripper=0.0996 right_x=0.4058 right_y=0.2585 right_z=0.1401 right_yaw=0.0182 right_pitch=-0.3944 right_roll=-0.1321 right_gripper=0.9958 state[joint_eff]: [-0.1846, -4.5197, 6.2017, 1.5897, -0.0562, -0.0464, 0.1441, 0.4718, -10.7692, 8.4855, 1.1258, 0.4322, 0.1978, -0.0855] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 310): [image omitted: streamed camera frame] camera 'left_cam' (step 310): [image omitted: streamed camera frame] camera 'right_cam' (step 310): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": 0.215, "right_x": 0.425, "right_z": 0.02, "right_gripper": 0.4}, "note": "The pen is centred in the right wrist view but ~4-5 cm to the image-right of the jaw column; shifting that way, dropping to table level with jaws pre-narrowed for a clean grasp across the shaft."})

tool

executing move_to over 8 steps (0.8s)

step 318

assistant

agent noteThe pen now runs vertically right through the jaw gap in the right wrist view; closing to grasp it.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3428, 1.2522, 1.4368, -1.0859, -0.0196, -0.0891, 0.1003, 0.6125, 2.014, 1.2999, -0.4019, 0.3843, 0.3851, 0.4046] state[eef_state]: left_x=0.304 left_y=-0.101 left_z=0.2734 left_yaw=-0.286 left_pitch=-0.3298 left_roll=-0.0369 left_gripper=0.1003 right_x=0.4127 right_y=0.2134 right_z=0.0254 right_yaw=0.0078 right_pitch=-0.4357 right_roll=-0.1536 right_gripper=0.4046 state[joint_eff]: [-0.0479, -3.9453, 6.106, 1.409, -0.0562, -0.0317, 0.0659, -0.8, -9.1966, 5.8325, 1.3553, 0.1978, -0.0464, 0.105] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 318): [image omitted: streamed camera frame] camera 'left_cam' (step 318): [image omitted: streamed camera frame] camera 'right_cam' (step 318): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0}, "note": "The pen now runs vertically right through the jaw gap in the right wrist view; closing to grasp it."})

tool

executing move_to over 5 steps (0.5s)

step 323

assistant

agent noteI managed to pick up one object with the left gripper (settled reading 0.10 ≈ 1 cm thick, and the object disappeared from the table), but the remaining "pen-like" dark streak I kept chasing in both wrist views turns out to be the arms' own black cable lying across the table, so the right arm's four grasp attempts all closed empty. With only a couple of calls left I cannot reliably locate the second piece and perform the fine cap-on-pen insertion, so I am stopping rather than flailing.

give_up

hindsightKey traps on this rig for this task: (1) A black cable runs across the tabletop and looks exactly like a pen in the wrist cameras and in top_cam — verify any candidate by checking whether it ends (a pen is ~14 cm and has a brass tip) or runs off the frame/into an arm; I wasted ~10 calls grasping the cable. (2) Image rotation sign: rotating the wrist by +Δyaw rotates the wrist-camera scene by +Δ (same sign), not −Δ. (3) Translation sign: moving the gripper toward −y (arm's right) makes objects shift image-LEFT; to bring an object that appears left of the jaw column onto the jaws, move +y. (4) Wrist-image scale near the table at z≈0.05–0.15 was ~6–9 px/cm. (5) Objects thinner than ~1 cm get swept aside by a full-open close: pre-close the jaws to ~0.3–0.4 before descending; this is what finally produced a successful grasp. (6) Many commanded moves come back "delta_clamped" and the arm sometimes does not move at all at low z near full reach — raise z, then translate. (7) top_cam scale near the working area was ~3 px/cm in x, with the rig centre line at image column ≈112.

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3428, 1.2522, 1.4368, -1.0866, -0.02, -0.0891, 0.1011, 0.609, 2.0392, 1.2831, -0.3916, 0.3809, 0.3775, 0.0083] state[eef_state]: left_x=0.3039 left_y=-0.1009 left_z=0.2733 left_yaw=-0.2857 left_pitch=-0.3306 left_roll=-0.0365 left_gripper=0.1011 right_x=0.4084 right_y=0.2092 right_z=0.0098 right_yaw=0.0028 right_pitch=-0.4641 right_roll=-0.1754 right_gripper=0.0083 state[joint_eff]: [-0.1026, -3.9316, 6.1333, 1.37, -0.0708, -0.0611, 0.0708, 0.1709, -12.6974, 7.2547, 0.9353, 0.1392, 0.0757, 0.735] camera 'top_cam' (step 323): [image omitted: streamed camera frame] camera 'left_cam' (step 323): [image omitted: streamed camera frame] camera 'right_cam' (step 323): [image omitted: streamed camera frame]

assistant

give_up({"reason": "I managed to pick up one object with the left gripper (settled reading 0.10 \u2248 1 cm thick, and the object disappeared from the table), but the remaining \"pen-like\" dark streak I kept chasing in both wrist views turns out to be the arms' own black cable lying across the table, so the right arm's four grasp attempts all closed empty. With only a couple of calls left I cannot reliably locate the second piece and perform the fine cap-on-pen insertion, so I am stopping rather than flailing.", "hindsight": "Key traps on this rig for this task: (1) A black cable runs across the tabletop and looks exactly like a pen in the wrist cameras and in top_cam \u2014 verify any candidate by checking whether it ends (a pen is ~14 cm and has a brass tip) or runs off the frame/into an arm; I wasted ~10 calls grasping the cable. (2) Image rotation sign: rotating the wrist by +\u0394yaw rotates the wrist-camera scene by +\u0394 (same sign), not \u2212\u0394. (3) Translation sign: moving the gripper toward \u2212y (arm's right) makes objects shift image-LEFT; to bring an object that appears left of the jaw column onto the jaws, move +y. (4) Wrist-image scale near the table at z\u22480.05\u20130.15 was ~6\u20139 px/cm. (5) Objects thinner than ~1 cm get swept aside by a full-open close: pre-close the jaws to ~0.3\u20130.4 before descending; this is what finally produced a successful grasp. (6) Many commanded moves come back \"delta_clamped\" and the arm sometimes does not move at all at low z near full reach \u2014 raise z, then translate. (7) top_cam scale near the working area was ~3 px/cm in x, with the rig centre line at image column \u2248112."})

tool

give_up: I managed to pick up one object with the left gripper (settled reading 0.10 ≈ 1 cm thick, and the object disappeared from the table), but the remaining "pen-like" dark streak I kept chasing in both wrist views turns out to be the arms' own black cable lying across the table, so the right arm's four grasp attempts all closed empty. With only a couple of calls left I cannot reliably locate the second piece and perform the fine cap-on-pen insertion, so I am stopping rather than flailing.

Trial 0 Wire

Tools (trial initial)

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

System (trial initial)

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

call 0 attempt 0 · /messages · status 200 · 19.09 s

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6018, -0.3805, -0.0216, -0.0246, 0.9998, -0.0193, 0.7906, 0.609, -0.3763, -0.0204, -0.0322, 0.9993]\nstate[eef_state]: left_x=0.2944 left_y=0.0014 left_z=0.1791 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2956 right_y=0.0015 right_z=0.184 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4034, -1.388, 10.5641, 1.8046, -0.0562, 0.0562, -0.0366, -0.6632, -1.1556, 9.8667, 1.7705, -0.0415, 0.1587, -0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26224516f2693bdb1aa3e55a39c59a5f4fdf6c1c80008ba10246a0612c81d457",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:caad1dcf78a4599fa8534cf19cca90ab67b5f28f257714b59ded3d67e3d484b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
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      "source": {
        "data": "$blob:44272b68e76d32c83c61ccbb5f3026da0bc3c474876abc968d7735699a90fabf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /messages · status 200 · 17.36 s

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

message 1 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6018, -0.3805, -0.0216, -0.0246, 0.9998, -0.0193, 0.7906, 0.609, -0.3763, -0.0204, -0.0322, 0.9993]\nstate[eef_state]: left_x=0.2944 left_y=0.0014 left_z=0.1791 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2956 right_y=0.0015 right_z=0.184 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4034, -1.388, 10.5641, 1.8046, -0.0562, 0.0562, -0.0366, -0.6632, -1.1556, 9.8667, 1.7705, -0.0415, 0.1587, -0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26224516f2693bdb1aa3e55a39c59a5f4fdf6c1c80008ba10246a0612c81d457",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:caad1dcf78a4599fa8534cf19cca90ab67b5f28f257714b59ded3d67e3d484b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44272b68e76d32c83c61ccbb5f3026da0bc3c474876abc968d7735699a90fabf",
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  "role": "user"
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[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MLfKeVToQMEmoTK465QZAw",
      "input": {
        "note": "Top view shows a small dark cap on the left side of the table and a longer pen diagonally to the right of centre. Moving the right arm above the pen (yaw turned so the jaws close across the pen axis) to get a wrist-camera look.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.42,
          "right_y": 0.27,
          "right_yaw": -0.7,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 23 steps (2.3s)",
      "tool_use_id": "toolu_01MLfKeVToQMEmoTK465QZAw",
      "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]: [-0.02, 0.7982, 0.6029, -0.3828, -0.0216, -0.025, 0.9998, 0.8604, 2.4165, 2.2677, -1.2869, 0.981, 1.4342, 0.9993]\nstate[eef_state]: left_x=0.2946 left_y=0.0015 left_z=0.1777 left_yaw=0.0006 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9998 right_x=0.429 right_y=0.2791 right_z=0.1435 right_yaw=-0.6491 right_pitch=-0.0266 right_roll=0.0374 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -1.5248, 6.9675, 1.7705, -0.0171, -0.0024, -0.0122, 0.759, -13.135, 5.9145, -0.4957, 0.7399, 0.2222, -0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:654517c400646f88b2c61d4ca0464f40affcb6f2fc82cdb62d545d91fe938437",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54e9e8035281167c3783e28a56c150c2286e83ae10f95ae708e8055e24921467",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3721801daf3eaae33d4b95e72205b068b1cbf3bee437c5f7303585d8405448ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /messages · status 200 · 14.22 s

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

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6018, -0.3805, -0.0216, -0.0246, 0.9998, -0.0193, 0.7906, 0.609, -0.3763, -0.0204, -0.0322, 0.9993]\nstate[eef_state]: left_x=0.2944 left_y=0.0014 left_z=0.1791 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2956 right_y=0.0015 right_z=0.184 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4034, -1.388, 10.5641, 1.8046, -0.0562, 0.0562, -0.0366, -0.6632, -1.1556, 9.8667, 1.7705, -0.0415, 0.1587, -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]: [-0.02, 0.7982, 0.6029, -0.3828, -0.0216, -0.025, 0.9998, 0.8604, 2.4165, 2.2677, -1.2869, 0.981, 1.4342, 0.9993]\nstate[eef_state]: left_x=0.2946 left_y=0.0015 left_z=0.1777 left_yaw=0.0006 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9998 right_x=0.429 right_y=0.2791 right_z=0.1435 right_yaw=-0.6491 right_pitch=-0.0266 right_roll=0.0374 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -1.5248, 6.9675, 1.7705, -0.0171, -0.0024, -0.0122, 0.759, -13.135, 5.9145, -0.4957, 0.7399, 0.2222, -0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:654517c400646f88b2c61d4ca0464f40affcb6f2fc82cdb62d545d91fe938437",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54e9e8035281167c3783e28a56c150c2286e83ae10f95ae708e8055e24921467",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3721801daf3eaae33d4b95e72205b068b1cbf3bee437c5f7303585d8405448ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014Tbue982b2jBjBhmaEgQGr",
      "input": {
        "note": "Right wrist camera shows the pen lying just right of and above the jaw column; shifting the gripper toward it and lowering to 8 cm for a closer look before descending onto it.",
        "targets": {
          "right_x": 0.435,
          "right_y": 0.24,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_014Tbue982b2jBjBhmaEgQGr",
      "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]: [-0.02, 0.8005, 0.6029, -0.3817, -0.0219, -0.0254, 0.9998, 0.8001, 2.3436, 1.8042, -0.9581, 0.9577, 1.3514, 0.9993]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1773 left_yaw=0.0011 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4199 right_y=0.2303 right_z=0.0556 right_yaw=-0.6655 right_pitch=-0.0556 right_roll=-0.0907 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -1.1145, 7.2, 1.707, -0.0464, -0.0513, -0.0171, -0.294, -16.9915, 6.8581, 0.7692, 0.525, -0.0904, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7508cc1a366a25edaae112492320fb2fdc4283924943fdf9808ba4a82856eb1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:524538f610c929dcc108bdc22c5af1e1a9707b231e5c3e89c9746b5d92a13578",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:188e8d350272f5158ba0a2d2601faee6b38519c3706a29c90f724ff7df58cc52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /messages · status 200 · 11.56 s

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

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6018, -0.3805, -0.0216, -0.0246, 0.9998, -0.0193, 0.7906, 0.609, -0.3763, -0.0204, -0.0322, 0.9993]\nstate[eef_state]: left_x=0.2944 left_y=0.0014 left_z=0.1791 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2956 right_y=0.0015 right_z=0.184 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4034, -1.388, 10.5641, 1.8046, -0.0562, 0.0562, -0.0366, -0.6632, -1.1556, 9.8667, 1.7705, -0.0415, 0.1587, -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]: [-0.02, 0.7982, 0.6029, -0.3828, -0.0216, -0.025, 0.9998, 0.8604, 2.4165, 2.2677, -1.2869, 0.981, 1.4342, 0.9993]\nstate[eef_state]: left_x=0.2946 left_y=0.0015 left_z=0.1777 left_yaw=0.0006 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9998 right_x=0.429 right_y=0.2791 right_z=0.1435 right_yaw=-0.6491 right_pitch=-0.0266 right_roll=0.0374 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -1.5248, 6.9675, 1.7705, -0.0171, -0.0024, -0.0122, 0.759, -13.135, 5.9145, -0.4957, 0.7399, 0.2222, -0.0806]",
      "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]: [-0.02, 0.8005, 0.6029, -0.3817, -0.0219, -0.0254, 0.9998, 0.8001, 2.3436, 1.8042, -0.9581, 0.9577, 1.3514, 0.9993]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1773 left_yaw=0.0011 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4199 right_y=0.2303 right_z=0.0556 right_yaw=-0.6655 right_pitch=-0.0556 right_roll=-0.0907 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -1.1145, 7.2, 1.707, -0.0464, -0.0513, -0.0171, -0.294, -16.9915, 6.8581, 0.7692, 0.525, -0.0904, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7508cc1a366a25edaae112492320fb2fdc4283924943fdf9808ba4a82856eb1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:524538f610c929dcc108bdc22c5af1e1a9707b231e5c3e89c9746b5d92a13578",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:188e8d350272f5158ba0a2d2601faee6b38519c3706a29c90f724ff7df58cc52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Uedx29Vz8yfnKaF9tbsX7a",
      "input": {
        "note": "Pen is now clearly visible in the right wrist view but lies nearly horizontal in the image, i.e. parallel to the jaw closing axis; rotating the wrist ~66° so the pen appears vertical (jaws across it) and nudging forward to centre it on the jaws.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.215,
          "right_yaw": 0.49,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01Uedx29Vz8yfnKaF9tbsX7a",
      "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]: [-0.02, 0.8066, 0.6029, -0.382, -0.0216, -0.0254, 0.9998, 0.4812, 1.8465, 0.955, 0.1738, 0.2077, 0.057, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1756 left_yaw=0.0008 left_pitch=-0.0141 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4368 right_y=0.191 right_z=0.0535 right_yaw=0.2579 right_pitch=-0.1431 right_roll=-0.0792 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -1.6342, 7.0632, 1.7167, -0.0513, -0.0611, -0.0171, -0.4034, -11.8632, 5.3675, 1.7656, -0.0122, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c828c7e008a864265f95f3af6c772a3c7d80e81538132d8bcf0ba02447808dbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0d016f96e6b33a88cb35a95414da710b06aa06142dfabb1f65500e8ba94df17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bd254b2746ba42fb51402a8f01414d7709415cb2281e4a25c4b51e18ce472dd2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /messages · status 200 · 7.351 s

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

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7982, 0.6029, -0.3828, -0.0216, -0.025, 0.9998, 0.8604, 2.4165, 2.2677, -1.2869, 0.981, 1.4342, 0.9993]\nstate[eef_state]: left_x=0.2946 left_y=0.0015 left_z=0.1777 left_yaw=0.0006 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9998 right_x=0.429 right_y=0.2791 right_z=0.1435 right_yaw=-0.6491 right_pitch=-0.0266 right_roll=0.0374 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -1.5248, 6.9675, 1.7705, -0.0171, -0.0024, -0.0122, 0.759, -13.135, 5.9145, -0.4957, 0.7399, 0.2222, -0.0806]",
      "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]: [-0.02, 0.8005, 0.6029, -0.3817, -0.0219, -0.0254, 0.9998, 0.8001, 2.3436, 1.8042, -0.9581, 0.9577, 1.3514, 0.9993]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1773 left_yaw=0.0011 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4199 right_y=0.2303 right_z=0.0556 right_yaw=-0.6655 right_pitch=-0.0556 right_roll=-0.0907 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -1.1145, 7.2, 1.707, -0.0464, -0.0513, -0.0171, -0.294, -16.9915, 6.8581, 0.7692, 0.525, -0.0904, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8066, 0.6029, -0.382, -0.0216, -0.0254, 0.9998, 0.4812, 1.8465, 0.955, 0.1738, 0.2077, 0.057, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1756 left_yaw=0.0008 left_pitch=-0.0141 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4368 right_y=0.191 right_z=0.0535 right_yaw=0.2579 right_pitch=-0.1431 right_roll=-0.0792 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -1.6342, 7.0632, 1.7167, -0.0513, -0.0611, -0.0171, -0.4034, -11.8632, 5.3675, 1.7656, -0.0122, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c828c7e008a864265f95f3af6c772a3c7d80e81538132d8bcf0ba02447808dbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0d016f96e6b33a88cb35a95414da710b06aa06142dfabb1f65500e8ba94df17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd254b2746ba42fb51402a8f01414d7709415cb2281e4a25c4b51e18ce472dd2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PmAuKEGcvZ6oK5X5bYThyU",
      "input": {
        "note": "The pen now appears vertical in the wrist view (good jaw alignment) but sits ~25 px left of the jaw column and a bit above it; translating the gripper to centre the pen shaft under the jaws.",
        "targets": {
          "right_x": 0.46,
          "right_y": 0.167,
          "right_yaw": 0.26,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01PmAuKEGcvZ6oK5X5bYThyU",
      "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]: [-0.02, 0.807, 0.6029, -0.3824, -0.0216, -0.0254, 0.9998, 0.4133, 1.8355, 1.0039, 0.1112, 0.0982, -0.0422, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1754 left_yaw=0.0008 left_pitch=-0.0149 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4482 right_y=0.1816 right_z=0.0641 right_yaw=0.3362 right_pitch=-0.1604 right_roll=-0.0836 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -1.3607, 7.0222, 1.6923, -0.0024, -0.0464, -0.0171, -0.6906, -10.2769, 8.8137, 1.7265, 0.1734, 0.1245, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fc1826cc2821005f4170c7c8243c4fd1d3ebbcade275446360449c37286d40a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:236cc2b3c31946692855f97731bcfe7f52a40ce0430fa30437787a0f7fb1146a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:360d38044e85bd695163a2645bd6caa9e8581b1715580b4059c161ac2dcb53b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /messages · status 200 · 15.96 s

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

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3817, -0.0219, -0.0254, 0.9998, 0.8001, 2.3436, 1.8042, -0.9581, 0.9577, 1.3514, 0.9993]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1773 left_yaw=0.0011 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4199 right_y=0.2303 right_z=0.0556 right_yaw=-0.6655 right_pitch=-0.0556 right_roll=-0.0907 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -1.1145, 7.2, 1.707, -0.0464, -0.0513, -0.0171, -0.294, -16.9915, 6.8581, 0.7692, 0.525, -0.0904, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8066, 0.6029, -0.382, -0.0216, -0.0254, 0.9998, 0.4812, 1.8465, 0.955, 0.1738, 0.2077, 0.057, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1756 left_yaw=0.0008 left_pitch=-0.0141 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4368 right_y=0.191 right_z=0.0535 right_yaw=0.2579 right_pitch=-0.1431 right_roll=-0.0792 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -1.6342, 7.0632, 1.7167, -0.0513, -0.0611, -0.0171, -0.4034, -11.8632, 5.3675, 1.7656, -0.0122, -0.0415, -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]: [-0.02, 0.807, 0.6029, -0.3824, -0.0216, -0.0254, 0.9998, 0.4133, 1.8355, 1.0039, 0.1112, 0.0982, -0.0422, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1754 left_yaw=0.0008 left_pitch=-0.0149 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4482 right_y=0.1816 right_z=0.0641 right_yaw=0.3362 right_pitch=-0.1604 right_roll=-0.0836 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -1.3607, 7.0222, 1.6923, -0.0024, -0.0464, -0.0171, -0.6906, -10.2769, 8.8137, 1.7265, 0.1734, 0.1245, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fc1826cc2821005f4170c7c8243c4fd1d3ebbcade275446360449c37286d40a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:236cc2b3c31946692855f97731bcfe7f52a40ce0430fa30437787a0f7fb1146a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:360d38044e85bd695163a2645bd6caa9e8581b1715580b4059c161ac2dcb53b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISugYKjgEIEhgCKkBr15u4qcFnOLd1BbHg9F+7m4hmLpsNcZCGzoo1xLdhTAeemCba1UUO4X7ZOYO6Ad/5ruLvWbvHEnPuLJH7qLx1Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfXQzNUGEgwiK8vK1RZW58ZapFcaDNMZNvJ9tlLQltUDYiIwUuqGxjT1Y4OvNnMNr0y51fkjqJiZZvVyTR8wMcql1okhGgq1IBrJxQbipiT052wrKtgE0c9M+QULKEDhDZm6vVnN34WfNhoCPeiqcB/CHROJsgOsR5J8E+frYiROc29n2sp67NVCHL7aX1dUIswgvB59UfjAtZ2i8FTJKz6Ug5drdMDfe2xjE9XGJb+WAOkzbxVwvnZhU5OwZ+rsYvePsDONOjxw+vAqO6r7QyDHOKn5ppZQ56TbgQL5hDf/ZP6U3maMt/GpES8q2e2ZuK7rGJOOjRaoiEheZ3iDnEDBjcS1DXJcrx48F8GNrF1rLEU0a41vzCyCWs+cCdsWYZzQPWsExm0L489cTTo8/PaqdqmRwCD1nThmh13nI4yACw6g6zNOxd6eKnLIdXaLV/ZTJGtQsE+5d+lfWOtyevgImTW3OpezbsQ8wZWIgrlblKy4Gf7+irmk6mahzBh3h1oDUW1w6UhRyOQ0QzsgkmiCidGiwAGLAp0WObn9uXuO5t9sx35GTAItR64T8EhvjiUZZcaQXvaOTs8yY1Af+24g8xGeRXHT1SY3HAfGAYCac4uJTOJSEO49NIv1bh/cBFTJN+F7Sk4TaiWx1cmz+zKYM6nVp11KYGoo+ijVoB4amzjbVHPt6WlsGznBrocfk/JNhXO3WIJwAiEwutlSQl+xNobBtkZ9XfYy/fY/scD7vqcbFk8TiKQgU55vXtfQUEnxaVm5vZ9aUK0Sw8mbQdrc+ppPlAdCEp3konMh7w9sj/knT3eyGCm/ocpnn/hub3nAc//V658XLID2z2XUF5PXnCquXA2DW+H+8gAMf6xS69fVn8Jjj1h5DAdCcMGhd0+RwrhnVv82uvBfAgJ7GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WEtzCAW16Af56zNpXfL8Dv",
      "input": {
        "note": "Previous step was clamped, so the pen is still ~30 px left of the jaw column; translating a further ~3.5 cm along the image-right direction to line the jaws up with the pen shaft.",
        "targets": {
          "right_x": 0.468,
          "right_y": 0.15,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01WEtzCAW16Af56zNpXfL8Dv",
      "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]: [-0.02, 0.807, 0.6029, -0.3824, -0.0216, -0.0254, 0.9998, 0.3878, 1.8355, 1.0283, 0.0593, 0.1234, -0.0219, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1754 left_yaw=0.0008 left_pitch=-0.0149 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4529 right_y=0.1654 right_z=0.0646 right_yaw=0.2778 right_pitch=-0.1853 right_roll=-0.088 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -1.2923, 7.241, 1.7216, -0.0611, -0.0611, -0.0122, 0.0205, -10.3726, 7.7607, 1.6679, 0.1099, 0.1245, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b116294058eda78faa22c89f81fcbcda22caa0585b7807e842780ad885b17a09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7964ebefdefd917ebfee6385bfc1796ff78a3a5aecaa504f25e3f4631074dce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5575efac7ccca80d400f5bd8adf3e3ab5c81acaa3aceb3f6f7fa2a91c6c0cf75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /messages · status 200 · 4.416 s

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

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8066, 0.6029, -0.382, -0.0216, -0.0254, 0.9998, 0.4812, 1.8465, 0.955, 0.1738, 0.2077, 0.057, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1756 left_yaw=0.0008 left_pitch=-0.0141 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4368 right_y=0.191 right_z=0.0535 right_yaw=0.2579 right_pitch=-0.1431 right_roll=-0.0792 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -1.6342, 7.0632, 1.7167, -0.0513, -0.0611, -0.0171, -0.4034, -11.8632, 5.3675, 1.7656, -0.0122, -0.0415, -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]: [-0.02, 0.807, 0.6029, -0.3824, -0.0216, -0.0254, 0.9998, 0.4133, 1.8355, 1.0039, 0.1112, 0.0982, -0.0422, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1754 left_yaw=0.0008 left_pitch=-0.0149 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4482 right_y=0.1816 right_z=0.0641 right_yaw=0.3362 right_pitch=-0.1604 right_roll=-0.0836 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -1.3607, 7.0222, 1.6923, -0.0024, -0.0464, -0.0171, -0.6906, -10.2769, 8.8137, 1.7265, 0.1734, 0.1245, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3824, -0.0216, -0.0254, 0.9998, 0.3878, 1.8355, 1.0283, 0.0593, 0.1234, -0.0219, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1754 left_yaw=0.0008 left_pitch=-0.0149 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4529 right_y=0.1654 right_z=0.0646 right_yaw=0.2778 right_pitch=-0.1853 right_roll=-0.088 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -1.2923, 7.241, 1.7216, -0.0611, -0.0611, -0.0122, 0.0205, -10.3726, 7.7607, 1.6679, 0.1099, 0.1245, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b116294058eda78faa22c89f81fcbcda22caa0585b7807e842780ad885b17a09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7964ebefdefd917ebfee6385bfc1796ff78a3a5aecaa504f25e3f4631074dce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5575efac7ccca80d400f5bd8adf3e3ab5c81acaa3aceb3f6f7fa2a91c6c0cf75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011NdxK4Nmban8RGy7on8Bpb",
      "input": {
        "note": "I had the image-left/right sign backwards: the pen slid further left and is now at the frame edge. Moving the gripper back ~6.5 cm the other way to bring the pen onto the jaw column.",
        "targets": {
          "right_x": 0.435,
          "right_y": 0.229,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_011NdxK4Nmban8RGy7on8Bpb",
      "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]: [-0.02, 0.807, 0.6029, -0.3824, -0.0216, -0.0254, 0.9998, 0.3878, 1.8355, 1.0283, 0.0593, 0.1234, -0.0143, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1754 left_yaw=0.0008 left_pitch=-0.0149 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4529 right_y=0.1654 right_z=0.0646 right_yaw=0.2737 right_pitch=-0.185 right_roll=-0.0823 right_gripper=0.9993\nstate[joint_eff]: [-0.1709, -1.3333, 7.1453, 1.707, -0.0708, -0.0757, -0.0171, 0.1436, -10.359, 7.6239, 1.6239, 0.1099, 0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff00604f407a5f78025c9e76e1f1903e4351e3b87ead8967f03e986c7e2d8bee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:505d9d8ce7c07cc2a5c1dedebc625cca65ccddd10bb61ebf808e9e345072727d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6c2f2622880668ebd86d69f92d8ea12fb4a0651efb8467643824c599c03a7174",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /messages · status 200 · 6.609 s

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

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3824, -0.0216, -0.0254, 0.9998, 0.4133, 1.8355, 1.0039, 0.1112, 0.0982, -0.0422, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1754 left_yaw=0.0008 left_pitch=-0.0149 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4482 right_y=0.1816 right_z=0.0641 right_yaw=0.3362 right_pitch=-0.1604 right_roll=-0.0836 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -1.3607, 7.0222, 1.6923, -0.0024, -0.0464, -0.0171, -0.6906, -10.2769, 8.8137, 1.7265, 0.1734, 0.1245, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3824, -0.0216, -0.0254, 0.9998, 0.3878, 1.8355, 1.0283, 0.0593, 0.1234, -0.0219, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1754 left_yaw=0.0008 left_pitch=-0.0149 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4529 right_y=0.1654 right_z=0.0646 right_yaw=0.2778 right_pitch=-0.1853 right_roll=-0.088 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -1.2923, 7.241, 1.7216, -0.0611, -0.0611, -0.0122, 0.0205, -10.3726, 7.7607, 1.6679, 0.1099, 0.1245, -0.0171]",
      "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]: [-0.02, 0.807, 0.6029, -0.3824, -0.0216, -0.0254, 0.9998, 0.3878, 1.8355, 1.0283, 0.0593, 0.1234, -0.0143, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1754 left_yaw=0.0008 left_pitch=-0.0149 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4529 right_y=0.1654 right_z=0.0646 right_yaw=0.2737 right_pitch=-0.185 right_roll=-0.0823 right_gripper=0.9993\nstate[joint_eff]: [-0.1709, -1.3333, 7.1453, 1.707, -0.0708, -0.0757, -0.0171, 0.1436, -10.359, 7.6239, 1.6239, 0.1099, 0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff00604f407a5f78025c9e76e1f1903e4351e3b87ead8967f03e986c7e2d8bee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:505d9d8ce7c07cc2a5c1dedebc625cca65ccddd10bb61ebf808e9e345072727d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c2f2622880668ebd86d69f92d8ea12fb4a0651efb8467643824c599c03a7174",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISqgQKjgEIEhgCKkBLSlAV1Z6Gp/EgP5TkM6Ye2kG35tfyAC6E3kJ5PiyeeyOT0DKoNAn5EByZ2sYn2MADSpE6r8sfLwxTyT/LuvITMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYrRzNUGEgzkxP1IJ1LgOOk1gW0aDArZenV5XKuo+PpKriIwt+FNI72lPzGhU8ybeGBdtMCr4jnSqrUFVlzlAIsADfs4QMBoDW4oOE+Zik8AFygqKsgCe374kQS8pWfAV0COgJtpD3fBgtdVnNB+Sz1dou/0kXFoeaSNwpDPlPX33YtP4YaCVQ+stQRCypxC4F0DNvPoj4qWOPlP/9McvkQVTf7aDTSEUDrlMB+5GdkqNcEjoaOUdSpbid5H9OFzy68z2onvt51z6Inwk8byAD2oGPLvZGWe2S21z+o6PurX+AFPrtSDCdbBeBBik03xFb3cHn0JMY6JnD5ucGy7lznLrALNHo2DCEgYQZG5Esxbk+e+/WDkfF8YGKswKJ5Mn4fUMcidoIjzEVzPbxJUAzfFqz2DIq8l1R2WGdd2gri+/MEMK4jM8pvkNxx4XI3iOy7U5FFNzk4rz9ECuO9pNuijFNo8vdV+10M/qYOavOfTzmZ1/iTJGJ+iJGmdYcG3pmj7Q9oBdacunh0zcHp1pOyNg5zEK6H8C/Xauhb4yRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019zZ9oGomNigyCUY1TuRBBY",
      "input": {
        "note": "The arm did not actually move last time (state unchanged), so I am lifting to 15 cm while translating back over the pen to escape the stalled pose.",
        "targets": {
          "right_x": 0.435,
          "right_y": 0.229,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_019zZ9oGomNigyCUY1TuRBBY",
      "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]: [-0.02, 0.807, 0.6029, -0.3824, -0.0216, -0.0254, 0.9998, 0.5655, 1.795, 1.2736, -0.2432, 0.2104, 0.0708, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1754 left_yaw=0.0008 left_pitch=-0.0149 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4369 right_y=0.2379 right_z=0.1314 right_yaw=0.3308 right_pitch=-0.1878 right_roll=-0.0814 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -1.3333, 7.0222, 1.7363, -0.0757, -0.0562, -0.0171, -0.1709, -12.0274, 7.9795, 1.2625, 0.3346, 0.1832, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08ec7a97c4da50813740e2f0b4f2bbb8e1acc62e6e66fcc924f898a17437b3f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cac92ac9325f7be72a3b33d220ecc5a820fa9d6b7ba9c99c8689202002200627",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0c8958233c611b58e6dafbd43809bf32442256dd227a747904a266da99edfb31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /messages · status 200 · 3.012 s

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

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3824, -0.0216, -0.0254, 0.9998, 0.3878, 1.8355, 1.0283, 0.0593, 0.1234, -0.0219, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1754 left_yaw=0.0008 left_pitch=-0.0149 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4529 right_y=0.1654 right_z=0.0646 right_yaw=0.2778 right_pitch=-0.1853 right_roll=-0.088 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -1.2923, 7.241, 1.7216, -0.0611, -0.0611, -0.0122, 0.0205, -10.3726, 7.7607, 1.6679, 0.1099, 0.1245, -0.0171]",
      "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]: [-0.02, 0.807, 0.6029, -0.3824, -0.0216, -0.0254, 0.9998, 0.3878, 1.8355, 1.0283, 0.0593, 0.1234, -0.0143, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1754 left_yaw=0.0008 left_pitch=-0.0149 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4529 right_y=0.1654 right_z=0.0646 right_yaw=0.2737 right_pitch=-0.185 right_roll=-0.0823 right_gripper=0.9993\nstate[joint_eff]: [-0.1709, -1.3333, 7.1453, 1.707, -0.0708, -0.0757, -0.0171, 0.1436, -10.359, 7.6239, 1.6239, 0.1099, 0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.02, 0.807, 0.6029, -0.3824, -0.0216, -0.0254, 0.9998, 0.5655, 1.795, 1.2736, -0.2432, 0.2104, 0.0708, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1754 left_yaw=0.0008 left_pitch=-0.0149 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4369 right_y=0.2379 right_z=0.1314 right_yaw=0.3308 right_pitch=-0.1878 right_roll=-0.0814 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -1.3333, 7.0222, 1.7363, -0.0757, -0.0562, -0.0171, -0.1709, -12.0274, 7.9795, 1.2625, 0.3346, 0.1832, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08ec7a97c4da50813740e2f0b4f2bbb8e1acc62e6e66fcc924f898a17437b3f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cac92ac9325f7be72a3b33d220ecc5a820fa9d6b7ba9c99c8689202002200627",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c8958233c611b58e6dafbd43809bf32442256dd227a747904a266da99edfb31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISkQgKjgEIEhgCKkC5eSOs4AQCOB/EjH+S3qGoToSUjk6QcjLd5u+MWQP1hrYD/To92RJwFW6phYSnTYGx6Ho/GgvcLsbJz/lA/egTMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZHRzNUGEgzJacq5zu6l+qHbhikaDNBkYDmmC1wTy+gvBCIwEmsVYS/zRI55ItpDlSxsrW4zw+xTXLoqb3zjZYnHyiuhkWj8QCyFwYTIDPbnGiTWKq8GEK7IXVI0MoRkflJDHhNeSMup5x0Ky6no9E7XpCDF/NTKj1HLXsxpfBw1VPLiBi5eOP2IcyrOhnxUISOGlXRR52+vg1BL0KCoMvK6IGT7Qu4bMKJ0F+1f3sDhQJI/VMK/Aicl7FnodAs4D9HfibCLb8UMuesvuO7uprMvm8U89zP40k3uRX0MmKLWwFMYRpMqnKS0772HWt7Kjoy/r2ULCCwgfQaFJtSrReQNBcXkUQyymcV1lLWJD7IeASKXhyOPk8ejmw6ayRQS80CsNlrMEjSDCwlPSISvsj+S9lvxvUu8dN7/gn0eldTp9z2xcY57OodgHndIhkfFdrYDn4nXVzkNJkhmES09VEpYSxYmKSuviXPm/T0OHBO7VTR3CC6RxY/ENmgWnuwNpp1zDy1aLRr0QDYb29OnGei8JPO2Gww1Ih3M3rAS0258FsW9pU50clGzzWOqjUAFAmE/o4Ap7nLTw0LjmC384Wp4J03AytkmaN1zSICeooUwdSnURkdfYJp/DtJ98wedx2Ufs3Nl3UEaGVPYUJN6dRMRL1Zmu9kxarTly7rQt8e+zZgxIGhFzBH+vGM5IqF7zXhNum2CGwfikxwbId8ttlmvtF/81wp4H1FkuZLq2QCzTaizZYfaDv+jVy6XhKT9G5YGeQN93UhGA5ELZJpyXj8ynbnFpHuLJxZDHoqkgCy5lh1+AckCNph8nxz/aR1gwVNY7drM+fdAWrAe8CmPZgWzhtpGyayDM8kJQtEYN9ZJifXvSArUCj8i7WWp/zA5yxq0cWol5xm4ZS3uSqxng0++SeQovVn7L6DMGVMVGVnqbStp3hquPmMUOb31ALoUSu4yCdt1aC5BEF+IBeFD6YjsskMI9IrzkEFoDAlF3UdzCOAL76JbjW6Vl0yKGeLogyYsOGOWfLcOIhG3faPIgUVEqeAwJcTv4l50+JAvVzr6upYbR92OpdJEgxzYMd+NBPRDlVp/nI4yahQwoxew5+5xeI2Zz4PGGglBNw7eqI3JpNR0inGSo+GmyhtPMWupZ5nladPsi1EASj3eMO0ajxHeU+aFZvGGoPZFX87JHTOO8FFgYG0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HxMjUq9tpXjZ9PnVstVTKE",
      "input": {
        "note": "The pen now sits vertically on the jaw column at the bottom of the right wrist view — well aligned. Descending to table level to straddle the pen shaft.",
        "targets": {
          "right_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01HxMjUq9tpXjZ9PnVstVTKE",
      "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]: [-0.02, 0.807, 0.6029, -0.382, -0.0216, -0.0254, 0.9998, 0.569, 2.0144, 1.0401, 0.173, 0.2039, 0.075, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1755 left_yaw=0.0008 left_pitch=-0.0145 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4299 right_y=0.2368 right_z=0.007 right_yaw=0.3357 right_pitch=-0.2244 right_roll=-0.0824 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -1.3333, 7.0359, 1.6874, -0.0659, -0.0659, -0.0122, -0.4171, -8.5538, 5.6547, 0.9988, 0.1441, -0.1685, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8d52adb63934bef8bb8ca0d869171722af1ce3d0179610089f46a1b24744755",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfee413c4cf4de3a8b327f87340b2c06ba81a56cb19dc3a9a92c3803e020eec6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e1334fcb8f5173af808ffcf056f90fa0702f6b0b5f5d8ea47b3ab954de76fa98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /messages · status 200 · 11.53 s

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

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3824, -0.0216, -0.0254, 0.9998, 0.3878, 1.8355, 1.0283, 0.0593, 0.1234, -0.0143, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1754 left_yaw=0.0008 left_pitch=-0.0149 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4529 right_y=0.1654 right_z=0.0646 right_yaw=0.2737 right_pitch=-0.185 right_roll=-0.0823 right_gripper=0.9993\nstate[joint_eff]: [-0.1709, -1.3333, 7.1453, 1.707, -0.0708, -0.0757, -0.0171, 0.1436, -10.359, 7.6239, 1.6239, 0.1099, 0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3824, -0.0216, -0.0254, 0.9998, 0.5655, 1.795, 1.2736, -0.2432, 0.2104, 0.0708, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1754 left_yaw=0.0008 left_pitch=-0.0149 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4369 right_y=0.2379 right_z=0.1314 right_yaw=0.3308 right_pitch=-0.1878 right_roll=-0.0814 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -1.3333, 7.0222, 1.7363, -0.0757, -0.0562, -0.0171, -0.1709, -12.0274, 7.9795, 1.2625, 0.3346, 0.1832, -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]: [-0.02, 0.807, 0.6029, -0.382, -0.0216, -0.0254, 0.9998, 0.569, 2.0144, 1.0401, 0.173, 0.2039, 0.075, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1755 left_yaw=0.0008 left_pitch=-0.0145 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4299 right_y=0.2368 right_z=0.007 right_yaw=0.3357 right_pitch=-0.2244 right_roll=-0.0824 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -1.3333, 7.0359, 1.6874, -0.0659, -0.0659, -0.0122, -0.4171, -8.5538, 5.6547, 0.9988, 0.1441, -0.1685, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8d52adb63934bef8bb8ca0d869171722af1ce3d0179610089f46a1b24744755",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfee413c4cf4de3a8b327f87340b2c06ba81a56cb19dc3a9a92c3803e020eec6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1334fcb8f5173af808ffcf056f90fa0702f6b0b5f5d8ea47b3ab954de76fa98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISpQMKjgEIEhgCKkBXkxOWyYk1BezByuGw3Ni+FtixW4qh6/PGhwu1GUK4xwQmaDHah9H0Py86zALK2aKCxu7GxMjrC/N3LrpZ8Jb8Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZbRzNUGEgy6M1zdSqHlhtKGUxsaDArpN6vqT06Be+gfyyIwfkPqLv/gxfe9uQutArfFxodjcbOAzI6lRh0aKKDSUPg4BWZ7Pk1Aoi3A+ZK/5NbMKsMBb6+iZ3AohJYZznbs7pRvFITyHYc2km5PY+9xDCMPnIzuxHBeWu/4urVchcp9vEzSkPVhMF/AXVtCFH25L21/KyWDMvpGRBkj5ImME3h5HRT9El0YE1d9HSAF5SPNvkRMed4ENadzVOjDSpxj+1wPP5i3cCxSTMS6RoVs80GPVpAGitXvo4GccjZt3GOEoMR6PZTuvQFdAcG9iRNUIrjlIx1bWo8ccNMWoBOmWj/BaR+YhM0uOcCoi9endyXgp+innEoAGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KsnPjn4CZzvK7YA5bauenC",
      "input": {
        "note": "Gripper is at table level with the pen shaft between the jaws; closing to grasp the pen.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01KsnPjn4CZzvK7YA5bauenC",
      "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]: [-0.02, 0.807, 0.6029, -0.382, -0.0219, -0.0254, 0.9998, 0.5694, 2.022, 1.0435, 0.2028, 0.2016, 0.0715, 0.0104]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1755 left_yaw=0.0011 left_pitch=-0.0145 left_roll=-0.0001 left_gripper=0.9998 right_x=0.4343 right_y=0.2403 right_z=0.0097 right_yaw=0.3412 right_pitch=-0.2 right_roll=-0.0773 right_gripper=0.0104\nstate[joint_eff]: [-0.1709, -0.9641, 7.2547, 1.7118, -0.0855, -0.0611, -0.0122, -0.0752, -10.4684, 5.2855, 1.3846, 0.0073, -0.0171, 0.4811]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61dde2d5bba5a2bf0d55002d9050a73bd7c80cb23319ac0962c08a09186f34ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e40061645f4e49f389bffbe9e3f7e7bec8b8e4494494f94cf647b6eccf079db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:81202f3561a743e5f30cd40c1136fcef2ad3594214a3ae574d2e32093c8ac638",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /messages · status 200 · 5.35 s

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

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3824, -0.0216, -0.0254, 0.9998, 0.5655, 1.795, 1.2736, -0.2432, 0.2104, 0.0708, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1754 left_yaw=0.0008 left_pitch=-0.0149 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4369 right_y=0.2379 right_z=0.1314 right_yaw=0.3308 right_pitch=-0.1878 right_roll=-0.0814 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -1.3333, 7.0222, 1.7363, -0.0757, -0.0562, -0.0171, -0.1709, -12.0274, 7.9795, 1.2625, 0.3346, 0.1832, -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]: [-0.02, 0.807, 0.6029, -0.382, -0.0216, -0.0254, 0.9998, 0.569, 2.0144, 1.0401, 0.173, 0.2039, 0.075, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1755 left_yaw=0.0008 left_pitch=-0.0145 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4299 right_y=0.2368 right_z=0.007 right_yaw=0.3357 right_pitch=-0.2244 right_roll=-0.0824 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -1.3333, 7.0359, 1.6874, -0.0659, -0.0659, -0.0122, -0.4171, -8.5538, 5.6547, 0.9988, 0.1441, -0.1685, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.382, -0.0219, -0.0254, 0.9998, 0.5694, 2.022, 1.0435, 0.2028, 0.2016, 0.0715, 0.0104]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1755 left_yaw=0.0011 left_pitch=-0.0145 left_roll=-0.0001 left_gripper=0.9998 right_x=0.4343 right_y=0.2403 right_z=0.0097 right_yaw=0.3412 right_pitch=-0.2 right_roll=-0.0773 right_gripper=0.0104\nstate[joint_eff]: [-0.1709, -0.9641, 7.2547, 1.7118, -0.0855, -0.0611, -0.0122, -0.0752, -10.4684, 5.2855, 1.3846, 0.0073, -0.0171, 0.4811]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61dde2d5bba5a2bf0d55002d9050a73bd7c80cb23319ac0962c08a09186f34ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e40061645f4e49f389bffbe9e3f7e7bec8b8e4494494f94cf647b6eccf079db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81202f3561a743e5f30cd40c1136fcef2ad3594214a3ae574d2e32093c8ac638",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS7w4KjgEIEhgCKkD7fVodkestOrVFdtMZ5cCvEQGd4iBnlMMYa4iItCBk6lTm+Br8NPWOKIfD4ainQEq7ckEiOgB5NdAhOHddqjsJMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaHRzNUGEgwD1YQmV0GriJv2thQaDOIZeJp1XclZLtO8MSIwFRakwDsT7mhcYaH0TksCLjH4264b8bLdkLH8tZz8Ga6ZB4fwU9nn1trbJd/652LLKo0NBfkWzEGMkXsuXd1Kzb1l8AOJyApmr1nkc/Hm9B048pi8FkUkf8c9Zp0j3H8zscPlzuxrvIYbsrw+eHERF0F+k6HAcIlGfWGlOQnc9w9dXJpfF+m3bbofh0ARX8xVqvOwiQZ2tITTHp04mWKXljqVP9/EzOotshgLbICzGZbMTGARqE7Wiz9F9wPP92KNUd6Yy9Zr/u7wQ2Uq184x+h6lEazzYFKY93XzfvYoCSnCSGOFV2pXj15E2J1ix5fvFg44KSkDC+KPuZ7jfC0+1ucRjZyEo4WcOOGL8aFjtjym7hCRXxy9o3sd8OPH74S5XJLKekPRp7zcZ1cyN5UlqRXdf5McnZOFoNiSJtfM7x4m9gzU7xr2K86AZ6oqPX9tW8/s87YL2xsa/jokUizNM4b4kqhBZmnhk4KGmNNxnhaB8WjDFHaPVaYqJrug5g/R/iSulflx2vMbxwYG+tb+YQvBU+rQLJkJwhG8ECw3SGCXiaQ2ydllf4uOB77mjZx/wr4Xk+wvGgKjj8M5U+GiAPEn9nORGJDXlx+QNq+vUL3lZUM4hzg0D0vr7LztBgCesbl/cYNcC5y06dpA96y8Jw7Ii8/TcXyFm7j8P7qJbhRXf/sZGawmkp9Lcqo1QWVa/2tD8K6k+2W6wojPhJA/V8yzTfi7ynFOMZjxjUzq/RQwl36wO22d0K0NO/lAGgut8Jq0y61UKqX7hgbGDQB3GQcVob2FCzoHpJSHe4TQhGq5pNU80rf7JQdUHntXDBB3ml1z5JD3oiWKQzGpjm7otUr/TzAyOE3MFF39/SD/0iWDhoWaPrpKk14EYHTJvYK91rIhUTrPR+hsiaeYU+z8Ksbhh6GHROhWuSkgGcvWzgKlpzReiXeUD3kiC4UuEAAeoStUFqWVWQm86aGD97rIc783vmr4h/W9bKoLht24vSB6PDKCLyy+jGO4zvZi7orVogks1pM3WAPCHcTDQDNRGnUV3g6JC3ObfQSBTEdJkCpvAHSdO4B49c9+l16ynYGOURz7iif6WhZ55ITiguNQ01RU3dZXgDtJAUQyRSBzHF0lxrKxiqUpMpHemzDvIKuP+qXBjoSETPVDdR5EKQJu9EiAkk9JG5ccXa2Z8MGiveK7zxN0C2i6ZxYZXopIw63sppQ6n9DzpHUGquIu4FzJ5j+gla4JJJVn24d6pp5n7B45T+/cQ7+q2erEbOGkfvf+1Gx8DOT2y+PK5UYZXfSdTjecAa0RBpg4o8cmA82978tbdz+9fA75W6TZjPi1aHQIbPQ2884MuXTj3I+9ZAyhXX5THjrkBFUnsp888edUaz1bpi47+kYHV0bfbjozL+cHhzM6T+31+hY0tVRcstXlB3LBt/h69P2Bls5tDYFm3rnKMpFiRZMuHbnqgXlfdFkzJcKclYtNhJtL5C8gsh119QLj6VQbKd3Axq1Iuv92RYqnInlnQO1FeruWyFfBLdG9C1xljgVUbgLjyZYWZApE4EVtnXTR6wcnyYwN9l7nD7cwT8nDJ0rusyZ1/oRh7Lt2QJYVrnQ6XpiWGwl/PGub+1d0hiEgzwXhQFpTmYcEWSxt0qLPmWDoRZLQWURW0jYHIDJ4Qy7W29N3dWu0g9+8vGgiwUhVuLczkEc89XOXdZeeQ0LW10/u6cgpQYrxlbn9NJq/jo2boZ32ALtxwsn8aWNMVmRUjaD6NfIeEfL17IfTxgtMsxRs+QkPraLwueyLZNGyNZ74IX1s7Lfm3x8hKWjGESDeSv8DFkAN3hQOn1sau4p65Ajc8guTNsKZPaoIwDg//ZG44l4dgs6cO7JGfWgp7isMWJ8XvK8cJDdjZK0bKS7QzgFjMea0X5r9tSmoK2JNca2ZiWxMgyQ8tsAloKOY29mEPss0ZYhKnV3u441WBWUalPaC1lJVt2ZeChScAVQ2+e56ANevtLYkHu+wEfsMuLQAR83RjoN2lbbvnbC8l/0KeYy8ZkvXZoFvwnAergW97Unru0+WsINJ1fXNI/muRvFSLIrTEPJHugMsKQIdRUVmk9K7UCZ82X9R4aDPwztTC24qsBFDQLRDgb9P7eBUQmWemkLF0qsiKSHkpVKtOVeGKyxLn6qzAgl5bT3TqihvU3+PZHNYWK0JAzCa2RYt6zYfugKRNyCqFxqwrQay9qHyxAu4NhNY8DzbIURtsvn7FKiEtdsbDTICRfczGh0P/AF4Hjck+sDADyllH8Polz0kXSXJsqsRkB2RCWHqGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ANLqw37gWGoFU6vPR9JrJa",
      "input": {
        "note": "The close came up empty (gripper reads 0.01), so the pen was just right of the jaws; reopening and shifting ~2 cm so the pen falls between the jaws.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.441,
          "right_y": 0.221,
          "right_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01ANLqw37gWGoFU6vPR9JrJa",
      "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]: [-0.02, 0.807, 0.6029, -0.3824, -0.0219, -0.0254, 0.9998, 0.5228, 2.0212, 1.0241, 0.2329, 0.1616, 0.0376, 0.9949]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1754 left_yaw=0.0011 left_pitch=-0.0149 left_roll=-0.0001 left_gripper=0.9998 right_x=0.4411 right_y=0.2256 right_z=0.0074 right_yaw=0.3476 right_pitch=-0.1956 right_roll=-0.0723 right_gripper=0.9949\nstate[joint_eff]: [-0.0479, -1.3333, 7.0222, 1.7021, -0.0464, -0.0464, -0.0171, -0.841, -10.1675, 4.9436, 1.5946, 0.1245, -0.0513, -0.0708]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fa36e7082b76a01198510e555f95ac936412e4369678c5770acd2608b663a09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56953cad6fc51c4e0f2c7706ee8ec94acfa7e7989708ef53b6c7592952da3841",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6fa67e3c43374332339692d14925e794135eeca636d3271a6a0255768b56c13c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /messages · status 200 · 12.77 s

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

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.382, -0.0216, -0.0254, 0.9998, 0.569, 2.0144, 1.0401, 0.173, 0.2039, 0.075, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1755 left_yaw=0.0008 left_pitch=-0.0145 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4299 right_y=0.2368 right_z=0.007 right_yaw=0.3357 right_pitch=-0.2244 right_roll=-0.0824 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -1.3333, 7.0359, 1.6874, -0.0659, -0.0659, -0.0122, -0.4171, -8.5538, 5.6547, 0.9988, 0.1441, -0.1685, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.382, -0.0219, -0.0254, 0.9998, 0.5694, 2.022, 1.0435, 0.2028, 0.2016, 0.0715, 0.0104]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1755 left_yaw=0.0011 left_pitch=-0.0145 left_roll=-0.0001 left_gripper=0.9998 right_x=0.4343 right_y=0.2403 right_z=0.0097 right_yaw=0.3412 right_pitch=-0.2 right_roll=-0.0773 right_gripper=0.0104\nstate[joint_eff]: [-0.1709, -0.9641, 7.2547, 1.7118, -0.0855, -0.0611, -0.0122, -0.0752, -10.4684, 5.2855, 1.3846, 0.0073, -0.0171, 0.4811]",
      "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]: [-0.02, 0.807, 0.6029, -0.3824, -0.0219, -0.0254, 0.9998, 0.5228, 2.0212, 1.0241, 0.2329, 0.1616, 0.0376, 0.9949]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1754 left_yaw=0.0011 left_pitch=-0.0149 left_roll=-0.0001 left_gripper=0.9998 right_x=0.4411 right_y=0.2256 right_z=0.0074 right_yaw=0.3476 right_pitch=-0.1956 right_roll=-0.0723 right_gripper=0.9949\nstate[joint_eff]: [-0.0479, -1.3333, 7.0222, 1.7021, -0.0464, -0.0464, -0.0171, -0.841, -10.1675, 4.9436, 1.5946, 0.1245, -0.0513, -0.0708]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fa36e7082b76a01198510e555f95ac936412e4369678c5770acd2608b663a09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56953cad6fc51c4e0f2c7706ee8ec94acfa7e7989708ef53b6c7592952da3841",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6fa67e3c43374332339692d14925e794135eeca636d3271a6a0255768b56c13c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISkwYKjgEIEhgCKkAnvmNpiAH2BJiAyFYU+jrwT6RJICqNKkt7eHh5rnCyCTlc0mAtks+1gFP6C7GrreT4Wvgh8pRvql1KKSz/43+vMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAajRzNUGEgyDLbzErioFDOnZt4YaDMqgjKwRhl455TYm7iIwgfovsi4FHVD2qyOD5ZD3Gfs2fPxvxhG2OZ8VBx8qIvvWd1xKnbYGAEf8xkhKGsGMKrEE5HJUNs+s5Wim8okHS0wPuSW3lw6EiVdRA3+BxcwtQrddX/aSfqw9xyjRRXTG+Ib9aYZCTDRJ56nsCNVe7w0OEOeEkN6144meCcRnvAf1jGDJI3byvPjlvKZ9d+7BH8oviJbz8dvy/O5DW6HiI34WPcZ2lLAX6hpHRULcgWFLc75Y+NFKgszNYASp7dHPckJpbdWEjKxemMSL4a5fzbc/cSwLFURHsb8tcGTNglXsNkGLZp/qep9YFjqpI2PzkKC5CjkqWtYbfHnXR5dMUS5biCrAeCAlNMRIAw0Op1wTUSPsPWBDze/PYUeSeB8xqzdtvL0ChlyPtdZKqOvt9D0E1Jly2HWcSKNgamqu/f14LkIOQlGlT1xVTPySPiYseD45psRNfjjKxLeb6QnLIti7Q7uVhhBYfa8JPC2Vurw9wqOQc/TizfGU0tjthFvCjZDBrdtTJZcdbfXEaa+zPsmnWE6u3CCdQDJdXr9H0BzLNZN+sOPuvOS2yQo0v6CdW2hDiM1hZTglJwYwIY9iUgC+vAp1IrzMAz3uz+GP5d1WbfZ24kvlhTgK/FeRISxGnI+SMww/UXpLZzibtwmBCQTovzYtNbK5F/+lJhRVks3Hgu8+r3aB4qTF/gZXP+O2l3c2QRXK1CdhnwR9vZXqtNMEfkbDYOwfPnHrCRP8WGs0SCaMnAIKI2o/k1m1ImvtNqzrmTQg7YDjMUP6P53KYjDdNNi6h//+FwsRgsLAKwuYxPEmGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01V6ByYACRrLq97mEfjj59oD",
      "input": {
        "note": "Jaws are open at table level with the pen just under them (it is hidden in the wrist view, which happens when an object is nearer than the grasp point); closing to try the grasp.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01V6ByYACRrLq97mEfjj59oD",
      "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]: [-0.02, 0.807, 0.6029, -0.382, -0.0216, -0.0254, 0.9998, 0.5194, 2.0212, 1.0225, 0.2237, 0.1558, 0.0334, 0.0087]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1755 left_yaw=0.0008 left_pitch=-0.0145 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4397 right_y=0.2239 right_z=0.0052 right_yaw=0.351 right_pitch=-0.2069 right_roll=-0.0733 right_gripper=0.0087\nstate[joint_eff]: [-0.0615, -1.3333, 7.0359, 1.7705, -0.0513, -0.0317, -0.0122, 0.1983, -10.2085, 5.5726, 1.6337, 0.1587, 0.0024, 0.6716]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b69a55ebb9ce28a76f8ad6cd2e49b35a6e67693e6f166b557e3c240110b3ed81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2edac970c7251960b64430dea9c78438f3fc3a448a7fe47e8acf27ffb975a472",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0cf890e0d1d19999f091b9c8e2067a0f4ef8b5f471f673df4c968057829d47c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /messages · status 200 · 13.14 s

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

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.382, -0.0219, -0.0254, 0.9998, 0.5694, 2.022, 1.0435, 0.2028, 0.2016, 0.0715, 0.0104]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1755 left_yaw=0.0011 left_pitch=-0.0145 left_roll=-0.0001 left_gripper=0.9998 right_x=0.4343 right_y=0.2403 right_z=0.0097 right_yaw=0.3412 right_pitch=-0.2 right_roll=-0.0773 right_gripper=0.0104\nstate[joint_eff]: [-0.1709, -0.9641, 7.2547, 1.7118, -0.0855, -0.0611, -0.0122, -0.0752, -10.4684, 5.2855, 1.3846, 0.0073, -0.0171, 0.4811]",
      "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]: [-0.02, 0.807, 0.6029, -0.3824, -0.0219, -0.0254, 0.9998, 0.5228, 2.0212, 1.0241, 0.2329, 0.1616, 0.0376, 0.9949]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1754 left_yaw=0.0011 left_pitch=-0.0149 left_roll=-0.0001 left_gripper=0.9998 right_x=0.4411 right_y=0.2256 right_z=0.0074 right_yaw=0.3476 right_pitch=-0.1956 right_roll=-0.0723 right_gripper=0.9949\nstate[joint_eff]: [-0.0479, -1.3333, 7.0222, 1.7021, -0.0464, -0.0464, -0.0171, -0.841, -10.1675, 4.9436, 1.5946, 0.1245, -0.0513, -0.0708]\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 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]: [-0.02, 0.807, 0.6029, -0.382, -0.0216, -0.0254, 0.9998, 0.5194, 2.0212, 1.0225, 0.2237, 0.1558, 0.0334, 0.0087]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1755 left_yaw=0.0008 left_pitch=-0.0145 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4397 right_y=0.2239 right_z=0.0052 right_yaw=0.351 right_pitch=-0.2069 right_roll=-0.0733 right_gripper=0.0087\nstate[joint_eff]: [-0.0615, -1.3333, 7.0359, 1.7705, -0.0513, -0.0317, -0.0122, 0.1983, -10.2085, 5.5726, 1.6337, 0.1587, 0.0024, 0.6716]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b69a55ebb9ce28a76f8ad6cd2e49b35a6e67693e6f166b557e3c240110b3ed81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2edac970c7251960b64430dea9c78438f3fc3a448a7fe47e8acf27ffb975a472",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cf890e0d1d19999f091b9c8e2067a0f4ef8b5f471f673df4c968057829d47c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Daa7JgqEAoCb5KXUmEPNAW",
      "input": {
        "note": "Second close was also empty, so my depth estimate is off; lifting the right arm to 18 cm to re-see the pen in the top and wrist views before retrying.",
        "targets": {
          "right_gripper": 1,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01Daa7JgqEAoCb5KXUmEPNAW",
      "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]: [-0.02, 0.807, 0.6029, -0.382, -0.0219, -0.0254, 0.9998, 0.5194, 1.7943, 1.3842, -0.3939, 0.1532, 0.0208, 0.9953]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1755 left_yaw=0.0011 left_pitch=-0.0145 left_roll=-0.0001 left_gripper=0.9998 right_x=0.443 right_y=0.2264 right_z=0.1507 right_yaw=0.359 right_pitch=-0.2363 right_roll=-0.0854 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -1.306, 7.241, 1.6972, -0.0562, -0.0562, -0.0171, -0.2667, -13.094, 8.9094, 1.4774, 0.0122, 0.0757, -0.2173]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f9b69221e6dcb74f836679e6ae06071c800e6aeff0e07680aacab0524a53194",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:746c8ad3e6c238c14a29050a54a28597b2b2541e12a245836840854d23eece8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f4a85ea14e17324212130c4d03ae43febbe0384a6a7022b9cae49c943b786d28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /messages · status 200 · 2.834 s

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

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3824, -0.0219, -0.0254, 0.9998, 0.5228, 2.0212, 1.0241, 0.2329, 0.1616, 0.0376, 0.9949]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1754 left_yaw=0.0011 left_pitch=-0.0149 left_roll=-0.0001 left_gripper=0.9998 right_x=0.4411 right_y=0.2256 right_z=0.0074 right_yaw=0.3476 right_pitch=-0.1956 right_roll=-0.0723 right_gripper=0.9949\nstate[joint_eff]: [-0.0479, -1.3333, 7.0222, 1.7021, -0.0464, -0.0464, -0.0171, -0.841, -10.1675, 4.9436, 1.5946, 0.1245, -0.0513, -0.0708]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.02, 0.807, 0.6029, -0.382, -0.0216, -0.0254, 0.9998, 0.5194, 2.0212, 1.0225, 0.2237, 0.1558, 0.0334, 0.0087]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1755 left_yaw=0.0008 left_pitch=-0.0145 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4397 right_y=0.2239 right_z=0.0052 right_yaw=0.351 right_pitch=-0.2069 right_roll=-0.0733 right_gripper=0.0087\nstate[joint_eff]: [-0.0615, -1.3333, 7.0359, 1.7705, -0.0513, -0.0317, -0.0122, 0.1983, -10.2085, 5.5726, 1.6337, 0.1587, 0.0024, 0.6716]\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 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]: [-0.02, 0.807, 0.6029, -0.382, -0.0219, -0.0254, 0.9998, 0.5194, 1.7943, 1.3842, -0.3939, 0.1532, 0.0208, 0.9953]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1755 left_yaw=0.0011 left_pitch=-0.0145 left_roll=-0.0001 left_gripper=0.9998 right_x=0.443 right_y=0.2264 right_z=0.1507 right_yaw=0.359 right_pitch=-0.2363 right_roll=-0.0854 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -1.306, 7.241, 1.6972, -0.0562, -0.0562, -0.0171, -0.2667, -13.094, 8.9094, 1.4774, 0.0122, 0.0757, -0.2173]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f9b69221e6dcb74f836679e6ae06071c800e6aeff0e07680aacab0524a53194",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:746c8ad3e6c238c14a29050a54a28597b2b2541e12a245836840854d23eece8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4a85ea14e17324212130c4d03ae43febbe0384a6a7022b9cae49c943b786d28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KHCRqJUQcCkdPEhq7qoFbZ",
      "input": {
        "note": "From 15 cm up the pen tip appears right at the bottom edge of the wrist view, meaning it is a few cm farther out than the fingertips; moving ~3 cm outward and slightly left, and descending near the table for another attempt.",
        "targets": {
          "right_x": 0.466,
          "right_y": 0.251,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01KHCRqJUQcCkdPEhq7qoFbZ",
      "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]: [-0.02, 0.807, 0.6029, -0.3824, -0.0219, -0.0254, 0.9998, 0.5392, 2.0724, 1.2556, -0.0299, 0.1574, 0.0223, 0.9963]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1754 left_yaw=0.0011 left_pitch=-0.0149 left_roll=-0.0001 left_gripper=0.9998 right_x=0.459 right_y=0.2466 right_z=0.0229 right_yaw=0.3725 right_pitch=-0.2779 right_roll=-0.0947 right_gripper=0.9963\nstate[joint_eff]: [-0.3214, -1.306, 7.1043, 1.7265, -0.0806, -0.0415, -0.0171, 0.6085, -10.5094, 5.7231, 1.6923, 0.1538, 0.1636, 0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fac5797508110bc5d577967a925db86ddf27f9922bc2bae30d593dab6135fee9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79bd07a0155ce0d718eff09c3707cc80f43b79eea205249ff4b548dc49842842",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2eb11b07552d1e8acf92dc002c3b50671667c03f43f39dfca431e88734bc8683",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /messages · status 200 · 15.4 s

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

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.382, -0.0216, -0.0254, 0.9998, 0.5194, 2.0212, 1.0225, 0.2237, 0.1558, 0.0334, 0.0087]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1755 left_yaw=0.0008 left_pitch=-0.0145 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4397 right_y=0.2239 right_z=0.0052 right_yaw=0.351 right_pitch=-0.2069 right_roll=-0.0733 right_gripper=0.0087\nstate[joint_eff]: [-0.0615, -1.3333, 7.0359, 1.7705, -0.0513, -0.0317, -0.0122, 0.1983, -10.2085, 5.5726, 1.6337, 0.1587, 0.0024, 0.6716]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.02, 0.807, 0.6029, -0.382, -0.0219, -0.0254, 0.9998, 0.5194, 1.7943, 1.3842, -0.3939, 0.1532, 0.0208, 0.9953]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1755 left_yaw=0.0011 left_pitch=-0.0145 left_roll=-0.0001 left_gripper=0.9998 right_x=0.443 right_y=0.2264 right_z=0.1507 right_yaw=0.359 right_pitch=-0.2363 right_roll=-0.0854 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -1.306, 7.241, 1.6972, -0.0562, -0.0562, -0.0171, -0.2667, -13.094, 8.9094, 1.4774, 0.0122, 0.0757, -0.2173]",
      "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]: [-0.02, 0.807, 0.6029, -0.3824, -0.0219, -0.0254, 0.9998, 0.5392, 2.0724, 1.2556, -0.0299, 0.1574, 0.0223, 0.9963]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1754 left_yaw=0.0011 left_pitch=-0.0149 left_roll=-0.0001 left_gripper=0.9998 right_x=0.459 right_y=0.2466 right_z=0.0229 right_yaw=0.3725 right_pitch=-0.2779 right_roll=-0.0947 right_gripper=0.9963\nstate[joint_eff]: [-0.3214, -1.306, 7.1043, 1.7265, -0.0806, -0.0415, -0.0171, 0.6085, -10.5094, 5.7231, 1.6923, 0.1538, 0.1636, 0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fac5797508110bc5d577967a925db86ddf27f9922bc2bae30d593dab6135fee9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79bd07a0155ce0d718eff09c3707cc80f43b79eea205249ff4b548dc49842842",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2eb11b07552d1e8acf92dc002c3b50671667c03f43f39dfca431e88734bc8683",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIStgMKjgEIEhgCKkAj0dlIFITBNFQRYADkixyhY7MQQcnJGe8TNsWxApCS6teX6MHU66psIwfDqpMXwBvk8UusuWU4zKBufr1yU/sXMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcjRzNUGEgx/THvYr51f9iaHZH8aDEcLaFxCeTzd0ZFAgiIw9xRQhzlc19BIfOCg7W7Wuc4frINfUfBDO4XEdAUOYJP6JSyINjFuD4Dp3qljgBA0KtQBKM/IeA+2xoQTQQswpSCp3YFqvMO/JMzuZl17Wn6zraVLo3CAneW443Bu/XNxnomlGlVjpV37XCEYwAYMzsEQeQZ+wc3Fd6rhmKFP/YeJ6/ahYuuceucjlECmoXNOjp2UaSC7RflL7OSqD5/8bKFGDtaqRdwuwB1gMFH4l1512fSYmIsQ2XBHKUi3irFJuyRARlblsK1YHIUY0lbjCn+a2I4EarbIcvv+fMhBJw05jgbbrKiNlMiFiFf6rewLxO5i8PO2ZaNg/7vk/Ox0/DLSFaf60swYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XwLwaVZHsw2EL72DiV7FZX",
      "input": {
        "note": "Pen is hidden beneath the jaws in the wrist view; pressing down to table level and closing to attempt the grasp.",
        "targets": {
          "right_gripper": 0,
          "right_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01XwLwaVZHsw2EL72DiV7FZX",
      "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]: [-0.02, 0.807, 0.6029, -0.382, -0.0216, -0.0254, 0.9998, 0.5385, 2.0998, 1.2354, 0.0071, 0.1558, 0.0181, 0.0094]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1755 left_yaw=0.0008 left_pitch=-0.0145 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4569 right_y=0.2452 right_z=0.0077 right_yaw=0.3749 right_pitch=-0.2888 right_roll=-0.0982 right_gripper=0.0094\nstate[joint_eff]: [-0.253, -1.2786, 7.1453, 1.6923, -0.0611, -0.0513, -0.0171, 0.0068, -10.3453, 5.7231, 1.5995, -0.0024, 0.0317, 0.6081]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a3e30a43e5a42a4804a736e418183e57793d144398b804666218d768f6e39fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f63fd8ed12da9753d892ac887c90394ff18499f84f255e29be6827240333070",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a6bc88f24813bd45bc0cabdab84a1ee0bca5ecf763c6a5bc243bbb7cc24af094",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /messages · status 200 · 18.91 s

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

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.382, -0.0219, -0.0254, 0.9998, 0.5194, 1.7943, 1.3842, -0.3939, 0.1532, 0.0208, 0.9953]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1755 left_yaw=0.0011 left_pitch=-0.0145 left_roll=-0.0001 left_gripper=0.9998 right_x=0.443 right_y=0.2264 right_z=0.1507 right_yaw=0.359 right_pitch=-0.2363 right_roll=-0.0854 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -1.306, 7.241, 1.6972, -0.0562, -0.0562, -0.0171, -0.2667, -13.094, 8.9094, 1.4774, 0.0122, 0.0757, -0.2173]",
      "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]: [-0.02, 0.807, 0.6029, -0.3824, -0.0219, -0.0254, 0.9998, 0.5392, 2.0724, 1.2556, -0.0299, 0.1574, 0.0223, 0.9963]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1754 left_yaw=0.0011 left_pitch=-0.0149 left_roll=-0.0001 left_gripper=0.9998 right_x=0.459 right_y=0.2466 right_z=0.0229 right_yaw=0.3725 right_pitch=-0.2779 right_roll=-0.0947 right_gripper=0.9963\nstate[joint_eff]: [-0.3214, -1.306, 7.1043, 1.7265, -0.0806, -0.0415, -0.0171, 0.6085, -10.5094, 5.7231, 1.6923, 0.1538, 0.1636, 0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.382, -0.0216, -0.0254, 0.9998, 0.5385, 2.0998, 1.2354, 0.0071, 0.1558, 0.0181, 0.0094]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1755 left_yaw=0.0008 left_pitch=-0.0145 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4569 right_y=0.2452 right_z=0.0077 right_yaw=0.3749 right_pitch=-0.2888 right_roll=-0.0982 right_gripper=0.0094\nstate[joint_eff]: [-0.253, -1.2786, 7.1453, 1.6923, -0.0611, -0.0513, -0.0171, 0.0068, -10.3453, 5.7231, 1.5995, -0.0024, 0.0317, 0.6081]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a3e30a43e5a42a4804a736e418183e57793d144398b804666218d768f6e39fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f63fd8ed12da9753d892ac887c90394ff18499f84f255e29be6827240333070",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6bc88f24813bd45bc0cabdab84a1ee0bca5ecf763c6a5bc243bbb7cc24af094",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ShhvqdNPtJvi3dki2w2J49",
      "input": {
        "note": "Three empty closes — I suspect I have been reaching at the wrong spot. Retracting the right arm to home so the overhead camera shows the table unoccluded and I can re-locate both pen and cap.",
        "targets": {
          "right_gripper": 0.5,
          "right_x": 0.3,
          "right_y": 0.0,
          "right_yaw": 0,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_01ShhvqdNPtJvi3dki2w2J49",
      "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]: [-0.02, 0.8127, 0.6029, -0.3817, -0.0219, -0.0254, 0.9998, 0.0456, 1.0744, 0.9386, -0.7315, 0.0879, -0.0635, 0.4982]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.174 left_yaw=0.0011 left_pitch=-0.0198 left_roll=-0.0 left_gripper=0.9998 right_x=0.3046 right_y=0.002 right_z=0.1829 right_yaw=-0.0133 right_pitch=-0.3084 right_roll=-0.1018 right_gripper=0.4982\nstate[joint_eff]: [-0.1162, -1.4838, 7.0632, 1.7411, -0.0708, -0.0659, -0.0171, -0.294, -4.0137, 9.6615, 1.5409, -0.1099, -0.0513, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d2442d5c6f7b54181a7c6795f69b5c265719e27b31fdd204c4c426c0b7d81e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1985db9ba647576be9082e5f46aba2c9f91fa221407fae524b0b6e53a9c3751e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:824fa02f6518d5ba1986f7a48d9bfaec0dd1070208310114f85f65c5397cc6be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /messages · status 200 · 8.582 s

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

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3824, -0.0219, -0.0254, 0.9998, 0.5392, 2.0724, 1.2556, -0.0299, 0.1574, 0.0223, 0.9963]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1754 left_yaw=0.0011 left_pitch=-0.0149 left_roll=-0.0001 left_gripper=0.9998 right_x=0.459 right_y=0.2466 right_z=0.0229 right_yaw=0.3725 right_pitch=-0.2779 right_roll=-0.0947 right_gripper=0.9963\nstate[joint_eff]: [-0.3214, -1.306, 7.1043, 1.7265, -0.0806, -0.0415, -0.0171, 0.6085, -10.5094, 5.7231, 1.6923, 0.1538, 0.1636, 0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.382, -0.0216, -0.0254, 0.9998, 0.5385, 2.0998, 1.2354, 0.0071, 0.1558, 0.0181, 0.0094]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1755 left_yaw=0.0008 left_pitch=-0.0145 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4569 right_y=0.2452 right_z=0.0077 right_yaw=0.3749 right_pitch=-0.2888 right_roll=-0.0982 right_gripper=0.0094\nstate[joint_eff]: [-0.253, -1.2786, 7.1453, 1.6923, -0.0611, -0.0513, -0.0171, 0.0068, -10.3453, 5.7231, 1.5995, -0.0024, 0.0317, 0.6081]",
      "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]: [-0.02, 0.8127, 0.6029, -0.3817, -0.0219, -0.0254, 0.9998, 0.0456, 1.0744, 0.9386, -0.7315, 0.0879, -0.0635, 0.4982]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.174 left_yaw=0.0011 left_pitch=-0.0198 left_roll=-0.0 left_gripper=0.9998 right_x=0.3046 right_y=0.002 right_z=0.1829 right_yaw=-0.0133 right_pitch=-0.3084 right_roll=-0.1018 right_gripper=0.4982\nstate[joint_eff]: [-0.1162, -1.4838, 7.0632, 1.7411, -0.0708, -0.0659, -0.0171, -0.294, -4.0137, 9.6615, 1.5409, -0.1099, -0.0513, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d2442d5c6f7b54181a7c6795f69b5c265719e27b31fdd204c4c426c0b7d81e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1985db9ba647576be9082e5f46aba2c9f91fa221407fae524b0b6e53a9c3751e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:824fa02f6518d5ba1986f7a48d9bfaec0dd1070208310114f85f65c5397cc6be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HLFeWZRygDZ5Vngy8Y4SYL",
      "input": {
        "note": "With the arm parked I can see both objects: the pen lies right-of-centre running left-right in the image, and the cap is further left. Moving above the pen with the wrist yawed ~90° so the jaws close across the pen's axis.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.38,
          "right_y": 0.26,
          "right_yaw": 1.4,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_01HLFeWZRygDZ5Vngy8Y4SYL",
      "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]: [-0.02, 0.8192, 0.6029, -0.3828, -0.0219, -0.0257, 0.9998, 0.3824, 1.8477, 1.5185, -0.7452, -0.5026, -0.9012, 0.9986]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.172 left_yaw=0.0013 left_pitch=-0.0275 left_roll=-0.0002 left_gripper=0.9998 right_x=0.3848 right_y=0.2504 right_z=0.1459 right_yaw=1.3205 right_pitch=-0.3257 right_roll=-0.1055 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.7026, 7.241, 1.6923, -0.0562, -0.0757, -0.0171, 0.4581, -9.1556, 8.0342, 0.779, -0.6081, -0.0952, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d389f39f86e18d0c6ff5d39e484c37277ffb23591023c4b4bdd8ca823a657e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84270611e8fbce27a53703525ab79feaed55d2d68154aee683bd551ed4593f80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2015848508480f11802a223400e73c359d680cd77e7c5e9ebc1d48c03a5bb4aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /messages · status 200 · 7.665 s

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

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.382, -0.0216, -0.0254, 0.9998, 0.5385, 2.0998, 1.2354, 0.0071, 0.1558, 0.0181, 0.0094]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1755 left_yaw=0.0008 left_pitch=-0.0145 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4569 right_y=0.2452 right_z=0.0077 right_yaw=0.3749 right_pitch=-0.2888 right_roll=-0.0982 right_gripper=0.0094\nstate[joint_eff]: [-0.253, -1.2786, 7.1453, 1.6923, -0.0611, -0.0513, -0.0171, 0.0068, -10.3453, 5.7231, 1.5995, -0.0024, 0.0317, 0.6081]",
      "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]: [-0.02, 0.8127, 0.6029, -0.3817, -0.0219, -0.0254, 0.9998, 0.0456, 1.0744, 0.9386, -0.7315, 0.0879, -0.0635, 0.4982]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.174 left_yaw=0.0011 left_pitch=-0.0198 left_roll=-0.0 left_gripper=0.9998 right_x=0.3046 right_y=0.002 right_z=0.1829 right_yaw=-0.0133 right_pitch=-0.3084 right_roll=-0.1018 right_gripper=0.4982\nstate[joint_eff]: [-0.1162, -1.4838, 7.0632, 1.7411, -0.0708, -0.0659, -0.0171, -0.294, -4.0137, 9.6615, 1.5409, -0.1099, -0.0513, -0.1099]",
      "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]: [-0.02, 0.8192, 0.6029, -0.3828, -0.0219, -0.0257, 0.9998, 0.3824, 1.8477, 1.5185, -0.7452, -0.5026, -0.9012, 0.9986]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.172 left_yaw=0.0013 left_pitch=-0.0275 left_roll=-0.0002 left_gripper=0.9998 right_x=0.3848 right_y=0.2504 right_z=0.1459 right_yaw=1.3205 right_pitch=-0.3257 right_roll=-0.1055 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.7026, 7.241, 1.6923, -0.0562, -0.0757, -0.0171, 0.4581, -9.1556, 8.0342, 0.779, -0.6081, -0.0952, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d389f39f86e18d0c6ff5d39e484c37277ffb23591023c4b4bdd8ca823a657e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84270611e8fbce27a53703525ab79feaed55d2d68154aee683bd551ed4593f80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2015848508480f11802a223400e73c359d680cd77e7c5e9ebc1d48c03a5bb4aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS1QoKjgEIEhgCKkC+Un9NCCbXgoa5fCkV/wwhCRDFWw4YHE51mDswoONxcqi9olzQ1x/S0226EWphip+u7HzQfr2I32ksXlBAKXaQMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAffRzNUGEgxxU2xRqsN+da+zfeMaDMhRuUKCdlW4U8AkTyIwQrJE8vnyuyGhoULCMprrEfLBoTCquuWaZBTbQlwm0u+Z1jABVSzut79m0AkYNICrKvMINWAp53Z/3e6u5W6Gf5MejY5c+FMVE8ilYJmNrEiNart0p9tLvU/s6HftHCwUA/N86zYiKKd0LYDaEv9RT2MNN1Q7JnRr8ig3eVn+dVX/iXreXV5FecbswbzvLZG5nS+e8sKmQbuvAU25EvjlerwQbuazSrgXYi5+RtxKsEjNA8+LlawwGthjIuCTHCUZ+QDxAzaro5qz0LfhmBg8CaajbBCZhB607bslTkjseWsJt5c1uJS/QgsqCakA/rkK27C3zZ775FSotxc55ThzjagMVqDRpn8K/u9UpcK7+Uw6wIoQbAVXGV9E2vcAJQSyw5wCqOpdMv368m/0Axtg69xMLf5MZrdGMV5Lcbd9Gde+ULKT9qRpt2I/Lta+SWnbBhddxOj3a5tHtE9xgwr3NHZCl2t1E4RzhRL6CkmT9G2U3NJflOvz25oegvvRu6ycru1pV1BsBRS8eKAsHvoNpuXso0NMQFVJiq5XKGsy+jr/jSd+XDi1Fe861osCpLKrTaAjRi7QVE0sbVVczcnRjfYxhHOEbvOVU84bAs35vfAR9f96gf7AzfRg5DQu255hmSz2p19Id+kyv3vfNKFUwOvZsQFEyHnb/sLU17LwVRCZevGzSHO787Gc46IohnJ5R48J00j/GbkaIW1iii/KFrnbXL0V0WO3aj/taRhJpwAobNrDMKX4yothEyQ2848+4gXuOZB/zDGiUwPgmzbaDIqXudOWwugJ4cygIMp3IIbGUGdbR7zUvXXx3ybCpenejTd1Q5KivFM+XFc/9JBEeU2nbGuPt3S7jbTVqT31LpYyGMi9iCHd+ipIXykxlyjqpqDm80WS4c/3Fi6agb5NHCT0TtUgUImG25SdmgXR6nB5uKUYEakC/A3nUtyYpGEPNrJjzGrdYVOtaOP+mWDMtfmYVGwWp7nKO//b5yLDUbbu//jm9Gq+oKbzYrWZutHGe7d1990tplWXJiF+yIecpIYl7ruIVmpIpmjNUweiQfeQLmcSVIc8T1OsABhwlRpYXCjR9ZhwCgbf8VMiBOxJcIGPiO9/Z01pEzu+ralZc29EBRjrWuYnxEttfDO0B7E7ycxoqmIoLrJkz73HU/pQ4ZyAfgF21XMz8m8nnd2YudzGyXah3acW4jHcVbhDj5KV2Uf2gj2fFR3nG4aoQ1YzN4nd++HmT5oMsDeHLvunteq3mXQT19XZtf7ayhaNSIbRjal2w4BM5I3moOihjxDwbdsZsVs3ODluaulMvD5K7OStGZo8JCoxqk+ej3isBs/qPVb5JZS9f7tPwApaf2RZ/YGSrGDj9e3gUu1LfiFqmK5Qt5QvkL5CN3yrphDUIJEbUd7r2XhTlJgVEVjOw1grdlxiJgaBZX7NBo6eQtQ+cMMpRoQkRwnK3piVJUN7c8beI2rjOEcX06+dwsrcO8M+ht492EnUjuQAgycui/IN0cbGfxLmjXZM3fX2XzeAwDDZF0iYRemUZDj3FIq3SVz2lqVmu/ddxvuvu1qBAQqlgl3e3gg6ShMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QuXjsgHLyxFqama43NLev9",
      "input": {
        "note": "The wrist view now shows the pen vertical right under the jaw column — good alignment. Nudging 1 cm sideways and descending to table level, ready to close.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.395,
          "right_y": 0.247,
          "right_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01QuXjsgHLyxFqama43NLev9",
      "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]: [-0.02, 0.82, 0.6029, -0.382, -0.0219, -0.0257, 0.9998, 0.3717, 2.0361, 1.2285, -0.3099, -0.5056, -0.9249, 0.9991]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1719 left_yaw=0.0013 left_pitch=-0.0275 left_roll=-0.0002 left_gripper=0.9998 right_x=0.3864 right_y=0.2463 right_z=0.0106 right_yaw=1.3373 right_pitch=-0.3496 right_roll=-0.0823 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.4291, 7.3915, 1.6777, -0.0659, -0.0415, -0.0171, -0.8547, -9.4017, 5.4906, 1.116, -0.4176, 0.0317, -0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a2f1867034b06f52c5da77d85f2f99d6a8846e45d5c43a59f74ec7962d54148",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6dae1df3a96af7fe90534fa67afbca4f04f0979c956ee0bb5e53d5d55495244b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:80dc771107aabde38a2c1328fbacc2992fa70df3bca7059e923b4043105aef42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /messages · status 200 · 4.171 s

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

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8127, 0.6029, -0.3817, -0.0219, -0.0254, 0.9998, 0.0456, 1.0744, 0.9386, -0.7315, 0.0879, -0.0635, 0.4982]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.174 left_yaw=0.0011 left_pitch=-0.0198 left_roll=-0.0 left_gripper=0.9998 right_x=0.3046 right_y=0.002 right_z=0.1829 right_yaw=-0.0133 right_pitch=-0.3084 right_roll=-0.1018 right_gripper=0.4982\nstate[joint_eff]: [-0.1162, -1.4838, 7.0632, 1.7411, -0.0708, -0.0659, -0.0171, -0.294, -4.0137, 9.6615, 1.5409, -0.1099, -0.0513, -0.1099]",
      "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]: [-0.02, 0.8192, 0.6029, -0.3828, -0.0219, -0.0257, 0.9998, 0.3824, 1.8477, 1.5185, -0.7452, -0.5026, -0.9012, 0.9986]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.172 left_yaw=0.0013 left_pitch=-0.0275 left_roll=-0.0002 left_gripper=0.9998 right_x=0.3848 right_y=0.2504 right_z=0.1459 right_yaw=1.3205 right_pitch=-0.3257 right_roll=-0.1055 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.7026, 7.241, 1.6923, -0.0562, -0.0757, -0.0171, 0.4581, -9.1556, 8.0342, 0.779, -0.6081, -0.0952, -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]: [-0.02, 0.82, 0.6029, -0.382, -0.0219, -0.0257, 0.9998, 0.3717, 2.0361, 1.2285, -0.3099, -0.5056, -0.9249, 0.9991]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1719 left_yaw=0.0013 left_pitch=-0.0275 left_roll=-0.0002 left_gripper=0.9998 right_x=0.3864 right_y=0.2463 right_z=0.0106 right_yaw=1.3373 right_pitch=-0.3496 right_roll=-0.0823 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.4291, 7.3915, 1.6777, -0.0659, -0.0415, -0.0171, -0.8547, -9.4017, 5.4906, 1.116, -0.4176, 0.0317, -0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a2f1867034b06f52c5da77d85f2f99d6a8846e45d5c43a59f74ec7962d54148",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6dae1df3a96af7fe90534fa67afbca4f04f0979c956ee0bb5e53d5d55495244b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80dc771107aabde38a2c1328fbacc2992fa70df3bca7059e923b4043105aef42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISrwkKjgEIEhgCKkAoGR42gmBhr02iHiwPyzxZDIHiBkzP9tciC+Ep9fE/SiBAAQ5eZZJvyIbvo3Q4QUfzLtXRK06z+Pt18A+deui0Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYDSzNUGEgwEGTc/+VunNY4zQH0aDG7qsEu584+L1dEBZSIwEx+9E55Hnz1BuN5oTv6fx3xfqpvIbSgIvHveqTrlhuMYWO54kG1ULY9Zh7qJuN56Ks0Hi3CRU52GSh2DrbxiLTq1xoIQRlX8y76Fnu59EMKNr38rFxV8rZcN+XYig1QeXhTERIs68geW/VEf/N0iPhMm4c88npaskjQBMQ7dLeRgyC3uEs4/1M3LdcAuodrnPBkk7suSNSnCDkHD2GB46OTJ4eG8q5N2qStnsnYXgGKDL7ZJx5jGUCkO+F43QkkweVMq0tgneN6YD8KHmUkQPtr2e03vOxCtXK0iK+5eqWmdUyl/dUIe5b9g+MGkQjm4rYBCirtkvtmN3eJtTvDZ63KTzBhmmc5fkQ1ES5giMCDcOmaSB+jxSIXnSAo7UFXeYHRdTGHo1Jp8qVBGEIruosT+XFu2+uSkPeCmcXx50MOQd+Uqi+g5aweKL7PmSap+uIVGhtHaOrRxIJlfhzNicrT9xrRIJ7iI1il0i+ZtMZHIMV3hL6KiBN01CCfZ5BPkDPNVuj348FNRCJ+mQZNvgBzN8G1z4QUb7rtITbBpqNK2uo6p34l5b8MUSmsWndD2Oc4tAtMrF556BinuCZuNTzqaZkPTRmYF/QNue56KKWhrP0fQKUuJdy6SkI9KG81nuWYfcFPPiKXUQuEy6rLDYdYsomC1lFOGWWLxgb9TBiA4nSgaakMYIQXJxLRCQwQIdJ1OX/in4wh6uJ0P3J2an+VPI7oHcyu8V8OYkEPl547RQ1nRtRXudV0jJaYtCtLLucRamGYdsldkE6oOah+WQ+QuwI8xzBNp8qA13oquDEjD0lx5rMk5HAECz37BlPK9NdJ1NLhjxyGHa2F7Co+w81zG1uzgugRNxGCJAq07cWejFDd/z+MVGKIne5tuM6ePSM1BkINNWz6wIu3LKJ3gyYqfMpysRLJBxR3FQugYIMtyDFwatxEFsOeX+aWiPD0oEdbsXr/ddCDjvPnDjQXE/toOb3g6Pjzf8DztXdkmkeXEpzTR41tiMlwwp+STPfnSLUcspX624bOCxEwGSPoVAIW1hG9kOhlakqpxOzCWPHfLDu2M2SeXLGASTyXoFIUqIC6G8lDe3+VTkjVUX9bDNjh3m5EAWWyWzXKDmqvU6YE3wAOnyTuUMrxPvOF5aBnT4Io6v6ji65rfDGiz467Bdy+qWjbe0hpVMD/lJkpQ5oTUffypZv9zDfJdjK7wab+KKQdaxqT5PFzEye9+vVooSrRdXM85vdYHkQiZX0fbf8oHpFcUq5K5Sor7VTBi0Ofs4eAZEAbve0kM3UYslj72kFdHP/trr+XDLQ71fp4uNZU2FIxnb0X28Iqt+rVL8FoA4fhclpv3nvszOggzNG2F6BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UUNfWpTatAfQjxN333ayVR",
      "input": {
        "note": "At table level the pen's brass tip shows up about 3 cm to the image-right of the jaw midpoint; translating that way to straddle the pen shaft.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01UUNfWpTatAfQjxN333ayVR",
      "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]: [-0.0204, 0.8219, 0.6029, -0.382, -0.0219, -0.025, 0.9998, 0.3435, 2.1147, 1.351, -0.3481, -0.5137, -0.952, 0.9991]\nstate[eef_state]: left_x=0.2961 left_y=0.0014 left_z=0.1714 left_yaw=0.0005 left_pitch=-0.0294 left_roll=0.0005 left_gripper=0.9998 right_x=0.4161 right_y=0.2448 right_z=0.0112 right_yaw=1.3276 right_pitch=-0.3416 right_roll=-0.1009 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -1.5521, 7.0632, 1.7411, -0.0464, 0.0024, -0.0171, -0.7726, -10.2085, 6.7624, 0.7741, -0.4518, -0.1099, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74857368442560c0718770e7e43a04f00c1ec17a308a48b904483294903cc52e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6a97d2e1ed45a16c7fb056cc4a7a64666083a9396834b40c6b8d63451b69091",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:35946f0ece88b4dced3cfcb229108c18a03143df528254a5cb837a735d9ab516",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /messages · status 200 · 27.07 s

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

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8192, 0.6029, -0.3828, -0.0219, -0.0257, 0.9998, 0.3824, 1.8477, 1.5185, -0.7452, -0.5026, -0.9012, 0.9986]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.172 left_yaw=0.0013 left_pitch=-0.0275 left_roll=-0.0002 left_gripper=0.9998 right_x=0.3848 right_y=0.2504 right_z=0.1459 right_yaw=1.3205 right_pitch=-0.3257 right_roll=-0.1055 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.7026, 7.241, 1.6923, -0.0562, -0.0757, -0.0171, 0.4581, -9.1556, 8.0342, 0.779, -0.6081, -0.0952, -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]: [-0.02, 0.82, 0.6029, -0.382, -0.0219, -0.0257, 0.9998, 0.3717, 2.0361, 1.2285, -0.3099, -0.5056, -0.9249, 0.9991]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1719 left_yaw=0.0013 left_pitch=-0.0275 left_roll=-0.0002 left_gripper=0.9998 right_x=0.3864 right_y=0.2463 right_z=0.0106 right_yaw=1.3373 right_pitch=-0.3496 right_roll=-0.0823 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.4291, 7.3915, 1.6777, -0.0659, -0.0415, -0.0171, -0.8547, -9.4017, 5.4906, 1.116, -0.4176, 0.0317, -0.1001]",
      "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]: [-0.0204, 0.8219, 0.6029, -0.382, -0.0219, -0.025, 0.9998, 0.3435, 2.1147, 1.351, -0.3481, -0.5137, -0.952, 0.9991]\nstate[eef_state]: left_x=0.2961 left_y=0.0014 left_z=0.1714 left_yaw=0.0005 left_pitch=-0.0294 left_roll=0.0005 left_gripper=0.9998 right_x=0.4161 right_y=0.2448 right_z=0.0112 right_yaw=1.3276 right_pitch=-0.3416 right_roll=-0.1009 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -1.5521, 7.0632, 1.7411, -0.0464, 0.0024, -0.0171, -0.7726, -10.2085, 6.7624, 0.7741, -0.4518, -0.1099, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74857368442560c0718770e7e43a04f00c1ec17a308a48b904483294903cc52e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6a97d2e1ed45a16c7fb056cc4a7a64666083a9396834b40c6b8d63451b69091",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35946f0ece88b4dced3cfcb229108c18a03143df528254a5cb837a735d9ab516",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS/gMKjgEIEhgCKkDDHfJyOERyHfbT3bdl1nIlmSUn3ruH1PqaOCFR3WcfIHAlWwCe/siJBGkA8u6ogEQsYnFZULSnkyXirpFSIiDkMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYXSzNUGEgy6Wz7R4gKQmFzmycoaDEDOZsD5+2CBArN2jiIwHYdZoLkCXRggp6JJMkPzeJVH0On0kH5CfLGcEswHGKbaV9PsKPj/i34WcYgXMXDxKpwC1ySP2LNZznCl3+lu84NWUMmvXjux63JYPlNV6TbZ0JC7fwHy8kscr7AvGZymnJlnS53pJo8QOK1JdH35bxylPBS852uTkrq6kI5vb9vEv+vgpYoyh3d4SwxKqqMCPsgifnNKeioocv9/itSgzfoz7MR4FtBtDNfQfhZWmdaMBIQ/oPVAIz3zJBUsWRZ/JdZjJTunpxZg2iOIi1HEPjfEFIJl93NBoQN4PHcovfe7VSLxDW3W6NmMusLi1oyoApdBLESQ/vxQ8rf9s+EArwAoEXvJTKW3dRp7jO4/4ubychnLGvC+clOgnWSTt2+9lUDiAsJcxMkBLQi7fKH1gFscovULuqjSZgUm0ZXuWsLEYmO1un4xeOzuJM2JY0wYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0174WGjnSiLydFUuLoFhVYLB",
      "input": {
        "note": "The pen is now centred on the jaw column at table level; closing the gripper on the shaft.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0174WGjnSiLydFUuLoFhVYLB",
      "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]: [-0.02, 0.8223, 0.6029, -0.382, -0.0216, -0.0254, 0.9998, 0.3412, 2.1231, 1.3548, -0.3481, -0.5171, -0.9546, 0.0083]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1713 left_yaw=0.0008 left_pitch=-0.0297 left_roll=-0.0 left_gripper=0.9998 right_x=0.4167 right_y=0.2445 right_z=0.0088 right_yaw=1.3303 right_pitch=-0.3417 right_roll=-0.0968 right_gripper=0.0083\nstate[joint_eff]: [-0.3897, -1.4564, 7.4051, 1.6777, -0.0366, -0.0415, -0.0171, 0.294, -11.7812, 5.9145, 1.0134, -0.2027, 0.0171, 0.6129]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:653289ced0bfa5b9bd66f868cb2fd205572a6e55dc312516fe6c226868b440e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ec5a3746f5bed7bea8b8c3e44559d6c77c66b4b6c2d64208f73da6133f85cb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6cb246c6ffe1303a39b7a44815bc28a17a0f13a798b5b4d172837970f449f114",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /messages · status 200 · 13.4 s

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

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.82, 0.6029, -0.382, -0.0219, -0.0257, 0.9998, 0.3717, 2.0361, 1.2285, -0.3099, -0.5056, -0.9249, 0.9991]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1719 left_yaw=0.0013 left_pitch=-0.0275 left_roll=-0.0002 left_gripper=0.9998 right_x=0.3864 right_y=0.2463 right_z=0.0106 right_yaw=1.3373 right_pitch=-0.3496 right_roll=-0.0823 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.4291, 7.3915, 1.6777, -0.0659, -0.0415, -0.0171, -0.8547, -9.4017, 5.4906, 1.116, -0.4176, 0.0317, -0.1001]",
      "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]: [-0.0204, 0.8219, 0.6029, -0.382, -0.0219, -0.025, 0.9998, 0.3435, 2.1147, 1.351, -0.3481, -0.5137, -0.952, 0.9991]\nstate[eef_state]: left_x=0.2961 left_y=0.0014 left_z=0.1714 left_yaw=0.0005 left_pitch=-0.0294 left_roll=0.0005 left_gripper=0.9998 right_x=0.4161 right_y=0.2448 right_z=0.0112 right_yaw=1.3276 right_pitch=-0.3416 right_roll=-0.1009 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -1.5521, 7.0632, 1.7411, -0.0464, 0.0024, -0.0171, -0.7726, -10.2085, 6.7624, 0.7741, -0.4518, -0.1099, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8223, 0.6029, -0.382, -0.0216, -0.0254, 0.9998, 0.3412, 2.1231, 1.3548, -0.3481, -0.5171, -0.9546, 0.0083]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1713 left_yaw=0.0008 left_pitch=-0.0297 left_roll=-0.0 left_gripper=0.9998 right_x=0.4167 right_y=0.2445 right_z=0.0088 right_yaw=1.3303 right_pitch=-0.3417 right_roll=-0.0968 right_gripper=0.0083\nstate[joint_eff]: [-0.3897, -1.4564, 7.4051, 1.6777, -0.0366, -0.0415, -0.0171, 0.294, -11.7812, 5.9145, 1.0134, -0.2027, 0.0171, 0.6129]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:653289ced0bfa5b9bd66f868cb2fd205572a6e55dc312516fe6c226868b440e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ec5a3746f5bed7bea8b8c3e44559d6c77c66b4b6c2d64208f73da6133f85cb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cb246c6ffe1303a39b7a44815bc28a17a0f13a798b5b4d172837970f449f114",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015RmNovZ2cU8VGvDXcYCbMM",
      "input": {
        "note": "Empty close again: the wrist view shows the pen's tip now just left of the jaws, so I was closing on the tapered tip. Reopening and shifting ~3 cm left/back to grip further along the pen shaft.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.387,
          "right_y": 0.23,
          "right_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015RmNovZ2cU8VGvDXcYCbMM",
      "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]: [-0.02, 0.8223, 0.6029, -0.382, -0.0219, -0.0254, 0.9998, 0.3351, 2.0445, 1.2015, -0.2626, -0.5335, -0.955, 0.9951]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1713 left_yaw=0.0011 left_pitch=-0.0297 left_roll=0.0002 left_gripper=0.9998 right_x=0.3922 right_y=0.2355 right_z=0.0055 right_yaw=1.3313 right_pitch=-0.3236 right_roll=-0.098 right_gripper=0.9951\nstate[joint_eff]: [-0.2393, -1.3744, 7.0769, 1.7607, -0.0611, -0.0611, -0.0122, -0.6222, -11.6034, 4.588, 0.906, -0.2125, -0.1001, -0.1783]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e21ebca3ed016a985f86b789305fee28e0886fef55a003c95bb8a3f4a8dcc7de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47e84988756badbc653853f574c1413d953eddcf59aea2d3276569d9146dab49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a492ad1e6fbac534f310dbc36a883309985a4d0bed249959ed3d44ec1a5f317b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /messages · status 200 · 3.869 s

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

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.8219, 0.6029, -0.382, -0.0219, -0.025, 0.9998, 0.3435, 2.1147, 1.351, -0.3481, -0.5137, -0.952, 0.9991]\nstate[eef_state]: left_x=0.2961 left_y=0.0014 left_z=0.1714 left_yaw=0.0005 left_pitch=-0.0294 left_roll=0.0005 left_gripper=0.9998 right_x=0.4161 right_y=0.2448 right_z=0.0112 right_yaw=1.3276 right_pitch=-0.3416 right_roll=-0.1009 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -1.5521, 7.0632, 1.7411, -0.0464, 0.0024, -0.0171, -0.7726, -10.2085, 6.7624, 0.7741, -0.4518, -0.1099, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8223, 0.6029, -0.382, -0.0216, -0.0254, 0.9998, 0.3412, 2.1231, 1.3548, -0.3481, -0.5171, -0.9546, 0.0083]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1713 left_yaw=0.0008 left_pitch=-0.0297 left_roll=-0.0 left_gripper=0.9998 right_x=0.4167 right_y=0.2445 right_z=0.0088 right_yaw=1.3303 right_pitch=-0.3417 right_roll=-0.0968 right_gripper=0.0083\nstate[joint_eff]: [-0.3897, -1.4564, 7.4051, 1.6777, -0.0366, -0.0415, -0.0171, 0.294, -11.7812, 5.9145, 1.0134, -0.2027, 0.0171, 0.6129]",
      "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]: [-0.02, 0.8223, 0.6029, -0.382, -0.0219, -0.0254, 0.9998, 0.3351, 2.0445, 1.2015, -0.2626, -0.5335, -0.955, 0.9951]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1713 left_yaw=0.0011 left_pitch=-0.0297 left_roll=0.0002 left_gripper=0.9998 right_x=0.3922 right_y=0.2355 right_z=0.0055 right_yaw=1.3313 right_pitch=-0.3236 right_roll=-0.098 right_gripper=0.9951\nstate[joint_eff]: [-0.2393, -1.3744, 7.0769, 1.7607, -0.0611, -0.0611, -0.0122, -0.6222, -11.6034, 4.588, 0.906, -0.2125, -0.1001, -0.1783]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e21ebca3ed016a985f86b789305fee28e0886fef55a003c95bb8a3f4a8dcc7de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47e84988756badbc653853f574c1413d953eddcf59aea2d3276569d9146dab49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a492ad1e6fbac534f310dbc36a883309985a4d0bed249959ed3d44ec1a5f317b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RJMWGzXz25z5H8imwKFppc",
      "input": {
        "note": "Pen tip is ~1.5-2 cm to the image-right of the jaws; shifting that way and pre-closing the jaws to a 3 cm gap so the closing sweep can't knock the thin pen aside.",
        "targets": {
          "right_gripper": 0.3,
          "right_x": 0.408,
          "right_y": 0.231
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01RJMWGzXz25z5H8imwKFppc",
      "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]: [-0.02, 0.8227, 0.6029, -0.382, -0.0216, -0.0254, 0.9998, 0.318, 2.0697, 1.2495, -0.2913, -0.5358, -0.9779, 0.3052]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1712 left_yaw=0.0008 left_pitch=-0.0301 left_roll=-0.0 left_gripper=0.9998 right_x=0.4035 right_y=0.2315 right_z=0.0068 right_yaw=1.3299 right_pitch=-0.3261 right_roll=-0.1072 right_gripper=0.3052\nstate[joint_eff]: [-0.2667, -1.1966, 7.1179, 1.7265, -0.0122, -0.0513, -0.0171, -0.7043, -8.6496, 7.8017, 1.0085, -0.3932, -0.0464, 0.1392]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f4b1b283913bb817dbaffab61e2df240eff53f7bde168ecfefbd2fe74ddcec7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9df200f15e14a765dee9961dbc28c0fcd2c3ad0c92a9871e855bd445a32a3d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4ddb1a5567bed9215889f146ef11a0e279e731790d4b34c3947346a4c88f6d0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /messages · status 200 · 13.96 s

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

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8223, 0.6029, -0.382, -0.0216, -0.0254, 0.9998, 0.3412, 2.1231, 1.3548, -0.3481, -0.5171, -0.9546, 0.0083]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1713 left_yaw=0.0008 left_pitch=-0.0297 left_roll=-0.0 left_gripper=0.9998 right_x=0.4167 right_y=0.2445 right_z=0.0088 right_yaw=1.3303 right_pitch=-0.3417 right_roll=-0.0968 right_gripper=0.0083\nstate[joint_eff]: [-0.3897, -1.4564, 7.4051, 1.6777, -0.0366, -0.0415, -0.0171, 0.294, -11.7812, 5.9145, 1.0134, -0.2027, 0.0171, 0.6129]",
      "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]: [-0.02, 0.8223, 0.6029, -0.382, -0.0219, -0.0254, 0.9998, 0.3351, 2.0445, 1.2015, -0.2626, -0.5335, -0.955, 0.9951]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1713 left_yaw=0.0011 left_pitch=-0.0297 left_roll=0.0002 left_gripper=0.9998 right_x=0.3922 right_y=0.2355 right_z=0.0055 right_yaw=1.3313 right_pitch=-0.3236 right_roll=-0.098 right_gripper=0.9951\nstate[joint_eff]: [-0.2393, -1.3744, 7.0769, 1.7607, -0.0611, -0.0611, -0.0122, -0.6222, -11.6034, 4.588, 0.906, -0.2125, -0.1001, -0.1783]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8227, 0.6029, -0.382, -0.0216, -0.0254, 0.9998, 0.318, 2.0697, 1.2495, -0.2913, -0.5358, -0.9779, 0.3052]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1712 left_yaw=0.0008 left_pitch=-0.0301 left_roll=-0.0 left_gripper=0.9998 right_x=0.4035 right_y=0.2315 right_z=0.0068 right_yaw=1.3299 right_pitch=-0.3261 right_roll=-0.1072 right_gripper=0.3052\nstate[joint_eff]: [-0.2667, -1.1966, 7.1179, 1.7265, -0.0122, -0.0513, -0.0171, -0.7043, -8.6496, 7.8017, 1.0085, -0.3932, -0.0464, 0.1392]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f4b1b283913bb817dbaffab61e2df240eff53f7bde168ecfefbd2fe74ddcec7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9df200f15e14a765dee9961dbc28c0fcd2c3ad0c92a9871e855bd445a32a3d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ddb1a5567bed9215889f146ef11a0e279e731790d4b34c3947346a4c88f6d0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS9wMKjgEIEhgCKkCWLurG94jwWLluVhPauSBd2ufB3uTmiVYOHhO1JM2V+0lwK0GX1eiLb4uA38yTUEaeO9xx/IlMey/yxX7oJe3uMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbTSzNUGEgydIIX38lgCbU3w5DwaDNVH0b3uSXAUfgYUGSIwSO4fJhglVCzQ20SUhInn6gSVu5zpISdiXSbeacFBHJveBmrTzLq+qDGzvMZxV9wgKpUCBDEOOMYGhy8yT/dGDpSWRIIHcPnJNdJcGjCtlbre41sUV1X1i2PDdFClJNap/Z40wILz3wUJhFTlqLjFoA/w6MFuU9YGxlL1vh2pn9TIu9OTa3Xv7EMuFlPcLZEUTF8aRqy/Vabeh06d95T2sBoDxbNyxnT0ozZLlgHNcj3GgWTP9GhzdUi2ECxrsbaF0mbSkA4pKWNd+mNDn9WxJzc04Q89J3bbFVx0zBlAKqX780ExOKsWPLXJTQ8Uyn0ja4H180xXwRxn7yjjHl1fIlJADkkr933Nr+pBJkuByUIT7BOdUkDaLkMODLw7JtteE6W4FCBnaN4211Vemk+ib1RWBoBibl6bsxd4HkxetiTtQkvZhLHHjhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AE48BnjbXtaE118FL5H2gp",
      "input": {
        "note": "A glint of the pen is visible right between the half-closed jaws; closing fully to grasp it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01AE48BnjbXtaE118FL5H2gp",
      "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]: [-0.02, 0.8223, 0.6029, -0.382, -0.0216, -0.0257, 0.9998, 0.3161, 2.0697, 1.2526, -0.3027, -0.5346, -0.9779, 0.0086]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1713 left_yaw=0.001 left_pitch=-0.0297 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4029 right_y=0.2302 right_z=0.0065 right_yaw=1.3297 right_pitch=-0.3314 right_roll=-0.1002 right_gripper=0.0086\nstate[joint_eff]: [-0.253, -1.1145, 7.2274, 1.6777, -0.0171, -0.0611, -0.0171, -0.1162, -10.4274, 5.4085, 1.1551, -0.2613, -0.0122, 0.7106]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8151a1e3bfce43097536f72ef44b158b973cacc8a960b91e24f7ba5417986a33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e1aef18e01d519e94d316816acb22320fccbd1ec28d5eee8eb78241878d31df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ec7a914b8b05c334a85c6cd2520a4baee0ed35fb9f4f1d58b560c595fcdba6b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /messages · status 200 · 10.07 s

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

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8223, 0.6029, -0.382, -0.0219, -0.0254, 0.9998, 0.3351, 2.0445, 1.2015, -0.2626, -0.5335, -0.955, 0.9951]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1713 left_yaw=0.0011 left_pitch=-0.0297 left_roll=0.0002 left_gripper=0.9998 right_x=0.3922 right_y=0.2355 right_z=0.0055 right_yaw=1.3313 right_pitch=-0.3236 right_roll=-0.098 right_gripper=0.9951\nstate[joint_eff]: [-0.2393, -1.3744, 7.0769, 1.7607, -0.0611, -0.0611, -0.0122, -0.6222, -11.6034, 4.588, 0.906, -0.2125, -0.1001, -0.1783]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8227, 0.6029, -0.382, -0.0216, -0.0254, 0.9998, 0.318, 2.0697, 1.2495, -0.2913, -0.5358, -0.9779, 0.3052]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1712 left_yaw=0.0008 left_pitch=-0.0301 left_roll=-0.0 left_gripper=0.9998 right_x=0.4035 right_y=0.2315 right_z=0.0068 right_yaw=1.3299 right_pitch=-0.3261 right_roll=-0.1072 right_gripper=0.3052\nstate[joint_eff]: [-0.2667, -1.1966, 7.1179, 1.7265, -0.0122, -0.0513, -0.0171, -0.7043, -8.6496, 7.8017, 1.0085, -0.3932, -0.0464, 0.1392]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.02, 0.8223, 0.6029, -0.382, -0.0216, -0.0257, 0.9998, 0.3161, 2.0697, 1.2526, -0.3027, -0.5346, -0.9779, 0.0086]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1713 left_yaw=0.001 left_pitch=-0.0297 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4029 right_y=0.2302 right_z=0.0065 right_yaw=1.3297 right_pitch=-0.3314 right_roll=-0.1002 right_gripper=0.0086\nstate[joint_eff]: [-0.253, -1.1145, 7.2274, 1.6777, -0.0171, -0.0611, -0.0171, -0.1162, -10.4274, 5.4085, 1.1551, -0.2613, -0.0122, 0.7106]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8151a1e3bfce43097536f72ef44b158b973cacc8a960b91e24f7ba5417986a33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e1aef18e01d519e94d316816acb22320fccbd1ec28d5eee8eb78241878d31df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec7a914b8b05c334a85c6cd2520a4baee0ed35fb9f4f1d58b560c595fcdba6b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014mPtWgfvVp1nDvTwSJfEDF",
      "input": {
        "note": "I now believe the right arm has been fishing at an empty patch: the only object near it is a table scratch. The real pen is the dark dash left of centre in the top view, so I am bringing the left arm over it for a close look.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.4,
          "left_y": -0.25,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 23 steps (2.3s)",
      "tool_use_id": "toolu_014mPtWgfvVp1nDvTwSJfEDF",
      "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]: [-0.7811, 1.7329, 1.1572, -0.2497, -0.6052, -0.532, 0.9998, 0.3161, 2.0697, 1.251, -0.3058, -0.5282, -0.9775, 0.0107]\nstate[eef_state]: left_x=0.3907 left_y=-0.2407 left_z=0.1314 left_yaw=-0.0079 left_pitch=-0.0777 left_roll=0.0244 left_gripper=0.9998 right_x=0.4023 right_y=0.229 right_z=0.0052 right_yaw=1.327 right_pitch=-0.3388 right_roll=-0.0991 right_gripper=0.0107\nstate[joint_eff]: [-0.5265, -8.7453, 9.6752, 1.4921, -0.4811, 0.1148, -0.0366, -0.3487, -10.7419, 5.7094, 1.0379, -0.3687, -0.0171, 0.2076]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:001d5133ad497cb6861a937c7da1e5bb5fc4b9a112e3b0ade33bc0be6d492e7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:951b28fdecfddbefbb6b8a0091e8c4076eb7f70a628adbad34054ede9e8fe714",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:61875db0208bebcf1a933f4a88b701681d084d92c75b707b17586a58f5a4629e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /messages · status 200 · 11.34 s

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

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8227, 0.6029, -0.382, -0.0216, -0.0254, 0.9998, 0.318, 2.0697, 1.2495, -0.2913, -0.5358, -0.9779, 0.3052]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1712 left_yaw=0.0008 left_pitch=-0.0301 left_roll=-0.0 left_gripper=0.9998 right_x=0.4035 right_y=0.2315 right_z=0.0068 right_yaw=1.3299 right_pitch=-0.3261 right_roll=-0.1072 right_gripper=0.3052\nstate[joint_eff]: [-0.2667, -1.1966, 7.1179, 1.7265, -0.0122, -0.0513, -0.0171, -0.7043, -8.6496, 7.8017, 1.0085, -0.3932, -0.0464, 0.1392]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "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]: [-0.02, 0.8223, 0.6029, -0.382, -0.0216, -0.0257, 0.9998, 0.3161, 2.0697, 1.2526, -0.3027, -0.5346, -0.9779, 0.0086]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1713 left_yaw=0.001 left_pitch=-0.0297 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4029 right_y=0.2302 right_z=0.0065 right_yaw=1.3297 right_pitch=-0.3314 right_roll=-0.1002 right_gripper=0.0086\nstate[joint_eff]: [-0.253, -1.1145, 7.2274, 1.6777, -0.0171, -0.0611, -0.0171, -0.1162, -10.4274, 5.4085, 1.1551, -0.2613, -0.0122, 0.7106]",
      "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]: [-0.7811, 1.7329, 1.1572, -0.2497, -0.6052, -0.532, 0.9998, 0.3161, 2.0697, 1.251, -0.3058, -0.5282, -0.9775, 0.0107]\nstate[eef_state]: left_x=0.3907 left_y=-0.2407 left_z=0.1314 left_yaw=-0.0079 left_pitch=-0.0777 left_roll=0.0244 left_gripper=0.9998 right_x=0.4023 right_y=0.229 right_z=0.0052 right_yaw=1.327 right_pitch=-0.3388 right_roll=-0.0991 right_gripper=0.0107\nstate[joint_eff]: [-0.5265, -8.7453, 9.6752, 1.4921, -0.4811, 0.1148, -0.0366, -0.3487, -10.7419, 5.7094, 1.0379, -0.3687, -0.0171, 0.2076]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:001d5133ad497cb6861a937c7da1e5bb5fc4b9a112e3b0ade33bc0be6d492e7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:951b28fdecfddbefbb6b8a0091e8c4076eb7f70a628adbad34054ede9e8fe714",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61875db0208bebcf1a933f4a88b701681d084d92c75b707b17586a58f5a4629e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISwwsKjgEIEhgCKkA8wQisd9JjgMvxKfUdIpAcr3hg0Btq/C9+l8oGpYYIb9lZb9Zvp2dGA12ZmsfugMldz42MplP49IXGVj9yiDmmMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAc3SzNUGEgzpGNDi1rrIRXKz/wcaDC8lD6uSXPBGj3sTwSIwPGIyt5x+qENsf+d0NtRVK5T0LbjASgkq5H6uN8zS5YSIEoiIHR1CexbWwV9gmvUWKuEJiHGHiEeDt7om3B0jof9mhovApJyApTjxSpVgsmCdtaeNMp0H+947jD1JYcZzHoNqUk9goWnU26O8qNP7gvYvgEEpTvVySufjHxi1oO41Ze+ph0Z52lfM1KoMyZIFQeZ/hdXkCKXNG3dZJYxlH2PBWolr/U4Qcn9caVywrhWlChEnR1AjoTP3iG+4m7RRhBBFg9bpR8SC1YR2kXW8sk4eYjexlc2pG3cNRyhhzD3rHUUhDExd9osGO7MQz196YXWUpYEbK0rQ5GN54SILCUyjQ7Nbz169uTZDnYtC4kRQRenwVxFpr8iLb6gqsRpjZ2gJ6RUyZk8Gfs2fOxs4BuFOMlP6osm/sfNXw7Qprnd/qQ94iqEd20PLvhcmLUnocnoN+gYLRDFMMC4ykG9maQk0HHzoX7UEx+tT/177qDHsjNP8N6lcofslGh3IJ5FtrFjeuE51PO3svotjwNjXlVpHEH/19faYMuVHvoIbm6ABKPRxdZo8hBnb+X+UAqnryWPjdEocnTqxlRr0Q/RvtoM0Ury73KEnaSJyVm6xzO5nNQeR8wFBLC+WwTFEUS1PxRYhSXKqBtOBCj48dShCZnKa2l+w3jlBGkD/aAxjJXXfWbh2i+tqS2yX3pniBGjNtXlH7rAQDtXlpShCKE/98uxQ6CYIbpnhR0YvxibTwn8GzZnWk6Rlw7i2zHno4E/Q9b55OzTV3qXAZddX9TRTVLyTtpNcVTfnXI/crYmGW9SJPDSzF9ormKFkHsE2sLdM1ffqrf3U9jOzdqcEYYUtYTuT6njGNOmcK9cW3M/+icA7BQL2R9mWmCHzh2xSevr3VSvRozDqQDfQkEJHWJ8zm9vb+lcgwjVvHx1OaeG4lTZJwEm8WLNaUueGvBGViODKGwySBcTpaGl4J6VwKf60VKsvMzPO/BFcQrY1E7cVSepVJ/y9Dk4f6eqjudcq6Oke9ItSOohKGDHh8doyqmRjE46hCO49vtAVFDN/SyI5aebUoPX6mk8qSEHQXM96egHCOGf+XujZduMOh5ABFvSK0/eFZL2IkO9AFbu/uZkMGrpSBi4ELhNQK4r1YNgnXeC4YuKyBlMEb9IJ8725SgJKaUgvKt93UD7wHHKgXfcpfa8RJjj/edydSK3DUSDLfywvEnAGF/YTN+HVpCYDMeU4a2VmRGdAAHAnOvzZVeEsjyy7PIED18CShrxzLnLzrf207yvHYoVBpbLI5h2qJSrNVl0eDzIntFRlcaexO9Ek7K/CTRR6D7jkPjbTFNMa9Hdfj9cAlLzfFgmSjnPYb7rzlLRvKRsukFdQQ6HDpGAR9G18YIQeyPPUY19FdPSoOEvRf6XjCQznbUTYEFe04sKHrrs3OaYTsh5HRAawaGtZuLfaM6hH8HfDyRzUX/mlsQm9LXMLDx618hyXmkRxNLL0Fk0v3ypONEylTUxe2N1gYese6d0VK53Znm4h6QNujoOjo8EKLkK7jL7OHOpuxPxW9Ba63EMFpItLEsvz63XHhfImnMd8Jig93rnZEEO1JyoWGLv4Oc5pOwJ2mEIzX7k1zOvdf1Kgj/gUguKMguz8lsYiAw7v5+OGxRvQyGpDykUO/jwqzP0E+OnrzAWI5+G6wTfErkZ/WaxbDh9EIGBDptMhLQvYijOUgRWDW+4nmmL6U7YSQxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0121LBjcYcwxkQbocrYH8s5o",
      "input": {
        "note": "The left wrist camera clearly shows the pen down-left of the jaws, lying at about -38° in the image; moving the gripper toward it and yawing the wrist ~52° so the pen will appear vertical (jaws across it).",
        "targets": {
          "left_x": 0.43,
          "left_y": -0.2,
          "left_yaw": 0.9,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_0121LBjcYcwxkQbocrYH8s5o",
      "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]: [-0.7563, 2.3634, 2.0651, -1.1023, -0.8825, -1.4239, 0.9994, 0.313, 2.0693, 1.2488, -0.3065, -0.5255, -0.9775, 0.013]\nstate[eef_state]: left_x=0.4529 left_y=-0.2348 left_z=0.1032 left_yaw=0.7042 left_pitch=-0.1055 left_roll=-0.0486 left_gripper=0.9994 right_x=0.4024 right_y=0.2271 right_z=0.0044 right_yaw=1.3231 right_pitch=-0.3422 right_roll=-0.0981 right_gripper=0.013\nstate[joint_eff]: [0.5949, -12.0957, 5.3812, -0.1294, -0.486, 0.0171, -0.0562, 0.1026, -10.6188, 5.7778, 1.0916, -0.2857, -0.0513, 0.2222]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a008b7717712fca8de7ea9e76f5670cf473a770489823e0021f060d730c4d381",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a367d1998198b29cb64ea9f827807bcd06e42d4a61e571c35cde72048c2dbf46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b78a399eadadb5861c958ad98017b2ae8e55f91d16929aecde7b2d517291ebaf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /messages · status 200 · 11.64 s

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

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8223, 0.6029, -0.382, -0.0216, -0.0257, 0.9998, 0.3161, 2.0697, 1.2526, -0.3027, -0.5346, -0.9779, 0.0086]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1713 left_yaw=0.001 left_pitch=-0.0297 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4029 right_y=0.2302 right_z=0.0065 right_yaw=1.3297 right_pitch=-0.3314 right_roll=-0.1002 right_gripper=0.0086\nstate[joint_eff]: [-0.253, -1.1145, 7.2274, 1.6777, -0.0171, -0.0611, -0.0171, -0.1162, -10.4274, 5.4085, 1.1551, -0.2613, -0.0122, 0.7106]",
      "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]: [-0.7811, 1.7329, 1.1572, -0.2497, -0.6052, -0.532, 0.9998, 0.3161, 2.0697, 1.251, -0.3058, -0.5282, -0.9775, 0.0107]\nstate[eef_state]: left_x=0.3907 left_y=-0.2407 left_z=0.1314 left_yaw=-0.0079 left_pitch=-0.0777 left_roll=0.0244 left_gripper=0.9998 right_x=0.4023 right_y=0.229 right_z=0.0052 right_yaw=1.327 right_pitch=-0.3388 right_roll=-0.0991 right_gripper=0.0107\nstate[joint_eff]: [-0.5265, -8.7453, 9.6752, 1.4921, -0.4811, 0.1148, -0.0366, -0.3487, -10.7419, 5.7094, 1.0379, -0.3687, -0.0171, 0.2076]",
      "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]: [-0.7563, 2.3634, 2.0651, -1.1023, -0.8825, -1.4239, 0.9994, 0.313, 2.0693, 1.2488, -0.3065, -0.5255, -0.9775, 0.013]\nstate[eef_state]: left_x=0.4529 left_y=-0.2348 left_z=0.1032 left_yaw=0.7042 left_pitch=-0.1055 left_roll=-0.0486 left_gripper=0.9994 right_x=0.4024 right_y=0.2271 right_z=0.0044 right_yaw=1.3231 right_pitch=-0.3422 right_roll=-0.0981 right_gripper=0.013\nstate[joint_eff]: [0.5949, -12.0957, 5.3812, -0.1294, -0.486, 0.0171, -0.0562, 0.1026, -10.6188, 5.7778, 1.0916, -0.2857, -0.0513, 0.2222]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a008b7717712fca8de7ea9e76f5670cf473a770489823e0021f060d730c4d381",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a367d1998198b29cb64ea9f827807bcd06e42d4a61e571c35cde72048c2dbf46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b78a399eadadb5861c958ad98017b2ae8e55f91d16929aecde7b2d517291ebaf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HD6jhbAmBHLg9EbRvhBVqx",
      "input": {
        "note": "The pen still sits well to the lower-left of the jaws in the left wrist view; translating ~8 cm toward it (mostly +y, the image-left direction) to bring it under the jaw column.",
        "targets": {
          "left_x": 0.43,
          "left_y": -0.16,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01HD6jhbAmBHLg9EbRvhBVqx",
      "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]: [-0.6659, 2.088, 1.6196, -0.894, -0.8566, -1.3212, 0.9993, 0.3153, 2.0693, 1.2488, -0.3035, -0.5247, -0.9802, 0.0144]\nstate[eef_state]: left_x=0.4264 left_y=-0.1606 left_z=0.1028 left_yaw=0.7291 left_pitch=-0.1241 left_roll=-0.0103 left_gripper=0.9993 right_x=0.4025 right_y=0.2282 right_z=0.0046 right_yaw=1.3255 right_pitch=-0.3413 right_roll=-0.103 right_gripper=0.0144\nstate[joint_eff]: [0.1299, -14.0239, 6.3658, 0.9304, -0.5299, 0.1978, -0.0269, -0.2803, -10.7282, 5.6547, 1.0672, -0.2808, -0.022, 0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7134c37b529399a06f9ca2fd399e52cac553060f9da2d711ffeb49091ed2041",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4972b2f3a043ba3c2bf8787d931658cbaa3c7126d63e78662cf96b7047b2aed6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:54958eb5ae2a7cb0be6e4baf4a6ea5d5ece563a3936ec7247bfb8e15ca533a0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /messages · status 200 · 6.901 s

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

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7811, 1.7329, 1.1572, -0.2497, -0.6052, -0.532, 0.9998, 0.3161, 2.0697, 1.251, -0.3058, -0.5282, -0.9775, 0.0107]\nstate[eef_state]: left_x=0.3907 left_y=-0.2407 left_z=0.1314 left_yaw=-0.0079 left_pitch=-0.0777 left_roll=0.0244 left_gripper=0.9998 right_x=0.4023 right_y=0.229 right_z=0.0052 right_yaw=1.327 right_pitch=-0.3388 right_roll=-0.0991 right_gripper=0.0107\nstate[joint_eff]: [-0.5265, -8.7453, 9.6752, 1.4921, -0.4811, 0.1148, -0.0366, -0.3487, -10.7419, 5.7094, 1.0379, -0.3687, -0.0171, 0.2076]",
      "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]: [-0.7563, 2.3634, 2.0651, -1.1023, -0.8825, -1.4239, 0.9994, 0.313, 2.0693, 1.2488, -0.3065, -0.5255, -0.9775, 0.013]\nstate[eef_state]: left_x=0.4529 left_y=-0.2348 left_z=0.1032 left_yaw=0.7042 left_pitch=-0.1055 left_roll=-0.0486 left_gripper=0.9994 right_x=0.4024 right_y=0.2271 right_z=0.0044 right_yaw=1.3231 right_pitch=-0.3422 right_roll=-0.0981 right_gripper=0.013\nstate[joint_eff]: [0.5949, -12.0957, 5.3812, -0.1294, -0.486, 0.0171, -0.0562, 0.1026, -10.6188, 5.7778, 1.0916, -0.2857, -0.0513, 0.2222]",
      "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]: [-0.6659, 2.088, 1.6196, -0.894, -0.8566, -1.3212, 0.9993, 0.3153, 2.0693, 1.2488, -0.3035, -0.5247, -0.9802, 0.0144]\nstate[eef_state]: left_x=0.4264 left_y=-0.1606 left_z=0.1028 left_yaw=0.7291 left_pitch=-0.1241 left_roll=-0.0103 left_gripper=0.9993 right_x=0.4025 right_y=0.2282 right_z=0.0046 right_yaw=1.3255 right_pitch=-0.3413 right_roll=-0.103 right_gripper=0.0144\nstate[joint_eff]: [0.1299, -14.0239, 6.3658, 0.9304, -0.5299, 0.1978, -0.0269, -0.2803, -10.7282, 5.6547, 1.0672, -0.2808, -0.022, 0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7134c37b529399a06f9ca2fd399e52cac553060f9da2d711ffeb49091ed2041",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4972b2f3a043ba3c2bf8787d931658cbaa3c7126d63e78662cf96b7047b2aed6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54958eb5ae2a7cb0be6e4baf4a6ea5d5ece563a3936ec7247bfb8e15ca533a0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Q8F2hqxsaaQqhvo33cbRnX",
      "input": {
        "note": "The pen is now on the jaw column but lying parallel to the jaw closing axis; rotating the wrist -75° (I found the image rotates with the same sign as yaw) so the pen appears vertical.",
        "targets": {
          "left_yaw": -0.58
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01Q8F2hqxsaaQqhvo33cbRnX",
      "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]: [-0.3031, 1.6783, 0.9428, -0.0505, 0.0296, -0.0189, 0.9993, 0.3153, 2.0693, 1.2488, -0.3038, -0.524, -0.981, 0.015]\nstate[eef_state]: left_x=0.4239 left_y=-0.1343 left_z=0.0802 left_yaw=-0.3294 left_pitch=-0.2142 left_roll=-0.0284 left_gripper=0.9993 right_x=0.4025 right_y=0.228 right_z=0.0045 right_yaw=1.3256 right_pitch=-0.3421 right_roll=-0.1035 right_gripper=0.015\nstate[joint_eff]: [0.1436, -8.6496, 8.4855, 1.8974, 0.2662, 0.2662, -0.022, -0.1983, -10.7282, 5.6137, 0.9988, -0.2808, -0.0024, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9339c1ee5c51873b7c5ac4c708020b1b563d68b11cc6a212bb69f3682f6e0839",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24445518981b956d1050bc61e7afc200b06bcb8161af3fd270457e311e75020c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ea80cad62bd1b46e0d9767ce16fe68cd565a186a8a5f716835a02425f00bbfc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /messages · status 200 · 7.909 s

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

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7563, 2.3634, 2.0651, -1.1023, -0.8825, -1.4239, 0.9994, 0.313, 2.0693, 1.2488, -0.3065, -0.5255, -0.9775, 0.013]\nstate[eef_state]: left_x=0.4529 left_y=-0.2348 left_z=0.1032 left_yaw=0.7042 left_pitch=-0.1055 left_roll=-0.0486 left_gripper=0.9994 right_x=0.4024 right_y=0.2271 right_z=0.0044 right_yaw=1.3231 right_pitch=-0.3422 right_roll=-0.0981 right_gripper=0.013\nstate[joint_eff]: [0.5949, -12.0957, 5.3812, -0.1294, -0.486, 0.0171, -0.0562, 0.1026, -10.6188, 5.7778, 1.0916, -0.2857, -0.0513, 0.2222]",
      "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]: [-0.6659, 2.088, 1.6196, -0.894, -0.8566, -1.3212, 0.9993, 0.3153, 2.0693, 1.2488, -0.3035, -0.5247, -0.9802, 0.0144]\nstate[eef_state]: left_x=0.4264 left_y=-0.1606 left_z=0.1028 left_yaw=0.7291 left_pitch=-0.1241 left_roll=-0.0103 left_gripper=0.9993 right_x=0.4025 right_y=0.2282 right_z=0.0046 right_yaw=1.3255 right_pitch=-0.3413 right_roll=-0.103 right_gripper=0.0144\nstate[joint_eff]: [0.1299, -14.0239, 6.3658, 0.9304, -0.5299, 0.1978, -0.0269, -0.2803, -10.7282, 5.6547, 1.0672, -0.2808, -0.022, 0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3031, 1.6783, 0.9428, -0.0505, 0.0296, -0.0189, 0.9993, 0.3153, 2.0693, 1.2488, -0.3038, -0.524, -0.981, 0.015]\nstate[eef_state]: left_x=0.4239 left_y=-0.1343 left_z=0.0802 left_yaw=-0.3294 left_pitch=-0.2142 left_roll=-0.0284 left_gripper=0.9993 right_x=0.4025 right_y=0.228 right_z=0.0045 right_yaw=1.3256 right_pitch=-0.3421 right_roll=-0.1035 right_gripper=0.015\nstate[joint_eff]: [0.1436, -8.6496, 8.4855, 1.8974, 0.2662, 0.2662, -0.022, -0.1983, -10.7282, 5.6137, 0.9988, -0.2808, -0.0024, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9339c1ee5c51873b7c5ac4c708020b1b563d68b11cc6a212bb69f3682f6e0839",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24445518981b956d1050bc61e7afc200b06bcb8161af3fd270457e311e75020c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea80cad62bd1b46e0d9767ce16fe68cd565a186a8a5f716835a02425f00bbfc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISpAcKjgEIEhgCKkAkcB7CtGZK58EgCAeDn1+bpWBw0eyVyDtpTwpO0pptNfFZ4SL66l5BzXWOslRFQ1zVS98QW0i0YexbM8aSVsUVMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe3SzNUGEgw7UhVEHV3nbZvIKB8aDEEriyztuKO4wzRNvCIwXRN9gPmNCsLE96uw3gtcBch5B3Mjqm57Lqg5CKGP0UrZPSL+DLsRJEjxAT+BXkWSKsIFZ98XO6k+bfXA1LljrBDwG1qVltKPzSZsd4WO+MVs/ZETYigegWc8UJRwG3jVXQ7H7bsjgxp2ByP4dN/IY+cezn0oRfMYXy3WgrrKwmD5QlOLFO/d20XMweHFsPFzPIXv7xZXyhQo4wb7d9jy2zZeKFhe+5MsaQtptQoi4RzobDJYB0YhVSo0svXedmd2Po0muAJR2RCvIiiOmKVRs+doQlvyhgo71JurZtiNU58lnxjRphAyUwwbcOODMQRD3Yg9nNXswGEoRwPqJ1ZPQgVMYcWK+yGMzfOXosboviB1+QOeqsTlvHnUihrkJzsMy9ucYKzNht8mMDoYcZ6zjWehotPRLhwQz4WbMfaCgDsTtEox1yXn7xQySqowqLGS7s5kNnL2pr2ryIwUq0X37Az3ufJJOdrgbbSPyjjw5Is7iCPJrWwV4nIe0SjbfqBXkK+4QeC2lXllQUjNfR9DkK/S3FLpG9c7SxmFl0jj7n+uthyE0cir2/jO7oW3+9CMRyFb2LFD28+iga7wArbbka5JThOOvbCDAbf7PH0hUBdNmvvyvqBzZbMEeJJY1Tch/uvdwf4JSJdoK93pj55db9WxCnKmauez2o01+AaBqD7UZCElt/JmzawrGbujZRRmENhnCDqR/MNnf/X2AB6gZhkmiSz+it5uqAfq33oa0AfKBuE0mJc2pQGbWOBG1enrrcbmvpjgja+6ZBrP/KKNi37lJnh2xiHZeKHTodLEghH50T+2cPc3wYRuRRBtL14GpQkITcDy4D/gI0s35/NzwoS4qUK58ct8bkhIcqZx2Ki/bKfjsqxjnUUMKIPgFleBaeXv8dHWp9Cm9204eXHWZ6zWtqM5V27/J/6l2v2Fuw9BrHi7A6oSNHuHK3pjniJLmYRhPj2xSijXbRAxJQLjVzXHhVqq0zuO64VNESNplmFSCrOeIRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CdSdiKDWRNYMXENbnsYu5T",
      "input": {
        "note": "The pen is now vertical in the left wrist view on the jaw column, a few cm beyond the fingertips; advancing ~3 cm outward, descending to table level with the jaws pre-narrowed so they don't sweep the pen aside.",
        "targets": {
          "left_gripper": 0.35,
          "left_x": 0.452,
          "left_y": -0.144,
          "left_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01CdSdiKDWRNYMXENbnsYu5T",
      "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]: [-0.3038, 1.9347, 0.931, 0.1791, 0.0277, -0.0227, 0.3543, 0.3153, 2.0693, 1.2488, -0.3042, -0.524, -0.9806, 0.0151]\nstate[eef_state]: left_x=0.4421 left_y=-0.14 left_z=0.0033 left_yaw=-0.3266 left_pitch=-0.2528 left_roll=-0.0307 left_gripper=0.3543 right_x=0.4025 right_y=0.228 right_z=0.0045 right_yaw=1.3255 right_pitch=-0.3423 right_roll=-0.1029 right_gripper=0.0151\nstate[joint_eff]: [-0.253, -7.6923, 6.4752, 1.4823, 0.0269, 0.0659, 0.1783, -0.2393, -10.6462, 5.5726, 1.0085, -0.2662, -0.0317, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6018531818966cfc0a9a175d64de326d0a6cad45e6b10e66d4e65e34264e5ef2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39ef26a17ec088f3e2c6e3a3f117d4e8212cbcdd8314e4ee7996b081e8596200",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4cad824a062b64e22e6baa48ac6920cf596c367ef35b17a1296d7dde67f9e59d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /messages · status 200 · 3.185 s

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

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6659, 2.088, 1.6196, -0.894, -0.8566, -1.3212, 0.9993, 0.3153, 2.0693, 1.2488, -0.3035, -0.5247, -0.9802, 0.0144]\nstate[eef_state]: left_x=0.4264 left_y=-0.1606 left_z=0.1028 left_yaw=0.7291 left_pitch=-0.1241 left_roll=-0.0103 left_gripper=0.9993 right_x=0.4025 right_y=0.2282 right_z=0.0046 right_yaw=1.3255 right_pitch=-0.3413 right_roll=-0.103 right_gripper=0.0144\nstate[joint_eff]: [0.1299, -14.0239, 6.3658, 0.9304, -0.5299, 0.1978, -0.0269, -0.2803, -10.7282, 5.6547, 1.0672, -0.2808, -0.022, 0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3031, 1.6783, 0.9428, -0.0505, 0.0296, -0.0189, 0.9993, 0.3153, 2.0693, 1.2488, -0.3038, -0.524, -0.981, 0.015]\nstate[eef_state]: left_x=0.4239 left_y=-0.1343 left_z=0.0802 left_yaw=-0.3294 left_pitch=-0.2142 left_roll=-0.0284 left_gripper=0.9993 right_x=0.4025 right_y=0.228 right_z=0.0045 right_yaw=1.3256 right_pitch=-0.3421 right_roll=-0.1035 right_gripper=0.015\nstate[joint_eff]: [0.1436, -8.6496, 8.4855, 1.8974, 0.2662, 0.2662, -0.022, -0.1983, -10.7282, 5.6137, 0.9988, -0.2808, -0.0024, 0.0513]",
      "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]: [-0.3038, 1.9347, 0.931, 0.1791, 0.0277, -0.0227, 0.3543, 0.3153, 2.0693, 1.2488, -0.3042, -0.524, -0.9806, 0.0151]\nstate[eef_state]: left_x=0.4421 left_y=-0.14 left_z=0.0033 left_yaw=-0.3266 left_pitch=-0.2528 left_roll=-0.0307 left_gripper=0.3543 right_x=0.4025 right_y=0.228 right_z=0.0045 right_yaw=1.3255 right_pitch=-0.3423 right_roll=-0.1029 right_gripper=0.0151\nstate[joint_eff]: [-0.253, -7.6923, 6.4752, 1.4823, 0.0269, 0.0659, 0.1783, -0.2393, -10.6462, 5.5726, 1.0085, -0.2662, -0.0317, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6018531818966cfc0a9a175d64de326d0a6cad45e6b10e66d4e65e34264e5ef2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39ef26a17ec088f3e2c6e3a3f117d4e8212cbcdd8314e4ee7996b081e8596200",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4cad824a062b64e22e6baa48ac6920cf596c367ef35b17a1296d7dde67f9e59d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISzQkKjgEIEhgCKkACYwZdU3CbqlWm0hSU1H2en1UH5WdmOKPCMHT12NrIL74laL/VRa8XXgvMX6gsCuMPyuG1f7sQMJyZMB8NVbEvMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAffSzNUGEgzVYm9mp74grLJdpK8aDFER9lcPly9/qdHHuyIwAJDjp0wpj5rhWBnHD/4ItpZ8pLhsoPVw4VF0QAksU1o1ipKLudqRmnYJnb1Ip8H/KusHaj1VxoHzwp/i3ICwo1IKmuqrwS/DbIVMGa4s526VjMsm+vvEXVzWgf8R6a2J6jDGkw2O/1QR6Cy66Zgo09E2PczYQ7MYWbPUIaDOgU2YD/755S7dfKdGToe/z/34e7G8Se8CAvuPb49akqZWooncdDsirGXX1lY4uGw6vnY7B1l7+WqCyQbRk+Bdggm9jmU24kXRRinGRBeDUDXrDHppa1trE1LrrT/hoS1VoRIkH/7h2gyUTjyDtq+k5l6+r4o4cG59c47U5C1873xpmF/KLvNykYN4IW04iKlJ5w/aywLyKpohkdKIm+I2YiCKlFNxnJvZbNN/YprRhwVjMMqKd2qQtlXE6AV12H0dKK+/ZhliGRrUo/+wp/HN27Az850z5XcnBxX/e9oZflb0AWWHZVQd+pHw+JbF9PJ8O8j1wGnpuyyjyVGJ4leD1aXInF4WRWR5jdDwcDA6Dbt09VBCy7KDodXdgQK3XKyR+jeRbAyl6MfYyfunVgQMFA6asicefMq9jRbwI2ZQEf7n8UIi+wfMf79ujW36pT0VbLNwNyQ0oWdDu64KxlXEKs9xF42hemyyT1vVJibe3T8XMvnTupVe2waB6XH3eM54Pv1Dgmak5C923B08CxC0hdm1xXRDEgnIz8TF4KwaJmAFJvo6ZPswKSeyXZPqiQkIqkqJUn3SCg7DycODPPiuyF7aGzFBjuliGTRlLrvuCKJM9lWz9WOR2MkSTp+rRntksnLFUp8OGsuUh7EobaxJqyO15wdKFsdHFan2/BvlH/8JVOjCOwxtUybDqaADxQfWBjpC54BGB1PJ4jarToxQEukzuFhMdUxYZlUEfS0lqQuzQ1E64lVM2xuvPjp9iqoXQH/KpDTEszaIB1wU/neKowf2FU5jX9AKwBymRL2sjGTIUS+PaaJE+gP++MdyOd8L2tIvj77c81UdBcPvs/k6BeSmYSB6PyyowXKtsNnsuZHxVISvlpgRBeQtWk2mcobRTLV4OApzD6agWFdn7pRdXRB691rPlqd70+bXseG2U17DW4yA56DsL+BdQj/7yvartTAc2QhXgtwBnHUwYDrCoVoT7OYA/17cWteRyIPU76IT3Vm2VKpITrOt9Iqp67TdJkKEF43oMheKNGVAYqWGnuxqpXquuGBUkvelgPCJKEaetLkqnVdz8zPibPCvstdUhWHSTrGN99rIeoJQog/Ajw39Hj9XRHKehHcD25yqwCBRAdeGpzeh2MfEonecfrj2kecRvoMIrGlvDcBn8u/k98cGoIZiEnXALB6hppcbV68q7yaCbY2JC/TMGkNleIgvk2snn8VFe3wAXV3ABpMszRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SzqiBpifb9EpRPxs2XAxfE",
      "input": {
        "note": "The pen now lies about 2 cm to the image-right of the jaw gap; shifting the gripper 2 cm that way so the pen falls between the jaws.",
        "targets": {
          "left_x": 0.436,
          "left_y": -0.159
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01SzqiBpifb9EpRPxs2XAxfE",
      "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]: [-0.3294, 1.948, 0.9314, 0.2104, 0.0017, -0.0444, 0.3542, 0.3153, 2.0693, 1.2488, -0.3038, -0.524, -0.981, 0.0152]\nstate[eef_state]: left_x=0.4439 left_y=-0.1483 left_z=0.0028 left_yaw=-0.3175 left_pitch=-0.2349 left_roll=-0.0265 left_gripper=0.3542 right_x=0.4025 right_y=0.228 right_z=0.0045 right_yaw=1.3256 right_pitch=-0.3421 right_roll=-0.1035 right_gripper=0.0152\nstate[joint_eff]: [-1.4017, -10.4821, 5.4359, 1.1941, 0.0415, 0.0024, 0.0073, -0.0889, -10.7692, 5.5863, 1.0037, -0.2808, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6c3b54e6fb90072fe5c3525cd221d704305c3624a33a460278e3c69683f673e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:294ede5250815baefe643153726f3e17ed2aa06a21d49e09169a95fb459d4552",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:916d4a85b3b4e2e3ee263eadacb9dc40ae53ef4c597862478f3ec8b5a5253ed1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /messages · status 200 · 4.598 s

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

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3031, 1.6783, 0.9428, -0.0505, 0.0296, -0.0189, 0.9993, 0.3153, 2.0693, 1.2488, -0.3038, -0.524, -0.981, 0.015]\nstate[eef_state]: left_x=0.4239 left_y=-0.1343 left_z=0.0802 left_yaw=-0.3294 left_pitch=-0.2142 left_roll=-0.0284 left_gripper=0.9993 right_x=0.4025 right_y=0.228 right_z=0.0045 right_yaw=1.3256 right_pitch=-0.3421 right_roll=-0.1035 right_gripper=0.015\nstate[joint_eff]: [0.1436, -8.6496, 8.4855, 1.8974, 0.2662, 0.2662, -0.022, -0.1983, -10.7282, 5.6137, 0.9988, -0.2808, -0.0024, 0.0513]",
      "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]: [-0.3038, 1.9347, 0.931, 0.1791, 0.0277, -0.0227, 0.3543, 0.3153, 2.0693, 1.2488, -0.3042, -0.524, -0.9806, 0.0151]\nstate[eef_state]: left_x=0.4421 left_y=-0.14 left_z=0.0033 left_yaw=-0.3266 left_pitch=-0.2528 left_roll=-0.0307 left_gripper=0.3543 right_x=0.4025 right_y=0.228 right_z=0.0045 right_yaw=1.3255 right_pitch=-0.3423 right_roll=-0.1029 right_gripper=0.0151\nstate[joint_eff]: [-0.253, -7.6923, 6.4752, 1.4823, 0.0269, 0.0659, 0.1783, -0.2393, -10.6462, 5.5726, 1.0085, -0.2662, -0.0317, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3294, 1.948, 0.9314, 0.2104, 0.0017, -0.0444, 0.3542, 0.3153, 2.0693, 1.2488, -0.3038, -0.524, -0.981, 0.0152]\nstate[eef_state]: left_x=0.4439 left_y=-0.1483 left_z=0.0028 left_yaw=-0.3175 left_pitch=-0.2349 left_roll=-0.0265 left_gripper=0.3542 right_x=0.4025 right_y=0.228 right_z=0.0045 right_yaw=1.3256 right_pitch=-0.3421 right_roll=-0.1035 right_gripper=0.0152\nstate[joint_eff]: [-1.4017, -10.4821, 5.4359, 1.1941, 0.0415, 0.0024, 0.0073, -0.0889, -10.7692, 5.5863, 1.0037, -0.2808, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6c3b54e6fb90072fe5c3525cd221d704305c3624a33a460278e3c69683f673e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:294ede5250815baefe643153726f3e17ed2aa06a21d49e09169a95fb459d4552",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:916d4a85b3b4e2e3ee263eadacb9dc40ae53ef4c597862478f3ec8b5a5253ed1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISrQMKjgEIEhgCKkCR5oHFpdZytUqVc1QR71YT6rRkH53A/LmMRq+GH9Pq0SZq2VjsfCWsc0NDRnACtyNoOYnO+COXakX1C4KJUxypMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfrSzNUGEgytr5rCekQkgAiij8caDO0DpKAP1Uk3ioPzPSIwQzWNuklzeVshcngINl3Rp+e5ev3F1vDgZpHrirrm4eZK/MeS048ORKJZTSlc4cHlKssBRTKXyR3pdhN6lx7BcDn0YftPiq/3jt3CYxVgl/ABkt6JexJ0ejKv1u2S9g3MXlaSklK5LgfMujWyQLdGA/1Y19EQQk2jvvMQlaS7zXQ27C7V0eI1tsEavA5vZ7OIjqpdaPfJcSM3qj+qp1QnVlSPdHctPP8btZZYneFrRlsEeCwM0tQHZHBr8Sn74xaDMHKQ4uaTvD+RU2U3jUju95wS4yKbfbX4m5rNrRdu93Gf7jHGcsKkfI6jCwOBmxoa4lGJs0B3dHpAH/1CQ3EYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DYfNf2XZJaQaLWZHRMDa2A",
      "input": {
        "note": "The pen appears as a thin vertical dark line right in the jaw gap; closing to grasp it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01DYfNf2XZJaQaLWZHRMDa2A",
      "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]: [-0.3256, 1.948, 0.931, 0.2234, -0.0086, -0.0593, 0.0965, 0.3153, 2.0693, 1.2488, -0.3038, -0.5243, -0.981, 0.0152]\nstate[eef_state]: left_x=0.4471 left_y=-0.1456 left_z=0.0049 left_yaw=-0.2966 left_pitch=-0.2223 left_roll=-0.0298 left_gripper=0.0965 right_x=0.4025 right_y=0.2281 right_z=0.0045 right_yaw=1.3258 right_pitch=-0.3419 right_roll=-0.1033 right_gripper=0.0152\nstate[joint_eff]: [-0.2667, -9.2923, 5.4359, 1.37, 0.0317, 0.0659, 0.6374, -0.2256, -10.6188, 5.6, 1.0427, -0.3443, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52ad5250851a77c4760b9dbb34bff4b181c28497d2b444a8ef0bbf0deb402d6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e31366133e47f224a08c2fac4fe798f800971bc3c7a3f11971d671ddb4f2633e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:979a8cfabd65315ef3da989274b455ee78aace3797a3b8c772dd67327eb920b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /messages · status 200 · 8.684 s

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

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3038, 1.9347, 0.931, 0.1791, 0.0277, -0.0227, 0.3543, 0.3153, 2.0693, 1.2488, -0.3042, -0.524, -0.9806, 0.0151]\nstate[eef_state]: left_x=0.4421 left_y=-0.14 left_z=0.0033 left_yaw=-0.3266 left_pitch=-0.2528 left_roll=-0.0307 left_gripper=0.3543 right_x=0.4025 right_y=0.228 right_z=0.0045 right_yaw=1.3255 right_pitch=-0.3423 right_roll=-0.1029 right_gripper=0.0151\nstate[joint_eff]: [-0.253, -7.6923, 6.4752, 1.4823, 0.0269, 0.0659, 0.1783, -0.2393, -10.6462, 5.5726, 1.0085, -0.2662, -0.0317, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3294, 1.948, 0.9314, 0.2104, 0.0017, -0.0444, 0.3542, 0.3153, 2.0693, 1.2488, -0.3038, -0.524, -0.981, 0.0152]\nstate[eef_state]: left_x=0.4439 left_y=-0.1483 left_z=0.0028 left_yaw=-0.3175 left_pitch=-0.2349 left_roll=-0.0265 left_gripper=0.3542 right_x=0.4025 right_y=0.228 right_z=0.0045 right_yaw=1.3256 right_pitch=-0.3421 right_roll=-0.1035 right_gripper=0.0152\nstate[joint_eff]: [-1.4017, -10.4821, 5.4359, 1.1941, 0.0415, 0.0024, 0.0073, -0.0889, -10.7692, 5.5863, 1.0037, -0.2808, -0.0317, -0.0073]",
      "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]: [-0.3256, 1.948, 0.931, 0.2234, -0.0086, -0.0593, 0.0965, 0.3153, 2.0693, 1.2488, -0.3038, -0.5243, -0.981, 0.0152]\nstate[eef_state]: left_x=0.4471 left_y=-0.1456 left_z=0.0049 left_yaw=-0.2966 left_pitch=-0.2223 left_roll=-0.0298 left_gripper=0.0965 right_x=0.4025 right_y=0.2281 right_z=0.0045 right_yaw=1.3258 right_pitch=-0.3419 right_roll=-0.1033 right_gripper=0.0152\nstate[joint_eff]: [-0.2667, -9.2923, 5.4359, 1.37, 0.0317, 0.0659, 0.6374, -0.2256, -10.6188, 5.6, 1.0427, -0.3443, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52ad5250851a77c4760b9dbb34bff4b181c28497d2b444a8ef0bbf0deb402d6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e31366133e47f224a08c2fac4fe798f800971bc3c7a3f11971d671ddb4f2633e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:979a8cfabd65315ef3da989274b455ee78aace3797a3b8c772dd67327eb920b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS+wQKjgEIEhgCKkDkPWz5mCKTulC/zhqV7UCMtGdM+atB9Is/2InBFHDAd3cx4hR4Ju1if8E1nowwH6kOVWO5yMzfWtCjaAgvuPCdMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf/SzNUGEgzq4JguvGsu6auWupAaDGnvtfuBOuVhA0Ek6CIwgtlhnXjUyTllmiX4gCoHOWzZUfjAPpGiRW4WsjTOMrPXRHL0gj1YOlhjBt0Nn5UNKpkDjhBXqJaWaUZ/a9kUNlcrhMNqn5I0XAsMWtnO3YpUrNLAiYrPcXRhGy3m59K75JcFtc5MXup8/KUQLPVHonvWlhwvWB5qfadXiwvfohoUB9hfqHvrOXWet3rOIwVSFH07uEO7UGqVWctrirKQOjmEjX/trg8+xgFcJt3U7Jye55C/r21+7ehE690l2T+teQZfNIaHoxjG+cVBlko/XrutBbSu4AwjCey0JlPcQ56dJuhFjpUkjYBL5MUI+PJEfFBGLTjG51Np9acm+pwudXgEh9xk/N2Cuv8ibNd9ecP0797p5ZSTEuUI95gDri+CArGROv+D7vwEU5QufekyZnxdYFqys3MTWGpBvpDNGJwKjnFv9+vqkyPqgD8mV2llVtbRF9ASHg6Oyak2c89dcM6roOGNDQB5n6HhYeW5JL2Dv6alE5AXJqfYPTYduZoh9VPRxwCK3fhVXSAN07r8Tp+7LRF6HhEaj3qnk2FOrPq4umWZ8F5WIX5PbewBhx1WwC0ZNQtSqUcwFq5d2+6A0AV/ePDs1KcggIfRXhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XZfnTiJ9SxsDMfkL8HSCD3",
      "input": {
        "note": "Gripper settled at 0.097 (~0.9 cm), consistent with holding the pen; lifting 12 cm to confirm the pen came with the jaws.",
        "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_01XZfnTiJ9SxsDMfkL8HSCD3",
      "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]: [-0.3275, 1.7493, 1.1084, -0.1928, -0.0116, -0.0704, 0.0967, 0.3153, 2.0693, 1.2488, -0.3038, -0.5243, -0.9806, 0.0157]\nstate[eef_state]: left_x=0.4421 left_y=-0.1442 left_z=0.0909 left_yaw=-0.2894 left_pitch=-0.2624 left_roll=-0.034 left_gripper=0.0967 right_x=0.4025 right_y=0.2281 right_z=0.0045 right_yaw=1.3256 right_pitch=-0.3418 right_roll=-0.1031 right_gripper=0.0157\nstate[joint_eff]: [-0.1983, -11.0017, 9.4701, 1.6972, -0.0122, 0.0757, 0.0122, -0.253, -10.5778, 5.8188, 1.0134, -0.3346, -0.0464, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93844478aca967a1d28c9eb54c293f6c8545d93b66e69ef809ff497b1e4109ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d841182a11d56337f9839cf8a394fd2cdfb903843e8387ec1c905b637f810c1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8ee21b42caae0f8b3778a5a44460fe4ab088eb6d9b3c441b897f641e83fc7845",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /messages · status 200 · 12.62 s

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

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3294, 1.948, 0.9314, 0.2104, 0.0017, -0.0444, 0.3542, 0.3153, 2.0693, 1.2488, -0.3038, -0.524, -0.981, 0.0152]\nstate[eef_state]: left_x=0.4439 left_y=-0.1483 left_z=0.0028 left_yaw=-0.3175 left_pitch=-0.2349 left_roll=-0.0265 left_gripper=0.3542 right_x=0.4025 right_y=0.228 right_z=0.0045 right_yaw=1.3256 right_pitch=-0.3421 right_roll=-0.1035 right_gripper=0.0152\nstate[joint_eff]: [-1.4017, -10.4821, 5.4359, 1.1941, 0.0415, 0.0024, 0.0073, -0.0889, -10.7692, 5.5863, 1.0037, -0.2808, -0.0317, -0.0073]",
      "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]: [-0.3256, 1.948, 0.931, 0.2234, -0.0086, -0.0593, 0.0965, 0.3153, 2.0693, 1.2488, -0.3038, -0.5243, -0.981, 0.0152]\nstate[eef_state]: left_x=0.4471 left_y=-0.1456 left_z=0.0049 left_yaw=-0.2966 left_pitch=-0.2223 left_roll=-0.0298 left_gripper=0.0965 right_x=0.4025 right_y=0.2281 right_z=0.0045 right_yaw=1.3258 right_pitch=-0.3419 right_roll=-0.1033 right_gripper=0.0152\nstate[joint_eff]: [-0.2667, -9.2923, 5.4359, 1.37, 0.0317, 0.0659, 0.6374, -0.2256, -10.6188, 5.6, 1.0427, -0.3443, -0.0611, -0.0122]",
      "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]: [-0.3275, 1.7493, 1.1084, -0.1928, -0.0116, -0.0704, 0.0967, 0.3153, 2.0693, 1.2488, -0.3038, -0.5243, -0.9806, 0.0157]\nstate[eef_state]: left_x=0.4421 left_y=-0.1442 left_z=0.0909 left_yaw=-0.2894 left_pitch=-0.2624 left_roll=-0.034 left_gripper=0.0967 right_x=0.4025 right_y=0.2281 right_z=0.0045 right_yaw=1.3256 right_pitch=-0.3418 right_roll=-0.1031 right_gripper=0.0157\nstate[joint_eff]: [-0.1983, -11.0017, 9.4701, 1.6972, -0.0122, 0.0757, 0.0122, -0.253, -10.5778, 5.8188, 1.0134, -0.3346, -0.0464, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93844478aca967a1d28c9eb54c293f6c8545d93b66e69ef809ff497b1e4109ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d841182a11d56337f9839cf8a394fd2cdfb903843e8387ec1c905b637f810c1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ee21b42caae0f8b3778a5a44460fe4ab088eb6d9b3c441b897f641e83fc7845",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISyAoKjgEIEhgCKkDeoY3JJvwAsrMhO7RX4lgYnIjNBDwEMpRuvmhuVlgAX/9W57znsv2EgkHWhBJN0/V9rZYVnu4mADeQJ0ck7oTlMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYfTzNUGEgy9uOuAVAB7fW5ucNYaDFgJbjMH6hHSwwXETSIw6dyal1S/S2TVsPHDkWH4DIib+jOX57OqbeRPJ6ycIG+pfG/wxvfukLKBQVIRqO/TKuYIDgG832bO39aoIG7ogWcVshIQCOU3ItmBn1NtkZH0ZrLBoFnPfBA0Nbni2Rx0riZ44h0y99dZwRAP8OK/THMNUWnhKH2syeDmU6yx3ZWTxu+efMk/kMtmw1qwykHIQJpbbkJSVH2fbTvDCkngGOTD2Sbmvw73G6B2oWzSr2utxs1iImQzxIfGCw1fas4NXbdJdvAE39QR35spJEvRSDdajRpk6L3j+m0lNgbzUHqYPzs9R5HCSxjIYq/PLBlrgSdl8eOnmevqLInJfi3OfSbA8y4nSMQgzLHkYWGjSL6QtHz/WPNJsSjtFYPnsVuZ4MTXcZYt2ehIibnFP4MW6duqAmW1wKFojz6/O9Hhf1bo29rLkzKgM7HxbB3Il3DkQusLBOmdzbBEp4JUPjEccclOHoPd7eJ5eX/kRlU80bubheqJ9qkuPamC3oFa9VXgoT4Wc8v/ANp7cdPdLRH8IXsmYarMhKDexZs0vE7MVbvg/Y/NDoiJ2AK6mP8Po1lqo5y5EGRESUGzSYle6ZmBitNDlj6L+EzLKloE8qnuUke4lXDmLB8kXW41bp5R7sIECgRfAOM3KLDNtdX4B5W4PhWQopK5vUn5fFf5esPpJjyQFLJmV57pMaj2BfhkwTl6ZlV2NXXYLns+CwbWYjBXJNua1TfUIOQNkKcWfaqsIjte4CBOXgloY//lq3DfZoBIBxYwF22cUQIWRhBs9iQpWcB5ZTy7K/kJzf5uxknWH7jaUcMvTfrmZe9HG/Tf+txuyAHNzsm1d5+T9gGVMa/jLMlUjoUEB6H4vY0Ymw6a9hDBBhTuEZq8fHYCqqPejW0OWCE3C1rdylMxrKeol990+vjNH8ob+Bc+rFrGEN4tLtbiBLt6aEfsdGTo6eqP6LtwrvxheE5EtLt85FgkH2E1tulIhXeGCPkghhlnl4oprLuh3Fb3grbl+zM3pG2rdxf6hfeLwTSw4VkJo1k8klUZyWWp7354AeZELTAQetcx/WHI6U8Q48QRjroGTZhKIhaRgJNMrxwMiY3cV0AIPWTSydXTuJc5QiK9SXEAU0x6B1D2ig4LBawIIw+wlEubz2Cp/M2jU1JkNtZcaoZ6nZg6yjs2K6lGkk83TR2/UR6Vkz/nDH5ezNIcaP8XUyTU+Nn99YSrkyV6B3we0H/nPdti3pZkGlk3UaCAMyRCinqzhFH0G3zkvdmXLOQzh1xOqvh6zSk/t+Tky/eLjn3GIbQB7k2h8vQLLfmYHW6AaKSFQj/d+g4cKRwaG8LDgTP5i1E3rrMU0EvYr0OcsvKozw5ahOfl44wHs3wkw3oZUqaz7RdcIHVCKOyScdB0bJYmk3h9mqB/B/Q6nskaB1U9UjKWXG3yt6IEFwckpIyBSbzOalWmU/y18ODlY5eFUyMPjSt7dhT0vZwl4QckbS/JeOVK4t2Vt4mElJI6V3jB1ZaeuExY3glwiD+rYgIOrkbkKmLmRO5XqXKGzuG6u0jpYvxFBcV8mbelJYw3CBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017wnNpSPnUQStAmqjeN8veJ",
      "input": {
        "note": "Something ~9 mm thick is held and the table under the left arm now looks clear, so I have the pen (or cap). Lifting both arms high and back to get an unobstructed overhead view and find the second object.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.1,
          "left_z": 0.3,
          "right_x": 0.25,
          "right_y": 0.1,
          "right_yaw": 0,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_017wnNpSPnUQStAmqjeN8veJ",
      "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]: [-0.3416, 1.2438, 1.4372, -1.058, -0.0196, -0.0891, 0.0981, 0.6262, 1.2156, 1.5082, -1.2606, 0.3477, 0.3073, 0.0165]\nstate[eef_state]: left_x=0.3079 left_y=-0.102 left_z=0.2804 left_yaw=-0.2856 left_pitch=-0.2933 left_roll=-0.0391 left_gripper=0.0981 right_x=0.2595 right_y=0.1179 right_z=0.2932 right_yaw=0.1266 right_pitch=-0.3308 right_roll=-0.0904 right_gripper=0.0165\nstate[joint_eff]: [-0.5949, -5.2444, 9.1419, 1.5556, -0.0562, -0.0073, 0.1294, 0.4171, -2.5915, 7.0632, 1.0916, 0.3248, 0.1392, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b100b1d2b6352580817514c4fa0d33f4fbb90e1cf692e588f3a7e2edf393ba6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5c3073718c78e72d2b903adc9c1cd5cb56dee576e1c0dd606f2af76e6c3eac3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:62066f803423391fc3618a8bea2362c4d1443b2b59114a17d51fcaebad294d96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /messages · status 200 · 8.159 s

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

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3256, 1.948, 0.931, 0.2234, -0.0086, -0.0593, 0.0965, 0.3153, 2.0693, 1.2488, -0.3038, -0.5243, -0.981, 0.0152]\nstate[eef_state]: left_x=0.4471 left_y=-0.1456 left_z=0.0049 left_yaw=-0.2966 left_pitch=-0.2223 left_roll=-0.0298 left_gripper=0.0965 right_x=0.4025 right_y=0.2281 right_z=0.0045 right_yaw=1.3258 right_pitch=-0.3419 right_roll=-0.1033 right_gripper=0.0152\nstate[joint_eff]: [-0.2667, -9.2923, 5.4359, 1.37, 0.0317, 0.0659, 0.6374, -0.2256, -10.6188, 5.6, 1.0427, -0.3443, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3275, 1.7493, 1.1084, -0.1928, -0.0116, -0.0704, 0.0967, 0.3153, 2.0693, 1.2488, -0.3038, -0.5243, -0.9806, 0.0157]\nstate[eef_state]: left_x=0.4421 left_y=-0.1442 left_z=0.0909 left_yaw=-0.2894 left_pitch=-0.2624 left_roll=-0.034 left_gripper=0.0967 right_x=0.4025 right_y=0.2281 right_z=0.0045 right_yaw=1.3256 right_pitch=-0.3418 right_roll=-0.1031 right_gripper=0.0157\nstate[joint_eff]: [-0.1983, -11.0017, 9.4701, 1.6972, -0.0122, 0.0757, 0.0122, -0.253, -10.5778, 5.8188, 1.0134, -0.3346, -0.0464, 0.0513]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3416, 1.2438, 1.4372, -1.058, -0.0196, -0.0891, 0.0981, 0.6262, 1.2156, 1.5082, -1.2606, 0.3477, 0.3073, 0.0165]\nstate[eef_state]: left_x=0.3079 left_y=-0.102 left_z=0.2804 left_yaw=-0.2856 left_pitch=-0.2933 left_roll=-0.0391 left_gripper=0.0981 right_x=0.2595 right_y=0.1179 right_z=0.2932 right_yaw=0.1266 right_pitch=-0.3308 right_roll=-0.0904 right_gripper=0.0165\nstate[joint_eff]: [-0.5949, -5.2444, 9.1419, 1.5556, -0.0562, -0.0073, 0.1294, 0.4171, -2.5915, 7.0632, 1.0916, 0.3248, 0.1392, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b100b1d2b6352580817514c4fa0d33f4fbb90e1cf692e588f3a7e2edf393ba6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5c3073718c78e72d2b903adc9c1cd5cb56dee576e1c0dd606f2af76e6c3eac3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62066f803423391fc3618a8bea2362c4d1443b2b59114a17d51fcaebad294d96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QWaayZu6sMpeRWzJc2oRG8",
      "input": {
        "note": "Both wrist views reveal the pen still on the table near the centre, so the left gripper is holding the cap. Bringing the right arm above the pen (which runs radially, so jaws at yaw 0 close across it).",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.42,
          "right_y": 0.27,
          "right_yaw": 0,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01QWaayZu6sMpeRWzJc2oRG8",
      "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]: [-0.3428, 1.2518, 1.4368, -1.0817, -0.0196, -0.0895, 0.0996, 0.7158, 1.9648, 1.6855, -0.8299, 0.4377, 0.4801, 0.9958]\nstate[eef_state]: left_x=0.3047 left_y=-0.1012 left_z=0.2741 left_yaw=-0.2859 left_pitch=-0.3253 left_roll=-0.0374 left_gripper=0.0996 right_x=0.4058 right_y=0.2585 right_z=0.1401 right_yaw=0.0182 right_pitch=-0.3944 right_roll=-0.1321 right_gripper=0.9958\nstate[joint_eff]: [-0.1846, -4.5197, 6.2017, 1.5897, -0.0562, -0.0464, 0.1441, 0.4718, -10.7692, 8.4855, 1.1258, 0.4322, 0.1978, -0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b482f4e730f88b51294fd9a85ff4ec69ce5a0f891bed874ecc39d718dcb88eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7993119bc47222cbc26320c8f145abb55bdeb3a4643cc7f0cdbbcbfd28ad0b89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:141064e8b6f9af60af3b2f02a660c0e92fe15da1ef4cee8b09665f57dbd7c0a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /messages · status 200 · 2.895 s

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

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3275, 1.7493, 1.1084, -0.1928, -0.0116, -0.0704, 0.0967, 0.3153, 2.0693, 1.2488, -0.3038, -0.5243, -0.9806, 0.0157]\nstate[eef_state]: left_x=0.4421 left_y=-0.1442 left_z=0.0909 left_yaw=-0.2894 left_pitch=-0.2624 left_roll=-0.034 left_gripper=0.0967 right_x=0.4025 right_y=0.2281 right_z=0.0045 right_yaw=1.3256 right_pitch=-0.3418 right_roll=-0.1031 right_gripper=0.0157\nstate[joint_eff]: [-0.1983, -11.0017, 9.4701, 1.6972, -0.0122, 0.0757, 0.0122, -0.253, -10.5778, 5.8188, 1.0134, -0.3346, -0.0464, 0.0513]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3416, 1.2438, 1.4372, -1.058, -0.0196, -0.0891, 0.0981, 0.6262, 1.2156, 1.5082, -1.2606, 0.3477, 0.3073, 0.0165]\nstate[eef_state]: left_x=0.3079 left_y=-0.102 left_z=0.2804 left_yaw=-0.2856 left_pitch=-0.2933 left_roll=-0.0391 left_gripper=0.0981 right_x=0.2595 right_y=0.1179 right_z=0.2932 right_yaw=0.1266 right_pitch=-0.3308 right_roll=-0.0904 right_gripper=0.0165\nstate[joint_eff]: [-0.5949, -5.2444, 9.1419, 1.5556, -0.0562, -0.0073, 0.1294, 0.4171, -2.5915, 7.0632, 1.0916, 0.3248, 0.1392, 0.0611]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3428, 1.2518, 1.4368, -1.0817, -0.0196, -0.0895, 0.0996, 0.7158, 1.9648, 1.6855, -0.8299, 0.4377, 0.4801, 0.9958]\nstate[eef_state]: left_x=0.3047 left_y=-0.1012 left_z=0.2741 left_yaw=-0.2859 left_pitch=-0.3253 left_roll=-0.0374 left_gripper=0.0996 right_x=0.4058 right_y=0.2585 right_z=0.1401 right_yaw=0.0182 right_pitch=-0.3944 right_roll=-0.1321 right_gripper=0.9958\nstate[joint_eff]: [-0.1846, -4.5197, 6.2017, 1.5897, -0.0562, -0.0464, 0.1441, 0.4718, -10.7692, 8.4855, 1.1258, 0.4322, 0.1978, -0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b482f4e730f88b51294fd9a85ff4ec69ce5a0f891bed874ecc39d718dcb88eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7993119bc47222cbc26320c8f145abb55bdeb3a4643cc7f0cdbbcbfd28ad0b89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:141064e8b6f9af60af3b2f02a660c0e92fe15da1ef4cee8b09665f57dbd7c0a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISzwcKjgEIEhgCKkBmWD4HZcc9fZN8IfU8aehzVp+sJgdGKadIDkOQy7txcs4gBuX8VPImLXZwTefmfWniAHxnC/kzN3/8FOEa9bDaMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaDTzNUGEgwSzhZ6GHyDusFAvP0aDDnFmvoK/4fdbhIBuCIwnUSDVPQuFW8Qupegu1hTOtsOzBKCmUitPVzM4hAYnnwCYKZk3VC5WlHbL6QFwgo/Ku0F7Ox5htakXcij4R8F2bmHt0piITjlpqsKaT34vUKtWgOsohHS6H28gQQR1Mtf0IfrDH7CW3iKhpsRyZ/iEf6+Mz5n7kDsTxbbXtwoMjlDHA8ik532vok6yjgHRebeOB+IHrk7QUkAEC0kWKFkCOxcEG/e793MqtnFlngd3UMCij3iVrkVJFv8/7dZ3s3J4opH9phyaa/gUhuT5x9hx6ZOaHEZQ/JBbKrjEgpB0QXKWi3yVNjqA9YcCd5tpRxtuKUFemH3Rg/JCJsL23IMxjAUIBD74MYg7AtaJt1HUT8nfc8kfBICIl8KLqWtjFBMbP/Jize7ASQQk51fFGjw9xBqkcvJgA0TQJ+/6blLhGXr4DtV2RaRaOL+szoJmQz+4gk1ljl2/Y31rErriThCWFjVm36e6hOU1UBm6FAAXaR0Z1Oxg9CAoO8BSfn6NRvvkpD25zpNuQLeCdqK6bL4ln/XyR+QK41Ux1LqrgZcBgI+KGUFatoAzYGNcxvoB6gZVglc6peTxiEuqqHx+5ndrMVdhQ9cMsnI2bHY2xZ6uL5MLKi7N4689sdF8J72KgP4wG4KYRj4cIachgmsSRQlBXHlkv+UM5Y5Xai4tergzIan04UmAqd4uLxL7osbYyn0Ntk3XRv71u/ZNJbaM8Xgn6UlgHl8egILjQb4l9N7U65qTRkjb06N8yplky/W+Gl/jhEIg9f6aLcEIEwM5ipG6nPakdsyHigbin9nMfQbSxoH4EOI0PTp0eqHMkUFxa/DZZwdwbOmZJFMko+P/o+LEndGWrBX8jPLFqj4Du1Vgz0NtC5MeXDYBz9XfLtg0z08A3fxrwxCgTKrRDUurk/UHLlyRzlk4R1WRQNqvQ/ycPrnM4Hb5/9+TViPM5xjXXsLYBTtOp67/9lnp2k1bNuDGnlCS/HBUo72Hn8xF08E7eSnLYv/3+Og9qrq7KhFhx6ASV+hgCnMf+bc+XYt7BvVnzqb7DNtOeFO+bfwZQgbU6AYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012oN5vkvjEowbZCFpoVtrE4",
      "input": {
        "note": "The pen is centred in the right wrist view but ~4-5 cm to the image-right of the jaw column; shifting that way, dropping to table level with jaws pre-narrowed for a clean grasp across the shaft.",
        "targets": {
          "right_gripper": 0.4,
          "right_x": 0.425,
          "right_y": 0.215,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_012oN5vkvjEowbZCFpoVtrE4",
      "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]: [-0.3428, 1.2522, 1.4368, -1.0859, -0.0196, -0.0891, 0.1003, 0.6125, 2.014, 1.2999, -0.4019, 0.3843, 0.3851, 0.4046]\nstate[eef_state]: left_x=0.304 left_y=-0.101 left_z=0.2734 left_yaw=-0.286 left_pitch=-0.3298 left_roll=-0.0369 left_gripper=0.1003 right_x=0.4127 right_y=0.2134 right_z=0.0254 right_yaw=0.0078 right_pitch=-0.4357 right_roll=-0.1536 right_gripper=0.4046\nstate[joint_eff]: [-0.0479, -3.9453, 6.106, 1.409, -0.0562, -0.0317, 0.0659, -0.8, -9.1966, 5.8325, 1.3553, 0.1978, -0.0464, 0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8cb50c3f44011054c50535c9dc73b04035f8e81cb9179fcc5b44e6e5b49b9e5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f848e9542b6685fb9a9c4e2d32c636c855d8998f417aed13eaba62bae99ee414",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b3ca742a0c6002e5123ccbebc3a4fe8db1d7ec10173b5ebe01308cefcb2c9c9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /messages · status 200 · 15.13 s

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

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3416, 1.2438, 1.4372, -1.058, -0.0196, -0.0891, 0.0981, 0.6262, 1.2156, 1.5082, -1.2606, 0.3477, 0.3073, 0.0165]\nstate[eef_state]: left_x=0.3079 left_y=-0.102 left_z=0.2804 left_yaw=-0.2856 left_pitch=-0.2933 left_roll=-0.0391 left_gripper=0.0981 right_x=0.2595 right_y=0.1179 right_z=0.2932 right_yaw=0.1266 right_pitch=-0.3308 right_roll=-0.0904 right_gripper=0.0165\nstate[joint_eff]: [-0.5949, -5.2444, 9.1419, 1.5556, -0.0562, -0.0073, 0.1294, 0.4171, -2.5915, 7.0632, 1.0916, 0.3248, 0.1392, 0.0611]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3428, 1.2518, 1.4368, -1.0817, -0.0196, -0.0895, 0.0996, 0.7158, 1.9648, 1.6855, -0.8299, 0.4377, 0.4801, 0.9958]\nstate[eef_state]: left_x=0.3047 left_y=-0.1012 left_z=0.2741 left_yaw=-0.2859 left_pitch=-0.3253 left_roll=-0.0374 left_gripper=0.0996 right_x=0.4058 right_y=0.2585 right_z=0.1401 right_yaw=0.0182 right_pitch=-0.3944 right_roll=-0.1321 right_gripper=0.9958\nstate[joint_eff]: [-0.1846, -4.5197, 6.2017, 1.5897, -0.0562, -0.0464, 0.1441, 0.4718, -10.7692, 8.4855, 1.1258, 0.4322, 0.1978, -0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3428, 1.2522, 1.4368, -1.0859, -0.0196, -0.0891, 0.1003, 0.6125, 2.014, 1.2999, -0.4019, 0.3843, 0.3851, 0.4046]\nstate[eef_state]: left_x=0.304 left_y=-0.101 left_z=0.2734 left_yaw=-0.286 left_pitch=-0.3298 left_roll=-0.0369 left_gripper=0.1003 right_x=0.4127 right_y=0.2134 right_z=0.0254 right_yaw=0.0078 right_pitch=-0.4357 right_roll=-0.1536 right_gripper=0.4046\nstate[joint_eff]: [-0.0479, -3.9453, 6.106, 1.409, -0.0562, -0.0317, 0.0659, -0.8, -9.1966, 5.8325, 1.3553, 0.1978, -0.0464, 0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8cb50c3f44011054c50535c9dc73b04035f8e81cb9179fcc5b44e6e5b49b9e5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f848e9542b6685fb9a9c4e2d32c636c855d8998f417aed13eaba62bae99ee414",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3ca742a0c6002e5123ccbebc3a4fe8db1d7ec10173b5ebe01308cefcb2c9c9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISlgMKjgEIEhgCKkAGJxY/L2tzVTUl2nXpG1pBbOdmyRf/Kw+jxCwrGcWKNwnzyTOHyZCcI22s6253JfUuQ5Lt3lNpQE/ll/5+vHlJMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaTTzNUGEgwxOvsvjqgE590TVTgaDARrpWWkQ8dfnQ1XnSIwMWAtaCoJsFIpSJb/+1NeyvE02NesLodnWQZyjV58iVOXJdr04Bqc3KoaiFYcfl/QKrQBWsM0yw3Zpset8+uGqkYZf0ZuBlrP+kkVZAfjQLrj0H1vhpLdbTvTvDL1zVO02mU26pla+REHbsw16NTMyF1yCiu1JszcTtGNNnmfxMAcF3QulpGPuGs5g36GFNiW2CF+dGGMUgp8OncGhjwQ3lKzYdyRHShHKwWMiPh7V3BFQO1+sL55A8osR/kC9qDoX2xgf3hAetueckc/KdC9ckU99prOMudA1TkRyFGCVy77G6OX7BbhGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CJbNSEMovNmCb85DJSFXTi",
      "input": {
        "note": "The pen now runs vertically right through the jaw gap in the right wrist view; closing to grasp it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01CJbNSEMovNmCb85DJSFXTi",
      "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]: [-0.3428, 1.2522, 1.4368, -1.0866, -0.02, -0.0891, 0.1011, 0.609, 2.0392, 1.2831, -0.3916, 0.3809, 0.3775, 0.0083]\nstate[eef_state]: left_x=0.3039 left_y=-0.1009 left_z=0.2733 left_yaw=-0.2857 left_pitch=-0.3306 left_roll=-0.0365 left_gripper=0.1011 right_x=0.4084 right_y=0.2092 right_z=0.0098 right_yaw=0.0028 right_pitch=-0.4641 right_roll=-0.1754 right_gripper=0.0083\nstate[joint_eff]: [-0.1026, -3.9316, 6.1333, 1.37, -0.0708, -0.0611, 0.0708, 0.1709, -12.6974, 7.2547, 0.9353, 0.1392, 0.0757, 0.735]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9f07c64c30086238227ad4c7fe0d616fdcb9c2b49867101a8ceddcec7d921cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c7ac02fd19806c31f508e19759ebbc4972c8883b5c211159e6ba13892f58e52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e7514879aef6a65c5162038c9b77908f440546a7bcb0433eafd62b80c44c9d5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]