adhoc - adhoc_feb61fcd.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: 507.6 s
total steps: 359

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 two small dark objects near the table centre: a short one left-of-centre (likely the cap) and a longer one right-of-centre (likely the pen). Moving the left arm above the left object to inspect it with the wrist camera.

move_to

left_x0.3300left_y-0.2000left_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, 0.7921, 0.6018, -0.3805, -0.0216, -0.0246, 0.9998, -0.0174, 0.7902, 0.609, -0.3759, -0.0208, -0.012, 0.9993] state[eef_state]: left_x=0.2943 left_y=0.0015 left_z=0.1794 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2956 right_y=0.0021 right_z=0.1842 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993 state[joint_eff]: [-0.3487, -1.4154, 10.5094, 1.7802, 0.0122, 0.0904, -0.0366, -0.6496, -1.1419, 9.853, 1.746, -0.0659, -0.0464, -0.0806] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.33, "left_y": -0.2, "left_z": 0.15, "left_gripper": 1}, "note": "Top view shows two small dark objects near the table centre: a short one left-of-centre (likely the cap) and a longer one right-of-centre (likely the pen). Moving the left arm above the left object to inspect it with the wrist camera."})

tool

executing move_to over 18 steps (1.8s)

step 18

assistant

agent noteLeft wrist view shows the pen cap at image (85,115), left of the jaw column and well above the jaw row, meaning it is further out and slightly to the arm's left. Advancing ~4 cm radially and 2 cm in +y to bring it under the fingertips.

move_to

left_x0.3700left_y-0.1700left_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]: [-0.8398, 1.4113, 0.8188, -0.2424, -0.6556, -0.5499, 0.9998, -0.0193, 0.7959, 0.6132, -0.3893, -0.0204, -0.012, 0.9993] state[eef_state]: left_x=0.3205 left_y=-0.1907 left_z=0.13 left_yaw=-0.0211 left_pitch=-0.0582 left_roll=0.0429 left_gripper=0.9998 right_x=0.2948 right_y=0.0015 right_z=0.1817 right_yaw=-0.0022 right_pitch=-0.0149 right_roll=0.0001 right_gripper=0.9993 state[joint_eff]: [-0.335, -5.8051, 9.6615, 1.5653, -0.486, 0.0366, -0.0366, 0.1436, -1.6479, 6.735, 1.8242, -0.0464, -0.0513, -0.0122] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.37, "left_y": -0.17, "left_z": 0.15}, "note": "Left wrist view shows the pen cap at image (85,115), left of the jaw column and well above the jaw row, meaning it is further out and slightly to the arm's left. Advancing ~4 cm radially and 2 cm in +y to bring it under the fingertips."})

tool

executing move_to over 4 steps (0.4s)

step 22

assistant

agent noteThe cap now sits at image (100,130), close to the jaw column. Nudging 2.5 cm further out and 1 cm in +y while descending to 6 cm to get a closer look before the final descent.

move_to

left_x0.3850left_y-0.1470left_z0.0600

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6724, 1.462, 0.8776, -0.2455, -0.569, -0.4599, 0.9997, -0.0193, 0.7971, 0.6132, -0.3912, -0.0204, -0.012, 0.9993] state[eef_state]: left_x=0.3561 left_y=-0.1573 left_z=0.1279 left_yaw=0.0354 left_pitch=-0.1019 left_roll=0.0649 left_gripper=0.9997 right_x=0.2946 right_y=0.0015 right_z=0.181 right_yaw=-0.0022 right_pitch=-0.0179 right_roll=0.0001 right_gripper=0.9993 state[joint_eff]: [-0.0068, -5.9692, 9.7026, 1.6825, -0.1685, 0.2466, -0.0171, -0.2667, -1.347, 7.2957, 1.7216, -0.0366, -0.0317, -0.0122] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.385, "left_y": -0.147, "left_z": 0.06}, "note": "The cap now sits at image (100,130), close to the jaw column. Nudging 2.5 cm further out and 1 cm in +y while descending to 6 cm to get a closer look before the final descent."})

tool

executing move_to over 5 steps (0.5s)

step 27

assistant

agent noteThe previous step was clamped and the arm barely moved. Re-commanding the same approach pose, descending to 7 cm above the cap.

move_to

left_x0.3850left_y-0.1470left_z0.0700

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6575, 1.4673, 0.8974, -0.2432, -0.5415, -0.4168, 0.9997, -0.0193, 0.7979, 0.6132, -0.3908, -0.0208, -0.012, 0.9993] state[eef_state]: left_x=0.3615 left_y=-0.1595 left_z=0.1322 left_yaw=0.0055 left_pitch=-0.1034 left_roll=0.0724 left_gripper=0.9997 right_x=0.2947 right_y=0.0016 right_z=0.1809 right_yaw=-0.0019 right_pitch=-0.0183 right_roll=0.0003 right_gripper=0.9993 state[joint_eff]: [-0.5402, -6.5299, 9.1419, 1.7216, -0.1441, 0.1636, -0.0122, -0.2256, -1.2103, 7.159, 1.7802, -0.0415, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.385, "left_y": -0.147, "left_z": 0.07}, "note": "The previous step was clamped and the arm barely moved. Re-commanding the same approach pose, descending to 7 cm above the cap."})

tool

executing move_to over 5 steps (0.5s)

step 32

assistant

agent noteThe arm has not moved for two commands (targets being clamped), so I am issuing a smaller step: hold position and descend only 3 cm.

move_to

left_x0.3650left_y-0.1550left_z0.1000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6575, 1.4673, 0.8974, -0.2428, -0.5419, -0.4164, 0.9997, -0.0193, 0.7979, 0.6132, -0.3935, -0.0208, -0.012, 0.9993] state[eef_state]: left_x=0.3616 left_y=-0.1595 left_z=0.1323 left_yaw=0.0055 left_pitch=-0.103 left_roll=0.0727 left_gripper=0.9997 right_x=0.2943 right_y=0.0016 right_z=0.1803 right_yaw=-0.0019 right_pitch=-0.021 right_roll=0.0004 right_gripper=0.9993 state[joint_eff]: [-0.4444, -6.5162, 9.1419, 1.7411, -0.1538, 0.1832, -0.0122, -0.3214, -1.0872, 7.2821, 1.7802, -0.0317, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.365, "left_y": -0.155, "left_z": 0.1}, "note": "The arm has not moved for two commands (targets being clamped), so I am issuing a smaller step: hold position and descend only 3 cm."})

tool

executing move_to over 3 steps (0.3s)

step 35

assistant

agent noteWrist view still shows the dark object ahead of the jaws; descending to 5 cm to get a close, high-resolution look before committing to a grasp.

move_to

left_x0.3650left_y-0.1550left_z0.0500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6426, 1.507, 0.8246, -0.1528, -0.5396, -0.4164, 0.9997, -0.0193, 0.7979, 0.6132, -0.3943, -0.0204, -0.0116, 0.9993] state[eef_state]: left_x=0.3607 left_y=-0.1521 left_z=0.1033 left_yaw=0.0203 left_pitch=-0.1218 left_roll=0.0853 left_gripper=0.9997 right_x=0.2942 right_y=0.0015 right_z=0.1802 right_yaw=-0.0024 right_pitch=-0.0217 right_roll=0.0005 right_gripper=0.9993 state[joint_eff]: [0.294, -6.2564, 6.3658, 1.7558, -0.1685, 0.1587, -0.0122, -0.335, -1.265, 7.0359, 1.7607, -0.0269, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.365, "left_y": -0.155, "left_z": 0.05}, "note": "Wrist view still shows the dark object ahead of the jaws; descending to 5 cm to get a close, high-resolution look before committing to a grasp."})

tool

executing move_to over 4 steps (0.4s)

step 39

assistant

agent noteI cannot tell from the wrist view whether I am looking at the pen or the cap, and the left arm occludes the table centre. Retracting the left arm up and back for a clean overhead view of both objects.

move_to

left_x0.2000left_y-0.0500left_z0.2500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6418, 1.6436, 0.7334, 0.0208, -0.5385, -0.4171, 0.9997, -0.0193, 0.7979, 0.6132, -0.3946, -0.0208, -0.012, 0.9993] state[eef_state]: left_x=0.358 left_y=-0.15 left_z=0.0466 left_yaw=0.0254 left_pitch=-0.1649 left_roll=0.1178 left_gripper=0.9997 right_x=0.2942 right_y=0.0016 right_z=0.1801 right_yaw=-0.0019 right_pitch=-0.0221 right_roll=0.0004 right_gripper=0.9993 state[joint_eff]: [-0.253, -7.5145, 5.7778, 1.7167, -0.2418, -0.0024, -0.0122, -0.0342, -1.2786, 7.0359, 1.7216, -0.0464, -0.0415, -0.0122] 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": {"left_x": 0.2, "left_y": -0.05, "left_z": 0.25}, "note": "I cannot tell from the wrist view whether I am looking at the pen or the cap, and the left arm occludes the table centre. Retracting the left arm up and back for a clean overhead view of both objects."})

tool

executing move_to over 14 steps (1.4s)

step 53

assistant

agent noteClean overhead view now shows two objects: the small pen cap at image (75,97) and the longer pen diagonally at (118-133,95-112). My earlier approach was too close to the base, so I am flying the left arm further out (x=0.45) above the cap.

move_to

left_x0.4500left_y-0.1800left_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]: [-0.7849, 0.8108, 1.0233, -1.1343, -0.5968, -0.5411, 0.9997, -0.0193, 0.8024, 0.6132, -0.3965, -0.0204, -0.012, 0.9993] state[eef_state]: left_x=0.2111 left_y=-0.0655 left_z=0.2416 left_yaw=-0.0052 left_pitch=-0.1516 left_roll=0.0807 left_gripper=0.9997 right_x=0.2942 right_y=0.0015 right_z=0.1785 right_yaw=-0.0022 right_pitch=-0.0286 right_roll=0.0003 right_gripper=0.9993 state[joint_eff]: [-0.2667, -0.4718, 8.1299, 1.2332, -0.4713, 0.0317, -0.0122, -0.1162, -1.6752, 7.1043, 1.7998, -0.0122, -0.0611, -0.0122] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.45, "left_y": -0.18, "left_z": 0.15}, "note": "Clean overhead view now shows two objects: the small pen cap at image (75,97) and the longer pen diagonally at (118-133,95-112). My earlier approach was too close to the base, so I am flying the left arm further out (x=0.45) above the cap."})

tool

executing move_to over 19 steps (1.9s)

step 72

assistant

agent noteThe cap now appears at (95,175) in the left wrist view, just short of and slightly left of the jaws. Advancing ~2.5 cm and 1.5 cm right while descending to ~7 cm for the final alignment check.

move_to

left_x0.4700left_y-0.1550left_z0.0700

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5491, 1.7615, 1.2739, -0.4095, -0.453, -0.3561, 0.9997, -0.0193, 0.8051, 0.6132, -0.4126, -0.0204, -0.012, 0.9993] state[eef_state]: left_x=0.4324 left_y=-0.1698 left_z=0.1307 left_yaw=0.0217 left_pitch=-0.2138 left_roll=0.1122 left_gripper=0.9997 right_x=0.2922 right_y=0.0016 right_z=0.1745 right_yaw=-0.0022 right_pitch=-0.0473 right_roll=0.0006 right_gripper=0.9993 state[joint_eff]: [0.5538, -9.4154, 9.6068, 1.536, -0.0611, 0.2418, -0.0122, -0.1709, -1.4838, 7.1179, 1.8291, -0.0171, -0.0464, -0.0122] camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.47, "left_y": -0.155, "left_z": 0.07}, "note": "The cap now appears at (95,175) in the left wrist view, just short of and slightly left of the jaws. Advancing ~2.5 cm and 1.5 cm right while descending to ~7 cm for the final alignment check."})

tool

executing move_to over 4 steps (0.4s)

step 76

assistant

agent noteThe cap is now centred between the jaws at the bottom of the wrist view. Descending to table level to surround it before closing.

move_to

left_x0.4585left_y-0.1490left_z0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4709, 1.9186, 1.2346, -0.2459, -0.4171, -0.3145, 0.9997, -0.0193, 0.8055, 0.6132, -0.4133, -0.0204, -0.012, 0.9993] state[eef_state]: left_x=0.4585 left_y=-0.1491 left_z=0.0664 left_yaw=0.0533 left_pitch=-0.2596 left_roll=0.1345 left_gripper=0.9997 right_x=0.2921 right_y=0.0016 right_z=0.1742 right_yaw=-0.0022 right_pitch=-0.0484 right_roll=0.0006 right_gripper=0.9993 state[joint_eff]: [-0.253, -11.1795, 6.5162, 1.536, -0.105, 0.0855, -0.0122, -0.0752, -1.306, 7.0085, 1.7167, -0.0171, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.4585, "left_y": -0.149, "left_z": 0.0}, "note": "The cap is now centred between the jaws at the bottom of the wrist view. Descending to table level to surround it before closing."})

tool

executing move_to over 5 steps (0.5s)

step 81

assistant

agent noteJaws are straddling the cap at table level; closing fully 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]: [-0.4679, 2.0289, 1.1393, -0.0532, -0.4137, -0.3202, 0.9993, -0.0193, 0.8055, 0.6132, -0.4129, -0.0208, -0.0116, 0.9993] state[eef_state]: left_x=0.4566 left_y=-0.1471 left_z=0.0088 left_yaw=0.0586 left_pitch=-0.2717 left_roll=0.1348 left_gripper=0.9993 right_x=0.2922 right_y=0.0016 right_z=0.1743 right_yaw=-0.0021 right_pitch=-0.0481 right_roll=0.0011 right_gripper=0.9993 state[joint_eff]: [-0.4034, -8.1299, 4.6701, 1.3895, -0.2369, 0.0952, -0.0464, -0.3214, -1.2513, 7.0085, 1.6728, -0.0317, -0.0464, -0.0122] camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0}, "note": "Jaws are straddling the cap at table level; closing fully to grasp it."})

tool

executing move_to over 10 steps (1.0s)

step 91

assistant

agent noteThe close was empty (gripper settled at 0.009), so I overshot or missed the cap. Opening, lifting to 6 cm and retracting 3 cm to bring the cap back into the wrist view.

move_to

left_gripper1.0000left_z0.0600left_x0.4300

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4679, 2.0441, 1.129, -0.0109, -0.4133, -0.3214, 0.0091, -0.0193, 0.8055, 0.6132, -0.4133, -0.0204, -0.012, 0.9993] state[eef_state]: left_x=0.459 left_y=-0.1484 left_z=0.0042 left_yaw=0.0567 left_pitch=-0.2573 left_roll=0.125 left_gripper=0.0091 right_x=0.2921 right_y=0.0016 right_z=0.1742 right_yaw=-0.0022 right_pitch=-0.0484 right_roll=0.0006 right_gripper=0.9993 state[joint_eff]: [-0.3077, -9.4564, 5.3538, 1.3797, -0.232, 0.0708, 0.6129, -0.1709, -1.265, 7.0496, 1.707, -0.0415, -0.0611, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 1, "left_z": 0.06, "left_x": 0.43}, "note": "The close was empty (gripper settled at 0.009), so I overshot or missed the cap. Opening, lifting to 6 cm and retracting 3 cm to bring the cap back into the wrist view."})

tool

executing move_to over 10 steps (1.0s)

step 101

assistant

agent noteAfter retracting, a small dark object (the cap) is visible at the bottom of the wrist view just left of the jaw column. Shifting 1.5 cm in +y to centre it and descending to table level.

move_to

left_y-0.1360left_z0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5003, 1.8812, 1.1038, -0.1745, -0.4183, -0.3565, 0.9956, -0.0193, 0.8055, 0.6132, -0.4133, -0.0204, -0.0116, 0.9993] state[eef_state]: left_x=0.4324 left_y=-0.1505 left_z=0.0458 left_yaw=0.0512 left_pitch=-0.275 left_roll=0.1179 left_gripper=0.9956 right_x=0.2921 right_y=0.0016 right_z=0.1742 right_yaw=-0.0024 right_pitch=-0.0484 right_roll=0.0009 right_gripper=0.9993 state[joint_eff]: [-0.6769, -11.8085, 5.8872, 1.2918, -0.4322, 0.0122, -0.1343, -0.3624, -1.306, 7.0222, 1.6923, -0.0269, -0.0171, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_y": -0.136, "left_z": 0.0}, "note": "After retracting, a small dark object (the cap) is visible at the bottom of the wrist view just left of the jaw column. Shifting 1.5 cm in +y to centre it and descending to table level."})

tool

executing move_to over 3 steps (0.3s)

step 104

assistant

agent noteA thin dark object sits right between the open jaws at the bottom of the wrist view; 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]: [-0.4736, 1.9408, 1.0206, -0.0509, -0.4091, -0.3454, 0.9963, -0.0193, 0.8055, 0.6132, -0.4133, -0.0204, -0.012, 0.9993] state[eef_state]: left_x=0.4276 left_y=-0.1362 left_z=0.008 left_yaw=0.0675 left_pitch=-0.296 left_roll=0.1291 left_gripper=0.9963 right_x=0.2921 right_y=0.0016 right_z=0.1742 right_yaw=-0.0022 right_pitch=-0.0484 right_roll=0.0006 right_gripper=0.9993 state[joint_eff]: [0.294, -9.4154, 5.7504, 1.5409, -0.1099, 0.4029, 0.0611, -0.3077, -1.306, 7.2, 1.6874, -0.0415, -0.0708, -0.0122] camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0}, "note": "A thin dark object sits right between the open jaws at the bottom of the wrist view; closing to grasp it."})

tool

executing move_to over 10 steps (1.0s)

step 114

assistant

agent noteSecond close was also empty (0.023) and the wrist view suggests I may have been aiming at a plank seam rather than the cap. Retracting the left arm high and clear for an unobstructed overhead look at where the cap actually is.

move_to

left_x0.2500left_y-0.0500left_z0.3000left_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]: [-0.4717, 1.9491, 1.0088, -0.0177, -0.4248, -0.3569, 0.0232, -0.0193, 0.8062, 0.6128, -0.4133, -0.0204, -0.012, 0.9993] state[eef_state]: left_x=0.4296 left_y=-0.1334 left_z=0.0059 left_yaw=0.086 left_pitch=-0.2774 left_roll=0.1257 left_gripper=0.0232 right_x=0.2921 right_y=0.0016 right_z=0.1738 right_yaw=-0.0022 right_pitch=-0.0496 right_roll=0.0006 right_gripper=0.9993 state[joint_eff]: [-0.1983, -10.0855, 6.8581, 0.906, 0.1294, 0.0708, 0.7643, -0.335, -1.1145, 7.2137, 1.6777, -0.0317, -0.0366, -0.0122] 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": {"left_x": 0.25, "left_y": -0.05, "left_z": 0.3, "left_gripper": 1}, "note": "Second close was also empty (0.023) and the wrist view suggests I may have been aiming at a plank seam rather than the cap. Retracting the left arm high and clear for an unobstructed overhead look at where the cap actually is."})

tool

executing move_to over 19 steps (1.9s)

step 133

assistant

agent noteClean top view: the cap is the short dark sliver at image (72,108), the pen the longer one at (127,103). My last grasp was ~2.5 cm to the +y side of the cap, so I am returning to x=0.425, y=-0.162 at 5 cm height.

move_to

left_x0.4250left_y-0.1620left_z0.0500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5144, 1.1301, 1.4117, -1.243, -0.4229, -0.4026, 0.9971, -0.0193, 0.8108, 0.6132, -0.4129, -0.0208, -0.012, 0.9993] state[eef_state]: left_x=0.2624 left_y=-0.0609 left_z=0.287 left_yaw=0.0679 left_pitch=-0.2782 left_roll=0.0947 left_gripper=0.9971 right_x=0.2925 right_y=0.0016 right_z=0.1728 right_yaw=-0.0019 right_pitch=-0.0534 right_roll=0.0009 right_gripper=0.9993 state[joint_eff]: [-0.759, -3.2479, 7.665, 1.2527, -0.5299, -0.0171, -0.0806, -0.1162, -1.4427, 7.0085, 1.6923, -0.0269, -0.0659, -0.0122] camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.425, "left_y": -0.162, "left_z": 0.05}, "note": "Clean top view: the cap is the short dark sliver at image (72,108), the pen the longer one at (127,103). My last grasp was ~2.5 cm to the +y side of the cap, so I am returning to x=0.425, y=-0.162 at 5 cm height."})

tool

executing move_to over 16 steps (1.6s)

step 149

assistant

agent noteWrist view shows the cap slanted at (95,165), slightly left of and short of the jaw column. Moving 2 cm in +y and 2 cm out while descending to table level.

move_to

left_x0.4200left_y-0.1260left_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]: [-0.5339, 1.8523, 1.0733, -0.3019, -0.4366, -0.4282, 0.9979, -0.0193, 0.8127, 0.6132, -0.4133, -0.0204, -0.012, 0.9993] state[eef_state]: left_x=0.3997 left_y=-0.1454 left_z=0.0332 left_yaw=0.0961 left_pitch=-0.3679 left_roll=0.1596 left_gripper=0.9979 right_x=0.2925 right_y=0.0016 right_z=0.1722 right_yaw=-0.0022 right_pitch=-0.0557 right_roll=0.0007 right_gripper=0.9993 state[joint_eff]: [-0.5538, -9.7026, 9.1692, 1.3309, -0.1734, -0.0024, 0.0659, -0.1709, -1.4838, 7.0085, 1.7411, -0.0415, -0.0659, -0.0122] camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.42, "left_y": -0.126, "left_z": 0.005}, "note": "Wrist view shows the cap slanted at (95,165), slightly left of and short of the jaw column. Moving 2 cm in +y and 2 cm out while descending to table level."})

tool

executing move_to over 2 steps (0.2s)

step 151

assistant

agent noteThe cap sits at the bottom of the wrist view but ~20 px left of the jaw midpoint; shifting a further 2.8 cm in +y at table level to centre it between the jaws.

move_to

left_y-0.1130left_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]: [-0.4999, 1.9038, 1.0725, -0.2111, -0.4175, -0.4038, 0.998, -0.0193, 0.8139, 0.6132, -0.4133, -0.0204, -0.012, 0.9993] state[eef_state]: left_x=0.4156 left_y=-0.1413 left_z=0.0211 left_yaw=0.0934 left_pitch=-0.3479 left_roll=0.1371 left_gripper=0.998 right_x=0.2926 right_y=0.0016 right_z=0.1719 right_yaw=-0.0022 right_pitch=-0.0568 right_roll=0.0008 right_gripper=0.9993 state[joint_eff]: [1.6889, -7.4051, 4.7521, 1.2625, -0.2955, 0.1685, -0.0073, -0.1709, -1.4291, 7.0222, 1.6728, -0.0122, -0.0806, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_y": -0.113, "left_z": 0.005}, "note": "The cap sits at the bottom of the wrist view but ~20 px left of the jaw midpoint; shifting a further 2.8 cm in +y at table level to centre it between the jaws."})

tool

executing move_to over 3 steps (0.3s)

step 154

assistant

agent noteThe cap has moved below the wrist camera's view, meaning it should now be directly between the fingertips; closing the gripper.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4549, 1.9327, 1.0607, -0.1783, -0.4103, -0.3794, 0.998, -0.0193, 0.8158, 0.6132, -0.4129, -0.0204, -0.012, 0.9993] state[eef_state]: left_x=0.4209 left_y=-0.1235 left_z=0.0087 left_yaw=0.1206 left_pitch=-0.3601 left_roll=0.152 left_gripper=0.998 right_x=0.2928 right_y=0.0016 right_z=0.1715 right_yaw=-0.0022 right_pitch=-0.0584 right_roll=0.0008 right_gripper=0.9993 state[joint_eff]: [-0.3624, -9.0188, 5.135, 1.2674, -0.1343, 0.1978, -0.0122, -0.1983, -1.5111, 7.1043, 1.7216, -0.0269, -0.0855, -0.0171] camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0}, "note": "The cap has moved below the wrist camera's view, meaning it should now be directly between the fingertips; closing the gripper."})

tool

executing move_to over 10 steps (1.0s)

step 164

assistant

agent noteThird empty close. Opening and lifting to 12 cm so the top camera can show both the fingertips and the cap, and the wrist camera can re-acquire it.

move_to

left_gripper1.0000left_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]: [-0.4545, 1.9327, 1.0599, -0.1833, -0.4103, -0.3759, 0.0091, -0.0193, 0.8158, 0.6132, -0.4133, -0.0204, -0.0116, 0.9993] state[eef_state]: left_x=0.4199 left_y=-0.1228 left_z=0.0079 left_yaw=0.1202 left_pitch=-0.3652 left_roll=0.1575 left_gripper=0.0091 right_x=0.2927 right_y=0.0016 right_z=0.1714 right_yaw=-0.0024 right_pitch=-0.0587 right_roll=0.0011 right_gripper=0.9993 state[joint_eff]: [-0.0752, -9.5521, 5.6, 1.2039, -0.1832, 0.0122, 0.5983, -0.253, -1.3744, 7.2137, 1.6728, -0.0171, -0.0366, -0.0122] camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 1, "left_z": 0.12}, "note": "Third empty close. Opening and lifting to 12 cm so the top camera can show both the fingertips and the cap, and the wrist camera can re-acquire it."})

tool

executing move_to over 10 steps (1.0s)

step 174

assistant

agent noteFrom 9 cm up the cap is clearly visible at (110,175), centred on the jaw column but still short of the jaw row, so it is further out than my last three grasp attempts. Advancing ~3 cm and descending to table level.

move_to

left_x0.4450left_y-0.1210left_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]: [-0.4541, 1.8027, 1.277, -0.5774, -0.4107, -0.3874, 0.9952, -0.0193, 0.8165, 0.6132, -0.4129, -0.0204, -0.012, 0.9993] state[eef_state]: left_x=0.4165 left_y=-0.1209 left_z=0.0909 left_yaw=0.1379 left_pitch=-0.4031 left_roll=0.1785 left_gripper=0.9952 right_x=0.2928 right_y=0.0016 right_z=0.1713 right_yaw=-0.0022 right_pitch=-0.0591 right_roll=0.0008 right_gripper=0.9993 state[joint_eff]: [-0.4171, -12.2188, 9.265, 1.0476, -0.2759, 0.0366, -0.1441, -0.1983, -1.4017, 7.0085, 1.6923, -0.0611, -0.0464, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.445, "left_y": -0.121, "left_z": 0.005}, "note": "From 9 cm up the cap is clearly visible at (110,175), centred on the jaw column but still short of the jaw row, so it is further out than my last three grasp attempts. Advancing ~3 cm and descending to table level."})

tool

executing move_to over 6 steps (0.6s)

step 180

assistant

agent noteThe cap is now visible right at the bottom centre between the jaws; closing to grasp.

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]: [-0.4263, 2.0003, 1.2125, -0.3466, -0.4076, -0.3805, 0.9963, -0.0193, 0.8185, 0.6128, -0.4137, -0.0208, -0.012, 0.9993] state[eef_state]: left_x=0.4342 left_y=-0.1163 left_z=0.0104 left_yaw=0.1672 left_pitch=-0.4313 left_roll=0.1993 left_gripper=0.9963 right_x=0.2928 right_y=0.0016 right_z=0.1704 right_yaw=-0.0019 right_pitch=-0.0622 right_roll=0.0011 right_gripper=0.9993 state[joint_eff]: [0.4034, -8.1436, 5.8735, 1.0232, -0.1343, 0.2466, 0.1099, -0.1846, -1.4427, 7.0496, 1.6679, -0.0269, -0.0806, -0.0122] approver: 1 step(s) modified (delta_clamped). 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": {"left_gripper": 0}, "note": "The cap is now visible right at the bottom centre between the jaws; closing to grasp."})

tool

executing move_to over 10 steps (1.0s)

step 190

assistant

agent noteFourth empty close and nothing appears in the jaws; I need to confirm whether the cap is still where I think it is. Pulling the left arm right back and up for a fully unobstructed overhead view.

move_to

left_x0.2000left_y-0.0200left_z0.3500left_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]: [-0.4255, 2.0113, 1.2121, -0.3531, -0.4103, -0.384, 0.0084, -0.0193, 0.8185, 0.6128, -0.4137, -0.0208, -0.012, 0.9993] state[eef_state]: left_x=0.4319 left_y=-0.1145 left_z=0.0051 left_yaw=0.1767 left_pitch=-0.4444 left_roll=0.2106 left_gripper=0.0084 right_x=0.2928 right_y=0.0016 right_z=0.1704 right_yaw=-0.0019 right_pitch=-0.0622 right_roll=0.0011 right_gripper=0.9993 state[joint_eff]: [-0.0479, -10.988, 5.6274, 1.0427, -0.1734, 0.0024, 0.5934, -0.0479, -1.347, 7.0085, 1.6728, -0.0415, -0.0562, -0.0122] 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": {"left_x": 0.2, "left_y": -0.02, "left_z": 0.35, "left_gripper": 1}, "note": "Fourth empty close and nothing appears in the jaws; I need to confirm whether the cap is still where I think it is. Pulling the left arm right back and up for a fully unobstructed overhead view."})

tool

executing move_to over 23 steps (2.3s)

step 213

assistant

agent noteTop view confirms the cap is still untouched at image (68,105). I notice the tool has drifted to pitch -0.45 / roll +0.20 rad, which tilts the fingers and probably explains four empty closes; re-approaching with pitch, roll and yaw explicitly commanded to zero.

move_to

left_x0.4300left_y-0.1200left_z0.0600left_yaw0.0000left_pitch0.0000left_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3229, 1.1831, 1.6104, -1.5604, -0.3725, -0.3267, 0.9979, -0.0193, 0.8223, 0.6132, -0.4133, -0.0208, -0.012, 0.9993] state[eef_state]: left_x=0.228 left_y=-0.0047 left_z=0.3002 left_yaw=0.2112 left_pitch=-0.4534 left_roll=0.2007 left_gripper=0.9979 right_x=0.2931 right_y=0.0016 right_z=0.1696 right_yaw=-0.0019 right_pitch=-0.0652 right_roll=0.0011 right_gripper=0.9993 state[joint_eff]: [0.4444, -3.2205, 7.5419, 0.9792, -0.1978, 0.2369, 0.0806, -0.1709, -1.6889, 7.0085, 1.6825, -0.0611, -0.0513, -0.0122] camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.43, "left_y": -0.12, "left_z": 0.06, "left_yaw": 0, "left_pitch": 0, "left_roll": 0}, "note": "Top view confirms the cap is still untouched at image (68,105). I notice the tool has drifted to pitch -0.45 / roll +0.20 rad, which tilts the fingers and probably explains four empty closes; re-approaching with pitch, roll and yaw explicitly commanded to zero."})

tool

executing move_to over 16 steps (1.6s)

step 229

assistant

agent noteWith the tool vertical the wrist camera looks further ahead and the cap has dropped out of view, so it is nearer the base than I assumed. Backing off to x=0.37 at 10 cm to re-acquire it in the wrist view.

move_to

left_x0.3700left_y-0.1200left_z0.1000left_pitch0.0000left_roll0.0000left_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]: [-0.4156, 1.7206, 0.741, 0.2142, -0.3721, -0.2771, 0.9984, -0.0193, 0.8272, 0.6132, -0.4149, -0.0204, -0.012, 0.9993] state[eef_state]: left_x=0.4071 left_y=-0.1055 left_z=0.0406 left_yaw=0.0369 left_pitch=-0.1322 left_roll=0.053 left_gripper=0.9984 right_x=0.2932 right_y=0.0015 right_z=0.168 right_yaw=-0.0022 right_pitch=-0.0717 right_roll=0.001 right_gripper=0.9993 state[joint_eff]: [-0.4308, -8.3761, 5.6547, 1.7607, -0.0562, 0.2271, 0.0415, -0.3624, -1.5932, 7.2137, 1.663, -0.0317, -0.0562, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.37, "left_y": -0.12, "left_z": 0.1, "left_pitch": 0, "left_roll": 0, "left_yaw": 0}, "note": "With the tool vertical the wrist camera looks further ahead and the cap has dropped out of view, so it is nearer the base than I assumed. Backing off to x=0.37 at 10 cm to re-acquire it in the wrist view."})

tool

executing move_to over 5 steps (0.5s)

step 234

assistant

agent noteThe wrist camera cannot see the cap and the arm hides it from the top camera, so I am stepping the gripper 8 cm toward the table centre to a spot where the top view shows both the jaws and the cap, enabling direct visual comparison.

move_to

left_x0.4200left_y-0.0400left_z0.1000left_pitch0.0000left_roll0.0000left_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]: [-0.5064, 1.4639, 0.6319, 0.2005, -0.4076, -0.2981, 0.9985, -0.0193, 0.833, 0.6128, -0.4133, -0.0208, -0.012, 0.9993] state[eef_state]: left_x=0.3757 left_y=-0.1242 left_z=0.0968 left_yaw=-0.018 left_pitch=-0.0021 left_roll=-0.0043 left_gripper=0.9985 right_x=0.2936 right_y=0.0016 right_z=0.1665 right_yaw=-0.0019 right_pitch=-0.0763 right_roll=0.0013 right_gripper=0.9993 state[joint_eff]: [-0.4718, -6.2974, 5.9966, 1.7216, -0.2027, -0.1734, -0.0073, -0.3487, -1.5521, 7.0359, 1.7363, -0.0464, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). 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": 0.42, "left_y": -0.04, "left_z": 0.1, "left_pitch": 0, "left_roll": 0, "left_yaw": 0}, "note": "The wrist camera cannot see the cap and the arm hides it from the top camera, so I am stepping the gripper 8 cm toward the table centre to a spot where the top view shows both the jaws and the cap, enabling direct visual comparison."})

tool

executing move_to over 8 steps (0.8s)

step 242

assistant

agent noteTop view now shows the cap as a small dark blob at image (62,100) about 10 cm to the arm's right of the gripper. Moving to x=0.44, y=-0.09 at 5 cm so the jaws sit just beside the cap without hiding it, to compare their depth in the top view.

move_to

left_x0.4400left_y-0.0900left_z0.0500left_pitch0.0000left_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1761, 1.5185, 0.643, 0.2207, -0.1894, -0.1467, 0.9985, -0.0193, 0.8333, 0.6128, -0.4156, -0.0208, -0.012, 0.9993] state[eef_state]: left_x=0.4028 left_y=-0.0342 left_z=0.0778 left_yaw=0.0513 left_pitch=-0.0705 left_roll=0.0058 left_gripper=0.9985 right_x=0.2933 right_y=0.0016 right_z=0.166 right_yaw=-0.0019 right_pitch=-0.079 right_roll=0.0014 right_gripper=0.9993 state[joint_eff]: [0.1162, -6.1333, 9.2376, 2.0586, 0.0952, 0.2173, -0.0122, -0.2256, -1.4838, 6.9949, 1.6923, -0.0366, -0.0757, -0.0122] camera 'top_cam' (step 242): [image omitted: streamed camera frame] camera 'left_cam' (step 242): [image omitted: streamed camera frame] camera 'right_cam' (step 242): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.44, "left_y": -0.09, "left_z": 0.05, "left_pitch": 0, "left_roll": 0}, "note": "Top view now shows the cap as a small dark blob at image (62,100) about 10 cm to the arm's right of the gripper. Moving to x=0.44, y=-0.09 at 5 cm so the jaws sit just beside the cap without hiding it, to compare their depth in the top view."})

tool

executing move_to over 5 steps (0.5s)

step 247

assistant

agent noteThe jaws are now sitting right where the cap appeared in the top view and are nearly at table level; closing to test for a grasp.

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]: [-0.3275, 1.7779, 0.6872, 0.3679, -0.2893, -0.2123, 0.9985, -0.0193, 0.8371, 0.6128, -0.4164, -0.0208, -0.012, 0.9993] state[eef_state]: left_x=0.4153 left_y=-0.0841 left_z=0.0226 left_yaw=0.0203 left_pitch=-0.1165 left_roll=0.0344 left_gripper=0.9985 right_x=0.2934 right_y=0.0016 right_z=0.1648 right_yaw=-0.0018 right_pitch=-0.0835 right_roll=0.0015 right_gripper=0.9993 state[joint_eff]: [-0.4581, -7.9385, 8.1299, 2.0147, -0.2711, -0.0952, -0.0122, -0.212, -1.7846, 6.9675, 1.6484, -0.0464, -0.0757, -0.0122] 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_gripper": 0}, "note": "The jaws are now sitting right where the cap appeared in the top view and are nearly at table level; closing to test for a grasp."})

tool

executing move_to over 10 steps (1.0s)

step 257

assistant

agent noteAnother empty close and the top view now shows only one object (the pen) — what I took for the cap was probably a shadow. Parking the left arm clear and bringing the right arm above the pen at image (120,100) to inspect it up close with the right wrist camera.

move_to

left_x0.2200left_y-0.0200left_z0.3000left_gripper1.0000right_x0.4000right_y0.2700right_z0.1300right_pitch0.0000right_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3363, 1.7966, 0.7044, 0.4168, -0.3313, -0.2379, 0.0078, -0.0193, 0.8375, 0.6128, -0.416, -0.0204, -0.012, 0.9993] state[eef_state]: left_x=0.4264 left_y=-0.0844 left_z=0.0314 left_yaw=0.0582 left_pitch=-0.0621 left_roll=0.0221 left_gripper=0.0078 right_x=0.2935 right_y=0.0015 right_z=0.1648 right_yaw=-0.0022 right_pitch=-0.0835 right_roll=0.0012 right_gripper=0.9993 state[joint_eff]: [-0.2393, -8.3077, 7.5145, 1.9902, -0.0317, 0.0366, 0.5397, -0.1846, -1.5111, 6.9675, 1.6581, -0.0317, -0.0806, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 257): [image omitted: streamed camera frame] camera 'left_cam' (step 257): [image omitted: streamed camera frame] camera 'right_cam' (step 257): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.22, "left_y": -0.02, "left_z": 0.3, "left_gripper": 1, "right_x": 0.4, "right_y": 0.27, "right_z": 0.13, "right_pitch": 0, "right_roll": 0}, "note": "Another empty close and the top view now shows only one object (the pen) \u2014 what I took for the cap was probably a shadow. Parking the left arm clear and bringing the right arm above the pen at image (120,100) to inspect it up close with the right wrist camera."})

tool

executing move_to over 23 steps (2.3s)

step 280

assistant

agent noteThe right wrist camera shows the pen lying straight down the jaw column with its tip visible — the pen is right under the fingertips. Descending to table level to grasp it; the cap is still visible as the small sliver at top-view (58,105).

move_to

right_z0.0050right_pitch0.0000right_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4179, 0.7746, 1.1336, -1.0424, -0.3744, -0.2962, 0.998, 0.8055, 1.7935, 1.1324, -0.1184, 0.6228, 0.4763, 0.9993] state[eef_state]: left_x=0.2302 left_y=-0.0276 left_z=0.291 left_yaw=0.0434 left_pitch=-0.0575 left_roll=0.0029 left_gripper=0.998 right_x=0.3907 right_y=0.2632 right_z=0.1164 right_yaw=0.0334 right_pitch=-0.0509 right_roll=-0.0395 right_gripper=0.9993 state[joint_eff]: [-0.3897, -0.2393, 8.3487, 1.4139, -0.3346, -0.022, -0.0269, 0.1846, -8.7726, 8.253, 1.6435, 0.5299, 0.2613, -0.0122] camera 'top_cam' (step 280): [image omitted: streamed camera frame] camera 'left_cam' (step 280): [image omitted: streamed camera frame] camera 'right_cam' (step 280): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.005, "right_pitch": 0, "right_roll": 0}, "note": "The right wrist camera shows the pen lying straight down the jaw column with its tip visible \u2014 the pen is right under the fingertips. Descending to table level to grasp it; the cap is still visible as the small sliver at top-view (58,105)."})

tool

executing move_to over 8 steps (0.8s)

step 288

assistant

agent noteAt table level the pen lies to the image-right of the jaws, i.e. about 3 cm to the arm's right; sliding the right arm -y by 3 cm to straddle the pen body.

move_to

right_y0.2290

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4194, 0.7784, 1.1316, -1.0634, -0.3851, -0.2981, 0.9985, 0.8104, 2.0403, 0.9226, 0.3534, 0.6369, 0.474, 0.9993] state[eef_state]: left_x=0.2281 left_y=-0.0251 left_z=0.2862 left_yaw=0.0523 left_pitch=-0.0782 left_roll=0.0196 left_gripper=0.9985 right_x=0.3863 right_y=0.2589 right_z=0.0068 right_yaw=0.0296 right_pitch=-0.0332 right_roll=-0.0377 right_gripper=0.9993 state[joint_eff]: [-0.1436, -0.0889, 5.9556, 1.7411, -0.0611, -0.0317, 0.0366, -0.294, -8.9778, 4.1641, 1.3065, -0.4029, 0.1392, -0.0171] camera 'top_cam' (step 288): [image omitted: streamed camera frame] camera 'left_cam' (step 288): [image omitted: streamed camera frame] camera 'right_cam' (step 288): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": 0.229}, "note": "At table level the pen lies to the image-right of the jaws, i.e. about 3 cm to the arm's right; sliding the right arm -y by 3 cm to straddle the pen body."})

tool

executing move_to over 3 steps (0.3s)

step 291

assistant

agent noteThe pen is now nearly on the jaw column but its near end is still ~2 cm to the arm's right; nudging -y again before closing.

move_to

right_y0.2120

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4198, 0.7803, 1.1301, -1.0664, -0.3855, -0.2981, 0.9985, 0.7658, 2.0144, 0.8356, 0.44, 0.6052, 0.4446, 0.9993] state[eef_state]: left_x=0.2279 left_y=-0.0251 left_z=0.2847 left_yaw=0.0525 left_pitch=-0.0839 left_roll=0.0227 left_gripper=0.9985 right_x=0.3855 right_y=0.2363 right_z=0.0021 right_yaw=0.0247 right_pitch=-0.0299 right_roll=-0.0289 right_gripper=0.9993 state[joint_eff]: [-0.253, 0.4581, 5.9282, 1.6288, -0.188, -0.0659, -0.0122, -0.5128, -11.0154, 4.547, 1.2576, 0.0708, -0.2027, -0.0122] camera 'top_cam' (step 291): [image omitted: streamed camera frame] camera 'left_cam' (step 291): [image omitted: streamed camera frame] camera 'right_cam' (step 291): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": 0.212}, "note": "The pen is now nearly on the jaw column but its near end is still ~2 cm to the arm's right; nudging -y again before closing."})

tool

executing move_to over 3 steps (0.3s)

step 294

assistant

agent noteLateral moves are being resisted at table level, so lifting to 3.5 cm while shifting a further 4 cm toward the pen (arm's right).

move_to

right_y0.1900right_z0.0350

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4194, 0.7807, 1.1271, -1.0737, -0.3862, -0.2981, 0.9985, 0.7475, 2.0056, 0.8162, 0.4606, 0.59, 0.4305, 0.9993] state[eef_state]: left_x=0.2269 left_y=-0.0244 left_z=0.2822 left_yaw=0.0539 left_pitch=-0.0932 left_roll=0.0281 left_gripper=0.9985 right_x=0.387 right_y=0.2296 right_z=0.0021 right_yaw=0.0256 right_pitch=-0.0295 right_roll=-0.0264 right_gripper=0.9993 state[joint_eff]: [-0.1846, 0.1983, 6.0239, 1.6435, -0.1929, -0.0757, -0.0122, -0.0342, -9.6615, 4.0547, 1.5751, 0.2271, -0.0659, -0.0122] camera 'top_cam' (step 294): [image omitted: streamed camera frame] camera 'left_cam' (step 294): [image omitted: streamed camera frame] camera 'right_cam' (step 294): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": 0.19, "right_z": 0.035}, "note": "Lateral moves are being resisted at table level, so lifting to 3.5 cm while shifting a further 4 cm toward the pen (arm's right)."})

tool

executing move_to over 4 steps (0.4s)

step 298

assistant

agent noteThe right arm has stopped tracking commands at table level; commanding a simple straight lift to 12 cm to free it before repositioning over the pen.

move_to

right_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]: [-0.4194, 0.7807, 1.1271, -1.0748, -0.3859, -0.2981, 0.9985, 0.7475, 2.0056, 0.8158, 0.4618, 0.59, 0.4305, 0.9993] state[eef_state]: left_x=0.2268 left_y=-0.0244 left_z=0.282 left_yaw=0.0536 left_pitch=-0.0943 left_roll=0.0284 left_gripper=0.9985 right_x=0.387 right_y=0.2297 right_z=0.0022 right_yaw=0.0256 right_pitch=-0.0289 right_roll=-0.0259 right_gripper=0.9993 state[joint_eff]: [-0.0615, 0.2667, 5.7915, 1.5995, -0.1734, -0.0366, -0.0122, -0.0479, -9.6479, 4.0957, 1.4676, 0.1587, -0.0757, -0.0171] camera 'top_cam' (step 298): [image omitted: streamed camera frame] camera 'left_cam' (step 298): [image omitted: streamed camera frame] camera 'right_cam' (step 298): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.12}, "note": "The right arm has stopped tracking commands at table level; commanding a simple straight lift to 12 cm to free it before repositioning over the pen."})

tool

executing move_to over 8 steps (0.8s)

step 306

assistant

agent noteFrom 13 cm the pen's tip sits at the bottom centre of the right wrist view, so the pen body lies under the jaws; descending back to table level for the grasp.

move_to

right_z0.0120

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4194, 0.7807, 1.1271, -1.0786, -0.3859, -0.2981, 0.9985, 0.7475, 1.6989, 0.9844, 0.1211, 0.58, 0.4301, 0.9993] state[eef_state]: left_x=0.2262 left_y=-0.0241 left_z=0.2813 left_yaw=0.0538 left_pitch=-0.0977 left_roll=0.0301 left_gripper=0.9985 right_x=0.3999 right_y=0.2436 right_z=0.137 right_yaw=0.0318 right_pitch=0.0685 right_roll=0.067 right_gripper=0.9993 state[joint_eff]: [-0.1709, 0.1846, 5.8462, 1.6044, -0.2173, -0.0317, -0.0122, -0.0615, -6.3111, 5.9009, 0.9841, 0.2662, -0.0073, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 306): [image omitted: streamed camera frame] camera 'left_cam' (step 306): [image omitted: streamed camera frame] camera 'right_cam' (step 306): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.012}, "note": "From 13 cm the pen's tip sits at the bottom centre of the right wrist view, so the pen body lies under the jaws; descending back to table level for the grasp."})

tool

executing move_to over 9 steps (0.9s)

step 315

assistant

agent noteThe pen lies exactly along the jaw column at table level; closing the right gripper onto the pen body (leaving 0.05 so I do not crush it).

move_to

right_gripper0.0500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4194, 0.7807, 1.1271, -1.0821, -0.3862, -0.2981, 0.9985, 0.7475, 2.0266, 0.8173, 0.5621, 0.5713, 0.4305, 0.9993] state[eef_state]: left_x=0.2257 left_y=-0.0239 left_z=0.2807 left_yaw=0.0543 left_pitch=-0.1007 left_roll=0.0319 left_gripper=0.9985 right_x=0.3951 right_y=0.2409 right_z=0.0094 right_yaw=0.0402 right_pitch=0.0244 right_roll=0.0361 right_gripper=0.9993 state[joint_eff]: [-0.0615, 0.294, 5.7778, 1.5507, -0.2173, -0.0659, -0.0122, -0.0068, -8.8684, 4.506, 1.7802, 0.2125, -0.0171, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 315): [image omitted: streamed camera frame] camera 'left_cam' (step 315): [image omitted: streamed camera frame] camera 'right_cam' (step 315): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.05}, "note": "The pen lies exactly along the jaw column at table level; closing the right gripper onto the pen body (leaving 0.05 so I do not crush it)."})

tool

executing move_to over 10 steps (1.0s)

step 325

assistant

agent noteGripper settled at 0.068 (≈6.5 mm, the pen's thickness) and the wrist view shows the pen clamped in the jaws. Lifting to 18 cm to confirm the pen comes with it.

move_to

right_z0.1800

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4194, 0.7807, 1.1271, -1.0824, -0.3859, -0.2981, 0.9985, 0.7475, 2.0453, 0.8116, 0.5785, 0.5716, 0.4229, 0.0676] state[eef_state]: left_x=0.2257 left_y=-0.0239 left_z=0.2806 left_yaw=0.054 left_pitch=-0.1011 left_roll=0.0319 left_gripper=0.9985 right_x=0.3939 right_y=0.2397 right_z=0.0024 right_yaw=0.044 right_pitch=0.0186 right_roll=0.0241 right_gripper=0.0676 state[joint_eff]: [-0.1573, 0.253, 5.9145, 1.5458, -0.1538, -0.0562, -0.0122, -0.212, -10.906, 5.2718, 1.4042, 0.1734, 0.0659, 0.7888] camera 'top_cam' (step 325): [image omitted: streamed camera frame] camera 'left_cam' (step 325): [image omitted: streamed camera frame] camera 'right_cam' (step 325): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.18}, "note": "Gripper settled at 0.068 (\u22486.5 mm, the pen's thickness) and the wrist view shows the pen clamped in the jaws. Lifting to 18 cm to confirm the pen comes with it."})

tool

executing move_to over 12 steps (1.2s)

step 337

assistant

agent notePen is now held by the right arm (gripper reads 0.072) and the table shows only the cap at top-view (62,103). Using the lifted pen's known position as a pixel reference, the cap should be near left (0.38,-0.18); moving there at 6 cm.

move_to

left_x0.3800left_y-0.1800left_z0.0600left_pitch0.0000left_roll0.0000left_yaw0.0000left_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]: [-0.4194, 0.7807, 1.1271, -1.0855, -0.3862, -0.2981, 0.9985, 0.7475, 1.6619, 1.0893, -0.1066, 0.5636, 0.4149, 0.0718] state[eef_state]: left_x=0.2252 left_y=-0.0236 left_z=0.2801 left_yaw=0.0544 left_pitch=-0.1037 left_roll=0.0335 left_gripper=0.9985 right_x=0.3941 right_y=0.2416 right_z=0.1549 right_yaw=0.0546 right_pitch=-0.0028 right_roll=0.0057 right_gripper=0.0718 state[joint_eff]: [-0.1983, 0.3624, 5.9829, 1.5849, -0.188, -0.0513, -0.0122, -0.3077, -10.5094, 8.9368, 1.6825, 0.2076, 0.0611, 1.033] camera 'top_cam' (step 337): [image omitted: streamed camera frame] camera 'left_cam' (step 337): [image omitted: streamed camera frame] camera 'right_cam' (step 337): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.38, "left_y": -0.18, "left_z": 0.06, "left_pitch": 0, "left_roll": 0, "left_yaw": 0, "left_gripper": 1}, "note": "Pen is now held by the right arm (gripper reads 0.072) and the table shows only the cap at top-view (62,103). Using the lifted pen's known position as a pixel reference, the cap should be near left (0.38,-0.18); moving there at 6 cm."})

tool

executing move_to over 15 steps (1.5s)

step 352

assistant

agent noteThe cap sits well to the image-left of the jaws; comparing with the earlier frame shows +y moves objects image-left, so the cap is near y = -0.125 and somewhat further out. Moving to (0.39, -0.125) at table level for a grasp attempt.

move_to

left_x0.3900left_y-0.1250left_z0.0100left_pitch0.0000left_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6704, 1.6859, 0.675, 0.1802, -0.5476, -0.4286, 0.9986, 0.7475, 1.6634, 1.0859, -0.1223, 0.5503, 0.4141, 0.0754] state[eef_state]: left_x=0.3574 left_y=-0.1614 left_z=0.0356 left_yaw=0.0046 left_pitch=-0.1139 left_roll=0.0777 left_gripper=0.9986 right_x=0.3914 right_y=0.2417 right_z=0.1494 right_yaw=0.0653 right_pitch=-0.0241 right_roll=-0.0015 right_gripper=0.0754 state[joint_eff]: [-0.4855, -8.7863, 8.2393, 1.8193, -0.315, 0.0415, -0.1538, -0.0205, -8.3077, 6.9402, 1.6532, 0.3053, -0.0659, 0.8181] camera 'top_cam' (step 352): [image omitted: streamed camera frame] camera 'left_cam' (step 352): [image omitted: streamed camera frame] camera 'right_cam' (step 352): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.39, "left_y": -0.125, "left_z": 0.01, "left_pitch": 0, "left_roll": 0}, "note": "The cap sits well to the image-left of the jaws; comparing with the earlier frame shows +y moves objects image-left, so the cap is near y = -0.125 and somewhat further out. Moving to (0.39, -0.125) at table level for a grasp attempt."})

tool

executing move_to over 4 steps (0.4s)

step 356

assistant

agent noteThe cap is now just left of the jaw column with its near end at the bottom of the wrist view; nudging 1.6 cm to the arm's right and 1.5 cm out so the jaws straddle its middle.

move_to

left_x0.3950left_y-0.1320left_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]: [-0.5068, 1.8244, 0.5594, 0.5426, -0.4637, -0.3523, 0.9985, 0.7475, 1.6638, 1.0843, -0.1238, 0.5449, 0.4141, 0.076] state[eef_state]: left_x=0.3797 left_y=-0.1163 left_z=0.0013 left_yaw=0.0571 left_pitch=-0.0624 left_roll=0.027 left_gripper=0.9985 right_x=0.3907 right_y=0.2422 right_z=0.148 right_yaw=0.0693 right_pitch=-0.029 right_roll=-0.001 right_gripper=0.076 state[joint_eff]: [-0.4444, -6.3658, 3.8359, 1.4725, 0.0024, 0.3053, -0.022, -0.0752, -8.0205, 6.9402, 1.5214, 0.2027, -0.0366, 0.5153] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 356): [image omitted: streamed camera frame] camera 'left_cam' (step 356): [image omitted: streamed camera frame] camera 'right_cam' (step 356): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.395, "left_y": -0.132, "left_z": 0.005}, "note": "The cap is now just left of the jaw column with its near end at the bottom of the wrist view; nudging 1.6 cm to the arm's right and 1.5 cm out so the jaws straddle its middle."})

tool

executing move_to over 2 steps (0.2s)

step 358

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5117, 1.8549, 0.5972, 0.5541, -0.4606, -0.3477, 0.9985, 0.7475, 1.6638, 1.0843, -0.1238, 0.5438, 0.4133, 0.0772] state[eef_state]: left_x=0.3896 left_y=-0.1247 left_z=0.0032 left_yaw=0.0468 left_pitch=-0.0477 left_roll=0.0191 left_gripper=0.9985 right_x=0.3906 right_y=0.2424 right_z=0.148 right_yaw=0.0706 right_pitch=-0.0294 right_roll=-0.001 right_gripper=0.0772 state[joint_eff]: [-0.5949, -7.0769, 6.8171, 1.7167, -0.2027, -0.0415, -0.0171, -0.1709, -8.1162, 6.653, 1.5263, 0.1392, -0.0464, 0.7497] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 358): [image omitted: streamed camera frame] camera 'left_cam' (step 358): [image omitted: streamed camera frame] camera 'right_cam' (step 358): [image omitted: streamed camera frame]

Trial 0 Wire

Tools (trial initial)

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

System (trial initial)

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

call 0 attempt 0 · /messages · status 200 · 18.17 s

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7921, 0.6018, -0.3805, -0.0216, -0.0246, 0.9998, -0.0174, 0.7902, 0.609, -0.3759, -0.0208, -0.012, 0.9993]\nstate[eef_state]: left_x=0.2943 left_y=0.0015 left_z=0.1794 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2956 right_y=0.0021 right_z=0.1842 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -1.4154, 10.5094, 1.7802, 0.0122, 0.0904, -0.0366, -0.6496, -1.1419, 9.853, 1.746, -0.0659, -0.0464, -0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e4826febccab7b63c4b67fc7cb36f4c027a06f7880b3006ff9fb001abaf6155",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a89ba94490f415e505bf99fa0dcdf43c690da83ca6f51f1db60e2bdaabee56ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:75da41955280f92df0c56910fa6acc63ef709e4096255570d40d7b57896b743b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /messages · status 200 · 19.08 s

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

message 1 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7921, 0.6018, -0.3805, -0.0216, -0.0246, 0.9998, -0.0174, 0.7902, 0.609, -0.3759, -0.0208, -0.012, 0.9993]\nstate[eef_state]: left_x=0.2943 left_y=0.0015 left_z=0.1794 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2956 right_y=0.0021 right_z=0.1842 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -1.4154, 10.5094, 1.7802, 0.0122, 0.0904, -0.0366, -0.6496, -1.1419, 9.853, 1.746, -0.0659, -0.0464, -0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e4826febccab7b63c4b67fc7cb36f4c027a06f7880b3006ff9fb001abaf6155",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a89ba94490f415e505bf99fa0dcdf43c690da83ca6f51f1db60e2bdaabee56ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75da41955280f92df0c56910fa6acc63ef709e4096255570d40d7b57896b743b",
        "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_01192VSxGcJdVrHfiazEGguo",
      "input": {
        "note": "Top view shows two small dark objects near the table centre: a short one left-of-centre (likely the cap) and a longer one right-of-centre (likely the pen). Moving the left arm above the left object to inspect it with the wrist camera.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.33,
          "left_y": -0.2,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01192VSxGcJdVrHfiazEGguo",
      "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]: [-0.8398, 1.4113, 0.8188, -0.2424, -0.6556, -0.5499, 0.9998, -0.0193, 0.7959, 0.6132, -0.3893, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.3205 left_y=-0.1907 left_z=0.13 left_yaw=-0.0211 left_pitch=-0.0582 left_roll=0.0429 left_gripper=0.9998 right_x=0.2948 right_y=0.0015 right_z=0.1817 right_yaw=-0.0022 right_pitch=-0.0149 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -5.8051, 9.6615, 1.5653, -0.486, 0.0366, -0.0366, 0.1436, -1.6479, 6.735, 1.8242, -0.0464, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdb420a85088a511406cd5742aefb5824c1b73fabf3e48970e4c106dbbc5f628",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83b8e0a1f8e2582125845cecd69ea748af7259adcda09b3ebafe2850c377e0cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6ad179c0211ca7d5a7614c4d5abe443bf5def5fdc9a2fdc91ae40124df39682e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /messages · status 200 · 11.41 s

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

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7921, 0.6018, -0.3805, -0.0216, -0.0246, 0.9998, -0.0174, 0.7902, 0.609, -0.3759, -0.0208, -0.012, 0.9993]\nstate[eef_state]: left_x=0.2943 left_y=0.0015 left_z=0.1794 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2956 right_y=0.0021 right_z=0.1842 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -1.4154, 10.5094, 1.7802, 0.0122, 0.0904, -0.0366, -0.6496, -1.1419, 9.853, 1.746, -0.0659, -0.0464, -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]: [-0.8398, 1.4113, 0.8188, -0.2424, -0.6556, -0.5499, 0.9998, -0.0193, 0.7959, 0.6132, -0.3893, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.3205 left_y=-0.1907 left_z=0.13 left_yaw=-0.0211 left_pitch=-0.0582 left_roll=0.0429 left_gripper=0.9998 right_x=0.2948 right_y=0.0015 right_z=0.1817 right_yaw=-0.0022 right_pitch=-0.0149 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -5.8051, 9.6615, 1.5653, -0.486, 0.0366, -0.0366, 0.1436, -1.6479, 6.735, 1.8242, -0.0464, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdb420a85088a511406cd5742aefb5824c1b73fabf3e48970e4c106dbbc5f628",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83b8e0a1f8e2582125845cecd69ea748af7259adcda09b3ebafe2850c377e0cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ad179c0211ca7d5a7614c4d5abe443bf5def5fdc9a2fdc91ae40124df39682e",
        "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_01KZ3wrXAY8mceBFMBvfBhkF",
      "input": {
        "note": "Left wrist view shows the pen cap at image (85,115), left of the jaw column and well above the jaw row, meaning it is further out and slightly to the arm's left. Advancing ~4 cm radially and 2 cm in +y to bring it under the fingertips.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.17,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01KZ3wrXAY8mceBFMBvfBhkF",
      "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]: [-0.6724, 1.462, 0.8776, -0.2455, -0.569, -0.4599, 0.9997, -0.0193, 0.7971, 0.6132, -0.3912, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.3561 left_y=-0.1573 left_z=0.1279 left_yaw=0.0354 left_pitch=-0.1019 left_roll=0.0649 left_gripper=0.9997 right_x=0.2946 right_y=0.0015 right_z=0.181 right_yaw=-0.0022 right_pitch=-0.0179 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [-0.0068, -5.9692, 9.7026, 1.6825, -0.1685, 0.2466, -0.0171, -0.2667, -1.347, 7.2957, 1.7216, -0.0366, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ec4a9963e43660847ea527d28a70fa3547c25b81e3aee1c119dc8a5c3997df4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ef114c6ff9ef56833fdb3ed8798f7ed5429048855f7e72bf1da0e42e39dc307",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d15777d4b32111c183db0dc1802cc1c62ed9d0d0ef263ec65a1637591b751422",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /messages · status 200 · 11.35 s

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

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7921, 0.6018, -0.3805, -0.0216, -0.0246, 0.9998, -0.0174, 0.7902, 0.609, -0.3759, -0.0208, -0.012, 0.9993]\nstate[eef_state]: left_x=0.2943 left_y=0.0015 left_z=0.1794 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2956 right_y=0.0021 right_z=0.1842 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -1.4154, 10.5094, 1.7802, 0.0122, 0.0904, -0.0366, -0.6496, -1.1419, 9.853, 1.746, -0.0659, -0.0464, -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]: [-0.8398, 1.4113, 0.8188, -0.2424, -0.6556, -0.5499, 0.9998, -0.0193, 0.7959, 0.6132, -0.3893, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.3205 left_y=-0.1907 left_z=0.13 left_yaw=-0.0211 left_pitch=-0.0582 left_roll=0.0429 left_gripper=0.9998 right_x=0.2948 right_y=0.0015 right_z=0.1817 right_yaw=-0.0022 right_pitch=-0.0149 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -5.8051, 9.6615, 1.5653, -0.486, 0.0366, -0.0366, 0.1436, -1.6479, 6.735, 1.8242, -0.0464, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6724, 1.462, 0.8776, -0.2455, -0.569, -0.4599, 0.9997, -0.0193, 0.7971, 0.6132, -0.3912, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.3561 left_y=-0.1573 left_z=0.1279 left_yaw=0.0354 left_pitch=-0.1019 left_roll=0.0649 left_gripper=0.9997 right_x=0.2946 right_y=0.0015 right_z=0.181 right_yaw=-0.0022 right_pitch=-0.0179 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [-0.0068, -5.9692, 9.7026, 1.6825, -0.1685, 0.2466, -0.0171, -0.2667, -1.347, 7.2957, 1.7216, -0.0366, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ec4a9963e43660847ea527d28a70fa3547c25b81e3aee1c119dc8a5c3997df4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ef114c6ff9ef56833fdb3ed8798f7ed5429048855f7e72bf1da0e42e39dc307",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d15777d4b32111c183db0dc1802cc1c62ed9d0d0ef263ec65a1637591b751422",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS3gsKjgEIEhgCKkCsATmsO9xq0bwmfYQEC5DcXMbTuoL/xKLfjSzuaQfmG73TgydrMfPy7nO+VkIKGSxwuLZEfpobbJxfHeKO1FD3Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbOizNUGEgwPP596wGXEyyZYEicaDBGfrs0sdGgH4P7w8iIwlreIvlE0xQXJxNiNeHWm0q1sAgIwdcz70pnmDV1g13GOMkovB1Df+b76fkkEp1o2KvwJPPlekV7U1Go6jkRS+7kD8PmIEb+wHraFSLiBj9c+KylJ6sMY6qpEU1WqwVaN4tI/BkpYTWHf4fmA0LPyFnx5Bur5p+AtxMB/EZlaRB+9+vtO0A+GQ7A28itpf0MDCDC3dcNoWU0tyx7xg6mW+OLmDkvNXF2bAmXOCv5tfBQjtDEmrhVzA41ymSjUrcie2YMSLBD+PG1zevk/LFqrtjI4aSi0D9r5xoo6tbcs4XZe3Vzlcb7UZglmwIl9YzcJvW2bNy2DZvd0pOLjTvUtl07fPg2GZ5QJbigIVa9urueKskZPjUXPiOQUvD/fwh/yOYbvwJtboWJeqg7iCbnIl++z3CHuZ92fLARVTN1pFspEoQ7o+uMvl5eE86I3RIUnAQZ+Y2Z/qA8qIIRInQq0Ofqbr29E5B0hjDmp5YPP5NdDfGTLKxrLugCHMFT74KcHdeatK3gLpyAWighc1LhDJ1R1ahNqNcGP7f+xAL3LL5SV7vj8Tvb6ELxttVx688++3MwZsaGizwrpP1MVWglrduYXcGyNi9EHrcrt8RZcKAIWsw2TGl8UVI7sM3P+1C9nF2x1GYgAN4FwYfcusNki/ax/gjIngRmQ6vlY3EdvLF55puL8WQ/7zIVEJ5DqDbVKSsdW+8nBrY42dstRSYifga/TAo7BIzkAHVIuLKJkuyQnBOsrhhi8jd3zYLJRoC8V58sKw2Rp1Zba3DxwLGTMs90C2ItROYNmneRLQvRL40eg9IjhK2sYEP6TANeIni88S04S6+6eLD+czE2wTjRSpNUHnry5MFYZkReJwUEY3N+nwHvtOnsuZf5I6DWc8b+bchnJzyALV4vq7UBiXSfHrs5xHDEjaGHx2kl4EFvKzLn52dOW4AgP1W8mivhii78+GwiyIFzlBslgwbxhMyljJJ6Vf6uhFvE7FqCZx/3LLx0c9V1qblMhCMEJED/5AE4UQ6Sk2qjFJlGdv5uFW94Fn1MbbgNd4v9khwFld0TuaFj6E2hKdSDQXT/jSkLd01Ou/I7f81a8/5JAlNM0EZmns/qupV+QZQ1tDqXUAyiRIdiFWclo1kfSDNtqw3FFUAm6jXXMHxaQ3FuxgqrGvbqIz/O3ZR9W9/62NK/l+h/Vzv1syDdD74RUll5OKt1HFAnXsNGUUU23Qh3nBQud6uMy4Q2fOHwlX6k7IwllXLWMM54uVxKuDo5bK+aNkfAGkh2ElsSa3NyqrBTMgS2u0Vf1wjn8EqPOiJ7KUNtMQ2kas9LnwXPxQabcgGIAh7RIz4ZR66epK7euml5vXN8EimIhrw9tJe+uQI1xLhPaqqjvEsODMyzFIi9XY3Y6Sd9A37nL08iYaIXZavVTUdeTJH/6Hg+vGaa+8qySxpHZt8a9IZxUifMVM9B15Kz6QSFZ4Qo9ejFSqUnCfjzdY2PTm5U1NIssZj3y+zC9NOkcCjfn5eeCNZE9/X3aunXuqwZBT85UBq6fNmciihfE4yAVg5H0JEKnpe89Fh4ah7q8fVutqFY2fTS78YgBeL3rD2EfkyU8QL6HukeYi1hFQV90pIOUMuHJ/jEKKRI1OGYYmSxxYxEXVhYO6awv8aPOo1VhHZBDU7NIgxjUhZgZ/4l36hUQhjoUe+iDDlBWnGLp54SBRCLfZJsH0x+9yfx391AhX1yAA7P5iKeOYnONbU/QqKRDvKRAzKdCWJSNXi7KBHXQIxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01W8i1cPR5q8QbGwHXY5v9xA",
      "input": {
        "note": "The cap now sits at image (100,130), close to the jaw column. Nudging 2.5 cm further out and 1 cm in +y while descending to 6 cm to get a closer look before the final descent.",
        "targets": {
          "left_x": 0.385,
          "left_y": -0.147,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01W8i1cPR5q8QbGwHXY5v9xA",
      "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]: [-0.6575, 1.4673, 0.8974, -0.2432, -0.5415, -0.4168, 0.9997, -0.0193, 0.7979, 0.6132, -0.3908, -0.0208, -0.012, 0.9993]\nstate[eef_state]: left_x=0.3615 left_y=-0.1595 left_z=0.1322 left_yaw=0.0055 left_pitch=-0.1034 left_roll=0.0724 left_gripper=0.9997 right_x=0.2947 right_y=0.0016 right_z=0.1809 right_yaw=-0.0019 right_pitch=-0.0183 right_roll=0.0003 right_gripper=0.9993\nstate[joint_eff]: [-0.5402, -6.5299, 9.1419, 1.7216, -0.1441, 0.1636, -0.0122, -0.2256, -1.2103, 7.159, 1.7802, -0.0415, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7db084fb86eef99d495116b694dbee74217ac0e0d724dff036e59219680de0bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ae8a04d0ac45e6cc5e37830f69515f0ba131d9f49f4390ef8f50d27112b465c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8436228a7ba3b85380d55ed65605e0b873957c9582a6fc5ab4bc9f337438a32c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /messages · status 200 · 5.382 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]: [-0.8398, 1.4113, 0.8188, -0.2424, -0.6556, -0.5499, 0.9998, -0.0193, 0.7959, 0.6132, -0.3893, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.3205 left_y=-0.1907 left_z=0.13 left_yaw=-0.0211 left_pitch=-0.0582 left_roll=0.0429 left_gripper=0.9998 right_x=0.2948 right_y=0.0015 right_z=0.1817 right_yaw=-0.0022 right_pitch=-0.0149 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -5.8051, 9.6615, 1.5653, -0.486, 0.0366, -0.0366, 0.1436, -1.6479, 6.735, 1.8242, -0.0464, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6724, 1.462, 0.8776, -0.2455, -0.569, -0.4599, 0.9997, -0.0193, 0.7971, 0.6132, -0.3912, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.3561 left_y=-0.1573 left_z=0.1279 left_yaw=0.0354 left_pitch=-0.1019 left_roll=0.0649 left_gripper=0.9997 right_x=0.2946 right_y=0.0015 right_z=0.181 right_yaw=-0.0022 right_pitch=-0.0179 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [-0.0068, -5.9692, 9.7026, 1.6825, -0.1685, 0.2466, -0.0171, -0.2667, -1.347, 7.2957, 1.7216, -0.0366, -0.0317, -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]: [-0.6575, 1.4673, 0.8974, -0.2432, -0.5415, -0.4168, 0.9997, -0.0193, 0.7979, 0.6132, -0.3908, -0.0208, -0.012, 0.9993]\nstate[eef_state]: left_x=0.3615 left_y=-0.1595 left_z=0.1322 left_yaw=0.0055 left_pitch=-0.1034 left_roll=0.0724 left_gripper=0.9997 right_x=0.2947 right_y=0.0016 right_z=0.1809 right_yaw=-0.0019 right_pitch=-0.0183 right_roll=0.0003 right_gripper=0.9993\nstate[joint_eff]: [-0.5402, -6.5299, 9.1419, 1.7216, -0.1441, 0.1636, -0.0122, -0.2256, -1.2103, 7.159, 1.7802, -0.0415, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7db084fb86eef99d495116b694dbee74217ac0e0d724dff036e59219680de0bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ae8a04d0ac45e6cc5e37830f69515f0ba131d9f49f4390ef8f50d27112b465c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8436228a7ba3b85380d55ed65605e0b873957c9582a6fc5ab4bc9f337438a32c",
        "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_01QFeCryqQ5bUaCBkB7mCT8g",
      "input": {
        "note": "The previous step was clamped and the arm barely moved. Re-commanding the same approach pose, descending to 7 cm above the cap.",
        "targets": {
          "left_x": 0.385,
          "left_y": -0.147,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01QFeCryqQ5bUaCBkB7mCT8g",
      "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]: [-0.6575, 1.4673, 0.8974, -0.2428, -0.5419, -0.4164, 0.9997, -0.0193, 0.7979, 0.6132, -0.3935, -0.0208, -0.012, 0.9993]\nstate[eef_state]: left_x=0.3616 left_y=-0.1595 left_z=0.1323 left_yaw=0.0055 left_pitch=-0.103 left_roll=0.0727 left_gripper=0.9997 right_x=0.2943 right_y=0.0016 right_z=0.1803 right_yaw=-0.0019 right_pitch=-0.021 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.4444, -6.5162, 9.1419, 1.7411, -0.1538, 0.1832, -0.0122, -0.3214, -1.0872, 7.2821, 1.7802, -0.0317, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:caf99452323473975215239e24c169a825fa9d2250d5f807239dad44f0f6b335",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb3e668d690da0ed36a312596347018e4532be97a7e5c801fe67a39b4bf8cb83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:65fcf791352f98636cf9156ad4ab9588d6c928099fc67034a07561bcabd8639b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /messages · status 200 · 10.57 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]: [-0.6724, 1.462, 0.8776, -0.2455, -0.569, -0.4599, 0.9997, -0.0193, 0.7971, 0.6132, -0.3912, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.3561 left_y=-0.1573 left_z=0.1279 left_yaw=0.0354 left_pitch=-0.1019 left_roll=0.0649 left_gripper=0.9997 right_x=0.2946 right_y=0.0015 right_z=0.181 right_yaw=-0.0022 right_pitch=-0.0179 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [-0.0068, -5.9692, 9.7026, 1.6825, -0.1685, 0.2466, -0.0171, -0.2667, -1.347, 7.2957, 1.7216, -0.0366, -0.0317, -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]: [-0.6575, 1.4673, 0.8974, -0.2432, -0.5415, -0.4168, 0.9997, -0.0193, 0.7979, 0.6132, -0.3908, -0.0208, -0.012, 0.9993]\nstate[eef_state]: left_x=0.3615 left_y=-0.1595 left_z=0.1322 left_yaw=0.0055 left_pitch=-0.1034 left_roll=0.0724 left_gripper=0.9997 right_x=0.2947 right_y=0.0016 right_z=0.1809 right_yaw=-0.0019 right_pitch=-0.0183 right_roll=0.0003 right_gripper=0.9993\nstate[joint_eff]: [-0.5402, -6.5299, 9.1419, 1.7216, -0.1441, 0.1636, -0.0122, -0.2256, -1.2103, 7.159, 1.7802, -0.0415, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.6575, 1.4673, 0.8974, -0.2428, -0.5419, -0.4164, 0.9997, -0.0193, 0.7979, 0.6132, -0.3935, -0.0208, -0.012, 0.9993]\nstate[eef_state]: left_x=0.3616 left_y=-0.1595 left_z=0.1323 left_yaw=0.0055 left_pitch=-0.103 left_roll=0.0727 left_gripper=0.9997 right_x=0.2943 right_y=0.0016 right_z=0.1803 right_yaw=-0.0019 right_pitch=-0.021 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.4444, -6.5162, 9.1419, 1.7411, -0.1538, 0.1832, -0.0122, -0.3214, -1.0872, 7.2821, 1.7802, -0.0317, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:caf99452323473975215239e24c169a825fa9d2250d5f807239dad44f0f6b335",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb3e668d690da0ed36a312596347018e4532be97a7e5c801fe67a39b4bf8cb83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65fcf791352f98636cf9156ad4ab9588d6c928099fc67034a07561bcabd8639b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISvgQKjgEIEhgCKkCYkTV05OMFFl6HrA7EfzAytX5U7O+ThnXho7z0WyU7oIvzUCAbNULLqBHMIYhRT9+ZabdoznAwiwx6D9iVOjocMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcWizNUGEgwW485W5a3Q0hYVbJwaDKfy8fdFm5V+1/a6iSIwx1J3n7tmO2mmlFpTqGIIejWyhertddgkG69vRgcGw5zj1BYD/Jey1cz+3KvsY9kQKtwC25yroCkdN7TpU1BOThoXAfZWGhPAdNPnL+MD6CKqofu6X5jezDN3qn44J0/XS5B34dx9cwcDZyCeuA5VW6LxfzFC7WW6WpH9ySUcS91SzLFTahk2CM400BEg0DeK7oJaLRHkn5wLJxKmndGszghpvvwn3PgFzPPZwg8Z2kFqC65XQXUSwerLkkxHYgz9qa/MX4eit1vL2qygfccYcv9FUXflPMZvvqewZWRAiFkGcGxANYVPb+Qe60drftfvIfpbEF03/FkGBm8snadmwzDXdOyTjv2tEDTtNHMbJWQz0hUNfmq5Y7wuFcnqfI66wx78Imu5Gr2i/aZPI5qMovnkHHOt0T6NYnPhNb45E6G9w21/5mI4xgU76cFf25OGivQf5HwCO3vl4FtEywHU86DzSBuZy8YhHGnumWuphlp+moggc/TJsyzIJ77YkFxzBxpJYgJO9QPmhddsegiIGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014Gm2J5K7VzJskQNBiM5BPC",
      "input": {
        "note": "The arm has not moved for two commands (targets being clamped), so I am issuing a smaller step: hold position and descend only 3 cm.",
        "targets": {
          "left_x": 0.365,
          "left_y": -0.155,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_014Gm2J5K7VzJskQNBiM5BPC",
      "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]: [-0.6426, 1.507, 0.8246, -0.1528, -0.5396, -0.4164, 0.9997, -0.0193, 0.7979, 0.6132, -0.3943, -0.0204, -0.0116, 0.9993]\nstate[eef_state]: left_x=0.3607 left_y=-0.1521 left_z=0.1033 left_yaw=0.0203 left_pitch=-0.1218 left_roll=0.0853 left_gripper=0.9997 right_x=0.2942 right_y=0.0015 right_z=0.1802 right_yaw=-0.0024 right_pitch=-0.0217 right_roll=0.0005 right_gripper=0.9993\nstate[joint_eff]: [0.294, -6.2564, 6.3658, 1.7558, -0.1685, 0.1587, -0.0122, -0.335, -1.265, 7.0359, 1.7607, -0.0269, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd2f7556a5e927803106e278c05c1856dec5233f62f1df2401d6bc062a89501c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df01e337f496e5c1df85a23021689ed40633502538562f216bf80a84f7373a2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9456c242f30ef35542d72badbb029a0977c8012cc384747656cd3f7f256b8d52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /messages · status 200 · 9.757 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]: [-0.6575, 1.4673, 0.8974, -0.2432, -0.5415, -0.4168, 0.9997, -0.0193, 0.7979, 0.6132, -0.3908, -0.0208, -0.012, 0.9993]\nstate[eef_state]: left_x=0.3615 left_y=-0.1595 left_z=0.1322 left_yaw=0.0055 left_pitch=-0.1034 left_roll=0.0724 left_gripper=0.9997 right_x=0.2947 right_y=0.0016 right_z=0.1809 right_yaw=-0.0019 right_pitch=-0.0183 right_roll=0.0003 right_gripper=0.9993\nstate[joint_eff]: [-0.5402, -6.5299, 9.1419, 1.7216, -0.1441, 0.1636, -0.0122, -0.2256, -1.2103, 7.159, 1.7802, -0.0415, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.6575, 1.4673, 0.8974, -0.2428, -0.5419, -0.4164, 0.9997, -0.0193, 0.7979, 0.6132, -0.3935, -0.0208, -0.012, 0.9993]\nstate[eef_state]: left_x=0.3616 left_y=-0.1595 left_z=0.1323 left_yaw=0.0055 left_pitch=-0.103 left_roll=0.0727 left_gripper=0.9997 right_x=0.2943 right_y=0.0016 right_z=0.1803 right_yaw=-0.0019 right_pitch=-0.021 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.4444, -6.5162, 9.1419, 1.7411, -0.1538, 0.1832, -0.0122, -0.3214, -1.0872, 7.2821, 1.7802, -0.0317, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.6426, 1.507, 0.8246, -0.1528, -0.5396, -0.4164, 0.9997, -0.0193, 0.7979, 0.6132, -0.3943, -0.0204, -0.0116, 0.9993]\nstate[eef_state]: left_x=0.3607 left_y=-0.1521 left_z=0.1033 left_yaw=0.0203 left_pitch=-0.1218 left_roll=0.0853 left_gripper=0.9997 right_x=0.2942 right_y=0.0015 right_z=0.1802 right_yaw=-0.0024 right_pitch=-0.0217 right_roll=0.0005 right_gripper=0.9993\nstate[joint_eff]: [0.294, -6.2564, 6.3658, 1.7558, -0.1685, 0.1587, -0.0122, -0.335, -1.265, 7.0359, 1.7607, -0.0269, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd2f7556a5e927803106e278c05c1856dec5233f62f1df2401d6bc062a89501c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df01e337f496e5c1df85a23021689ed40633502538562f216bf80a84f7373a2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9456c242f30ef35542d72badbb029a0977c8012cc384747656cd3f7f256b8d52",
        "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_01EVjJyrNcK3LuEkaFV3Nwtr",
      "input": {
        "note": "Wrist view still shows the dark object ahead of the jaws; descending to 5 cm to get a close, high-resolution look before committing to a grasp.",
        "targets": {
          "left_x": 0.365,
          "left_y": -0.155,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01EVjJyrNcK3LuEkaFV3Nwtr",
      "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]: [-0.6418, 1.6436, 0.7334, 0.0208, -0.5385, -0.4171, 0.9997, -0.0193, 0.7979, 0.6132, -0.3946, -0.0208, -0.012, 0.9993]\nstate[eef_state]: left_x=0.358 left_y=-0.15 left_z=0.0466 left_yaw=0.0254 left_pitch=-0.1649 left_roll=0.1178 left_gripper=0.9997 right_x=0.2942 right_y=0.0016 right_z=0.1801 right_yaw=-0.0019 right_pitch=-0.0221 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -7.5145, 5.7778, 1.7167, -0.2418, -0.0024, -0.0122, -0.0342, -1.2786, 7.0359, 1.7216, -0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34cdca02e6487d77855ac986cd548099cb30ac6eb78dc7daa06fbbf5ba6c50ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6017439184fb2873b7e73d03c1f8bb213588ee9313a34afcd04483569a628bce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e7dea9a0ed3fa19553190a5af8956881f2fab78a47d7a343093bfc2bd9bd4ea7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /messages · status 200 · 11.59 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]: [-0.6575, 1.4673, 0.8974, -0.2428, -0.5419, -0.4164, 0.9997, -0.0193, 0.7979, 0.6132, -0.3935, -0.0208, -0.012, 0.9993]\nstate[eef_state]: left_x=0.3616 left_y=-0.1595 left_z=0.1323 left_yaw=0.0055 left_pitch=-0.103 left_roll=0.0727 left_gripper=0.9997 right_x=0.2943 right_y=0.0016 right_z=0.1803 right_yaw=-0.0019 right_pitch=-0.021 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.4444, -6.5162, 9.1419, 1.7411, -0.1538, 0.1832, -0.0122, -0.3214, -1.0872, 7.2821, 1.7802, -0.0317, -0.0611, -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]: [-0.6426, 1.507, 0.8246, -0.1528, -0.5396, -0.4164, 0.9997, -0.0193, 0.7979, 0.6132, -0.3943, -0.0204, -0.0116, 0.9993]\nstate[eef_state]: left_x=0.3607 left_y=-0.1521 left_z=0.1033 left_yaw=0.0203 left_pitch=-0.1218 left_roll=0.0853 left_gripper=0.9997 right_x=0.2942 right_y=0.0015 right_z=0.1802 right_yaw=-0.0024 right_pitch=-0.0217 right_roll=0.0005 right_gripper=0.9993\nstate[joint_eff]: [0.294, -6.2564, 6.3658, 1.7558, -0.1685, 0.1587, -0.0122, -0.335, -1.265, 7.0359, 1.7607, -0.0269, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.6418, 1.6436, 0.7334, 0.0208, -0.5385, -0.4171, 0.9997, -0.0193, 0.7979, 0.6132, -0.3946, -0.0208, -0.012, 0.9993]\nstate[eef_state]: left_x=0.358 left_y=-0.15 left_z=0.0466 left_yaw=0.0254 left_pitch=-0.1649 left_roll=0.1178 left_gripper=0.9997 right_x=0.2942 right_y=0.0016 right_z=0.1801 right_yaw=-0.0019 right_pitch=-0.0221 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -7.5145, 5.7778, 1.7167, -0.2418, -0.0024, -0.0122, -0.0342, -1.2786, 7.0359, 1.7216, -0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34cdca02e6487d77855ac986cd548099cb30ac6eb78dc7daa06fbbf5ba6c50ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6017439184fb2873b7e73d03c1f8bb213588ee9313a34afcd04483569a628bce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7dea9a0ed3fa19553190a5af8956881f2fab78a47d7a343093bfc2bd9bd4ea7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS9AoKjgEIEhgCKkDvM0YOX4dTEK9EgnXmhyUHz793xDU5+iE+IH5rDzaMajQPOMuKHW23JEfNh/eRqBclaTM0ls1HXOOIZDbd5AN6Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdqizNUGEgylNWs8k9jC+GtQqwgaDFxz+MV4CZu7X1tMJSIwmzwGxbUjGnYrGsq7HgLYUsot+tIeiwqMPjdVqVv+rBOEAGkyxx/V1KB2pX4mGEP4KpIJVYoQvod3ZqX7r3aZT06QRJJzv5LKvCgIgtwU2O6v8ffnPgZPJM1QmM2yuIZ+APCBk1bImuGOLZSJ3joNi1jXQdVYZrO6RFs0awHlE/byJ9xgMglQRdHeJd7Ud5fxhoUkJdS/nwPHN+DE3DkjRAt9emg/rHiYJgKMYydxCHRBM7ksQCrhbtZ/tGxkVaWsu7njvpkt4XtKkrWRmDrOVknZxvc+kaGWz/8QMULpwpNs2R0B5lyY03XdAEQKNxNk3Dg2vpS7iV/H76h0SSmGUwR2KSRLq/JrapWecJfls09hF41rRtYDbW+jYJK2o4LP50yWxqCesSi7oBbdi05vKqYa5tV/NYvzfXzX6LBRw0PpvOhAgm/QrzQsnbSL83/K6hmwpt9eHVsobX1sVzwOgaQ0sxq4WXTYfIFRBp0Trju4vWhj32CSrJcsrEsikPoVqd81ibpm0/z+UKnn29svp9QRq2AmnsigIBJKAaN+b0fSfbxICgsXOU8gwXwAR8eERmDPW7DXEohW58zzUvsKWwe3tf9mh7XG+b6qq96y3eqpFeV4fVCW8Vtxm3CqvxUHNvI8QxeYbm9K8gH8wku5i7kUgcCBPPqEgJi04fbldOk6u4Uyi8h2Aje5De0NzBYzhuN7V260FubugR0A3O6LAKOE7FYOL1HvvRXT7hkvoBZG6JyK6uEA0OiBox3ytK64YWchuyz/7TQnz/Bp0hRYM0D+feDDOM78dAeg4aiptekDJ8UF59RfNnWSuWnn8IEyQO19/6RUQXbkCwMbSinC+YoQuuFlES4Y2IXc3zcFR1PXD6XquhJY2w3AvKZkLvgrsaUyleRCrh8oaEigjt6HQR8P9/+Q8AVEKhDA+tbOUbqyhVqrXSHEpPIU01PzHfi1yWF1sAn8K7dVouHKmfhtpUmcZdfJTr/8/1pxlyHbL+QMxJMRdD82jjuar7N1bRDGhPPy7/rYiicpQIdTPc606zusc/j00SJ9dycWEp15qGufSQV/9ay7a0i3zc6bm/4CFjZUY21HZL0b31xPxjHHIFWZ9Ho2gR6INBc7iN6UXeLNsS3X0tjJRtqBo5OlN7rXdnBsV/43JSIvLYpOS9vV/4o5WJDV4ifassjB2Cc0wTr9dfxWNiGwPCkjqhOVuuSmiBM8HOjerNPMAc0MkTU1jJ7gXoGvLZaO2WjupStir9fidIg92BgBT15g1cFJsHz3lQLlh0URdaieiNCpyul14Gpe3Qva5Lk3JINQgyFe4JTxVzuVYyBzLFfQT/ygMO7aTqJ/eeD5do+K9nu/fPDS3l7g5V5MVtSqnMHEYvyUHXiB8EW//efGJ3jMLEEXSGRNxeav3w4MJKez40ut+APu/OFkyXXTRiZZ55T4gvRm0BBqOdhvaaO6cDCTXxQRPhjXylQ4Gv5Of4cEDveeTeu0HDlKs2WL2AfAVis9cxVZoBtUHhCcTGnBOOQ52+uvL3C2WDx3uU7P/Fvsj+lNT9isoDSj6vnKzlJE4/BRXs1U7m5BosYXqWUpf7MVlrITueuHAKZQzkM6UgVML6SgUTIc38J41HwEGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016Bhs3XkXxpmvA1LgFqH1mb",
      "input": {
        "note": "I cannot tell from the wrist view whether I am looking at the pen or the cap, and the left arm occludes the table centre. Retracting the left arm up and back for a clean overhead view of both objects.",
        "targets": {
          "left_x": 0.2,
          "left_y": -0.05,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_016Bhs3XkXxpmvA1LgFqH1mb",
      "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]: [-0.7849, 0.8108, 1.0233, -1.1343, -0.5968, -0.5411, 0.9997, -0.0193, 0.8024, 0.6132, -0.3965, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.2111 left_y=-0.0655 left_z=0.2416 left_yaw=-0.0052 left_pitch=-0.1516 left_roll=0.0807 left_gripper=0.9997 right_x=0.2942 right_y=0.0015 right_z=0.1785 right_yaw=-0.0022 right_pitch=-0.0286 right_roll=0.0003 right_gripper=0.9993\nstate[joint_eff]: [-0.2667, -0.4718, 8.1299, 1.2332, -0.4713, 0.0317, -0.0122, -0.1162, -1.6752, 7.1043, 1.7998, -0.0122, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5d4131b7bd6c6595ccd836960fc616b887fb82c46653bc9ce6b7b1bbc19bc72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e11f30364f738b208ded220c55e2dbca5b2a4f73237896597fa688c9fb6952e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:af4b29bbf717800a19d1f64c3bac2452370663bae501afe109203e078298aac7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /messages · status 200 · 11.01 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]: [-0.6426, 1.507, 0.8246, -0.1528, -0.5396, -0.4164, 0.9997, -0.0193, 0.7979, 0.6132, -0.3943, -0.0204, -0.0116, 0.9993]\nstate[eef_state]: left_x=0.3607 left_y=-0.1521 left_z=0.1033 left_yaw=0.0203 left_pitch=-0.1218 left_roll=0.0853 left_gripper=0.9997 right_x=0.2942 right_y=0.0015 right_z=0.1802 right_yaw=-0.0024 right_pitch=-0.0217 right_roll=0.0005 right_gripper=0.9993\nstate[joint_eff]: [0.294, -6.2564, 6.3658, 1.7558, -0.1685, 0.1587, -0.0122, -0.335, -1.265, 7.0359, 1.7607, -0.0269, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6418, 1.6436, 0.7334, 0.0208, -0.5385, -0.4171, 0.9997, -0.0193, 0.7979, 0.6132, -0.3946, -0.0208, -0.012, 0.9993]\nstate[eef_state]: left_x=0.358 left_y=-0.15 left_z=0.0466 left_yaw=0.0254 left_pitch=-0.1649 left_roll=0.1178 left_gripper=0.9997 right_x=0.2942 right_y=0.0016 right_z=0.1801 right_yaw=-0.0019 right_pitch=-0.0221 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -7.5145, 5.7778, 1.7167, -0.2418, -0.0024, -0.0122, -0.0342, -1.2786, 7.0359, 1.7216, -0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7849, 0.8108, 1.0233, -1.1343, -0.5968, -0.5411, 0.9997, -0.0193, 0.8024, 0.6132, -0.3965, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.2111 left_y=-0.0655 left_z=0.2416 left_yaw=-0.0052 left_pitch=-0.1516 left_roll=0.0807 left_gripper=0.9997 right_x=0.2942 right_y=0.0015 right_z=0.1785 right_yaw=-0.0022 right_pitch=-0.0286 right_roll=0.0003 right_gripper=0.9993\nstate[joint_eff]: [-0.2667, -0.4718, 8.1299, 1.2332, -0.4713, 0.0317, -0.0122, -0.1162, -1.6752, 7.1043, 1.7998, -0.0122, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5d4131b7bd6c6595ccd836960fc616b887fb82c46653bc9ce6b7b1bbc19bc72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e11f30364f738b208ded220c55e2dbca5b2a4f73237896597fa688c9fb6952e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af4b29bbf717800a19d1f64c3bac2452370663bae501afe109203e078298aac7",
        "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_01DgcoznLgSRgVnmN35twVUC",
      "input": {
        "note": "Clean overhead view now shows two objects: the small pen cap at image (75,97) and the longer pen diagonally at (118-133,95-112). My earlier approach was too close to the base, so I am flying the left arm further out (x=0.45) above the cap.",
        "targets": {
          "left_x": 0.45,
          "left_y": -0.18,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01DgcoznLgSRgVnmN35twVUC",
      "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]: [-0.5491, 1.7615, 1.2739, -0.4095, -0.453, -0.3561, 0.9997, -0.0193, 0.8051, 0.6132, -0.4126, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4324 left_y=-0.1698 left_z=0.1307 left_yaw=0.0217 left_pitch=-0.2138 left_roll=0.1122 left_gripper=0.9997 right_x=0.2922 right_y=0.0016 right_z=0.1745 right_yaw=-0.0022 right_pitch=-0.0473 right_roll=0.0006 right_gripper=0.9993\nstate[joint_eff]: [0.5538, -9.4154, 9.6068, 1.536, -0.0611, 0.2418, -0.0122, -0.1709, -1.4838, 7.1179, 1.8291, -0.0171, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46a971d822d9bf8a98a94f240d0ced0b04ac5d03004080b9665411d668226ac8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d2ffac82d9ea430c5c80ad916ab00ff1325d02cf1ad0ea2695f633c2b8e38f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4c69a683bb7c96997d9286267533f2e5dd7a8d3cd179badd937aeb093e8f04de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /messages · status 200 · 6.101 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]: [-0.6418, 1.6436, 0.7334, 0.0208, -0.5385, -0.4171, 0.9997, -0.0193, 0.7979, 0.6132, -0.3946, -0.0208, -0.012, 0.9993]\nstate[eef_state]: left_x=0.358 left_y=-0.15 left_z=0.0466 left_yaw=0.0254 left_pitch=-0.1649 left_roll=0.1178 left_gripper=0.9997 right_x=0.2942 right_y=0.0016 right_z=0.1801 right_yaw=-0.0019 right_pitch=-0.0221 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -7.5145, 5.7778, 1.7167, -0.2418, -0.0024, -0.0122, -0.0342, -1.2786, 7.0359, 1.7216, -0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7849, 0.8108, 1.0233, -1.1343, -0.5968, -0.5411, 0.9997, -0.0193, 0.8024, 0.6132, -0.3965, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.2111 left_y=-0.0655 left_z=0.2416 left_yaw=-0.0052 left_pitch=-0.1516 left_roll=0.0807 left_gripper=0.9997 right_x=0.2942 right_y=0.0015 right_z=0.1785 right_yaw=-0.0022 right_pitch=-0.0286 right_roll=0.0003 right_gripper=0.9993\nstate[joint_eff]: [-0.2667, -0.4718, 8.1299, 1.2332, -0.4713, 0.0317, -0.0122, -0.1162, -1.6752, 7.1043, 1.7998, -0.0122, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5491, 1.7615, 1.2739, -0.4095, -0.453, -0.3561, 0.9997, -0.0193, 0.8051, 0.6132, -0.4126, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4324 left_y=-0.1698 left_z=0.1307 left_yaw=0.0217 left_pitch=-0.2138 left_roll=0.1122 left_gripper=0.9997 right_x=0.2922 right_y=0.0016 right_z=0.1745 right_yaw=-0.0022 right_pitch=-0.0473 right_roll=0.0006 right_gripper=0.9993\nstate[joint_eff]: [0.5538, -9.4154, 9.6068, 1.536, -0.0611, 0.2418, -0.0122, -0.1709, -1.4838, 7.1179, 1.8291, -0.0171, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46a971d822d9bf8a98a94f240d0ced0b04ac5d03004080b9665411d668226ac8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d2ffac82d9ea430c5c80ad916ab00ff1325d02cf1ad0ea2695f633c2b8e38f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c69a683bb7c96997d9286267533f2e5dd7a8d3cd179badd937aeb093e8f04de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS6wkKjgEIEhgCKkCUa7mRAgf/dV0XTPJrrWFI34HlgzynwKMsJJ+T6rtelkl0twpTK3VYYX9k8Ke9zfB1Mq60pu91o6vh35/o9o4VMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfOizNUGEgwL0Hz2RvqasoamOPIaDIUpznQNswZerQ759yIwC9G7vNOlk5RpMfmQn/TVTfRe07HIQtALltqPHio1QQRmm+cNp4hiP+ClWjWrl/hjKokI5UxoiKSl25R5xrz0uERLQFIfwirgSjj3U+XPL1T2QEkcDXkkg3TOlAxwknXiWynt99FG6GehcN8PEX4ZYa/stzMJc+YUt9R30XrTsmAvOA6T1XablR2oM9vq3iQ/evE02kbYUiKaLvbb7RnuLoVgQSXrTGMwMZLc/VBAgEisTgkNHg9zUZ0/+HlBkQmxGn+JbRjeFkqp98HtnkUabkmq0GaPgETLV/xSDUWZC/T5l8nTcLwsqg04YqCc0R2iuA6V1mw2Eu8drH3BL9eoiyKrBWCUyconmZcSx2bnYuIM86YxeBfwrwHCJTF0TTFNPAHYwOKzNjAjA9frnDF1+HADNcX6eAEqXCobu8CUhrsV50Ra1frHRoZtqbkdTIe+SjL+6+ejr2iC42QRusdDFlqdmTHjRjessfJz6dFzeopwXJdVEtxzSe/eWNXbs8XF+4eOq8ncdDP4HWvo8u3+rP0c32RMN7BO4ltgwTBGmrLUfhUJh3r4O6sQJxe28e342CnoMUvcyIt0SOcudB3TDRJWvuQgprHwa3XXmoRxWALUBZKbgG0odhGESuqUJ737g9zy9mHbRnkpmSIlf9zG+7c3CBCLLRA/udkwLYJ9UDd6ObbuczwD+XyEz9zynMGRAtsD6jy53I6PXIUIt6p5DU786YiiT683q6HUR4KMUv6retetUh98kkP1EMcEtuJ3RuwxXPpymPNPhdR6WPS0Tvd92xJC1LkwtCR/6+EsHJgfQL34oBiFuRtkpkyUMqWp5NJJZc90MuGBjAoxNlZm5HjFRqjzZIpDzHCgTcUf4INcrbIp2rQdVi1Dtuck5AnS/eELFxpN3k358reTzTuI94Lv7lZb8NuKD+58390rZG4UGZA3T9Os+tmQno1P1PIqeDb62gWhJG0ZW8LBcyHg5GQN2Nx2OQJW3rRTgCWvm9mzdfLOmhO3L42DtFgb2OgEs2pMvHbmAdQuOnvfBMFJt74Sdl0ilSvXKCJx3HbSoo7YHVqVvFe2hBS28KvaHDqkQzvuOyEDzA1pjWS7Ct7jdkyBlFnNpcQRXz2cnte0BboOerb4o8ZC013Pi3G22j1OrDf5Lh2niWyTgdBdBMlygW8YFX0/c3XG7wZJAW1V/po7EoP4Gcz5W61zFlNovUQqCc0MxxeS19U4irMJWdMKrspSm70t53kwjl7p+sSGIYXXkMECctu6jfYsBWrh5AY6yy+sTMSBzoCWZz8n9jJ/6/uZwc24FhqZvyfOK+k49DxdyjsUly+UacupAmXDmf94Dz2SwHHjlBKlc6ck+ihea8Sug7SgVnMRzdc7PuIU0V+4PuJs4a7OE4p3Ko2QuirYVhFCnoduRbojNm7ersxULYaGkfJryBl0O7QkwhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RE2E7hH3H4FWF4GYaC8qCm",
      "input": {
        "note": "The cap now appears at (95,175) in the left wrist view, just short of and slightly left of the jaws. Advancing ~2.5 cm and 1.5 cm right while descending to ~7 cm for the final alignment check.",
        "targets": {
          "left_x": 0.47,
          "left_y": -0.155,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01RE2E7hH3H4FWF4GYaC8qCm",
      "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]: [-0.4709, 1.9186, 1.2346, -0.2459, -0.4171, -0.3145, 0.9997, -0.0193, 0.8055, 0.6132, -0.4133, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4585 left_y=-0.1491 left_z=0.0664 left_yaw=0.0533 left_pitch=-0.2596 left_roll=0.1345 left_gripper=0.9997 right_x=0.2921 right_y=0.0016 right_z=0.1742 right_yaw=-0.0022 right_pitch=-0.0484 right_roll=0.0006 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -11.1795, 6.5162, 1.536, -0.105, 0.0855, -0.0122, -0.0752, -1.306, 7.0085, 1.7167, -0.0171, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44a85d7bfc5884f024e523c306c7b9dea8a8a9feeb42fca7259b0680fd395baa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:150ad732a3506344ecf9cf6c2737f7bdb4bfb0673fb3ac8eaa8320c49a224609",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:130381630977d840f3a03ebe2afe606e10d46f45b14743be6ad085738d0c1657",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /messages · status 200 · 4.41 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]: [-0.7849, 0.8108, 1.0233, -1.1343, -0.5968, -0.5411, 0.9997, -0.0193, 0.8024, 0.6132, -0.3965, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.2111 left_y=-0.0655 left_z=0.2416 left_yaw=-0.0052 left_pitch=-0.1516 left_roll=0.0807 left_gripper=0.9997 right_x=0.2942 right_y=0.0015 right_z=0.1785 right_yaw=-0.0022 right_pitch=-0.0286 right_roll=0.0003 right_gripper=0.9993\nstate[joint_eff]: [-0.2667, -0.4718, 8.1299, 1.2332, -0.4713, 0.0317, -0.0122, -0.1162, -1.6752, 7.1043, 1.7998, -0.0122, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5491, 1.7615, 1.2739, -0.4095, -0.453, -0.3561, 0.9997, -0.0193, 0.8051, 0.6132, -0.4126, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4324 left_y=-0.1698 left_z=0.1307 left_yaw=0.0217 left_pitch=-0.2138 left_roll=0.1122 left_gripper=0.9997 right_x=0.2922 right_y=0.0016 right_z=0.1745 right_yaw=-0.0022 right_pitch=-0.0473 right_roll=0.0006 right_gripper=0.9993\nstate[joint_eff]: [0.5538, -9.4154, 9.6068, 1.536, -0.0611, 0.2418, -0.0122, -0.1709, -1.4838, 7.1179, 1.8291, -0.0171, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4709, 1.9186, 1.2346, -0.2459, -0.4171, -0.3145, 0.9997, -0.0193, 0.8055, 0.6132, -0.4133, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4585 left_y=-0.1491 left_z=0.0664 left_yaw=0.0533 left_pitch=-0.2596 left_roll=0.1345 left_gripper=0.9997 right_x=0.2921 right_y=0.0016 right_z=0.1742 right_yaw=-0.0022 right_pitch=-0.0484 right_roll=0.0006 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -11.1795, 6.5162, 1.536, -0.105, 0.0855, -0.0122, -0.0752, -1.306, 7.0085, 1.7167, -0.0171, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44a85d7bfc5884f024e523c306c7b9dea8a8a9feeb42fca7259b0680fd395baa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:150ad732a3506344ecf9cf6c2737f7bdb4bfb0673fb3ac8eaa8320c49a224609",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:130381630977d840f3a03ebe2afe606e10d46f45b14743be6ad085738d0c1657",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS9gUKjgEIEhgCKkD0HmSxid9eifwnfzhx4KrGhiUDD4fcmVBPAYp2KnpJG842iMQU5KdMvgPqAc7zoJ35MUdIa1PaFxpbt+90GfACMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfuizNUGEgyk6gKILaUG6Qk3qqIaDLCwniGhLImz0h8dTyIwlLQf7Kbb/M1sLj/cYeCYEos+UCcCZhoGGxyZi+Q5bN4nO7UxQouw2ZWn0OcFz56HKpQEUAma7Vbye9TpfiUzOs+w0PBk3jII4bRCxvXqBIXjfjB/OIFm/3gibwEvB/rk79/Cu+n9qD9rD6x69J8uIIGGCAkWt+mLbiEYrOBL4D7A7J36Hkhy6zxaUjCN+y2CDDm1ymGQB6wz9eOknTD6rcEH6XpaG0sLljorweWLSNP9CHe4U/cvMbfCF4tK0UrG6aCFvv5X6U+CuLEnBS3xKmqlhUUQpNIAGNu3FGbmimmqvq8j+JitbJCuMS7mDwnmqCOI2CbxmjrDO9PXdyoPp00Ox0c7erp/oxlCxvB09r8jj5/KA8RSH+HQ7Q9Pu3hFGvyfPyghDu4jtq3ZALD3IbpPPGfgcTOvWserrfVOIWuCiNaJRmO0sTrf/UQG4JF1zlAdq1C8v5Ed1owqmjtLsBOFZuVSifctyuKnoupU0fhG3YfptTI6OXk5110S4YtUdHMtbXajEwpCOFGRkif6OUrIxYjpBOxOqrdPY5dRcXl9x9cPL4Lv8tJEsBIE23TY5an7WUYVdbQRhTWmZv1gPwV9vGnDw1NQ2kARB6sDwQP7rpb1X9rRqBFNHGCP4xUJMWabO7HPiBfLTZNaPTrTdbSh81qQljfMClWDZK532xDVuxzwW8nwLDeaVD4ThQ8kvR0zz4PrSPDNlIY6EfFrB8Ch9SAH35DdpecD24USjNAPDqTh7296aV3Od4GRvZLUEjOJYIkcvBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TVuR2jjDbbZvNJ5H37oVMa",
      "input": {
        "note": "The cap is now centred between the jaws at the bottom of the wrist view. Descending to table level to surround it before closing.",
        "targets": {
          "left_x": 0.4585,
          "left_y": -0.149,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01TVuR2jjDbbZvNJ5H37oVMa",
      "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]: [-0.4679, 2.0289, 1.1393, -0.0532, -0.4137, -0.3202, 0.9993, -0.0193, 0.8055, 0.6132, -0.4129, -0.0208, -0.0116, 0.9993]\nstate[eef_state]: left_x=0.4566 left_y=-0.1471 left_z=0.0088 left_yaw=0.0586 left_pitch=-0.2717 left_roll=0.1348 left_gripper=0.9993 right_x=0.2922 right_y=0.0016 right_z=0.1743 right_yaw=-0.0021 right_pitch=-0.0481 right_roll=0.0011 right_gripper=0.9993\nstate[joint_eff]: [-0.4034, -8.1299, 4.6701, 1.3895, -0.2369, 0.0952, -0.0464, -0.3214, -1.2513, 7.0085, 1.6728, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:808c705f59cbf18a43a4efc45288e120cfbe204cd06c580799d7589d6e1a2d19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:364d1606c5fc4f0d4fb268a05773cecbe1364e56697093aaf61a41cf6b359670",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5df6c1cf4e36fc6629ccdcaeed8cf3984d690a6b92f48b0a35b61844bade07da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /messages · status 200 · 8.227 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]: [-0.5491, 1.7615, 1.2739, -0.4095, -0.453, -0.3561, 0.9997, -0.0193, 0.8051, 0.6132, -0.4126, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4324 left_y=-0.1698 left_z=0.1307 left_yaw=0.0217 left_pitch=-0.2138 left_roll=0.1122 left_gripper=0.9997 right_x=0.2922 right_y=0.0016 right_z=0.1745 right_yaw=-0.0022 right_pitch=-0.0473 right_roll=0.0006 right_gripper=0.9993\nstate[joint_eff]: [0.5538, -9.4154, 9.6068, 1.536, -0.0611, 0.2418, -0.0122, -0.1709, -1.4838, 7.1179, 1.8291, -0.0171, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4709, 1.9186, 1.2346, -0.2459, -0.4171, -0.3145, 0.9997, -0.0193, 0.8055, 0.6132, -0.4133, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4585 left_y=-0.1491 left_z=0.0664 left_yaw=0.0533 left_pitch=-0.2596 left_roll=0.1345 left_gripper=0.9997 right_x=0.2921 right_y=0.0016 right_z=0.1742 right_yaw=-0.0022 right_pitch=-0.0484 right_roll=0.0006 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -11.1795, 6.5162, 1.536, -0.105, 0.0855, -0.0122, -0.0752, -1.306, 7.0085, 1.7167, -0.0171, -0.0464, -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 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]: [-0.4679, 2.0289, 1.1393, -0.0532, -0.4137, -0.3202, 0.9993, -0.0193, 0.8055, 0.6132, -0.4129, -0.0208, -0.0116, 0.9993]\nstate[eef_state]: left_x=0.4566 left_y=-0.1471 left_z=0.0088 left_yaw=0.0586 left_pitch=-0.2717 left_roll=0.1348 left_gripper=0.9993 right_x=0.2922 right_y=0.0016 right_z=0.1743 right_yaw=-0.0021 right_pitch=-0.0481 right_roll=0.0011 right_gripper=0.9993\nstate[joint_eff]: [-0.4034, -8.1299, 4.6701, 1.3895, -0.2369, 0.0952, -0.0464, -0.3214, -1.2513, 7.0085, 1.6728, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:808c705f59cbf18a43a4efc45288e120cfbe204cd06c580799d7589d6e1a2d19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:364d1606c5fc4f0d4fb268a05773cecbe1364e56697093aaf61a41cf6b359670",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5df6c1cf4e36fc6629ccdcaeed8cf3984d690a6b92f48b0a35b61844bade07da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISsQQKjgEIEhgCKkBFtj50c3fiBIWRnEVq0H586Up0YAfdtUJTeXSEiu5l7RgB+3cnLHezLWNmYyQtE1h2n9tkGQ6xf54ywHG/TN/kMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYCjzNUGEgzqVZRN9q5aj4LRY8AaDO1/YLz2n8yp7S/m1SIwHKxJi6uJsz9UeMmaRckomtJ6SdQvhwzeWxUZMG9+B/p92/xqZKv0PnnV+csP54l5Ks8Ct2Lygzsfu6ZQdkfNTOHtVqoYiKmP8p/JsYWKL+xbJBpFsv6XvkXwSMVQC4u32HS0d8/HdC+lIyA1Kw/P32UzCZ+qvaESM1sk9WXYDfwUpSe4q2dsE5NuuKmvjuxYd/NdR6WsYVmWxscmOuzguc+L2YgqzbF6EYxO8Iv7lENiZuciVMreqJXxu4j7drr6/RLalQTyjmARecKxLf/zG5AysGpFyP+j/lfi7+aMoGS3M1/3iiSbaqgsaxl/AjM3ABZfHI10b54+8vuonCwvY0Lmi3qT7NGB9jsmWYdrYnVoixHu6x0c7+/Dth7qwNEoU+z0UNdbjQkfyjgFrAllaf5iSEVb3nA8IQ8EruCOVOJwCaUMQdsdMspac+kTqgXUNOnXyZn3xvpUcpkSxjHNTFc4Z5mSOVNgalBCZLuEGGyHh2sOvBC/R+I//hJFp9jPvdUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CPE3agCBVqEPymRLTMTwy3",
      "input": {
        "note": "Jaws are straddling the cap at table level; closing fully to grasp it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01CPE3agCBVqEPymRLTMTwy3",
      "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]: [-0.4679, 2.0441, 1.129, -0.0109, -0.4133, -0.3214, 0.0091, -0.0193, 0.8055, 0.6132, -0.4133, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.459 left_y=-0.1484 left_z=0.0042 left_yaw=0.0567 left_pitch=-0.2573 left_roll=0.125 left_gripper=0.0091 right_x=0.2921 right_y=0.0016 right_z=0.1742 right_yaw=-0.0022 right_pitch=-0.0484 right_roll=0.0006 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -9.4564, 5.3538, 1.3797, -0.232, 0.0708, 0.6129, -0.1709, -1.265, 7.0496, 1.707, -0.0415, -0.0611, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:826a6fbaa62bb34f370357cb7c43219016620f6e133a9653621aadf776cf9c82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11d1c6068d4e3e5b2a6dfcb12a7e93a7dc3f21f8ea926648c008e1da77434b41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ac0ea1d7881e6caabd59df5a4bba5d851853d04c7e4d8f1e79b36d37e3fadf58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /messages · status 200 · 7.838 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]: [-0.4709, 1.9186, 1.2346, -0.2459, -0.4171, -0.3145, 0.9997, -0.0193, 0.8055, 0.6132, -0.4133, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4585 left_y=-0.1491 left_z=0.0664 left_yaw=0.0533 left_pitch=-0.2596 left_roll=0.1345 left_gripper=0.9997 right_x=0.2921 right_y=0.0016 right_z=0.1742 right_yaw=-0.0022 right_pitch=-0.0484 right_roll=0.0006 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -11.1795, 6.5162, 1.536, -0.105, 0.0855, -0.0122, -0.0752, -1.306, 7.0085, 1.7167, -0.0171, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4679, 2.0289, 1.1393, -0.0532, -0.4137, -0.3202, 0.9993, -0.0193, 0.8055, 0.6132, -0.4129, -0.0208, -0.0116, 0.9993]\nstate[eef_state]: left_x=0.4566 left_y=-0.1471 left_z=0.0088 left_yaw=0.0586 left_pitch=-0.2717 left_roll=0.1348 left_gripper=0.9993 right_x=0.2922 right_y=0.0016 right_z=0.1743 right_yaw=-0.0021 right_pitch=-0.0481 right_roll=0.0011 right_gripper=0.9993\nstate[joint_eff]: [-0.4034, -8.1299, 4.6701, 1.3895, -0.2369, 0.0952, -0.0464, -0.3214, -1.2513, 7.0085, 1.6728, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4679, 2.0441, 1.129, -0.0109, -0.4133, -0.3214, 0.0091, -0.0193, 0.8055, 0.6132, -0.4133, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.459 left_y=-0.1484 left_z=0.0042 left_yaw=0.0567 left_pitch=-0.2573 left_roll=0.125 left_gripper=0.0091 right_x=0.2921 right_y=0.0016 right_z=0.1742 right_yaw=-0.0022 right_pitch=-0.0484 right_roll=0.0006 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -9.4564, 5.3538, 1.3797, -0.232, 0.0708, 0.6129, -0.1709, -1.265, 7.0496, 1.707, -0.0415, -0.0611, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:826a6fbaa62bb34f370357cb7c43219016620f6e133a9653621aadf776cf9c82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11d1c6068d4e3e5b2a6dfcb12a7e93a7dc3f21f8ea926648c008e1da77434b41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac0ea1d7881e6caabd59df5a4bba5d851853d04c7e4d8f1e79b36d37e3fadf58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS/wcKjgEIEhgCKkCR3pLujOhCCoCU7ioICu1WYvLq9ikEFYXFC0MsKCAj85vukyK5QeyViD0OovOmbpiaGboSko1qazH3AuEN36SIMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYijzNUGEgw/96SgwD8EGRn4A5UaDEp/Bku2NJdkh7LcIiIw3AekflkhW1MBdIwcBKLFkFpnMM9uUna410F2FS5rNydrp1PEuKO4AyztZQrxvEqiKp0GX+p5dm+s2A/Ko1S9FpjiwHfM2UncOinc5cK5XjtElALRFuz46owtLJyFN2ddeimmI6y/cEzurBqtTP6kAgBfkj6A5ql1V6CspCp2CA9fhbyuILfH6aPKRam2vW31p+9xVNn7lQzNGjN8etLrMFuaEqyMnRI7i+c+s3GrNcU8GT7YazXkUuQNc7hg3df9wRHx1NRnFs9QoQC7ArjNKwiDCtyP5OjLTyI6hteavKvr2ch6BbTCDjkxc3nx3Y4jyXoQIG9CdWyaILY/JNcwRBlhyc+sMOdGCTuMnIlr59J1XscraIl0PcGO4xIy2VwcO2GF7HoU2Q6CmSrBC//URxb+6VGBJ46/97CjYrF6MxEZ6G8oYyomPq+yoI2VIOlFpKUc/ZhyvlFW6rxR8gLv999BEJA6rE8T7PVICRR+DP9RkuDrIy992pp4o8Zkn5Q/99dgAxZaCCHiK+rJoZgFi0btwxurpgSBmsVyjS/p+x40YGfrLuFs4lyUtbId/BdFNPU/gVm4DIuxXX5RGL5Qq0IG+qlSyLITE6MmHu62+7aolpL43mI5b8aamIVwW6w/gXrusIhuH2WOev/6qEbkUh5BxzcfaFjvB3keESirn9TbIq7PF2+HIXDNUA7Ehimp8ZsEsJtoNpGEpnAuaokKPZSWQQK8qZSeSc2xkHnNX/Lc42rDK8fdbinaXrS3cXkzrjV2EHrLi6fOskVsBjKJ421wdV2XvX47qy1gyTePOfj486sytJnX/aVr2OggsEYDz+tULI4Bsfu1CMl5Akpl/4mmk1VW+LYyP+S3tlIhHadseZyxO1Ok+KlZVOOUZfUW2trlN4Zn65kKLY35M916W1kiqcwpFqo5yZYhexdmKxHKM3vXhyUalhwsWvZ73TYw+SG5L2pn6J2WE96g8EaqqASCIoX3p4bf6aNMqn7owFkhDmQ6q1Q02iZrz0fhyuBfyc+r/zIvxIJcjm/hWAvQKV1JcI91swqfe/Ic99y1m5p0Z8Ff5xTnx0xEgZgGoiC/3TXUWoxIHuSYqCPTtOdhwnyU5NI+ZjB8TkoP3xewfeAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CZHbWS2pFaQ9wkU1z5RLHv",
      "input": {
        "note": "The close was empty (gripper settled at 0.009), so I overshot or missed the cap. Opening, lifting to 6 cm and retracting 3 cm to bring the cap back into the wrist view.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.43,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01CZHbWS2pFaQ9wkU1z5RLHv",
      "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]: [-0.5003, 1.8812, 1.1038, -0.1745, -0.4183, -0.3565, 0.9956, -0.0193, 0.8055, 0.6132, -0.4133, -0.0204, -0.0116, 0.9993]\nstate[eef_state]: left_x=0.4324 left_y=-0.1505 left_z=0.0458 left_yaw=0.0512 left_pitch=-0.275 left_roll=0.1179 left_gripper=0.9956 right_x=0.2921 right_y=0.0016 right_z=0.1742 right_yaw=-0.0024 right_pitch=-0.0484 right_roll=0.0009 right_gripper=0.9993\nstate[joint_eff]: [-0.6769, -11.8085, 5.8872, 1.2918, -0.4322, 0.0122, -0.1343, -0.3624, -1.306, 7.0222, 1.6923, -0.0269, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e7200f7b765a261bdfb5063311839fbb98f02269827dd300bc8106bd8385c03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b12783e4a923f6f73e6ddd0ea6cec5908d96c6144ccd7a4bc1e3545f807f19ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d1ef7e409efa02599206104ec31cfe6fd65a0f5786d2d4d1604ca2804b2b423b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /messages · status 200 · 7.483 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]: [-0.4679, 2.0289, 1.1393, -0.0532, -0.4137, -0.3202, 0.9993, -0.0193, 0.8055, 0.6132, -0.4129, -0.0208, -0.0116, 0.9993]\nstate[eef_state]: left_x=0.4566 left_y=-0.1471 left_z=0.0088 left_yaw=0.0586 left_pitch=-0.2717 left_roll=0.1348 left_gripper=0.9993 right_x=0.2922 right_y=0.0016 right_z=0.1743 right_yaw=-0.0021 right_pitch=-0.0481 right_roll=0.0011 right_gripper=0.9993\nstate[joint_eff]: [-0.4034, -8.1299, 4.6701, 1.3895, -0.2369, 0.0952, -0.0464, -0.3214, -1.2513, 7.0085, 1.6728, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4679, 2.0441, 1.129, -0.0109, -0.4133, -0.3214, 0.0091, -0.0193, 0.8055, 0.6132, -0.4133, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.459 left_y=-0.1484 left_z=0.0042 left_yaw=0.0567 left_pitch=-0.2573 left_roll=0.125 left_gripper=0.0091 right_x=0.2921 right_y=0.0016 right_z=0.1742 right_yaw=-0.0022 right_pitch=-0.0484 right_roll=0.0006 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -9.4564, 5.3538, 1.3797, -0.232, 0.0708, 0.6129, -0.1709, -1.265, 7.0496, 1.707, -0.0415, -0.0611, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.5003, 1.8812, 1.1038, -0.1745, -0.4183, -0.3565, 0.9956, -0.0193, 0.8055, 0.6132, -0.4133, -0.0204, -0.0116, 0.9993]\nstate[eef_state]: left_x=0.4324 left_y=-0.1505 left_z=0.0458 left_yaw=0.0512 left_pitch=-0.275 left_roll=0.1179 left_gripper=0.9956 right_x=0.2921 right_y=0.0016 right_z=0.1742 right_yaw=-0.0024 right_pitch=-0.0484 right_roll=0.0009 right_gripper=0.9993\nstate[joint_eff]: [-0.6769, -11.8085, 5.8872, 1.2918, -0.4322, 0.0122, -0.1343, -0.3624, -1.306, 7.0222, 1.6923, -0.0269, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e7200f7b765a261bdfb5063311839fbb98f02269827dd300bc8106bd8385c03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b12783e4a923f6f73e6ddd0ea6cec5908d96c6144ccd7a4bc1e3545f807f19ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1ef7e409efa02599206104ec31cfe6fd65a0f5786d2d4d1604ca2804b2b423b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISmggKjgEIEhgCKkBArW1XGnc8uaNnMIDEUA+1xCU8i07lq7LNkHj2qak8derK/VHdYmM0dbXXf6ic8sQr4nh/ZNV46X9b4wol3aUwMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZGjzNUGEgzYxRsD9hebIJtVr9MaDDW8WwmycyLEVREZ0yIwUXDIROOit17y5WO4CSN/DS8+uhkuq6ksPSK/+/l6qRaXbB7RJesE9KDYGgHLDfjMKrgGlQBSML1PtBt9b37ivwZuMt9VWbcpzy8Ra+Xpv1T84F06gvKEzCBbHM+8vlnGOHN+0TMNMVKs4iyARVZU9YbnvHJT0D9xwEh9Dth8avg3rWqhmRqRYS62rFbomQTizRr7isVMEZh4pGapgLnAPHu+alVjHSgo29p/w1A8gKv6wBBYTpab95gflY4K1iKDACLYnT/fTW1pAr7nBlrm6ypEeFoJYLxDXX8XQzAaJZKcWooTRf34fEMsyhhfAkIM+zs5bpy3ETqEdfNKnq5aVORgFWaBniD4BQPZHGHBOxM/uFzip4BUgLAVu3oq0xkSjDw+wF/SHo4mDSn4KVBgM7wZaEGc9dzpt6qcofvhFXY+IqQvMgqISNEOaSaSPfKyAi1RZaLh+k/DOERKZPVe5kslqZKvaXTqhYghiy08cKEJQPafKKM3iKWaO7MWEOpHY+YhB27RgG47cRs2+CuE9JZh8+U8SVmavaXMQKF8UHur2jIKdvKO8zoS4I0jHS6VnrRp7msifeDDeoRYhUbcrBzvbXS6Gi0aT+lVfkHhqDdeDZhESw2Cvksv+IiPR1cplN87d1Yz56NDHXN4y/SvXdsDKCXCYrnstB5wxPxnh0ieUwsYdpH8x+C6k31CbSnyKov6iMmD9BmmmK8sLBd712qSRXgtP42FSur9xpZRzqagLM08lJjU5zal56RaZ/KOlI7aSPkLNnmgtGD7lR4bE9RTs3uc8lgHvfrbcD+v16yH38hDITURGfv1azJb8jnWX1gRIy1r1iGvwb1jnCYRXsXuMORshlMzH63EuUyUFh5hbog7ew7v+cdPGkCLxkdDLmQDqEkiW7drVHne4CTc8Ka0ACVZySF8bteDS8ypyqUSNeArQhNU5NlBx+bXz1OpD9DzWxC3Qz+1vefUPQgytNvQkS9kwqffWcP3aKhS/N1MJRZOL+RQ11GZfcQQHMtAhh9+iKX9OWlVd90meDogYt2lDaRoHBsiuqRe5Noeo+aoyE37Jsaevk8uyiv3LeAy9c+o4k0A07elTJ+5fXUG2TIH1VUw7OwoFDFuHzFaxxhASfYU21dgAaRMMhJA31ixGA+cEVpmq7628a0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M5yZ46VdFja7BHfgHw1yVZ",
      "input": {
        "note": "After retracting, a small dark object (the cap) is visible at the bottom of the wrist view just left of the jaw column. Shifting 1.5 cm in +y to centre it and descending to table level.",
        "targets": {
          "left_y": -0.136,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01M5yZ46VdFja7BHfgHw1yVZ",
      "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]: [-0.4736, 1.9408, 1.0206, -0.0509, -0.4091, -0.3454, 0.9963, -0.0193, 0.8055, 0.6132, -0.4133, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4276 left_y=-0.1362 left_z=0.008 left_yaw=0.0675 left_pitch=-0.296 left_roll=0.1291 left_gripper=0.9963 right_x=0.2921 right_y=0.0016 right_z=0.1742 right_yaw=-0.0022 right_pitch=-0.0484 right_roll=0.0006 right_gripper=0.9993\nstate[joint_eff]: [0.294, -9.4154, 5.7504, 1.5409, -0.1099, 0.4029, 0.0611, -0.3077, -1.306, 7.2, 1.6874, -0.0415, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4ef6f0c33c5178e4e547453945ca52ea3dee71e583c9c5c5659a7a322445346",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69e6a563e7925a45a2ccccb779174fd1f4a2aa972b4f004a122369f9f3488672",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:369e4073494cb184a3b42f31fd407c1129b3d70de6978d053392263886f856a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /messages · status 200 · 21.37 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]: [-0.4679, 2.0441, 1.129, -0.0109, -0.4133, -0.3214, 0.0091, -0.0193, 0.8055, 0.6132, -0.4133, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.459 left_y=-0.1484 left_z=0.0042 left_yaw=0.0567 left_pitch=-0.2573 left_roll=0.125 left_gripper=0.0091 right_x=0.2921 right_y=0.0016 right_z=0.1742 right_yaw=-0.0022 right_pitch=-0.0484 right_roll=0.0006 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -9.4564, 5.3538, 1.3797, -0.232, 0.0708, 0.6129, -0.1709, -1.265, 7.0496, 1.707, -0.0415, -0.0611, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.5003, 1.8812, 1.1038, -0.1745, -0.4183, -0.3565, 0.9956, -0.0193, 0.8055, 0.6132, -0.4133, -0.0204, -0.0116, 0.9993]\nstate[eef_state]: left_x=0.4324 left_y=-0.1505 left_z=0.0458 left_yaw=0.0512 left_pitch=-0.275 left_roll=0.1179 left_gripper=0.9956 right_x=0.2921 right_y=0.0016 right_z=0.1742 right_yaw=-0.0024 right_pitch=-0.0484 right_roll=0.0009 right_gripper=0.9993\nstate[joint_eff]: [-0.6769, -11.8085, 5.8872, 1.2918, -0.4322, 0.0122, -0.1343, -0.3624, -1.306, 7.0222, 1.6923, -0.0269, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.4736, 1.9408, 1.0206, -0.0509, -0.4091, -0.3454, 0.9963, -0.0193, 0.8055, 0.6132, -0.4133, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4276 left_y=-0.1362 left_z=0.008 left_yaw=0.0675 left_pitch=-0.296 left_roll=0.1291 left_gripper=0.9963 right_x=0.2921 right_y=0.0016 right_z=0.1742 right_yaw=-0.0022 right_pitch=-0.0484 right_roll=0.0006 right_gripper=0.9993\nstate[joint_eff]: [0.294, -9.4154, 5.7504, 1.5409, -0.1099, 0.4029, 0.0611, -0.3077, -1.306, 7.2, 1.6874, -0.0415, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4ef6f0c33c5178e4e547453945ca52ea3dee71e583c9c5c5659a7a322445346",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69e6a563e7925a45a2ccccb779174fd1f4a2aa972b4f004a122369f9f3488672",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:369e4073494cb184a3b42f31fd407c1129b3d70de6978d053392263886f856a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISnQgKjgEIEhgCKkCw6VhJexCA2XN0B3utyKhJ2fayBWL3eItaVO3+MZUmXaGtqzC/Q/wRkEApc4N9Va53j43M1m2rupTZfccl1vnnMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZmjzNUGEgz5RBHJPxczQ4z8eWkaDGBQtv5CnW+WFoNelSIw1t3p3rUm9X1AnAE2HuzWrpiQ9sYZoDhHK2OpFZsmiXb6dN8VnFq3GjbfaWyqoIDEKrsGyDFUEt6MMlr0VVARHECFTXeKsFfeywsJZ3TNyv2qfYVOTzNm/A3rnnUUzALYA763Udm5wSzcbQi1uSt8mUCdYAuFs5TuCIpU3+Enh0dhwTvhepFNKS7ALhJwGbsA1bDDiOv4lfqYeAvlcEC24tZqhNMRLIheSqRD6eIxTMzdFYgR8Q2HXS4JjnPaozvPR0AJUSQSSiq8exY6unMlWKMCBtKa4C4XQkxgSu/jsDWRsBY02Ra71u8VD4+jfyeqRDQM3SFtFfiLgjCMxjgxhJejOIcAZYU84nEuITdTujzZqYhfEunk0Q6HR7wcVxQnRmDeSTmJngHtEW1ioJ15wpxz06Qr6Y5gYvVl89SDrx/+KUYMSR7OwAD9Z6kCpuUImnjuLCAgOrA6uJGBEZFzKb7vqc/+aJMa/kkVBip0bl1B8nHGwsDCn773UHhJcfwd6Kv3vglmoae8ecTTJ/GZ+JBlZiz1DaVyKHZsDT7pWNY9uoWInhqq6tvxO2qCKjKOEltKNA/1nMFsYzqUGnA4Cpsg7RWMjXEo3HF/tAnO6lqII0zo/15Ugd1YrYJ8nOUPNcidWtijt0xbjKXLnPM/3l8QUywMt55vYbe5QZwvyaiiPf+hVBChxJd7eMHArNLkWtZZOQML5K8MrfaRqVjlJRNZfpS4l+S5cEkCePNwG25oVfTImZQ9UE9djdceXww3qQlWEVRZIEsHoHQ1OeJ43co0treP1bXUjHMUF7eGnItMGcIKfywdG8BcOIvEUbwWqhFdqygnwOQxUl4vXqoecwHnYYn53dQEXVBO0UlE4FHFqUtT2HPOsjBNeucrtVbIZ7fF1/hETe9pAre+kldA7WIvQjXEBdSHj4lKEG8YtpTYYJcs9I9yHyhulgo/GOu4syOSUHIE454lA9kPT6kPsH3buW9hOrJS3obqsJwZ8vTy6zprJ/++fJ7h8fzTeI/lfeNg9P86waGqdult7CBOPiicp3SM1NAaQHpUif0Ha8CjLBrgVAmySjppsls+Mb0mPmVSgISxpuYFMZlh0Xd8LjokaOoVAjeOAFt7NE45jDD7gyTBQcyDUbEeanj9yoy3QmgdZRRb4WccT2hX2jEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JHSbzQscgpqdpR8Syhunpq",
      "input": {
        "note": "A thin dark object sits right between the open jaws at the bottom of the wrist view; closing to grasp it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01JHSbzQscgpqdpR8Syhunpq",
      "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]: [-0.4717, 1.9491, 1.0088, -0.0177, -0.4248, -0.3569, 0.0232, -0.0193, 0.8062, 0.6128, -0.4133, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4296 left_y=-0.1334 left_z=0.0059 left_yaw=0.086 left_pitch=-0.2774 left_roll=0.1257 left_gripper=0.0232 right_x=0.2921 right_y=0.0016 right_z=0.1738 right_yaw=-0.0022 right_pitch=-0.0496 right_roll=0.0006 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -10.0855, 6.8581, 0.906, 0.1294, 0.0708, 0.7643, -0.335, -1.1145, 7.2137, 1.6777, -0.0317, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:badd283a0f262205cd19c97e8d9cc79fa97ab083b2f6b149a17ecbfef52295cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7bb8e05110868e9d3ff0811e55c0074b50561dbc04d4469dd1a26d209e2eff70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:36daf8070cadc2dfadd3a08544371c3a9c15eb3b380762274c5a30465f6be770",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /messages · status 200 · 16.13 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]: [-0.5003, 1.8812, 1.1038, -0.1745, -0.4183, -0.3565, 0.9956, -0.0193, 0.8055, 0.6132, -0.4133, -0.0204, -0.0116, 0.9993]\nstate[eef_state]: left_x=0.4324 left_y=-0.1505 left_z=0.0458 left_yaw=0.0512 left_pitch=-0.275 left_roll=0.1179 left_gripper=0.9956 right_x=0.2921 right_y=0.0016 right_z=0.1742 right_yaw=-0.0024 right_pitch=-0.0484 right_roll=0.0009 right_gripper=0.9993\nstate[joint_eff]: [-0.6769, -11.8085, 5.8872, 1.2918, -0.4322, 0.0122, -0.1343, -0.3624, -1.306, 7.0222, 1.6923, -0.0269, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.4736, 1.9408, 1.0206, -0.0509, -0.4091, -0.3454, 0.9963, -0.0193, 0.8055, 0.6132, -0.4133, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4276 left_y=-0.1362 left_z=0.008 left_yaw=0.0675 left_pitch=-0.296 left_roll=0.1291 left_gripper=0.9963 right_x=0.2921 right_y=0.0016 right_z=0.1742 right_yaw=-0.0022 right_pitch=-0.0484 right_roll=0.0006 right_gripper=0.9993\nstate[joint_eff]: [0.294, -9.4154, 5.7504, 1.5409, -0.1099, 0.4029, 0.0611, -0.3077, -1.306, 7.2, 1.6874, -0.0415, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4717, 1.9491, 1.0088, -0.0177, -0.4248, -0.3569, 0.0232, -0.0193, 0.8062, 0.6128, -0.4133, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4296 left_y=-0.1334 left_z=0.0059 left_yaw=0.086 left_pitch=-0.2774 left_roll=0.1257 left_gripper=0.0232 right_x=0.2921 right_y=0.0016 right_z=0.1738 right_yaw=-0.0022 right_pitch=-0.0496 right_roll=0.0006 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -10.0855, 6.8581, 0.906, 0.1294, 0.0708, 0.7643, -0.335, -1.1145, 7.2137, 1.6777, -0.0317, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:badd283a0f262205cd19c97e8d9cc79fa97ab083b2f6b149a17ecbfef52295cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7bb8e05110868e9d3ff0811e55c0074b50561dbc04d4469dd1a26d209e2eff70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36daf8070cadc2dfadd3a08544371c3a9c15eb3b380762274c5a30465f6be770",
        "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_01KYyJua394A5ghcnV5qNmg9",
      "input": {
        "note": "Second close was also empty (0.023) and the wrist view suggests I may have been aiming at a plank seam rather than the cap. Retracting the left arm high and clear for an unobstructed overhead look at where the cap actually is.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.25,
          "left_y": -0.05,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01KYyJua394A5ghcnV5qNmg9",
      "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]: [-0.5144, 1.1301, 1.4117, -1.243, -0.4229, -0.4026, 0.9971, -0.0193, 0.8108, 0.6132, -0.4129, -0.0208, -0.012, 0.9993]\nstate[eef_state]: left_x=0.2624 left_y=-0.0609 left_z=0.287 left_yaw=0.0679 left_pitch=-0.2782 left_roll=0.0947 left_gripper=0.9971 right_x=0.2925 right_y=0.0016 right_z=0.1728 right_yaw=-0.0019 right_pitch=-0.0534 right_roll=0.0009 right_gripper=0.9993\nstate[joint_eff]: [-0.759, -3.2479, 7.665, 1.2527, -0.5299, -0.0171, -0.0806, -0.1162, -1.4427, 7.0085, 1.6923, -0.0269, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd2bb936fd1d27906771c329ea8e87e832b1b326f7e0301039f56b58ff777aa8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7091922a26cb2b52d15c9ce430f1eca02bf9b9c6c35fa8ad0d48f3fe6734379",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6cd3120cc947143f32b2e1eae3d776aa935a7585ee2ea670291d2a44db6902ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /messages · status 200 · 13.56 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]: [-0.4736, 1.9408, 1.0206, -0.0509, -0.4091, -0.3454, 0.9963, -0.0193, 0.8055, 0.6132, -0.4133, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4276 left_y=-0.1362 left_z=0.008 left_yaw=0.0675 left_pitch=-0.296 left_roll=0.1291 left_gripper=0.9963 right_x=0.2921 right_y=0.0016 right_z=0.1742 right_yaw=-0.0022 right_pitch=-0.0484 right_roll=0.0006 right_gripper=0.9993\nstate[joint_eff]: [0.294, -9.4154, 5.7504, 1.5409, -0.1099, 0.4029, 0.0611, -0.3077, -1.306, 7.2, 1.6874, -0.0415, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4717, 1.9491, 1.0088, -0.0177, -0.4248, -0.3569, 0.0232, -0.0193, 0.8062, 0.6128, -0.4133, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4296 left_y=-0.1334 left_z=0.0059 left_yaw=0.086 left_pitch=-0.2774 left_roll=0.1257 left_gripper=0.0232 right_x=0.2921 right_y=0.0016 right_z=0.1738 right_yaw=-0.0022 right_pitch=-0.0496 right_roll=0.0006 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -10.0855, 6.8581, 0.906, 0.1294, 0.0708, 0.7643, -0.335, -1.1145, 7.2137, 1.6777, -0.0317, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5144, 1.1301, 1.4117, -1.243, -0.4229, -0.4026, 0.9971, -0.0193, 0.8108, 0.6132, -0.4129, -0.0208, -0.012, 0.9993]\nstate[eef_state]: left_x=0.2624 left_y=-0.0609 left_z=0.287 left_yaw=0.0679 left_pitch=-0.2782 left_roll=0.0947 left_gripper=0.9971 right_x=0.2925 right_y=0.0016 right_z=0.1728 right_yaw=-0.0019 right_pitch=-0.0534 right_roll=0.0009 right_gripper=0.9993\nstate[joint_eff]: [-0.759, -3.2479, 7.665, 1.2527, -0.5299, -0.0171, -0.0806, -0.1162, -1.4427, 7.0085, 1.6923, -0.0269, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd2bb936fd1d27906771c329ea8e87e832b1b326f7e0301039f56b58ff777aa8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7091922a26cb2b52d15c9ce430f1eca02bf9b9c6c35fa8ad0d48f3fe6734379",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cd3120cc947143f32b2e1eae3d776aa935a7585ee2ea670291d2a44db6902ef",
        "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_01APS5M2a9emMDgVPtcYGFuY",
      "input": {
        "note": "Clean top view: the cap is the short dark sliver at image (72,108), the pen the longer one at (127,103). My last grasp was ~2.5 cm to the +y side of the cap, so I am returning to x=0.425, y=-0.162 at 5 cm height.",
        "targets": {
          "left_x": 0.425,
          "left_y": -0.162,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01APS5M2a9emMDgVPtcYGFuY",
      "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]: [-0.5339, 1.8523, 1.0733, -0.3019, -0.4366, -0.4282, 0.9979, -0.0193, 0.8127, 0.6132, -0.4133, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.3997 left_y=-0.1454 left_z=0.0332 left_yaw=0.0961 left_pitch=-0.3679 left_roll=0.1596 left_gripper=0.9979 right_x=0.2925 right_y=0.0016 right_z=0.1722 right_yaw=-0.0022 right_pitch=-0.0557 right_roll=0.0007 right_gripper=0.9993\nstate[joint_eff]: [-0.5538, -9.7026, 9.1692, 1.3309, -0.1734, -0.0024, 0.0659, -0.1709, -1.4838, 7.0085, 1.7411, -0.0415, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85e91619db230862ca70933a1394a72744c5638eb59e6471df6dc17d9debea28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a10d9333f32e9d3608f00565b3c5a11d3a4b653763b7417d36ef67fd4ef0f21f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3d516fac38600eba931f5f1c6df52f1c67ad63d062923a9359f4812b4e1edd8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /messages · status 200 · 6.859 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]: [-0.4717, 1.9491, 1.0088, -0.0177, -0.4248, -0.3569, 0.0232, -0.0193, 0.8062, 0.6128, -0.4133, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4296 left_y=-0.1334 left_z=0.0059 left_yaw=0.086 left_pitch=-0.2774 left_roll=0.1257 left_gripper=0.0232 right_x=0.2921 right_y=0.0016 right_z=0.1738 right_yaw=-0.0022 right_pitch=-0.0496 right_roll=0.0006 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -10.0855, 6.8581, 0.906, 0.1294, 0.0708, 0.7643, -0.335, -1.1145, 7.2137, 1.6777, -0.0317, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5144, 1.1301, 1.4117, -1.243, -0.4229, -0.4026, 0.9971, -0.0193, 0.8108, 0.6132, -0.4129, -0.0208, -0.012, 0.9993]\nstate[eef_state]: left_x=0.2624 left_y=-0.0609 left_z=0.287 left_yaw=0.0679 left_pitch=-0.2782 left_roll=0.0947 left_gripper=0.9971 right_x=0.2925 right_y=0.0016 right_z=0.1728 right_yaw=-0.0019 right_pitch=-0.0534 right_roll=0.0009 right_gripper=0.9993\nstate[joint_eff]: [-0.759, -3.2479, 7.665, 1.2527, -0.5299, -0.0171, -0.0806, -0.1162, -1.4427, 7.0085, 1.6923, -0.0269, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5339, 1.8523, 1.0733, -0.3019, -0.4366, -0.4282, 0.9979, -0.0193, 0.8127, 0.6132, -0.4133, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.3997 left_y=-0.1454 left_z=0.0332 left_yaw=0.0961 left_pitch=-0.3679 left_roll=0.1596 left_gripper=0.9979 right_x=0.2925 right_y=0.0016 right_z=0.1722 right_yaw=-0.0022 right_pitch=-0.0557 right_roll=0.0007 right_gripper=0.9993\nstate[joint_eff]: [-0.5538, -9.7026, 9.1692, 1.3309, -0.1734, -0.0024, 0.0659, -0.1709, -1.4838, 7.0085, 1.7411, -0.0415, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85e91619db230862ca70933a1394a72744c5638eb59e6471df6dc17d9debea28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a10d9333f32e9d3608f00565b3c5a11d3a4b653763b7417d36ef67fd4ef0f21f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d516fac38600eba931f5f1c6df52f1c67ad63d062923a9359f4812b4e1edd8f",
        "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_01Cxi8w2AcFgubW5geLqzR3B",
      "input": {
        "note": "Wrist view shows the cap slanted at (95,165), slightly left of and short of the jaw column. Moving 2 cm in +y and 2 cm out while descending to table level.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.126,
          "left_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Cxi8w2AcFgubW5geLqzR3B",
      "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]: [-0.4999, 1.9038, 1.0725, -0.2111, -0.4175, -0.4038, 0.998, -0.0193, 0.8139, 0.6132, -0.4133, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4156 left_y=-0.1413 left_z=0.0211 left_yaw=0.0934 left_pitch=-0.3479 left_roll=0.1371 left_gripper=0.998 right_x=0.2926 right_y=0.0016 right_z=0.1719 right_yaw=-0.0022 right_pitch=-0.0568 right_roll=0.0008 right_gripper=0.9993\nstate[joint_eff]: [1.6889, -7.4051, 4.7521, 1.2625, -0.2955, 0.1685, -0.0073, -0.1709, -1.4291, 7.0222, 1.6728, -0.0122, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f404c82e80327588e22405f18fe55b1589bc66dc54c1155dbda002ebbe966af5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0246da4b20d2ad31715d347cbba6ec8d8e8d097bd6d37f48d9a0a353db1432cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1ebfd0e68b57763245b2dfe49466df3882cd077329540ae7e3411a1d5c69ec9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /messages · status 200 · 5.534 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]: [-0.5144, 1.1301, 1.4117, -1.243, -0.4229, -0.4026, 0.9971, -0.0193, 0.8108, 0.6132, -0.4129, -0.0208, -0.012, 0.9993]\nstate[eef_state]: left_x=0.2624 left_y=-0.0609 left_z=0.287 left_yaw=0.0679 left_pitch=-0.2782 left_roll=0.0947 left_gripper=0.9971 right_x=0.2925 right_y=0.0016 right_z=0.1728 right_yaw=-0.0019 right_pitch=-0.0534 right_roll=0.0009 right_gripper=0.9993\nstate[joint_eff]: [-0.759, -3.2479, 7.665, 1.2527, -0.5299, -0.0171, -0.0806, -0.1162, -1.4427, 7.0085, 1.6923, -0.0269, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5339, 1.8523, 1.0733, -0.3019, -0.4366, -0.4282, 0.9979, -0.0193, 0.8127, 0.6132, -0.4133, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.3997 left_y=-0.1454 left_z=0.0332 left_yaw=0.0961 left_pitch=-0.3679 left_roll=0.1596 left_gripper=0.9979 right_x=0.2925 right_y=0.0016 right_z=0.1722 right_yaw=-0.0022 right_pitch=-0.0557 right_roll=0.0007 right_gripper=0.9993\nstate[joint_eff]: [-0.5538, -9.7026, 9.1692, 1.3309, -0.1734, -0.0024, 0.0659, -0.1709, -1.4838, 7.0085, 1.7411, -0.0415, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4999, 1.9038, 1.0725, -0.2111, -0.4175, -0.4038, 0.998, -0.0193, 0.8139, 0.6132, -0.4133, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4156 left_y=-0.1413 left_z=0.0211 left_yaw=0.0934 left_pitch=-0.3479 left_roll=0.1371 left_gripper=0.998 right_x=0.2926 right_y=0.0016 right_z=0.1719 right_yaw=-0.0022 right_pitch=-0.0568 right_roll=0.0008 right_gripper=0.9993\nstate[joint_eff]: [1.6889, -7.4051, 4.7521, 1.2625, -0.2955, 0.1685, -0.0073, -0.1709, -1.4291, 7.0222, 1.6728, -0.0122, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f404c82e80327588e22405f18fe55b1589bc66dc54c1155dbda002ebbe966af5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0246da4b20d2ad31715d347cbba6ec8d8e8d097bd6d37f48d9a0a353db1432cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ebfd0e68b57763245b2dfe49466df3882cd077329540ae7e3411a1d5c69ec9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISzQYKjgEIEhgCKkDpFRvBkwN4NwA9gDP4XWlU8PcG0x042DHmF6JQtqBFysHLLFXeAgye+r7k1hOEvw83jNk1UwLANme45wXrD5kTMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdejzNUGEgwBeRH7DHp9YzIcpGEaDPkSjCY6T7uKfvqqiSIw5HcoSE0CRwEGp1Qfn6gsu0rvr5ScnAcS8PuAw5JL608RcSBg6UYtc2ld8haIN0WKKusEIbouso3vwrvMNbUlTa3l6wWnHPME0DdbbVck7Hx5lBEIXzzsknIBj/MhLpIk/EJ22muQX9fVlQuJJXtI8uLj1Nw4vLc54nj37fTUMxWD+AVQW7AdUvAF45Hhc52osRW3ipIJ5ukUK8fRcnGmhUvkow4DmhPDJkEye8924SyuSrem9E1akNbhdRKMHTiNcctaDMtljRBbquSysJdWX5xwPtjUtwthor43/Umw6/KlRysYXCQNTp3qCDo3hmnGlweSYDj3beOkmmTRJkYOt3NmCs/VYaRCp1ReGMK30zLmQVAVVE3dgBGi6cLA51LWRO0uSKtnUrhAhxERAHxevVbORgJnxEKTh2LfAy5/W7Br4j2g6bjbj5Os/GKz0JcUkK4KpXlCEJm6POXc9oMeUhqHY1bbS02dXbKpYu4ku9LU9lg0a9JSsCwsojS+60KILVAk74dffbQLl/eFWA+Wf+Mg0N0k+NHj5dOcTPcTWKUXKdvSWwQq1n/uA55mnKhe7M7L1Ukx44HMQmCtyZwrlKlPGs5nxPdnac8u2lRD7oxNLv3CUr4/I3RSerNTqHMJ7jasvhfZkAkvv5L6bm/FF85YBaqfigRB1BZXEcVThiH6ST6FYV5xPsD7GDYU5s27sD6Ne59RcMctdl8MuV6/kpsLrhElGJwm/dc9ZmBJMEVPhG2mMhSAh1zcW9qN1EF7fKnqz3ahBWzkzbWY6iT9mBkVI5ENAn1yMDJAZHAeJ6moTIwQXJFRiby8VsoN3Jpt+m/92hEYmELu//jhZeUK6F6SrkTcPrXtqAGe+ynX0dhfZpNmfWg1Aqngh2ReQhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011MDKsoRVYm5245Q2geztyZ",
      "input": {
        "note": "The cap sits at the bottom of the wrist view but ~20 px left of the jaw midpoint; shifting a further 2.8 cm in +y at table level to centre it between the jaws.",
        "targets": {
          "left_y": -0.113,
          "left_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_011MDKsoRVYm5245Q2geztyZ",
      "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]: [-0.4549, 1.9327, 1.0607, -0.1783, -0.4103, -0.3794, 0.998, -0.0193, 0.8158, 0.6132, -0.4129, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4209 left_y=-0.1235 left_z=0.0087 left_yaw=0.1206 left_pitch=-0.3601 left_roll=0.152 left_gripper=0.998 right_x=0.2928 right_y=0.0016 right_z=0.1715 right_yaw=-0.0022 right_pitch=-0.0584 right_roll=0.0008 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -9.0188, 5.135, 1.2674, -0.1343, 0.1978, -0.0122, -0.1983, -1.5111, 7.1043, 1.7216, -0.0269, -0.0855, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:030d3c07d8124d352f3ddb0176e1ddc740bd5a46e6449358e46a18a7e745efb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34dd138ef906d27dbf8fd83312213dab907956d2e7c83084f66bd121c5eb4f89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:83b4123c2902f2180444c8fa7f88bd7ad4487f9c10411615d9f3ce976a5f7d07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /messages · status 200 · 28.42 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]: [-0.5339, 1.8523, 1.0733, -0.3019, -0.4366, -0.4282, 0.9979, -0.0193, 0.8127, 0.6132, -0.4133, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.3997 left_y=-0.1454 left_z=0.0332 left_yaw=0.0961 left_pitch=-0.3679 left_roll=0.1596 left_gripper=0.9979 right_x=0.2925 right_y=0.0016 right_z=0.1722 right_yaw=-0.0022 right_pitch=-0.0557 right_roll=0.0007 right_gripper=0.9993\nstate[joint_eff]: [-0.5538, -9.7026, 9.1692, 1.3309, -0.1734, -0.0024, 0.0659, -0.1709, -1.4838, 7.0085, 1.7411, -0.0415, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4999, 1.9038, 1.0725, -0.2111, -0.4175, -0.4038, 0.998, -0.0193, 0.8139, 0.6132, -0.4133, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4156 left_y=-0.1413 left_z=0.0211 left_yaw=0.0934 left_pitch=-0.3479 left_roll=0.1371 left_gripper=0.998 right_x=0.2926 right_y=0.0016 right_z=0.1719 right_yaw=-0.0022 right_pitch=-0.0568 right_roll=0.0008 right_gripper=0.9993\nstate[joint_eff]: [1.6889, -7.4051, 4.7521, 1.2625, -0.2955, 0.1685, -0.0073, -0.1709, -1.4291, 7.0222, 1.6728, -0.0122, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.4549, 1.9327, 1.0607, -0.1783, -0.4103, -0.3794, 0.998, -0.0193, 0.8158, 0.6132, -0.4129, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4209 left_y=-0.1235 left_z=0.0087 left_yaw=0.1206 left_pitch=-0.3601 left_roll=0.152 left_gripper=0.998 right_x=0.2928 right_y=0.0016 right_z=0.1715 right_yaw=-0.0022 right_pitch=-0.0584 right_roll=0.0008 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -9.0188, 5.135, 1.2674, -0.1343, 0.1978, -0.0122, -0.1983, -1.5111, 7.1043, 1.7216, -0.0269, -0.0855, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:030d3c07d8124d352f3ddb0176e1ddc740bd5a46e6449358e46a18a7e745efb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34dd138ef906d27dbf8fd83312213dab907956d2e7c83084f66bd121c5eb4f89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83b4123c2902f2180444c8fa7f88bd7ad4487f9c10411615d9f3ce976a5f7d07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISlQUKjgEIEhgCKkDksBJRNdIdmRvwW9/xzNCpgpgJWBSVbd8VIx+X1FXRiWyXZBbk1LFhYytS9sslXxPnmGGKKXfkoVH6zurGj4OJMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd2jzNUGEgx4I82BWf9c3/TZbTkaDNrmI78hmJJDExhVmyIwt9HRc7mROYNDLUNO/jaZbAW/Cu/rxNzZfl66c/nPoly8qTB32kAUamwXCi3JwTGfKrMD7vFZbCRzhQMroGAlI0HBHMLykRPpqBn5vgM5IUhpjsPPCJRNwkROao+1DhSuUFXuLIXiGj2nMqgMy/9E3pcbbZ8hV5UTSoGjOBplIghTatAyBA2jgi0ebOAD9kN0eSeOUByjJfSmR9CeeuLuhTbf9cJ5SmZdEGPGsggyrAljkyUZw9rl/tevTNsGHTixQdnfwHFh3VtB9EKlFDko+Wbv/2rKjrFqWJea+V8YnJ59Q50jKewsXlgb7/JiJ/WK6R/bYYCKohAmhQnhu4282CYq0GpwBk1RQiI6dSv9eoSaAbEovZ4RyDLWq4M/Ka3LXwvKJGnWhHsNxjpvjhcNVJKTH79iNb7uj7E1rH+pUsQ8g993zRFpSaQ20FX42xYJDTGAEN697U8rkU67YlZ4JEw5IgPr/BwQ5DaEPXeedORR19Wm1d+nci/58eor7tIzEy4HKJU9NTMnTclZhhyWyI4k7HgtE9mV4DQ1AKjpm6sG1MfzUD6ZV/pv/8Bz+8um0Bipj3I8sX9+23Q4bwjXACX4rpgpGENI+6DgxeHsIrJVdr8rD6JB9sbrC0ER2/arq1P0CT/hGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J1oXkx1Psppx2a8noaUKVX",
      "input": {
        "note": "The cap has moved below the wrist camera's view, meaning it should now be directly between the fingertips; closing the gripper.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01J1oXkx1Psppx2a8noaUKVX",
      "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]: [-0.4545, 1.9327, 1.0599, -0.1833, -0.4103, -0.3759, 0.0091, -0.0193, 0.8158, 0.6132, -0.4133, -0.0204, -0.0116, 0.9993]\nstate[eef_state]: left_x=0.4199 left_y=-0.1228 left_z=0.0079 left_yaw=0.1202 left_pitch=-0.3652 left_roll=0.1575 left_gripper=0.0091 right_x=0.2927 right_y=0.0016 right_z=0.1714 right_yaw=-0.0024 right_pitch=-0.0587 right_roll=0.0011 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -9.5521, 5.6, 1.2039, -0.1832, 0.0122, 0.5983, -0.253, -1.3744, 7.2137, 1.6728, -0.0171, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22eccac388b46f81d09227b6df158a2f40d9254c11281a3073d106986fdb6c91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57210fed1e882f44c8abe5aeaa22614b20829bff20551536f82a32518d9c6a66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1e7e94078a974c089fed4de7ee6a248c63e534591369d7a93a96d63351ba8d6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /messages · status 200 · 11.97 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]: [-0.4999, 1.9038, 1.0725, -0.2111, -0.4175, -0.4038, 0.998, -0.0193, 0.8139, 0.6132, -0.4133, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4156 left_y=-0.1413 left_z=0.0211 left_yaw=0.0934 left_pitch=-0.3479 left_roll=0.1371 left_gripper=0.998 right_x=0.2926 right_y=0.0016 right_z=0.1719 right_yaw=-0.0022 right_pitch=-0.0568 right_roll=0.0008 right_gripper=0.9993\nstate[joint_eff]: [1.6889, -7.4051, 4.7521, 1.2625, -0.2955, 0.1685, -0.0073, -0.1709, -1.4291, 7.0222, 1.6728, -0.0122, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.4549, 1.9327, 1.0607, -0.1783, -0.4103, -0.3794, 0.998, -0.0193, 0.8158, 0.6132, -0.4129, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4209 left_y=-0.1235 left_z=0.0087 left_yaw=0.1206 left_pitch=-0.3601 left_roll=0.152 left_gripper=0.998 right_x=0.2928 right_y=0.0016 right_z=0.1715 right_yaw=-0.0022 right_pitch=-0.0584 right_roll=0.0008 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -9.0188, 5.135, 1.2674, -0.1343, 0.1978, -0.0122, -0.1983, -1.5111, 7.1043, 1.7216, -0.0269, -0.0855, -0.0171]",
      "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]: [-0.4545, 1.9327, 1.0599, -0.1833, -0.4103, -0.3759, 0.0091, -0.0193, 0.8158, 0.6132, -0.4133, -0.0204, -0.0116, 0.9993]\nstate[eef_state]: left_x=0.4199 left_y=-0.1228 left_z=0.0079 left_yaw=0.1202 left_pitch=-0.3652 left_roll=0.1575 left_gripper=0.0091 right_x=0.2927 right_y=0.0016 right_z=0.1714 right_yaw=-0.0024 right_pitch=-0.0587 right_roll=0.0011 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -9.5521, 5.6, 1.2039, -0.1832, 0.0122, 0.5983, -0.253, -1.3744, 7.2137, 1.6728, -0.0171, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22eccac388b46f81d09227b6df158a2f40d9254c11281a3073d106986fdb6c91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57210fed1e882f44c8abe5aeaa22614b20829bff20551536f82a32518d9c6a66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e7e94078a974c089fed4de7ee6a248c63e534591369d7a93a96d63351ba8d6e",
        "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_01D5hVpmfjn8d5yUbvFpyBMi",
      "input": {
        "note": "Third empty close. Opening and lifting to 12 cm so the top camera can show both the fingertips and the cap, and the wrist camera can re-acquire it.",
        "targets": {
          "left_gripper": 1,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01D5hVpmfjn8d5yUbvFpyBMi",
      "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]: [-0.4541, 1.8027, 1.277, -0.5774, -0.4107, -0.3874, 0.9952, -0.0193, 0.8165, 0.6132, -0.4129, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4165 left_y=-0.1209 left_z=0.0909 left_yaw=0.1379 left_pitch=-0.4031 left_roll=0.1785 left_gripper=0.9952 right_x=0.2928 right_y=0.0016 right_z=0.1713 right_yaw=-0.0022 right_pitch=-0.0591 right_roll=0.0008 right_gripper=0.9993\nstate[joint_eff]: [-0.4171, -12.2188, 9.265, 1.0476, -0.2759, 0.0366, -0.1441, -0.1983, -1.4017, 7.0085, 1.6923, -0.0611, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b76a71d08cb505edb244612c92c25191a661a114affcbeb98a9b26fbd044b54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f573bd1d1dea6a7bf392a0c1d9b9c0171dcbc01b20105efb4b918ea30d49dcf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3892c60035295b1b16d0fc23f3f76316e337bf20d3a7bde973e44e504ae137c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /messages · status 200 · 3.167 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]: [-0.4549, 1.9327, 1.0607, -0.1783, -0.4103, -0.3794, 0.998, -0.0193, 0.8158, 0.6132, -0.4129, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4209 left_y=-0.1235 left_z=0.0087 left_yaw=0.1206 left_pitch=-0.3601 left_roll=0.152 left_gripper=0.998 right_x=0.2928 right_y=0.0016 right_z=0.1715 right_yaw=-0.0022 right_pitch=-0.0584 right_roll=0.0008 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -9.0188, 5.135, 1.2674, -0.1343, 0.1978, -0.0122, -0.1983, -1.5111, 7.1043, 1.7216, -0.0269, -0.0855, -0.0171]",
      "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]: [-0.4545, 1.9327, 1.0599, -0.1833, -0.4103, -0.3759, 0.0091, -0.0193, 0.8158, 0.6132, -0.4133, -0.0204, -0.0116, 0.9993]\nstate[eef_state]: left_x=0.4199 left_y=-0.1228 left_z=0.0079 left_yaw=0.1202 left_pitch=-0.3652 left_roll=0.1575 left_gripper=0.0091 right_x=0.2927 right_y=0.0016 right_z=0.1714 right_yaw=-0.0024 right_pitch=-0.0587 right_roll=0.0011 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -9.5521, 5.6, 1.2039, -0.1832, 0.0122, 0.5983, -0.253, -1.3744, 7.2137, 1.6728, -0.0171, -0.0366, -0.0122]",
      "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]: [-0.4541, 1.8027, 1.277, -0.5774, -0.4107, -0.3874, 0.9952, -0.0193, 0.8165, 0.6132, -0.4129, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4165 left_y=-0.1209 left_z=0.0909 left_yaw=0.1379 left_pitch=-0.4031 left_roll=0.1785 left_gripper=0.9952 right_x=0.2928 right_y=0.0016 right_z=0.1713 right_yaw=-0.0022 right_pitch=-0.0591 right_roll=0.0008 right_gripper=0.9993\nstate[joint_eff]: [-0.4171, -12.2188, 9.265, 1.0476, -0.2759, 0.0366, -0.1441, -0.1983, -1.4017, 7.0085, 1.6923, -0.0611, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b76a71d08cb505edb244612c92c25191a661a114affcbeb98a9b26fbd044b54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f573bd1d1dea6a7bf392a0c1d9b9c0171dcbc01b20105efb4b918ea30d49dcf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3892c60035295b1b16d0fc23f3f76316e337bf20d3a7bde973e44e504ae137c3",
        "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_016xfkEWPjkzi1iTNaDxnrz9",
      "input": {
        "note": "From 9 cm up the cap is clearly visible at (110,175), centred on the jaw column but still short of the jaw row, so it is further out than my last three grasp attempts. Advancing ~3 cm and descending to table level.",
        "targets": {
          "left_x": 0.445,
          "left_y": -0.121,
          "left_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_016xfkEWPjkzi1iTNaDxnrz9",
      "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]: [-0.4263, 2.0003, 1.2125, -0.3466, -0.4076, -0.3805, 0.9963, -0.0193, 0.8185, 0.6128, -0.4137, -0.0208, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4342 left_y=-0.1163 left_z=0.0104 left_yaw=0.1672 left_pitch=-0.4313 left_roll=0.1993 left_gripper=0.9963 right_x=0.2928 right_y=0.0016 right_z=0.1704 right_yaw=-0.0019 right_pitch=-0.0622 right_roll=0.0011 right_gripper=0.9993\nstate[joint_eff]: [0.4034, -8.1436, 5.8735, 1.0232, -0.1343, 0.2466, 0.1099, -0.1846, -1.4427, 7.0496, 1.6679, -0.0269, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b86622a44acd0c9e9fadc0f98fc9658c139d3b255da8ab8ef8fc1ad9a32dc5b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad77d595ab5ce2360ab99e48471ac9f7f2aa71d4a41f80c3eab6f3a0f076b0b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:956f07ad004a19d2a270e9d2055da247f1008bca5cabb410334868bc1626f959",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /messages · status 200 · 10.9 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]: [-0.4545, 1.9327, 1.0599, -0.1833, -0.4103, -0.3759, 0.0091, -0.0193, 0.8158, 0.6132, -0.4133, -0.0204, -0.0116, 0.9993]\nstate[eef_state]: left_x=0.4199 left_y=-0.1228 left_z=0.0079 left_yaw=0.1202 left_pitch=-0.3652 left_roll=0.1575 left_gripper=0.0091 right_x=0.2927 right_y=0.0016 right_z=0.1714 right_yaw=-0.0024 right_pitch=-0.0587 right_roll=0.0011 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -9.5521, 5.6, 1.2039, -0.1832, 0.0122, 0.5983, -0.253, -1.3744, 7.2137, 1.6728, -0.0171, -0.0366, -0.0122]",
      "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]: [-0.4541, 1.8027, 1.277, -0.5774, -0.4107, -0.3874, 0.9952, -0.0193, 0.8165, 0.6132, -0.4129, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4165 left_y=-0.1209 left_z=0.0909 left_yaw=0.1379 left_pitch=-0.4031 left_roll=0.1785 left_gripper=0.9952 right_x=0.2928 right_y=0.0016 right_z=0.1713 right_yaw=-0.0022 right_pitch=-0.0591 right_roll=0.0008 right_gripper=0.9993\nstate[joint_eff]: [-0.4171, -12.2188, 9.265, 1.0476, -0.2759, 0.0366, -0.1441, -0.1983, -1.4017, 7.0085, 1.6923, -0.0611, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.4263, 2.0003, 1.2125, -0.3466, -0.4076, -0.3805, 0.9963, -0.0193, 0.8185, 0.6128, -0.4137, -0.0208, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4342 left_y=-0.1163 left_z=0.0104 left_yaw=0.1672 left_pitch=-0.4313 left_roll=0.1993 left_gripper=0.9963 right_x=0.2928 right_y=0.0016 right_z=0.1704 right_yaw=-0.0019 right_pitch=-0.0622 right_roll=0.0011 right_gripper=0.9993\nstate[joint_eff]: [0.4034, -8.1436, 5.8735, 1.0232, -0.1343, 0.2466, 0.1099, -0.1846, -1.4427, 7.0496, 1.6679, -0.0269, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b86622a44acd0c9e9fadc0f98fc9658c139d3b255da8ab8ef8fc1ad9a32dc5b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad77d595ab5ce2360ab99e48471ac9f7f2aa71d4a41f80c3eab6f3a0f076b0b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:956f07ad004a19d2a270e9d2055da247f1008bca5cabb410334868bc1626f959",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISygIKjgEIEhgCKkBJ95JtDdpnibUHvZfMv6JS/zlYAT+LuYRtQOomPKZvHWozhRDKuh52Jlbnar6NOrrSIEKh5p3Jf9ZclvlcFG/mMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYukzNUGEgy6fJTtPJQT9NDsTWQaDEeb2/PIcGCO0ukWqyIwWPgps+6ySW/r6lKkCk3ibnZCsJ3Pe7R9L0y4aS4VrmCCvTrk9aN/Stv7lf4BRUWqKmn8q9M8boiSFJLVA5CPiA0OjB4/AaVYPsVSTf6ZC5CR0BpAru/DiBgC7yTMSn0TjFbP4oVp9cnh6kDslEM9KIKhPXKCo0vjd4+2ImHd0jrsUaZ0crHET0WwWX7XuV3A2LXAzptc1G3UanUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ba7E6NZTneCay1DqZvvaNz",
      "input": {
        "note": "The cap is now visible right at the bottom centre between the jaws; closing to grasp.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Ba7E6NZTneCay1DqZvvaNz",
      "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]: [-0.4255, 2.0113, 1.2121, -0.3531, -0.4103, -0.384, 0.0084, -0.0193, 0.8185, 0.6128, -0.4137, -0.0208, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4319 left_y=-0.1145 left_z=0.0051 left_yaw=0.1767 left_pitch=-0.4444 left_roll=0.2106 left_gripper=0.0084 right_x=0.2928 right_y=0.0016 right_z=0.1704 right_yaw=-0.0019 right_pitch=-0.0622 right_roll=0.0011 right_gripper=0.9993\nstate[joint_eff]: [-0.0479, -10.988, 5.6274, 1.0427, -0.1734, 0.0024, 0.5934, -0.0479, -1.347, 7.0085, 1.6728, -0.0415, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9e080ec66e61a90594f02ad5b16ec98ad8580587bb7efe0d793a2a5bc175fed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d8fa82fb015aad09bd276cd9be1f32457aab27245aab168f4fc6fd402e1569c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2db4ef377cf1bd27a49be532885e08ddcdcab9398648fc769905cd3c93cc5253",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /messages · status 200 · 16.34 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]: [-0.4541, 1.8027, 1.277, -0.5774, -0.4107, -0.3874, 0.9952, -0.0193, 0.8165, 0.6132, -0.4129, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4165 left_y=-0.1209 left_z=0.0909 left_yaw=0.1379 left_pitch=-0.4031 left_roll=0.1785 left_gripper=0.9952 right_x=0.2928 right_y=0.0016 right_z=0.1713 right_yaw=-0.0022 right_pitch=-0.0591 right_roll=0.0008 right_gripper=0.9993\nstate[joint_eff]: [-0.4171, -12.2188, 9.265, 1.0476, -0.2759, 0.0366, -0.1441, -0.1983, -1.4017, 7.0085, 1.6923, -0.0611, -0.0464, -0.0122]\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]: [-0.4263, 2.0003, 1.2125, -0.3466, -0.4076, -0.3805, 0.9963, -0.0193, 0.8185, 0.6128, -0.4137, -0.0208, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4342 left_y=-0.1163 left_z=0.0104 left_yaw=0.1672 left_pitch=-0.4313 left_roll=0.1993 left_gripper=0.9963 right_x=0.2928 right_y=0.0016 right_z=0.1704 right_yaw=-0.0019 right_pitch=-0.0622 right_roll=0.0011 right_gripper=0.9993\nstate[joint_eff]: [0.4034, -8.1436, 5.8735, 1.0232, -0.1343, 0.2466, 0.1099, -0.1846, -1.4427, 7.0496, 1.6679, -0.0269, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.4255, 2.0113, 1.2121, -0.3531, -0.4103, -0.384, 0.0084, -0.0193, 0.8185, 0.6128, -0.4137, -0.0208, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4319 left_y=-0.1145 left_z=0.0051 left_yaw=0.1767 left_pitch=-0.4444 left_roll=0.2106 left_gripper=0.0084 right_x=0.2928 right_y=0.0016 right_z=0.1704 right_yaw=-0.0019 right_pitch=-0.0622 right_roll=0.0011 right_gripper=0.9993\nstate[joint_eff]: [-0.0479, -10.988, 5.6274, 1.0427, -0.1734, 0.0024, 0.5934, -0.0479, -1.347, 7.0085, 1.6728, -0.0415, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9e080ec66e61a90594f02ad5b16ec98ad8580587bb7efe0d793a2a5bc175fed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d8fa82fb015aad09bd276cd9be1f32457aab27245aab168f4fc6fd402e1569c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2db4ef377cf1bd27a49be532885e08ddcdcab9398648fc769905cd3c93cc5253",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISvAsKjgEIEhgCKkDDC2bR+QKEJereYC9wU3+7E/7MMvYB9bmmBOlQae382Lup9q7ZIdssvSUCizz1GBz26tHefXzZpeD2Rmm2eovXMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZakzNUGEgxMNS/U7FShEeoKEE0aDOmOzpavEmnMkzNC/iIwaBM+Em67W2F+TqaSG+mm/GgiFQQDQ5UcCf8/KVHO+NuSmJPcTtGfNbkB9Yjy1QwPKtoJ5YwmSUJTx7gYmVKg0FyayALCNMPupUybtVdP6w9oLnvK0UuNh8BLPvGE+ncX9kB2zfM126bwQPN25n8Bn8BO8f0qeXKZ+6T8ajEIfUaWnGC43LCy6TWR+/be4UwhfdOOAkerk+ETMbjg9bTdDWwQVJLN1ygAbPwnuX2e0Etq2HUdesPL2wGfWT/zx8/b+aEtlSFkC6Wnpky/RmhJnYvqUWBdmwtI8JgHcA3vMBk06FuHWLHMrane84JWteZw/mSI8PVM4lXiCxp7zuKa7+Q1Cix6ks3F8C2rl21jzqnlBsaPkOW/jprMsnNb8Z83UeYRL1Lpo1cmIW3HKsKXL2/pbPFFCLD8ArM7IiuL0UrJ95Etj4JLn+i0BJiqhOPYeLjBTRbzJX31jKVsUAzBc2SzKC12KpqZh28dr2wG1LEJXjDFOGoLR6MrcpN6aV0lCYx18A/+ZKFJbfyMx0+XieI3CGHIOBKO+7uUJM84daEw3zwXsMOJSqubk5FLRU+2gtOtnMPB08LDA8B34hGOEMW7DhOjKKvsQvBFkUZu+kgsILmgitlr91jGjKDLQHGDmXfqDH+oAnwsxEebWfYKxRHTeLl8LOeDIKbv1XQN3uAfHJQEZirJbcOjOUApEo4kWCVqeHyOIdctJVlbikIFCtvHTZGVg21qArnN47TOdZS4f1003WcIB4d2acuuSIf5KRwR7jvgqNEChzN6V447FY7iMsMcF1x3lLeQh1h9LZ2Tvxz3PXs7qqcjO6Pd+3QTBkKNHQ0cfghYOF1Um86azs5mRm5/kua6+BzcrQdhRWjtxZjCUMcZpfsDCtfFAVl7AmUYLtAYBC0XlhyE8E+OtlCUNxL6rSOmbjFxedwJPC3APsX1h/s7CWpRlBs00pDN1mQZ6CDyTcTEy5cpbDt+QNnpjrhNdlcdCytXD5ekPfnQBAPUVcCVDG0zreYn8b6lKE725GK2f6Sjm3MRPOueFFagvLvmGsDjbjAsmg628jUtlM6xEziAljo+weUz8oqgXfmzPRIxx/YX7cNhRMTD4i9XjVql5EEih5sU80l2iWwpljkx/v2+u29qigHRuer3UvJ/1V9SSR6379PkDe4RUMC508kVihl+7wgWdtaE3uicvugoiTuoydvExKytp0Ap5qGn6BTqtyIsYCUtpFCWPQTiGwmgfUVlXnMpp+HisEt/akDopIy2HXKO4vcRcU3yoVgnL9PJuhG7vguR8U8RiwPAJajttfUV3os4E0e9w6K5m3CA3UJcU7v3tzbAc7A8kPrLwQXKaVzUwH1N3Msfw9hsNphwJfEMkP93UM3d6TCfwXvQgm070nG/7ddbtzXsdytTlUU/CjczpHztrxDJFl8I464FWfaCPF1nx4pdpm7lrYsfDlzPre99KA/vxbunAXHIlFAXn8nn5I92kQeWmbeXn8Bz8i3p61BRo8TM35R5cMppPsW2uHhRKPdMdpwC9N9S3qDZXHvCkVnS5hTo5B/xMaqbgzJub1dPjLu4bEZ/66PrxTffN31gDwXj6S7Zyk3A8XoLDawb6bFaN8g9XGaOsTYh9ioBg4y2mv9yAhFCxlQ+uRJSdwdtXPYKZXP4nXNvitukaVeOKQKnYh9O3Fp/RhtCA6liC8sCR9Glo/ywz2f9H+CQx2D2k5mrGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XMDKvYFNenD8HBPJFVtwnG",
      "input": {
        "note": "Fourth empty close and nothing appears in the jaws; I need to confirm whether the cap is still where I think it is. Pulling the left arm right back and up for a fully unobstructed overhead view.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.2,
          "left_y": -0.02,
          "left_z": 0.35
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 23 steps (2.3s)",
      "tool_use_id": "toolu_01XMDKvYFNenD8HBPJFVtwnG",
      "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]: [-0.3229, 1.1831, 1.6104, -1.5604, -0.3725, -0.3267, 0.9979, -0.0193, 0.8223, 0.6132, -0.4133, -0.0208, -0.012, 0.9993]\nstate[eef_state]: left_x=0.228 left_y=-0.0047 left_z=0.3002 left_yaw=0.2112 left_pitch=-0.4534 left_roll=0.2007 left_gripper=0.9979 right_x=0.2931 right_y=0.0016 right_z=0.1696 right_yaw=-0.0019 right_pitch=-0.0652 right_roll=0.0011 right_gripper=0.9993\nstate[joint_eff]: [0.4444, -3.2205, 7.5419, 0.9792, -0.1978, 0.2369, 0.0806, -0.1709, -1.6889, 7.0085, 1.6825, -0.0611, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3702a7c547efac8ba24e3e3f64c1ad0f16cc770fe716f21ef17352f9aa71dcbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24f9debfaefa6a03733a35634b1e95ffd31b6f6604b459ead73b001fa1389841",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1f0ec37c0646baa3af4cb7dda43ed5772195dd3777ee663f8441390d01ff1ed1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /messages · status 200 · 10.55 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]: [-0.4263, 2.0003, 1.2125, -0.3466, -0.4076, -0.3805, 0.9963, -0.0193, 0.8185, 0.6128, -0.4137, -0.0208, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4342 left_y=-0.1163 left_z=0.0104 left_yaw=0.1672 left_pitch=-0.4313 left_roll=0.1993 left_gripper=0.9963 right_x=0.2928 right_y=0.0016 right_z=0.1704 right_yaw=-0.0019 right_pitch=-0.0622 right_roll=0.0011 right_gripper=0.9993\nstate[joint_eff]: [0.4034, -8.1436, 5.8735, 1.0232, -0.1343, 0.2466, 0.1099, -0.1846, -1.4427, 7.0496, 1.6679, -0.0269, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4255, 2.0113, 1.2121, -0.3531, -0.4103, -0.384, 0.0084, -0.0193, 0.8185, 0.6128, -0.4137, -0.0208, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4319 left_y=-0.1145 left_z=0.0051 left_yaw=0.1767 left_pitch=-0.4444 left_roll=0.2106 left_gripper=0.0084 right_x=0.2928 right_y=0.0016 right_z=0.1704 right_yaw=-0.0019 right_pitch=-0.0622 right_roll=0.0011 right_gripper=0.9993\nstate[joint_eff]: [-0.0479, -10.988, 5.6274, 1.0427, -0.1734, 0.0024, 0.5934, -0.0479, -1.347, 7.0085, 1.6728, -0.0415, -0.0562, -0.0122]",
      "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]: [-0.3229, 1.1831, 1.6104, -1.5604, -0.3725, -0.3267, 0.9979, -0.0193, 0.8223, 0.6132, -0.4133, -0.0208, -0.012, 0.9993]\nstate[eef_state]: left_x=0.228 left_y=-0.0047 left_z=0.3002 left_yaw=0.2112 left_pitch=-0.4534 left_roll=0.2007 left_gripper=0.9979 right_x=0.2931 right_y=0.0016 right_z=0.1696 right_yaw=-0.0019 right_pitch=-0.0652 right_roll=0.0011 right_gripper=0.9993\nstate[joint_eff]: [0.4444, -3.2205, 7.5419, 0.9792, -0.1978, 0.2369, 0.0806, -0.1709, -1.6889, 7.0085, 1.6825, -0.0611, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3702a7c547efac8ba24e3e3f64c1ad0f16cc770fe716f21ef17352f9aa71dcbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24f9debfaefa6a03733a35634b1e95ffd31b6f6604b459ead73b001fa1389841",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f0ec37c0646baa3af4cb7dda43ed5772195dd3777ee663f8441390d01ff1ed1",
        "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_01DstHWWqbL5rPGK73bP7p6p",
      "input": {
        "note": "Top view confirms the cap is still untouched at image (68,105). I notice the tool has drifted to pitch -0.45 / roll +0.20 rad, which tilts the fingers and probably explains four empty closes; re-approaching with pitch, roll and yaw explicitly commanded to zero.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.43,
          "left_y": -0.12,
          "left_yaw": 0,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01DstHWWqbL5rPGK73bP7p6p",
      "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]: [-0.4156, 1.7206, 0.741, 0.2142, -0.3721, -0.2771, 0.9984, -0.0193, 0.8272, 0.6132, -0.4149, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4071 left_y=-0.1055 left_z=0.0406 left_yaw=0.0369 left_pitch=-0.1322 left_roll=0.053 left_gripper=0.9984 right_x=0.2932 right_y=0.0015 right_z=0.168 right_yaw=-0.0022 right_pitch=-0.0717 right_roll=0.001 right_gripper=0.9993\nstate[joint_eff]: [-0.4308, -8.3761, 5.6547, 1.7607, -0.0562, 0.2271, 0.0415, -0.3624, -1.5932, 7.2137, 1.663, -0.0317, -0.0562, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75f71c7e9e3703ad7095562b82c9008e84ca173c5fccec67fc44aa20e04f8393",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7bbd0eb84578047e74ba44173196119efe3198301f6fe8c55970af99ed8b7a02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:43e3bf15943d2e41b56c7660f43e6aa0d614eba17baa13c63b5f234779c49ffe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /messages · status 200 · 11.89 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]: [-0.4255, 2.0113, 1.2121, -0.3531, -0.4103, -0.384, 0.0084, -0.0193, 0.8185, 0.6128, -0.4137, -0.0208, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4319 left_y=-0.1145 left_z=0.0051 left_yaw=0.1767 left_pitch=-0.4444 left_roll=0.2106 left_gripper=0.0084 right_x=0.2928 right_y=0.0016 right_z=0.1704 right_yaw=-0.0019 right_pitch=-0.0622 right_roll=0.0011 right_gripper=0.9993\nstate[joint_eff]: [-0.0479, -10.988, 5.6274, 1.0427, -0.1734, 0.0024, 0.5934, -0.0479, -1.347, 7.0085, 1.6728, -0.0415, -0.0562, -0.0122]",
      "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]: [-0.3229, 1.1831, 1.6104, -1.5604, -0.3725, -0.3267, 0.9979, -0.0193, 0.8223, 0.6132, -0.4133, -0.0208, -0.012, 0.9993]\nstate[eef_state]: left_x=0.228 left_y=-0.0047 left_z=0.3002 left_yaw=0.2112 left_pitch=-0.4534 left_roll=0.2007 left_gripper=0.9979 right_x=0.2931 right_y=0.0016 right_z=0.1696 right_yaw=-0.0019 right_pitch=-0.0652 right_roll=0.0011 right_gripper=0.9993\nstate[joint_eff]: [0.4444, -3.2205, 7.5419, 0.9792, -0.1978, 0.2369, 0.0806, -0.1709, -1.6889, 7.0085, 1.6825, -0.0611, -0.0513, -0.0122]",
      "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]: [-0.4156, 1.7206, 0.741, 0.2142, -0.3721, -0.2771, 0.9984, -0.0193, 0.8272, 0.6132, -0.4149, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4071 left_y=-0.1055 left_z=0.0406 left_yaw=0.0369 left_pitch=-0.1322 left_roll=0.053 left_gripper=0.9984 right_x=0.2932 right_y=0.0015 right_z=0.168 right_yaw=-0.0022 right_pitch=-0.0717 right_roll=0.001 right_gripper=0.9993\nstate[joint_eff]: [-0.4308, -8.3761, 5.6547, 1.7607, -0.0562, 0.2271, 0.0415, -0.3624, -1.5932, 7.2137, 1.663, -0.0317, -0.0562, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75f71c7e9e3703ad7095562b82c9008e84ca173c5fccec67fc44aa20e04f8393",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7bbd0eb84578047e74ba44173196119efe3198301f6fe8c55970af99ed8b7a02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43e3bf15943d2e41b56c7660f43e6aa0d614eba17baa13c63b5f234779c49ffe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIStAsKjgEIEhgCKkAUPKUpKYZtwMSG+rA1tNcIUhHYbhCxTL10sIOpNMin06qcf+NwK0ww9hw8++gLrZHUQu2g53s5IZ6Uvc7nkVjhMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbWkzNUGEgzRBDKtILP4qpb2VSoaDM0CM/0UKvw5FrgIwyIwXc6zGlpGiVhaESMDNZKXd6Hwj8kDZSVA8tdqCi26yJNeaxdnyeJDFPZU/CZP4di3KtIJchpD75Q75B5vnwuoNXDLorK0WTFOjVRPCyf8+MQNUqZZ9f7DwHbYsszEaygWRzoFHAgquMqlhyeSU9D4gouhAkG7vmlNGuW/Q1IVhy8c8Je1PWR1CloNtk7F3bo5qg0+jJoHNOlR0SIG7HhEvm+QslSdcOlgAFAzQK/sD5ESjeaI8sW6yXmctEWIopJO9rcYkueXXe/msvIdqzQOPSsMF3OPzLh+o/SsT5tbw0NAwMvlpPCxnOpr2N/NdM6a7ky72sM+OKY7W2s6uB78tsqoZEGzea9SD8ZSaZQo2umR04fftqWS+7XtK7X1FXUMsRVJ2I+aNm7G7ZvPWrCVXoTSHnn1PhLmBBp511PKzQZYvLgnA0X2Nh100uOubMkFh7NcB4IfQc27yuIuch70beWdtWWoCqaJVNnoS1G9L5bqaijo/s6/FltZB2FXKPt4ouBLc1HGjS7BNJwp8Vi0XMYG94JJFbD7Gx0o//ejbPWJm5MlIN/wvgkb+pgQyBY/4BTjL4FyJB16VThEU/59oMJdQnOLBt86zCKR/YVGthDgMN2uItv+SNFm2ZroKcYqnbYlvx2orqlztlMYTjbgXhYolfDBIeSnfdV88CRcR6pmaJT3viv/uKqpd1InZosn7DQ4dErMVdPeCiHK7hK3HeuCLpIVSNZOODxV5g8ONS2KjNZxJq9GdO3/+zCHa+k1K/5Ljf6dtvQnuwrYPWYzfBic7zaV71gpq0HjfL2NjhEe3jaMjjoRlxazFOM1F8cBrXCDCXg1fkVlbE+/7wMresD/Tr67jXNmyrlvOna+/5irPEl6QKIkpi8MYDA2YIco0j0xoQf3lpi3pv2aQio8SYuehn6jS20ivCfNy4Bnaj7vW1iCQd1dy3U/lGfx1+53YWn5kUaGJndjpZvGK754ETKuAMcIkjlRMS84RHsVur6Yh9Dl4q6Rv4Y1WXR69A2Lch0hpwdEoClFzV5mXTaprS8RV7Jjm2eKKspoLT0ynlZGzLZZgUSuh/yKBLX/SQLleVtioNDxGFBB5sigFoVzYKGYB15Vjuyw9os7RAK+dEpYbEWj8zqClJdVoMMKcTjWdmHxc8SteE9Nox7A6dEaFBbKPFSmd35IBJ1/HwyZ3j1rID+76+7DGazOFsM35FN4v5aWCv393vJphV1E4acSYK3QPDNaD+Vy0BDieinI+9HsM/HUxDL53EfuYgK82usHajjb6iHEii11KKZLRBrqxcbBddUs5i82D9yHaohp3J9x9u6Bpxky5BAx7TRmjRGhJSzP1EtUoO+leMmY8FLsuN5OtKNSrARGSnLa5dpjWhx8DpmWOjs1R4kyH0PsrutyajLtMPruT8mcaHSdA37JkXHE1SRo0cw9XnFKySoZn/GxuufjG+SnmGp2Ikcv5v5Jkbg/jK2UA7syohWRP0C5K4weS0SZmWO6rNYJOKjhslrYL922QMzny8btFMOzUZWZ+2M0Lvo7LiPrEG/Y7KLeG3fjMdVw5pcRXbTmZkQBWY84+unYLJoOLVlD6Cj6P1N79fKxZjrUZ0gA37R7mWBL9ZlbYFcsrOOM7NhSlfwfCjFLuXSGS48urHB7HA05lEMtEKNNGs5spkpJBHkPLvZ0evvGO8XkwN7zBaswP8OSOsodP40/jhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019vR12Bap3F65x8Z1PShtcw",
      "input": {
        "note": "With the tool vertical the wrist camera looks further ahead and the cap has dropped out of view, so it is nearer the base than I assumed. Backing off to x=0.37 at 10 cm to re-acquire it in the wrist view.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.37,
          "left_y": -0.12,
          "left_yaw": 0,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_019vR12Bap3F65x8Z1PShtcw",
      "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]: [-0.5064, 1.4639, 0.6319, 0.2005, -0.4076, -0.2981, 0.9985, -0.0193, 0.833, 0.6128, -0.4133, -0.0208, -0.012, 0.9993]\nstate[eef_state]: left_x=0.3757 left_y=-0.1242 left_z=0.0968 left_yaw=-0.018 left_pitch=-0.0021 left_roll=-0.0043 left_gripper=0.9985 right_x=0.2936 right_y=0.0016 right_z=0.1665 right_yaw=-0.0019 right_pitch=-0.0763 right_roll=0.0013 right_gripper=0.9993\nstate[joint_eff]: [-0.4718, -6.2974, 5.9966, 1.7216, -0.2027, -0.1734, -0.0073, -0.3487, -1.5521, 7.0359, 1.7363, -0.0464, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9e7bab4cfe44490c14b37879bb212315ec6c8abd7807b1b3e7d379cb2fa796d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e64c8cf47b0abd4dd51dc85a2b1b053b70576a9f4cd2d31606c7721afad6e02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ee1babcaed1959d4d10eaf72df08e439602433eb0fbb1cf5ca243d624bbbc4c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /messages · status 200 · 18.11 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]: [-0.3229, 1.1831, 1.6104, -1.5604, -0.3725, -0.3267, 0.9979, -0.0193, 0.8223, 0.6132, -0.4133, -0.0208, -0.012, 0.9993]\nstate[eef_state]: left_x=0.228 left_y=-0.0047 left_z=0.3002 left_yaw=0.2112 left_pitch=-0.4534 left_roll=0.2007 left_gripper=0.9979 right_x=0.2931 right_y=0.0016 right_z=0.1696 right_yaw=-0.0019 right_pitch=-0.0652 right_roll=0.0011 right_gripper=0.9993\nstate[joint_eff]: [0.4444, -3.2205, 7.5419, 0.9792, -0.1978, 0.2369, 0.0806, -0.1709, -1.6889, 7.0085, 1.6825, -0.0611, -0.0513, -0.0122]",
      "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]: [-0.4156, 1.7206, 0.741, 0.2142, -0.3721, -0.2771, 0.9984, -0.0193, 0.8272, 0.6132, -0.4149, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4071 left_y=-0.1055 left_z=0.0406 left_yaw=0.0369 left_pitch=-0.1322 left_roll=0.053 left_gripper=0.9984 right_x=0.2932 right_y=0.0015 right_z=0.168 right_yaw=-0.0022 right_pitch=-0.0717 right_roll=0.001 right_gripper=0.9993\nstate[joint_eff]: [-0.4308, -8.3761, 5.6547, 1.7607, -0.0562, 0.2271, 0.0415, -0.3624, -1.5932, 7.2137, 1.663, -0.0317, -0.0562, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.5064, 1.4639, 0.6319, 0.2005, -0.4076, -0.2981, 0.9985, -0.0193, 0.833, 0.6128, -0.4133, -0.0208, -0.012, 0.9993]\nstate[eef_state]: left_x=0.3757 left_y=-0.1242 left_z=0.0968 left_yaw=-0.018 left_pitch=-0.0021 left_roll=-0.0043 left_gripper=0.9985 right_x=0.2936 right_y=0.0016 right_z=0.1665 right_yaw=-0.0019 right_pitch=-0.0763 right_roll=0.0013 right_gripper=0.9993\nstate[joint_eff]: [-0.4718, -6.2974, 5.9966, 1.7216, -0.2027, -0.1734, -0.0073, -0.3487, -1.5521, 7.0359, 1.7363, -0.0464, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9e7bab4cfe44490c14b37879bb212315ec6c8abd7807b1b3e7d379cb2fa796d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e64c8cf47b0abd4dd51dc85a2b1b053b70576a9f4cd2d31606c7721afad6e02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee1babcaed1959d4d10eaf72df08e439602433eb0fbb1cf5ca243d624bbbc4c1",
        "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_01V6cFxcVBHh5b3feYCU1Jxx",
      "input": {
        "note": "The wrist camera cannot see the cap and the arm hides it from the top camera, so I am stepping the gripper 8 cm toward the table centre to a spot where the top view shows both the jaws and the cap, enabling direct visual comparison.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.42,
          "left_y": -0.04,
          "left_yaw": 0,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01V6cFxcVBHh5b3feYCU1Jxx",
      "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]: [-0.1761, 1.5185, 0.643, 0.2207, -0.1894, -0.1467, 0.9985, -0.0193, 0.8333, 0.6128, -0.4156, -0.0208, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4028 left_y=-0.0342 left_z=0.0778 left_yaw=0.0513 left_pitch=-0.0705 left_roll=0.0058 left_gripper=0.9985 right_x=0.2933 right_y=0.0016 right_z=0.166 right_yaw=-0.0019 right_pitch=-0.079 right_roll=0.0014 right_gripper=0.9993\nstate[joint_eff]: [0.1162, -6.1333, 9.2376, 2.0586, 0.0952, 0.2173, -0.0122, -0.2256, -1.4838, 6.9949, 1.6923, -0.0366, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1af4508446becd9c7de1b3de3979c5bf334c94b529c1ba7fac9e9bdf0cb68557",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84d63f2c3bdd1f6259fa1a65f954896f0653af51fd20d64b845a3c2a4eccb401",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:88dd6be25b2cfbfd3b96b248b808debf1dfce6d261dfe8aebe08c7db3b8afbaf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /messages · status 200 · 9.463 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]: [-0.4156, 1.7206, 0.741, 0.2142, -0.3721, -0.2771, 0.9984, -0.0193, 0.8272, 0.6132, -0.4149, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4071 left_y=-0.1055 left_z=0.0406 left_yaw=0.0369 left_pitch=-0.1322 left_roll=0.053 left_gripper=0.9984 right_x=0.2932 right_y=0.0015 right_z=0.168 right_yaw=-0.0022 right_pitch=-0.0717 right_roll=0.001 right_gripper=0.9993\nstate[joint_eff]: [-0.4308, -8.3761, 5.6547, 1.7607, -0.0562, 0.2271, 0.0415, -0.3624, -1.5932, 7.2137, 1.663, -0.0317, -0.0562, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.5064, 1.4639, 0.6319, 0.2005, -0.4076, -0.2981, 0.9985, -0.0193, 0.833, 0.6128, -0.4133, -0.0208, -0.012, 0.9993]\nstate[eef_state]: left_x=0.3757 left_y=-0.1242 left_z=0.0968 left_yaw=-0.018 left_pitch=-0.0021 left_roll=-0.0043 left_gripper=0.9985 right_x=0.2936 right_y=0.0016 right_z=0.1665 right_yaw=-0.0019 right_pitch=-0.0763 right_roll=0.0013 right_gripper=0.9993\nstate[joint_eff]: [-0.4718, -6.2974, 5.9966, 1.7216, -0.2027, -0.1734, -0.0073, -0.3487, -1.5521, 7.0359, 1.7363, -0.0464, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.1761, 1.5185, 0.643, 0.2207, -0.1894, -0.1467, 0.9985, -0.0193, 0.8333, 0.6128, -0.4156, -0.0208, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4028 left_y=-0.0342 left_z=0.0778 left_yaw=0.0513 left_pitch=-0.0705 left_roll=0.0058 left_gripper=0.9985 right_x=0.2933 right_y=0.0016 right_z=0.166 right_yaw=-0.0019 right_pitch=-0.079 right_roll=0.0014 right_gripper=0.9993\nstate[joint_eff]: [0.1162, -6.1333, 9.2376, 2.0586, 0.0952, 0.2173, -0.0122, -0.2256, -1.4838, 6.9949, 1.6923, -0.0366, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1af4508446becd9c7de1b3de3979c5bf334c94b529c1ba7fac9e9bdf0cb68557",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84d63f2c3bdd1f6259fa1a65f954896f0653af51fd20d64b845a3c2a4eccb401",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88dd6be25b2cfbfd3b96b248b808debf1dfce6d261dfe8aebe08c7db3b8afbaf",
        "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_01CMHZKyuo1dadeXMUJ91ZR8",
      "input": {
        "note": "Top view now shows the cap as a small dark blob at image (62,100) about 10 cm to the arm's right of the gripper. Moving to x=0.44, y=-0.09 at 5 cm so the jaws sit just beside the cap without hiding it, to compare their depth in the top view.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.44,
          "left_y": -0.09,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01CMHZKyuo1dadeXMUJ91ZR8",
      "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, 1.7779, 0.6872, 0.3679, -0.2893, -0.2123, 0.9985, -0.0193, 0.8371, 0.6128, -0.4164, -0.0208, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4153 left_y=-0.0841 left_z=0.0226 left_yaw=0.0203 left_pitch=-0.1165 left_roll=0.0344 left_gripper=0.9985 right_x=0.2934 right_y=0.0016 right_z=0.1648 right_yaw=-0.0018 right_pitch=-0.0835 right_roll=0.0015 right_gripper=0.9993\nstate[joint_eff]: [-0.4581, -7.9385, 8.1299, 2.0147, -0.2711, -0.0952, -0.0122, -0.212, -1.7846, 6.9675, 1.6484, -0.0464, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e53b99072b95ea2c30535afa3606418216f5c8d62b9ed2ecd060deb87f131a20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4cfe3b9633b8e3dc273afbd7136258e96d1e2c51e5fc61b616a3fd681b610be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4ae6db2885818252e0a434cf356ccc0074ef5bbd86bf0de7c15addedcb11686e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /messages · status 200 · 16.18 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]: [-0.5064, 1.4639, 0.6319, 0.2005, -0.4076, -0.2981, 0.9985, -0.0193, 0.833, 0.6128, -0.4133, -0.0208, -0.012, 0.9993]\nstate[eef_state]: left_x=0.3757 left_y=-0.1242 left_z=0.0968 left_yaw=-0.018 left_pitch=-0.0021 left_roll=-0.0043 left_gripper=0.9985 right_x=0.2936 right_y=0.0016 right_z=0.1665 right_yaw=-0.0019 right_pitch=-0.0763 right_roll=0.0013 right_gripper=0.9993\nstate[joint_eff]: [-0.4718, -6.2974, 5.9966, 1.7216, -0.2027, -0.1734, -0.0073, -0.3487, -1.5521, 7.0359, 1.7363, -0.0464, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1761, 1.5185, 0.643, 0.2207, -0.1894, -0.1467, 0.9985, -0.0193, 0.8333, 0.6128, -0.4156, -0.0208, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4028 left_y=-0.0342 left_z=0.0778 left_yaw=0.0513 left_pitch=-0.0705 left_roll=0.0058 left_gripper=0.9985 right_x=0.2933 right_y=0.0016 right_z=0.166 right_yaw=-0.0019 right_pitch=-0.079 right_roll=0.0014 right_gripper=0.9993\nstate[joint_eff]: [0.1162, -6.1333, 9.2376, 2.0586, 0.0952, 0.2173, -0.0122, -0.2256, -1.4838, 6.9949, 1.6923, -0.0366, -0.0757, -0.0122]",
      "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]: [-0.3275, 1.7779, 0.6872, 0.3679, -0.2893, -0.2123, 0.9985, -0.0193, 0.8371, 0.6128, -0.4164, -0.0208, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4153 left_y=-0.0841 left_z=0.0226 left_yaw=0.0203 left_pitch=-0.1165 left_roll=0.0344 left_gripper=0.9985 right_x=0.2934 right_y=0.0016 right_z=0.1648 right_yaw=-0.0018 right_pitch=-0.0835 right_roll=0.0015 right_gripper=0.9993\nstate[joint_eff]: [-0.4581, -7.9385, 8.1299, 2.0147, -0.2711, -0.0952, -0.0122, -0.212, -1.7846, 6.9675, 1.6484, -0.0464, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e53b99072b95ea2c30535afa3606418216f5c8d62b9ed2ecd060deb87f131a20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4cfe3b9633b8e3dc273afbd7136258e96d1e2c51e5fc61b616a3fd681b610be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ae6db2885818252e0a434cf356ccc0074ef5bbd86bf0de7c15addedcb11686e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISlQoKjgEIEhgCKkDcsusrdbffIStCVmfKODxk0lVLN23TcWGv97O7Rq/q5Ya7juONP0vRuzIBXNvGSyrzjvVH65mrKvx38lVKFU/NMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd6kzNUGEgxY7c1dPALLGBq6rpYaDL/DyZrAOdjECSQM8yIwRspW3rmcBfW7Ntt2UzH4mZLXk3u+f1KXKq9zTYwvHp58ql0HC+knGTY1i2nYDsYrKrMI7xEogAqvNsGGEr+V8Q9/g94q5W4NnxrTpaqbFwIhDe2oaa1AxmxNUg4BmqzFp8ULz3CySiF21xQmZSsv27vh0vbPQNSxyfnrkY4jmCPKqfjYopaHBDMlAdD1b8MpSXXS3QfiipmMaJ8FlAJAlc+rZtNzNsyeAzgEnD5DZGU6CK8oibXjvEtzaqZeWvQV57kRvpYEtBgDKLl413uOfMcesWO2B07Zuv3t4PKme0zsbFO6fZu1lPjz6WPkLWivYuqz/occFJGFH+xBT1WeMGi0FQYEdzUdHJ6ZTMPhYVgKsNH/etmhXYaI3clWZyzzQgNLnGWRxRBxU22Mvor/j81EdAFQsscfQ/SjZgOVO2joIDZAhZSaOhyC7AfEKQyyRGAdmWt6mX/eGTVeYsJ+UGm2GscuwzIlhRx2ysza/sCVAnYEKPHaQ2EMcFA6SHd8OhaYrkLKNOATHrVrwmn+2bXGpZA1vHFrBxvnKRxOy4IjoLzw/PTzhDBpvjXzgW8NrxudlqoeDsR1IT1Pz5dCACGJVLRh8opWaxvttCcHHxxKMj3klpuwymJgIhrz7OWWiSv4orrkq35tRQAkNNg6jKYX8wA9++Ym9aBJI3b8LWqqxCfx7CVnm5PPk5Wpg1LMd/wd7CYlyoWnYHPVN3/cjAs6xrVSYT+GkHek0/o6Kcaz8cBbrHmYeG5Y2xSFTaEbVVY1E2BblJ0BsnZb/93M8s1K6pQ8kjoF6ynSkLPtj/GGZcyoYaD9SG3EFkyBDt8hPfl8cPCmCr0lC+p1mVN/auVOBL8L4eEcGE3QUqVIQZcII/JMVWI0uxj5tbLKOXIS/gfkovJbOZ/gwD92Hz4VAsjuIP7Z4tVkoZGcs1XbvRi3NmeZrYpN47bERxy/27yLFLJQ1pyX3AkKajVhY9abe3Fbvz4Cx8aIrcG8fQfTDXBfdYcEO4yRcYgbOuJ/jShg31LUQV5jl32ySSvd9CI7+VAfOXEgYytxlS6N/CGmQPTeHTTtm6LpkjrR1V3VcJoxaL9/IGVW0Llo8BOggt41T7EsbZqZca/N4UCvkifm2wKMKrYY2sUWPZS7C1fGXup2+BEIGQQ/dOqN9z4sYNY0AupoMEsSUECYXLwOUk0a7mDMplqs6VtrvayeM2FZaRA+MdXXG8zt6t1PXMyXUn2v1W0gNXw8UcmWaKEm4QEUa918qDUSk3kQGzdBrquzwF8GEPLJExt+NXx1LwM01Mn2KtZs8VniJS978v8qFHqlFcBRQ3RCMJi43fvdab8fSEoPalWItTN8HK3YMeihHFOCF78MnAB95g6sjqn5MUAUBx8WTGIK+vKQYdNo0kJp6xwsBLY/g3k0ibJ+DQl3a5Gx5osM8qzRsjPn61312hA0hvHg1aEY5HXhso1ekLLEisxuC1umRNOHdiO8S26XzngYbFR41S8ArhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DR2XGmiMWCvwug3oYSDd48",
      "input": {
        "note": "The jaws are now sitting right where the cap appeared in the top view and are nearly at table level; closing to test for a grasp.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01DR2XGmiMWCvwug3oYSDd48",
      "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]: [-0.3363, 1.7966, 0.7044, 0.4168, -0.3313, -0.2379, 0.0078, -0.0193, 0.8375, 0.6128, -0.416, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4264 left_y=-0.0844 left_z=0.0314 left_yaw=0.0582 left_pitch=-0.0621 left_roll=0.0221 left_gripper=0.0078 right_x=0.2935 right_y=0.0015 right_z=0.1648 right_yaw=-0.0022 right_pitch=-0.0835 right_roll=0.0012 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -8.3077, 7.5145, 1.9902, -0.0317, 0.0366, 0.5397, -0.1846, -1.5111, 6.9675, 1.6581, -0.0317, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1684a0e03ee02a3df8902f9d70972f5290edc9427408de2a4952b1cf2826e902",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d464472d03f7c082d809ba81f2cb2f683604d6ae4211d0021779d6e1c83e6091",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:26b10dd45eb8859cc4d97e7e97928c75821048777468a20ea6c1d737fcbdf8d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /messages · status 200 · 14.36 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]: [-0.1761, 1.5185, 0.643, 0.2207, -0.1894, -0.1467, 0.9985, -0.0193, 0.8333, 0.6128, -0.4156, -0.0208, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4028 left_y=-0.0342 left_z=0.0778 left_yaw=0.0513 left_pitch=-0.0705 left_roll=0.0058 left_gripper=0.9985 right_x=0.2933 right_y=0.0016 right_z=0.166 right_yaw=-0.0019 right_pitch=-0.079 right_roll=0.0014 right_gripper=0.9993\nstate[joint_eff]: [0.1162, -6.1333, 9.2376, 2.0586, 0.0952, 0.2173, -0.0122, -0.2256, -1.4838, 6.9949, 1.6923, -0.0366, -0.0757, -0.0122]",
      "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]: [-0.3275, 1.7779, 0.6872, 0.3679, -0.2893, -0.2123, 0.9985, -0.0193, 0.8371, 0.6128, -0.4164, -0.0208, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4153 left_y=-0.0841 left_z=0.0226 left_yaw=0.0203 left_pitch=-0.1165 left_roll=0.0344 left_gripper=0.9985 right_x=0.2934 right_y=0.0016 right_z=0.1648 right_yaw=-0.0018 right_pitch=-0.0835 right_roll=0.0015 right_gripper=0.9993\nstate[joint_eff]: [-0.4581, -7.9385, 8.1299, 2.0147, -0.2711, -0.0952, -0.0122, -0.212, -1.7846, 6.9675, 1.6484, -0.0464, -0.0757, -0.0122]",
      "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]: [-0.3363, 1.7966, 0.7044, 0.4168, -0.3313, -0.2379, 0.0078, -0.0193, 0.8375, 0.6128, -0.416, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4264 left_y=-0.0844 left_z=0.0314 left_yaw=0.0582 left_pitch=-0.0621 left_roll=0.0221 left_gripper=0.0078 right_x=0.2935 right_y=0.0015 right_z=0.1648 right_yaw=-0.0022 right_pitch=-0.0835 right_roll=0.0012 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -8.3077, 7.5145, 1.9902, -0.0317, 0.0366, 0.5397, -0.1846, -1.5111, 6.9675, 1.6581, -0.0317, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1684a0e03ee02a3df8902f9d70972f5290edc9427408de2a4952b1cf2826e902",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d464472d03f7c082d809ba81f2cb2f683604d6ae4211d0021779d6e1c83e6091",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26b10dd45eb8859cc4d97e7e97928c75821048777468a20ea6c1d737fcbdf8d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISpxEKjgEIEhgCKkBnL7v2GvZKoVh4OU5WC4kxvhUWQB9KArglGlmUU7D3WUtSOEGojCutDSfK0ZSqLhnd+BUuR2UQTuhAovEpB3w7Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe6kzNUGEgxz70CgkZE+6SKLO0MaDDqLkItbTQEi4teJVSIwNsB7bjLizvehrheAvGxMa6am+l4jYtrqCNB8Zi1Zlsyvtg6clXzdVOeJsy5ud95XKsUPEAqJXJRW8p9gBwVHBhqQMCeXrE04UIPEIcQzR6PSdpEP2ku9+4cHl8glnaOy/TLMuZN4uDxdNQOOcoVVidiF53tB0EcsShfukSH/3Yri03GSoTq4hfNn9QxwznTsG6Ek7zCr0jQRkAClGQ7jYrQwJ7lvA4X/GwhrTOIHgrtgzO1RLIcJ9lQXCw4T3XjjpPebKy8Tx9uX9Uvkrh3MH4WywPaDFNdIfazLkpIL6XQtMYr/5pk+NDiJSUpjbW4NGzfNloWovitZf+HxAeVAFXgecJNSVoP8ghdPpf00eIwn44fwAs0KY48D18jxQuxe1Sh8RC02YlWUtX6y0FyfdeBSc0Xw6R/45gPFSrsZn+3doBzCmhJYp9jPpnbJRaqYbO1NAhUIjaW1a1JJiRij78Sgyh0t5/ecQaSN5me1QMoRCod6268AUpgLQtcDYwssMxiHR0zVg6aA4IZrjpva6wekFktQq/kvh3ii7xsr25Kir4RbcMjy6Gcy74IawnY68Ik4cUZWSCstMJPKb+6Y/ei5zom0MMLHe5MAXjvwj3Z0bILoDjycnRHxNd+ZyBSUBHlIQNYgeh3qfBDZ6Ik2RjJ5lrvM3dRcIEYKAwjX7jx1X0lRiUXMCVL53qYG5KT3o64xVAKEXpbepNALl5TBqiTuMM3/uG+KrbFQxV/Vw1VOMTndgsr3VSuZdqwHLag4l7iUjOT2OhCx0MZWkFVC2yBkI0lfsAm8s/w+O3rt3NxQjOm6u94Z0AAzyADneGapCZZY/aJVwLVyBVmnD1zAasUYi2N61WQrINEnSzIl911gSwDzq3SMSPlYJals/HgNeQ3KC6g6pIvQCUdZ0aS/wW5T1lfT5YMFx6hNtgwgmVyAoZwYPOyppsFS2IfXaMbHU2+F1VsbkJjltXh0X4RIgn/D1EpIJx7Yi3qlrGFVdvxNWmt9acRnblAbD9slpIMcB66q1LEHydpypsazXm15HW7s2YH/uCWCnmzTdlxCJiNgwK5t4sLfwLGdwXjvH8S8ehOndZdUBXS/iUjF+d/AE4VVPLu+L8OeCLYdqPFSGQfUu6/Ja/xw4z4fSJPy9lLdn/jvk9jqceCpwNg3Q3GSFuI3uF242/kzHVyoySJxPSA/EH4AczJLW04D4RlZDXy1mZE/AJXQmZcRh+sQmeI4WoNh4dG5QRRG5PsLPwgajK34i88EvqpbN18qfSN+PAGx8m5WFhOkVlar2i6labBCNueboWlW7re0H/iWPdcdBHC3qYmvO9U2A3VrJz4yRZQGRNI3ahhd6RKLmCqJBKVK7+UBiV5r9CX8tHhTSCyWxv7029jk9P5oCpSims3LTxqeVsQg6kQ5Q6wsekuK8wDawogaL2zznnUeTWP+X8bNFOrSn8VzR2lcAfa2ikGjgG4zdkYceVGFoAWC0OJ4rHVtwWm3LP3fZMkSdeOTRPM7h13BWnSZrO4acWN6aPCuVsE9+iBZ509HjIcSkZI5KivXzU3KdDpyRAsMM9aAnNUgHdH0wBVledBo4ZqbHgnBZsq0vj5myOzJBea3gEbUQ+HlSELdshh/VcfCtIs+XPf4AbzVcmshbVXDDCIx16cnxiZZOnEwmfwABLoWi7g16BYL4LN7kvKnt//SGuU++5YVZjqKnzKjyz4m/lhV78s0z0akaxxBYRBBhL9UN1srrCxi8HXiX8WOHJTe1zB6/178qdt0cfyJ1mYaETZgrC3h+1cODUlW3nZ9fTe/63cE+HGzTt3oBuIFlK02+EswHh1lIP9YOHAbw3pr3GAmKEKI1L7eWIHoOkhv/IKqBPUyov5CL5tDEZ/A6hiTHAL/sK9NoG9ZKovOyI/xYwZl/PNSRdzoA1GL8hG048amDXYt9i8XpeJDYmTLeH6jYxpxYqfHcm/9HykbRdOB8/yDBklHnlazZCzf2ezE3u3vwvBPEd4HBJfGp4sJGji1WMsXhouCWl+Ko+9JvVoxb/9mKrSIn42vSmMhEze0JXCJhQCdovggWLvJOvxKQYe6nj+r/fenK1ig1KQfIWCxAnrga9i7i40UTSijhzsm+ToYjUftByDxfQoKjfWSRaHcPeV69un6+2YHsaKQKPaEB8mpnfRao+Kka6B+38357tYHQugfzGEYHmaGWGRrPEUM3NX2z2GK0piAe1CXUYFEDOkc1srE/kUo138NJX9U+h6oGslLPoNsr8dAAbo1MjeBi2v5FrLOXXaRc+M0TdHJC+0xN2l25VoZ0h/qUBeZ4FP2Q9iDQAoj/nXpGz6u/ZN4QPSg8DrPVpRpNoU0/xbnjnDYTAOmdqw5xIM0r3K+htAWWu5cxMtxJM6fuGozG/EOJQADDwNm1VYaCSC2fr1LSD4bzwPmcY+RzrUpbc3Pl9izXuCJKnEB9qna0d7a9dMrsqmG5KGRht1QWVMnP0ggQdvu1FsETiwNczSNhOuTZD7AzFNJIgNtyPEIe8/fhnu4h+c6YtfyEyx5Pz+3hm0LM+4AnI717yAOklkRMYXqs4PSU11EzBx93PfdQR0doglpp6bk2fejNi62r5Yu+IRZr7XlP1SV2kfLOEnfu/glEbmZKMiaFE16x5oQS20jJZDf4nt2/AxZ/3zx3sF5Je/2OhXBMfFapNAYrghzFuB2/UyCIwsnxDV4Ci7PrqjUhBbGGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XxfjEFhzvkUXccyzdfQDqF",
      "input": {
        "note": "Another empty close and the top view now shows only one object (the pen) — what I took for the cap was probably a shadow. Parking the left arm clear and bringing the right arm above the pen at image (120,100) to inspect it up close with the right wrist camera.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.22,
          "left_y": -0.02,
          "left_z": 0.3,
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.4,
          "right_y": 0.27,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 23 steps (2.3s)",
      "tool_use_id": "toolu_01XxfjEFhzvkUXccyzdfQDqF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4179, 0.7746, 1.1336, -1.0424, -0.3744, -0.2962, 0.998, 0.8055, 1.7935, 1.1324, -0.1184, 0.6228, 0.4763, 0.9993]\nstate[eef_state]: left_x=0.2302 left_y=-0.0276 left_z=0.291 left_yaw=0.0434 left_pitch=-0.0575 left_roll=0.0029 left_gripper=0.998 right_x=0.3907 right_y=0.2632 right_z=0.1164 right_yaw=0.0334 right_pitch=-0.0509 right_roll=-0.0395 right_gripper=0.9993\nstate[joint_eff]: [-0.3897, -0.2393, 8.3487, 1.4139, -0.3346, -0.022, -0.0269, 0.1846, -8.7726, 8.253, 1.6435, 0.5299, 0.2613, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ef125731d920b36dc90233ca2bb65fc5c5b4451bd0e2ad8d4f2d62d88854721",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c78742cda930dbd80ac18304b0bb0b91958c30893c97b6ab0131fb7fd8db687",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8c248620ad48192e5b0a040d96e1e4d74d0b9f1b1637f5fe40a824236ac12b2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /messages · status 200 · 10.04 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]: [-0.3275, 1.7779, 0.6872, 0.3679, -0.2893, -0.2123, 0.9985, -0.0193, 0.8371, 0.6128, -0.4164, -0.0208, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4153 left_y=-0.0841 left_z=0.0226 left_yaw=0.0203 left_pitch=-0.1165 left_roll=0.0344 left_gripper=0.9985 right_x=0.2934 right_y=0.0016 right_z=0.1648 right_yaw=-0.0018 right_pitch=-0.0835 right_roll=0.0015 right_gripper=0.9993\nstate[joint_eff]: [-0.4581, -7.9385, 8.1299, 2.0147, -0.2711, -0.0952, -0.0122, -0.212, -1.7846, 6.9675, 1.6484, -0.0464, -0.0757, -0.0122]",
      "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]: [-0.3363, 1.7966, 0.7044, 0.4168, -0.3313, -0.2379, 0.0078, -0.0193, 0.8375, 0.6128, -0.416, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4264 left_y=-0.0844 left_z=0.0314 left_yaw=0.0582 left_pitch=-0.0621 left_roll=0.0221 left_gripper=0.0078 right_x=0.2935 right_y=0.0015 right_z=0.1648 right_yaw=-0.0022 right_pitch=-0.0835 right_roll=0.0012 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -8.3077, 7.5145, 1.9902, -0.0317, 0.0366, 0.5397, -0.1846, -1.5111, 6.9675, 1.6581, -0.0317, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.4179, 0.7746, 1.1336, -1.0424, -0.3744, -0.2962, 0.998, 0.8055, 1.7935, 1.1324, -0.1184, 0.6228, 0.4763, 0.9993]\nstate[eef_state]: left_x=0.2302 left_y=-0.0276 left_z=0.291 left_yaw=0.0434 left_pitch=-0.0575 left_roll=0.0029 left_gripper=0.998 right_x=0.3907 right_y=0.2632 right_z=0.1164 right_yaw=0.0334 right_pitch=-0.0509 right_roll=-0.0395 right_gripper=0.9993\nstate[joint_eff]: [-0.3897, -0.2393, 8.3487, 1.4139, -0.3346, -0.022, -0.0269, 0.1846, -8.7726, 8.253, 1.6435, 0.5299, 0.2613, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ef125731d920b36dc90233ca2bb65fc5c5b4451bd0e2ad8d4f2d62d88854721",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c78742cda930dbd80ac18304b0bb0b91958c30893c97b6ab0131fb7fd8db687",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c248620ad48192e5b0a040d96e1e4d74d0b9f1b1637f5fe40a824236ac12b2d",
        "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_01BwXPE3M3us6i7ZXKniZKWp",
      "input": {
        "note": "The right wrist camera shows the pen lying straight down the jaw column with its tip visible — the pen is right under the fingertips. Descending to table level to grasp it; the cap is still visible as the small sliver at top-view (58,105).",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01BwXPE3M3us6i7ZXKniZKWp",
      "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]: [-0.4194, 0.7784, 1.1316, -1.0634, -0.3851, -0.2981, 0.9985, 0.8104, 2.0403, 0.9226, 0.3534, 0.6369, 0.474, 0.9993]\nstate[eef_state]: left_x=0.2281 left_y=-0.0251 left_z=0.2862 left_yaw=0.0523 left_pitch=-0.0782 left_roll=0.0196 left_gripper=0.9985 right_x=0.3863 right_y=0.2589 right_z=0.0068 right_yaw=0.0296 right_pitch=-0.0332 right_roll=-0.0377 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -0.0889, 5.9556, 1.7411, -0.0611, -0.0317, 0.0366, -0.294, -8.9778, 4.1641, 1.3065, -0.4029, 0.1392, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:189e02e141b3e8363d2cd86ce4132ef4b6e64b697704b5363cb4a0f0e3dcbbac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13818e6aba171254db3a608dce991a43b4cef35a8f719abe644885fb1689e82c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e827c86daee1ded093406d442316d42b3cbf174f8c0c2620648f5301db6166c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /messages · status 200 · 6.468 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]: [-0.3363, 1.7966, 0.7044, 0.4168, -0.3313, -0.2379, 0.0078, -0.0193, 0.8375, 0.6128, -0.416, -0.0204, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4264 left_y=-0.0844 left_z=0.0314 left_yaw=0.0582 left_pitch=-0.0621 left_roll=0.0221 left_gripper=0.0078 right_x=0.2935 right_y=0.0015 right_z=0.1648 right_yaw=-0.0022 right_pitch=-0.0835 right_roll=0.0012 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -8.3077, 7.5145, 1.9902, -0.0317, 0.0366, 0.5397, -0.1846, -1.5111, 6.9675, 1.6581, -0.0317, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.4179, 0.7746, 1.1336, -1.0424, -0.3744, -0.2962, 0.998, 0.8055, 1.7935, 1.1324, -0.1184, 0.6228, 0.4763, 0.9993]\nstate[eef_state]: left_x=0.2302 left_y=-0.0276 left_z=0.291 left_yaw=0.0434 left_pitch=-0.0575 left_roll=0.0029 left_gripper=0.998 right_x=0.3907 right_y=0.2632 right_z=0.1164 right_yaw=0.0334 right_pitch=-0.0509 right_roll=-0.0395 right_gripper=0.9993\nstate[joint_eff]: [-0.3897, -0.2393, 8.3487, 1.4139, -0.3346, -0.022, -0.0269, 0.1846, -8.7726, 8.253, 1.6435, 0.5299, 0.2613, -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]: [-0.4194, 0.7784, 1.1316, -1.0634, -0.3851, -0.2981, 0.9985, 0.8104, 2.0403, 0.9226, 0.3534, 0.6369, 0.474, 0.9993]\nstate[eef_state]: left_x=0.2281 left_y=-0.0251 left_z=0.2862 left_yaw=0.0523 left_pitch=-0.0782 left_roll=0.0196 left_gripper=0.9985 right_x=0.3863 right_y=0.2589 right_z=0.0068 right_yaw=0.0296 right_pitch=-0.0332 right_roll=-0.0377 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -0.0889, 5.9556, 1.7411, -0.0611, -0.0317, 0.0366, -0.294, -8.9778, 4.1641, 1.3065, -0.4029, 0.1392, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:189e02e141b3e8363d2cd86ce4132ef4b6e64b697704b5363cb4a0f0e3dcbbac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13818e6aba171254db3a608dce991a43b4cef35a8f719abe644885fb1689e82c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e827c86daee1ded093406d442316d42b3cbf174f8c0c2620648f5301db6166c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS0QkKjgEIEhgCKkCMYS5gYkzHO8sJ9QAcjz2OONPggLrtSpxW6RI5wvWSL/LPrer2HX+xJAeOzhGcGse7YXkkIInY7vjYHap++AM4Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYulzNUGEgy3kkxRpiieu0sDmdwaDFIF1lCODi1Bvk/8oSIwq5pH1ijAub86SvuutYDBXjZJl9l+c4FVetWicpcf1w3cVzUXtydvc6jE6iAioMcrKu8Hz8jCJ7fo5HPns9KC1u0NrDJyg1SyaPxI8+3URkjZOe4dUtivbPkvpIX9G0iTXV8u4bRirW2sUK0XkBEOXoVoPMyEFOfhRX6CsL7wqpjCHTRA0HVBiJ3CVJbuwdb4chWG8nxap8j//QPNGeMIA0sGmAPZ43u98iYQLeLI+HsjJcJxsuFJkoWe0RfMdGN/a9GH0pgTi0aiIoknfJlo1k1uDiI4kC5K/0Xhh3YLMou/F5zeru3nSRiYYw0MBQunf0XS9KD+OBPLu5pIREzZofc5VKqKoBUnYnWOA9v4I9ZJCYsYsE3LaLbR1OzORq4dnoFxgSuMjDPtjH4X6XqT9J9ZREA47U7q6nbIhOmjotNi/cxsPtZPBBEo93A6cDmsdEbCEp1TJEGt31Q8zYw+o9YhLIXW1eprYqFeR7evGRCiQfShX/f2NwoTb4GaOXHQLXJ/stxYMmdW7ojkyXHN565OsPpLHtAYu+gUijg00uTYFdc7NOzuojXCszWX6y5y7AlDGn1DiNoq1LMWBecGOV/E1uzUU1TwkAQVF4KG66yt/P7rU25IzLrPFkM57WC8UqpJilGXDeS5O0ipOR6K5vQ3MlrhFjK1FefW3El2Gcx8rnEMw0XZpkaY9QcH+EGWjYsvrpI1EtoKSQSWfeNkce3DZkORenVgvTCshM/Spb8v3Kurz2UqYe9tfjLn5kBzFTxj7CrKugWpyYhGRV8eg7n8eq35+qlxQokVfrYDMnFyAaHbHQl94yOW+mD9+izfBY9hKCwlZjw7S2nHPG6IJQBWY5q0u+hJyzospSGICBI5oR4pDb1CFQ7c5etAq/7MPQM/iVMBnYxQfu8X7stXyWjd6uF4WveQiDD4K9tYL+gDoRx4wGw2dV2NPU42LwJonpx8O1feJOhTclNMlOVLWTABi9ec0CIi8/VCHefP4K2YAMZ39TM/AIAgLx/kEcCzlf+TcsH2+2RMhAmP1zS4d8o/pXNhn5b+YObu5mwkVHf/TcWVzSHHfc6dxc/SrivR6xmQXggDgvS264dGk4966NZQBd6ZYrEAa+PTbRklZGeHIWM7TDE5izVzUj7lUu/rddw0Ijc1bPOSkLLBwyhMnrMo7YZB3UZaKKmUQqx7+dARLB5pROysg1CYa0UcuBu/YrOnKfWZaK/EQkToo4NpA7Hv0ANQ1/vqsqUhSgRp4SfnfQ+KMUnjxfU+khEBLcNR18q9hbR6gvBPd52ZCcewsNmt5wV+WIVxQtTiHNVu9WQqOolpTB6o+bfcYBineGj69ppPYtOpQO9T2qU2Ub2CkP/pr3uiUOlTXsT0/7UjZ1qFy57YBAusQZUYX6rgxYqaiNwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KrJKtCCZ2hDS7W9XFRo7tL",
      "input": {
        "note": "At table level the pen lies to the image-right of the jaws, i.e. about 3 cm to the arm's right; sliding the right arm -y by 3 cm to straddle the pen body.",
        "targets": {
          "right_y": 0.229
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01KrJKtCCZ2hDS7W9XFRo7tL",
      "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]: [-0.4198, 0.7803, 1.1301, -1.0664, -0.3855, -0.2981, 0.9985, 0.7658, 2.0144, 0.8356, 0.44, 0.6052, 0.4446, 0.9993]\nstate[eef_state]: left_x=0.2279 left_y=-0.0251 left_z=0.2847 left_yaw=0.0525 left_pitch=-0.0839 left_roll=0.0227 left_gripper=0.9985 right_x=0.3855 right_y=0.2363 right_z=0.0021 right_yaw=0.0247 right_pitch=-0.0299 right_roll=-0.0289 right_gripper=0.9993\nstate[joint_eff]: [-0.253, 0.4581, 5.9282, 1.6288, -0.188, -0.0659, -0.0122, -0.5128, -11.0154, 4.547, 1.2576, 0.0708, -0.2027, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad5c704e40b46648f5b2d16fe36f009f343d32afad1ae5dff8ad2221c557c23a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cda3650dfc07c2859e38999fd3dae1801fc83f46599f896aa39fc5eaedb98b94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c0e32a15c8cb32be08c0775ce9d2c33297e63f3b00dbcbeed6bf83ddb6d3d521",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /messages · status 200 · 8.794 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]: [-0.4179, 0.7746, 1.1336, -1.0424, -0.3744, -0.2962, 0.998, 0.8055, 1.7935, 1.1324, -0.1184, 0.6228, 0.4763, 0.9993]\nstate[eef_state]: left_x=0.2302 left_y=-0.0276 left_z=0.291 left_yaw=0.0434 left_pitch=-0.0575 left_roll=0.0029 left_gripper=0.998 right_x=0.3907 right_y=0.2632 right_z=0.1164 right_yaw=0.0334 right_pitch=-0.0509 right_roll=-0.0395 right_gripper=0.9993\nstate[joint_eff]: [-0.3897, -0.2393, 8.3487, 1.4139, -0.3346, -0.022, -0.0269, 0.1846, -8.7726, 8.253, 1.6435, 0.5299, 0.2613, -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]: [-0.4194, 0.7784, 1.1316, -1.0634, -0.3851, -0.2981, 0.9985, 0.8104, 2.0403, 0.9226, 0.3534, 0.6369, 0.474, 0.9993]\nstate[eef_state]: left_x=0.2281 left_y=-0.0251 left_z=0.2862 left_yaw=0.0523 left_pitch=-0.0782 left_roll=0.0196 left_gripper=0.9985 right_x=0.3863 right_y=0.2589 right_z=0.0068 right_yaw=0.0296 right_pitch=-0.0332 right_roll=-0.0377 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -0.0889, 5.9556, 1.7411, -0.0611, -0.0317, 0.0366, -0.294, -8.9778, 4.1641, 1.3065, -0.4029, 0.1392, -0.0171]",
      "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]: [-0.4198, 0.7803, 1.1301, -1.0664, -0.3855, -0.2981, 0.9985, 0.7658, 2.0144, 0.8356, 0.44, 0.6052, 0.4446, 0.9993]\nstate[eef_state]: left_x=0.2279 left_y=-0.0251 left_z=0.2847 left_yaw=0.0525 left_pitch=-0.0839 left_roll=0.0227 left_gripper=0.9985 right_x=0.3855 right_y=0.2363 right_z=0.0021 right_yaw=0.0247 right_pitch=-0.0299 right_roll=-0.0289 right_gripper=0.9993\nstate[joint_eff]: [-0.253, 0.4581, 5.9282, 1.6288, -0.188, -0.0659, -0.0122, -0.5128, -11.0154, 4.547, 1.2576, 0.0708, -0.2027, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad5c704e40b46648f5b2d16fe36f009f343d32afad1ae5dff8ad2221c557c23a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cda3650dfc07c2859e38999fd3dae1801fc83f46599f896aa39fc5eaedb98b94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0e32a15c8cb32be08c0775ce9d2c33297e63f3b00dbcbeed6bf83ddb6d3d521",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS4gYKjgEIEhgCKkBHe8ku1PKGnIoIBXPeT25PVY4Kfb45uylvSSbBJ/kZlb6EETrz3X654imzuf8hsDgQUZi7enaLCASBZrTcehcIMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZKlzNUGEgxRmUHQBIVJPTbtGkkaDEUDl9XjF75e+JAK9CIwVaNAP0v2BiuvF9ZgYBrfeBcBjEa0z4Hy3jyAgIiLRxSTNyfknBLoOlRxNe2YmikMKoAFTyvcIBvA4KcZZVa+AanNff7l9D2jJsO4TCtghNYqKF6h0CfNwODk/rWeSzbJw4/83kFyUeJS0T4d5ZbeMmppRArs9VZ9221lOOGraQLP6CA7JlktYnt4TKeEXlrdyG93KFZBOD53vRxbTAHGurEuYFOBBjQwaxHDVX4h8WPmDIx4SSj4W/jB3zjnoswm5/fnKenNhumz9SLcWFpzCf2u6mKfbK9Ds+AG5DlA8PjwnTb8fH3FxVGdngUBBIZrq/39JiEYnE0ERyUJxeUQAt1mLa6dbqLzRkPsvGXmoAu3IsMiacdbNY5JR6MxCZ7eNsOt+9M6Efg8PBBWchyb1iAB73sXpSQxVjTxMqAHCDLWkiv7ZACIEpzIk7S9Dq1whE4yCzLkVrQRa/mkbb0nppIjV0FJHyU5o6c2c3gJsu5fRZKxKcB4k8L3LxH5mWfZvl0aekGaFjhcFwXl1g35Kjq4pmcQqjCE7ajE6pliSmWd9m0/TB+zrbzi7aqhV/H7Zf/9ygo9n3g4PAW0mmCBnDBJGptlYXaD7jlexoDycf/NnaYD3ZjQ+q1e3v47RS1ZGFVbFQHJ/gXdB4m2tCgu3CquGWm6e6GV5pm6Dn2ZEmK+2xUC75vLCFieTFrbY11CkVsccGzkHS7W/C4Y3UeDY1yCi6tmhnGK9vz/3szr35n/136CD9qBLBlbnebTxvjjMRVt6cZFQ3zRMO32TlBHX+PfCGuyjVFRs9NY1v8uIGsww4RXi1zx1HVhkxV1oEYM95Y+BVaJcBD6PfRyo6/4e2Wuw5muXbekQqlmgHnvUSNsCCpU2ZRYO/YjrEgHx9/q3QbMmBT4LwH6+KmvvkL6anIFghgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01R9xauR6v91jiznWjKgGwi8",
      "input": {
        "note": "The pen is now nearly on the jaw column but its near end is still ~2 cm to the arm's right; nudging -y again before closing.",
        "targets": {
          "right_y": 0.212
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01R9xauR6v91jiznWjKgGwi8",
      "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]: [-0.4194, 0.7807, 1.1271, -1.0737, -0.3862, -0.2981, 0.9985, 0.7475, 2.0056, 0.8162, 0.4606, 0.59, 0.4305, 0.9993]\nstate[eef_state]: left_x=0.2269 left_y=-0.0244 left_z=0.2822 left_yaw=0.0539 left_pitch=-0.0932 left_roll=0.0281 left_gripper=0.9985 right_x=0.387 right_y=0.2296 right_z=0.0021 right_yaw=0.0256 right_pitch=-0.0295 right_roll=-0.0264 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, 0.1983, 6.0239, 1.6435, -0.1929, -0.0757, -0.0122, -0.0342, -9.6615, 4.0547, 1.5751, 0.2271, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5c1f320ac069ea2ba8a971d49e648931bc36f2244bcea94cb6f212ec0d2e414",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21524812aad02ba449fe2326bf3eadc9cbb9c36e4b4dc4ff00863e87ebbb7202",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9195a18adcb760d5f31c757d389b8425d8fb4bed97c7e36ee0c1993f2639388c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /messages · status 200 · 6.637 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]: [-0.4194, 0.7784, 1.1316, -1.0634, -0.3851, -0.2981, 0.9985, 0.8104, 2.0403, 0.9226, 0.3534, 0.6369, 0.474, 0.9993]\nstate[eef_state]: left_x=0.2281 left_y=-0.0251 left_z=0.2862 left_yaw=0.0523 left_pitch=-0.0782 left_roll=0.0196 left_gripper=0.9985 right_x=0.3863 right_y=0.2589 right_z=0.0068 right_yaw=0.0296 right_pitch=-0.0332 right_roll=-0.0377 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -0.0889, 5.9556, 1.7411, -0.0611, -0.0317, 0.0366, -0.294, -8.9778, 4.1641, 1.3065, -0.4029, 0.1392, -0.0171]",
      "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]: [-0.4198, 0.7803, 1.1301, -1.0664, -0.3855, -0.2981, 0.9985, 0.7658, 2.0144, 0.8356, 0.44, 0.6052, 0.4446, 0.9993]\nstate[eef_state]: left_x=0.2279 left_y=-0.0251 left_z=0.2847 left_yaw=0.0525 left_pitch=-0.0839 left_roll=0.0227 left_gripper=0.9985 right_x=0.3855 right_y=0.2363 right_z=0.0021 right_yaw=0.0247 right_pitch=-0.0299 right_roll=-0.0289 right_gripper=0.9993\nstate[joint_eff]: [-0.253, 0.4581, 5.9282, 1.6288, -0.188, -0.0659, -0.0122, -0.5128, -11.0154, 4.547, 1.2576, 0.0708, -0.2027, -0.0122]",
      "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]: [-0.4194, 0.7807, 1.1271, -1.0737, -0.3862, -0.2981, 0.9985, 0.7475, 2.0056, 0.8162, 0.4606, 0.59, 0.4305, 0.9993]\nstate[eef_state]: left_x=0.2269 left_y=-0.0244 left_z=0.2822 left_yaw=0.0539 left_pitch=-0.0932 left_roll=0.0281 left_gripper=0.9985 right_x=0.387 right_y=0.2296 right_z=0.0021 right_yaw=0.0256 right_pitch=-0.0295 right_roll=-0.0264 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, 0.1983, 6.0239, 1.6435, -0.1929, -0.0757, -0.0122, -0.0342, -9.6615, 4.0547, 1.5751, 0.2271, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5c1f320ac069ea2ba8a971d49e648931bc36f2244bcea94cb6f212ec0d2e414",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21524812aad02ba449fe2326bf3eadc9cbb9c36e4b4dc4ff00863e87ebbb7202",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9195a18adcb760d5f31c757d389b8425d8fb4bed97c7e36ee0c1993f2639388c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS0ggKjgEIEhgCKkD7NL9bnoZfA8uy91enFblCVunuYaAPtMgNrHBzHshktKtQva3cZRytq+/EJIu37BHJewN6XoD6JtGyOwm8YchQMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZulzNUGEgw8NiX7xVe8yUYsXGsaDDjCRZ22cV/9mAzTOCIwS6SXJBtHN0FOtXJ7/eBliE1Lit6YQ4bTWr/0wu+Qt8Xa+fOf2Vnr9BdvnB6cXyw+KvAG4uEgf3Ixi3Bz1ynjlJ0xJeb6QceO34pxXbCIbIn8hbgCgR/edUSdK8BNswZNef4jpyu0pWCHxmZbhUh1NCb0UjFTW51uPQa6hdVplcrf46/JECRBHcEG4KsOxganhmYww7a/JGaGLtIjcg51YNInwo2BiHvFi0vtrs4duYg1YSxf2T99m3w5tWV/BHF96zgrisw7qgbE1dWmMMP/TtsMq8Zic/gQYsMaYPJGSrX7CKHVJqcB0o+xhpb+kilC6KJO+rRM8TISCK81p020sElF0JRveW6V061X8gvQBYIGgqeWaEhLrdUntUana6SIS+5nhgKcPQEi333hI/RvEiFV9jsKq4C2vrx4fV2AkML2cr5GOf3kkGhiW/01yCV5r62MunNKdw6M/kg1InrHPbphjb8mHaDY5hN7AKyYLq9BDJ7qIjZjAnujjOz+ZJPZNFCHH/FpPiV6Qo+V4fXZWBRJ9OqLWFqqDkQ4NWWczb6nsLdmF+EGclc4HrdgCdjrnYmjo/mvzptK8Eolgv/xIE+66zKxdbjFseEPgZl7jDl9nJa8Jc2SJS0mePdB8ZHSYcmYm/LAYKQLoy4XSkfkiFQG+IHQeFamP1N8yuO0jHm+bGAiQpHztJPssVXiuwTnov5QDqjePY5g1Mtb0SU4N6AHifap48lXWoozvN24+63SmSjzCdhiFShQYbiJv9a06Jytz+QJMOjUjZ1amA4NaZxh9COSBHh96oYHBFH1eOEE3QqfD+i2VGAdGgzAs6ZJ04Itlw30lpyk8UHkTMgzXt7YYEWoiq4seouRHm90iVS9r8V3VYIqrdjo78MB4iwXbq31fA8A2x8E9nVTahXS6D9clv21w0dLqL0uSA2qLwOxObc5p+vWShodrRnZrSsIFgnI6bYrthv+Qt7l2mv8+eC6a35VtfFhwprdWySiZUWQ7/UyN22rWcolQ8cfS0Zc9xvGAAzPlIX7uzo+3YTwHqZJqo+LQxWaLQDEINea/cVLSJ/FRe09m1zc+hw67cvAY9RnDxAlv0Iyp24Fv0JinwvUfszWHIOZPBRKrdJYW8kU5sTX4eZTfqhfnCoNt+O/aO+1ophmuSyZraUWm1o6dF9S1ebFhntbcQBp6Ze1GxNwOi+KijCC2m/ZTREzC8xi3V999VBDxRrkCV/2eympC1bqOBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019E7NAyDyi64tkUEbjb1vna",
      "input": {
        "note": "Lateral moves are being resisted at table level, so lifting to 3.5 cm while shifting a further 4 cm toward the pen (arm's right).",
        "targets": {
          "right_y": 0.19,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_019E7NAyDyi64tkUEbjb1vna",
      "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]: [-0.4194, 0.7807, 1.1271, -1.0748, -0.3859, -0.2981, 0.9985, 0.7475, 2.0056, 0.8158, 0.4618, 0.59, 0.4305, 0.9993]\nstate[eef_state]: left_x=0.2268 left_y=-0.0244 left_z=0.282 left_yaw=0.0536 left_pitch=-0.0943 left_roll=0.0284 left_gripper=0.9985 right_x=0.387 right_y=0.2297 right_z=0.0022 right_yaw=0.0256 right_pitch=-0.0289 right_roll=-0.0259 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, 0.2667, 5.7915, 1.5995, -0.1734, -0.0366, -0.0122, -0.0479, -9.6479, 4.0957, 1.4676, 0.1587, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:088d07d51ca4526523f19a6b8ab37d85e83a5912753e6f771e3b21d104443696",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78f75eb0d86d35b025342c7e7377be1807a0f75bd09f344ab6a283377e61ddd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aa749983ef0d54e53bd4849de80fcbe666bcd920e819e44b4b01407f2677fc03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /messages · status 200 · 14.46 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]: [-0.4198, 0.7803, 1.1301, -1.0664, -0.3855, -0.2981, 0.9985, 0.7658, 2.0144, 0.8356, 0.44, 0.6052, 0.4446, 0.9993]\nstate[eef_state]: left_x=0.2279 left_y=-0.0251 left_z=0.2847 left_yaw=0.0525 left_pitch=-0.0839 left_roll=0.0227 left_gripper=0.9985 right_x=0.3855 right_y=0.2363 right_z=0.0021 right_yaw=0.0247 right_pitch=-0.0299 right_roll=-0.0289 right_gripper=0.9993\nstate[joint_eff]: [-0.253, 0.4581, 5.9282, 1.6288, -0.188, -0.0659, -0.0122, -0.5128, -11.0154, 4.547, 1.2576, 0.0708, -0.2027, -0.0122]",
      "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]: [-0.4194, 0.7807, 1.1271, -1.0737, -0.3862, -0.2981, 0.9985, 0.7475, 2.0056, 0.8162, 0.4606, 0.59, 0.4305, 0.9993]\nstate[eef_state]: left_x=0.2269 left_y=-0.0244 left_z=0.2822 left_yaw=0.0539 left_pitch=-0.0932 left_roll=0.0281 left_gripper=0.9985 right_x=0.387 right_y=0.2296 right_z=0.0021 right_yaw=0.0256 right_pitch=-0.0295 right_roll=-0.0264 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, 0.1983, 6.0239, 1.6435, -0.1929, -0.0757, -0.0122, -0.0342, -9.6615, 4.0547, 1.5751, 0.2271, -0.0659, -0.0122]",
      "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]: [-0.4194, 0.7807, 1.1271, -1.0748, -0.3859, -0.2981, 0.9985, 0.7475, 2.0056, 0.8158, 0.4618, 0.59, 0.4305, 0.9993]\nstate[eef_state]: left_x=0.2268 left_y=-0.0244 left_z=0.282 left_yaw=0.0536 left_pitch=-0.0943 left_roll=0.0284 left_gripper=0.9985 right_x=0.387 right_y=0.2297 right_z=0.0022 right_yaw=0.0256 right_pitch=-0.0289 right_roll=-0.0259 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, 0.2667, 5.7915, 1.5995, -0.1734, -0.0366, -0.0122, -0.0479, -9.6479, 4.0957, 1.4676, 0.1587, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:088d07d51ca4526523f19a6b8ab37d85e83a5912753e6f771e3b21d104443696",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78f75eb0d86d35b025342c7e7377be1807a0f75bd09f344ab6a283377e61ddd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa749983ef0d54e53bd4849de80fcbe666bcd920e819e44b4b01407f2677fc03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISpAQKjgEIEhgCKkDZ6dKp2XZM4gmsdjQkHRwxjqqLYVjDKu60W1hEoKqt4kNVoxql/y2kdqS38SEEvpju+UaLbwfjaVwKTbw6KzJSMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaGlzNUGEgzPY/xM6dGsaeGS5AsaDDNG5RZoq4oVMTTUqSIwolP4YBnefDCvqKWbwUq8/ERR3fLNFelKarYBNm12JUO12XiO0obPlZG9u9KaX0cNKsICOULCiIy9/+M1xYA1o88S+xe7GyNhFWsyqi8MKn58v6s8a0Gsz/tkCpo/cIQm+Hu/r1NSYEKWObH3LkBemZ7ao4oVdnsr+TPRSMTr4xzjt+kVAJKWRp9F3NaxJynRryuN/QKdB9M35i1uwg2fiMcqycIJ8RmZHRBSz44shkTHBGc6emS9mqph14JWJLhqyV+k4QAQCKxLaQpX7aMQw/GK3qdvTbyDpXHPsAB1T6HTMv0zCnrxjnb2VOVt3WkrtZZFY0/gZ0yWCes8Ds47UtjDqfirlf3N0REUH9zO4RltoJ0n/HR/1mfhN5gG4zmuLork8xpXPbhhAvtxeJMTxnpWAaSzphxrPBYSukdFr4WWbWS3RO9uxis/3oTfMcSanUjm50yxia/fz9HPg3GfLIkf7G9jxBeNwJ8ZS4vzRM97NoiFpRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M4H4T4Bn9biBUa5UaTLpUw",
      "input": {
        "note": "The right arm has stopped tracking commands at table level; commanding a simple straight lift to 12 cm to free it before repositioning over the pen.",
        "targets": {
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01M4H4T4Bn9biBUa5UaTLpUw",
      "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]: [-0.4194, 0.7807, 1.1271, -1.0786, -0.3859, -0.2981, 0.9985, 0.7475, 1.6989, 0.9844, 0.1211, 0.58, 0.4301, 0.9993]\nstate[eef_state]: left_x=0.2262 left_y=-0.0241 left_z=0.2813 left_yaw=0.0538 left_pitch=-0.0977 left_roll=0.0301 left_gripper=0.9985 right_x=0.3999 right_y=0.2436 right_z=0.137 right_yaw=0.0318 right_pitch=0.0685 right_roll=0.067 right_gripper=0.9993\nstate[joint_eff]: [-0.1709, 0.1846, 5.8462, 1.6044, -0.2173, -0.0317, -0.0122, -0.0615, -6.3111, 5.9009, 0.9841, 0.2662, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f99455134e7d24bc88a9a487ca5a35cad0859bc3d1a89e0335cad32b91f81f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa84b3786748025d7eb60b2812fe87bd8500582a3200278d84431a599a5cb45f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:25ba056a1506a7bfca24f281fee460cbc18087b258a8336d13cb44594b93cd1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /messages · status 200 · 5.615 s

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

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

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]: [-0.4194, 0.7807, 1.1271, -1.0737, -0.3862, -0.2981, 0.9985, 0.7475, 2.0056, 0.8162, 0.4606, 0.59, 0.4305, 0.9993]\nstate[eef_state]: left_x=0.2269 left_y=-0.0244 left_z=0.2822 left_yaw=0.0539 left_pitch=-0.0932 left_roll=0.0281 left_gripper=0.9985 right_x=0.387 right_y=0.2296 right_z=0.0021 right_yaw=0.0256 right_pitch=-0.0295 right_roll=-0.0264 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, 0.1983, 6.0239, 1.6435, -0.1929, -0.0757, -0.0122, -0.0342, -9.6615, 4.0547, 1.5751, 0.2271, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "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]: [-0.4194, 0.7807, 1.1271, -1.0748, -0.3859, -0.2981, 0.9985, 0.7475, 2.0056, 0.8158, 0.4618, 0.59, 0.4305, 0.9993]\nstate[eef_state]: left_x=0.2268 left_y=-0.0244 left_z=0.282 left_yaw=0.0536 left_pitch=-0.0943 left_roll=0.0284 left_gripper=0.9985 right_x=0.387 right_y=0.2297 right_z=0.0022 right_yaw=0.0256 right_pitch=-0.0289 right_roll=-0.0259 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, 0.2667, 5.7915, 1.5995, -0.1734, -0.0366, -0.0122, -0.0479, -9.6479, 4.0957, 1.4676, 0.1587, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4194, 0.7807, 1.1271, -1.0786, -0.3859, -0.2981, 0.9985, 0.7475, 1.6989, 0.9844, 0.1211, 0.58, 0.4301, 0.9993]\nstate[eef_state]: left_x=0.2262 left_y=-0.0241 left_z=0.2813 left_yaw=0.0538 left_pitch=-0.0977 left_roll=0.0301 left_gripper=0.9985 right_x=0.3999 right_y=0.2436 right_z=0.137 right_yaw=0.0318 right_pitch=0.0685 right_roll=0.067 right_gripper=0.9993\nstate[joint_eff]: [-0.1709, 0.1846, 5.8462, 1.6044, -0.2173, -0.0317, -0.0122, -0.0615, -6.3111, 5.9009, 0.9841, 0.2662, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f99455134e7d24bc88a9a487ca5a35cad0859bc3d1a89e0335cad32b91f81f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa84b3786748025d7eb60b2812fe87bd8500582a3200278d84431a599a5cb45f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25ba056a1506a7bfca24f281fee460cbc18087b258a8336d13cb44594b93cd1c",
        "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_01V8Xx4Sbt6unFj9j538TEur",
      "input": {
        "note": "From 13 cm the pen's tip sits at the bottom centre of the right wrist view, so the pen body lies under the jaws; descending back to table level for the grasp.",
        "targets": {
          "right_z": 0.012
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01V8Xx4Sbt6unFj9j538TEur",
      "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]: [-0.4194, 0.7807, 1.1271, -1.0821, -0.3862, -0.2981, 0.9985, 0.7475, 2.0266, 0.8173, 0.5621, 0.5713, 0.4305, 0.9993]\nstate[eef_state]: left_x=0.2257 left_y=-0.0239 left_z=0.2807 left_yaw=0.0543 left_pitch=-0.1007 left_roll=0.0319 left_gripper=0.9985 right_x=0.3951 right_y=0.2409 right_z=0.0094 right_yaw=0.0402 right_pitch=0.0244 right_roll=0.0361 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, 0.294, 5.7778, 1.5507, -0.2173, -0.0659, -0.0122, -0.0068, -8.8684, 4.506, 1.7802, 0.2125, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11d6bf1c451ceb852cc46d6e5206b7c45ccc71ac494f308ea528cf5bc5df5a67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98d2a41ecb9cd4dc71d9f3a626b0220e34ffbb2217a5f47365d4ecac1c6ce168",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1d190b0cbee7eed33912873c10af93f5a44e73f5a45f33977d4ad72bd174a4cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 36 attempt 0 · /messages · status 200 · 8.421 s

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

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

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]: [-0.4194, 0.7807, 1.1271, -1.0748, -0.3859, -0.2981, 0.9985, 0.7475, 2.0056, 0.8158, 0.4618, 0.59, 0.4305, 0.9993]\nstate[eef_state]: left_x=0.2268 left_y=-0.0244 left_z=0.282 left_yaw=0.0536 left_pitch=-0.0943 left_roll=0.0284 left_gripper=0.9985 right_x=0.387 right_y=0.2297 right_z=0.0022 right_yaw=0.0256 right_pitch=-0.0289 right_roll=-0.0259 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, 0.2667, 5.7915, 1.5995, -0.1734, -0.0366, -0.0122, -0.0479, -9.6479, 4.0957, 1.4676, 0.1587, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4194, 0.7807, 1.1271, -1.0786, -0.3859, -0.2981, 0.9985, 0.7475, 1.6989, 0.9844, 0.1211, 0.58, 0.4301, 0.9993]\nstate[eef_state]: left_x=0.2262 left_y=-0.0241 left_z=0.2813 left_yaw=0.0538 left_pitch=-0.0977 left_roll=0.0301 left_gripper=0.9985 right_x=0.3999 right_y=0.2436 right_z=0.137 right_yaw=0.0318 right_pitch=0.0685 right_roll=0.067 right_gripper=0.9993\nstate[joint_eff]: [-0.1709, 0.1846, 5.8462, 1.6044, -0.2173, -0.0317, -0.0122, -0.0615, -6.3111, 5.9009, 0.9841, 0.2662, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4194, 0.7807, 1.1271, -1.0821, -0.3862, -0.2981, 0.9985, 0.7475, 2.0266, 0.8173, 0.5621, 0.5713, 0.4305, 0.9993]\nstate[eef_state]: left_x=0.2257 left_y=-0.0239 left_z=0.2807 left_yaw=0.0543 left_pitch=-0.1007 left_roll=0.0319 left_gripper=0.9985 right_x=0.3951 right_y=0.2409 right_z=0.0094 right_yaw=0.0402 right_pitch=0.0244 right_roll=0.0361 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, 0.294, 5.7778, 1.5507, -0.2173, -0.0659, -0.0122, -0.0068, -8.8684, 4.506, 1.7802, 0.2125, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11d6bf1c451ceb852cc46d6e5206b7c45ccc71ac494f308ea528cf5bc5df5a67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98d2a41ecb9cd4dc71d9f3a626b0220e34ffbb2217a5f47365d4ecac1c6ce168",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d190b0cbee7eed33912873c10af93f5a44e73f5a45f33977d4ad72bd174a4cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISiwUKjgEIEhgCKkA1vFDuDbkz9HlGJcf+6JNgsA2BAKdX3mQvMShsmY2uyCo6YdJxxkoL7WMnjoxDc4fTPRbDVJZp1C7cyAUXyVZwMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbelzNUGEgxa88Mup29MmkygrI4aDGB3YvleJJxGuvU1jyIwlTUM5gvFcZ+QzIwyOZoiw9GqlqoO8oRzplIQENT9wJgdJmSxLnpI9MPLAyQtkxfNKqkDCJOJRGgtJ94lf4MoxGjzTxuTgadrfhqc3defNwyzgeBFrRwUKSzj1/nKBNw/YQdfkjF3LR9iQNF/1diCcqGDRa7+qFJc0TFPs04OcKwsG11yIZozVFus1r6wvTkCXqOwcHZewr9Z3TtGDN3ZY8QtYw7Pmdbn/lGBnAO8qfe+h7XH0ohCSauJvsa/GbDqg4RWy9XCF/g1ejlfevkla60p+06zGflGUcNMUVfM9/M7CPJTP9WJD94nO5IQdJAQslP/y6so1pwwvNJm3oe4YpuEkqtLBSkmkyVO3vyoqA9I5LGC3p/2ZC91y9JMgf45lBlmn1wH/ILK+vlVxuGTBY2Puu+H1PUucw5Muc7j3zscFeg4Hh8LR7TMYuzBIg5nInwwsXiSem4XPa7HhDraAUHJvqyXsQDb1eiqOyCdNu0h+L6qEqgs3OqCEzpTCQ24zdJ0UvHJlKcW6BOPpekNPNybNcEoxZaMDP+/etyt06Lp1o3gapsdMdhPYMtYUHzlmYeYDStkHrkuKbyP1iu1WHYrNIkC2rua2y2lOINBndx8vjtZK9bFm4oH6pEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Nx3iVbWJF9nuTkkebzPNxK",
      "input": {
        "note": "The pen lies exactly along the jaw column at table level; closing the right gripper onto the pen body (leaving 0.05 so I do not crush it).",
        "targets": {
          "right_gripper": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Nx3iVbWJF9nuTkkebzPNxK",
      "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]: [-0.4194, 0.7807, 1.1271, -1.0824, -0.3859, -0.2981, 0.9985, 0.7475, 2.0453, 0.8116, 0.5785, 0.5716, 0.4229, 0.0676]\nstate[eef_state]: left_x=0.2257 left_y=-0.0239 left_z=0.2806 left_yaw=0.054 left_pitch=-0.1011 left_roll=0.0319 left_gripper=0.9985 right_x=0.3939 right_y=0.2397 right_z=0.0024 right_yaw=0.044 right_pitch=0.0186 right_roll=0.0241 right_gripper=0.0676\nstate[joint_eff]: [-0.1573, 0.253, 5.9145, 1.5458, -0.1538, -0.0562, -0.0122, -0.212, -10.906, 5.2718, 1.4042, 0.1734, 0.0659, 0.7888]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e2d1a120f88aff6401b3c3fc0adcb572fcdbb2c3098063465de2577e6433e98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b608cb070555e7b0f4f1c71df0531dc236a6d49ee11aabf3187549ad5aa3a01c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e066cf873279ca7b42ae17658e474df881df4b99b8c735685fcd48dd7ebe541d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 37 attempt 0 · /messages · status 200 · 20.1 s

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

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4194, 0.7807, 1.1271, -1.0786, -0.3859, -0.2981, 0.9985, 0.7475, 1.6989, 0.9844, 0.1211, 0.58, 0.4301, 0.9993]\nstate[eef_state]: left_x=0.2262 left_y=-0.0241 left_z=0.2813 left_yaw=0.0538 left_pitch=-0.0977 left_roll=0.0301 left_gripper=0.9985 right_x=0.3999 right_y=0.2436 right_z=0.137 right_yaw=0.0318 right_pitch=0.0685 right_roll=0.067 right_gripper=0.9993\nstate[joint_eff]: [-0.1709, 0.1846, 5.8462, 1.6044, -0.2173, -0.0317, -0.0122, -0.0615, -6.3111, 5.9009, 0.9841, 0.2662, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4194, 0.7807, 1.1271, -1.0821, -0.3862, -0.2981, 0.9985, 0.7475, 2.0266, 0.8173, 0.5621, 0.5713, 0.4305, 0.9993]\nstate[eef_state]: left_x=0.2257 left_y=-0.0239 left_z=0.2807 left_yaw=0.0543 left_pitch=-0.1007 left_roll=0.0319 left_gripper=0.9985 right_x=0.3951 right_y=0.2409 right_z=0.0094 right_yaw=0.0402 right_pitch=0.0244 right_roll=0.0361 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, 0.294, 5.7778, 1.5507, -0.2173, -0.0659, -0.0122, -0.0068, -8.8684, 4.506, 1.7802, 0.2125, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4194, 0.7807, 1.1271, -1.0824, -0.3859, -0.2981, 0.9985, 0.7475, 2.0453, 0.8116, 0.5785, 0.5716, 0.4229, 0.0676]\nstate[eef_state]: left_x=0.2257 left_y=-0.0239 left_z=0.2806 left_yaw=0.054 left_pitch=-0.1011 left_roll=0.0319 left_gripper=0.9985 right_x=0.3939 right_y=0.2397 right_z=0.0024 right_yaw=0.044 right_pitch=0.0186 right_roll=0.0241 right_gripper=0.0676\nstate[joint_eff]: [-0.1573, 0.253, 5.9145, 1.5458, -0.1538, -0.0562, -0.0122, -0.212, -10.906, 5.2718, 1.4042, 0.1734, 0.0659, 0.7888]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e2d1a120f88aff6401b3c3fc0adcb572fcdbb2c3098063465de2577e6433e98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b608cb070555e7b0f4f1c71df0531dc236a6d49ee11aabf3187549ad5aa3a01c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e066cf873279ca7b42ae17658e474df881df4b99b8c735685fcd48dd7ebe541d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISigkKjgEIEhgCKkBjRJmrwKLVRdxd/YN0HtGJGHmwGcgXLKHmP0hfV0cUlKQVxrIOB52KrGBgLBSv9cV4lVjqk18sf9B1b6GjdmWBMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcClzNUGEgyYfap0F26enPQWC2QaDH5XMd4Z308tzumyzyIw2eRIxiQ5p0xiwsF78ctWPsI+/Q3iMBKnuddhqHKHJPFcSY4si3G03IL6Eh3l+PQeKqgHkfWhD6F+gIlUPij+CdnWJW4v2Lj4+4JNoRmbPXRCoV7dWglRTrz+0dsXDS0xsDqNP65VIwvZmd5KvXYT1AiS/VtthO2i2k9FupmH+83vYzEV/sQw5Ch9TaX+kvKh5uscf35Y19rFMEgA32P1AFvf9OAUtybOWO9+FXaVVDy17dSYO9rYDQE8VkECLOgC5HO3mXrJ+roLpSggkNXoSKwQtDGiM2WVY0aN1PjPf3G/U+d56+Yue0p40DEsC5SI730eY0wi9P4r3YYq8LpmFIKyQipjKpjv+9ouNR6UDD54y2CYhkvaRF2PY8ZpJaL1+usADqZRXkffJhYbqh71kSoKLAjt3/ME2ARvrUj9vVkt25fy/PwrUsBbk0QBPXq0GxkX5mYA8cbTX7gqexxYIH7dZHe57B/B28eFeBW9BUyK+JNVWK2P+CGUGYYSuGBA8PdlW1ENXL/I3JWRN4QnNaQxYU6Alsid7gGQT61Jx0C0c3lIgWLg54lbFtSWDgeTYuEpgPAN45Qtjnk3YKAp+1hu5oB8omeebyVUh1ahxvI0cpsaxMWkWYFjZLAQQEnW/E3PyPVqqi7KMXADd5/PN9nvOrVEVau8rgssdVijJ6ZJQI4L4oPjFkoaJzGBLMZ0DY+tG97rhOWrhX4GVHOT24FfjjciNWNlPXdxSZk24vFpuz4OJLwm46Q1fPHgKTlk7evH2yLdw7S8a0pF+23VxhBDoRuUzmacu7TPC7RLTsvEkqOjoFTDlVU3OEE6DRRTfEyhLaE3VBuGznrb2nQ6H+oRvj7dnp7NdL88gWWsNGyK5m7WO3HPvGODIkoL2NoFUfR8eDYjsexy5LHcsrDdk8GSY7wc1QLCZXeNvyHE10udOvIfM+T/ywlpaFCqbFpOWTPd//pvk506tKr8dEWk1H+ytHy0CN4BQrmsKxEPXl4GYUl40AIXhNEUVY4r7iR4+o2zyXEfiLW4tiSxyIvnIWbNdna5dNsyd19x572Ub0wTN+b19gp6m+n+Lu8Hsh8JOKrFK+huDhw0nGI5vS5wRRUdNma+HGwxMqG/lHR23B4JZH4C15Uq7OCMzsmMMiXTWO0QwgLXn3jNIfSegXGVgUpoj3na6j28KbNpQeppSv5ILNx3jfneipuleFrNgSB/TiZkt/0ipeTVCYyI6ZkkCX1ZHxFjXnbRfkyrHw0pthxyqF5ROg0I/X+fRslgcAK4hfPpr2rwk7uH5oFJnfinssfIX4KGJwJUWZuaGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TiF5MJ69tkRk3FGNCgRQo7",
      "input": {
        "note": "Gripper settled at 0.068 (≈6.5 mm, the pen's thickness) and the wrist view shows the pen clamped in the jaws. Lifting to 18 cm to confirm the pen comes with it.",
        "targets": {
          "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_01TiF5MJ69tkRk3FGNCgRQo7",
      "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]: [-0.4194, 0.7807, 1.1271, -1.0855, -0.3862, -0.2981, 0.9985, 0.7475, 1.6619, 1.0893, -0.1066, 0.5636, 0.4149, 0.0718]\nstate[eef_state]: left_x=0.2252 left_y=-0.0236 left_z=0.2801 left_yaw=0.0544 left_pitch=-0.1037 left_roll=0.0335 left_gripper=0.9985 right_x=0.3941 right_y=0.2416 right_z=0.1549 right_yaw=0.0546 right_pitch=-0.0028 right_roll=0.0057 right_gripper=0.0718\nstate[joint_eff]: [-0.1983, 0.3624, 5.9829, 1.5849, -0.188, -0.0513, -0.0122, -0.3077, -10.5094, 8.9368, 1.6825, 0.2076, 0.0611, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 337):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c3e79e135164c40e0d2c9c69d636e074e835e63c49069e34b3a115f479e6fa9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 337):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a675fa659d82faf9925f353026fd2486d2a9c815c039fdb99f049c8158c46a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 337):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eafce0692b03237a2d8ad13983107da5d574fdb19c44f54ba17f9f2b45142723",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 38 attempt 0 · /messages · status 200 · 19.62 s

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

message 106 changed as sent

message 109 changed as sent

message 112 changed as sent

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4194, 0.7807, 1.1271, -1.0821, -0.3862, -0.2981, 0.9985, 0.7475, 2.0266, 0.8173, 0.5621, 0.5713, 0.4305, 0.9993]\nstate[eef_state]: left_x=0.2257 left_y=-0.0239 left_z=0.2807 left_yaw=0.0543 left_pitch=-0.1007 left_roll=0.0319 left_gripper=0.9985 right_x=0.3951 right_y=0.2409 right_z=0.0094 right_yaw=0.0402 right_pitch=0.0244 right_roll=0.0361 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, 0.294, 5.7778, 1.5507, -0.2173, -0.0659, -0.0122, -0.0068, -8.8684, 4.506, 1.7802, 0.2125, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4194, 0.7807, 1.1271, -1.0824, -0.3859, -0.2981, 0.9985, 0.7475, 2.0453, 0.8116, 0.5785, 0.5716, 0.4229, 0.0676]\nstate[eef_state]: left_x=0.2257 left_y=-0.0239 left_z=0.2806 left_yaw=0.054 left_pitch=-0.1011 left_roll=0.0319 left_gripper=0.9985 right_x=0.3939 right_y=0.2397 right_z=0.0024 right_yaw=0.044 right_pitch=0.0186 right_roll=0.0241 right_gripper=0.0676\nstate[joint_eff]: [-0.1573, 0.253, 5.9145, 1.5458, -0.1538, -0.0562, -0.0122, -0.212, -10.906, 5.2718, 1.4042, 0.1734, 0.0659, 0.7888]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 112 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4194, 0.7807, 1.1271, -1.0855, -0.3862, -0.2981, 0.9985, 0.7475, 1.6619, 1.0893, -0.1066, 0.5636, 0.4149, 0.0718]\nstate[eef_state]: left_x=0.2252 left_y=-0.0236 left_z=0.2801 left_yaw=0.0544 left_pitch=-0.1037 left_roll=0.0335 left_gripper=0.9985 right_x=0.3941 right_y=0.2416 right_z=0.1549 right_yaw=0.0546 right_pitch=-0.0028 right_roll=0.0057 right_gripper=0.0718\nstate[joint_eff]: [-0.1983, 0.3624, 5.9829, 1.5849, -0.188, -0.0513, -0.0122, -0.3077, -10.5094, 8.9368, 1.6825, 0.2076, 0.0611, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 337):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c3e79e135164c40e0d2c9c69d636e074e835e63c49069e34b3a115f479e6fa9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 337):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a675fa659d82faf9925f353026fd2486d2a9c815c039fdb99f049c8158c46a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 337):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eafce0692b03237a2d8ad13983107da5d574fdb19c44f54ba17f9f2b45142723",
        "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_011cFzKv6ej9VbCW1BWtr4Er",
      "input": {
        "note": "Pen is now held by the right arm (gripper reads 0.072) and the table shows only the cap at top-view (62,103). Using the lifted pen's known position as a pixel reference, the cap should be near left (0.38,-0.18); moving there at 6 cm.",
        "targets": {
          "left_gripper": 1,
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.38,
          "left_y": -0.18,
          "left_yaw": 0,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_011cFzKv6ej9VbCW1BWtr4Er",
      "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]: [-0.6704, 1.6859, 0.675, 0.1802, -0.5476, -0.4286, 0.9986, 0.7475, 1.6634, 1.0859, -0.1223, 0.5503, 0.4141, 0.0754]\nstate[eef_state]: left_x=0.3574 left_y=-0.1614 left_z=0.0356 left_yaw=0.0046 left_pitch=-0.1139 left_roll=0.0777 left_gripper=0.9986 right_x=0.3914 right_y=0.2417 right_z=0.1494 right_yaw=0.0653 right_pitch=-0.0241 right_roll=-0.0015 right_gripper=0.0754\nstate[joint_eff]: [-0.4855, -8.7863, 8.2393, 1.8193, -0.315, 0.0415, -0.1538, -0.0205, -8.3077, 6.9402, 1.6532, 0.3053, -0.0659, 0.8181]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 352):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0fd2849af76fbf75ba6afad1e516bfe318f400de6e3c78760835f732734dcf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 352):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c24961accd3d1afcad1752797ea9c416141ce77724f7b162d40cce0fd4322f6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 352):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5e68bc4e019f6e43b728d8aee775e99b3af9f093622482d378318482e5c7c050",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 39 attempt 0 · /messages · status 200 · 9.359 s

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

message 109 changed as sent

message 112 changed as sent

message 115 changed as sent

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4194, 0.7807, 1.1271, -1.0824, -0.3859, -0.2981, 0.9985, 0.7475, 2.0453, 0.8116, 0.5785, 0.5716, 0.4229, 0.0676]\nstate[eef_state]: left_x=0.2257 left_y=-0.0239 left_z=0.2806 left_yaw=0.054 left_pitch=-0.1011 left_roll=0.0319 left_gripper=0.9985 right_x=0.3939 right_y=0.2397 right_z=0.0024 right_yaw=0.044 right_pitch=0.0186 right_roll=0.0241 right_gripper=0.0676\nstate[joint_eff]: [-0.1573, 0.253, 5.9145, 1.5458, -0.1538, -0.0562, -0.0122, -0.212, -10.906, 5.2718, 1.4042, 0.1734, 0.0659, 0.7888]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 112 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4194, 0.7807, 1.1271, -1.0855, -0.3862, -0.2981, 0.9985, 0.7475, 1.6619, 1.0893, -0.1066, 0.5636, 0.4149, 0.0718]\nstate[eef_state]: left_x=0.2252 left_y=-0.0236 left_z=0.2801 left_yaw=0.0544 left_pitch=-0.1037 left_roll=0.0335 left_gripper=0.9985 right_x=0.3941 right_y=0.2416 right_z=0.1549 right_yaw=0.0546 right_pitch=-0.0028 right_roll=0.0057 right_gripper=0.0718\nstate[joint_eff]: [-0.1983, 0.3624, 5.9829, 1.5849, -0.188, -0.0513, -0.0122, -0.3077, -10.5094, 8.9368, 1.6825, 0.2076, 0.0611, 1.033]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 115 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6704, 1.6859, 0.675, 0.1802, -0.5476, -0.4286, 0.9986, 0.7475, 1.6634, 1.0859, -0.1223, 0.5503, 0.4141, 0.0754]\nstate[eef_state]: left_x=0.3574 left_y=-0.1614 left_z=0.0356 left_yaw=0.0046 left_pitch=-0.1139 left_roll=0.0777 left_gripper=0.9986 right_x=0.3914 right_y=0.2417 right_z=0.1494 right_yaw=0.0653 right_pitch=-0.0241 right_roll=-0.0015 right_gripper=0.0754\nstate[joint_eff]: [-0.4855, -8.7863, 8.2393, 1.8193, -0.315, 0.0415, -0.1538, -0.0205, -8.3077, 6.9402, 1.6532, 0.3053, -0.0659, 0.8181]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 352):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0fd2849af76fbf75ba6afad1e516bfe318f400de6e3c78760835f732734dcf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 352):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c24961accd3d1afcad1752797ea9c416141ce77724f7b162d40cce0fd4322f6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 352):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e68bc4e019f6e43b728d8aee775e99b3af9f093622482d378318482e5c7c050",
        "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_01HrEpnTsbTGdthbTE7wSy9P",
      "input": {
        "note": "The cap sits well to the image-left of the jaws; comparing with the earlier frame shows +y moves objects image-left, so the cap is near y = -0.125 and somewhat further out. Moving to (0.39, -0.125) at table level for a grasp attempt.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.39,
          "left_y": -0.125,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01HrEpnTsbTGdthbTE7wSy9P",
      "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]: [-0.5068, 1.8244, 0.5594, 0.5426, -0.4637, -0.3523, 0.9985, 0.7475, 1.6638, 1.0843, -0.1238, 0.5449, 0.4141, 0.076]\nstate[eef_state]: left_x=0.3797 left_y=-0.1163 left_z=0.0013 left_yaw=0.0571 left_pitch=-0.0624 left_roll=0.027 left_gripper=0.9985 right_x=0.3907 right_y=0.2422 right_z=0.148 right_yaw=0.0693 right_pitch=-0.029 right_roll=-0.001 right_gripper=0.076\nstate[joint_eff]: [-0.4444, -6.3658, 3.8359, 1.4725, 0.0024, 0.3053, -0.022, -0.0752, -8.0205, 6.9402, 1.5214, 0.2027, -0.0366, 0.5153]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 356):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ffd85feba2e3f0a5e745c8cdf50d078511d5f1eb16ec2e320f7d60b445612c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 356):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d20feebef4539dd4295d5eb4b52a7061342140a7d618298b9c20bc8d7baf9df0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 356):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ff3dedaed6a3a56f05aff33658e024035d6e38f0917b424fb2241a1559f1682c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]