adhoc

completed
2026-08-14T22:37:51.642240+00:00 inspect-robots 0.53.1git unknown
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
100
max_output_tokens
16000
max_speed_frac
0.1
model
claude-opus-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
fast
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
1200
duration
1564 s
total steps
620
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Place the left block on top of the right block

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n
Trial 0 transcript
Run video
top_cam · left_cam · right_cam
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 100 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper. Each arm has its own base frame: +x points forward out of the base (the direction the folded gripper points at all-zero joints), +y left, +z up; how the two bases are mounted relative to each other depends on the rig. Joint guide (positive direction, identical for both arms): - left_j0 / right_j0: base yaw about the vertical axis; positive swings the arm counterclockwise seen from above (a forward-pointing gripper moves toward +y). - left_j1 / right_j1: shoulder pitch; 0 points the upper arm horizontally backward and is the lower hard stop (it cannot go negative), positive raises it (about 1.57 is straight up, about 3.14 is horizontal forward). - left_j2 / right_j2: elbow; 0 is fully folded with the forearm doubled back against the upper arm and is the lower hard stop, positive opens it. - left_j3 / right_j3: wrist pitch, axis parallel to the elbow; positive tilts the gripper up. - left_j4 / right_j4: wrist yaw; positive swings the gripper toward the arm's right seen from above (opposite sign sense of j0). - left_j5 / right_j5: wrist roll about the gripper's pointing axis; positive turns clockwise when viewed from behind the gripper looking out along the fingers. - 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. At all-zero joints the arm rests folded low with the gripper pointing forward. While the arm is folded, a single joint's effect on the gripper position can be counterintuitive; move deliberately and re-check the observation after each motion. The joint values above are positions as shown in the observation; when actions are per-step changes (delta mode), the same sign conventions apply to each change. # Rig facts (YAM rigs) Measured and derived facts about these rigs, shared across all rig dirs (the rigs are built identically, up to per-rig calibration offsets noted where measured). Kinematic constants come from forward kinematics on the i2rt YAM model that drives the robot (i2rt 1.1.2, `robot_models/arm/yam/yam.urdf`); workspace dimensions (camera height, base spacing, table plane) were measured at rig-2. ## Kinematics (per arm) - Upper arm (shoulder pitch to elbow): 0.264 m. Forearm (elbow to wrist pitch): 0.245 m. - Shoulder pitch axis sits 0.114 m above the arm's mounting plane. - Wrist pitch axis to fingertip midpoint: 0.101 m (gripper flange to fingertip: 0.057 m, stock linear gripper). Contact happens at the fingertips, and this offset rotates with wrist pitch. - Gripper stroke is ~9.5 cm jaw-to-jaw fully open, and gripper commands/ readings are the normalized fraction of that: residual × 9.5 cm ≈ grasped thickness (e.g. a reading of 0.04 ≈ 4 mm — a thin handle), and anything wider than ~9 cm cannot be grasped across. - Gripper yaw follows j0: the direction the jaws close along rotates with the base joint, and is compensable with wrist roll. - Episodes start with both arms folded near all-zero joints and grippers fully open (reading ≈ 1.0). ## Cameras - `top` is a fixed overhead camera. `left` and `right` are wrist cameras mounted on the rolling gripper body of the same-named arm, tilted forward of the finger axis; the mounting is identical on both arms, so the wrist-image facts below apply to either. - Overhead frame orientation: arm-forward = image-up, arm-right = image-right. Both arm bases sit near the bottom edge of the frame; a folded gripper shows as a dark blob near the bottom-left/bottom-right corner. - Top-camera scale at table level is roughly 2–3 px/cm and differs per rig (≈3.1 measured at rig-2; rig-1 runs consistently measure ≈2.2–2.7) — never trust a remembered number. Scale grows with height: an object h metres above the table reads larger by H/(H − h) with camera height H ≈ 0.72 m, so a gripper carrying at 10 cm reads ~15% larger than it will at table level, and things shrink slightly as you lower them. - In each wrist image the grasp point (where the jaws meet) projects at (x≈115, y≈200) in the 224-px frame, just off the bottom edge — independent of wrist roll, but NOT of pitch: pitched 60–70° forward it shifts up to y≈150–190. The camera looks beyond the fingertips, so anything at or nearer than the grasp point is out of frame, and the dark wedge at the bottom-centre of the frame is the jaws themselves, not the object. A held object is never visible in its own wrist camera. To re-calibrate at the current pitch: briefly close the empty gripper and watch where the jaws converge. - At wrist roll = 0: image-right = the arm's right (−y in arm coordinates, reached with negative j0), image-down = radially inward toward the arm's base. Rolling the wrist rotates the scene in the image, but the jaws always close along image-x. - Wrist-cam scale varies strongly with height and pose: measured values within ~10 cm of the table ranged from ~3 to ~12 px/cm across runs, so never trust a remembered scale — close to the table the 224-px frame may span only a few tens of centimetres, and a hand-sized object can fill it. A pure j0 nudge shifts the scene laterally by r·Δj0 metres, which calibrates this view in a single call. - The wrist image's vertical axis conflates radial distance and height: a 3 cm radial move and a 1.4 cm descent shift features by a similar number of pixels, and radial (depth) distance cannot be eyeballed from the top-down wrist view. ## Workspace geometry - Arm bases are 0.584 m (23 in) apart, mounted parallel (facing the same way). - Table plane: the tabletop coincides with the arm mounting plane — true fingertip z = 0 at table contact (verified by replaying contact poses through the framework's grasp-site forward kinematics). - With the gripper pointing straight down, reach caps at ~0.51 m wrist radius; pitching the gripper 30–45° forward buys another 10–20 cm. ## Controller behavior - Position moves undershoot: a `move_joints` call tracks only partway to the target and stalls near contact (gravity-loaded j1/j3 sag 0.05–0.1 rad). Re-issue the same target, or command slightly beyond it, to converge. Undershoot grows when carrying a load — expect lifts with an object in the gripper to need more re-issues or stronger targets. - Larger commands are clamped by a per-step delta limit (`delta_clamped` in the move result) and each call reports only a few steps. Nothing is broken — re-issue, or command 0.1–0.2 rad beyond the goal. - Position error that stops shrinking while descending usually means the fingers or object reached the table. When joint effort is available (below), prefer it over this heuristic. ## Joint effort (when `report_joint_eff` is enabled) - Contact vs. sag on descents: gravity assists a downward j1 move, so j1 falling short during a descent means contact, not controller sag. The effort reading distinguishes how hard you are contacting: on a light touch j1 simply stops tracking while its effort stays negative (still holding the arm against gravity); if effort flips positive, the arm is actively pressing into the surface — back off. - After a full close, the gripper residual settles at the grasped object's thickness in gripper units, and gripper effort reads high (≈1.0–2.0) around an object versus low (≈0.1) when empty. A partial close gives an ambiguous readback for thin objects. - A grasped object touching down reads as stopped descent plus rising effort on the wrist joints. # Rig formulas (YAM rigs) Planar arm kinematics in the radial–vertical (r, z) plane, from the i2rt URDF constants: upper arm L1 = 0.264 m, forearm L2 = 0.245 m, wrist-to-fingertip L3 = 0.101 m, shoulder pitch axis L0 = 0.114 m above the mounting plane (= table level). - Angles: A = π − j1 (upper arm), B = j2 − j1 (forearm), C = B + j3 (fingertip axis; gripper-down is C = −π/2). - Forward: fingertip ≈ (0, L0) + L1·(cos A, sin A) + L2·(cos B, sin B) + L3·(cos C, sin C). - Inverse (target radius r, height z, approach angle C): let P = (r, z) − L3·(cos C, sin C) − (0, L0) and d = |P|; then A = atan2(P_z, P_r) + acos((d² + L1² − L2²) / (2·L1·d)) and B = atan2(P_z − L1·sin A, P_r − L1·cos A); recover j1 = π − A, j2 = B + j1, j3 = C − B. This is the elbow-up branch — the one the arms use in practice. Check reachability d ≤ L1 + L2 = 0.509 first. - Accuracy: in the gripper-down working envelope (r ≈ 0.3–0.5 m) the approximation reads ~3–4 cm short in r and ~7–10 cm high in z. The bias varies per arm but is nearly constant for a given arm, so relative moves and the local Jacobian are accurate — and both the forward and inverse solutions inherit the bias, so measure your arm's z offset with one closed-gripper table touch and correct all absolute heights by it. Outside that envelope (arm folded) the approximation degrades sharply. # Rig advice (YAM rigs) Working practice distilled from episode hindsight on these rigs. ## Calibrate before you commit - Overhead scale: calibrate px/cm in your first few calls, before planning any layout, from a known gripper move observed in the top frame — compute the travelled distance from joint readback, not the commanded target (controller undershoot otherwise skews the scale low). A grasped object of known size also works. - Height: before the first grasp, close the empty gripper and descend until joint effort shows table contact (j1 stops tracking while its holding torque relaxes), then record what the planar FK reads at that pose — that offset is your arm's z bias. A 2 cm height error is the difference between grasping a 4 cm object and closing on air. - Depth: do an early calibrated test move (translate a known 3 cm, measure the pixel shift in the wrist view) — first radial estimates are otherwise off by 5–10 cm. - Prefer solving the planar IK for a target and issuing j1/j2/j3 together over nudging single joints — it converges in far fewer calls. ## Keep the target in view - A target vanishing mid-approach is ambiguous: still ahead beyond the frame, or already at/behind the grasp point. Never close or keep advancing on a target you can't see — retract 3–5 cm to re-acquire it, and close only when it shows between the two jaw silhouettes. Blind closes at a computed position usually miss and shove the object 5–9 cm, forcing a re-find. - Never read depth from image-y alone: descend in 1–2 cm steps, keeping the target column-aligned with the jaw gap (x≈115), and re-check between steps. ## Grasping - Roll the wrist until the target's long axis looks vertical in the wrist image to align a grasp across it — and since gripper yaw follows j0, setting wrist roll ≈ j0 keeps the jaws square to a world-aligned target from any bearing. - For thin objects lying on a surface, lower the open gripper until joint effort confirms fingertip–table contact, then close — closing at an unverified height is the main cause of angled, slip-prone grasps. - Verify every grasp with a full close and check the residual against the expected thickness of the part you meant to grip; never test a grasp with a partial close. A residual several times too large with high effort means you clamped something bulky or at an angle, and it will slip during transport — regrasp. A near-zero residual (≈0.01) on a rigid object is the opposite failure: a shallow edge pinch that will slip — regrasp deeper so more material sits between the jaws. - Failed close attempts drag the object. After any failed grasp, re-find the object's actual position in the overhead frame before retrying — don't assume it is where it was. ## Transport and placement - A carried object hangs and pivots below the grasp point, and wrist roll shifts where its center sits relative to the gripper — adjust roll after grasping so the load hangs where you want it before transporting. An object picked at one bearing and placed at another lands rotated by (j0 at place − j0 at pick) unless you re-match roll. - When grasping near an object's end, the object extends well beyond the grasp point. Plan the release around where the object's extent will land, not where the gripper is, and verify placement in the overhead frame after release before declaring the task done. - Time the release off joint effort: a grasped object touching down reads as stopped descent plus rising wrist effort. ## Planning the episode - Before moving anything, choose where the goal arrangement will be built: keep it inside both arms' reach overlap — nearer the bases — so no object needs a cross-arm handoff; a handoff costs ~10 calls. Budget ~6–10 move calls per verified pick-and-place when planning against a call limit. - The idle arm's wrist camera is a genuinely useful second viewpoint — fly it in for close-ups the overhead view can't resolve. The only hazard is shared space, and it cuts both ways: the classic collision is the working arm swinging into an idle arm left hovering over the table after its last use. Before sweeping one arm across the workspace, park the other near its own base (j1 ≈ 0.6, j2 ≈ 1.2, j3 ≈ −0.6), then bring it back out when you need the viewpoint again. 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: Place the left block on top of the right block
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 100 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper. Each arm has its own base frame: +x points forward out of the base (the direction the folded gripper points at all-zero joints), +y left, +z up; how the two bases are mounted relative to each other depends on the rig. Joint guide (positive direction, identical for both arms): - left_j0 / right_j0: base yaw about the vertical axis; positive swings the arm counterclockwise seen from above (a forward-pointing gripper moves toward +y). - left_j1 / right_j1: shoulder pitch; 0 points the upper arm horizontally backward and is the lower hard stop (it cannot go negative), positive raises it (about 1.57 is straight up, about 3.14 is horizontal forward). - left_j2 / right_j2: elbow; 0 is fully folded with the forearm doubled back against the upper arm and is the lower hard stop, positive opens it. - left_j3 / right_j3: wrist pitch, axis parallel to the elbow; positive tilts the gripper up. - left_j4 / right_j4: wrist yaw; positive swings the gripper toward the arm's right seen from above (opposite sign sense of j0). - left_j5 / right_j5: wrist roll about the gripper's pointing axis; positive turns clockwise when viewed from behind the gripper looking out along the fingers. - 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. At all-zero joints the arm rests folded low with the gripper pointing forward. While the arm is folded, a single joint's effect on the gripper position can be counterintuitive; move deliberately and re-check the observation after each motion. The joint values above are positions as shown in the observation; when actions are per-step changes (delta mode), the same sign conventions apply to each change. # Rig facts (YAM rigs) Measured and derived facts about these rigs, shared across all rig dirs (the rigs are built identically, up to per-rig calibration offsets noted where measured). Kinematic constants come from forward kinematics on the i2rt YAM model that drives the robot (i2rt 1.1.2, `robot_models/arm/yam/yam.urdf`); workspace dimensions (camera height, base spacing, table plane) were measured at rig-2. ## Kinematics (per arm) - Upper arm (shoulder pitch to elbow): 0.264 m. Forearm (elbow to wrist pitch): 0.245 m. - Shoulder pitch axis sits 0.114 m above the arm's mounting plane. - Wrist pitch axis to fingertip midpoint: 0.101 m (gripper flange to fingertip: 0.057 m, stock linear gripper). Contact happens at the fingertips, and this offset rotates with wrist pitch. - Gripper stroke is ~9.5 cm jaw-to-jaw fully open, and gripper commands/ readings are the normalized fraction of that: residual × 9.5 cm ≈ grasped thickness (e.g. a reading of 0.04 ≈ 4 mm — a thin handle), and anything wider than ~9 cm cannot be grasped across. - Gripper yaw follows j0: the direction the jaws close along rotates with the base joint, and is compensable with wrist roll. - Episodes start with both arms folded near all-zero joints and grippers fully open (reading ≈ 1.0). ## Cameras - `top` is a fixed overhead camera. `left` and `right` are wrist cameras mounted on the rolling gripper body of the same-named arm, tilted forward of the finger axis; the mounting is identical on both arms, so the wrist-image facts below apply to either. - Overhead frame orientation: arm-forward = image-up, arm-right = image-right. Both arm bases sit near the bottom edge of the frame; a folded gripper shows as a dark blob near the bottom-left/bottom-right corner. - Top-camera scale at table level is roughly 2–3 px/cm and differs per rig (≈3.1 measured at rig-2; rig-1 runs consistently measure ≈2.2–2.7) — never trust a remembered number. Scale grows with height: an object h metres above the table reads larger by H/(H − h) with camera height H ≈ 0.72 m, so a gripper carrying at 10 cm reads ~15% larger than it will at table level, and things shrink slightly as you lower them. - In each wrist image the grasp point (where the jaws meet) projects at (x≈115, y≈200) in the 224-px frame, just off the bottom edge — independent of wrist roll, but NOT of pitch: pitched 60–70° forward it shifts up to y≈150–190. The camera looks beyond the fingertips, so anything at or nearer than the grasp point is out of frame, and the dark wedge at the bottom-centre of the frame is the jaws themselves, not the object. A held object is never visible in its own wrist camera. To re-calibrate at the current pitch: briefly close the empty gripper and watch where the jaws converge. - At wrist roll = 0: image-right = the arm's right (−y in arm coordinates, reached with negative j0), image-down = radially inward toward the arm's base. Rolling the wrist rotates the scene in the image, but the jaws always close along image-x. - Wrist-cam scale varies strongly with height and pose: measured values within ~10 cm of the table ranged from ~3 to ~12 px/cm across runs, so never trust a remembered scale — close to the table the 224-px frame may span only a few tens of centimetres, and a hand-sized object can fill it. A pure j0 nudge shifts the scene laterally by r·Δj0 metres, which calibrates this view in a single call. - The wrist image's vertical axis conflates radial distance and height: a 3 cm radial move and a 1.4 cm descent shift features by a similar number of pixels, and radial (depth) distance cannot be eyeballed from the top-down wrist view. ## Workspace geometry - Arm bases are 0.584 m (23 in) apart, mounted parallel (facing the same way). - Table plane: the tabletop coincides with the arm mounting plane — true fingertip z = 0 at table contact (verified by replaying contact poses through the framework's grasp-site forward kinematics). - With the gripper pointing straight down, reach caps at ~0.51 m wrist radius; pitching the gripper 30–45° forward buys another 10–20 cm. ## Controller behavior - Position moves undershoot: a `move_joints` call tracks only partway to the target and stalls near contact (gravity-loaded j1/j3 sag 0.05–0.1 rad). Re-issue the same target, or command slightly beyond it, to converge. Undershoot grows when carrying a load — expect lifts with an object in the gripper to need more re-issues or stronger targets. - Larger commands are clamped by a per-step delta limit (`delta_clamped` in the move result) and each call reports only a few steps. Nothing is broken — re-issue, or command 0.1–0.2 rad beyond the goal. - Position error that stops shrinking while descending usually means the fingers or object reached the table. When joint effort is available (below), prefer it over this heuristic. ## Joint effort (when `report_joint_eff` is enabled) - Contact vs. sag on descents: gravity assists a downward j1 move, so j1 falling short during a descent means contact, not controller sag. The effort reading distinguishes how hard you are contacting: on a light touch j1 simply stops tracking while its effort stays negative (still holding the arm against gravity); if effort flips positive, the arm is actively pressing into the surface — back off. - After a full close, the gripper residual settles at the grasped object's thickness in gripper units, and gripper effort reads high (≈1.0–2.0) around an object versus low (≈0.1) when empty. A partial close gives an ambiguous readback for thin objects. - A grasped object touching down reads as stopped descent plus rising effort on the wrist joints. # Rig formulas (YAM rigs) Planar arm kinematics in the radial–vertical (r, z) plane, from the i2rt URDF constants: upper arm L1 = 0.264 m, forearm L2 = 0.245 m, wrist-to-fingertip L3 = 0.101 m, shoulder pitch axis L0 = 0.114 m above the mounting plane (= table level). - Angles: A = π − j1 (upper arm), B = j2 − j1 (forearm), C = B + j3 (fingertip axis; gripper-down is C = −π/2). - Forward: fingertip ≈ (0, L0) + L1·(cos A, sin A) + L2·(cos B, sin B) + L3·(cos C, sin C). - Inverse (target radius r, height z, approach angle C): let P = (r, z) − L3·(cos C, sin C) − (0, L0) and d = |P|; then A = atan2(P_z, P_r) + acos((d² + L1² − L2²) / (2·L1·d)) and B = atan2(P_z − L1·sin A, P_r − L1·cos A); recover j1 = π − A, j2 = B + j1, j3 = C − B. This is the elbow-up branch — the one the arms use in practice. Check reachability d ≤ L1 + L2 = 0.509 first. - Accuracy: in the gripper-down working envelope (r ≈ 0.3–0.5 m) the approximation reads ~3–4 cm short in r and ~7–10 cm high in z. The bias varies per arm but is nearly constant for a given arm, so relative moves and the local Jacobian are accurate — and both the forward and inverse solutions inherit the bias, so measure your arm's z offset with one closed-gripper table touch and correct all absolute heights by it. Outside that envelope (arm folded) the approximation degrades sharply. # Rig advice (YAM rigs) Working practice distilled from episode hindsight on these rigs. ## Calibrate before you commit - Overhead scale: calibrate px/cm in your first few calls, before planning any layout, from a known gripper move observed in the top frame — compute the travelled distance from joint readback, not the commanded target (controller undershoot otherwise skews the scale low). A grasped object of known size also works. - Height: before the first grasp, close the empty gripper and descend until joint effort shows table contact (j1 stops tracking while its holding torque relaxes), then record what the planar FK reads at that pose — that offset is your arm's z bias. A 2 cm height error is the difference between grasping a 4 cm object and closing on air. - Depth: do an early calibrated test move (translate a known 3 cm, measure the pixel shift in the wrist view) — first radial estimates are otherwise off by 5–10 cm. - Prefer solving the planar IK for a target and issuing j1/j2/j3 together over nudging single joints — it converges in far fewer calls. ## Keep the target in view - A target vanishing mid-approach is ambiguous: still ahead beyond the frame, or already at/behind the grasp point. Never close or keep advancing on a target you can't see — retract 3–5 cm to re-acquire it, and close only when it shows between the two jaw silhouettes. Blind closes at a computed position usually miss and shove the object 5–9 cm, forcing a re-find. - Never read depth from image-y alone: descend in 1–2 cm steps, keeping the target column-aligned with the jaw gap (x≈115), and re-check between steps. ## Grasping - Roll the wrist until the target's long axis looks vertical in the wrist image to align a grasp across it — and since gripper yaw follows j0, setting wrist roll ≈ j0 keeps the jaws square to a world-aligned target from any bearing. - For thin objects lying on a surface, lower the open gripper until joint effort confirms fingertip–table contact, then close — closing at an unverified height is the main cause of angled, slip-prone grasps. - Verify every grasp with a full close and check the residual against the expected thickness of the part you meant to grip; never test a grasp with a partial close. A residual several times too large with high effort means you clamped something bulky or at an angle, and it will slip during transport — regrasp. A near-zero residual (≈0.01) on a rigid object is the opposite failure: a shallow edge pinch that will slip — regrasp deeper so more material sits between the jaws. - Failed close attempts drag the object. After any failed grasp, re-find the object's actual position in the overhead frame before retrying — don't assume it is where it was. ## Transport and placement - A carried object hangs and pivots below the grasp point, and wrist roll shifts where its center sits relative to the gripper — adjust roll after grasping so the load hangs where you want it before transporting. An object picked at one bearing and placed at another lands rotated by (j0 at place − j0 at pick) unless you re-match roll. - When grasping near an object's end, the object extends well beyond the grasp point. Plan the release around where the object's extent will land, not where the gripper is, and verify placement in the overhead frame after release before declaring the task done. - Time the release off joint effort: a grasped object touching down reads as stopped descent plus rising wrist effort. ## Planning the episode - Before moving anything, choose where the goal arrangement will be built: keep it inside both arms' reach overlap — nearer the bases — so no object needs a cross-arm handoff; a handoff costs ~10 calls. Budget ~6–10 move calls per verified pick-and-place when planning against a call limit. - The idle arm's wrist camera is a genuinely useful second viewpoint — fly it in for close-ups the overhead view can't resolve. The only hazard is shared space, and it cuts both ways: the classic collision is the working arm swinging into an idle arm left hovering over the table after its last use. Before sweeping one arm across the workspace, park the other near its own base (j1 ≈ 0.6, j2 ≈ 1.2, j3 ≈ −0.6), then bring it back out when you need the viewpoint again. 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: Place the left block on top of the right block
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteTwo blocks (blue on the left, orange on the right) sit near the bottom edge of the overhead frame, close to the arm bases. I'm raising the left arm into a gripper-down pose at roughly r=0.35 m so I can see it in the overhead view and calibrate the pixel scale.
move_joints
left_j12.0600left_j21.6600left_j3-1.1700
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=0.0013 left_j1=0.0063 left_j2=0.0078 left_j3=-0.0425 left_j4=0.0029 left_j5=-0.0223 left_gripper=0.9993 right_j0=-0.0013 right_j1=0.001 right_j2=0.0055 right_j3=-0.0444 right_j4=0.0029 right_j5=-0.0139 right_gripper=0.999 state[joint_eff]: [-0.1983, 1.1282, 6.3385, 2.2589, -0.0562, 0.1685, -0.0855, 0.0615, 1.6479, 6.7624, 2.3272, -0.0366, 0.0806, -0.1197] 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_joints({"targets": {"left_j1": 2.06, "left_j2": 1.66, "left_j3": -1.17}, "note": "Two blocks (blue on the left, orange on the right) sit near the bottom edge of the overhead frame, close to the arm bases. I'm raising the left arm into a gripper-down pose at roughly r=0.35 m so I can see it in the overhead view and calibrate the pixel scale."})
tool
executing move_joints over 33 steps (3.3s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteThe left arm is now up and pointing down over the table but the blocks (near the bottom of the overhead frame) are behind/right of it. I'm yawing the arm to its right (j0=-0.5) and pulling in to r≈0.30 m to bring the blue block into the wrist camera view; this also calibrates the overhead scale from a known yaw.
move_joints
left_j0-0.5000left_j11.8900left_j21.4100left_j3-1.0900left_j5-0.5000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=0.0013 left_j1=2.0399 left_j2=1.6192 left_j3=-1.1492 left_j4=0.0036 left_j5=-0.0315 left_gripper=0.9993 right_j0=-0.0013 right_j1=0.0036 right_j2=0.0055 right_j3=-0.0715 right_j4=0.0032 right_j5=-0.0151 right_gripper=0.9989 state[joint_eff]: [-0.2393, -10.6735, 8.0889, 0.188, -0.0366, 0.0464, -0.0171, -0.0615, 1.4564, 7.1316, 2.2051, -0.0024, -0.0464, -0.022] camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.5, "left_j1": 1.89, "left_j2": 1.41, "left_j3": -1.09, "left_j5": -0.5}, "note": "The left arm is now up and pointing down over the table but the blocks (near the bottom of the overhead frame) are behind/right of it. I'm yawing the arm to its right (j0=-0.5) and pulling in to r\u22480.30 m to bring the blue block into the wrist camera view; this also calibrates the overhead scale from a known yaw."})
tool
executing move_joints over 8 steps (0.8s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteThe blue block is now visible in the left wrist camera at upper-right (~170,130) while the jaws meet at (~115,200). I'm nudging the base yaw 0.14 rad further right — a known ~4.3 cm lateral move — to calibrate the wrist-camera scale and axis directions before approaching.
move_joints
left_j0-0.6200
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.477 left_j1=1.9285 left_j2=1.4235 left_j3=-1.1015 left_j4=0.0048 left_j5=-0.432 left_gripper=0.9992 right_j0=-0.0013 right_j1=0.0055 right_j2=0.0055 right_j3=-0.0788 right_j4=0.0029 right_j5=-0.0147 right_gripper=0.9989 state[joint_eff]: [0.1026, -12.1778, 5.2171, 0.3199, -0.0952, -0.1099, -0.0171, -0.0068, 1.4701, 6.9675, 1.9414, -0.0073, -0.0464, -0.0171] camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.62}, "note": "The blue block is now visible in the left wrist camera at upper-right (~170,130) while the jaws meet at (~115,200). I'm nudging the base yaw 0.14 rad further right \u2014 a known ~4.3 cm lateral move \u2014 to calibrate the wrist-camera scale and axis directions before approaching."})
tool
executing move_joints over 3 steps (0.3s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteThe 0.117 rad yaw nudge moved the block ~42 px in the wrist view for a 3.5 cm lateral motion (~12 px/cm), telling me the block sits ~3.5 cm to the arm's left and ~8 cm further out than the grasp point. I'm returning to j0=-0.477 (laterally centred on the block) and extending the reach to r≈0.36 m.
move_joints
left_j0-0.4770left_j12.1000left_j21.7200left_j3-1.1900left_j5-0.4770
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5938 left_j1=1.9224 left_j2=1.4181 left_j3=-1.1065 left_j4=0.0055 left_j5=-0.4629 left_gripper=0.9992 right_j0=-0.0013 right_j1=0.0055 right_j2=0.0055 right_j3=-0.0792 right_j4=0.0025 right_j5=-0.0177 right_gripper=0.9989 state[joint_eff]: [-0.1162, -8.8821, 6.0513, 0.2418, -0.1099, 0.2125, -0.0122, -0.0205, 1.6205, 6.9675, 1.8974, -0.0464, -0.0464, -0.0171] camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.477, "left_j1": 2.1, "left_j2": 1.72, "left_j3": -1.19, "left_j5": -0.477}, "note": "The 0.117 rad yaw nudge moved the block ~42 px in the wrist view for a 3.5 cm lateral motion (~12 px/cm), telling me the block sits ~3.5 cm to the arm's left and ~8 cm further out than the grasp point. I'm returning to j0=-0.477 (laterally centred on the block) and extending the reach to r\u22480.36 m."})
tool
executing move_joints over 5 steps (0.5s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteThe blue block is now nearly centred between the jaws in the wrist view but still ~5 cm too far out radially. I'm extending the reach toward r≈0.40 m while holding roughly the same height to line the jaws up over the block.
move_joints
left_j12.3000left_j21.8800left_j3-1.1500
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.4824 left_j1=2.0811 left_j2=1.6722 left_j3=-1.1858 left_j4=0.0105 left_j5=-0.4839 left_gripper=0.9992 right_j0=-0.0013 right_j1=0.0097 right_j2=0.0055 right_j3=-0.0792 right_j4=0.0029 right_j5=-0.0181 right_gripper=0.9989 state[joint_eff]: [0.4308, -9.7573, 8.0068, 0.2759, -0.0855, 0.1001, -0.0073, -0.0479, 1.347, 7.0085, 1.9023, -0.0611, -0.0757, -0.0171] camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.3, "left_j2": 1.88, "left_j3": -1.15}, "note": "The blue block is now nearly centred between the jaws in the wrist view but still ~5 cm too far out radially. I'm extending the reach toward r\u22480.40 m while holding roughly the same height to line the jaws up over the block."})
tool
executing move_joints over 4 steps (0.4s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe blue block now sits right at the bottom-centre of the wrist view, between the two jaw silhouettes, so the gripper is lined up over it. Descending ~4-5 cm to bring the fingertips down alongside the block.
move_joints
left_j12.3700left_j21.7500left_j3-0.9600
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.4789 left_j1=2.2848 left_j2=1.8359 left_j3=-1.1854 left_j4=0.0143 left_j5=-0.4957 left_gripper=0.9992 right_j0=-0.0013 right_j1=0.012 right_j2=0.0059 right_j3=-0.0792 right_j4=0.0029 right_j5=-0.0181 right_gripper=0.9989 state[joint_eff]: [-0.4308, -12.8752, 8.5675, 0.2662, -0.0659, 0.0757, -0.0073, -0.1436, 1.4838, 7.1453, 1.8926, -0.0415, -0.0806, -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_joints({"targets": {"left_j1": 2.37, "left_j2": 1.75, "left_j3": -0.96}, "note": "The blue block now sits right at the bottom-centre of the wrist view, between the two jaw silhouettes, so the gripper is lined up over it. Descending ~4-5 cm to bring the fingertips down alongside the block."})
tool
executing move_joints over 4 steps (0.4s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteThe move undershot — the arm only came down ~2 cm and the block has slipped just below the bottom edge of the wrist frame. Re-issuing a slightly stronger descent target to converge on the grasp height.
move_joints
left_j12.4000left_j21.7300left_j3-0.9300
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.4755 left_j1=2.3062 left_j2=1.7916 left_j3=-1.0927 left_j4=0.0422 left_j5=-0.5026 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0151 right_j2=0.0059 right_j3=-0.0795 right_j4=0.0029 right_j5=-0.0177 right_gripper=0.9989 state[joint_eff]: [-0.0889, -7.1179, 2.5778, 1.3211, -0.2564, 0.0562, -0.0708, -0.1026, 1.4701, 7.0222, 1.917, -0.0317, -0.0366, -0.0122] camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.4, "left_j2": 1.73, "left_j3": -0.93}, "note": "The move undershot \u2014 the arm only came down ~2 cm and the block has slipped just below the bottom edge of the wrist frame. Re-issuing a slightly stronger descent target to converge on the grasp height."})
tool
executing move_joints over 3 steps (0.3s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteDescent has stalled with j1 effort still negative and wrist effort rising — the fingertips have reached table/block level. Closing the gripper fully to see from the residual whether the block is actually between the jaws.
move_joints
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.477 left_j1=2.3035 left_j2=1.7805 left_j3=-1.0748 left_j4=0.0418 left_j5=-0.5068 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0158 right_j2=0.0059 right_j3=-0.0795 right_j4=0.0032 right_j5=-0.0177 right_gripper=0.9989 state[joint_eff]: [-0.1846, -4.7111, 1.4564, 1.6777, -0.0317, -0.0269, -0.0122, -0.0889, 1.5795, 7.0222, 1.9267, -0.0073, -0.0366, -0.0171] camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0.0}, "note": "Descent has stalled with j1 effort still negative and wrist effort rising \u2014 the fingertips have reached table/block level. Closing the gripper fully to see from the residual whether the block is actually between the jaws."})
tool
executing move_joints over 10 steps (1.0s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteThe gripper closed to a residual of 0.017 — it grabbed nothing, so the fingertips were resting on top of the block rather than straddling it. Reopening and lifting ~6 cm to re-acquire the block in the wrist view.
move_joints
left_gripper1.0000left_j12.1900left_j21.8700left_j3-1.2500
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.477 left_j1=2.2955 left_j2=1.7821 left_j3=-1.0935 left_j4=0.036 left_j5=-0.5137 left_gripper=0.0165 right_j0=-0.0013 right_j1=0.0158 right_j2=0.0059 right_j3=-0.0795 right_j4=0.0029 right_j5=-0.0177 right_gripper=0.9989 state[joint_eff]: [-0.3624, -11.7128, 5.4085, 0.3932, 0.0122, 0.0171, 0.7595, -0.1299, 1.8256, 7.0222, 1.9365, -0.0708, -0.0513, -0.0122] camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1.0, "left_j1": 2.19, "left_j2": 1.87, "left_j3": -1.25}, "note": "The gripper closed to a residual of 0.017 \u2014 it grabbed nothing, so the fingertips were resting on top of the block rather than straddling it. Reopening and lifting ~6 cm to re-acquire the block in the wrist view."})
tool
executing move_joints over 10 steps (1.0s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteThe block is clearly back in view between the open jaws, so lateral alignment looks right; the earlier grasp failed on height. I'm commanding a deliberately deep descent (fingertips nominally to table level) to find exactly where the fingers stall, which calibrates my height bias.
move_joints
left_j12.5000left_j21.7200left_j3-0.8000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.477 left_j1=2.2353 left_j2=1.8427 left_j3=-1.2373 left_j4=0.0372 left_j5=-0.5251 left_gripper=0.995 right_j0=-0.0013 right_j1=0.0158 right_j2=0.0059 right_j3=-0.0799 right_j4=0.0032 right_j5=-0.0177 right_gripper=0.9989 state[joint_eff]: [-0.3624, -15.1316, 7.9932, 0.2369, -0.0171, 0.0952, -0.2125, -0.0342, 1.7299, 7.1726, 1.9414, -0.022, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.5, "left_j2": 1.72, "left_j3": -0.8}, "note": "The block is clearly back in view between the open jaws, so lateral alignment looks right; the earlier grasp failed on height. I'm commanding a deliberately deep descent (fingertips nominally to table level) to find exactly where the fingers stall, which calibrates my height bias."})
tool
executing move_joints over 7 steps (0.7s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteThe arm hard-stopped at a fingertip height of z_fk≈0.080 with j1 effort now positive (pressing). To learn whether that surface is the tabletop or the block's top face, I'm swinging ~5 cm to the left onto bare table with the same deep descent target — if it sinks further, I was standing on the block.
move_joints
left_j0-0.3000left_j12.5000left_j21.7200left_j3-0.8000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.4747 left_j1=2.3283 left_j2=1.7924 left_j3=-1.0901 left_j4=0.0555 left_j5=-0.5335 left_gripper=0.9958 right_j0=-0.0013 right_j1=0.0189 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0036 right_j5=-0.0177 right_gripper=0.9989 state[joint_eff]: [-0.3214, 1.812, -0.2256, 3.0452, -0.1783, 0.0073, 0.0806, -0.0615, 1.9624, 7.0222, 1.9609, -0.022, -0.0415, -0.0171] camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.3, "left_j1": 2.5, "left_j2": 1.72, "left_j3": -0.8}, "note": "The arm hard-stopped at a fingertip height of z_fk\u22480.080 with j1 effort now positive (pressing). To learn whether that surface is the tabletop or the block's top face, I'm swinging ~5 cm to the left onto bare table with the same deep descent target \u2014 if it sinks further, I was standing on the block."})
tool
executing move_joints over 5 steps (0.5s)
step 92
top_cam
camera top_cam step 92
left_cam
camera left_cam step 92
right_cam
camera right_cam step 92
assistant
agent noteOn bare table 5 cm to the left the arm stalls at exactly the same height (z_fk≈0.081), so that is the tabletop and my height bias is +0.081 — meaning my earlier "grasp" put the fingertips on the table with the block not between them. Returning to the block's bearing at ~3 cm true height to re-locate it precisely in the wrist view.
move_joints
left_j0-0.4770left_j12.2500left_j21.8000left_j3-1.1200
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3531 left_j1=2.3291 left_j2=1.7977 left_j3=-1.0389 left_j4=0.0689 left_j5=-0.5667 left_gripper=0.9958 right_j0=-0.0013 right_j1=0.0189 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0032 right_j5=-0.0181 right_gripper=0.9989 state[joint_eff]: [3.2889, 1.5385, -0.5402, 2.4298, -0.1587, 0.315, -0.0122, -0.1026, 1.6068, 7.0496, 1.8926, -0.022, -0.0513, -0.0171] camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.477, "left_j1": 2.25, "left_j2": 1.8, "left_j3": -1.12}, "note": "On bare table 5 cm to the left the arm stalls at exactly the same height (z_fk\u22480.081), so that is the tabletop and my height bias is +0.081 \u2014 meaning my earlier \"grasp\" put the fingertips on the table with the block not between them. Returning to the block's bearing at ~3 cm true height to re-locate it precisely in the wrist view."})
tool
executing move_joints over 2 steps (0.2s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteWith the fingertips now only ~1.6 cm above the table the wrist camera sees bare table and no block, and the overhead view shows the block nearer the base than the fingertips — I had driven ~6 cm past it. Retracting radially to r≈0.335 m at the block's bearing.
move_joints
left_j0-0.4500left_j12.0800left_j21.5100left_j3-1.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3897 left_j1=2.2906 left_j2=1.8034 left_j3=-1.063 left_j4=0.0563 left_j5=-0.5743 left_gripper=0.9959 right_j0=-0.0013 right_j1=0.0216 right_j2=0.0067 right_j3=-0.0795 right_j4=0.0029 right_j5=-0.0181 right_gripper=0.9989 state[joint_eff]: [-3.5624, -15.3231, 5.3812, 0.4176, 0.1001, 0.0464, -0.0024, -0.1162, 1.853, 7.0496, 1.956, -0.0073, -0.0562, -0.0171] camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.45, "left_j1": 2.08, "left_j2": 1.51, "left_j3": -1.0}, "note": "With the fingertips now only ~1.6 cm above the table the wrist camera sees bare table and no block, and the overhead view shows the block nearer the base than the fingertips \u2014 I had driven ~6 cm past it. Retracting radially to r\u22480.335 m at the block's bearing."})
tool
executing move_joints over 5 steps (0.5s)
step 99
top_cam
camera top_cam step 99
left_cam
camera left_cam step 99
right_cam
camera right_cam step 99
assistant
agent noteThe retract worked — the block is back at the bottom of the wrist frame right by the jaws, and the overhead view shows the gripper straddling it. Re-issuing essentially the same pose (tiny yaw correction) to let motion settle and get a sharp image before closing.
move_joints
left_j0-0.4600left_j12.1300left_j21.5300left_j3-1.0200
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.4366 left_j1=2.1353 left_j2=1.5314 left_j3=-1.0183 left_j4=0.0597 left_j5=-0.5751 left_gripper=0.9959 right_j0=-0.0013 right_j1=0.0254 right_j2=0.0067 right_j3=-0.0803 right_j4=0.0036 right_j5=-0.0181 right_gripper=0.9989 state[joint_eff]: [-0.4718, -14.1197, 5.5043, 0.4274, 0.0269, -0.0122, -0.0122, -0.1709, 1.6479, 7.1726, 1.917, -0.0122, -0.0708, -0.0171] camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.46, "left_j1": 2.13, "left_j2": 1.53, "left_j3": -1.02}, "note": "The retract worked \u2014 the block is back at the bottom of the wrist frame right by the jaws, and the overhead view shows the gripper straddling it. Re-issuing essentially the same pose (tiny yaw correction) to let motion settle and get a sharp image before closing."})
tool
executing move_joints over 1 steps (0.1s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteSharp wrist image: the block sits just right of the jaw gap (its corner at x≈120 while the jaws meet at x≈115), i.e. ~2 cm to the arm's right and ~1.5 cm further out. Lifting to ~6.5 cm (clear of the 5 cm block) while shifting right and out, so I can then drop straight down around it.
move_joints
left_j0-0.5100left_j12.0850left_j21.6800left_j3-1.1600
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.4511 left_j1=2.1139 left_j2=1.5116 left_j3=-1.013 left_j4=0.0597 left_j5=-0.5785 left_gripper=0.9959 right_j0=-0.0013 right_j1=0.0254 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0036 right_j5=-0.0177 right_gripper=0.9989 state[joint_eff]: [-0.0342, -13.3402, 5.2308, 0.359, -0.0611, -0.0073, -0.0073, -0.0342, 1.5932, 7.2547, 1.956, -0.0122, -0.0366, -0.0171] camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.51, "left_j1": 2.085, "left_j2": 1.68, "left_j3": -1.16}, "note": "Sharp wrist image: the block sits just right of the jaw gap (its corner at x\u2248120 while the jaws meet at x\u2248115), i.e. ~2 cm to the arm's right and ~1.5 cm further out. Lifting to ~6.5 cm (clear of the 5 cm block) while shifting right and out, so I can then drop straight down around it."})
tool
executing move_joints over 3 steps (0.3s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteThe block is between the jaws but still ~2 cm right of the jaw gap. Shifting right/out by that amount and descending to ~1.5 cm above the table so the fingers straddle the lower half of the block.
move_joints
left_j0-0.5390left_j12.2000left_j21.6450left_j3-1.0100
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.4934 left_j1=2.1201 left_j2=1.6344 left_j3=-1.1202 left_j4=0.0601 left_j5=-0.5854 left_gripper=0.9959 right_j0=-0.0013 right_j1=0.0257 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0032 right_j5=-0.0177 right_gripper=0.9989 state[joint_eff]: [-0.6085, -13.6274, 7.0906, 0.1148, 0.0073, 0.0073, -0.0073, -0.0752, 2.0718, 7.0769, 1.8926, -0.0269, -0.0366, -0.0122] camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.539, "left_j1": 2.2, "left_j2": 1.645, "left_j3": -1.01}, "note": "The block is between the jaws but still ~2 cm right of the jaw gap. Shifting right/out by that amount and descending to ~1.5 cm above the table so the fingers straddle the lower half of the block."})
tool
executing move_joints over 2 steps (0.2s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteThe block is now centred on the jaw gap (x≈120 vs grasp point 115) in the wrist view. Descending ~2.5 cm so the fingers sit alongside the lower half of the block before closing.
move_joints
left_j12.2300left_j21.6000left_j3-0.9700
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5217 left_j1=2.1407 left_j2=1.6596 left_j3=-1.1076 left_j4=0.0605 left_j5=-0.5892 left_gripper=0.9959 right_j0=-0.0013 right_j1=0.0261 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0032 right_j5=-0.0177 right_gripper=0.9989 state[joint_eff]: [-1.0598, -8.2803, 4.5333, 0.3932, 0.0024, 0.0024, -0.0073, -0.0342, 1.5521, 7.159, 1.9023, -0.0171, -0.0562, -0.0122] camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.23, "left_j2": 1.6, "left_j3": -0.97}, "note": "The block is now centred on the jaw gap (x\u2248120 vs grasp point 115) in the wrist view. Descending ~2.5 cm so the fingers sit alongside the lower half of the block before closing."})
tool
executing move_joints over 3 steps (0.3s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteFingertips are ~1 cm above the table with the block right at the jaw gap. Closing fully to grasp; I'll check the residual to confirm a real grip on the ~5 cm block.
move_joints
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5293 left_j1=2.2097 left_j2=1.6299 left_j3=-1.0348 left_j4=0.0631 left_j5=-0.5934 left_gripper=0.9959 right_j0=-0.0013 right_j1=0.0261 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0029 right_j5=-0.0177 right_gripper=0.9989 state[joint_eff]: [0.8684, -9.9487, 3.1111, 0.8669, -0.0659, -0.0073, -0.0073, -0.0068, 1.5795, 7.2274, 1.9267, -0.022, -0.0464, -0.0171] camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0.0}, "note": "Fingertips are ~1 cm above the table with the block right at the jaw gap. Closing fully to grasp; I'll check the residual to confirm a real grip on the ~5 cm block."})
tool
executing move_joints over 10 steps (1.0s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent noteEmpty close again (residual 0.016). Critically, the closed-jaw wedge in the wrist image converges at about y≈172, not y≈200 — so the block, which sat at y≈215, was actually ~3-4 cm too far inward. Reopening and pulling the gripper in by ~3.5 cm.
move_joints
left_gripper1.0000left_j12.0700left_j21.4200left_j3-0.9200
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5297 left_j1=2.2074 left_j2=1.6295 left_j3=-1.0538 left_j4=0.0631 left_j5=-0.6033 left_gripper=0.0158 right_j0=-0.0013 right_j1=0.0261 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0029 right_j5=-0.0181 right_gripper=0.9989 state[joint_eff]: [-0.2393, -11.2068, 5.559, 0.3394, 0.0073, 0.0659, 0.7448, -0.1709, 1.5658, 7.159, 1.8584, -0.0073, -0.0659, -0.0122] camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1.0, "left_j1": 2.07, "left_j2": 1.42, "left_j3": -0.92}, "note": "Empty close again (residual 0.016). Critically, the closed-jaw wedge in the wrist image converges at about y\u2248172, not y\u2248200 \u2014 so the block, which sat at y\u2248215, was actually ~3-4 cm too far inward. Reopening and pulling the gripper in by ~3.5 cm."})
tool
executing move_joints over 10 steps (1.0s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteAfter pulling in 3.3 cm the block barely moved in the wrist view — suspicious, so I'm making one more clean 3 cm inward move to measure the radial pixel scale and see whether the block finally rises toward the jaw-tip point.
move_joints
left_j11.9900left_j21.2900left_j3-0.8660
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5308 left_j1=2.0892 left_j2=1.4429 left_j3=-0.934 left_j4=0.0666 left_j5=-0.6075 left_gripper=0.9947 right_j0=-0.0013 right_j1=0.0273 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0036 right_j5=-0.0181 right_gripper=0.9989 state[joint_eff]: [-0.0752, -11.6308, 4.3009, 0.4225, -0.0366, 0.0122, -0.2613, -0.1026, 1.8393, 7.1863, 1.9902, -0.0073, -0.0464, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.99, "left_j2": 1.29, "left_j3": -0.866}, "note": "After pulling in 3.3 cm the block barely moved in the wrist view \u2014 suspicious, so I'm making one more clean 3 cm inward move to measure the radial pixel scale and see whether the block finally rises toward the jaw-tip point."})
tool
executing move_joints over 3 steps (0.3s)
step 131
top_cam
camera top_cam step 131
left_cam
camera left_cam step 131
right_cam
camera right_cam step 131
assistant
agent noteClean measurement: a 3 cm inward move lifted the block ~30 px in the wrist view (≈10 px/cm), and the block now reads ~3 cm to the arm's right of the jaw-tip point and roughly at the right radius. Yawing 0.1 rad right to centre it laterally.
move_joints
left_j0-0.6320left_j5-0.6320
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5316 left_j1=2.0109 left_j2=1.3201 left_j3=-0.8894 left_j4=0.0639 left_j5=-0.6079 left_gripper=0.9958 right_j0=-0.0013 right_j1=0.0296 right_j2=0.0067 right_j3=-0.0788 right_j4=0.0029 right_j5=-0.0177 right_gripper=0.9989 state[joint_eff]: [0.2393, -10.7009, 4.506, 0.5348, 0.0611, -0.022, 0.105, -0.1709, 1.9077, 7.0359, 1.917, -0.0073, -0.0513, -0.0122] camera 'top_cam' (step 131): [image omitted: streamed camera frame] camera 'left_cam' (step 131): [image omitted: streamed camera frame] camera 'right_cam' (step 131): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.632, "left_j5": -0.632}, "note": "Clean measurement: a 3 cm inward move lifted the block ~30 px in the wrist view (\u224810 px/cm), and the block now reads ~3 cm to the arm's right of the jaw-tip point and roughly at the right radius. Yawing 0.1 rad right to centre it laterally."})
tool
executing move_joints over 2 steps (0.2s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteThe yaw undershot (only reached -0.574) so the block is still right of the jaw gap; re-issuing a slightly stronger yaw target to finish centring it.
move_joints
left_j0-0.6600left_j5-0.6600
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5739 left_j1=2.0029 left_j2=1.3079 left_j3=-0.8944 left_j4=0.0532 left_j5=-0.6216 left_gripper=0.9959 right_j0=-0.0013 right_j1=0.0292 right_j2=0.0067 right_j3=-0.0803 right_j4=0.0029 right_j5=-0.0177 right_gripper=0.9989 state[joint_eff]: [-2.2769, -8.7316, 6.3248, 0.3394, 0.1148, -0.0415, 0.0024, -0.0479, 1.6068, 7.3368, 1.9121, -0.022, -0.0415, -0.0171] 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_joints({"targets": {"left_j0": -0.66, "left_j5": -0.66}, "note": "The yaw undershot (only reached -0.574) so the block is still right of the jaw gap; re-issuing a slightly stronger yaw target to finish centring it."})
tool
executing move_joints over 2 steps (0.2s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteToo close to judge anything — the block now fills the bottom of the wrist frame. Backing up to ~10 cm above the table with the jaws closed, so I can see the whole block and the exact pixel where the closed jaw tip (the grasp point) sits, then align from there.
move_joints
left_j11.8400left_j21.4800left_j3-1.2100left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6434 left_j1=2.0029 left_j2=1.3079 left_j3=-0.897 left_j4=0.0605 left_j5=-0.6449 left_gripper=0.9959 right_j0=-0.0013 right_j1=0.0292 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0032 right_j5=-0.0177 right_gripper=0.9989 state[joint_eff]: [-0.9641, -9.6615, 5.3949, 0.2759, -0.0464, -0.0708, -0.0073, -0.1983, 1.6342, 7.3504, 1.9365, -0.0269, -0.0757, -0.0122] camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.84, "left_j2": 1.48, "left_j3": -1.21, "left_gripper": 0.0}, "note": "Too close to judge anything \u2014 the block now fills the bottom of the wrist frame. Backing up to ~10 cm above the table with the jaws closed, so I can see the whole block and the exact pixel where the closed jaw tip (the grasp point) sits, then align from there."})
tool
executing move_joints over 10 steps (1.0s)
step 145
top_cam
camera top_cam step 145
left_cam
camera left_cam step 145
right_cam
camera right_cam step 145
assistant
agent noteSuccess — the gripper residual settled at 0.455 (≈4.3 cm) with high effort, so the blue block is grasped and already lifted ~8 cm. Raising it to ~20 cm to confirm in the overhead view and clear the table for transport.
move_joints
left_j11.7800left_j21.8200left_j3-1.6100
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6456 left_j1=1.8843 left_j2=1.4471 left_j3=-1.177 left_j4=0.0612 left_j5=-0.6559 left_gripper=0.4551 right_j0=-0.0013 right_j1=0.0292 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0032 right_j5=-0.0177 right_gripper=0.9989 state[joint_eff]: [0.1709, -11.7538, 7.9932, 0.2564, 0.0073, 0.0415, 1.0281, -0.1436, 1.6752, 7.1179, 1.8974, -0.0171, -0.0659, -0.0122] camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.78, "left_j2": 1.82, "left_j3": -1.61}, "note": "Success \u2014 the gripper residual settled at 0.455 (\u22484.3 cm) with high effort, so the blue block is grasped and already lifted ~8 cm. Raising it to ~20 cm to confirm in the overhead view and clear the table for transport."})
tool
executing move_joints over 7 steps (0.7s)
step 152
top_cam
camera top_cam step 152
left_cam
camera left_cam step 152
right_cam
camera right_cam step 152
assistant
agent noteBlock is securely held (residual 0.46, effort 1.03) and lifted ~17 cm. From the overhead view the red block sits ~16 cm to the arm's right of where the blue one was, so I'm swinging to bearing -0.95 rad, r≈0.44 m, staying ~15 cm high, with wrist roll matched to j0 to keep the cube world-aligned.
move_joints
left_j0-0.9500left_j5-0.9500left_j12.2400left_j22.2800left_j3-1.6100
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6468 left_j1=1.8267 left_j2=1.7763 left_j3=-1.5436 left_j4=0.0639 left_j5=-0.6636 left_gripper=0.46 right_j0=-0.0013 right_j1=0.0311 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0032 right_j5=-0.0181 right_gripper=0.9989 state[joint_eff]: [-0.1162, -11.2615, 7.788, 0.1294, -0.0464, 0.0464, 1.033, -0.1573, 1.4427, 7.0359, 1.8974, -0.0317, -0.0757, -0.0171] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.95, "left_j5": -0.95, "left_j1": 2.24, "left_j2": 2.28, "left_j3": -1.61}, "note": "Block is securely held (residual 0.46, effort 1.03) and lifted ~17 cm. From the overhead view the red block sits ~16 cm to the arm's right of where the blue one was, so I'm swinging to bearing -0.95 rad, r\u22480.44 m, staying ~15 cm high, with wrist roll matched to j0 to keep the cube world-aligned."})
tool
executing move_joints over 9 steps (0.9s)
step 161
top_cam
camera top_cam step 161
left_cam
camera left_cam step 161
right_cam
camera right_cam step 161
assistant
agent noteThe wrist camera now shows the red target block near the top of the frame, well beyond the held blue block — so it is further out radially than I am. Extending ~4 cm to measure how fast it moves down the frame and calibrate the remaining distance.
move_joints
left_j12.4400left_j22.6100left_j3-1.7500
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9337 left_j1=2.2208 left_j2=2.236 left_j3=-1.6157 left_j4=0.0677 left_j5=-0.923 left_gripper=0.46 right_j0=-0.0013 right_j1=0.0364 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0032 right_j5=-0.0181 right_gripper=0.9989 state[joint_eff]: [-0.2393, -11.4256, 8.1573, 0.1685, -0.0562, -0.0562, 1.0281, -0.1026, 1.1692, 7.2821, 1.8974, -0.0171, -0.0611, -0.0122] camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.44, "left_j2": 2.61, "left_j3": -1.75}, "note": "The wrist camera now shows the red target block near the top of the frame, well beyond the held blue block \u2014 so it is further out radially than I am. Extending ~4 cm to measure how fast it moves down the frame and calibrate the remaining distance."})
tool
executing move_joints over 6 steps (0.6s)
step 167
top_cam
camera top_cam step 167
left_cam
camera left_cam step 167
right_cam
camera right_cam step 167
assistant
agent noteThree independent estimates from the wrist view say the red target block is 25-40 cm beyond my current reach limit — it sits in the right arm's territory. Retracting the left arm (still holding the blue block) toward its own base and raising the right arm into a gripper-down scanning pose to locate the red block from that side.
move_joints
left_j0-0.3500left_j11.7800left_j21.8200left_j3-1.6100right_j12.0000right_j22.1900right_j3-1.7600
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9356 left_j1=2.426 left_j2=2.5649 left_j3=-1.6989 left_j4=0.0704 left_j5=-0.944 left_gripper=0.4635 right_j0=-0.0013 right_j1=0.0376 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0029 right_j5=-0.0181 right_gripper=0.9989 state[joint_eff]: [0.1436, -12.465, 7.5145, 0.1197, 0.0024, 0.1538, 1.0281, -0.1299, 1.4974, 7.0632, 1.9316, -0.0269, -0.0611, -0.0122] camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.35, "left_j1": 1.78, "left_j2": 1.82, "left_j3": -1.61, "right_j1": 2.0, "right_j2": 2.19, "right_j3": -1.76}, "note": "Three independent estimates from the wrist view say the red target block is 25-40 cm beyond my current reach limit \u2014 it sits in the right arm's territory. Retracting the left arm (still holding the blue block) toward its own base and raising the right arm into a gripper-down scanning pose to locate the red block from that side."})
tool
executing move_joints over 35 steps (3.5s)
step 202
top_cam
camera top_cam step 202
left_cam
camera left_cam step 202
right_cam
camera right_cam step 202
assistant
agent noteThe right wrist camera sees the red block up and to its left, so it is comfortably in the right arm's half of the table. Swinging the right arm out to bearing +0.35 rad and r≈0.45 m to close in on it.
move_joints
right_j00.3500right_j50.3500right_j12.4700right_j22.5600right_j3-1.6600
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3584 left_j1=1.8214 left_j2=1.8282 left_j3=-1.6077 left_j4=0.0711 left_j5=-0.9447 left_gripper=0.4635 right_j0=-0.0013 right_j1=1.9774 right_j2=2.1475 right_j3=-1.7092 right_j4=0.004 right_j5=-0.0254 right_gripper=0.9988 state[joint_eff]: [0.2667, -11.0701, 5.6957, 0.3053, -0.022, -0.0073, 1.0281, -0.0752, -8.9778, 7.1043, 0.2222, -0.0269, 0.0366, -0.0122] camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.35, "right_j5": 0.35, "right_j1": 2.47, "right_j2": 2.56, "right_j3": -1.66}, "note": "The right wrist camera sees the red block up and to its left, so it is comfortably in the right arm's half of the table. Swinging the right arm out to bearing +0.35 rad and r\u22480.45 m to close in on it."})
tool
executing move_joints over 8 steps (0.8s)
step 210
top_cam
camera top_cam step 210
left_cam
camera left_cam step 210
right_cam
camera right_cam step 210
assistant
agent noteThe right wrist camera now has the red block right next to its jaws, confirming the target lies ~0.58 m from the left base — beyond the left arm's gripper-down reach. New plan: the left arm sets the blue block down at r≈0.42 m, bearing -0.72 (easy reach for both arms), then the right arm will pick it up and stack it. Moving to a hover ~8 cm above that drop spot.
move_joints
left_j0-0.7200left_j5-0.7200left_j12.1700left_j21.8900left_j3-1.2800
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3584 left_j1=1.8179 left_j2=1.824 left_j3=-1.6051 left_j4=0.0711 left_j5=-0.9478 left_gripper=0.4635 right_j0=0.3302 right_j1=2.4371 right_j2=2.5233 right_j3=-1.7058 right_j4=0.0071 right_j5=0.2741 right_gripper=0.9988 state[joint_eff]: [-0.0342, -8.0479, 5.9829, 0.2076, -0.0317, -0.0024, 1.0281, 0.1709, -11.6991, 7.4735, 0.5836, -0.0366, 0.232, -0.0073] camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.72, "left_j5": -0.72, "left_j1": 2.17, "left_j2": 1.89, "left_j3": -1.28}, "note": "The right wrist camera now has the red block right next to its jaws, confirming the target lies ~0.58 m from the left base \u2014 beyond the left arm's gripper-down reach. New plan: the left arm sets the blue block down at r\u22480.42 m, bearing -0.72 (easy reach for both arms), then the right arm will pick it up and stack it. Moving to a hover ~8 cm above that drop spot."})
tool
executing move_joints over 6 steps (0.6s)
step 216
top_cam
camera top_cam step 216
left_cam
camera left_cam step 216
right_cam
camera right_cam step 216
assistant
agent noteLeft arm is hovering 8 cm above the chosen drop spot with the blue block still firmly held. Lowering until the block's underside is essentially on the table before releasing.
move_joints
left_j12.2400left_j21.6800left_j3-1.0400
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6941 left_j1=2.1509 left_j2=1.8538 left_j3=-1.3544 left_j4=0.0753 left_j5=-0.7795 left_gripper=0.4635 right_j0=0.3279 right_j1=2.476 right_j2=2.5252 right_j3=-1.7103 right_j4=0.0036 right_j5=0.2733 right_gripper=0.9988 state[joint_eff]: [-0.2667, -10.988, 8.9641, 0.1636, 0.0024, 0.2125, 1.0281, 0.0889, -16.3487, 5.135, 0.1294, -0.0073, 0.0415, -0.0122] camera 'top_cam' (step 216): [image omitted: streamed camera frame] camera 'left_cam' (step 216): [image omitted: streamed camera frame] camera 'right_cam' (step 216): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.24, "left_j2": 1.68, "left_j3": -1.04}, "note": "Left arm is hovering 8 cm above the chosen drop spot with the blue block still firmly held. Lowering until the block's underside is essentially on the table before releasing."})
tool
executing move_joints over 6 steps (0.6s)
step 222
top_cam
camera top_cam step 222
left_cam
camera left_cam step 222
right_cam
camera right_cam step 222
assistant
agent noteFingertips are ~2.4 cm above the table, so the blue block's underside is essentially resting on it. Opening the gripper to release the block at this transfer spot.
move_joints
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6933 left_j1=2.2143 left_j2=1.7058 left_j3=-1.1252 left_j4=0.083 left_j5=-0.7788 left_gripper=0.4641 right_j0=0.3279 right_j1=2.476 right_j2=2.5244 right_j3=-1.7103 right_j4=0.0036 right_j5=0.2695 right_gripper=0.9988 state[joint_eff]: [-0.212, -9.5248, 3.4393, 0.8864, -0.0122, -0.0269, 0.5836, -0.335, -13.1077, 5.5453, 0.0855, -0.0366, -0.0122, -0.0122] camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1.0}, "note": "Fingertips are ~2.4 cm above the table, so the blue block's underside is essentially resting on it. Opening the gripper to release the block at this transfer spot."})
tool
executing move_joints over 6 steps (0.6s)
step 228
top_cam
camera top_cam step 228
left_cam
camera left_cam step 228
right_cam
camera right_cam step 228
assistant
agent noteBlue block released on the table at the transfer spot (visible in the left wrist view sitting free). Parking the left arm back near its own base so the right arm can work that area without collision.
move_joints
left_j00.0000left_j10.6000left_j21.2000left_j3-0.6000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.693 left_j1=2.2162 left_j2=1.7031 left_j3=-1.1263 left_j4=0.086 left_j5=-0.7872 left_gripper=0.9957 right_j0=0.3279 right_j1=2.476 right_j2=2.5244 right_j3=-1.7103 right_j4=0.0036 right_j5=0.2695 right_gripper=0.9988 state[joint_eff]: [-0.1573, -11.8769, 5.7504, 0.1245, -0.0269, 0.0415, -0.105, -0.2667, -13.2581, 5.4769, 0.0513, -0.0464, 0.0024, -0.0073] camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": 0.0, "left_j1": 0.6, "left_j2": 1.2, "left_j3": -0.6}, "note": "Blue block released on the table at the transfer spot (visible in the left wrist view sitting free). Parking the left arm back near its own base so the right arm can work that area without collision."})
tool
executing move_joints over 26 steps (2.6s)
step 254
top_cam
camera top_cam step 254
left_cam
camera left_cam step 254
right_cam
camera right_cam step 254
assistant
agent noteLeft arm is parked. The right wrist camera has the red target block by its jaws; the blue block was set down roughly 17 cm further to the right arm's left, so I'm yawing the right arm 0.37 rad that way to bring the blue block into view.
move_joints
right_j00.7000right_j50.7000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0101 left_j1=0.6189 left_j2=1.2068 left_j3=-0.6579 left_j4=0.0834 left_j5=-0.7975 left_gripper=0.997 right_j0=0.3279 right_j1=2.476 right_j2=2.524 right_j3=-1.71 right_j4=0.0032 right_j5=0.2695 right_gripper=0.9988 state[joint_eff]: [0.253, 2.3863, 5.2308, 2.4493, 0.0122, 0.0513, 0.1294, -0.1299, -13.2581, 5.3402, 0.1343, -0.0366, -0.0317, -0.0073] camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.7, "right_j5": 0.7}, "note": "Left arm is parked. The right wrist camera has the red target block by its jaws; the blue block was set down roughly 17 cm further to the right arm's left, so I'm yawing the right arm 0.37 rad that way to bring the blue block into view."})
tool
executing move_joints over 7 steps (0.7s)
step 261
top_cam
camera top_cam step 261
left_cam
camera left_cam step 261
right_cam
camera right_cam step 261
assistant
agent noteBoth blocks are now visible in the right wrist camera (blue at image-left, red at image-right, ~9 cm apart). The blue block reads ~3 cm to the arm's left and ~6 cm further out, so I'm extending and lowering toward it to re-measure from closer in.
move_joints
right_j00.7500right_j50.7500right_j12.6700right_j22.6600right_j3-1.5600
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0071 left_j1=0.6201 left_j2=1.2022 left_j3=-0.6815 left_j4=0.0826 left_j5=-0.8013 left_gripper=0.9973 right_j0=0.6842 right_j1=2.476 right_j2=2.5233 right_j3=-1.7103 right_j4=0.0032 right_j5=0.6159 right_gripper=0.9988 state[joint_eff]: [-0.3897, 1.6068, 5.7504, 2.1465, -0.0122, 0.0171, 0.0073, 0.1846, -13.0803, 5.4769, 0.105, -0.0269, 0.1343, -0.0073] camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.75, "right_j5": 0.75, "right_j1": 2.67, "right_j2": 2.66, "right_j3": -1.56}, "note": "Both blocks are now visible in the right wrist camera (blue at image-left, red at image-right, ~9 cm apart). The blue block reads ~3 cm to the arm's left and ~6 cm further out, so I'm extending and lowering toward it to re-measure from closer in."})
tool
executing move_joints over 4 steps (0.4s)
step 265
top_cam
camera top_cam step 265
left_cam
camera left_cam step 265
right_cam
camera right_cam step 265
assistant
agent noteCloser in, the blue block reads only ~1.4 cm to the arm's left and ~1.2 cm further out from the jaw axis. Applying that small correction and dropping to ~2 cm fingertip height so the jaws straddle the block.
move_joints
right_j00.7690right_j50.7690right_j12.6800right_j22.5700right_j3-1.4500
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6216 left_j2=1.2022 left_j3=-0.6975 left_j4=0.0822 left_j5=-0.8021 left_gripper=0.9973 right_j0=0.7391 right_j1=2.6469 right_j2=2.6255 right_j3=-1.6394 right_j4=0.0036 right_j5=0.7071 right_gripper=0.9988 state[joint_eff]: [-0.1299, 1.6479, 5.4906, 2.0635, -0.0317, -0.0513, -0.0122, 0.2393, -14.4068, 8.2393, 0.3248, -0.022, 0.1392, -0.0073] camera 'top_cam' (step 265): [image omitted: streamed camera frame] camera 'left_cam' (step 265): [image omitted: streamed camera frame] camera 'right_cam' (step 265): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.769, "right_j5": 0.769, "right_j1": 2.68, "right_j2": 2.57, "right_j3": -1.45}, "note": "Closer in, the blue block reads only ~1.4 cm to the arm's left and ~1.2 cm further out from the jaw axis. Applying that small correction and dropping to ~2 cm fingertip height so the jaws straddle the block."})
tool
executing move_joints over 4 steps (0.4s)
step 269
top_cam
camera top_cam step 269
left_cam
camera left_cam step 269
right_cam
camera right_cam step 269
assistant
agent noteThe blue block sits between the open jaws but reads ~1 cm inboard of the finger axis (it is below the downward vanishing point in the wrist image). Pulling in 1 cm before closing.
move_joints
right_j12.5700right_j22.3400right_j3-1.3400
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.622 left_j2=1.2022 left_j3=-0.7162 left_j4=0.0822 left_j5=-0.8024 left_gripper=0.9973 right_j0=0.7631 right_j1=2.6835 right_j2=2.571 right_j3=-1.5414 right_j4=0.0036 right_j5=0.7364 right_gripper=0.9988 state[joint_eff]: [-0.212, 1.6342, 5.2171, 2.1074, -0.0659, -0.0415, -0.0122, 0.4855, -14.8034, 5.9966, 0.779, 0.0073, 0.2222, -0.0122] camera 'top_cam' (step 269): [image omitted: streamed camera frame] camera 'left_cam' (step 269): [image omitted: streamed camera frame] camera 'right_cam' (step 269): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.57, "right_j2": 2.34, "right_j3": -1.34}, "note": "The blue block sits between the open jaws but reads ~1 cm inboard of the finger axis (it is below the downward vanishing point in the wrist image). Pulling in 1 cm before closing."})
tool
executing move_joints over 4 steps (0.4s)
step 273
top_cam
camera top_cam step 273
left_cam
camera left_cam step 273
right_cam
camera right_cam step 273
assistant
agent noteFingertips are ~1 cm above the table with the blue block sitting between the jaws at the bottom of the wrist frame. Closing to grasp; residual should read ≈0.45 if I have the block.
move_joints
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.622 left_j2=1.2022 left_j3=-0.7364 left_j4=0.0822 left_j5=-0.8089 left_gripper=0.9973 right_j0=0.7647 right_j1=2.5984 right_j2=2.3623 right_j3=-1.4063 right_j4=-0.0074 right_j5=0.7338 right_gripper=0.9988 state[joint_eff]: [-0.1983, 2.2085, 5.2171, 2.1856, -0.0464, 0.0073, -0.0122, -0.1299, -15.7607, 5.3128, 0.4957, 0.0611, -0.022, -0.0122] camera 'top_cam' (step 273): [image omitted: streamed camera frame] camera 'left_cam' (step 273): [image omitted: streamed camera frame] camera 'right_cam' (step 273): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.0}, "note": "Fingertips are ~1 cm above the table with the blue block sitting between the jaws at the bottom of the wrist frame. Closing to grasp; residual should read \u22480.45 if I have the block."})
tool
executing move_joints over 10 steps (1.0s)
step 283
top_cam
camera top_cam step 283
left_cam
camera left_cam step 283
right_cam
camera right_cam step 283
assistant
agent noteEmpty close again (residual 0.014) — with the block clipped at the bottom of the frame I keep underestimating how far inboard it is. Backing up to ~10 cm height where the whole block is visible so I can align cleanly, then I will descend straight down without changing radius.
move_joints
right_gripper1.0000right_j12.4000right_j22.3600right_j3-1.5300
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.622 left_j2=1.2022 left_j3=-0.749 left_j4=0.0822 left_j5=-0.8165 left_gripper=0.9973 right_j0=0.7647 right_j1=2.5919 right_j2=2.3493 right_j3=-1.4044 right_j4=-0.0124 right_j5=0.73 right_gripper=0.014 state[joint_eff]: [-0.1846, 1.6615, 5.4222, 2.0, -0.0464, 0.0171, -0.0122, -0.1846, -13.6684, 6.6393, 0.105, -0.0024, -0.0122, 0.6667] camera 'top_cam' (step 283): [image omitted: streamed camera frame] camera 'left_cam' (step 283): [image omitted: streamed camera frame] camera 'right_cam' (step 283): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 1.0, "right_j1": 2.4, "right_j2": 2.36, "right_j3": -1.53}, "note": "Empty close again (residual 0.014) \u2014 with the block clipped at the bottom of the frame I keep underestimating how far inboard it is. Backing up to ~10 cm height where the whole block is visible so I can align cleanly, then I will descend straight down without changing radius."})
tool
executing move_joints over 10 steps (1.0s)
step 293
top_cam
camera top_cam step 293
left_cam
camera left_cam step 293
right_cam
camera right_cam step 293
assistant
agent noteWith the whole blue block visible at 7.6 cm height I can measure properly: its vertical axis is 2.5 cm further out and 0.7 cm to the arm's right of the jaw axis. Applying that correction while holding height, so I can verify alignment before a straight-down descent.
move_joints
right_j00.7500right_j50.7500right_j12.6000right_j22.6000right_j3-1.5900
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.622 left_j2=1.2022 left_j3=-0.7681 left_j4=0.0822 left_j5=-0.8242 left_gripper=0.9973 right_j0=0.7647 right_j1=2.4496 right_j2=2.3493 right_j3=-1.5143 right_j4=-0.0124 right_j5=0.7254 right_gripper=0.9943 state[joint_eff]: [-0.1709, 1.6615, 5.2855, 2.0635, -0.0513, 0.0415, -0.0122, -0.1846, -16.4991, 6.7077, 0.1294, -0.0122, 0.0171, 0.0317] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 293): [image omitted: streamed camera frame] camera 'left_cam' (step 293): [image omitted: streamed camera frame] camera 'right_cam' (step 293): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.75, "right_j5": 0.75, "right_j1": 2.6, "right_j2": 2.6, "right_j3": -1.59}, "note": "With the whole blue block visible at 7.6 cm height I can measure properly: its vertical axis is 2.5 cm further out and 0.7 cm to the arm's right of the jaw axis. Applying that correction while holding height, so I can verify alignment before a straight-down descent."})
tool
executing move_joints over 4 steps (0.4s)
step 297
top_cam
camera top_cam step 297
left_cam
camera left_cam step 297
right_cam
camera right_cam step 297
assistant
agent noteAt 6.6 cm height the block is laterally centred and only ~1 cm further out than the jaw axis. Applying that last 1 cm and descending straight down to ~2 cm fingertip height, which preserves the horizontal alignment.
move_joints
right_j12.6400right_j22.4800right_j3-1.4100
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6224 left_j2=1.2022 left_j3=-0.7902 left_j4=0.0822 left_j5=-0.8318 left_gripper=0.9973 right_j0=0.7578 right_j1=2.5828 right_j2=2.5561 right_j3=-1.5993 right_j4=-0.0132 right_j5=0.7269 right_gripper=0.996 state[joint_eff]: [-0.1162, 1.6752, 5.3538, 2.1319, -0.0562, 0.0073, -0.0122, -0.8821, -13.559, 7.9795, 0.4274, -0.0171, 0.2027, 0.1685] camera 'top_cam' (step 297): [image omitted: streamed camera frame] camera 'left_cam' (step 297): [image omitted: streamed camera frame] camera 'right_cam' (step 297): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.64, "right_j2": 2.48, "right_j3": -1.41}, "note": "At 6.6 cm height the block is laterally centred and only ~1 cm further out than the jaw axis. Applying that last 1 cm and descending straight down to ~2 cm fingertip height, which preserves the horizontal alignment."})
tool
executing move_joints over 4 steps (0.4s)
step 301
top_cam
camera top_cam step 301
left_cam
camera left_cam step 301
right_cam
camera right_cam step 301
assistant
agent noteFingertips are ~3 cm above the table with the block right at the jaw gap at the bottom of the frame. Closing to grasp.
move_joints
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0074 left_j1=0.6228 left_j2=1.2022 left_j3=-0.8101 left_j4=0.0822 left_j5=-0.8394 left_gripper=0.9973 right_j0=0.7563 right_j1=2.6232 right_j2=2.4836 right_j3=-1.5013 right_j4=-0.0143 right_j5=0.7219 right_gripper=0.9962 state[joint_eff]: [-0.1026, 1.6752, 5.2171, 2.0733, -0.0562, 0.0073, -0.0122, -0.0752, -12.9162, 5.8735, 0.7546, -0.0024, -0.0024, 0.0073] camera 'top_cam' (step 301): [image omitted: streamed camera frame] camera 'left_cam' (step 301): [image omitted: streamed camera frame] camera 'right_cam' (step 301): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.0}, "note": "Fingertips are ~3 cm above the table with the block right at the jaw gap at the bottom of the frame. Closing to grasp."})
tool
executing move_joints over 10 steps (1.0s)
step 311
top_cam
camera top_cam step 311
left_cam
camera left_cam step 311
right_cam
camera right_cam step 311
assistant
agent noteAnother empty close — and the sliver of block now visible past the shut jaws shows it ~1.8 cm to the arm's left, which means a finger has been clipping its side and shoving it. Lifting clear (jaws still shut so I don't bat it again) while yawing 0.037 rad left to correct.
move_joints
right_j00.7950right_j50.7950right_j12.5000right_j22.5400right_j3-1.6100
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0074 left_j1=0.6228 left_j2=1.2022 left_j3=-0.8322 left_j4=0.0826 left_j5=-0.8467 left_gripper=0.9973 right_j0=0.7578 right_j1=2.6331 right_j2=2.4771 right_j3=-1.5017 right_j4=-0.0189 right_j5=0.7151 right_gripper=0.0132 state[joint_eff]: [0.0342, 1.6615, 5.2171, 2.1172, -0.0659, -0.0024, -0.0122, -0.335, -15.1316, 6.0376, 0.1441, 0.0122, 0.0757, 1.1941] camera 'top_cam' (step 311): [image omitted: streamed camera frame] camera 'left_cam' (step 311): [image omitted: streamed camera frame] camera 'right_cam' (step 311): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.795, "right_j5": 0.795, "right_j1": 2.5, "right_j2": 2.54, "right_j3": -1.61}, "note": "Another empty close \u2014 and the sliver of block now visible past the shut jaws shows it ~1.8 cm to the arm's left, which means a finger has been clipping its side and shoving it. Lifting clear (jaws still shut so I don't bat it again) while yawing 0.037 rad left to correct."})
tool
executing move_joints over 3 steps (0.3s)
step 314
top_cam
camera top_cam step 314
left_cam
camera left_cam step 314
right_cam
camera right_cam step 314
assistant
agent noteThe lift only partly executed (controller undershoot); re-issuing to get the closed jaws well above block height before reopening.
move_joints
right_j12.4800right_j22.5600right_j3-1.6400
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2022 left_j3=-0.8474 left_j4=0.0822 left_j5=-0.8478 left_gripper=0.9973 right_j0=0.7795 right_j1=2.5904 right_j2=2.495 right_j3=-1.565 right_j4=-0.0193 right_j5=0.7578 right_gripper=0.0155 state[joint_eff]: [-0.1846, 2.0034, 5.2855, 2.0488, -0.0611, -0.0464, -0.0122, 0.8684, -19.4256, 9.0598, 0.0806, -0.0562, 0.0904, 1.0281] camera 'top_cam' (step 314): [image omitted: streamed camera frame] camera 'left_cam' (step 314): [image omitted: streamed camera frame] camera 'right_cam' (step 314): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.48, "right_j2": 2.56, "right_j3": -1.64}, "note": "The lift only partly executed (controller undershoot); re-issuing to get the closed jaws well above block height before reopening."})
tool
executing move_joints over 2 steps (0.2s)
step 316
top_cam
camera top_cam step 316
left_cam
camera left_cam step 316
right_cam
camera right_cam step 316
assistant
agent noteClear view now: the blue block sits just above the closed jaw wedge, the red block at the right edge. Before touching anything I'm doing a pure +0.06 rad yaw (≈2.7 cm to the arm's left) to measure exactly which way and how far the block shifts in this rolled wrist image — my lateral estimates have been the thing failing.
move_joints
right_j00.8530
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2022 left_j3=-0.857 left_j4=0.0826 left_j5=-0.8509 left_gripper=0.9973 right_j0=0.7929 right_j1=2.5153 right_j2=2.5267 right_j3=-1.626 right_j4=-0.0196 right_j5=0.7677 right_gripper=0.0155 state[joint_eff]: [-0.3487, 1.8256, 5.2171, 2.0293, -0.0659, -0.022, -0.0122, -1.0598, -16.4171, 8.0615, 0.1538, -0.0366, -0.0317, 1.033] camera 'top_cam' (step 316): [image omitted: streamed camera frame] camera 'left_cam' (step 316): [image omitted: streamed camera frame] camera 'right_cam' (step 316): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.853}, "note": "Clear view now: the blue block sits just above the closed jaw wedge, the red block at the right edge. Before touching anything I'm doing a pure +0.06 rad yaw (\u22482.7 cm to the arm's left) to measure exactly which way and how far the block shifts in this rolled wrist image \u2014 my lateral estimates have been the thing failing."})
tool
executing move_joints over 1 steps (0.1s)
step 317
top_cam
camera top_cam step 317
left_cam
camera left_cam step 317
right_cam
camera right_cam step 317
assistant
agent noteThe previous yaw command barely executed (one step, and backwards). Re-issuing a larger +0.12 rad yaw so I get an unambiguous measurement of the image direction corresponding to the arm's lateral axis.
move_joints
right_j00.9000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2022 left_j3=-0.8696 left_j4=0.0826 left_j5=-0.8509 left_gripper=0.9973 right_j0=0.7784 right_j1=2.5153 right_j2=2.5267 right_j3=-1.6405 right_j4=-0.0193 right_j5=0.7601 right_gripper=0.0155 state[joint_eff]: [-0.212, 1.6889, 5.2034, 2.1172, -0.0513, -0.022, -0.0122, -0.0752, -16.4171, 8.0342, 0.149, -0.0366, -0.0611, 0.9988] camera 'top_cam' (step 317): [image omitted: streamed camera frame] camera 'left_cam' (step 317): [image omitted: streamed camera frame] camera 'right_cam' (step 317): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.9}, "note": "The previous yaw command barely executed (one step, and backwards). Re-issuing a larger +0.12 rad yaw so I get an unambiguous measurement of the image direction corresponding to the arm's lateral axis."})
tool
executing move_joints over 2 steps (0.2s)
step 319
top_cam
camera top_cam step 319
left_cam
camera left_cam step 319
right_cam
camera right_cam step 319
assistant
agent noteThe yaw test calibrated the wrist view properly: arm-right is image direction (0.78,-0.63) at ~7.8 px/cm here. Relative to the jaw tips the block reads ~3.4 cm to the arm's right and ~1.7 cm out, so I'm applying that while staying at 9 cm height (safely above the block) and reopening the jaws.
move_joints
right_gripper1.0000right_j00.7920right_j50.7920right_j12.6100right_j22.7000right_j3-1.6700
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2022 left_j3=-0.8772 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.8684 right_j1=2.5153 right_j2=2.5263 right_j3=-1.6402 right_j4=-0.0193 right_j5=0.7601 right_gripper=0.0155 state[joint_eff]: [-0.0342, 1.6752, 5.2855, 1.9658, -0.0269, -0.0464, -0.0122, 1.7846, -13.5863, 5.4085, 0.1734, -0.022, -0.0366, 0.9988] camera 'top_cam' (step 319): [image omitted: streamed camera frame] camera 'left_cam' (step 319): [image omitted: streamed camera frame] camera 'right_cam' (step 319): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 1.0, "right_j0": 0.792, "right_j5": 0.792, "right_j1": 2.61, "right_j2": 2.7, "right_j3": -1.67}, "note": "The yaw test calibrated the wrist view properly: arm-right is image direction (0.78,-0.63) at ~7.8 px/cm here. Relative to the jaw tips the block reads ~3.4 cm to the arm's right and ~1.7 cm out, so I'm applying that while staying at 9 cm height (safely above the block) and reopening the jaws."})
tool
executing move_joints over 10 steps (1.0s)
step 329
top_cam
camera top_cam step 329
left_cam
camera left_cam step 329
right_cam
camera right_cam step 329
assistant
agent noteMy radial estimates keep saying "the block is a few cm further out" no matter how far I extend, so I'm switching to a scooping strategy: drop the open jaws to table level a few cm inboard of the block, then creep outward until the block is captured between the visible prongs.
move_joints
right_j00.7580right_j50.7580right_j12.4900right_j22.1500right_j3-1.2300
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2022 left_j3=-0.8989 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.7998 right_j1=2.5904 right_j2=2.6678 right_j3=-1.6894 right_j4=-0.0196 right_j5=0.7757 right_gripper=0.9944 state[joint_eff]: [-0.0615, 1.853, 5.2034, 2.0977, -0.0464, -0.0366, -0.0073, -0.5538, -12.2462, 7.9932, 0.442, -0.0171, 0.105, -0.2418] camera 'top_cam' (step 329): [image omitted: streamed camera frame] camera 'left_cam' (step 329): [image omitted: streamed camera frame] camera 'right_cam' (step 329): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.758, "right_j5": 0.758, "right_j1": 2.49, "right_j2": 2.15, "right_j3": -1.23}, "note": "My radial estimates keep saying \"the block is a few cm further out\" no matter how far I extend, so I'm switching to a scooping strategy: drop the open jaws to table level a few cm inboard of the block, then creep outward until the block is captured between the visible prongs."})
tool
executing move_joints over 9 steps (0.9s)
step 338
top_cam
camera top_cam step 338
left_cam
camera left_cam step 338
right_cam
camera right_cam step 338
assistant
agent noteAt table level the block has disappeared below the frame edge, which means it is now at or just inside the jaw tips rather than ahead of them. Closing to test whether it is actually captured between the jaws.
move_joints
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2022 left_j3=-0.9218 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.7616 right_j1=2.5034 right_j2=2.1761 right_j3=-1.3025 right_j4=-0.0315 right_j5=0.7597 right_gripper=0.996 state[joint_eff]: [-0.1299, 2.2632, 5.3949, 2.0977, -0.0464, -0.0269, -0.0122, -0.6222, -14.3521, 4.9299, 0.4664, 0.0659, -0.022, 0.1538] camera 'top_cam' (step 338): [image omitted: streamed camera frame] camera 'left_cam' (step 338): [image omitted: streamed camera frame] camera 'right_cam' (step 338): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.0}, "note": "At table level the block has disappeared below the frame edge, which means it is now at or just inside the jaw tips rather than ahead of them. Closing to test whether it is actually captured between the jaws."})
tool
executing move_joints over 10 steps (1.0s)
step 348
top_cam
camera top_cam step 348
left_cam
camera left_cam step 348
right_cam
camera right_cam step 348
assistant
agent noteStill empty, and with the jaws open at table level the space between the prongs was bare table — so the block is not where I put the jaws. Lifting straight back up to ~9 cm, keeping radius and yaw fixed, so I can see exactly where the block is relative to this known jaw position.
move_joints
right_j12.4000right_j22.3100right_j3-1.4800
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2022 left_j3=-0.9291 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.762 right_j1=2.4981 right_j2=2.1662 right_j3=-1.2961 right_j4=-0.0418 right_j5=0.7528 right_gripper=0.0134 state[joint_eff]: [-0.0752, 1.6889, 5.2034, 1.956, -0.0611, -0.0659, -0.0122, -0.3487, -13.2308, 6.4205, 0.1245, 0.0317, 0.0562, 1.1648] camera 'top_cam' (step 348): [image omitted: streamed camera frame] camera 'left_cam' (step 348): [image omitted: streamed camera frame] camera 'right_cam' (step 348): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.4, "right_j2": 2.31, "right_j3": -1.48}, "note": "Still empty, and with the jaws open at table level the space between the prongs was bare table \u2014 so the block is not where I put the jaws. Lifting straight back up to ~9 cm, keeping radius and yaw fixed, so I can see exactly where the block is relative to this known jaw position."})
tool
executing move_joints over 3 steps (0.3s)
step 351
top_cam
camera top_cam step 351
left_cam
camera left_cam step 351
right_cam
camera right_cam step 351
assistant
agent noteThe frame was motion-blurred but showed a pale object at the bottom-left corner. Re-issuing the same pose (and reopening the jaws, safely above block height) to settle and get a sharp look at where the block has ended up.
move_joints
right_j12.4000right_j22.3100right_j3-1.4800right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6224 left_j2=1.2022 left_j3=-0.9337 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.7616 right_j1=2.4767 right_j2=2.2635 right_j3=-1.409 right_j4=-0.0425 right_j5=0.7517 right_gripper=0.0155 state[joint_eff]: [-0.1709, 1.7026, 5.2034, 1.9267, -0.0562, -0.0366, -0.0122, -0.1709, -18.4, 7.9111, 0.0415, -0.0317, -0.0415, 1.033] camera 'top_cam' (step 351): [image omitted: streamed camera frame] camera 'left_cam' (step 351): [image omitted: streamed camera frame] camera 'right_cam' (step 351): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.4, "right_j2": 2.31, "right_j3": -1.48, "right_gripper": 1.0}, "note": "The frame was motion-blurred but showed a pale object at the bottom-left corner. Re-issuing the same pose (and reopening the jaws, safely above block height) to settle and get a sharp look at where the block has ended up."})
tool
executing move_joints over 10 steps (1.0s)
step 361
top_cam
camera top_cam step 361
left_cam
camera left_cam step 361
right_cam
camera right_cam step 361
assistant
agent noteSharp view at last: the blue block sits between the open prongs, laterally centred, about 1.3 cm further out than the jaw axis (using the block's own 4.3 cm width to fix the image scale — my earlier scale was 2x too small, which is why I kept overshooting). Moving out that 1.3 cm and descending to ~1.5 cm fingertip height.
move_joints
right_j12.5600right_j22.3100right_j3-1.3200
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2022 left_j3=-0.9508 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.7616 right_j1=2.4466 right_j2=2.2833 right_j3=-1.4704 right_j4=-0.0429 right_j5=0.7486 right_gripper=0.9945 state[joint_eff]: [-0.0889, 1.6889, 5.1897, 2.0293, -0.0513, 0.0024, -0.0122, -0.3214, -17.0872, 7.706, 0.0855, -0.0513, 0.0024, -0.2027] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 361): [image omitted: streamed camera frame] camera 'left_cam' (step 361): [image omitted: streamed camera frame] camera 'right_cam' (step 361): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.56, "right_j2": 2.31, "right_j3": -1.32}, "note": "Sharp view at last: the blue block sits between the open prongs, laterally centred, about 1.3 cm further out than the jaw axis (using the block's own 4.3 cm width to fix the image scale \u2014 my earlier scale was 2x too small, which is why I kept overshooting). Moving out that 1.3 cm and descending to ~1.5 cm fingertip height."})
tool
executing move_joints over 3 steps (0.3s)
step 364
top_cam
camera top_cam step 364
left_cam
camera left_cam step 364
right_cam
camera right_cam step 364
assistant
agent notePartial convergence — fingertips are at 3 cm and about 0.9 of the 1.3 cm outward correction is in. Re-issuing to finish the descent to ~1.5 cm before closing.
move_joints
right_j12.5800right_j22.3100right_j3-1.2600
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2022 left_j3=-0.9665 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7628 right_j1=2.5206 right_j2=2.291 right_j3=-1.4052 right_j4=-0.0441 right_j5=0.7441 right_gripper=0.9962 state[joint_eff]: [-0.1162, 1.7436, 5.1897, 2.1709, -0.0366, -0.0415, -0.0122, -0.1709, -12.465, 7.1316, 0.5885, 0.0122, 0.0513, 0.1587] camera 'top_cam' (step 364): [image omitted: streamed camera frame] camera 'left_cam' (step 364): [image omitted: streamed camera frame] camera 'right_cam' (step 364): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.58, "right_j2": 2.31, "right_j3": -1.26}, "note": "Partial convergence \u2014 fingertips are at 3 cm and about 0.9 of the 1.3 cm outward correction is in. Re-issuing to finish the descent to ~1.5 cm before closing."})
tool
executing move_joints over 3 steps (0.3s)
step 367
top_cam
camera top_cam step 367
left_cam
camera left_cam step 367
right_cam
camera right_cam step 367
assistant
agent noteFingertips are ~1 cm above the table and the block is visible right in the gap between the two prongs. Closing to grasp.
move_joints
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2018 left_j3=-0.9821 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7643 right_j1=2.5629 right_j2=2.2913 right_j3=-1.3525 right_j4=-0.0498 right_j5=0.7334 right_gripper=0.9949 state[joint_eff]: [-0.1983, 1.7162, 5.2034, 2.0, -0.0317, -0.0464, -0.0122, -0.2803, -12.2051, 7.3368, 0.9304, -0.022, 0.0464, -0.1441] camera 'top_cam' (step 367): [image omitted: streamed camera frame] camera 'left_cam' (step 367): [image omitted: streamed camera frame] camera 'right_cam' (step 367): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.0}, "note": "Fingertips are ~1 cm above the table and the block is visible right in the gap between the two prongs. Closing to grasp."})
tool
executing move_joints over 10 steps (1.0s)
step 377
top_cam
camera top_cam step 377
left_cam
camera left_cam step 377
right_cam
camera right_cam step 377
assistant
agent noteMissed again with the block sitting at the very bottom edge of the frame, which means it is actually inboard of the jaw axis, not outboard as I had been assuming. Lifting to ~7 cm, reopening, and pulling in 2.5 cm to test the opposite correction.
move_joints
right_gripper1.0000right_j12.3600right_j22.1600right_j3-1.3700
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2018 left_j3=-1.0008 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7643 right_j1=2.5633 right_j2=2.2906 right_j3=-1.351 right_j4=-0.0494 right_j5=0.7334 right_gripper=0.0133 state[joint_eff]: [-0.1299, 1.7299, 5.135, 2.0098, -0.0073, -0.0366, -0.0122, -0.3487, -14.0923, 5.9966, 0.149, -0.0611, -0.0464, 0.6911] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 377): [image omitted: streamed camera frame] camera 'left_cam' (step 377): [image omitted: streamed camera frame] camera 'right_cam' (step 377): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 1.0, "right_j1": 2.36, "right_j2": 2.16, "right_j3": -1.37}, "note": "Missed again with the block sitting at the very bottom edge of the frame, which means it is actually inboard of the jaw axis, not outboard as I had been assuming. Lifting to ~7 cm, reopening, and pulling in 2.5 cm to test the opposite correction."})
tool
executing move_joints over 10 steps (1.0s)
step 387
top_cam
camera top_cam step 387
left_cam
camera left_cam step 387
right_cam
camera right_cam step 387
assistant
agent notePulling in 2.2 cm worked: at 5 cm height the block now reads radially aligned with the prong-tip midpoint and only 0.85 cm to the arm's left. Applying that small yaw correction and descending straight down to ~1 cm fingertip height.
move_joints
right_j00.7830right_j50.7830right_j12.4600right_j22.0500right_j3-1.1700
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2018 left_j3=-1.0187 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7643 right_j1=2.4096 right_j2=2.1658 right_j3=-1.3705 right_j4=-0.0494 right_j5=0.7296 right_gripper=0.9945 state[joint_eff]: [-0.1709, 1.9761, 5.3265, 2.0147, -0.0366, -0.0415, -0.0122, -0.1983, -16.6632, 5.6137, 0.188, -0.0562, 0.0171, -0.2418] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 387): [image omitted: streamed camera frame] camera 'left_cam' (step 387): [image omitted: streamed camera frame] camera 'right_cam' (step 387): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.783, "right_j5": 0.783, "right_j1": 2.46, "right_j2": 2.05, "right_j3": -1.17}, "note": "Pulling in 2.2 cm worked: at 5 cm height the block now reads radially aligned with the prong-tip midpoint and only 0.85 cm to the arm's left. Applying that small yaw correction and descending straight down to ~1 cm fingertip height."})
tool
executing move_joints over 4 steps (0.4s)
step 391
top_cam
camera top_cam step 391
left_cam
camera left_cam step 391
right_cam
camera right_cam step 391
assistant
agent noteFingertips are at ~1 cm with the block between the prongs at the bottom of the frame. Closing.
move_joints
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0074 left_j1=0.6224 left_j2=1.2018 left_j3=-1.0344 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7776 right_j1=2.4416 right_j2=2.0594 right_j3=-1.2358 right_j4=-0.0547 right_j5=0.7616 right_gripper=0.9959 state[joint_eff]: [-0.0752, 1.7573, 5.3265, 1.9365, -0.0122, -0.0415, -0.0122, 0.6359, -11.4667, 5.2034, 0.5788, 0.188, 0.1538, 0.1392] camera 'top_cam' (step 391): [image omitted: streamed camera frame] camera 'left_cam' (step 391): [image omitted: streamed camera frame] camera 'right_cam' (step 391): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.0}, "note": "Fingertips are at ~1 cm with the block between the prongs at the bottom of the frame. Closing."})
tool
executing move_joints over 10 steps (1.0s)
step 401
top_cam
camera top_cam step 401
left_cam
camera left_cam step 401
right_cam
camera right_cam step 401
assistant
agent noteAnother empty close with the block vanished under the jaws — I now suspect the right arm's height bias differs from the left's, so my "1 cm above table" is really several cm up and the jaws are shutting above the block. Driving the closed jaws down to nominal table level to find the true contact height.
move_joints
right_j12.6100right_j21.9700right_j3-0.9300
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2018 left_j3=-1.0561 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.7776 right_j1=2.4413 right_j2=2.0567 right_j3=-1.2388 right_j4=-0.0647 right_j5=0.7601 right_gripper=0.0132 state[joint_eff]: [-0.1846, 1.7162, 5.2444, 2.0244, -0.0415, -0.0171, -0.0122, -0.1026, -13.3675, 5.8325, 0.2418, 0.0024, -0.0269, 0.9011] camera 'top_cam' (step 401): [image omitted: streamed camera frame] camera 'left_cam' (step 401): [image omitted: streamed camera frame] camera 'right_cam' (step 401): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.61, "right_j2": 1.97, "right_j3": -0.93}, "note": "Another empty close with the block vanished under the jaws \u2014 I now suspect the right arm's height bias differs from the left's, so my \"1 cm above table\" is really several cm up and the jaws are shutting above the block. Driving the closed jaws down to nominal table level to find the true contact height."})
tool
executing move_joints over 5 steps (0.5s)
step 406
top_cam
camera top_cam step 406
left_cam
camera left_cam step 406
right_cam
camera right_cam step 406
assistant
agent noteGood news: the jaws stalled with j1 effort collapsing at z_fk=0.084, matching the left arm's table height, so my heights are right and the misses are purely horizontal. Lifting to 10 cm with jaws open for a wide view to re-find where the block has been shoved.
move_joints
right_j12.3200right_j22.2200right_j3-1.4800right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2018 left_j3=-1.0645 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7776 right_j1=2.4489 right_j2=2.0407 right_j3=-1.2087 right_j4=-0.0727 right_j5=0.7601 right_gripper=0.0154 state[joint_eff]: [-0.1846, 1.7436, 5.1214, 1.8828, -0.022, -0.0269, -0.0122, -0.0205, -0.2393, 0.335, 2.9475, -0.0269, -0.0269, 1.0281] camera 'top_cam' (step 406): [image omitted: streamed camera frame] camera 'left_cam' (step 406): [image omitted: streamed camera frame] camera 'right_cam' (step 406): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.32, "right_j2": 2.22, "right_j3": -1.48, "right_gripper": 1.0}, "note": "Good news: the jaws stalled with j1 effort collapsing at z_fk=0.084, matching the left arm's table height, so my heights are right and the misses are purely horizontal. Lifting to 10 cm with jaws open for a wide view to re-find where the block has been shoved."})
tool
executing move_joints over 10 steps (1.0s)
step 416
top_cam
camera top_cam step 416
left_cam
camera left_cam step 416
right_cam
camera right_cam step 416
assistant
agent noteClear wide view: the blue block reads 2.25 cm further out and essentially laterally centred relative to the prong-tip midpoint. Applying the outward correction and dropping to ~4.5 cm — just above block height — for one more check before the final descent.
move_joints
right_j00.7740right_j50.7740right_j12.4700right_j22.2700right_j3-1.3700
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2018 left_j3=-1.0794 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.7776 right_j1=2.365 right_j2=2.1918 right_j3=-1.4517 right_j4=-0.0727 right_j5=0.7597 right_gripper=0.9947 state[joint_eff]: [-0.0889, 1.8393, 5.094, 1.9316, 0.0024, -0.022, -0.0122, -0.2256, -15.5692, 7.7197, 0.1343, -0.0806, -0.0269, -0.2076] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 416): [image omitted: streamed camera frame] camera 'left_cam' (step 416): [image omitted: streamed camera frame] camera 'right_cam' (step 416): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.774, "right_j5": 0.774, "right_j1": 2.47, "right_j2": 2.27, "right_j3": -1.37}, "note": "Clear wide view: the blue block reads 2.25 cm further out and essentially laterally centred relative to the prong-tip midpoint. Applying the outward correction and dropping to ~4.5 cm \u2014 just above block height \u2014 for one more check before the final descent."})
tool
executing move_joints over 2 steps (0.2s)
step 418
top_cam
camera top_cam step 418
left_cam
camera left_cam step 418
right_cam
camera right_cam step 418
assistant
agent noteThe move undershot badly (only 0.8 cm of the 2.25 cm extension, no descent). Re-issuing a stronger target to reach r≈0.447 m at ~4.5 cm height.
move_joints
right_j12.5200right_j22.3000right_j3-1.3400
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0074 left_j1=0.622 left_j2=1.2018 left_j3=-1.0863 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.7776 right_j1=2.3985 right_j2=2.249 right_j3=-1.4643 right_j4=-0.0731 right_j5=0.7605 right_gripper=0.9962 state[joint_eff]: [-0.0479, 1.9897, 5.2171, 2.0488, 0.0024, -0.0415, -0.0122, -0.6496, -9.6889, 6.0786, 0.4274, -0.0464, 0.0806, 0.1392] camera 'top_cam' (step 418): [image omitted: streamed camera frame] camera 'left_cam' (step 418): [image omitted: streamed camera frame] camera 'right_cam' (step 418): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.52, "right_j2": 2.3, "right_j3": -1.34}, "note": "The move undershot badly (only 0.8 cm of the 2.25 cm extension, no descent). Re-issuing a stronger target to reach r\u22480.447 m at ~4.5 cm height."})
tool
executing move_joints over 2 steps (0.2s)
step 420
top_cam
camera top_cam step 420
left_cam
camera left_cam step 420
right_cam
camera right_cam step 420
assistant
agent noteThe block is now squarely between the two prongs at the bottom of the frame with the arm at r≈0.444 m. Descending the last ~2 cm straight down to grasp height.
move_joints
right_j12.5300right_j22.1700right_j3-1.2300
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2018 left_j3=-1.1015 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7776 right_j1=2.4939 right_j2=2.2688 right_j3=-1.396 right_j4=-0.0727 right_j5=0.7589 right_gripper=0.9963 state[joint_eff]: [-0.1299, 1.7162, 5.1487, 1.9023, -0.0366, -0.022, -0.0122, -0.1573, -11.5077, 8.3761, 0.6764, -0.0513, -0.0171, -0.0024] camera 'top_cam' (step 420): [image omitted: streamed camera frame] camera 'left_cam' (step 420): [image omitted: streamed camera frame] camera 'right_cam' (step 420): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.53, "right_j2": 2.17, "right_j3": -1.23}, "note": "The block is now squarely between the two prongs at the bottom of the frame with the arm at r\u22480.444 m. Descending the last ~2 cm straight down to grasp height."})
tool
executing move_joints over 3 steps (0.3s)
step 423
top_cam
camera top_cam step 423
left_cam
camera left_cam step 423
right_cam
camera right_cam step 423
assistant
agent noteFingertips are essentially at table level with the block between the prongs. Closing to grasp.
move_joints
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0074 left_j1=0.6228 left_j2=1.2018 left_j3=-1.1088 left_j4=0.0826 left_j5=-0.8551 left_gripper=0.9973 right_j0=0.7776 right_j1=2.5141 right_j2=2.188 right_j3=-1.3037 right_j4=-0.0834 right_j5=0.7567 right_gripper=0.9963 state[joint_eff]: [-0.0615, 2.1675, 5.1487, 1.8828, -0.0464, -0.0659, -0.0122, -0.335, -12.3419, 4.5744, 0.525, 0.3785, -0.0024, -0.0122] camera 'top_cam' (step 423): [image omitted: streamed camera frame] camera 'left_cam' (step 423): [image omitted: streamed camera frame] camera 'right_cam' (step 423): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.0}, "note": "Fingertips are essentially at table level with the block between the prongs. Closing to grasp."})
tool
executing move_joints over 10 steps (1.0s)
step 433
top_cam
camera top_cam step 433
left_cam
camera left_cam step 433
right_cam
camera right_cam step 433
assistant
agent noteSeven failed top-down closes: lateral alignment looks reliable but my radial estimate keeps being off by a couple of cm. So I'm rolling the wrist 90° so the jaws now close along the radial direction — that puts the full 9.5 cm jaw opening across my uncertain axis. Lifting to 7 cm first to re-acquire the block in the rotated view.
move_joints
right_gripper1.0000right_j52.3500right_j12.4200right_j22.2800right_j3-1.4300
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2018 left_j3=-1.1309 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7776 right_j1=2.5137 right_j2=2.1876 right_j3=-1.3155 right_j4=-0.0879 right_j5=0.7525 right_gripper=0.0132 state[joint_eff]: [-0.1436, 1.9761, 5.2855, 1.9365, -0.0317, -0.0708, -0.0122, -0.2393, -13.7504, 5.6274, 0.2808, -0.0611, 0.0171, 1.1746] camera 'top_cam' (step 433): [image omitted: streamed camera frame] camera 'left_cam' (step 433): [image omitted: streamed camera frame] camera 'right_cam' (step 433): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 1.0, "right_j5": 2.35, "right_j1": 2.42, "right_j2": 2.28, "right_j3": -1.43}, "note": "Seven failed top-down closes: lateral alignment looks reliable but my radial estimate keeps being off by a couple of cm. So I'm rolling the wrist 90\u00b0 so the jaws now close along the radial direction \u2014 that puts the full 9.5 cm jaw opening across my uncertain axis. Lifting to 7 cm first to re-acquire the block in the rotated view."})
tool
executing move_joints over 26 steps (2.6s)
step 459
top_cam
camera top_cam step 459
left_cam
camera left_cam step 459
right_cam
camera right_cam step 459
assistant
agent noteNow I have a big, crisp view of the block: it is 30 px right of the jaw gap and 65 px above the jaw tips, i.e. ~2.2 cm to the arm's right and ~2.6 cm inboard. Applying that correction at constant height.
move_joints
right_j00.7280right_j12.3000right_j21.9500right_j3-1.2200
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2018 left_j3=-1.1534 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7776 right_j1=2.4664 right_j2=2.2459 right_j3=-1.4849 right_j4=-0.0952 right_j5=2.0956 right_gripper=0.9974 state[joint_eff]: [-0.0615, 1.7983, 5.0803, 1.9414, -0.022, -0.0513, -0.0122, -0.0068, -16.9641, 8.3487, 0.5592, -0.0073, 1.3993, -0.1245] camera 'top_cam' (step 459): [image omitted: streamed camera frame] camera 'left_cam' (step 459): [image omitted: streamed camera frame] camera 'right_cam' (step 459): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.728, "right_j1": 2.3, "right_j2": 1.95, "right_j3": -1.22}, "note": "Now I have a big, crisp view of the block: it is 30 px right of the jaw gap and 65 px above the jaw tips, i.e. ~2.2 cm to the arm's right and ~2.6 cm inboard. Applying that correction at constant height."})
tool
executing move_joints over 5 steps (0.5s)
step 464
top_cam
camera top_cam step 464
left_cam
camera left_cam step 464
right_cam
camera right_cam step 464
assistant
agent noteAfter the correction the block sits at the bottom centre, only ~0.5-0.7 cm off the jaw gap, with fingertips at ~2 cm height. Closing.
move_joints
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2018 left_j3=-1.1687 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7315 right_j1=2.3638 right_j2=1.9587 right_j3=-1.2911 right_j4=-0.099 right_j5=2.0949 right_gripper=0.9983 state[joint_eff]: [-0.0889, 2.3316, 5.0803, 1.8437, -0.0415, -0.0611, -0.0122, -0.4444, -16.3897, 6.7214, 0.4762, -0.0659, -0.0171, 0.0757] camera 'top_cam' (step 464): [image omitted: streamed camera frame] camera 'left_cam' (step 464): [image omitted: streamed camera frame] camera 'right_cam' (step 464): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.0}, "note": "After the correction the block sits at the bottom centre, only ~0.5-0.7 cm off the jaw gap, with fingertips at ~2 cm height. Closing."})
tool
executing move_joints over 10 steps (1.0s)
step 474
top_cam
camera top_cam step 474
left_cam
camera left_cam step 474
right_cam
camera right_cam step 474
assistant
agent noteGrasped! Gripper residual 0.45 (≈4.3 cm) with high effort — the blue block is in the jaws. Lifting to ~15 cm and swinging ~0.21 rad to the arm's right, toward where the red block sits.
move_joints
right_j00.5250right_j12.2000right_j22.2300right_j3-1.6000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2015 left_j3=-1.1908 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7319 right_j1=2.3432 right_j2=1.9587 right_j3=-1.2846 right_j4=-0.1028 right_j5=2.0911 right_gripper=0.4503 state[joint_eff]: [-0.1709, 1.894, 5.053, 1.8926, -0.0464, -0.0464, -0.0122, -0.2667, -10.9197, 5.5316, -0.0073, -0.0659, -0.0122, 1.033] camera 'top_cam' (step 474): [image omitted: streamed camera frame] camera 'left_cam' (step 474): [image omitted: streamed camera frame] camera 'right_cam' (step 474): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.525, "right_j1": 2.2, "right_j2": 2.23, "right_j3": -1.6}, "note": "Grasped! Gripper residual 0.45 (\u22484.3 cm) with high effort \u2014 the blue block is in the jaws. Lifting to ~15 cm and swinging ~0.21 rad to the arm's right, toward where the red block sits."})
tool
executing move_joints over 6 steps (0.6s)
step 480
top_cam
camera top_cam step 480
left_cam
camera left_cam step 480
right_cam
camera right_cam step 480
assistant
agent noteCarrying the blue block at ~12 cm, with the red target block clearly visible above it in the wrist view, laterally aligned but ~10 cm away along the image-up axis. Moving ~8.7 cm to the arm's right and ~4 cm inboard to bring the red block under the jaws.
move_joints
right_j00.3320right_j12.0400right_j21.8600right_j3-1.3800
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2011 left_j3=-1.2125 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.5339 right_j1=2.2539 right_j2=2.1887 right_j3=-1.5917 right_j4=-0.1139 right_j5=2.0865 right_gripper=0.4503 state[joint_eff]: [-0.0889, 1.9761, 5.2308, 1.8584, -0.0171, -0.0757, -0.0122, -0.212, -15.0085, 7.706, 0.7399, 0.0024, 0.0122, 1.0281] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 480): [image omitted: streamed camera frame] camera 'left_cam' (step 480): [image omitted: streamed camera frame] camera 'right_cam' (step 480): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.332, "right_j1": 2.04, "right_j2": 1.86, "right_j3": -1.38}, "note": "Carrying the blue block at ~12 cm, with the red target block clearly visible above it in the wrist view, laterally aligned but ~10 cm away along the image-up axis. Moving ~8.7 cm to the arm's right and ~4 cm inboard to bring the red block under the jaws."})
tool
executing move_joints over 6 steps (0.6s)
step 486
top_cam
camera top_cam step 486
left_cam
camera left_cam step 486
right_cam
camera right_cam step 486
assistant
agent noteThe red block is now almost entirely hidden behind the carried blue block, peeking out only on one side — meaning I am nearly over it. Applying the last ~0.9 cm lateral correction and easing down toward stacking height.
move_joints
right_j00.3170right_j12.0740right_j21.7660right_j3-1.2630
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.1992 left_j3=-1.2209 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.3397 right_j1=2.096 right_j2=1.8675 right_j3=-1.4445 right_j4=-0.1207 right_j5=2.0834 right_gripper=0.4503 state[joint_eff]: [-0.0205, 2.3863, 5.1897, 1.7216, -0.022, -0.0464, -0.0073, -0.1709, -13.5726, 6.7487, 0.6178, -0.0317, -0.0122, 1.0281] camera 'top_cam' (step 486): [image omitted: streamed camera frame] camera 'left_cam' (step 486): [image omitted: streamed camera frame] camera 'right_cam' (step 486): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.317, "right_j1": 2.074, "right_j2": 1.766, "right_j3": -1.263}, "note": "The red block is now almost entirely hidden behind the carried blue block, peeking out only on one side \u2014 meaning I am nearly over it. Applying the last ~0.9 cm lateral correction and easing down toward stacking height."})
tool
executing move_joints over 3 steps (0.3s)
step 489
top_cam
camera top_cam step 489
left_cam
camera left_cam step 489
right_cam
camera right_cam step 489
assistant
agent noteThe red block is hidden behind the carried block except for a ~1 cm sliver on one side, so I'm applying that last centimetre of correction and lowering until the carried block's underside is right at the red block's top face (~4.3 cm).
move_joints
right_j00.3360right_j12.0400right_j21.6300right_j3-1.1600
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6239 left_j2=1.198 left_j3=-1.2312 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.3252 right_j1=2.0731 right_j2=1.7714 right_j3=-1.3399 right_j4=-0.1253 right_j5=2.0796 right_gripper=0.4503 state[joint_eff]: [-0.1436, 2.2906, 5.1077, 1.9072, -0.0415, -0.0513, -0.0122, -0.6769, -10.3453, 6.8855, 0.3639, -0.0757, 0.0073, 1.0281] camera 'top_cam' (step 489): [image omitted: streamed camera frame] camera 'left_cam' (step 489): [image omitted: streamed camera frame] camera 'right_cam' (step 489): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.336, "right_j1": 2.04, "right_j2": 1.63, "right_j3": -1.16}, "note": "The red block is hidden behind the carried block except for a ~1 cm sliver on one side, so I'm applying that last centimetre of correction and lowering until the carried block's underside is right at the red block's top face (~4.3 cm)."})
tool
executing move_joints over 3 steps (0.3s)
step 492
top_cam
camera top_cam step 492
left_cam
camera left_cam step 492
right_cam
camera right_cam step 492
assistant
agent noteThe red block is now fully hidden behind the carried block, but I felt no contact at the expected stacking height. Commanding a deeper descent: if the arm stalls with the block's underside near 4.3 cm I am on top of the red block; if it goes all the way to 0 I have missed it.
move_joints
right_j12.0800right_j21.5600right_j3-1.0500
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.198 left_j3=-1.2419 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.3328 right_j1=2.0663 right_j2=1.6409 right_j3=-1.2236 right_j4=-0.1291 right_j5=2.0762 right_gripper=0.4503 state[joint_eff]: [-0.2393, 2.0855, 5.0393, 1.7753, -0.0269, -0.0073, -0.0122, 0.3761, -12.5607, 6.9265, 0.2222, -0.1001, 0.022, 1.0281] camera 'top_cam' (step 492): [image omitted: streamed camera frame] camera 'left_cam' (step 492): [image omitted: streamed camera frame] camera 'right_cam' (step 492): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.08, "right_j2": 1.56, "right_j3": -1.05}, "note": "The red block is now fully hidden behind the carried block, but I felt no contact at the expected stacking height. Commanding a deeper descent: if the arm stalls with the block's underside near 4.3 cm I am on top of the red block; if it goes all the way to 0 I have missed it."})
tool
executing move_joints over 3 steps (0.3s)
step 495
top_cam
camera top_cam step 495
left_cam
camera left_cam step 495
right_cam
camera right_cam step 495
assistant
agent noteThe carried block descended past 2 cm with no contact, so it is not over the red block — I overshot inboard. Lifting clear and moving ~4 cm back out to re-acquire the red block beside the carried block's silhouette.
move_joints
right_j12.1400right_j21.8400right_j3-1.2700
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.1976 left_j3=-1.2488 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.3344 right_j1=2.0686 right_j2=1.565 right_j3=-1.1149 right_j4=-0.1326 right_j5=2.0758 right_gripper=0.4503 state[joint_eff]: [0.0068, 2.2222, 5.1214, 1.79, -0.0415, -0.0659, -0.0122, -0.4581, -9.4564, 6.4342, 0.3492, -0.0855, 0.0024, 1.0281] camera 'top_cam' (step 495): [image omitted: streamed camera frame] camera 'left_cam' (step 495): [image omitted: streamed camera frame] camera 'right_cam' (step 495): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.14, "right_j2": 1.84, "right_j3": -1.27}, "note": "The carried block descended past 2 cm with no contact, so it is not over the red block \u2014 I overshot inboard. Lifting clear and moving ~4 cm back out to re-acquire the red block beside the carried block's silhouette."})
tool
executing move_joints over 5 steps (0.5s)
step 500
top_cam
camera top_cam step 500
left_cam
camera left_cam step 500
right_cam
camera right_cam step 500
assistant
agent noteThe overhead view shows the red block sitting to the arm's left and nearer the base than my carried block, so my earlier wrist-camera correction overshot to the right. Moving ~6 cm left and ~3 cm inboard, keeping the block clear at ~6 cm, and I will re-check the overhead view.
move_joints
right_j00.4960right_j12.0000right_j21.5900right_j3-1.1700
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6224 left_j2=1.1973 left_j3=-1.2659 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.3355 right_j1=2.125 right_j2=1.7912 right_j3=-1.2964 right_j4=-0.1406 right_j5=2.0686 right_gripper=0.4503 state[joint_eff]: [-0.294, 1.9624, 5.0256, 1.7705, 0.0073, 0.0024, -0.0122, -0.1299, -9.853, 8.1026, 0.7741, -0.0024, 0.0464, 1.0281] camera 'top_cam' (step 500): [image omitted: streamed camera frame] camera 'left_cam' (step 500): [image omitted: streamed camera frame] camera 'right_cam' (step 500): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.496, "right_j1": 2.0, "right_j2": 1.59, "right_j3": -1.17}, "note": "The overhead view shows the red block sitting to the arm's left and nearer the base than my carried block, so my earlier wrist-camera correction overshot to the right. Moving ~6 cm left and ~3 cm inboard, keeping the block clear at ~6 cm, and I will re-check the overhead view."})
tool
executing move_joints over 4 steps (0.4s)
step 504
top_cam
camera top_cam step 504
left_cam
camera left_cam step 504
right_cam
camera right_cam step 504
assistant
agent noteThe red block is peeking out just beside the carried block again and the carried block's underside is at ~4.6 cm, right at stacking height. Easing down ~1 cm: if it stalls immediately I am resting on the red block.
move_joints
right_j12.0300right_j21.5600right_j3-1.1000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6231 left_j2=1.1973 left_j3=-1.2819 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.482 right_j1=2.0338 right_j2=1.61 right_j3=-1.2053 right_j4=-0.1375 right_j5=2.0686 right_gripper=0.4503 state[joint_eff]: [-0.1162, 1.8256, 5.012, 1.7998, 0.0171, -0.0464, -0.0122, -0.4171, -12.0, 5.5316, 0.3297, -0.1001, -0.0073, 1.0281] camera 'top_cam' (step 504): [image omitted: streamed camera frame] camera 'left_cam' (step 504): [image omitted: streamed camera frame] camera 'right_cam' (step 504): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.03, "right_j2": 1.56, "right_j3": -1.1}, "note": "The red block is peeking out just beside the carried block again and the carried block's underside is at ~4.6 cm, right at stacking height. Easing down ~1 cm: if it stalls immediately I am resting on the red block."})
tool
executing move_joints over 2 steps (0.2s)
step 506
top_cam
camera top_cam step 506
left_cam
camera left_cam step 506
right_cam
camera right_cam step 506
assistant
agent noteBoth the overhead and the left-arm camera agree the carried block is still to the arm's right and forward of the red block. Making a decisive ~6 cm left / ~4 cm inboard move while holding the block clear at ~6 cm.
move_joints
right_j00.6500right_j11.8700right_j21.4400right_j3-1.1400
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.622 left_j2=1.1973 left_j3=-1.2892 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.4885 right_j1=2.0193 right_j2=1.5814 right_j3=-1.1755 right_j4=-0.152 right_j5=2.0682 right_gripper=0.4503 state[joint_eff]: [-0.1846, 1.9897, 5.1077, 1.6825, -0.022, -0.0562, -0.0122, -0.5265, -9.4154, 4.0821, 0.8425, 0.1636, -0.022, 1.0281] camera 'top_cam' (step 506): [image omitted: streamed camera frame] camera 'left_cam' (step 506): [image omitted: streamed camera frame] camera 'right_cam' (step 506): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.65, "right_j1": 1.87, "right_j2": 1.44, "right_j3": -1.14}, "note": "Both the overhead and the left-arm camera agree the carried block is still to the arm's right and forward of the red block. Making a decisive ~6 cm left / ~4 cm inboard move while holding the block clear at ~6 cm."})
tool
executing move_joints over 3 steps (0.3s)
step 509
top_cam
camera top_cam step 509
left_cam
camera left_cam step 509
right_cam
camera right_cam step 509
assistant
agent noteThe last move gave me a clean two-point calibration of this rolled wrist view (11.2 px/cm, arm-right ≈ straight up in the image). Solving with it, the red block is 6.5 cm to the arm's right and 1.5 cm inboard of the carried block — moving there now.
move_joints
right_j00.4290right_j11.8500right_j21.3700right_j3-1.0900
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6235 left_j2=1.1957 left_j3=-1.3037 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.6209 right_j1=1.9102 right_j2=1.4551 right_j3=-1.1446 right_j4=-0.1482 right_j5=2.0686 right_gripper=0.4503 state[joint_eff]: [-0.1026, 2.0855, 5.094, 1.6825, -0.0415, -0.0464, -0.0122, -0.7043, -11.0701, 6.0239, 0.4274, -0.1343, -0.0708, 1.0232] camera 'top_cam' (step 509): [image omitted: streamed camera frame] camera 'left_cam' (step 509): [image omitted: streamed camera frame] camera 'right_cam' (step 509): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.429, "right_j1": 1.85, "right_j2": 1.37, "right_j3": -1.09}, "note": "The last move gave me a clean two-point calibration of this rolled wrist view (11.2 px/cm, arm-right \u2248 straight up in the image). Solving with it, the red block is 6.5 cm to the arm's right and 1.5 cm inboard of the carried block \u2014 moving there now."})
tool
executing move_joints over 4 steps (0.4s)
step 513
top_cam
camera top_cam step 513
left_cam
camera left_cam step 513
right_cam
camera right_cam step 513
assistant
agent noteTwo calibration moves let me fit the full image Jacobian for this pose; solving it says the red block is ~7 cm to the arm's right and ~2 cm further out. Applying that, still holding the block ~5 cm up.
move_joints
right_j00.2190right_j11.9300right_j21.4700right_j3-1.1100
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6239 left_j2=1.1957 left_j3=-1.3239 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.437 right_j1=1.8675 right_j2=1.3823 right_j3=-1.1275 right_j4=-0.1772 right_j5=2.0644 right_gripper=0.4503 state[joint_eff]: [-0.1846, 2.441, 4.9846, 1.7558, -0.0269, -0.0366, -0.0073, 0.9368, -9.6752, 5.3949, 0.5739, 0.0757, 0.0122, 1.0232] camera 'top_cam' (step 513): [image omitted: streamed camera frame] camera 'left_cam' (step 513): [image omitted: streamed camera frame] camera 'right_cam' (step 513): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.219, "right_j1": 1.93, "right_j2": 1.47, "right_j3": -1.11}, "note": "Two calibration moves let me fit the full image Jacobian for this pose; solving it says the red block is ~7 cm to the arm's right and ~2 cm further out. Applying that, still holding the block ~5 cm up."})
tool
executing move_joints over 4 steps (0.4s)
step 517
top_cam
camera top_cam step 517
left_cam
camera left_cam step 517
right_cam
camera right_cam step 517
assistant
agent noteThe red block has disappeared completely behind the carried block, and the carried block's underside is at ~4.5 cm — right at the red block's top face. Lowering ~1.5 cm to feel for contact.
move_joints
right_j11.9300right_j21.3800right_j3-1.0200
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6239 left_j2=1.1954 left_j3=-1.3373 left_j4=0.083 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.2367 right_j1=1.9148 right_j2=1.4364 right_j3=-1.1545 right_j4=-0.1947 right_j5=2.0575 right_gripper=0.4503 state[joint_eff]: [-0.1573, 2.1128, 4.9573, 1.6972, 0.0122, -0.0171, -0.0122, 0.1162, -8.3624, 8.0615, 0.5104, 0.0269, 0.0513, 1.0281] camera 'top_cam' (step 517): [image omitted: streamed camera frame] camera 'left_cam' (step 517): [image omitted: streamed camera frame] camera 'right_cam' (step 517): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 1.93, "right_j2": 1.38, "right_j3": -1.02}, "note": "The red block has disappeared completely behind the carried block, and the carried block's underside is at ~4.5 cm \u2014 right at the red block's top face. Lowering ~1.5 cm to feel for contact."})
tool
executing move_joints over 3 steps (0.3s)
step 520
top_cam
camera top_cam step 520
left_cam
camera left_cam step 520
right_cam
camera right_cam step 520
assistant
agent noteNo firm contact yet at 3.9 cm. Commanding a full descent to table level: the height at which it stalls will tell me definitively whether the carried block has landed on the red block (~4.3 cm) or on bare table.
move_joints
right_j11.9800right_j21.3300right_j3-0.9300
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6235 left_j2=1.1954 left_j3=-1.3479 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.2276 right_j1=1.9148 right_j2=1.4086 right_j3=-1.1023 right_j4=-0.1909 right_j5=2.0571 right_gripper=0.4503 state[joint_eff]: [-0.0479, 2.1402, 5.0256, 1.663, -0.0122, -0.0073, -0.0122, 0.4308, -7.9795, 3.5761, 0.9304, -0.1587, -0.0464, 1.0281] camera 'top_cam' (step 520): [image omitted: streamed camera frame] camera 'left_cam' (step 520): [image omitted: streamed camera frame] camera 'right_cam' (step 520): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 1.98, "right_j2": 1.33, "right_j3": -0.93}, "note": "No firm contact yet at 3.9 cm. Commanding a full descent to table level: the height at which it stalls will tell me definitively whether the carried block has landed on the red block (~4.3 cm) or on bare table."})
tool
executing move_joints over 3 steps (0.3s)
step 523
top_cam
camera top_cam step 523
left_cam
camera left_cam step 523
right_cam
camera right_cam step 523
assistant
agent noteContact! The descent stalled with j1/j2 efforts relaxing at a carried-block underside height of ~3.6 cm — that is the top of the red block, not the table. Opening the jaws to release the blue block onto it.
move_joints
right_gripper0.6500
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6239 left_j2=1.1954 left_j3=-1.3521 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.2131 right_j1=1.9076 right_j2=1.3808 right_j3=-1.0714 right_j4=-0.2104 right_j5=2.0487 right_gripper=0.4503 state[joint_eff]: [-0.212, 2.4274, 5.1077, 1.5604, -0.0415, -0.0562, -0.0122, 1.1829, -3.3162, 1.8256, 1.5214, 0.1685, 0.0708, 1.0281] camera 'top_cam' (step 523): [image omitted: streamed camera frame] camera 'left_cam' (step 523): [image omitted: streamed camera frame] camera 'right_cam' (step 523): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.65}, "note": "Contact! The descent stalled with j1/j2 efforts relaxing at a carried-block underside height of ~3.6 cm \u2014 that is the top of the red block, not the table. Opening the jaws to release the blue block onto it."})
tool
executing move_joints over 2 steps (0.2s)
step 525
top_cam
camera top_cam step 525
left_cam
camera left_cam step 525
right_cam
camera right_cam step 525
assistant
agent noteBlock released. Opening the jaws fully and lifting the arm straight up and back to ~20 cm so I can see whether the blue block is actually sitting on top of the red one.
move_joints
right_gripper1.0000right_j11.7700right_j21.8000right_j3-1.6000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6235 left_j2=1.1954 left_j3=-1.3705 left_j4=0.083 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.2085 right_j1=1.9007 right_j2=1.3758 right_j3=-1.0691 right_j4=-0.2146 right_j5=2.043 right_gripper=0.6406 state[joint_eff]: [-0.1573, 2.1675, 5.0256, 1.6874, -0.022, -0.0708, -0.0122, 0.3214, -8.1436, 6.0239, 0.1832, -0.1538, 0.0952, 0.2369] camera 'top_cam' (step 525): [image omitted: streamed camera frame] camera 'left_cam' (step 525): [image omitted: streamed camera frame] camera 'right_cam' (step 525): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 1.0, "right_j1": 1.77, "right_j2": 1.8, "right_j3": -1.6}, "note": "Block released. Opening the jaws fully and lifting the arm straight up and back to ~20 cm so I can see whether the blue block is actually sitting on top of the red one."})
tool
executing move_joints over 9 steps (0.9s)
step 534
top_cam
camera top_cam step 534
left_cam
camera left_cam step 534
right_cam
camera right_cam step 534
assistant
agent noteThe blue block is released. Parking the right arm back near its base to clear the view so the overhead and left-arm cameras can show me whether the two blocks are stacked.
move_joints
right_j00.3000right_j10.7000right_j21.3000right_j3-0.7000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6235 left_j2=1.1954 left_j3=-1.3777 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.21 right_j1=1.8088 right_j2=1.7592 right_j3=-1.5703 right_j4=-0.2226 right_j5=2.0422 right_gripper=0.9977 state[joint_eff]: [-0.0479, 2.0855, 4.8752, 1.5751, -0.0415, -0.022, -0.0122, -0.294, -10.7009, 7.747, 0.315, -0.0513, -0.0122, -0.0757] camera 'top_cam' (step 534): [image omitted: streamed camera frame] camera 'left_cam' (step 534): [image omitted: streamed camera frame] camera 'right_cam' (step 534): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.3, "right_j1": 0.7, "right_j2": 1.3, "right_j3": -0.7}, "note": "The blue block is released. Parking the right arm back near its base to clear the view so the overhead and left-arm cameras can show me whether the two blocks are stacked."})
tool
executing move_joints over 18 steps (1.8s)
step 552
top_cam
camera top_cam step 552
left_cam
camera left_cam step 552
right_cam
camera right_cam step 552
assistant
agent noteThe overhead view shows the two blocks side by side rather than stacked — the blue block slid off the red one's edge. Going back over the blue block (right where I released it) at ~5 cm to re-grasp it.
move_joints
right_j00.2100right_j11.9100right_j21.3600right_j3-1.0200
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0074 left_j1=0.6235 left_j2=1.1954 left_j3=-1.3933 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.2958 right_j1=0.7212 right_j2=1.2991 right_j3=-0.8375 right_j4=-0.2256 right_j5=2.0464 right_gripper=0.9983 state[joint_eff]: [-0.0752, 1.9624, 5.1897, 1.6532, -0.0366, -0.0269, -0.0122, 0.4718, 1.7573, 5.8188, 2.9915, -0.0171, -0.0806, 0.0464] camera 'top_cam' (step 552): [image omitted: streamed camera frame] camera 'left_cam' (step 552): [image omitted: streamed camera frame] camera 'right_cam' (step 552): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.21, "right_j1": 1.91, "right_j2": 1.36, "right_j3": -1.02}, "note": "The overhead view shows the two blocks side by side rather than stacked \u2014 the blue block slid off the red one's edge. Going back over the blue block (right where I released it) at ~5 cm to re-grasp it."})
tool
executing move_joints over 19 steps (1.9s)
step 571
top_cam
camera top_cam step 571
left_cam
camera left_cam step 571
right_cam
camera right_cam step 571
assistant
agent noteThe wrist view shows the red block right under the jaws and the blue block further along; the overhead plan view says the blue is 6.5 cm to the arm's left and ~1.7 cm out. Translating there at 5 cm height, clear of both blocks.
move_joints
right_j00.4070right_j11.9500right_j21.4400right_j3-1.0600
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6239 left_j2=1.1954 left_j3=-1.4162 left_j4=0.083 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.2123 right_j1=1.8847 right_j2=1.3399 right_j3=-0.9939 right_j4=-0.2256 right_j5=2.0457 right_gripper=0.9983 state[joint_eff]: [-0.0205, 2.1538, 4.8752, 1.7411, 0.0024, -0.0464, -0.0122, -0.3897, -8.841, 7.7607, 0.0806, -0.1734, -0.0464, -0.0122] camera 'top_cam' (step 571): [image omitted: streamed camera frame] camera 'left_cam' (step 571): [image omitted: streamed camera frame] camera 'right_cam' (step 571): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.407, "right_j1": 1.95, "right_j2": 1.44, "right_j3": -1.06}, "note": "The wrist view shows the red block right under the jaws and the blue block further along; the overhead plan view says the blue is 6.5 cm to the arm's left and ~1.7 cm out. Translating there at 5 cm height, clear of both blocks."})
tool
executing move_joints over 4 steps (0.4s)
step 575
top_cam
camera top_cam step 575
left_cam
camera left_cam step 575
right_cam
camera right_cam step 575
assistant
agent noteMoving left made things worse — the overhead camera's x axis is mirrored relative to what I assumed, so the blue block is actually to the arm's RIGHT of the red one. Swinging ~8 cm back the other way at 5 cm height.
move_joints
right_j00.1430right_j11.8700right_j21.3400right_j3-1.0400
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6235 left_j2=1.1954 left_j3=-1.4227 left_j4=0.083 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.4011 right_j1=1.9297 right_j2=1.4189 right_j3=-1.0332 right_j4=-0.2276 right_j5=2.0453 right_gripper=0.9983 state[joint_eff]: [-0.0889, 2.0581, 4.8342, 1.5458, -0.0415, -0.022, -0.0122, -1.6889, -7.9248, 6.735, 0.0317, -0.105, -0.0366, -0.0073] camera 'top_cam' (step 575): [image omitted: streamed camera frame] camera 'left_cam' (step 575): [image omitted: streamed camera frame] camera 'right_cam' (step 575): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.143, "right_j1": 1.87, "right_j2": 1.34, "right_j3": -1.04}, "note": "Moving left made things worse \u2014 the overhead camera's x axis is mirrored relative to what I assumed, so the blue block is actually to the arm's RIGHT of the red one. Swinging ~8 cm back the other way at 5 cm height."})
tool
executing move_joints over 5 steps (0.5s)
step 580
top_cam
camera top_cam step 580
left_cam
camera left_cam step 580
right_cam
camera right_cam step 580
assistant
agent noteConfirmed from the last move: image-up in this wrist view is the arm's right, and the blue block is still ~70 px up from the jaw axis. Yawing ~5 cm further right to close on it.
move_joints
right_j0-0.0070
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0074 left_j1=0.6235 left_j2=1.1954 left_j3=-1.4288 left_j4=0.083 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.1543 right_j1=1.9049 right_j2=1.3464 right_j3=-1.0393 right_j4=-0.2329 right_j5=2.043 right_gripper=0.9983 state[joint_eff]: [-0.0615, 2.0171, 4.8342, 1.5311, 0.0024, -0.022, -0.0122, -0.1846, -11.4667, 5.5316, 0.232, -0.1392, -0.0073, -0.0122] camera 'top_cam' (step 580): [image omitted: streamed camera frame] camera 'left_cam' (step 580): [image omitted: streamed camera frame] camera 'right_cam' (step 580): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": -0.007}, "note": "Confirmed from the last move: image-up in this wrist view is the arm's right, and the blue block is still ~70 px up from the jaw axis. Yawing ~5 cm further right to close on it."})
tool
executing move_joints over 3 steps (0.3s)
step 583
top_cam
camera top_cam step 583
left_cam
camera left_cam step 583
right_cam
camera right_cam step 583
assistant
agent noteThe blue block is now between the prongs at the bottom of the frame, just slightly inboard. Descending to grasp height with a ~1 cm inward trim.
move_joints
right_j11.9400right_j21.2000right_j3-0.8340
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6235 left_j2=1.1954 left_j3=-1.4418 left_j4=0.083 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.0193 right_j1=1.8984 right_j2=1.3411 right_j3=-1.0424 right_j4=-0.2459 right_j5=2.0426 right_gripper=0.9983 state[joint_eff]: [-0.212, 2.1265, 4.8068, 1.5409, -0.0122, -0.0513, -0.0122, 0.4718, -8.5949, 5.9556, 0.2515, -0.105, -0.0366, -0.0073] camera 'top_cam' (step 583): [image omitted: streamed camera frame] camera 'left_cam' (step 583): [image omitted: streamed camera frame] camera 'right_cam' (step 583): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 1.94, "right_j2": 1.2, "right_j3": -0.834}, "note": "The blue block is now between the prongs at the bottom of the frame, just slightly inboard. Descending to grasp height with a ~1 cm inward trim."})
tool
executing move_joints over 4 steps (0.4s)
step 587
top_cam
camera top_cam step 587
left_cam
camera left_cam step 587
right_cam
camera right_cam step 587
assistant
agent noteFingertips at ~1.5 cm with the blue block at the bottom centre between the prongs. Closing to re-grasp it.
move_joints
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6235 left_j2=1.1954 left_j3=-1.449 left_j4=0.083 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.0231 right_j1=1.9278 right_j2=1.2106 right_j3=-0.8986 right_j4=-0.2481 right_j5=2.0422 right_gripper=0.9983 state[joint_eff]: [-0.1846, 2.0444, 4.9573, 1.4921, -0.0024, -0.0611, -0.0122, -0.2256, -7.5419, 4.465, 0.5983, -0.0904, -0.0464, -0.0122] camera 'top_cam' (step 587): [image omitted: streamed camera frame] camera 'left_cam' (step 587): [image omitted: streamed camera frame] camera 'right_cam' (step 587): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.0}, "note": "Fingertips at ~1.5 cm with the blue block at the bottom centre between the prongs. Closing to re-grasp it."})
tool
executing move_joints over 10 steps (1.0s)
step 597
top_cam
camera top_cam step 597
left_cam
camera left_cam step 597
right_cam
camera right_cam step 597
assistant
agent noteMissed; the block shows at the bottom-right of the frame meaning it is ~2.5 cm inboard. Reopening and scooping straight inward at grasp height so the open jaws sweep over it.
move_joints
right_gripper1.0000right_j11.8400right_j21.0800right_j3-0.8100
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6235 left_j2=1.1954 left_j3=-1.4601 left_j4=0.083 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.0204 right_j1=1.9282 right_j2=1.206 right_j3=-0.8867 right_j4=-0.2512 right_j5=2.0422 right_gripper=0.014 state[joint_eff]: [-0.0615, 2.1402, 4.8752, 1.4823, 0.022, -0.022, -0.0122, -0.0068, -8.9368, 5.4769, 0.105, -0.1343, -0.0317, 0.6227] camera 'top_cam' (step 597): [image omitted: streamed camera frame] camera 'left_cam' (step 597): [image omitted: streamed camera frame] camera 'right_cam' (step 597): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 1.0, "right_j1": 1.84, "right_j2": 1.08, "right_j3": -0.81}, "note": "Missed; the block shows at the bottom-right of the frame meaning it is ~2.5 cm inboard. Reopening and scooping straight inward at grasp height so the open jaws sweep over it."})
tool
executing move_joints over 10 steps (1.0s)
step 607
top_cam
camera top_cam step 607
left_cam
camera left_cam step 607
right_cam
camera right_cam step 607
assistant
agent noteThe block still reads inboard of the jaws, so continuing the inward scoop another ~2.5 cm at grasp height.
move_joints
right_j11.7700right_j20.9900right_j3-0.7900
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6239 left_j2=1.1954 left_j3=-1.4742 left_j4=0.083 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.0208 right_j1=1.8488 right_j2=1.0939 right_j3=-0.8223 right_j4=-0.2676 right_j5=2.0338 right_gripper=0.9943 state[joint_eff]: [-0.3487, 2.5641, 4.8205, 1.4921, -0.0073, -0.0269, -0.0122, 0.0752, -8.759, 4.465, 0.3297, -0.0073, 0.0562, -0.2222] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 607): [image omitted: streamed camera frame] camera 'left_cam' (step 607): [image omitted: streamed camera frame] camera 'right_cam' (step 607): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 1.77, "right_j2": 0.99, "right_j3": -0.79}, "note": "The block still reads inboard of the jaws, so continuing the inward scoop another ~2.5 cm at grasp height."})
tool
executing move_joints over 2 steps (0.2s)
step 609
top_cam
camera top_cam step 609
left_cam
camera left_cam step 609
right_cam
camera right_cam step 609
assistant
agent noteClosing after the inward scoop — last realistic chance to re-capture the blue block within my remaining budget.
move_joints
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.625 left_j2=1.1954 left_j3=-1.4776 left_j4=0.083 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.0204 right_j1=1.8011 right_j2=1.0256 right_j3=-0.783 right_j4=-0.2699 right_j5=2.0312 right_gripper=0.9961 state[joint_eff]: [-0.2256, 2.4684, 4.7658, 1.4188, 0.0024, -0.0659, -0.0122, -0.1983, -8.1573, 5.1487, 0.3199, -0.1734, 0.0073, 0.1685] camera 'top_cam' (step 609): [image omitted: streamed camera frame] camera 'left_cam' (step 609): [image omitted: streamed camera frame] camera 'right_cam' (step 609): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.0}, "note": "Closing after the inward scoop \u2014 last realistic chance to re-capture the blue block within my remaining budget."})
tool
executing move_joints over 10 steps (1.0s)
step 619
top_cam
camera top_cam step 619
left_cam
camera left_cam step 619
right_cam
camera right_cam step 619
assistant
agent noteI ran out of call budget before completing the stack. I did successfully pick the blue (left) block twice and carry it to the red (right) block, and on the release attempt the carried block contacted the red block's top at ~3.6 cm — but it slid off its edge, leaving the two blocks side by side and touching rather than stacked. A second re-grasp attempt failed within the remaining calls.
give_up
hindsightHard-won facts about this rig (rig with two YAM arms, blocks ~4.3 cm cubes): 1. WORKSPACE LAYOUT MATTERS FIRST. The two blocks sat far to the right: the "left" (blue) block was reachable by the left arm (~0.33 m radius), but the "right" (red) block was ~0.58-0.7 m from the left base — out of the left arm's gripper-down reach (~0.53 m max). Determine early which arm can reach BOTH objects; here the right arm could, and going left-arm-first cost me ~30 calls and forced a table-transfer handoff. 2. THE OVERHEAD CAMERA IS NOT A PLAN VIEW AND ITS X AXIS WAS MIRRORED relative to what the docs imply. I lost ~10 calls acting on an overhead reading that put the target on the wrong side. Verify overhead axis polarity with one deliberate arm move before trusting it. Its y axis is also heavily foreshortened (oblique mount), so vertical pixel distances are not proportional to cm. 3. WRIST-CAMERA SCALE: do NOT calibrate px/cm from a j0 nudge — the camera yaws with the arm and the apparent shift is roughly half the translation, which made me underestimate scale by ~2x and consistently overshoot. Instead use the known object width (a 4.3 cm block) in the frame; that gave a consistent effective focal length f≈206 px, so scale ≈ 206/(depth below camera) px/m. 4. GRASP-POINT PIXEL: the fingertip/jaw-tip midpoint is the reference, and it is around (112,175-185), not (115,200). Verify it by closing the empty gripper and finding the apex of the dark wedge. Objects appearing BELOW that point are inboard (nearer the base); above it are further out. The image y axis is strongly nonlinear — a couple of cm near the tips is tens of pixels, while the same distance far up the frame is only a few. 5. HEIGHT BIAS is the same for both arms here: fingertip table contact occurs at planar-FK z ≈ 0.081-0.084 m, so true z = z_fk − 0.082. Contact shows as j1 position stalling while j1 effort jumps from ≈ −10 N·m to ≈ 0 (and positive if you press). This is very reliable — use it to calibrate before the first grasp and use it to detect "landed on the lower block" during a stack (stall with the carried block's underside near 4.3 cm rather than 0). 6. GRASP TOLERANCE: with 9.5 cm jaws on a 4.3 cm cube you have ±2.6 cm laterally but only ~±1.5 cm radially (finger thickness). Radial error is the usual killer, and every failed close shoves the block 1-3 cm, so you must re-measure after each miss. The move that finally worked: back off to ~7-10 cm height where the WHOLE block is visible unclipped, measure against the prong-tip midpoint using the block-width scale, apply the correction at constant height, then descend straight down (which preserves horizontal alignment) and close. 7. Controller undershoot in the radial direction is large (a commanded 2.5 cm extension often delivers 0.8 cm) and r drifts inward ~0.5 cm during a descent. Always recompute r_fk from the readback rather than assuming the command landed. 8. For the final stack, aligning by "the target block just disappears behind the carried block" is not accurate enough — the carried block occludes a wide cone. Better: approach until the target is a thin sliver on one side, then feel for contact at the expected 4.3 cm height and only release when the stall height matches.
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6239 left_j2=1.1954 left_j3=-1.4826 left_j4=0.083 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.0204 right_j1=1.7935 right_j2=1.0077 right_j3=-0.7856 right_j4=-0.2707 right_j5=2.0239 right_gripper=0.0133 state[joint_eff]: [-0.0889, 2.3179, 4.8342, 1.3895, -0.0269, -0.0317, -0.0122, -0.1299, -7.1453, 6.4342, 0.2662, -0.1392, 0.0366, 0.9451] camera 'top_cam' (step 619): [image omitted: streamed camera frame] camera 'left_cam' (step 619): [image omitted: streamed camera frame] camera 'right_cam' (step 619): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I ran out of call budget before completing the stack. I did successfully pick the blue (left) block twice and carry it to the red (right) block, and on the release attempt the carried block contacted the red block's top at ~3.6 cm \u2014 but it slid off its edge, leaving the two blocks side by side and touching rather than stacked. A second re-grasp attempt failed within the remaining calls.", "hindsight": "Hard-won facts about this rig (rig with two YAM arms, blocks ~4.3 cm cubes):\n\n1. WORKSPACE LAYOUT MATTERS FIRST. The two blocks sat far to the right: the \"left\" (blue) block was reachable by the left arm (~0.33 m radius), but the \"right\" (red) block was ~0.58-0.7 m from the left base \u2014 out of the left arm's gripper-down reach (~0.53 m max). Determine early which arm can reach BOTH objects; here the right arm could, and going left-arm-first cost me ~30 calls and forced a table-transfer handoff.\n\n2. THE OVERHEAD CAMERA IS NOT A PLAN VIEW AND ITS X AXIS WAS MIRRORED relative to what the docs imply. I lost ~10 calls acting on an overhead reading that put the target on the wrong side. Verify overhead axis polarity with one deliberate arm move before trusting it. Its y axis is also heavily foreshortened (oblique mount), so vertical pixel distances are not proportional to cm.\n\n3. WRIST-CAMERA SCALE: do NOT calibrate px/cm from a j0 nudge \u2014 the camera yaws with the arm and the apparent shift is roughly half the translation, which made me underestimate scale by ~2x and consistently overshoot. Instead use the known object width (a 4.3 cm block) in the frame; that gave a consistent effective focal length f\u2248206 px, so scale \u2248 206/(depth below camera) px/m.\n\n4. GRASP-POINT PIXEL: the fingertip/jaw-tip midpoint is the reference, and it is around (112,175-185), not (115,200). Verify it by closing the empty gripper and finding the apex of the dark wedge. Objects appearing BELOW that point are inboard (nearer the base); above it are further out. The image y axis is strongly nonlinear \u2014 a couple of cm near the tips is tens of pixels, while the same distance far up the frame is only a few.\n\n5. HEIGHT BIAS is the same for both arms here: fingertip table contact occurs at planar-FK z \u2248 0.081-0.084 m, so true z = z_fk \u2212 0.082. Contact shows as j1 position stalling while j1 effort jumps from \u2248 \u221210 N\u00b7m to \u2248 0 (and positive if you press). This is very reliable \u2014 use it to calibrate before the first grasp and use it to detect \"landed on the lower block\" during a stack (stall with the carried block's underside near 4.3 cm rather than 0).\n\n6. GRASP TOLERANCE: with 9.5 cm jaws on a 4.3 cm cube you have \u00b12.6 cm laterally but only ~\u00b11.5 cm radially (finger thickness). Radial error is the usual killer, and every failed close shoves the block 1-3 cm, so you must re-measure after each miss. The move that finally worked: back off to ~7-10 cm height where the WHOLE block is visible unclipped, measure against the prong-tip midpoint using the block-width scale, apply the correction at constant height, then descend straight down (which preserves horizontal alignment) and close.\n\n7. Controller undershoot in the radial direction is large (a commanded 2.5 cm extension often delivers 0.8 cm) and r drifts inward ~0.5 cm during a descent. Always recompute r_fk from the readback rather than assuming the command landed.\n\n8. For the final stack, aligning by \"the target block just disappears behind the carried block\" is not accurate enough \u2014 the carried block occludes a wide cone. Better: approach until the target is a thin sliver on one side, then feel for contact at the expected 4.3 cm height and only release when the stall height matches."})
tool
give_up: I ran out of call budget before completing the stack. I did successfully pick the blue (left) block twice and carry it to the red (right) block, and on the release attempt the carried block contacted the red block's top at ~3.6 cm — but it slid off its edge, leaving the two blocks side by side and touching rather than stacked. A second re-grasp attempt failed within the remaining calls.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute joint/dimension targets. The motion is smoothly interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Per-dimension bounds: left_j0: [-3.142, 3.142], left_j1: [-3.142, 3.142], left_j2: [-3.142, 3.142], left_j3: [-3.142, 3.142], left_j4: [-3.142, 3.142], left_j5: [-3.142, 3.142], left_gripper: [0, 1], right_j0: [-3.142, 3.142], right_j1: [-3.142, 3.142], right_j2: [-3.142, 3.142], right_j3: [-3.142, 3.142], right_j4: [-3.142, 3.142], right_j5: [-3.142, 3.142], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "What you observe right now in the observation (images, if any, and state), and why you chose this motion. The user reads these notes live and in the saved transcript to follow what you see and what you decide. Write for them, in one or two plain sentences.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_j0, left_j1, left_j2, left_j3, left_j4, left_j5, left_gripper, right_j0, right_j1, right_j2, right_j3, right_j4, right_j5, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_joints"
  },
  {
    "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 100 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper. Each arm has its own base frame: +x points forward out of the base\n(the direction the folded gripper points at all-zero joints), +y left, +z up;\nhow the two bases are mounted relative to each other depends on the rig.\nJoint guide (positive direction, identical for both arms):\n- left_j0 / right_j0: base yaw about the vertical axis; positive swings the\n  arm counterclockwise seen from above (a forward-pointing gripper moves\n  toward +y).\n- left_j1 / right_j1: shoulder pitch; 0 points the upper arm horizontally\n  backward and is the lower hard stop (it cannot go negative), positive\n  raises it (about 1.57 is straight up, about 3.14 is horizontal forward).\n- left_j2 / right_j2: elbow; 0 is fully folded with the forearm doubled back\n  against the upper arm and is the lower hard stop, positive opens it.\n- left_j3 / right_j3: wrist pitch, axis parallel to the elbow; positive tilts\n  the gripper up.\n- left_j4 / right_j4: wrist yaw; positive swings the gripper toward the arm's\n  right seen from above (opposite sign sense of j0).\n- left_j5 / right_j5: wrist roll about the gripper's pointing axis; positive\n  turns clockwise when viewed from behind the gripper looking out along the\n  fingers.\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.\nAt all-zero joints the arm rests folded low with the gripper pointing\nforward. While the arm is folded, a single joint's effect on the gripper\nposition can be counterintuitive; move deliberately and re-check the\nobservation after each motion. The joint values above are positions as shown\nin the observation; when actions are per-step changes (delta mode), the same\nsign conventions apply to each change.\n\n# Rig facts (YAM rigs)\n\nMeasured and derived facts about these rigs, shared across all rig dirs\n(the rigs are built identically, up to per-rig calibration offsets noted\nwhere measured). Kinematic constants come from forward kinematics on the\ni2rt YAM model that drives the robot (i2rt 1.1.2,\n`robot_models/arm/yam/yam.urdf`); workspace dimensions (camera height,\nbase spacing, table plane) were measured at rig-2.\n\n## Kinematics (per arm)\n\n- Upper arm (shoulder pitch to elbow): 0.264 m. Forearm (elbow to wrist\n  pitch): 0.245 m.\n- Shoulder pitch axis sits 0.114 m above the arm's mounting plane.\n- Wrist pitch axis to fingertip midpoint: 0.101 m (gripper flange to\n  fingertip: 0.057 m, stock linear gripper). Contact happens at the\n  fingertips, and this offset rotates with wrist pitch.\n- Gripper stroke is ~9.5 cm jaw-to-jaw fully open, and gripper commands/\n  readings are the normalized fraction of that: residual × 9.5 cm ≈\n  grasped thickness (e.g. a reading of 0.04 ≈ 4 mm — a thin handle), and\n  anything wider than ~9 cm cannot be grasped across.\n- Gripper yaw follows j0: the direction the jaws close along rotates\n  with the base joint, and is compensable with wrist roll.\n- Episodes start with both arms folded near all-zero joints and grippers\n  fully open (reading ≈ 1.0).\n\n## Cameras\n\n- `top` is a fixed overhead camera. `left` and `right` are wrist cameras\n  mounted on the rolling gripper body of the same-named arm, tilted\n  forward of the finger axis; the mounting is identical on both arms, so\n  the wrist-image facts below apply to either.\n- Overhead frame orientation: arm-forward = image-up, arm-right =\n  image-right. Both arm bases sit near the bottom edge of the frame; a\n  folded gripper shows as a dark blob near the bottom-left/bottom-right\n  corner.\n- Top-camera scale at table level is roughly 2–3 px/cm and differs per\n  rig (≈3.1 measured at rig-2; rig-1 runs consistently measure\n  ≈2.2–2.7) — never trust a remembered number. Scale grows with height:\n  an object h metres above the table reads larger by H/(H − h) with\n  camera height H ≈ 0.72 m, so a gripper carrying at 10 cm reads ~15%\n  larger than it will at table level, and things shrink slightly as you\n  lower them.\n- In each wrist image the grasp point (where the jaws meet) projects at\n  (x≈115, y≈200) in the 224-px frame, just off the bottom edge —\n  independent of wrist roll, but NOT of pitch: pitched 60–70° forward it\n  shifts up to y≈150–190. The camera looks beyond the fingertips, so\n  anything at or nearer than the grasp point is out of frame, and the\n  dark wedge at the bottom-centre of the frame is the jaws themselves,\n  not the object. A held object is never visible in its own wrist\n  camera. To re-calibrate at the current pitch: briefly close the empty\n  gripper and watch where the jaws converge.\n- At wrist roll = 0: image-right = the arm's right (−y in arm\n  coordinates, reached with negative j0), image-down = radially inward\n  toward the arm's base. Rolling the wrist rotates the scene in the\n  image, but the jaws always close along image-x.\n- Wrist-cam scale varies strongly with height and pose: measured values\n  within ~10 cm of the table ranged from ~3 to ~12 px/cm across runs, so\n  never trust a remembered scale — close to the table the 224-px frame\n  may span only a few tens of centimetres, and a hand-sized object can\n  fill it. A pure j0 nudge shifts the scene laterally by r·Δj0 metres,\n  which calibrates this view in a single call.\n- The wrist image's vertical axis conflates radial distance and height:\n  a 3 cm radial move and a 1.4 cm descent shift features by a similar\n  number of pixels, and radial (depth) distance cannot be eyeballed from\n  the top-down wrist view.\n\n## Workspace geometry\n\n- Arm bases are 0.584 m (23 in) apart, mounted parallel (facing the same\n  way).\n- Table plane: the tabletop coincides with the arm mounting plane — true\n  fingertip z = 0 at table contact (verified by replaying contact poses\n  through the framework's grasp-site forward kinematics).\n- With the gripper pointing straight down, reach caps at ~0.51 m wrist\n  radius; pitching the gripper 30–45° forward buys another 10–20 cm.\n\n## Controller behavior\n\n- Position moves undershoot: a `move_joints` call tracks only partway to\n  the target and stalls near contact (gravity-loaded j1/j3 sag 0.05–0.1\n  rad). Re-issue the same target, or command slightly beyond it, to\n  converge. Undershoot grows when carrying a load — expect lifts with an\n  object in the gripper to need more re-issues or stronger targets.\n- Larger commands are clamped by a per-step delta limit\n  (`delta_clamped` in the move result) and each call reports only a few\n  steps. Nothing is broken — re-issue, or command 0.1–0.2 rad beyond the\n  goal.\n- Position error that stops shrinking while descending usually means the\n  fingers or object reached the table. When joint effort is available\n  (below), prefer it over this heuristic.\n\n## Joint effort (when `report_joint_eff` is enabled)\n\n- Contact vs. sag on descents: gravity assists a downward j1 move, so j1\n  falling short during a descent means contact, not controller sag. The\n  effort reading distinguishes how hard you are contacting: on a light\n  touch j1 simply stops tracking while its effort stays negative (still\n  holding the arm against gravity); if effort flips positive, the arm is\n  actively pressing into the surface — back off.\n- After a full close, the gripper residual settles at the grasped\n  object's thickness in gripper units, and gripper effort reads high\n  (≈1.0–2.0) around an object versus low (≈0.1) when empty. A partial\n  close gives an ambiguous readback for thin objects.\n- A grasped object touching down reads as stopped descent plus rising\n  effort on the wrist joints.\n# Rig formulas (YAM rigs)\n\nPlanar arm kinematics in the radial–vertical (r, z) plane, from the i2rt\nURDF constants: upper arm L1 = 0.264 m, forearm L2 = 0.245 m,\nwrist-to-fingertip L3 = 0.101 m, shoulder pitch axis L0 = 0.114 m above\nthe mounting plane (= table level).\n\n- Angles: A = π − j1 (upper arm), B = j2 − j1 (forearm), C = B + j3\n  (fingertip axis; gripper-down is C = −π/2).\n- Forward: fingertip ≈ (0, L0) + L1·(cos A, sin A) + L2·(cos B, sin B)\n  + L3·(cos C, sin C).\n- Inverse (target radius r, height z, approach angle C): let\n  P = (r, z) − L3·(cos C, sin C) − (0, L0) and d = |P|; then\n  A = atan2(P_z, P_r) + acos((d² + L1² − L2²) / (2·L1·d)) and\n  B = atan2(P_z − L1·sin A, P_r − L1·cos A); recover j1 = π − A,\n  j2 = B + j1, j3 = C − B. This is the elbow-up branch — the one the\n  arms use in practice. Check reachability d ≤ L1 + L2 = 0.509 first.\n- Accuracy: in the gripper-down working envelope (r ≈ 0.3–0.5 m) the\n  approximation reads ~3–4 cm short in r and ~7–10 cm high in z. The\n  bias varies per arm but is nearly constant for a given arm, so\n  relative moves and the local Jacobian are accurate — and both the\n  forward and inverse solutions inherit the bias, so measure your arm's\n  z offset with one closed-gripper table touch and correct all absolute\n  heights by it. Outside that envelope (arm folded) the approximation\n  degrades sharply.\n# Rig advice (YAM rigs)\n\nWorking practice distilled from episode hindsight on these rigs.\n\n## Calibrate before you commit\n\n- Overhead scale: calibrate px/cm in your first few calls, before\n  planning any layout, from a known gripper move observed in the top\n  frame — compute the travelled distance from joint readback, not the\n  commanded target (controller undershoot otherwise skews the scale\n  low). A grasped object of known size also works.\n- Height: before the first grasp, close the empty gripper and descend\n  until joint effort shows table contact (j1 stops tracking while its\n  holding torque relaxes), then record what the planar FK reads at that\n  pose — that offset is your arm's z bias. A 2 cm height error is the\n  difference between grasping a 4 cm object and closing on air.\n- Depth: do an early calibrated test move (translate a known 3 cm,\n  measure the pixel shift in the wrist view) — first radial estimates\n  are otherwise off by 5–10 cm.\n- Prefer solving the planar IK for a target and issuing j1/j2/j3\n  together over nudging single joints — it converges in far fewer\n  calls.\n\n## Keep the target in view\n\n- A target vanishing mid-approach is ambiguous: still ahead beyond the\n  frame, or already at/behind the grasp point. Never close or keep\n  advancing on a target you can't see — retract 3–5 cm to re-acquire it,\n  and close only when it shows between the two jaw silhouettes. Blind\n  closes at a computed position usually miss and shove the object\n  5–9 cm, forcing a re-find.\n- Never read depth from image-y alone: descend in 1–2 cm steps, keeping\n  the target column-aligned with the jaw gap (x≈115), and re-check\n  between steps.\n\n## Grasping\n\n- Roll the wrist until the target's long axis looks vertical in the\n  wrist image to align a grasp across it — and since gripper yaw follows\n  j0, setting wrist roll ≈ j0 keeps the jaws square to a world-aligned\n  target from any bearing.\n- For thin objects lying on a surface, lower the open gripper until\n  joint effort confirms fingertip–table contact, then close — closing at\n  an unverified height is the main cause of angled, slip-prone grasps.\n- Verify every grasp with a full close and check the residual against\n  the expected thickness of the part you meant to grip; never test a\n  grasp with a partial close. A residual several times too large with\n  high effort means you clamped something bulky or at an angle, and it\n  will slip during transport — regrasp. A near-zero residual (≈0.01) on\n  a rigid object is the opposite failure: a shallow edge pinch that will\n  slip — regrasp deeper so more material sits between the jaws.\n- Failed close attempts drag the object. After any failed grasp, re-find\n  the object's actual position in the overhead frame before retrying —\n  don't assume it is where it was.\n\n## Transport and placement\n\n- A carried object hangs and pivots below the grasp point, and wrist\n  roll shifts where its center sits relative to the gripper — adjust\n  roll after grasping so the load hangs where you want it before\n  transporting. An object picked at one bearing and placed at another\n  lands rotated by (j0 at place − j0 at pick) unless you re-match roll.\n- When grasping near an object's end, the object extends well beyond the\n  grasp point. Plan the release around where the object's extent will\n  land, not where the gripper is, and verify placement in the overhead\n  frame after release before declaring the task done.\n- Time the release off joint effort: a grasped object touching down\n  reads as stopped descent plus rising wrist effort.\n\n## Planning the episode\n\n- Before moving anything, choose where the goal arrangement will be\n  built: keep it inside both arms' reach overlap — nearer the bases — so\n  no object needs a cross-arm handoff; a handoff costs ~10 calls. Budget\n  ~6–10 move calls per verified pick-and-place when planning against a\n  call limit.\n- The idle arm's wrist camera is a genuinely useful second viewpoint —\n  fly it in for close-ups the overhead view can't resolve. The only\n  hazard is shared space, and it cuts both ways: the classic collision\n  is the working arm swinging into an idle arm left hovering over the\n  table after its last use. Before sweeping one arm across the\n  workspace, park the other near its own base (j1 ≈ 0.6, j2 ≈ 1.2,\n  j3 ≈ −0.6), then bring it back out when you need the viewpoint again.\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 · 9.654 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3
{
  "content": "Goal: Place the left block on top of the right block",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=0.0013 left_j1=0.0063 left_j2=0.0078 left_j3=-0.0425 left_j4=0.0029 left_j5=-0.0223 left_gripper=0.9993 right_j0=-0.0013 right_j1=0.001 right_j2=0.0055 right_j3=-0.0444 right_j4=0.0029 right_j5=-0.0139 right_gripper=0.999\nstate[joint_eff]: [-0.1983, 1.1282, 6.3385, 2.2589, -0.0562, 0.1685, -0.0855, 0.0615, 1.6479, 6.7624, 2.3272, -0.0366, 0.0806, -0.1197]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf0599d26f652f7b90c38535fa63222eba828ae663680c8b4e06e24791733077",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fee6bbb109e6e735e931e0f6f69a681ae43efbaedcfa76a2a577c9ee175b40cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cb00ea8e9a674d25abd057c8def370aeed1208549ae52d43cd2a956ddb9798f0",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    }
  ],
  "role": "user"
}
wire blob bf0599d26f65
wire blob fee6bbb109e6
wire blob cb00ea8e9a67
call 1 attempt 0 · /messages · status 200 · 12.14 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=0.0013 left_j1=0.0063 left_j2=0.0078 left_j3=-0.0425 left_j4=0.0029 left_j5=-0.0223 left_gripper=0.9993 right_j0=-0.0013 right_j1=0.001 right_j2=0.0055 right_j3=-0.0444 right_j4=0.0029 right_j5=-0.0139 right_gripper=0.999\nstate[joint_eff]: [-0.1983, 1.1282, 6.3385, 2.2589, -0.0562, 0.1685, -0.0855, 0.0615, 1.6479, 6.7624, 2.3272, -0.0366, 0.0806, -0.1197]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf0599d26f652f7b90c38535fa63222eba828ae663680c8b4e06e24791733077",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fee6bbb109e6e735e931e0f6f69a681ae43efbaedcfa76a2a577c9ee175b40cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb00ea8e9a674d25abd057c8def370aeed1208549ae52d43cd2a956ddb9798f0",
        "media_type": "image/png",
        "type": "base64"
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[blob fee6bbb109e6]
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      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HPu2wdigg8b1cNR6udynWX",
      "input": {
        "note": "Two blocks (blue on the left, orange on the right) sit near the bottom edge of the overhead frame, close to the arm bases. I'm raising the left arm into a gripper-down pose at roughly r=0.35 m so I can see it in the overhead view and calibrate the pixel scale.",
        "targets": {
          "left_j1": 2.06,
          "left_j2": 1.66,
          "left_j3": -1.17
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 33 steps (3.3s)",
      "tool_use_id": "toolu_01HPu2wdigg8b1cNR6udynWX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=0.0013 left_j1=2.0399 left_j2=1.6192 left_j3=-1.1492 left_j4=0.0036 left_j5=-0.0315 left_gripper=0.9993 right_j0=-0.0013 right_j1=0.0036 right_j2=0.0055 right_j3=-0.0715 right_j4=0.0032 right_j5=-0.0151 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -10.6735, 8.0889, 0.188, -0.0366, 0.0464, -0.0171, -0.0615, 1.4564, 7.1316, 2.2051, -0.0024, -0.0464, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d1536d8388899a421aa8e44395f50dbdb796ec04ceb17e3edb6003551e60522",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6564fbdfb170c59e9748debd38a0ab3a73a5b8e331b6df2b747f8ec5f9d0198a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bff57f82c6e1c2100f78a4550aa515ae4b7de3576bbfe7ab38ab5d4a836231f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 7d1536d83888
wire blob 6564fbdfb170
wire blob bff57f82c6e1
call 2 attempt 0 · /messages · status 200 · 12.44 s
model
claude-opus-5
effort
high
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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=0.0013 left_j1=0.0063 left_j2=0.0078 left_j3=-0.0425 left_j4=0.0029 left_j5=-0.0223 left_gripper=0.9993 right_j0=-0.0013 right_j1=0.001 right_j2=0.0055 right_j3=-0.0444 right_j4=0.0029 right_j5=-0.0139 right_gripper=0.999\nstate[joint_eff]: [-0.1983, 1.1282, 6.3385, 2.2589, -0.0562, 0.1685, -0.0855, 0.0615, 1.6479, 6.7624, 2.3272, -0.0366, 0.0806, -0.1197]",
      "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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=0.0013 left_j1=2.0399 left_j2=1.6192 left_j3=-1.1492 left_j4=0.0036 left_j5=-0.0315 left_gripper=0.9993 right_j0=-0.0013 right_j1=0.0036 right_j2=0.0055 right_j3=-0.0715 right_j4=0.0032 right_j5=-0.0151 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -10.6735, 8.0889, 0.188, -0.0366, 0.0464, -0.0171, -0.0615, 1.4564, 7.1316, 2.2051, -0.0024, -0.0464, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d1536d8388899a421aa8e44395f50dbdb796ec04ceb17e3edb6003551e60522",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6564fbdfb170c59e9748debd38a0ab3a73a5b8e331b6df2b747f8ec5f9d0198a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bff57f82c6e1c2100f78a4550aa515ae4b7de3576bbfe7ab38ab5d4a836231f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 7d1536d83888]
[blob 6564fbdfb170]
[blob bff57f82c6e1]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019LQptEX7DrhbPTu3oou3mg",
      "input": {
        "note": "The left arm is now up and pointing down over the table but the blocks (near the bottom of the overhead frame) are behind/right of it. I'm yawing the arm to its right (j0=-0.5) and pulling in to r≈0.30 m to bring the blue block into the wrist camera view; this also calibrates the overhead scale from a known yaw.",
        "targets": {
          "left_j0": -0.5,
          "left_j1": 1.89,
          "left_j2": 1.41,
          "left_j3": -1.09,
          "left_j5": -0.5
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 8 steps (0.8s)",
      "tool_use_id": "toolu_019LQptEX7DrhbPTu3oou3mg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.477 left_j1=1.9285 left_j2=1.4235 left_j3=-1.1015 left_j4=0.0048 left_j5=-0.432 left_gripper=0.9992 right_j0=-0.0013 right_j1=0.0055 right_j2=0.0055 right_j3=-0.0788 right_j4=0.0029 right_j5=-0.0147 right_gripper=0.9989\nstate[joint_eff]: [0.1026, -12.1778, 5.2171, 0.3199, -0.0952, -0.1099, -0.0171, -0.0068, 1.4701, 6.9675, 1.9414, -0.0073, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:306efed12751a7a21d357ca84bcdaa841658555874da2e97f8be195fe65463bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:adadd982f423e791638bfca20fe9da2e8b284acd76555c59b1e9ff986cf12580",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:14df948a177d53e7b31681ee934dc46cd9c18b6a7f826d37ea2a650fc99fcf01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 306efed12751
wire blob adadd982f423
wire blob 14df948a177d
call 3 attempt 0 · /messages · status 200 · 24.09 s
model
claude-opus-5
effort
high
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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=0.0013 left_j1=0.0063 left_j2=0.0078 left_j3=-0.0425 left_j4=0.0029 left_j5=-0.0223 left_gripper=0.9993 right_j0=-0.0013 right_j1=0.001 right_j2=0.0055 right_j3=-0.0444 right_j4=0.0029 right_j5=-0.0139 right_gripper=0.999\nstate[joint_eff]: [-0.1983, 1.1282, 6.3385, 2.2589, -0.0562, 0.1685, -0.0855, 0.0615, 1.6479, 6.7624, 2.3272, -0.0366, 0.0806, -0.1197]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=0.0013 left_j1=2.0399 left_j2=1.6192 left_j3=-1.1492 left_j4=0.0036 left_j5=-0.0315 left_gripper=0.9993 right_j0=-0.0013 right_j1=0.0036 right_j2=0.0055 right_j3=-0.0715 right_j4=0.0032 right_j5=-0.0151 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -10.6735, 8.0889, 0.188, -0.0366, 0.0464, -0.0171, -0.0615, 1.4564, 7.1316, 2.2051, -0.0024, -0.0464, -0.022]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.477 left_j1=1.9285 left_j2=1.4235 left_j3=-1.1015 left_j4=0.0048 left_j5=-0.432 left_gripper=0.9992 right_j0=-0.0013 right_j1=0.0055 right_j2=0.0055 right_j3=-0.0788 right_j4=0.0029 right_j5=-0.0147 right_gripper=0.9989\nstate[joint_eff]: [0.1026, -12.1778, 5.2171, 0.3199, -0.0952, -0.1099, -0.0171, -0.0068, 1.4701, 6.9675, 1.9414, -0.0073, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:306efed12751a7a21d357ca84bcdaa841658555874da2e97f8be195fe65463bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:adadd982f423e791638bfca20fe9da2e8b284acd76555c59b1e9ff986cf12580",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14df948a177d53e7b31681ee934dc46cd9c18b6a7f826d37ea2a650fc99fcf01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 306efed12751]
[blob adadd982f423]
[blob 14df948a177d]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DxiCoJfzrTx4u19DeA4Egc",
      "input": {
        "note": "The blue block is now visible in the left wrist camera at upper-right (~170,130) while the jaws meet at (~115,200). I'm nudging the base yaw 0.14 rad further right — a known ~4.3 cm lateral move — to calibrate the wrist-camera scale and axis directions before approaching.",
        "targets": {
          "left_j0": -0.62
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01DxiCoJfzrTx4u19DeA4Egc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5938 left_j1=1.9224 left_j2=1.4181 left_j3=-1.1065 left_j4=0.0055 left_j5=-0.4629 left_gripper=0.9992 right_j0=-0.0013 right_j1=0.0055 right_j2=0.0055 right_j3=-0.0792 right_j4=0.0025 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -8.8821, 6.0513, 0.2418, -0.1099, 0.2125, -0.0122, -0.0205, 1.6205, 6.9675, 1.8974, -0.0464, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a77f6092090f4fcae2006984a3a9be4bb8725a818d2f76441b1640c1ccffaa3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff1e9d1e169c3ae6db29938ab8bd73b505e74112ac6bc9d794636f26c26da75c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:012732b5e4bd26bcd7e52a6064efc5ea93caec1d547ed7c8409d0604ae74f9eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 2a77f6092090
wire blob ff1e9d1e169c
wire blob 012732b5e4bd
call 4 attempt 0 · /messages · status 200 · 25.71 s
model
claude-opus-5
effort
high
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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=0.0013 left_j1=2.0399 left_j2=1.6192 left_j3=-1.1492 left_j4=0.0036 left_j5=-0.0315 left_gripper=0.9993 right_j0=-0.0013 right_j1=0.0036 right_j2=0.0055 right_j3=-0.0715 right_j4=0.0032 right_j5=-0.0151 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -10.6735, 8.0889, 0.188, -0.0366, 0.0464, -0.0171, -0.0615, 1.4564, 7.1316, 2.2051, -0.0024, -0.0464, -0.022]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.477 left_j1=1.9285 left_j2=1.4235 left_j3=-1.1015 left_j4=0.0048 left_j5=-0.432 left_gripper=0.9992 right_j0=-0.0013 right_j1=0.0055 right_j2=0.0055 right_j3=-0.0788 right_j4=0.0029 right_j5=-0.0147 right_gripper=0.9989\nstate[joint_eff]: [0.1026, -12.1778, 5.2171, 0.3199, -0.0952, -0.1099, -0.0171, -0.0068, 1.4701, 6.9675, 1.9414, -0.0073, -0.0464, -0.0171]",
      "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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5938 left_j1=1.9224 left_j2=1.4181 left_j3=-1.1065 left_j4=0.0055 left_j5=-0.4629 left_gripper=0.9992 right_j0=-0.0013 right_j1=0.0055 right_j2=0.0055 right_j3=-0.0792 right_j4=0.0025 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -8.8821, 6.0513, 0.2418, -0.1099, 0.2125, -0.0122, -0.0205, 1.6205, 6.9675, 1.8974, -0.0464, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a77f6092090f4fcae2006984a3a9be4bb8725a818d2f76441b1640c1ccffaa3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff1e9d1e169c3ae6db29938ab8bd73b505e74112ac6bc9d794636f26c26da75c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:012732b5e4bd26bcd7e52a6064efc5ea93caec1d547ed7c8409d0604ae74f9eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 2a77f6092090]
[blob ff1e9d1e169c]
[blob 012732b5e4bd]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JohGCLUdo7wMEjuMP6Dyvf",
      "input": {
        "note": "The 0.117 rad yaw nudge moved the block ~42 px in the wrist view for a 3.5 cm lateral motion (~12 px/cm), telling me the block sits ~3.5 cm to the arm's left and ~8 cm further out than the grasp point. I'm returning to j0=-0.477 (laterally centred on the block) and extending the reach to r≈0.36 m.",
        "targets": {
          "left_j0": -0.477,
          "left_j1": 2.1,
          "left_j2": 1.72,
          "left_j3": -1.19,
          "left_j5": -0.477
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01JohGCLUdo7wMEjuMP6Dyvf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4824 left_j1=2.0811 left_j2=1.6722 left_j3=-1.1858 left_j4=0.0105 left_j5=-0.4839 left_gripper=0.9992 right_j0=-0.0013 right_j1=0.0097 right_j2=0.0055 right_j3=-0.0792 right_j4=0.0029 right_j5=-0.0181 right_gripper=0.9989\nstate[joint_eff]: [0.4308, -9.7573, 8.0068, 0.2759, -0.0855, 0.1001, -0.0073, -0.0479, 1.347, 7.0085, 1.9023, -0.0611, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a75df968e7195e73263e90e0fbe255ec8373fbbed6ff491f67072b5a96c981ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b88e93ff9c9c0540ebde6135c687f8b15d8ac95482c1a3984818577e3073837",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8ae22f9530b494542f358570474e713ba7535d5ecc46f1ef4c6458a5a5517c25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob a75df968e719
wire blob 6b88e93ff9c9
wire blob 8ae22f9530b4
call 5 attempt 0 · /messages · status 200 · 38.57 s
model
claude-opus-5
effort
high
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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.477 left_j1=1.9285 left_j2=1.4235 left_j3=-1.1015 left_j4=0.0048 left_j5=-0.432 left_gripper=0.9992 right_j0=-0.0013 right_j1=0.0055 right_j2=0.0055 right_j3=-0.0788 right_j4=0.0029 right_j5=-0.0147 right_gripper=0.9989\nstate[joint_eff]: [0.1026, -12.1778, 5.2171, 0.3199, -0.0952, -0.1099, -0.0171, -0.0068, 1.4701, 6.9675, 1.9414, -0.0073, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5938 left_j1=1.9224 left_j2=1.4181 left_j3=-1.1065 left_j4=0.0055 left_j5=-0.4629 left_gripper=0.9992 right_j0=-0.0013 right_j1=0.0055 right_j2=0.0055 right_j3=-0.0792 right_j4=0.0025 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -8.8821, 6.0513, 0.2418, -0.1099, 0.2125, -0.0122, -0.0205, 1.6205, 6.9675, 1.8974, -0.0464, -0.0464, -0.0171]",
      "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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4824 left_j1=2.0811 left_j2=1.6722 left_j3=-1.1858 left_j4=0.0105 left_j5=-0.4839 left_gripper=0.9992 right_j0=-0.0013 right_j1=0.0097 right_j2=0.0055 right_j3=-0.0792 right_j4=0.0029 right_j5=-0.0181 right_gripper=0.9989\nstate[joint_eff]: [0.4308, -9.7573, 8.0068, 0.2759, -0.0855, 0.1001, -0.0073, -0.0479, 1.347, 7.0085, 1.9023, -0.0611, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a75df968e7195e73263e90e0fbe255ec8373fbbed6ff491f67072b5a96c981ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b88e93ff9c9c0540ebde6135c687f8b15d8ac95482c1a3984818577e3073837",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ae22f9530b494542f358570474e713ba7535d5ecc46f1ef4c6458a5a5517c25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob a75df968e719]
[blob 6b88e93ff9c9]
[blob 8ae22f9530b4]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U2ouXuzqs19AA8nP1sfqcC",
      "input": {
        "note": "The blue block is now nearly centred between the jaws in the wrist view but still ~5 cm too far out radially. I'm extending the reach toward r≈0.40 m while holding roughly the same height to line the jaws up over the block.",
        "targets": {
          "left_j1": 2.3,
          "left_j2": 1.88,
          "left_j3": -1.15
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01U2ouXuzqs19AA8nP1sfqcC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4789 left_j1=2.2848 left_j2=1.8359 left_j3=-1.1854 left_j4=0.0143 left_j5=-0.4957 left_gripper=0.9992 right_j0=-0.0013 right_j1=0.012 right_j2=0.0059 right_j3=-0.0792 right_j4=0.0029 right_j5=-0.0181 right_gripper=0.9989\nstate[joint_eff]: [-0.4308, -12.8752, 8.5675, 0.2662, -0.0659, 0.0757, -0.0073, -0.1436, 1.4838, 7.1453, 1.8926, -0.0415, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f056a2bdb165010a664ce32ee0402972bbdce4598560434d4ee1554805dc3f6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a69bec6952f66f700a4f039b0204a8f607f2366aa4fdaa097021623f28ce2c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:58b8e4fb5746524143180ed607d9d37ae15830d442d443e2945619c7e2395caf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob f056a2bdb165
wire blob 6a69bec6952f
wire blob 58b8e4fb5746
call 6 attempt 0 · /messages · status 200 · 8.665 s
model
claude-opus-5
effort
high
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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5938 left_j1=1.9224 left_j2=1.4181 left_j3=-1.1065 left_j4=0.0055 left_j5=-0.4629 left_gripper=0.9992 right_j0=-0.0013 right_j1=0.0055 right_j2=0.0055 right_j3=-0.0792 right_j4=0.0025 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -8.8821, 6.0513, 0.2418, -0.1099, 0.2125, -0.0122, -0.0205, 1.6205, 6.9675, 1.8974, -0.0464, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4824 left_j1=2.0811 left_j2=1.6722 left_j3=-1.1858 left_j4=0.0105 left_j5=-0.4839 left_gripper=0.9992 right_j0=-0.0013 right_j1=0.0097 right_j2=0.0055 right_j3=-0.0792 right_j4=0.0029 right_j5=-0.0181 right_gripper=0.9989\nstate[joint_eff]: [0.4308, -9.7573, 8.0068, 0.2759, -0.0855, 0.1001, -0.0073, -0.0479, 1.347, 7.0085, 1.9023, -0.0611, -0.0757, -0.0171]",
      "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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4789 left_j1=2.2848 left_j2=1.8359 left_j3=-1.1854 left_j4=0.0143 left_j5=-0.4957 left_gripper=0.9992 right_j0=-0.0013 right_j1=0.012 right_j2=0.0059 right_j3=-0.0792 right_j4=0.0029 right_j5=-0.0181 right_gripper=0.9989\nstate[joint_eff]: [-0.4308, -12.8752, 8.5675, 0.2662, -0.0659, 0.0757, -0.0073, -0.1436, 1.4838, 7.1453, 1.8926, -0.0415, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f056a2bdb165010a664ce32ee0402972bbdce4598560434d4ee1554805dc3f6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a69bec6952f66f700a4f039b0204a8f607f2366aa4fdaa097021623f28ce2c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58b8e4fb5746524143180ed607d9d37ae15830d442d443e2945619c7e2395caf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob f056a2bdb165]
[blob 6a69bec6952f]
[blob 58b8e4fb5746]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01URmhnFYrYMDG3UjZaiMRRT",
      "input": {
        "note": "The blue block now sits right at the bottom-centre of the wrist view, between the two jaw silhouettes, so the gripper is lined up over it. Descending ~4-5 cm to bring the fingertips down alongside the block.",
        "targets": {
          "left_j1": 2.37,
          "left_j2": 1.75,
          "left_j3": -0.96
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01URmhnFYrYMDG3UjZaiMRRT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4755 left_j1=2.3062 left_j2=1.7916 left_j3=-1.0927 left_j4=0.0422 left_j5=-0.5026 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0151 right_j2=0.0059 right_j3=-0.0795 right_j4=0.0029 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -7.1179, 2.5778, 1.3211, -0.2564, 0.0562, -0.0708, -0.1026, 1.4701, 7.0222, 1.917, -0.0317, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dcc4eafd62b838ab3f04b72c85dd7ad2de4b280f384d968860ac55c6935a6caf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e101a7e8fd917ad7378b5e3c81d16dfd2ffacfc49885491892970e1f2a191a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:04464ebc8a9cd79ebbcb07c91bafbb9d674f3ba05b755f285bb090fc872a4921",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob dcc4eafd62b8
wire blob 7e101a7e8fd9
wire blob 04464ebc8a9c
call 7 attempt 0 · /messages · status 200 · 20.05 s
model
claude-opus-5
effort
high
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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4824 left_j1=2.0811 left_j2=1.6722 left_j3=-1.1858 left_j4=0.0105 left_j5=-0.4839 left_gripper=0.9992 right_j0=-0.0013 right_j1=0.0097 right_j2=0.0055 right_j3=-0.0792 right_j4=0.0029 right_j5=-0.0181 right_gripper=0.9989\nstate[joint_eff]: [0.4308, -9.7573, 8.0068, 0.2759, -0.0855, 0.1001, -0.0073, -0.0479, 1.347, 7.0085, 1.9023, -0.0611, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4789 left_j1=2.2848 left_j2=1.8359 left_j3=-1.1854 left_j4=0.0143 left_j5=-0.4957 left_gripper=0.9992 right_j0=-0.0013 right_j1=0.012 right_j2=0.0059 right_j3=-0.0792 right_j4=0.0029 right_j5=-0.0181 right_gripper=0.9989\nstate[joint_eff]: [-0.4308, -12.8752, 8.5675, 0.2662, -0.0659, 0.0757, -0.0073, -0.1436, 1.4838, 7.1453, 1.8926, -0.0415, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4755 left_j1=2.3062 left_j2=1.7916 left_j3=-1.0927 left_j4=0.0422 left_j5=-0.5026 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0151 right_j2=0.0059 right_j3=-0.0795 right_j4=0.0029 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -7.1179, 2.5778, 1.3211, -0.2564, 0.0562, -0.0708, -0.1026, 1.4701, 7.0222, 1.917, -0.0317, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dcc4eafd62b838ab3f04b72c85dd7ad2de4b280f384d968860ac55c6935a6caf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e101a7e8fd917ad7378b5e3c81d16dfd2ffacfc49885491892970e1f2a191a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04464ebc8a9cd79ebbcb07c91bafbb9d674f3ba05b755f285bb090fc872a4921",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob dcc4eafd62b8]
[blob 7e101a7e8fd9]
[blob 04464ebc8a9c]
{
  "content": [
    {
      "signature": "CAISuwkKjAEIEBgCKkAs9rbMRlK/lFd0QCdjoYt6VaqKLHJvN2gWOIqW0RzH5+Vupxz9sg0lzmX2ugzI+BTjGM7ah7BrzUQMzwAkV6KfMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM4IYX3BAzZaZb2GtDGgzC4a1GCRbMzKG5zv0iMP0YFFIZQ6CbA9ED+lGrhZADq3xCwDVp9yNonkitELzoI+RQKZVBJa8aeWRVJyxtWyrbB671ytTGOWSzJIQ0KoP2U7nrC2adidgUXbe9CeVV1ep/+xTXXLJijqrW5N+S5ohYMFfz+Lpl1mnuGDLe+NDWCgIPLNa9RtWcHtqG9VWzOZWAynF4yyLRHrzbfOFafv71nsi4D/6Do14Bv6pAVlcux/5J5Egl5k7o7jLIa/jGf6dMM84rUTyJHelMxIBEaT9VLpcT9Ae58d01PTc38WHuMluCK0How6gGQH9UxxEmg9DNz5ejt3MXuddpmKw13HbPjz9tCjX0vDgytkqCj6Ncq0XvF1IiQ4MpqECOnoI0408oTkqMYFzYlJkYvGB1NSPeVIjmufWx6nLU7GNcPEJF0J2uAIxIoJdqQu/0BeDioGJxlyn7WjMiqwAjYOUz7gKoSaINyNPwkIgyI6GSzMEKZnbJC/MJqsJuLibefs0b+4wNsFhbYLQNI8E9XpYg5qEWcsiBx+F+zzMzrMbiiA6q/9l538pAtxf1fG1MRjqsD6lXUoQLvJGhlNqu7f0bhEqQtpxVcX0/6gj+dBB8OKsVVj1WA/r5bnJzygAAdY7jjpRdODFdnmpXdGqvHIUdfX9GiQTm0rwtpNlcNi7tZuaLzmM7ReuLeZzVqk7MPBAbnMg3C53yFqpykFxCN0EhCCU7cfbxJM+RyQDFNUE0UDWap87mYTJIxesxhec+emJCYpNqPYRuRsuE6khgvwN93jWHbi13ZRujDYTIYYZrB2s4cfexPTwf55n3Nz2O6oFkGwscABRLJHobKCvNsfjwrzLvsJi+uQJiqcMnYKSKUjmNiDSYm/GDA8/SEAvnW1YFW/3IBhEJC2bTa+p1kwWo2pV1OEZXQF1r9QrHJGO3TeMttxfp6h/gTGBxXGg7QmJhPZcpVAmKfViBcAXHmjUjupK5YMONecP8gVyxSpPRzAP09pzdSeKGnMlqHQ7OdHb+FUIYOEWSTMiMW2iZT+Ya07Xew3+Y/5W4D8usWCUtJdl2k7aFj+TYKpougs/SUJ6o75+Vcf9KNyG9eR1kQOK/AR4dV15ecnWkg0nBBp+ANHsLa+Zt1sHnkGbM8B5CX0toUfZmeVfNrHYplkamR+OCWjx5uEvGkNz2cGlNyw3jYJZtrL7qBoGjTA3GvVrDnijoz91E98c6L5FXd97akPxehyf9R/pNm+udD0APGMRKxceII13ruIl7aOakPdmMhXseYEmgD0qxDYKSoe5U59rrC8scg30AcqnGS+qe8j8eOfNQJ1s1/JleR8mD1L9Qm+wMSXs38WJLdmQpu1+R+R+ZnMMoEYd1iOitHUbpLrEmTjBqPEq3VvY+xVw3523cqBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01D7ngu6bA9HwDgjie1stf32",
      "input": {
        "note": "The move undershot — the arm only came down ~2 cm and the block has slipped just below the bottom edge of the wrist frame. Re-issuing a slightly stronger descent target to converge on the grasp height.",
        "targets": {
          "left_j1": 2.4,
          "left_j2": 1.73,
          "left_j3": -0.93
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01D7ngu6bA9HwDgjie1stf32",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.477 left_j1=2.3035 left_j2=1.7805 left_j3=-1.0748 left_j4=0.0418 left_j5=-0.5068 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0158 right_j2=0.0059 right_j3=-0.0795 right_j4=0.0032 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [-0.1846, -4.7111, 1.4564, 1.6777, -0.0317, -0.0269, -0.0122, -0.0889, 1.5795, 7.0222, 1.9267, -0.0073, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca8f82cc661ab489e31dae098d345d5b76e0b515e05467116677a02827d70995",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9d97409972f769d1e1d189574419b8e43b5c5805b2160f62410ea55da8d4bd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e22db4729b130051338c6d31532532e0b5fd91d6114c8ea067995061da3e0d19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob ca8f82cc661a
wire blob e9d97409972f
wire blob e22db4729b13
call 8 attempt 0 · /messages · status 200 · 15.46 s
model
claude-opus-5
effort
high
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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4789 left_j1=2.2848 left_j2=1.8359 left_j3=-1.1854 left_j4=0.0143 left_j5=-0.4957 left_gripper=0.9992 right_j0=-0.0013 right_j1=0.012 right_j2=0.0059 right_j3=-0.0792 right_j4=0.0029 right_j5=-0.0181 right_gripper=0.9989\nstate[joint_eff]: [-0.4308, -12.8752, 8.5675, 0.2662, -0.0659, 0.0757, -0.0073, -0.1436, 1.4838, 7.1453, 1.8926, -0.0415, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4755 left_j1=2.3062 left_j2=1.7916 left_j3=-1.0927 left_j4=0.0422 left_j5=-0.5026 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0151 right_j2=0.0059 right_j3=-0.0795 right_j4=0.0029 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -7.1179, 2.5778, 1.3211, -0.2564, 0.0562, -0.0708, -0.1026, 1.4701, 7.0222, 1.917, -0.0317, -0.0366, -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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.477 left_j1=2.3035 left_j2=1.7805 left_j3=-1.0748 left_j4=0.0418 left_j5=-0.5068 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0158 right_j2=0.0059 right_j3=-0.0795 right_j4=0.0032 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [-0.1846, -4.7111, 1.4564, 1.6777, -0.0317, -0.0269, -0.0122, -0.0889, 1.5795, 7.0222, 1.9267, -0.0073, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca8f82cc661ab489e31dae098d345d5b76e0b515e05467116677a02827d70995",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9d97409972f769d1e1d189574419b8e43b5c5805b2160f62410ea55da8d4bd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e22db4729b130051338c6d31532532e0b5fd91d6114c8ea067995061da3e0d19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob ca8f82cc661a]
[blob e9d97409972f]
[blob e22db4729b13]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RPkfcdsLHUGYyxaM5Cjdqq",
      "input": {
        "note": "Descent has stalled with j1 effort still negative and wrist effort rising — the fingertips have reached table/block level. Closing the gripper fully to see from the residual whether the block is actually between the jaws.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01RPkfcdsLHUGYyxaM5Cjdqq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.477 left_j1=2.2955 left_j2=1.7821 left_j3=-1.0935 left_j4=0.036 left_j5=-0.5137 left_gripper=0.0165 right_j0=-0.0013 right_j1=0.0158 right_j2=0.0059 right_j3=-0.0795 right_j4=0.0029 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [-0.3624, -11.7128, 5.4085, 0.3932, 0.0122, 0.0171, 0.7595, -0.1299, 1.8256, 7.0222, 1.9365, -0.0708, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:249106118a42a279e4803440cdea572e790cf28904b71ce7231e24a329407291",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d5e38eb42599e068599889702a3954601318490d26a2c188789223dfe222a7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d62c25eb6695f8207851356214143902793687cccc9f671ef2bdaf5770e0a117",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 249106118a42
wire blob 5d5e38eb4259
wire blob d62c25eb6695
call 9 attempt 0 · /messages · status 200 · 35.02 s
model
claude-opus-5
effort
high
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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4755 left_j1=2.3062 left_j2=1.7916 left_j3=-1.0927 left_j4=0.0422 left_j5=-0.5026 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0151 right_j2=0.0059 right_j3=-0.0795 right_j4=0.0029 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -7.1179, 2.5778, 1.3211, -0.2564, 0.0562, -0.0708, -0.1026, 1.4701, 7.0222, 1.917, -0.0317, -0.0366, -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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.477 left_j1=2.3035 left_j2=1.7805 left_j3=-1.0748 left_j4=0.0418 left_j5=-0.5068 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0158 right_j2=0.0059 right_j3=-0.0795 right_j4=0.0032 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [-0.1846, -4.7111, 1.4564, 1.6777, -0.0317, -0.0269, -0.0122, -0.0889, 1.5795, 7.0222, 1.9267, -0.0073, -0.0366, -0.0171]",
      "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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.477 left_j1=2.2955 left_j2=1.7821 left_j3=-1.0935 left_j4=0.036 left_j5=-0.5137 left_gripper=0.0165 right_j0=-0.0013 right_j1=0.0158 right_j2=0.0059 right_j3=-0.0795 right_j4=0.0029 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [-0.3624, -11.7128, 5.4085, 0.3932, 0.0122, 0.0171, 0.7595, -0.1299, 1.8256, 7.0222, 1.9365, -0.0708, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:249106118a42a279e4803440cdea572e790cf28904b71ce7231e24a329407291",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d5e38eb42599e068599889702a3954601318490d26a2c188789223dfe222a7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d62c25eb6695f8207851356214143902793687cccc9f671ef2bdaf5770e0a117",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 249106118a42]
[blob 5d5e38eb4259]
[blob d62c25eb6695]
{
  "content": [
    {
      "signature": "CAIS2RgKjAEIEBgCKkCnahVQu8lChyHcVMoACKw87qKYfEQ0ii8mWgjmdGBesElgTYHk9G1VHxRB3v/1QWgkSDQkZPmnPGmHGRWV79cKMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM3Yqwan69N2fcfUTbGgxHnJUp98PpguNYtjUiMM78knUWglUzVT7MkUwgwGyNbUwYq0t+cGOGphflMeZKb4RbhL3v8rDDv2jAxPBxRSr5Fo0gp7iyc1CbaSVUIX1qaAuAEdXaPSxTvyRs/7vtZbc/N3AUoA13oRUxMD8aMNgL2F9uQiKpSdznoV14XrrlPzo1Ta9RUa5CxSgcGSBOMxK5O+HM2LPjGihARZh3LoDbBCyxLrQ98bA5C7dzcq75zQIu47NRRgQJjg7fLSx2BeTWN9wwGkSzUmTzXFCG7dEZOfTX+3oG+XCINM6EI1JkA61ZYJ/W1s1hxsHp181qcJgRWlRDS2m4LyZOkBhczSzFatv0ZbgvSomsnS6Kvk03yDzKw0ktN8a+XzarQtaeTveOo7lr1fYEzO8kR3nvltU3RNYqSFPdv74TeGdJyUpclYHPh1/vrPev+JVT6Eod5TbP9X9yfCKbo18um/QPxXueJTFjg/lkzNxqZw7smk1z8gu/hlwXcha0h66P/0WhvfEmi4HM2pC1TaTsUHHdQOsNMWlbkyWQ/prEGuheiyKlTFbU59nbIoVShepCBF8T1C5hVerh6i85+Ae2YcKyxVO7PEQqP2FFtSgUO/rYy006UJgsRPlKhv2ADE/TXYdX0A8cSj+8jzFGHuPq4dAHHa7jekBnSuaRqPF/cEDfrz1N1ngragDCoi64epkYkI7/twcU4nfF76QZSN+dTdxDRD9HPDslfpOJJYPJkCMCj0eKgfDCYdvvaq89gdWYOsie6+9SmHrd7hWATsCxG2+j/zoEXJw6ZFZ2oHb+bEYvr21GB4knDUNX0LwI+dXbsjeDFwffI4ZxiYG77yoFIZ1m1WOOFOqm3WNHj/ChPLGRwk9t+uB9Y9qdEjQcjIXBrXTfj/ISayDqWv7FynOK/rZZJrqbL0opJ4Q9H2yNMrY+LeuHXqjFazDvnsRnV2k2KbkGZ8jb/hLFIsL3Uri9Nzo2Xc3fjpRzBOvyI/nhcS1wJwXUhY+7aQW0UyhXbHG5D8ha6/3SyUzs2uK9EQkx5OI+U1yKauT4/CasMjRdaGfyvyzuSCSlByWioiUDNZ+1w1wVNCaME60dcLgVYYeKRWan70/inSloirDkatgk5/qzdDbVaqk9ijN5hx85mIjPb1CasWLH+Z5PStYmaQDRGlYHGk362r2HwwY9F7hsJNpGhMEJ0J58VjfYe5Qw1VNNjpqyAPo7tK4lZ05008qkiQE2lirgHBTbiOOkOvAbxUdcyUEV1S7CFoAthqR9XtFVby5pzQQMKAg+8flntbsBXklRqhX+al61Nl3ECQr8gmDqAl50litNkKfLPwfpQhLrscLDHOorQV/vmdlsKQ1C9pxvdRmhht2qm1W+Kdh/IERB9X/H1R1ob6tMwl+y4Cziq6uGr1jvDKhjNn1k16FQVnkoAGf7LNHmvMQ2nEtz838bosrXlJYdpBEbVJMBuHXeOltYgbl3Wpbpz4MfdAUzr1PtFwJyo6ZnWY70pfcICqTudlMIu1gEo2/tGFV64pw1jLeARHCNCmJvjbl33Ya1uNCSoTMv4T7xVVlXl+FHZtMJk+xitjO1NAq9uEmLbl524PKnK5NoUi14LT5lnGjERDD/UTWz+puPFDLZN0FPFP0ke692Rtj+JIR6jk7JOX3JRbepzZNaQB7e5DbLwHiEh+bUm149yFhJpgsZNGosZYYMekoSwoVVC5wyc7r969d9dHF1S1PuFfAKWbcn6jgHOnX5Fklb4FFH5rqmUOHMcXfcmhdXDF0cwtG4HumWOdh7PyKiP1ugxKikfYUfLYvDRtr1q7cxIGdHY+a9WV8pNZdnnaBPo08N3dc3VbN5TgTtWFJRwsyxZtWSr92hEL6hFbp3WO4fBnN2Gbfd3S0Op8YFfRt7lRGa08mxkdpH56odvWhFb4ggxE9/O7LaLPa3iZCdKJhFTns5+gJjZB6EJfL0x9WIK85OtT3ICUTgsb4KaxASb1emgaHnsUcN8X9xVDQC0CNxDhyrVl/pR17urPajp/bY8gWql2x1ATn6LsaB6t5gZF0G3u0il97P68/qbdHamWhOTk0186xr3PzAdV4fR2CIkL8eKN3OWb7pMMBaBi7ChvMeQdXD3B/2M3aXO3s2Rq25/wYTxXN7A7D9PTI+d2DyLPeByqYK2C4wm7z9Qtfz5JBRRQiAeA0JFrZ/6wssCXfz+D114IHG6EslCy5SB1Gx6Qs1RqILQrzyOtUZbDP6W+WWaU0iFV4ha10HBNxH7dOGkouiQu8dY+rwRJAK8l7nTG9Ijfz0Z0EWpWc/kYDkLci/2CwNQNvalTFSuoG2qCZgkp1tsMSrXmKao4StFE9CFYMRoycmjL68h5xJiwEobgzSK5PUvTfFnYlanTxLDZyoUBwprGOnZ78dRXaHuieJAKUu6ebuewwc/qkt/vtlv9MPVEOp8f5ae1fC+GPJfgQBW+hrqId0pxQawP7I6EBkF79N8fEVhUge5UDc05cTppbZ6tjXnSHuW9a99aKWyDCuuW9G29t3rm3ofjq7dTvmYx9KG2gPmCQe95i69HVHKoY9tDUHF/XDs0yv0d4OhcGKaAiuzdry9IkpIncEzLNON0MIsx1B4dulPiVH9U91xa9MWLwtehTIuL17WLCpDbnfOwa0yg8frYUckLr42ZPdTx/peDPIt0GS4qabQWv+ZsJGEXvbcNWuXlHPSDoag99KUE0wjtj44njbRkcbmojQYENg15KERVjE/UP+sb2TPEDDV1oQTz2h8O8HQaHb7HO/pg1LNTMx3yYirnUFGZkpKrmmP/oFUKdPyxoPooB/TxA1bodWYyS9V2d1TF2WvDta7e2gdeeomuUkcxZsUuVY5KkYz8WFcErH5nNd2IlpbYdCS/XoZpZeefk5d8F9OoFGyt+neNWs0PbxDyMIUfBbdwiJ3xqLmauuNtlfQfDhzX388eN0F0I4PfbdCeTf4UQ2eINu4U1oei4PHYWZCcnq2JhU5NJS9htkkt+yapYC37xh0Maf9tR/ysDlHYyHJvvk/bbc1GL204X8XDpcFTgPmk3JG20UZzBYTBp4pEqpFeU8M7WUsuymgDAWR49x0FO1Xnurz8GVNS59kD2JuB5t9buT305XpFBF7KQqDznE485IJl966ZS5HxvaUFveqPxTPd47ol0V3QNw4ekiMoz7iu61r4x0kp4UZgZvrAY9VyTQUMBYdMa+lS3GACGrT5XmXDYh50buwNexilXO1j3xf7OjZWnz/w+cJ0y9Q7bG5uEIf0t8UaHTCtCExM8mVZr7Gy1U+iXZutWGWMlp/6M4Pv4jvWkWXy8IhODbzuLqssnLveHA4hRNELu39ptvP7lZjnNCv5lceuedgDFkSWSUMZIRevOHWWiwCB18fNFMrrEI15+zqGvJmSElMybN+67I/WRb6AV8orKkG27n7bkgbalfUxplySVN0ojpk8k/z4uw6MrHCvJeRedipaWDMinrWrK9HdytQEiMPzZSatWuzVqRER+44h89QD8NkAgcrXRL1gzyMCr1Hhf5jMYZyFanxjF0gcJfMewoV8vGTpsEeoso27T2dbkRUafVTAKiJjSjRddO3wI87urEvtSB9neW8y+VhgTIxCBEAM/OmYl590DKJj/cHL8RACnIdrqNyJ/ypZ2VtH6Vv37gJoSP7LjMIvr7DBeYhdGt7foSLI0JWYylBxHtSWtRuXK4H5AyMZCAeP48e6x/EAxyJSjJ7jLrNk4x9k6ApsGKbEhS6Tf5qp+wB6M2SSIjPv19ZxxwP+wCzSs483mrQp+86fgYVay2JFsDyI9S2yK0ATXd0yYfmJV9PvLFqzvTXtE+EPnn5oGmw5wp0a6bjfmowI9NuiYb1ltJOhRgfg9JfO70jVDVJ0IF/AfWv/bNW34F/uGtS5w4Q6wDdlLSVDkrU/WgpaLG/u8LGKEqrJwyuG8FnTBRVmJPfgKkKd4RSB/ZuolnLnrATuFfJv1To3d1gR2qXJhkLfdfcdjwwdHg5xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011Nu8zkB8o2Zfp8GsheAcp9",
      "input": {
        "note": "The gripper closed to a residual of 0.017 — it grabbed nothing, so the fingertips were resting on top of the block rather than straddling it. Reopening and lifting ~6 cm to re-acquire the block in the wrist view.",
        "targets": {
          "left_gripper": 1.0,
          "left_j1": 2.19,
          "left_j2": 1.87,
          "left_j3": -1.25
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_011Nu8zkB8o2Zfp8GsheAcp9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.477 left_j1=2.2353 left_j2=1.8427 left_j3=-1.2373 left_j4=0.0372 left_j5=-0.5251 left_gripper=0.995 right_j0=-0.0013 right_j1=0.0158 right_j2=0.0059 right_j3=-0.0799 right_j4=0.0032 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [-0.3624, -15.1316, 7.9932, 0.2369, -0.0171, 0.0952, -0.2125, -0.0342, 1.7299, 7.1726, 1.9414, -0.022, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9f5395c122654ae851941e02a439afad9a62627b89529bd75b7621c61339edd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99a7be9a93423d12163f0c60122b957000d74292c8df6778b79beac2a98aae5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0e47fb2187019f664be4ef8652821594469e1cae36c4980128d8fe637d30f2f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob b9f5395c1226
wire blob 99a7be9a9342
wire blob 0e47fb218701
call 10 attempt 0 · /messages · status 200 · 9.097 s
model
claude-opus-5
effort
high
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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.477 left_j1=2.3035 left_j2=1.7805 left_j3=-1.0748 left_j4=0.0418 left_j5=-0.5068 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0158 right_j2=0.0059 right_j3=-0.0795 right_j4=0.0032 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [-0.1846, -4.7111, 1.4564, 1.6777, -0.0317, -0.0269, -0.0122, -0.0889, 1.5795, 7.0222, 1.9267, -0.0073, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.477 left_j1=2.2955 left_j2=1.7821 left_j3=-1.0935 left_j4=0.036 left_j5=-0.5137 left_gripper=0.0165 right_j0=-0.0013 right_j1=0.0158 right_j2=0.0059 right_j3=-0.0795 right_j4=0.0029 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [-0.3624, -11.7128, 5.4085, 0.3932, 0.0122, 0.0171, 0.7595, -0.1299, 1.8256, 7.0222, 1.9365, -0.0708, -0.0513, -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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.477 left_j1=2.2353 left_j2=1.8427 left_j3=-1.2373 left_j4=0.0372 left_j5=-0.5251 left_gripper=0.995 right_j0=-0.0013 right_j1=0.0158 right_j2=0.0059 right_j3=-0.0799 right_j4=0.0032 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [-0.3624, -15.1316, 7.9932, 0.2369, -0.0171, 0.0952, -0.2125, -0.0342, 1.7299, 7.1726, 1.9414, -0.022, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9f5395c122654ae851941e02a439afad9a62627b89529bd75b7621c61339edd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99a7be9a93423d12163f0c60122b957000d74292c8df6778b79beac2a98aae5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e47fb2187019f664be4ef8652821594469e1cae36c4980128d8fe637d30f2f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob b9f5395c1226]
[blob 99a7be9a9342]
[blob 0e47fb218701]
{
  "content": [
    {
      "signature": 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vODpOVTw40r8O652rg7kIkliudBDqXP0B99+2FAqiJKrqaRiWLHBPNZz4yF2UbpjLkM2kyBm/ie9Ri1GhHuvFpJxYKot82RnEGK4HcDp4aV54Oq7FR43LPLHvwhvhYIej5IrJK0PziwcGdvJYC8t+cpQPjkhaeJ1XzNIziC6xEKpatsR/uKXU2+btWA9t077WsboeHyL8i/ZrS8MyZbBDFQHphYD2McJPawWjPu5umY+hhCn4NYVXcZN11ZooXiyNdHIz+/NVBiHuhJ+TXhOULmkvHAhdCFRWTou0h+MOMQNoNWXUSnjAVoSF4kbUevoDR7yEFjorX8+lg7oI6cf803NtJ/ZmrKz4Qz++kkOiws5YtAKeGCmeuDy+w/yVC9OvgknVD6SyNJwWv1TOEHI5hJna//RihazLVA0rckCRDI2uU3JiYvduhKHd9RkwszedOWsmpzQeGLFRomiFWY5DBirDreM+JZH2ZJ6MBwiJRmR2HT84DM9cwafJia0tV8dFBuDewajIzSoJKt2KGTjAK4cxSEQAg3qWxqE1ZAhdBuEbZaH3bWMKswbldxTUfe5/9YYYKPsRSV7ZoAIGyB6S8lOk3DEW1rzDCztxT6ST55u/9Qbbqf3lwdYwKMxnNkWBrAQncqSf6mqFZMoDlyurMTyk0qfhtWqB9hP6KmGyjd4pG5WUk/0zzUcqOiuxneQ7UblV0GPCI21XGwY09MDBJeA3fToVBPnXzRs86WPS4UVWCpOAp1nlnxC9x8U/Lh8BiyW94ACbd0/u0y7n5srBp3k1gjsAwEJ0qVDBlWwQmFkjDQ+yrmEiBXKECKhcAul5JFrCue83BamH66fmPnqH7jeCfazJ3yPuXsn62E77ec1SpfCHwSGquMY/ZxemMShZtA3TILxLVXTsIg//Gx5ud8nOZH3lqva45nLWuZhNhMcn7wjtBkhEOSH4dK+22LPqCPEwe+136fUD45EICOjMqhIXHnLiPEC21Ve0iBaSoLYv0ZOx6gUnYvKUnvC0sS4eGkZEMwvOebBAt1b++lENJKEMrrpVKmVfzw1XE1l7Rf/zKIo00qfGVTDeM1r0O8jMzY+mBGRPUGffQbvTSefOaogcofBatc+gI2qx8w8u+GuKUuUew+WoGla9wzVwHlGbRd26UQ5du9RMWue0VI/QjOWcZV4wO13lCgioMz2fCpy5aXmzbn2Gt3cW29UR+WO/Nmpf2ExOigoy6zTT4MAqtH7zgA7UO7fvIrMFs9LuejejX3/lBARFNJlqREjgeMnwbwuUW6MIUG52FGxBPcdwxpQ6RfXaMmU43U4Hsc62qXhMptLldDf/SK1qRiPiJg5MyijDe657WhBA1KvVinwW3fz/kaudynlCt7sndCAr0F/1eVr6pskV/AkpnMnGE2KnxjRJG/JRnRvHkRACwmuTIRegC/bLkFOUYsCi/4/sG4JNFbu6B8w9xSV2xiZ9hU48sgYIyEv4AgqjlYSQNYIkjMD5OmhLUZHoT0nFs/P3uJUPQGMxxgRADFCuotKZsKUSI+XvgEPIZo3qtq9uUz+2As9YI+0ToswzgVoVWlgJbS+1j8Ih3g+prarj2z0/ylJAOwvN+bE/JS+NqpWb4xHBu9r0wZrPUhQco22eLDHwEz5tIw8VLq/vvEfrOSpaTUsziejJoKbFIArDffPNnJSeSWKksQWnnn7ktMDFt40gRZmG1EngCFny+hVNUQdrUV+2CDwiJG655VgSmdYAhXf6+ywOiSTJBwNmpZ5MFHOjvGtL1a9pSaRbnBwf1x2r3YQ8lTJJtYSosVK8TtxUe9zRidTvk5m59cADtNdbYi2JPym5DDfTzCyqnRYT7ZyZWNAdAzSIfLVLWLeIbWT7fXF/bFvxevlEmyuCJOq5O1OGh1f+EX6VDqwCPoOgVXeFCETC1ZlY1wKZ8KTdDlNU+H1zjG6FNpV+eG1LUgErLa0RRSi8kvP3Yi1sCB8kHmPUq/TdAFX6hgV1oj0FK2auzV/JXulsefHdP1en7okj3saeCXE0V3QcaXa5/OmKIP1BRlPZke/wRwpDOF5aAuIxJP4wHcPiZmuKJG6eL1j7bMbAr98cs5Ev/W+o2eRkk/qdAAQfRPZl+Fi2PWijYzNNhCRwBQcg0xPGEF5nAACvPDvg5K8doMbLvQC5oOaARsJClVLDyFYRTYv9SJGb7A1fnKLDXCMjoRJKuLfY0hc3qMoVMLIYShxWsp2dPq4EKmK4X9ct2BWKVR1wAnE9Al1HbMkvVB+f0R7FVAFU3eh9Fb71PbRW+wWoE9dvZs65er1BSgTPxE8mVDlPma3xmIavm47cdC/Tt4Z/hrJ4Qd/aV4sKjCfSuubvjPndCRBkB0LuERQrTTc2NtrR70+QLI+AY71dea/jllxNboVziI4sMGVBuU74R61QKkauu2rI1wIoib1cUjTkGaPUGV1R3jjPo6oabLur873h1oYi9cbJeCqq+QqSYkdZUHlGH8u4GNyrTPTmPJt2Cad4WrpKycAVjwYxqqRO5PuT7gSBMYbvFoGC3VYr7DHaHco0sti7VetsU/7f2XdWAwzEMvbU6Tpa4BI83OjXpavPc75z9hev/JB5eCtC1U7LRlw1BC7DDPZ7yswP1I9XRA2M6fh7Fz+TvItNY3OvE20ypZJJCKIPdwrJSYCTW3Gwi8g7wt73GSUI97+Jvg6vUh2OSy0radVD0R00+Xq+QNDwmghuhAepiy/C6rNTdtbe1Q3p51Mhq7JEu4FqqmR1JdGQJiT0QQ8iQBHopAVBBvayiOSEiCBrv7BShMxmEV0HLLKjiTM3zz2joDR4dHYsnDtkyuWMzmelyFQeHTD5ksqHnICoTPw2NDhbyhMpylx3XgRgbDKpk+8K0MFfnLiL246Ox5Y9Kt9NWzNNZ2l4kXBOTQghVkLSOx0IkglNbm5SPteHeJxBAMPmn3oZymR9h0mEh89Eye/sUyPSahKvF8oUmgyU3AAFsOEHRIOMvD24VoLbLbYgdzzKrqbXxE8h7z/SzmysykL2aTfYjZo3xQBTI+4EMAQE8CbCmBjabw+t8MGgB5oL4/W/NMfSWfk4/IP1UEv2HyWPimhC+SdHZ6srLniSvUB/QDsWkVaQPUybazmy7DpgYwLnliAX9h+TVBr3q3UD8P3bz4U85eb0cNFj0CwYVj445U6LwOQ3/388n7NWSGY/q9C/PWZoAlX1+cksOBstY0p+it6YgsIHkevdZ7gTQ8KTFMH30t1SVb8p6f585YitJ0Pwjkq6TGABOwQRsdSW7vJf5jIhdaxy7FUW9E4Fzp1ShgQXDqhQAbZyRG4zFeuWr/Y3FYY17oo5VAMq7fG6wX/TOj6ynrs1EKqK72Z/2fLaem1XYt3Q70RzzkTiTIYMM0yNSaa/LQW+1TKzHRKTJZJlVDXymEUiSyML52cf33xzohiSfZPUABueJK2agjxncBt4TZOqxb2rMWNPYRzXt/EVvb6HG/cEMjrXDlpeP7Of5UHZ+Ls1Ut5T59CeFqoj96sij83SlAHc8Ar1Yaz6nBSZJ6VlaMrVeKqrnRYiSWe98b5cOIgoEY5uOAdeBNE3Tq4j7VCez7aGE9QKSYlja8EQTnbR9oN5fFtQJqvVXRIZX8GLGB8sDwWLB0Va6z00IaL424lFIcn0coeifE1LX+KrZiLIY1WxkV/mYOJaN0/lCQ4vD2nMkeVOWxk85yjexkrLtTC7ObfT3lngL+GvWmNrRY3MBY2BPE7aNuR0XHsVLGlHY3s2kliAHeOPPAgMvRZuEp4oZ0GJOFIxvyAmg9VFL3OQSPLNwB/4XnEDVXVK3iY854rLa1UbiuuXRoPE09rbcxdbj9dKRIrnkCqgX3SnoB2yiSkvCxOHXugp3p0o4Uve2/vTsbMHQnrhlAKKnQSHv5zoOIVpPTkaTAhf58BdMbJpFvr0+A0nXcar5Q68CM3AHxyke4W+ANjve1a/ej1wgEZgYIY12udL2IQojV+KbnsWfU2ARHqYMpy2pvMWtLbsEFelsEwIEOpHqVqMy1i50C9JhbxHxidDbdm3hePrbro9DRrZ9IUeTl8ahdUes6RvmVWcIm2aGvnfm8UeETL1eUtG4yGGBk15sVyG8jHAOBnqCebLbturgPLCPmN9gTVXqdX0ArrSbXNG6X9QU3J5XwhC0rxQCQetJxe19naPioX5jZGYOpBCX2wB6v2uAEfrgP1uvkdIDohuRfSUKIgaSNjeSeRynCyXeYW7FyNXDY69FDk4JLY3x0GBlMi8iK+jU4c0t/pV+0lSiuFx/K6IE6OImKViBBVo8Tg6c3NfNVAYZaP1okU2DsFplyuFMW8wR8SB/+AUnJ+Nc2V6d2lLF/jB3VgQ2WcoOMTGzH7vqY5yZG/T73jjJ8m4YDJlOzIiuHsom3zHPj1isSvV962tiBaCNrLYSxU+Gw/+SIAtdWB3LtOS1eO9cZEc9t7n3MSBSA8+E3pohA7uZxy9Z/H4gDfzT/Jq67NPlJs9wsM8skfScCMCVN/+Mi5oyfFQuKUMQMaBgu2KQ+6RA5Qv+HMxu2NuibWBykDpwgKk0LMvuWqw3utQWnAKkGQT8/VWTM1IuSEz8bUkeXDk6WQCFh5BaQ3wtZ1eHXP4tugs6/7Dhz8UOVI4RYBCeeVJEMBTYG4r99+mjbatTk39UFndGv084bRqB7JwFGo3nBdz3WWiSG5cl2dgkhgCpsTb0ANXm6c3M2H6utuReLWmjzUcYUYAowCa7C4VmMFBPvgIOP9A/0iIW2L1VYki4i4xMkSTlKOp7ZIfo6oTwkEO3MceIZxrjcD67J/PeNvZiLk4NcsriRcnI1fdBxWFHqYvXo70kBO3K5Ufvpz+woDoKjhmZtYWP085waR41XOPFl80iMmgfeVbi+fxSNZmRA+lHhYZZvmfzbRbyy7poYQVuh61e6dSKJKwY0eo2eeYiluP0xaLtiwGbsjbHRQGP2NIf0qh2Pe7Y1J0/yQfmWxOV0rK/khvpeHNXn07bGhY26n/yC/a7vAXf9++6Z8ZbXHzRxnMiEelWSqUBY5jYuGbD7dYaeIliR0pOOblPomqr+atQf4reM3i9/Va81yJDgo/Af4J8l42ZyXcFdovGhZYUlPhBtYAUY/8gIBsgQhvoCCHbt0l3d/bozsAVBBltslwjzTU10Aa173BWjRkiDjnINC/og8SCOsUTRNFtvPAwlDtwePyYFBxK9YVN2fCz57ab16YIFcsvsdGQwxLJjPI5H1NMxixDk/sz3fbK+L+LbWl7zHkMkZa+sO0knWMC8FFjUqfK0uZ4PNf/cRrP9XI/mrgU5zPmy7ILkhb2e0Fg9gz4zkFp4+nfw8BaDHGRRsXHHRJKRUHOT3CXfR8WZ179UgdSFuBctq9uIfusTYwRcMkDDJlfhaRfN9ut1QogxD1lVlIIoM+4nVUGjj67FcGJND3aAvllCAdWS06Imgm518wJ8ISCa1wEmsKh8kzx7u4dtj7TiVHyCQE7Jw4lHrmgRFLJRr5u6a4JvxtiNYKpXZMIqhskulKo1iYjC57Ejtvn7pjmjG2cEmny1OKybRvnczyDxLVM/66fYG5Rnpn6KhjtnjTgCQOcklYWhR9yRsCmW70Hguw1jz1wfGrrBp+E/SlWjRRFTqAE9xSf1dGo5A7Zzv6OnnXY0gSHNg5xqFRh+2Q8UlTazv45D8xS/mYa3H/LnC+wtISvTzTBoc0+28+epxkx3Jklsdi4cyjNFqAGnFztvKZ2vLXgT15NEzA/2X8iCbphLBAJglRcak8dF9nrd90rVtZKQJI44i6aDlsS4DoNUKoVVboJXUGInFsbca5mE4k5OuMEIbfzTX06dIlmSJ5r12jJ1HmMJTE7AF7RuKJApwFLnXvzxr/Kme/STpVi6fmcQjByXDRBY4DKkSfBmRDUw/i44N1uaQ0+Ao0Q09x23/5FqNKWPhkUgyju7TI6/jqcXHNNWXo5bWX/Z7dj7trTBNDTDXZyLfCzKhYdMGj2JcnGvouhSIT2s3+Znb3bVpsfyIGNaq8qsbdGkriVZGas+r2c1F8OWGSXHb7TglOFJLuXKV5srkeGRZwCCF53FykUHEooqzCRR6NMWGI4Y8H0kLByqvcV1taGEU5CoEiYWlxbISax5ngMHcE4EZ5Lujqpf1Y1ShPilV5lyZ25dQ6LTyJg+vJ+2nAXSdU2ki+5awkLAda45acDGTJHtgvosO1142VolhcVvNEtx6STW5ZhIRAmXNatzrc7QKaLmz5f7lUVs2aid+564/oDP2w82Hug4r/OE4s4XJ46/Ye4b2wGneQV/aAPZ/blX0CusT9NfOLV9Li3iWL2ASvc8EupIaKPRsl6i4gkY5BjKbbhtouR2O7rxARekNgkc8cliBU5iCwzHTXuKNeD6Av+eoZpaPtb+yKiljRlTcPieBVShohDj3CxXDzQMhRkDinvk02pb4BS6SaXyLGGV5YHsWHDfjhc8vD37F9oxSJU+NTFkmE589sFxciHVqEgXyAqZ+6oj5BnvdnuUTDoNMnjBLwEq7ACe4Oi79ss8mAsK3NzfnCME38O67vgdS5ETorgQd6GtBU4IJFJfNfQGy9Q9kT2JY7B3l77NuCVqClt5D2frnOSN8nQqESJDrFhRbzL/F897dEQtdXwhhO3aEzEdcncZsS1j8tux6sNP1hjXBp8ywr14jlhgnu/EHEURyEpw7DV/KoDmX1xYzGMO32JB4O3QY8XGY3cXIKv3c8zPflKiJlot3KwCerkRE5JIem8pjS6SKDuS9dzd+Bmg3Hc/yl38UEYVz5KkgBcwyFbNM58FJ7CUUfih94ZxgoN8gPzIuudp6ToFGPwIdviyEUM2ptWZuXea5jfizYn8o5CktASDjn+FxzRNm6ge8OblY12Mf+mGpkpfV2X+M488Z0BNxzsOh4Scg81cVtZ0USrCoWflA36fsFYtgw0piQJK1AyVgjmUkSwN5t/53YmBwVlyXV8QI8w33YlBNuH0d3vZKyopy5jN/ks/MGhEQdYnGm1qX3dWXa5t0arxpCB7g3pzI+FRpI8rbjXApa9mzPjqHMsTWsEhJEG2m3b60Z9+z9osFJ0fReaqBmBxsoiKg4x9zr/awj1LQ6lk48v8jDbqDDP+tqR4VNmWpXeVWhb7fqcbqG8bFvtoZO9dkReBQjvQLhXjCJ5CKognyaJ8ByBoWYfqeN46F9J1tU+l+HNTgEsnHUcpnSICgxq3BP0QrSBXiCBtYVx/5ecSDkBeR8NnYMwAVnIfwGWUV2z/OTzJfWkUMCRej3wyMev958rCDExrqSUb3V3kHWqejPj9VItzQrPgs3+i599NaoRn30Qtmnnl0xyHAX++obHJB2NnUZLKDIso93I9s7gCRj0dgxDGWXv9lbhaHPO2n+dDatCM1IEpfYb7apY+Sy2To8g6qurHVWo/HHhjwVwpgoIpsTaf5ghmHfBu6AtTalwNCG/xd8880mY9te1uVTKHtIbySesFYIJDGo9VQIKh98l8FAJ7RQHGLkkmWzY5QBmBvAdyMiUABI79VUyDssKflqBMH5Atd7se5paWUy9bXH2/D91VR7ZBVyTxykhA9Scale0ZQ8/Zv7O4kqSF61K2FR0Go8DoCSvuLQ7gNHyS+FYGmv9I8fhzXEUcZiRNeMe3RDuZjRgi/VSrYfB9TyLkcv5O3UWNF8p06SinBHi54wQ/gnpuXDNF2x46J1f5eRbifXyVulF0SW4dBIEcYERQgvZqQndVku3WvLlhEKNoH246pGc7HuMXMteJIHeQIEY/m677g2Z7t/LBMyemd3kOU4LjzoDBhknE7P3kvWFu2B6GyYVWywvwZnM3t7/5XmKMV3TNrz0XRI1RxG+Qqn64RYu1r/Dw3AySPEgSPUSwFAOaL6a8UKWSJ1vJzJ7cGZXqKFn76LnT8cWaGoJCOrxObr/0oc31eGoCqhZ5BfEAy30hzHC5OwbK6u8QkmnyPnlFYCPxtTatifbdoLnKyxG4/KpKmC/bcQ09uPlvhsbYqYQLPeZNzVZNe9TBej1N1JxuidhLhwfa6peP/jm4pClOFq3cplsHgE26Y52PIC0VddHQvdklklEBFGA7AtRZ3HGKMjFxa5L1mwznWmfoP42A+ZrpPDJ9B/CBZTrDRn2aEiCuG28+B1qCzLAOGlwOBBhD7gGO+jDQoLpmiHCxFlUW2cII/9bDholkZ4364C3hqpvXoAFggfwe68Jpx5iLcR6LVMXH9mqjI80S1VfnKjRcCf2T0XDrSyu9O9NeCmw20IyOgq4q694fYa5gS/C6hokflIdYgGF8LAsNY6OEldD9jWQM2JDMzkeQLqDEwisdaDiZOk/5ii8i9cyOPk5j1W6ePEMp1RDo6PLjRhDdKDHvFmDYmaJ2/YVLKuooPypKraS75TSTZVCzGc3BRsHGTN1iv86fK9DPfkjTj5W2uRFB9+VvkkGBV+9Vtonhzjta2IGOfvDUKhb9MyZkRgBy2DDlPgawO1kCMd8vYjRZPOs0MLeBlsxMoKRo76DvCKMKtQkHRP+hGi47r7lllXN+Y8DapC8pbR2qjf7+C3vamfz8M3IWf6m/OXl53v2FB9918UfLnYYziMI2iG8DO7hhZXjgY5cmKAgQo7TuFkhyvTMQ5Ycji0Ca4+dVQEvDBMfEHXRMGTD1a3RxkdDfKxJtsxMSGYUPX6TG7OSdlXhs/i/rZ4uMsWhv+advg6SEk7Wad5GjdGNj8tMc7nlRoJ0UetQBinsmonEcE1HhbqqHxRGn8hxALwtO22w1JfuQ0CHDINfto6M7CacseTt1IzMCxOzIwVoYKasVf4bhIiBVWCqL1XX9eRGcz4Gvno2BDDMC+eB9cXkLZzWlZc3BNNH1U66CrhI2yDTf4BMTGDUyURO27eMhFJ2+kHBh852W4mHe1nHRCmPGbMZrkmRYCmiNA5sA2c3l2xStKbFKqkZ/7bwmBKZYxPivSNYXgTkWcGIB3wCu1jzw5D354IoWQ6kC3EL4mheg9RelWD7ZQQ0AS9NEHWd9cznsSb8uT+2aSflaYCRfp/jeJGRGAXsf6muPPVcT7TBlFEKBGCBDNQLEKj+y46F1jIOKtUENnDp6evc/9yplBGy3Ka9a7hfCUw3wkpHuu6oj5/h9f9YvJOS9SPhGp5UjGKMF+U8De7T7E/++0gvYaPIcFKEawGzXpDs/IWvVfYebnHrPvfMFP50rZBqhM0SEFynPXIe31xBkN42VolRQrJB5P+8L2mAbJ27b9gRl5yofQUiubwZVfysJSd6No5jviau5ZpvbnpyL5zUL632K9NuJxzOLfjsVwSpVzen4fjImXNwK9aJaQvfcbZDksHyf1DGNnEnStxQdyufGMCXEsxmlKdrdixFNXNwRC31DAfeLrK8fYcKxIp8edNmkqJ7EOD4vysDbUMxQW8OsnMQsscfCvVmwL+lJBbOXPunICNiv4etar1k18OWZgm1D0tmnowFKwx/oWUjpm7x80mbQDpZkBgGdc/O6SXCjOv+x9YtFuHwN5O2aLMyE4ZRQ4gqfzQPDhHhaOi2d5akyI8y1hmrIb3olMfjn0N8HvWY0aSMvX8usqQ6ueM58ggHI5WX+QKKYC4UChx0NS8BjM4cm+qVIMqtjqtVwuQjYAk1lsPCdjUqCUTqTbCeSHutAvX6mBuEX7giIImTDguXBZ3CgECigedXXJQPL0ChpTBe7TespNbnN1Oub53wkAzTrKhTYHHoDdnOHKFEDvBqvp9nxLEvTstOeafodq7opKnEsSu3xrZtmHKqFfd7da+7FSHLLQMEAbYdsj0ePTw17MY3hg36LR+hgh669cOAIax99U7fgpjpb6P2yUTDxcNmbEkro8WXDAi/Y8WZ5bB58p2A6JWSIk8Pvmq/o6/bv547ExKtRJEOSMoTkPc/q4VGawanvRDjBpvIcK6VMyJn6oAppAgIiKhZYm4VOnGgRUidM6IGf7jDAkO7ChZpVVbxGegU6zDGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FdnZ6VAprtP123ToFy9j9b",
      "input": {
        "note": "The block is clearly back in view between the open jaws, so lateral alignment looks right; the earlier grasp failed on height. I'm commanding a deliberately deep descent (fingertips nominally to table level) to find exactly where the fingers stall, which calibrates my height bias.",
        "targets": {
          "left_j1": 2.5,
          "left_j2": 1.72,
          "left_j3": -0.8
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_01FdnZ6VAprtP123ToFy9j9b",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4747 left_j1=2.3283 left_j2=1.7924 left_j3=-1.0901 left_j4=0.0555 left_j5=-0.5335 left_gripper=0.9958 right_j0=-0.0013 right_j1=0.0189 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0036 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [-0.3214, 1.812, -0.2256, 3.0452, -0.1783, 0.0073, 0.0806, -0.0615, 1.9624, 7.0222, 1.9609, -0.022, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:632061d5667301c07f3e2088564bfa1d2a42070cc6a69e70a2a1bb8f4b7400d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:609dd65124c0ae00ee1084fda1ddd0d10050d8ab398fbf096813b955d111b918",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a17566e033314eb7aa9836e28af7580214ffb354f3a92c0b1f7c48510d3d6151",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 632061d56673
wire blob 609dd65124c0
wire blob a17566e03331
call 11 attempt 0 · /messages · status 200 · 12.7 s
model
claude-opus-5
effort
high
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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.477 left_j1=2.2955 left_j2=1.7821 left_j3=-1.0935 left_j4=0.036 left_j5=-0.5137 left_gripper=0.0165 right_j0=-0.0013 right_j1=0.0158 right_j2=0.0059 right_j3=-0.0795 right_j4=0.0029 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [-0.3624, -11.7128, 5.4085, 0.3932, 0.0122, 0.0171, 0.7595, -0.1299, 1.8256, 7.0222, 1.9365, -0.0708, -0.0513, -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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.477 left_j1=2.2353 left_j2=1.8427 left_j3=-1.2373 left_j4=0.0372 left_j5=-0.5251 left_gripper=0.995 right_j0=-0.0013 right_j1=0.0158 right_j2=0.0059 right_j3=-0.0799 right_j4=0.0032 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [-0.3624, -15.1316, 7.9932, 0.2369, -0.0171, 0.0952, -0.2125, -0.0342, 1.7299, 7.1726, 1.9414, -0.022, -0.0611, -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 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4747 left_j1=2.3283 left_j2=1.7924 left_j3=-1.0901 left_j4=0.0555 left_j5=-0.5335 left_gripper=0.9958 right_j0=-0.0013 right_j1=0.0189 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0036 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [-0.3214, 1.812, -0.2256, 3.0452, -0.1783, 0.0073, 0.0806, -0.0615, 1.9624, 7.0222, 1.9609, -0.022, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:632061d5667301c07f3e2088564bfa1d2a42070cc6a69e70a2a1bb8f4b7400d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:609dd65124c0ae00ee1084fda1ddd0d10050d8ab398fbf096813b955d111b918",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a17566e033314eb7aa9836e28af7580214ffb354f3a92c0b1f7c48510d3d6151",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 632061d56673]
[blob 609dd65124c0]
[blob a17566e03331]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012aUYqEpNaWk9rkA25z6Ynk",
      "input": {
        "note": "The arm hard-stopped at a fingertip height of z_fk≈0.080 with j1 effort now positive (pressing). To learn whether that surface is the tabletop or the block's top face, I'm swinging ~5 cm to the left onto bare table with the same deep descent target — if it sinks further, I was standing on the block.",
        "targets": {
          "left_j0": -0.3,
          "left_j1": 2.5,
          "left_j2": 1.72,
          "left_j3": -0.8
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_012aUYqEpNaWk9rkA25z6Ynk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3531 left_j1=2.3291 left_j2=1.7977 left_j3=-1.0389 left_j4=0.0689 left_j5=-0.5667 left_gripper=0.9958 right_j0=-0.0013 right_j1=0.0189 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0032 right_j5=-0.0181 right_gripper=0.9989\nstate[joint_eff]: [3.2889, 1.5385, -0.5402, 2.4298, -0.1587, 0.315, -0.0122, -0.1026, 1.6068, 7.0496, 1.8926, -0.022, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03ee93cb09c9e930e8d3a09df1e0dcbbf9a7a09e40e2d0e26493a6c1cc701912",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09b339ce51900cc554c2fb90e507d43447b1adbfcefb733209b5420981120581",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7fc7a9c5b434412b25af5e2e1c607a54f23c8803507179f71fa92d60ecaa470a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 03ee93cb09c9
wire blob 09b339ce5190
wire blob 7fc7a9c5b434
call 12 attempt 0 · /messages · status 200 · 10.62 s
model
claude-opus-5
effort
high
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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.477 left_j1=2.2353 left_j2=1.8427 left_j3=-1.2373 left_j4=0.0372 left_j5=-0.5251 left_gripper=0.995 right_j0=-0.0013 right_j1=0.0158 right_j2=0.0059 right_j3=-0.0799 right_j4=0.0032 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [-0.3624, -15.1316, 7.9932, 0.2369, -0.0171, 0.0952, -0.2125, -0.0342, 1.7299, 7.1726, 1.9414, -0.022, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4747 left_j1=2.3283 left_j2=1.7924 left_j3=-1.0901 left_j4=0.0555 left_j5=-0.5335 left_gripper=0.9958 right_j0=-0.0013 right_j1=0.0189 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0036 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [-0.3214, 1.812, -0.2256, 3.0452, -0.1783, 0.0073, 0.0806, -0.0615, 1.9624, 7.0222, 1.9609, -0.022, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3531 left_j1=2.3291 left_j2=1.7977 left_j3=-1.0389 left_j4=0.0689 left_j5=-0.5667 left_gripper=0.9958 right_j0=-0.0013 right_j1=0.0189 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0032 right_j5=-0.0181 right_gripper=0.9989\nstate[joint_eff]: [3.2889, 1.5385, -0.5402, 2.4298, -0.1587, 0.315, -0.0122, -0.1026, 1.6068, 7.0496, 1.8926, -0.022, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03ee93cb09c9e930e8d3a09df1e0dcbbf9a7a09e40e2d0e26493a6c1cc701912",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09b339ce51900cc554c2fb90e507d43447b1adbfcefb733209b5420981120581",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fc7a9c5b434412b25af5e2e1c607a54f23c8803507179f71fa92d60ecaa470a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 03ee93cb09c9]
[blob 09b339ce5190]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018sHggSGG5GaBEjaetgXbLv",
      "input": {
        "note": "On bare table 5 cm to the left the arm stalls at exactly the same height (z_fk≈0.081), so that is the tabletop and my height bias is +0.081 — meaning my earlier \"grasp\" put the fingertips on the table with the block not between them. Returning to the block's bearing at ~3 cm true height to re-locate it precisely in the wrist view.",
        "targets": {
          "left_j0": -0.477,
          "left_j1": 2.25,
          "left_j2": 1.8,
          "left_j3": -1.12
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_018sHggSGG5GaBEjaetgXbLv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3897 left_j1=2.2906 left_j2=1.8034 left_j3=-1.063 left_j4=0.0563 left_j5=-0.5743 left_gripper=0.9959 right_j0=-0.0013 right_j1=0.0216 right_j2=0.0067 right_j3=-0.0795 right_j4=0.0029 right_j5=-0.0181 right_gripper=0.9989\nstate[joint_eff]: [-3.5624, -15.3231, 5.3812, 0.4176, 0.1001, 0.0464, -0.0024, -0.1162, 1.853, 7.0496, 1.956, -0.0073, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:914c3a7802c62b6079d7e5ff4fe1c37dace56f38b39cf0a38daceead08835fd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:725fa43090d57b57d77e75d3b5dc545967db64228963c36e49ecd255fd1010b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5052ac8ee7390719031ab1aefcd74417f60eca6436088194cbc7a7a25d7bfb60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 914c3a7802c6
wire blob 725fa43090d5
wire blob 5052ac8ee739
call 13 attempt 0 · /messages · status 200 · 7.973 s
model
claude-opus-5
effort
high
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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4747 left_j1=2.3283 left_j2=1.7924 left_j3=-1.0901 left_j4=0.0555 left_j5=-0.5335 left_gripper=0.9958 right_j0=-0.0013 right_j1=0.0189 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0036 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [-0.3214, 1.812, -0.2256, 3.0452, -0.1783, 0.0073, 0.0806, -0.0615, 1.9624, 7.0222, 1.9609, -0.022, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3531 left_j1=2.3291 left_j2=1.7977 left_j3=-1.0389 left_j4=0.0689 left_j5=-0.5667 left_gripper=0.9958 right_j0=-0.0013 right_j1=0.0189 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0032 right_j5=-0.0181 right_gripper=0.9989\nstate[joint_eff]: [3.2889, 1.5385, -0.5402, 2.4298, -0.1587, 0.315, -0.0122, -0.1026, 1.6068, 7.0496, 1.8926, -0.022, -0.0513, -0.0171]",
      "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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3897 left_j1=2.2906 left_j2=1.8034 left_j3=-1.063 left_j4=0.0563 left_j5=-0.5743 left_gripper=0.9959 right_j0=-0.0013 right_j1=0.0216 right_j2=0.0067 right_j3=-0.0795 right_j4=0.0029 right_j5=-0.0181 right_gripper=0.9989\nstate[joint_eff]: [-3.5624, -15.3231, 5.3812, 0.4176, 0.1001, 0.0464, -0.0024, -0.1162, 1.853, 7.0496, 1.956, -0.0073, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:914c3a7802c62b6079d7e5ff4fe1c37dace56f38b39cf0a38daceead08835fd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:725fa43090d57b57d77e75d3b5dc545967db64228963c36e49ecd255fd1010b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5052ac8ee7390719031ab1aefcd74417f60eca6436088194cbc7a7a25d7bfb60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 914c3a7802c6]
[blob 725fa43090d5]
[blob 5052ac8ee739]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AqKD316mZ6Bayt9KStxXjd",
      "input": {
        "note": "With the fingertips now only ~1.6 cm above the table the wrist camera sees bare table and no block, and the overhead view shows the block nearer the base than the fingertips — I had driven ~6 cm past it. Retracting radially to r≈0.335 m at the block's bearing.",
        "targets": {
          "left_j0": -0.45,
          "left_j1": 2.08,
          "left_j2": 1.51,
          "left_j3": -1.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01AqKD316mZ6Bayt9KStxXjd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4366 left_j1=2.1353 left_j2=1.5314 left_j3=-1.0183 left_j4=0.0597 left_j5=-0.5751 left_gripper=0.9959 right_j0=-0.0013 right_j1=0.0254 right_j2=0.0067 right_j3=-0.0803 right_j4=0.0036 right_j5=-0.0181 right_gripper=0.9989\nstate[joint_eff]: [-0.4718, -14.1197, 5.5043, 0.4274, 0.0269, -0.0122, -0.0122, -0.1709, 1.6479, 7.1726, 1.917, -0.0122, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e290ee1cd87b34f7db4309ad02341129c961bc8d0547b501628eb91755968b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a223722b1ac5a4d04b71568020756076c40e9ad738c98c2d15d109469e6dcf64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4fc70fe10b15b46ec0eb5b953e346c10c172713a22a67f3b0401a882898224bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 3e290ee1cd87
wire blob a223722b1ac5
wire blob 4fc70fe10b15
call 14 attempt 0 · /messages · status 200 · 11.76 s
model
claude-opus-5
effort
high
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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3531 left_j1=2.3291 left_j2=1.7977 left_j3=-1.0389 left_j4=0.0689 left_j5=-0.5667 left_gripper=0.9958 right_j0=-0.0013 right_j1=0.0189 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0032 right_j5=-0.0181 right_gripper=0.9989\nstate[joint_eff]: [3.2889, 1.5385, -0.5402, 2.4298, -0.1587, 0.315, -0.0122, -0.1026, 1.6068, 7.0496, 1.8926, -0.022, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3897 left_j1=2.2906 left_j2=1.8034 left_j3=-1.063 left_j4=0.0563 left_j5=-0.5743 left_gripper=0.9959 right_j0=-0.0013 right_j1=0.0216 right_j2=0.0067 right_j3=-0.0795 right_j4=0.0029 right_j5=-0.0181 right_gripper=0.9989\nstate[joint_eff]: [-3.5624, -15.3231, 5.3812, 0.4176, 0.1001, 0.0464, -0.0024, -0.1162, 1.853, 7.0496, 1.956, -0.0073, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4366 left_j1=2.1353 left_j2=1.5314 left_j3=-1.0183 left_j4=0.0597 left_j5=-0.5751 left_gripper=0.9959 right_j0=-0.0013 right_j1=0.0254 right_j2=0.0067 right_j3=-0.0803 right_j4=0.0036 right_j5=-0.0181 right_gripper=0.9989\nstate[joint_eff]: [-0.4718, -14.1197, 5.5043, 0.4274, 0.0269, -0.0122, -0.0122, -0.1709, 1.6479, 7.1726, 1.917, -0.0122, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e290ee1cd87b34f7db4309ad02341129c961bc8d0547b501628eb91755968b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a223722b1ac5a4d04b71568020756076c40e9ad738c98c2d15d109469e6dcf64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fc70fe10b15b46ec0eb5b953e346c10c172713a22a67f3b0401a882898224bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 3e290ee1cd87]
[blob a223722b1ac5]
[blob 4fc70fe10b15]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XHb4Gdja83gMmtH2Ct6hJL",
      "input": {
        "note": "The retract worked — the block is back at the bottom of the wrist frame right by the jaws, and the overhead view shows the gripper straddling it. Re-issuing essentially the same pose (tiny yaw correction) to let motion settle and get a sharp image before closing.",
        "targets": {
          "left_j0": -0.46,
          "left_j1": 2.13,
          "left_j2": 1.53,
          "left_j3": -1.02
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 1 steps (0.1s)",
      "tool_use_id": "toolu_01XHb4Gdja83gMmtH2Ct6hJL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4511 left_j1=2.1139 left_j2=1.5116 left_j3=-1.013 left_j4=0.0597 left_j5=-0.5785 left_gripper=0.9959 right_j0=-0.0013 right_j1=0.0254 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0036 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [-0.0342, -13.3402, 5.2308, 0.359, -0.0611, -0.0073, -0.0073, -0.0342, 1.5932, 7.2547, 1.956, -0.0122, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e43c175f828c8c33bada54daf97dead628134a1d4e9118cb30c3a06c18cdca4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a37c0c53be9250ee0953a60d63f2767c60e61fc424c022338ddcfdc522c5dd32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a645266e7f1591646631934f6aded59e3febebc4d0ac5ed1497d15bbca0d06f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 3e43c175f828
wire blob a37c0c53be92
wire blob a645266e7f15
call 15 attempt 0 · /messages · status 200 · 11.96 s
model
claude-opus-5
effort
high
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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3897 left_j1=2.2906 left_j2=1.8034 left_j3=-1.063 left_j4=0.0563 left_j5=-0.5743 left_gripper=0.9959 right_j0=-0.0013 right_j1=0.0216 right_j2=0.0067 right_j3=-0.0795 right_j4=0.0029 right_j5=-0.0181 right_gripper=0.9989\nstate[joint_eff]: [-3.5624, -15.3231, 5.3812, 0.4176, 0.1001, 0.0464, -0.0024, -0.1162, 1.853, 7.0496, 1.956, -0.0073, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4366 left_j1=2.1353 left_j2=1.5314 left_j3=-1.0183 left_j4=0.0597 left_j5=-0.5751 left_gripper=0.9959 right_j0=-0.0013 right_j1=0.0254 right_j2=0.0067 right_j3=-0.0803 right_j4=0.0036 right_j5=-0.0181 right_gripper=0.9989\nstate[joint_eff]: [-0.4718, -14.1197, 5.5043, 0.4274, 0.0269, -0.0122, -0.0122, -0.1709, 1.6479, 7.1726, 1.917, -0.0122, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4511 left_j1=2.1139 left_j2=1.5116 left_j3=-1.013 left_j4=0.0597 left_j5=-0.5785 left_gripper=0.9959 right_j0=-0.0013 right_j1=0.0254 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0036 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [-0.0342, -13.3402, 5.2308, 0.359, -0.0611, -0.0073, -0.0073, -0.0342, 1.5932, 7.2547, 1.956, -0.0122, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e43c175f828c8c33bada54daf97dead628134a1d4e9118cb30c3a06c18cdca4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a37c0c53be9250ee0953a60d63f2767c60e61fc424c022338ddcfdc522c5dd32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a645266e7f1591646631934f6aded59e3febebc4d0ac5ed1497d15bbca0d06f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 3e43c175f828]
[blob a37c0c53be92]
[blob a645266e7f15]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01S2ainwyjyYCMzJR3hcJKTQ",
      "input": {
        "note": "Sharp wrist image: the block sits just right of the jaw gap (its corner at x≈120 while the jaws meet at x≈115), i.e. ~2 cm to the arm's right and ~1.5 cm further out. Lifting to ~6.5 cm (clear of the 5 cm block) while shifting right and out, so I can then drop straight down around it.",
        "targets": {
          "left_j0": -0.51,
          "left_j1": 2.085,
          "left_j2": 1.68,
          "left_j3": -1.16
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01S2ainwyjyYCMzJR3hcJKTQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4934 left_j1=2.1201 left_j2=1.6344 left_j3=-1.1202 left_j4=0.0601 left_j5=-0.5854 left_gripper=0.9959 right_j0=-0.0013 right_j1=0.0257 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0032 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [-0.6085, -13.6274, 7.0906, 0.1148, 0.0073, 0.0073, -0.0073, -0.0752, 2.0718, 7.0769, 1.8926, -0.0269, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab2ab90b1890f758e7da9d088fd5df55bf07eca8a21db9c1f65496ef9050978d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f7199cfd1efac172da9200deb6097f7532d6381ef2ec5c03ba75a5c4c588c03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:170cf6d3090e44549bf7fdfca85455c1a8b517911d755d35748e050d52dc927d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob ab2ab90b1890
wire blob 8f7199cfd1ef
wire blob 170cf6d3090e
call 16 attempt 0 · /messages · status 200 · 6.354 s
model
claude-opus-5
effort
high
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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4366 left_j1=2.1353 left_j2=1.5314 left_j3=-1.0183 left_j4=0.0597 left_j5=-0.5751 left_gripper=0.9959 right_j0=-0.0013 right_j1=0.0254 right_j2=0.0067 right_j3=-0.0803 right_j4=0.0036 right_j5=-0.0181 right_gripper=0.9989\nstate[joint_eff]: [-0.4718, -14.1197, 5.5043, 0.4274, 0.0269, -0.0122, -0.0122, -0.1709, 1.6479, 7.1726, 1.917, -0.0122, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4511 left_j1=2.1139 left_j2=1.5116 left_j3=-1.013 left_j4=0.0597 left_j5=-0.5785 left_gripper=0.9959 right_j0=-0.0013 right_j1=0.0254 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0036 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [-0.0342, -13.3402, 5.2308, 0.359, -0.0611, -0.0073, -0.0073, -0.0342, 1.5932, 7.2547, 1.956, -0.0122, -0.0366, -0.0171]",
      "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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4934 left_j1=2.1201 left_j2=1.6344 left_j3=-1.1202 left_j4=0.0601 left_j5=-0.5854 left_gripper=0.9959 right_j0=-0.0013 right_j1=0.0257 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0032 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [-0.6085, -13.6274, 7.0906, 0.1148, 0.0073, 0.0073, -0.0073, -0.0752, 2.0718, 7.0769, 1.8926, -0.0269, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab2ab90b1890f758e7da9d088fd5df55bf07eca8a21db9c1f65496ef9050978d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f7199cfd1efac172da9200deb6097f7532d6381ef2ec5c03ba75a5c4c588c03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:170cf6d3090e44549bf7fdfca85455c1a8b517911d755d35748e050d52dc927d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob ab2ab90b1890]
[blob 8f7199cfd1ef]
[blob 170cf6d3090e]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Y46jcV3C83FHNyiCr6BHTi",
      "input": {
        "note": "The block is between the jaws but still ~2 cm right of the jaw gap. Shifting right/out by that amount and descending to ~1.5 cm above the table so the fingers straddle the lower half of the block.",
        "targets": {
          "left_j0": -0.539,
          "left_j1": 2.2,
          "left_j2": 1.645,
          "left_j3": -1.01
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Y46jcV3C83FHNyiCr6BHTi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5217 left_j1=2.1407 left_j2=1.6596 left_j3=-1.1076 left_j4=0.0605 left_j5=-0.5892 left_gripper=0.9959 right_j0=-0.0013 right_j1=0.0261 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0032 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [-1.0598, -8.2803, 4.5333, 0.3932, 0.0024, 0.0024, -0.0073, -0.0342, 1.5521, 7.159, 1.9023, -0.0171, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6dd086814a1a47c8f1e1e11ac04b65f34033aa01c4e1bc19fa256a10151bd898",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73183143abad3c8502a14ac3c9bc55de09d463c6fed5393e6c171328bc199a4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:079e647ec52380c22c839062aa817c2ec32c26eece742fc68db08a87fa5214ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 6dd086814a1a
wire blob 73183143abad
wire blob 079e647ec523
call 17 attempt 0 · /messages · status 200 · 4.567 s
model
claude-opus-5
effort
high
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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4511 left_j1=2.1139 left_j2=1.5116 left_j3=-1.013 left_j4=0.0597 left_j5=-0.5785 left_gripper=0.9959 right_j0=-0.0013 right_j1=0.0254 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0036 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [-0.0342, -13.3402, 5.2308, 0.359, -0.0611, -0.0073, -0.0073, -0.0342, 1.5932, 7.2547, 1.956, -0.0122, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4934 left_j1=2.1201 left_j2=1.6344 left_j3=-1.1202 left_j4=0.0601 left_j5=-0.5854 left_gripper=0.9959 right_j0=-0.0013 right_j1=0.0257 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0032 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [-0.6085, -13.6274, 7.0906, 0.1148, 0.0073, 0.0073, -0.0073, -0.0752, 2.0718, 7.0769, 1.8926, -0.0269, -0.0366, -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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5217 left_j1=2.1407 left_j2=1.6596 left_j3=-1.1076 left_j4=0.0605 left_j5=-0.5892 left_gripper=0.9959 right_j0=-0.0013 right_j1=0.0261 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0032 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [-1.0598, -8.2803, 4.5333, 0.3932, 0.0024, 0.0024, -0.0073, -0.0342, 1.5521, 7.159, 1.9023, -0.0171, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6dd086814a1a47c8f1e1e11ac04b65f34033aa01c4e1bc19fa256a10151bd898",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73183143abad3c8502a14ac3c9bc55de09d463c6fed5393e6c171328bc199a4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:079e647ec52380c22c839062aa817c2ec32c26eece742fc68db08a87fa5214ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 6dd086814a1a]
[blob 73183143abad]
[blob 079e647ec523]
{
  "content": [
    {
      "signature": "CAISpQsKjAEIEBgCKkDztRDu2zJuxxEiLABeTgfq4MGtVohUWCNDaYdfydSPoG8B8CED5yzB06uagC5NY54l7eotHZUiOB7crNa0vSogMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMwJX4RXBWxpJUWI9UGgy2cHY9nZbzOjGZNhoiMFlklqwXTrZtsGeNvHLNcfE8R3b2/FLI9oQkHUCz1dGZ2M/sL51a2YVJKhyWtxKFEirFCWol1//GOQlxtYX7FZVwhdqFz2s9yQ6k/xFl80fOEXrgPzjblt+Kq0lOnd+VzQrTN93gJEdt5WUwJVh/wwD3z3jMkL/iRKFg7UE1W+4qTXLonp0qn61gV3VlR9JBeGIghGJ+BVRu1VHuyUx6ZdtVlHTdHCUMAPgfTmQr/X9WP+Gnt8fELQtgcbnMrYJ2DyhgpxUG5Td7Zq/HvGkpv/W6xWvzLwqMn33zYm+bEz/iJ8ybazsYxza2Oz/RnVVDtQPBuvvTPCLnCE9msRD/4H+AfsHYyEjyiNm1ccaFgXZrn2Bu9p34pQKQ0FAUxELm4Yz7sZE0oKCEcepEn2aSQYQqmYeon32zO0xk+nhdp4xCwnq7KiwRXVsZ/r8WM2h2EceTJmQCU9nTaRrTmcZ7N7KnL6mWBXAOWvjXGPO9Lfo2W2mZtnnPygNKOmwpj+C5iWj5OHwyJGR3axC6boKhFmF/ukPIKZsoX4nJE8AJsxwwQsKAVPoRsmgjQEisEiHKB+OI7uMomh3+fF5oGlYMy44f3V+AEp4ITsklYgOa8fwrg+gh3fLpq1+H5n7x82ThJTSYCurjWnrLYduU5MuLpRy58adbSjB/Cvrje0a2oh2zjJxWYxSnFXOQmGP6U1kAI9qpv5mW+74jULbAvlwH0gnhkLkmJRZkAr0D4UZMrXwHWbxdZR5wCWbe+fz4u9RzBcwEf6DvRfNJnTU/AVlUXMtPMnph4cLBL3X8OqNM3Q2Gc292MFaQQl7/nUXddHMV5VnIBWYGMnGPu5bIIIybQZKyxKA4ka+GGsH5llGzPrSiQydRzXIP//DP9TD0pYlsiyY4KFDl7J+TKxFfjHf/HfpfmITg0x99qP5eh4o0/h3FWiTLHt6uwYlJTodyuJh6NH0S+MotCh7weRwDYClt7yHhwOW712PoBy1WSP1QkA9GHy8DUKCe6UKg5bXq0o4x10nA1rRoHlIzN0OhAiJphvXuiYSrxj+cQArZoSNo1GfDcjEuwsJJ2umd7hSL9rfz5cUWU1YRrxOV+MYAYDMJY2q3yJE105jOkVQMfP4ZSLgOTKa9HBEivmvklJArT/pVkHmorTzQgMGrZsRUAZ2fEXPkYINGoK4wAhrbBVvwNykpPpMVa1JKM5gAhXhb4Yuqp50I9eTEBdeUnfGu8gj69BJo0xITr31unCsXFA9+seCVSAt/vaelov7upfvMUcPXQ17NDQrkNNA4OdgxxI7hzxKHo8E/oAfC+fDtMelLQ8tXh9osr4iwU/BCSLm7R4AFZMXqjXCqpRHFGDVU7175qjpUM7yt0fkKTRXeN3gwF89fAZX8LHu/2loisfxoJVUtq9W5vrLZrRNlp9EaGR0KcQVBZU+Nb5DhaTgKS2+rtsVajBEFLh8wepeoENUfSuvTMay85PvIraILFvG6d3osXt5o+hL5q8Gw341THG+MVRUzL/5njWHiRFYqi10yOJITBSff4N9pPqq2mFnmZL38z/FXxJ9L3GzfwJ5jnZGgPqkGqswx8HTXaF2QqprscnJgMCuEAkKCTvjxM0h23/PNBiU/SHmmQA98IUPbdil7krQffog0Gf26RHqTXcBAlPzA8BwmmTU5jFEtJjL+D5jTENgBGSZLzdCcMxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JKvz75diwMYihSZ18Gnyvt",
      "input": {
        "note": "The block is now centred on the jaw gap (x≈120 vs grasp point 115) in the wrist view. Descending ~2.5 cm so the fingers sit alongside the lower half of the block before closing.",
        "targets": {
          "left_j1": 2.23,
          "left_j2": 1.6,
          "left_j3": -0.97
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01JKvz75diwMYihSZ18Gnyvt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5293 left_j1=2.2097 left_j2=1.6299 left_j3=-1.0348 left_j4=0.0631 left_j5=-0.5934 left_gripper=0.9959 right_j0=-0.0013 right_j1=0.0261 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0029 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [0.8684, -9.9487, 3.1111, 0.8669, -0.0659, -0.0073, -0.0073, -0.0068, 1.5795, 7.2274, 1.9267, -0.022, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c255b3107b9d65ffaacc1c8630b6e62d7e42685c588066dbefd86286660fd9a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c741077ba93b1fb05ca7d1fcd6590fe579178a42040dd583f865a769dd92ef2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c7b1d74a7cae40c353a0ea2fcf68b5183a6bda53e4a9c65d1c002ee673aeb085",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob c255b3107b9d
wire blob 5c741077ba93
wire blob c7b1d74a7cae
call 18 attempt 0 · /messages · status 200 · 16.09 s
model
claude-opus-5
effort
high
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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4934 left_j1=2.1201 left_j2=1.6344 left_j3=-1.1202 left_j4=0.0601 left_j5=-0.5854 left_gripper=0.9959 right_j0=-0.0013 right_j1=0.0257 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0032 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [-0.6085, -13.6274, 7.0906, 0.1148, 0.0073, 0.0073, -0.0073, -0.0752, 2.0718, 7.0769, 1.8926, -0.0269, -0.0366, -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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5217 left_j1=2.1407 left_j2=1.6596 left_j3=-1.1076 left_j4=0.0605 left_j5=-0.5892 left_gripper=0.9959 right_j0=-0.0013 right_j1=0.0261 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0032 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [-1.0598, -8.2803, 4.5333, 0.3932, 0.0024, 0.0024, -0.0073, -0.0342, 1.5521, 7.159, 1.9023, -0.0171, -0.0562, -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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5293 left_j1=2.2097 left_j2=1.6299 left_j3=-1.0348 left_j4=0.0631 left_j5=-0.5934 left_gripper=0.9959 right_j0=-0.0013 right_j1=0.0261 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0029 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [0.8684, -9.9487, 3.1111, 0.8669, -0.0659, -0.0073, -0.0073, -0.0068, 1.5795, 7.2274, 1.9267, -0.022, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c255b3107b9d65ffaacc1c8630b6e62d7e42685c588066dbefd86286660fd9a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c741077ba93b1fb05ca7d1fcd6590fe579178a42040dd583f865a769dd92ef2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7b1d74a7cae40c353a0ea2fcf68b5183a6bda53e4a9c65d1c002ee673aeb085",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob c255b3107b9d]
[blob 5c741077ba93]
[blob c7b1d74a7cae]
{
  "content": [
    {
      "signature": "CAIS+gUKjAEIEBgCKkAZNFRvqx2sLo38PhkOQJnSNaqzxj41mmGa/BZKKT9fb2r+VRb9JH8Srh963jgZrzeRwSRNuf04aBWqcL6vtO4kMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMMS1bhGBTk/VL/lwSGgyNvwLgWjVQXszIX9giMMb2YAwKGdiv889+B+4fmhDRXwfMzx91ocEWWTQ0Q6RkZRPNtZYqD6D6SPYyMq0WAyqaBH1CdCE1J6y0TC8Y1NgEMzGcLRx5X+ioYZ86QjsOiCAigMzMRJY4/RbJrYpaa2c0ah/dAeBlevsE7kYuiEJjY6Wcp5uMQWeQs6bXdRO0GMDkW/W2nKA10C3jgy6GwnzwUkBKYVN+hUBAQEXLyidznqJJfN0Ex/wrpiNUl/+aIa8fcjdD2CUP6Sld4RXVTMGfcrhNLam1XJYHPyiSs8OBkPSI6m81pK6e83MT67ioJqoO4u/gPC+SqSL9Bzmz0XTuRurTX3VciWztFvh24Lf8dmHerllW+4/gZAqvnYMP9dTMa4BUbwX4EkjTfxcZsxzRBH4ydnR69aeYRT+6CDc8XQkcswsB6bJ6ftk9B3Vb052RuBh5dn64H8uh66iA8jU+CX4e/7iNDFhOqRCLXtZ05NWHYW/jwDZXv+7S9dinSnWkI6cYQusDTQqnAbD82RnGdB1xd7GAH6P5hlQjHG/4hANOLNZXm2vwyc/JCxd4DANSk0Xp52l9JwuYVgnb69KpMh+l03+u6SjbCpWaN5evHhQKa4LiYXpgVdSlxTj5fEMEXp7mMPYJD1WFWL11+6meAH0DG4kG5h9NQRW7MylIcQ3zrVs27d5qLjdpqsaXdCrnqey8iCRRpQjIo/AIxTrE6zaDyRLnOfLAyW9y1EHunMWdwlr2jLeKwgW3k5V0VdVjzxTsKeP4tVr209udQdIWVLfx2TWYvt5BmVIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01W61GPcNR3Dz1xHyZ5EFjTA",
      "input": {
        "note": "Fingertips are ~1 cm above the table with the block right at the jaw gap. Closing fully to grasp; I'll check the residual to confirm a real grip on the ~5 cm block.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01W61GPcNR3Dz1xHyZ5EFjTA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5297 left_j1=2.2074 left_j2=1.6295 left_j3=-1.0538 left_j4=0.0631 left_j5=-0.6033 left_gripper=0.0158 right_j0=-0.0013 right_j1=0.0261 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0029 right_j5=-0.0181 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -11.2068, 5.559, 0.3394, 0.0073, 0.0659, 0.7448, -0.1709, 1.5658, 7.159, 1.8584, -0.0073, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45d89e5af6fbe9aad5965055eb88de6fd708ce120c60d32da04671f793ad4a68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c832fc0eb095b84af4cb141367a3dc136b9132f1d2326c88115450ef0e921190",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8179fff83cb58a6c496bf30ea42ec92097b3893372e13bd215970a151693ee19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 45d89e5af6fb
wire blob c832fc0eb095
wire blob 8179fff83cb5
call 19 attempt 0 · /messages · status 200 · 19.65 s
model
claude-opus-5
effort
high
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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5217 left_j1=2.1407 left_j2=1.6596 left_j3=-1.1076 left_j4=0.0605 left_j5=-0.5892 left_gripper=0.9959 right_j0=-0.0013 right_j1=0.0261 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0032 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [-1.0598, -8.2803, 4.5333, 0.3932, 0.0024, 0.0024, -0.0073, -0.0342, 1.5521, 7.159, 1.9023, -0.0171, -0.0562, -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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5293 left_j1=2.2097 left_j2=1.6299 left_j3=-1.0348 left_j4=0.0631 left_j5=-0.5934 left_gripper=0.9959 right_j0=-0.0013 right_j1=0.0261 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0029 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [0.8684, -9.9487, 3.1111, 0.8669, -0.0659, -0.0073, -0.0073, -0.0068, 1.5795, 7.2274, 1.9267, -0.022, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5297 left_j1=2.2074 left_j2=1.6295 left_j3=-1.0538 left_j4=0.0631 left_j5=-0.6033 left_gripper=0.0158 right_j0=-0.0013 right_j1=0.0261 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0029 right_j5=-0.0181 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -11.2068, 5.559, 0.3394, 0.0073, 0.0659, 0.7448, -0.1709, 1.5658, 7.159, 1.8584, -0.0073, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45d89e5af6fbe9aad5965055eb88de6fd708ce120c60d32da04671f793ad4a68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c832fc0eb095b84af4cb141367a3dc136b9132f1d2326c88115450ef0e921190",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8179fff83cb58a6c496bf30ea42ec92097b3893372e13bd215970a151693ee19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 45d89e5af6fb]
[blob c832fc0eb095]
[blob 8179fff83cb5]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DqX6CeCuFuHCJt1XsUEmKq",
      "input": {
        "note": "Empty close again (residual 0.016). Critically, the closed-jaw wedge in the wrist image converges at about y≈172, not y≈200 — so the block, which sat at y≈215, was actually ~3-4 cm too far inward. Reopening and pulling the gripper in by ~3.5 cm.",
        "targets": {
          "left_gripper": 1.0,
          "left_j1": 2.07,
          "left_j2": 1.42,
          "left_j3": -0.92
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01DqX6CeCuFuHCJt1XsUEmKq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5308 left_j1=2.0892 left_j2=1.4429 left_j3=-0.934 left_j4=0.0666 left_j5=-0.6075 left_gripper=0.9947 right_j0=-0.0013 right_j1=0.0273 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0036 right_j5=-0.0181 right_gripper=0.9989\nstate[joint_eff]: [-0.0752, -11.6308, 4.3009, 0.4225, -0.0366, 0.0122, -0.2613, -0.1026, 1.8393, 7.1863, 1.9902, -0.0073, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5a407cb1188a087ef343a4f1106313c21fdf80697737bccec7499c9eb94c409",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:152667b152b203216f64b1de8754468475947288283df55b8494b2618dcec715",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:969e11d6475d78a0d47dcbd04dd48ef83663c9a91d911446f6decb76eeb84e89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob c5a407cb1188
wire blob 152667b152b2
wire blob 969e11d6475d
call 20 attempt 0 · /messages · status 200 · 12.77 s
model
claude-opus-5
effort
high
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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5293 left_j1=2.2097 left_j2=1.6299 left_j3=-1.0348 left_j4=0.0631 left_j5=-0.5934 left_gripper=0.9959 right_j0=-0.0013 right_j1=0.0261 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0029 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [0.8684, -9.9487, 3.1111, 0.8669, -0.0659, -0.0073, -0.0073, -0.0068, 1.5795, 7.2274, 1.9267, -0.022, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5297 left_j1=2.2074 left_j2=1.6295 left_j3=-1.0538 left_j4=0.0631 left_j5=-0.6033 left_gripper=0.0158 right_j0=-0.0013 right_j1=0.0261 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0029 right_j5=-0.0181 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -11.2068, 5.559, 0.3394, 0.0073, 0.0659, 0.7448, -0.1709, 1.5658, 7.159, 1.8584, -0.0073, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5308 left_j1=2.0892 left_j2=1.4429 left_j3=-0.934 left_j4=0.0666 left_j5=-0.6075 left_gripper=0.9947 right_j0=-0.0013 right_j1=0.0273 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0036 right_j5=-0.0181 right_gripper=0.9989\nstate[joint_eff]: [-0.0752, -11.6308, 4.3009, 0.4225, -0.0366, 0.0122, -0.2613, -0.1026, 1.8393, 7.1863, 1.9902, -0.0073, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5a407cb1188a087ef343a4f1106313c21fdf80697737bccec7499c9eb94c409",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:152667b152b203216f64b1de8754468475947288283df55b8494b2618dcec715",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:969e11d6475d78a0d47dcbd04dd48ef83663c9a91d911446f6decb76eeb84e89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob c5a407cb1188]
[blob 152667b152b2]
[blob 969e11d6475d]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Xvd7j7wj98SPzX5cCLE7Mn",
      "input": {
        "note": "After pulling in 3.3 cm the block barely moved in the wrist view — suspicious, so I'm making one more clean 3 cm inward move to measure the radial pixel scale and see whether the block finally rises toward the jaw-tip point.",
        "targets": {
          "left_j1": 1.99,
          "left_j2": 1.29,
          "left_j3": -0.866
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Xvd7j7wj98SPzX5cCLE7Mn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5316 left_j1=2.0109 left_j2=1.3201 left_j3=-0.8894 left_j4=0.0639 left_j5=-0.6079 left_gripper=0.9958 right_j0=-0.0013 right_j1=0.0296 right_j2=0.0067 right_j3=-0.0788 right_j4=0.0029 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [0.2393, -10.7009, 4.506, 0.5348, 0.0611, -0.022, 0.105, -0.1709, 1.9077, 7.0359, 1.917, -0.0073, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d769aac7d9d61263f978e45fd20e0ea80a0700b55285f38fd1a314552e629a87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9811b52cb7e69d2787d78fb872b8a4ffcf8f85243eade40a01c868de3230c10b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:70f0a0ecacb92d331075c9487532f70a1b3faaf53000501fe3df9e59db0506a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob d769aac7d9d6
wire blob 9811b52cb7e6
wire blob 70f0a0ecacb9
call 21 attempt 0 · /messages · status 200 · 4.892 s
model
claude-opus-5
effort
high
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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5297 left_j1=2.2074 left_j2=1.6295 left_j3=-1.0538 left_j4=0.0631 left_j5=-0.6033 left_gripper=0.0158 right_j0=-0.0013 right_j1=0.0261 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0029 right_j5=-0.0181 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -11.2068, 5.559, 0.3394, 0.0073, 0.0659, 0.7448, -0.1709, 1.5658, 7.159, 1.8584, -0.0073, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5308 left_j1=2.0892 left_j2=1.4429 left_j3=-0.934 left_j4=0.0666 left_j5=-0.6075 left_gripper=0.9947 right_j0=-0.0013 right_j1=0.0273 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0036 right_j5=-0.0181 right_gripper=0.9989\nstate[joint_eff]: [-0.0752, -11.6308, 4.3009, 0.4225, -0.0366, 0.0122, -0.2613, -0.1026, 1.8393, 7.1863, 1.9902, -0.0073, -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 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5316 left_j1=2.0109 left_j2=1.3201 left_j3=-0.8894 left_j4=0.0639 left_j5=-0.6079 left_gripper=0.9958 right_j0=-0.0013 right_j1=0.0296 right_j2=0.0067 right_j3=-0.0788 right_j4=0.0029 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [0.2393, -10.7009, 4.506, 0.5348, 0.0611, -0.022, 0.105, -0.1709, 1.9077, 7.0359, 1.917, -0.0073, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d769aac7d9d61263f978e45fd20e0ea80a0700b55285f38fd1a314552e629a87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9811b52cb7e69d2787d78fb872b8a4ffcf8f85243eade40a01c868de3230c10b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70f0a0ecacb92d331075c9487532f70a1b3faaf53000501fe3df9e59db0506a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob d769aac7d9d6]
[blob 9811b52cb7e6]
[blob 70f0a0ecacb9]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01S6uT1chgJBJKYZ6fLQbbF6",
      "input": {
        "note": "Clean measurement: a 3 cm inward move lifted the block ~30 px in the wrist view (≈10 px/cm), and the block now reads ~3 cm to the arm's right of the jaw-tip point and roughly at the right radius. Yawing 0.1 rad right to centre it laterally.",
        "targets": {
          "left_j0": -0.632,
          "left_j5": -0.632
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01S6uT1chgJBJKYZ6fLQbbF6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5739 left_j1=2.0029 left_j2=1.3079 left_j3=-0.8944 left_j4=0.0532 left_j5=-0.6216 left_gripper=0.9959 right_j0=-0.0013 right_j1=0.0292 right_j2=0.0067 right_j3=-0.0803 right_j4=0.0029 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [-2.2769, -8.7316, 6.3248, 0.3394, 0.1148, -0.0415, 0.0024, -0.0479, 1.6068, 7.3368, 1.9121, -0.022, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0a46c44482d60263368db9c093b125c0ff1dd911d21827d8b6c2417f7a29910",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:675ef7d5e3443c83fe6b15d946c8b84ba04cc595a074e7ef228be179cf9a00ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:609cf64b52bae847c37a7fd446c1a3ce7f8f676daf4b374aae948b7edac5bd4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob e0a46c44482d
wire blob 675ef7d5e344
wire blob 609cf64b52ba
call 22 attempt 0 · /messages · status 200 · 15.44 s
model
claude-opus-5
effort
high
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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5308 left_j1=2.0892 left_j2=1.4429 left_j3=-0.934 left_j4=0.0666 left_j5=-0.6075 left_gripper=0.9947 right_j0=-0.0013 right_j1=0.0273 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0036 right_j5=-0.0181 right_gripper=0.9989\nstate[joint_eff]: [-0.0752, -11.6308, 4.3009, 0.4225, -0.0366, 0.0122, -0.2613, -0.1026, 1.8393, 7.1863, 1.9902, -0.0073, -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 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5316 left_j1=2.0109 left_j2=1.3201 left_j3=-0.8894 left_j4=0.0639 left_j5=-0.6079 left_gripper=0.9958 right_j0=-0.0013 right_j1=0.0296 right_j2=0.0067 right_j3=-0.0788 right_j4=0.0029 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [0.2393, -10.7009, 4.506, 0.5348, 0.0611, -0.022, 0.105, -0.1709, 1.9077, 7.0359, 1.917, -0.0073, -0.0513, -0.0122]",
      "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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5739 left_j1=2.0029 left_j2=1.3079 left_j3=-0.8944 left_j4=0.0532 left_j5=-0.6216 left_gripper=0.9959 right_j0=-0.0013 right_j1=0.0292 right_j2=0.0067 right_j3=-0.0803 right_j4=0.0029 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [-2.2769, -8.7316, 6.3248, 0.3394, 0.1148, -0.0415, 0.0024, -0.0479, 1.6068, 7.3368, 1.9121, -0.022, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0a46c44482d60263368db9c093b125c0ff1dd911d21827d8b6c2417f7a29910",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:675ef7d5e3443c83fe6b15d946c8b84ba04cc595a074e7ef228be179cf9a00ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:609cf64b52bae847c37a7fd446c1a3ce7f8f676daf4b374aae948b7edac5bd4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob e0a46c44482d]
[blob 675ef7d5e344]
[blob 609cf64b52ba]
{
  "content": [
    {
      "signature": "CAISyQQKjAEIEBgCKkDEt7AMxixlzxAwHsc+bX2jjVMhy0lYf5mdUZoFDgNlRcQf3rFM/wUeveYe0TM/rdbE4QhwITJYlo1lt5qyjee4MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM4cHiOUVl+Rbh/5vUGgyFxUnFHnwRiWXVK6IiMI52B+Cxsl7V1+iAqISy8H0o/stvjhWnRuNARFCf2ZSPuQYxRhElI2DIsIMry+TFCyrpAuBD76I209lcilunUb3su4NhvURfL58wsFyKn74uwBKtBjKWPHHtfgo4KGClHnZmq7/rE5RvvfJcud6/pzenPS0i1gagPra/tF/wZ9o9mkaVWbCqkTVmJPdQEQIMqhHES9aCgZhcLi2x4FZGdWMxT4OLZleeooW8iVAKV9XqkJ/RMjyQ6m5v2nWwn+iu628IM1m/6PGhAscsDCyH15xuqc8dKsh3ojN81xrfAzF8kgKmFj7tezS7aq0wAnnP/RCuIf4D1xS9BWOT5l69j7fYIkvQ4pL1ewUxTBtZ9LP4KwFcBCa2VgK6Ezn4mD65ZORyzpwtu65fNy3kPmIKCE0tfSYcfRhAVgOYODJfBn9PYm/UzzKvWDxWQgK721F1Gh/VZIMfnQprvGbVIAUcFZXJRRQQkaVrRPkbKAXMgOituF3wSmYAas8hbz7am1GTOasxiApfPVGQ5TETpe6WPKbgQ8T3g6w/4HAnQ34YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WGKY7zzVa295znBujYmLmQ",
      "input": {
        "note": "The yaw undershot (only reached -0.574) so the block is still right of the jaw gap; re-issuing a slightly stronger yaw target to finish centring it.",
        "targets": {
          "left_j0": -0.66,
          "left_j5": -0.66
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01WGKY7zzVa295znBujYmLmQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6434 left_j1=2.0029 left_j2=1.3079 left_j3=-0.897 left_j4=0.0605 left_j5=-0.6449 left_gripper=0.9959 right_j0=-0.0013 right_j1=0.0292 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0032 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [-0.9641, -9.6615, 5.3949, 0.2759, -0.0464, -0.0708, -0.0073, -0.1983, 1.6342, 7.3504, 1.9365, -0.0269, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b95a40104810d5dee934f514bec48b98514839e66d2958b5ca0af36e5c1d0412",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c869989574678e789f83293e844d0c13312fffa75b71328600af720dd54320d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:733e6fc1237e1b82488d4c8cac3a8a6dfc46a8ec1a4d75b2cab6212b0389dbd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob b95a40104810
wire blob 7c8699895746
wire blob 733e6fc1237e
call 23 attempt 0 · /messages · status 200 · 8.084 s
model
claude-opus-5
effort
high
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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5316 left_j1=2.0109 left_j2=1.3201 left_j3=-0.8894 left_j4=0.0639 left_j5=-0.6079 left_gripper=0.9958 right_j0=-0.0013 right_j1=0.0296 right_j2=0.0067 right_j3=-0.0788 right_j4=0.0029 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [0.2393, -10.7009, 4.506, 0.5348, 0.0611, -0.022, 0.105, -0.1709, 1.9077, 7.0359, 1.917, -0.0073, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5739 left_j1=2.0029 left_j2=1.3079 left_j3=-0.8944 left_j4=0.0532 left_j5=-0.6216 left_gripper=0.9959 right_j0=-0.0013 right_j1=0.0292 right_j2=0.0067 right_j3=-0.0803 right_j4=0.0029 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [-2.2769, -8.7316, 6.3248, 0.3394, 0.1148, -0.0415, 0.0024, -0.0479, 1.6068, 7.3368, 1.9121, -0.022, -0.0415, -0.0171]",
      "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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6434 left_j1=2.0029 left_j2=1.3079 left_j3=-0.897 left_j4=0.0605 left_j5=-0.6449 left_gripper=0.9959 right_j0=-0.0013 right_j1=0.0292 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0032 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [-0.9641, -9.6615, 5.3949, 0.2759, -0.0464, -0.0708, -0.0073, -0.1983, 1.6342, 7.3504, 1.9365, -0.0269, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b95a40104810d5dee934f514bec48b98514839e66d2958b5ca0af36e5c1d0412",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c869989574678e789f83293e844d0c13312fffa75b71328600af720dd54320d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:733e6fc1237e1b82488d4c8cac3a8a6dfc46a8ec1a4d75b2cab6212b0389dbd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob b95a40104810]
[blob 7c8699895746]
[blob 733e6fc1237e]
{
  "content": [
    {
      "signature": "CAIS8BoKjAEIEBgCKkDflFjVSgL21yyecoViAszq+v481vf8BlnzrS8pLIdGff450HHsH9iZvrJISRtxka5LLxWCL96LFkc5IgoOcIO7MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMd8t7YZOMFCFgG4f6GgxXgvZzKUzAwNCLMb0iMMq5khU6JslKVzKE3UQ8ZuPuqjIAVuY1UyXEChYIj7Rys4rBG8QWLcOBVKOpXwGqEiqQGf+nDmmPG3dDCtGJcSMFNVC0kJrmOMM6X2qWXE05JIfDfXFpiYxC/gcHFzfljXyvvwwf2FwVT+8FsysQVkqb494Dm4S5WwofyvSz3wLXSpwLlDVpu/J2XKWrsWAGVYJGMNZFdUQcXrKfTSyIwyQeACfGU/Z7dxg97PzR4gmZaIvsusxXZhBmDxqAP2TRE6TK+P8kAVXAaRrnwapDmNNr1xV3WNwNaA1jeHD0DpOgSTZii/wzUmfxtdPQEWf5RYK/Pm7HxYYu67qgYYOY6i0ZBs9E2m+qDS4K35RSvZojWTUAFlpBQ/G5M1jVwtc/V2PvySLKCtl3OaoInj7px6RF23f9/CogSo2zOCz/XeZm9glSHRRbHP5ofGxZYGPg12whSsG1xkIbIZXDakOZ3ZmISaogXN/TCM1iQjLW9uvd4d3dMvQCw97DFQs26sBDfkWqt1YsI2dfs7SRxrxJkvQhlSw2DaNmREwRkuOVX8HVEttRe27yax/ebnuYpzP526sa9HXJI/oVi9RYyCIW37Lo40LnRyY6NroXnExqPAlNeHVjEmrEqwkLE14qO2v6GZUbiNHRucw7RY2bCOikQBuC4nEn2b/dUfpGVlArFwYoMbcNTxovYMj55OgEv6R/89ixLR2NtDnck4NdUOt2PPipVR5n6hmdRsLIj0yz1ThCSplMawK1rX9QGx0BztM3X28gFYsBpRR2bluBktyQ1ksjejonsatSw+q2TI9D8jwqL7T9pRjG5Wz9nPmw9JNEpuIOUuvd1UptA3qLiIuRrIVp58Eq7FTDaA/LkeBDG/7+0/U4TuXiP/17Gf8/78hyRKEGsoiXkuiI+Sb7iQAbZ8AETbBaYUe9zPe/5Gm3bWFMUPlGqriDVTk2ZxTIMQEYrc5zK2L8BOyOna9fItUJBjzqZ2FZbCu+OogaGdbCqq2VRbVvkfToA9N2BeCBeiwOAl01WmwviYxF/lin2yHcwasFPr2wylSv7UTV8Pch551YhnkfDSzVR78yahQIFfFz14jheeCnDdvsjFfQatRypAVSRkSAww2WjOF58phXYVlwu/YD2bT9xT0SWOUk5SvPL0EQkOZt4MhymBrSoUxZBAnbHbEIcemSem/xQaEweaB4tRFbOnGrfzvcEflwxQHyvw+tlWyO1pNhUJuQKDxIFw9cl4S1DfQljvH2NAn51N40lk/h5oGv4139faaVKvPhvCYSUjQxPsGZ1+ljHik2xPD6Ke7oA1vexj7fhFzZfb0yzHwwuTVd2ChmxSiRtYoEmCCtii0uRBk1l9kTMkuMX6J/T4Kyw2f9b0h72+KCd8mfgozTR8YS9yoBuOT1rCjTD8VgGrovrGX/pqFc9fitl5Oeab0MtolbA8PAQMCVkcW1eD8NWHZsIgrwL2pYUnk2BPzGMxxYscwInhGBSnhE+uAAoihTt4oLDF3jh0Vp7HUMIiS4qjGKY1oO9dbHZUFSqmwbYK+QUNj4lTdXOObKC5CSJG74I1pQvhZh5idvkCuVA+nW9t8bob4dNfXFxkbuyFbmKM+76/6rbsZPYhfJLvVDTjjJITYoo0XNxWdOc7ZchNJdJTCQVVea0aw33LBZAPtf48U1N3kh+LjPwtZbssv1GLADh0s2ijgakBgggkJTYx9wD4P26JINLDz1bDxpG2cvfMTru4oH2sL+Ot0PRoaoLfTkLX5O8kGQ3IE4LaL0dfiXd6EQ7W9Jaf0jg/EHoyLnZhGXSEE7Pop1O6W9UwOoVonjHQLattXy9CMOXD9vCjeEXOGpeagnG1di+uUKvBpWDSqIEglOhkH9ITndYWT6SVtLkridSlYM7nMJVUEOs4NUzNzDwjXdNAeQklMYnEpDxnMUXlMIx9Zvgd4xG6OnoERJslbzWwGIzyDwrQDs9vZLeWj6aWco0p7XoiFkbQY6y2fq95T09zzoS3I+yRDz+reqwgBgarFHRzPRxZvS9d+hHhKbm5XWr5uXi8MCD8+6q8w+TL4viAuht72w5bc9C8jrBM20mkBHqTLNdx3H0ZZEamC0tcVUZyazMDX5NS81ACgxtmXo09UViVmmnu0X+VyB3y7n9MN3xAG9fgzNA3RircowAsyQ+Q0KQhTkAL6d0/lqJxnfERUTPm9UfKyvdBn3kjYPZ84bQX9fxcdfAN8hyoniqb2LQgGQIpOVl/MTCM0sxlI4zHQ5JUU9YxK0S2f31Qn8E0InDPCW1bzvJ7qaVCbmEvY29ipLS+arB+Aykr6gu3kVGLjJNcH+XkgNUdiAhBN5OCFcVhPyb/pmn/lD1Khn9i1hXi0kdSzCZLdsCen+qItJr3/xxtLni7rVWPtm+oWYPl0BUbPVpAvThpfXa8IjM2K6KOWgua/bhF4kmgI0szxMCtpsQl/yZ9rQwNXaKj3F/MGaqmFvLOI7XIVLRFS1TVXlCxihJzevEILG0bzW8hQj4BsEHZERC99yUvvAsmv3+/vvM6+0LGfE0sDIwUL7UkKavs0z1fzB7mSLuV6pi+7KcEM6sE1X6gTg8eWlABWy64XeYduY4ZER/BwoFOkN2Bs6j/22FypmbiwAj5WZJjVjV/OFuLUXdgVy4pQwsYAJNBpyp89zgZZ51mDu9tcXmPn3UZ5ErU+tWO9s+74qOGNSpTwcQwDbm/VqZAvojKOkksTRACi1i7MdGN1+7izm+/iB6xYS2gwHG4uGt/HD1nb6Q7aYLW4dXwQht4iPdllZIV6qTBqywLmYVANVZ3K9M23FxFxqFEaVgFbl+v/SFOUt37meuKfD+422F99QfgMK4huqcZ8vstAK7WWxTz+s+XcRCpm7euZKB/xv3+Kq3s5nWDLg9/GcO6TX3g44Epc6uum/MP/xFqFKk9+mi8ZcminZyLrdKmLWqoOkFdx19ZSF4r7O04442Yc6qrvDBHp3YhAYRnLj6mfGNmJi1/ienEXmkZXmLFEneENJqteyzLc79aKoSE8bf68qSc2VWAv14U5Z6gX5O7VRL8EF1M3Rj3hqRVsPCWmcJAVs/8FmNEjIa1BJZ2keS89gVuTW3jspi3J2drRL4nPctxy1/y5ua5jPrhHX7VFtsK4NWQBQ4hOJ4elLl0ri/SMHWGGY4z+EhpVt7Btw7cNqQcIrhF7p4tZuhG8VRET9lIgqDgYUpJHRgHQJw1ERYTzrQIVax0Tt5/roVeiKidLho8xVPDzf4phrV+Xj+6cFt3Gbe8vA+PxNNbnOqKy7RZOhk/KDNA/G9FeBPSi/eJZOarobMZaaZ/mqj5KpsrqJEn8jYnGFbfN+Hg0IcNw0aaIE6eb570R1/4wgEGuNo7Yq95CSb9g/IdG+NQdFq50Fod6dbCU5yb+QIRWiOoQd5CaUyxsl4q984nAr1hfbEUe0Km2rVqgEGtKNDZAw1LrrytUxZwiWY2AHLwc8DV0iXTeRrJ/pIcSHwvWNgLzonxgj1bko2r1G4kIIMQJ06MdvoZjyey+dNPtI0Gxc4wDrtW8Se3/wikgZmoDMdbatacsurSh/TKnIOqJ3HziVO33q4GTq92pLEldFGa0ZYUSPHZpRYT1BoEwfYYbxv2P4GcJxe523y7DxsbqdxObJjSx9FhUOnJUvpBviZaLxsXIWj6lttEy4WQsxdDq75nbfnYRlP+28BKRtD7/wYYwm0o4O/YcpbvMRW3XfKdQKpLq0aH1kQ2xiEJQHVkbd3Xy81eB0O7io4E7TU7bC08ej2azlGFAUPcCdAqZtqGcC8ihO3TRRvDyqmQxJ8oHRgcnMDwoFTiFqWKG+8N8CNhgnZfMw+1DylqkoNTUfJEII5437AkytB5I7X1bu9NHcv8wodZ+X4xQpe8fuiTUAYYW8m3a1W+xm9IAX8K4wE46/xUZHI5aGntvLjtWwC7eLYA3IoFkbUU9wUs3Dwi6Xup/2jPTcUu1WcR4spbce8wN8so8qEV4hJvx3m/iwznhKyORiUMrGzeYLCHJ1RiEGK33QkCyWfs+gBWW74HyLHbT1qfcxJWlNv+F0tLdEUZ3EFKYLKkI0QHOd8Fn7yJ+YE4iN1d+dggKMYVNTESJ/x80nN9QjeEa6OtNbuFVwWM6x+mXSL2VeoLR17wZT7P26cnDrADBfuPWIyzUvKA6xoQwpD5bLCaR2kpJB0MKH8LL+lwT34zI3ciL3zeI2myWMVmOpK7nBmB0s/M5KtOk8M8fcddJcxcWnTsVaoSQ3L/38WNGFK5fXJVluF2Lur5t9ND8V1GsYD4/kznKbTEFidDTE0tvxHERaXTbHJNJ96phFeYM2zSpAZ8mB/lHVtebwm5UEo02lgov5JxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01X72SQuzuVFcWFJB2QtMLFQ",
      "input": {
        "note": "Too close to judge anything — the block now fills the bottom of the wrist frame. Backing up to ~10 cm above the table with the jaws closed, so I can see the whole block and the exact pixel where the closed jaw tip (the grasp point) sits, then align from there.",
        "targets": {
          "left_gripper": 0.0,
          "left_j1": 1.84,
          "left_j2": 1.48,
          "left_j3": -1.21
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01X72SQuzuVFcWFJB2QtMLFQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6456 left_j1=1.8843 left_j2=1.4471 left_j3=-1.177 left_j4=0.0612 left_j5=-0.6559 left_gripper=0.4551 right_j0=-0.0013 right_j1=0.0292 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0032 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [0.1709, -11.7538, 7.9932, 0.2564, 0.0073, 0.0415, 1.0281, -0.1436, 1.6752, 7.1179, 1.8974, -0.0171, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee7ed7f6bc6f8bc69b6e9b3be3d5cf463cab3ba988ff05ab5ca0640b87be7572",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:114199c5de8007f08c6d546436342f4670254af35ad023707e0bdf0d19ab2130",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c079711dc40ba1298c7b2d242f56447c57165324f2582898a01e6395a9bc65e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob ee7ed7f6bc6f
wire blob 114199c5de80
wire blob c079711dc40b
call 24 attempt 0 · /messages · status 200 · 30.71 s
model
claude-opus-5
effort
high
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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5739 left_j1=2.0029 left_j2=1.3079 left_j3=-0.8944 left_j4=0.0532 left_j5=-0.6216 left_gripper=0.9959 right_j0=-0.0013 right_j1=0.0292 right_j2=0.0067 right_j3=-0.0803 right_j4=0.0029 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [-2.2769, -8.7316, 6.3248, 0.3394, 0.1148, -0.0415, 0.0024, -0.0479, 1.6068, 7.3368, 1.9121, -0.022, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6434 left_j1=2.0029 left_j2=1.3079 left_j3=-0.897 left_j4=0.0605 left_j5=-0.6449 left_gripper=0.9959 right_j0=-0.0013 right_j1=0.0292 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0032 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [-0.9641, -9.6615, 5.3949, 0.2759, -0.0464, -0.0708, -0.0073, -0.1983, 1.6342, 7.3504, 1.9365, -0.0269, -0.0757, -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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6456 left_j1=1.8843 left_j2=1.4471 left_j3=-1.177 left_j4=0.0612 left_j5=-0.6559 left_gripper=0.4551 right_j0=-0.0013 right_j1=0.0292 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0032 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [0.1709, -11.7538, 7.9932, 0.2564, 0.0073, 0.0415, 1.0281, -0.1436, 1.6752, 7.1179, 1.8974, -0.0171, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee7ed7f6bc6f8bc69b6e9b3be3d5cf463cab3ba988ff05ab5ca0640b87be7572",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:114199c5de8007f08c6d546436342f4670254af35ad023707e0bdf0d19ab2130",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c079711dc40ba1298c7b2d242f56447c57165324f2582898a01e6395a9bc65e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob ee7ed7f6bc6f]
[blob 114199c5de80]
[blob c079711dc40b]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AZXKszXNfXisJNmfc3bK72",
      "input": {
        "note": "Success — the gripper residual settled at 0.455 (≈4.3 cm) with high effort, so the blue block is grasped and already lifted ~8 cm. Raising it to ~20 cm to confirm in the overhead view and clear the table for transport.",
        "targets": {
          "left_j1": 1.78,
          "left_j2": 1.82,
          "left_j3": -1.61
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_01AZXKszXNfXisJNmfc3bK72",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6468 left_j1=1.8267 left_j2=1.7763 left_j3=-1.5436 left_j4=0.0639 left_j5=-0.6636 left_gripper=0.46 right_j0=-0.0013 right_j1=0.0311 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0032 right_j5=-0.0181 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -11.2615, 7.788, 0.1294, -0.0464, 0.0464, 1.033, -0.1573, 1.4427, 7.0359, 1.8974, -0.0317, -0.0757, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6a7d26b14fb79b827c4550d6b49de6199fefaa3489ad61c20ef1e8e2ef8b1a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2089a02d5b7b59b08de96b42ebb3fb9706e0024bda1358026a13365d19a888ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d264e4fd2dd395670c2f157783de6d0874ebf4da5929a2f80acc11f08c439db5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob d6a7d26b14fb
wire blob 2089a02d5b7b
wire blob d264e4fd2dd3
call 25 attempt 0 · /messages · status 200 · 17.11 s
model
claude-opus-5
effort
high
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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6434 left_j1=2.0029 left_j2=1.3079 left_j3=-0.897 left_j4=0.0605 left_j5=-0.6449 left_gripper=0.9959 right_j0=-0.0013 right_j1=0.0292 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0032 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [-0.9641, -9.6615, 5.3949, 0.2759, -0.0464, -0.0708, -0.0073, -0.1983, 1.6342, 7.3504, 1.9365, -0.0269, -0.0757, -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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6456 left_j1=1.8843 left_j2=1.4471 left_j3=-1.177 left_j4=0.0612 left_j5=-0.6559 left_gripper=0.4551 right_j0=-0.0013 right_j1=0.0292 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0032 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [0.1709, -11.7538, 7.9932, 0.2564, 0.0073, 0.0415, 1.0281, -0.1436, 1.6752, 7.1179, 1.8974, -0.0171, -0.0659, -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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6468 left_j1=1.8267 left_j2=1.7763 left_j3=-1.5436 left_j4=0.0639 left_j5=-0.6636 left_gripper=0.46 right_j0=-0.0013 right_j1=0.0311 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0032 right_j5=-0.0181 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -11.2615, 7.788, 0.1294, -0.0464, 0.0464, 1.033, -0.1573, 1.4427, 7.0359, 1.8974, -0.0317, -0.0757, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6a7d26b14fb79b827c4550d6b49de6199fefaa3489ad61c20ef1e8e2ef8b1a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2089a02d5b7b59b08de96b42ebb3fb9706e0024bda1358026a13365d19a888ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d264e4fd2dd395670c2f157783de6d0874ebf4da5929a2f80acc11f08c439db5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob d6a7d26b14fb]
[blob 2089a02d5b7b]
[blob d264e4fd2dd3]
{
  "content": [
    {
      "signature": "CAIS0zcKjAEIEBgCKkAOVcivY4FCTbMEL/NftFcNsVi/kDi6f2cqm95oHGVW0aTm8dAtSEUxlOMDDnSI+zAxpJJsb1SOIukymxBv0BFlMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMZZUBvm7usrpGxoXRGgxwo0HiviSn4km+FosiMAUwzHjDCoOtkSw5tUq6SMRgIaCyGffH4rFe4G2KRNH6sGAXOllI8AIj1eIgv9djByrzNVWFZ5XZkNrOpurtGQc+EpkiS+kuS/dAdWQzn3/sKE6AiRGSz29DguZvIEh0f8fiOD1KTyB/aNgrUapko5WnHrTLbvzWn3m9QaZLdMQb1JchG9AXG1T2W9JF8BiXLTNeSCWOSspnW30UMrTlirfq1+egTpyT6T01FfQFlNC8l+3U2Ut9xqVQSDdOVD2aAPyTrs2455ypyumk6w3xQmqIn5uF0ynHtvuku63cP1UVkdoXoVBoeCCk2RZtNQxjEZwgEEauA0EjoRMoekiCSgpTophvUufUYs3ZKmQGCjVY+8CYY+BO6xKX/OTp0i5n+Fo2ZN8na4W48WhBUYsq0Pk3/i8HUwXFeQOa1uvkOxO+rNS4byenaoQUpw5SvrFQOkNOhNi2VTC+m/7PUvJ6pMHHMPFyFjX04QyF7wF8ttZokWmOj/YOIqzM5MsEF3+oWMVKtWitNpnpEFXD7LNeDH0TZD4Mo/pJrsS13ErMF7p2qr51VemKIvW76iNgZtSbJiBmEXeedZho3e1hQis9CK3Rh9i76t3awDaBrTZAFx1U1gkya6e4XzRi1A/bkZrydGVDl+XKI2TN/vHDzvbM+ifLaAdQmja5VSeoe9T0vPgGr6SodOoOjCbJV3QsB6bf8VHF2m6vO8NZNRBH5cfWHqDiMP19josPPxhqK+8tD3ngx7F3m6K8HnmPHqCtO8UTbCUj0hkA9vFkZVfYo6y2Phwn4Rj1ALi+i4jl3kz1mWxWISsQ8NlDds9AGfoC5WSafCsp+oGNzMli5aTmI+Ci/bApypuLeqGjv7IpcPvtkTALQfiPYCnTITcy7cXNy9xuz2Z6WucXpOspaQY5Rjti9PQZmA0aHaVB0QnoInP+fzyi8a8f4ta3zQ0+ZlPMlKcJ3cVU7Hqrc1ibzcuiJ6J3mnIyF69puHKummGz15N0lyFKAjcthf/2iFmgfRedW9jPmCdRb3ZaBIdFrgGNXyi/PFCUWOIWahKStseWN5X93ihiohtmCPE2XEQKjJy+RvV7R/cL+uRRkK54PavXdLyVk3cJdoKzebKNpcbmSrwSs3xP0jMRW5B3QYL1dlZgXdBaWcvNTwH8DxWra2wx/GZtEUpEvC95sHDIAnRKX/MHhz4sWC9kYu2yerQ73SSMTOD2a0TSQdiF9mGMc2PZ5EM3D9rrU89bdKVSvl/wDBV/vyjZStP/RoVcybsibyc1q1Fbg6rG6LUToBLxwXxzhWR604g8xIpwSSthySiR81utLuI9ofTmdTM+aTEb3aR89rELINs9Fd8BDbd4lxDP8dz62My40ak9FE7IPQfN/G2bbDXNG12MKTjbJTz/xUUQ0UiCsNmk9wmyBEsukyDL4aS2HN+TXSizR8o268D0VRY8FQMVuTr8WWNWezciFWmscr3miisoNLjwiXtc21W9LtYd2NPFyFnraaPeOlBJkJ+7v1yukiO0N71yxMgsog6ZkECbMooLIpeS4FlcW+qmbDb+zGeYBkWqN48SLrwWMDPmU75ieAt0dFFFXIuqGB8XDZ1J81oJ3msMCkiAA+BbAoNOdR3exFkMFmLQ1N76wKybdTtW0zT2dwDTWM7NYfyf82K0oLlkWUtYgQvbkUayND0FBOWTTL1bu87I3UIqAL2wBWwv30W4N0wL2mGMi0B+3KN1Box00eAw1+ZPbdM1AaCRKqcbZsU+GTK3TckCXM+hkw5Lt0TqtK5f0C++2t7BBTSuRKhhQjfXDa+7Cwbmv/ToPpgPShBacWQUasuj9QcyZFOxaAEKlnU23bwy+RNxsuw1bBf7BtlvdxJq28bhhd9lEhuX2Ew72eCjxucq6n2wiTwOzpuEwoVPs70VD093UHXzl9XDFT5GUkItjCEqXXvTpbU8RXZyH4QpGRX6pad0ht2MEjzeBfzZ1VYkO9q9nSG7S5iToOeIuRnsWkU6J7ZQOQ4ZvOw4xD6E90SUDClC0UHMl0JvtSwVhUlacm1mjVfjw1RIbTCJcSl6OHNpGvg/sH94yQzHrbiGinzrTU1iuT59GhZW8WySH6LfxaRacrh2y2G9vRuzWk9rK1sFl0Ruf8Dtld+TxLO2gtJTApIBUYYwpfJNhw212Gl0Y+Kv98LdAFco8bcKeQ6ufwG6AEEyRZ6DgCP2vnqvKZjlalhPZjlOTR5PyuKgvI6N8dgyScwV4ND5YHYcADAF5kYBJhP0nWjGff7fI9hh4Js4hoqV8SIvp/48gGBAJagQHTFnIR9KXJe0ylg2dQagLjwF4iDiRualWfNeKG7/di7A/6wO3dhkTRvqZ5XPAxKO4wy4OLumfBkpu86U6gF1mAaBCnneSRMmCwfpsnl2rfUCbGZDQlERhrg/f5PY+IoINYijAULjns31zuAJ0jpZgo1o9m0zG9EOP5QZs7iaUS1IkBzEOS6UJk7ykcJJ9BtxEuva39n7bpabDB347Q5wvy98+3iIn5AVSytFf/CCSviIvWfNDqTwlqH/QcY0JjgrJEvvdjoA5ogeY6jBGKOZYtXzB7XJmFib22tvvg6UTOHJwvRMNenHwiCsQnFfhaiaw5EN/Gyw8YHmIwx++nk2UChZGoiMpnRu9ffAnpS1kHun1ah0uhXQLzCzRzkMp8aW3naqRIqXCjVQxtSifeRZOrY7QSUkYuVNcIKZm2vOhJMvoYk+iu+B6VUSAy7QZGEmSZiZ6mx1eHes99uMaWyC6WmH4e8eIMMCu2bT+OgJRspAoXK7rfdw8aTpuh04uidOo+cLFpouBLqWsVnHXI4O9I4D/fc7ymnQmFP46eNCIJHu9OyUPYwLu33hp+I0EvkllvXhoEXueGLQ9r5EF/cOtqvSX7j0h02dg1nrekRwKCxunjehPKfPLe7g/2o3EfTkj1EyNGWWgSE2zcJNiBdZ6VEnaurxN213T0QoRF88pS/VsxIgd/1WYoTeBSFVI4lhXBVk0Rh2N+CGcu2+LlsDbkQLIauNMre9XLkVyesVQ0bjtjk16fRt/Ry7CxhyfR35JsaP2Uz+thgSH5BFAbmPntokAVIagZNHMzgruE/OLXOXmgHBULeQJcouIUQQ+LJy1YBQ/FkhMCRYeR88Edo8DX/+cmWN/sTGcSmW5IapbXhofAJs4Vja0Uy6lry8Tu8g0OV6Y9Fx4mt6zfYYqD2OdGuiHO215yhsOoXGZMcoV2rPYlzFMJT4rNkS9GKbqAMDDmlAaVXXqg8hKk6n+qv4mHHR1V5CPzITA6+ImvTyQgxnKQzcg17XFY5Dn6OEtSHNKSWDVq0llLLdPxNlCFsLnKH3qIZrpHr/aIjforXQsZeGA5bpUCYV5XKOo0nYIRiJtAVN8bSU+mQkQQ7BYYlQCP0gibL/kT2PCzmKUUS2s9KALI3AO81vtVqyATZqSKhA0O3poScE2pUbEeDjvkSmKxuRX91ei7b/TsxLGUQJ+UlC1tY3m7hgrjEBKN9d82tul0MeNAFGuRqJLRhs29ddM9lOOPwegOnR8DQKMID/gVIoKZfBS8+wQM4TyIgo3r+cAPuuaeAttCP2Zx8rCIOOuqWgYH51w67zGyK2foFTRnC+UQMbMu5Zx7zrlAPDkoC8rVPFDAfzeyTcahnwmBoXd+GwacUtywI13nHnuLZsb3QPT9xFdYaUBK34b2+ckI1xdOdgfDAtKg/WK26R0GVh0utvFyn6P5mpiXxTz15Vnr3xWX8pZzGP3VQH8IbDc/TXhNDPDqw8RXoaiZp9ozz/LUv8lr0zH5SW5VxVGxTxrI0nmHHzBL6HviFCFOo3Mv9DWyeyhYwrL7wDQzLjRtBNxMFIgB8I0QcbdSVbGJ2KTD9AQ7bmbEtXz3jnEY35bvaZ/gMANdtbsK98j2WCQtptVpviybN58krBXFLB3i78sd0/nl61pIdgXUwUhC9ElC2pUZDhXXM940VteCWy2ZaSuhzG5ONGrCQntR4380W/f8x92ETEP7/Mlbyj9Wwvhra3yyGIiWKh+QewdUjAd9WlNeLIN+v0VTYdEqw5PH24q77ssD7z/TmXa1EOsiOFgYKfx/heta+XgRDS3vgmQx5v8lApf2X/lqRM8iMPK9jHKFUuDR2Wqeh8d3dnA/+X31fRDtx9qDDlO0TTsIBzOrd0EW3fZ1YKLQUj2+ds8/mdORl3tEseIhKn1uRJ88kowB60IxqUpV4d51LRs4xDSDTJZdS2krgexGxHX3KUJiRs5QZU75raIm7dFXlcp9kege5zrInTint8pKJ9EAnpouzb0cNVYma+3M6ksu0DOuDPjcIds5O0V21MGNvtqRf6Kb3+T/D8cZQLKqDeXbAgnbnDQ6tL3jKWskXW8DEJg5EkVsW9uZnwnL/nbh1pti47okTaiIRfUHqheIepQxXwmm3GSKEciplrClrff/3kah0mfoxNtmitvRXenpPjx1kWIAIgnVGZ19t0wQXR5IZEFz5cZvkebDZSx1HcMnKZ+yA40CiZWwaq3OkAojUvsswrNzyBLPRqh64ThND3J4LcTGeqYfV5+4JwSRNfPc32uMYF5udc3CcB9thrCSAuGmpub9cM8CiN9udWtuz1V0Zpc57VjYHzBhAlXGbmT9d59I4VcHqT7k20xm/baujlyVXDlSIrz32D6HSf36xaHcE/Abo6Q1DMcTYwufa7KzCeCUadFMO/yVw6ppno3b65z4ppIvnYCccRsLWGh5ANUPLFW1PBoOxC901tGIUlV7PSnHI9q6BVFms6KbYyDADIxj6CNDa8bMC+cxCY+mzt6qZ1PbdbnTcoxLrkfoB+c78X7cZW9AssCNiARU1pU9esGgvGBN0RpLz2LfOixxPxQIh7S+Klb66JqAzikY6X4d2d7BcXssCIX7eNAmDfDmj+a6dumNjVbVphwjpL09nESNWaUyZIlJdChdSPCtFjPLqiVIhUvMyz8R8vtKY+FO6rEZKdR4cMETdq+poC/C7fSI4gtn0B0Ra/pri3npLqpG4pSCHJhunErxSNBcKalpPAsaLTmfOTa2z0EQH0153OxPONnWHbmDK5FljT3HMOJAD4lfGueQpEGbK5wpCQjvCtBcLtVzOJi3el/8jUB6zJ0jVJ3OfL3D6rU1YDE+kRxqjWnJuC2cJM2paZsDtsxDGuKJ4HkwqGUHwDd5Sbu2+9paWe/rgpr5gtz79e6z/DoBlAGEXlthDEVs7Yt0i1ajpH21CS8gZ1f8W7I4XzYZTSwgBHuTQoq6vBXzKqkYgEv44N4msnmSTgAIdBCGttVSxQXe3SUHGLuJxDxUhmBar3aqO/8lcxH0extUrNQqImdmfJV5+MQtkaE72+wixLJeE2lZbE+gahVGZKHGGW1IlqnGUGfwEWEDxD8BoR8mf1et+oF0lQAIo6juOYJjR5P0Wz/QsHECsrheID9wZJDWdHaBkI+p6aMD58ugMoGwvk0H3ODZTmqAoGA+5a7gxIFyPol4yw9vj2devv/GKhonzaBQlzEV+Dz47ZsjiFugzFZ+NmYOdhS7CnNO/TZsZZXcfhZ4fg1AIAhdC4FTEK8/tzeaw1g7d2UW5X6WVlcgh0Q0N/hU9MkhI5M4qM9zXDwt0P6bcFyPrVO7C92oyOGgySQcp99yqvzE/bPH5PYGEBRJx8fKFOnCGk7JL7MBx4O/c/zA18TokMKhaIRljVpH02PuQrHDn3UegJwq6ihxRNxUHuq/EdbEoWoWEruO8NyfDmzOq+Ikm+IqUVBl+5fTZBMdFmclp+I/sjPRgrf/mwpWF5ap5tC8IIBGzPrPbsJ2yiN09kyoZuG2TMHf5i6S21q52uyGEhBE2bN2JqzfQ1IgCd31BLAkVDEXlr1GGbhQ6rK+FfgDyTobxq/584q3KrkVVZpzheMVtGzC3ivL6CWqOlvxH+hbJAo4Bz7YeX/wiFYLvmpgESon/tWlZNnEOkKA0/jzl9dgMllgfRnb+lEnyIa+9KjLO8sXMnsukaJfBJxl7MFZT3SKwnJoZmaJ50cyhElOJEILdHsBVhB9TezDotnI4pTKsLvTXObJmJsoybyWRWlHa8RQ9L1L4eMhT4eBN7IrYf8nOQ2oXtEi/nwij6e/1eXxaaU9C8zNe9XRj4j6Fb8EVhPlufDAj/IdBjOjyPnrvWHjQSm95/D+mIp4tluTwrxrlNL6tKLlxSKBDiF6p2qTDMCigTsSUnuk3ttGuIiQeMH6QB+fKMT3DttUyXFgNhVfcMvRMgZiUddQt2mAGZU3TgKWOFDj+5Qbnzx/jB5Q2GvNS6G4qnOxQdr9ScgBE9z3dZkKIRk2d8a3x8hlONdhiIui9RzO2TCRyv7w1vJ8d3lSUrUZxq5KwEy3zeJH9nWItWU75zPN3VEPJr272+PlFSdjPC+uaXmv4E1O7pX1O2qqKbkAPv2wGTaHLfuo+y7W5uaTDCQGnysPyKuNpgyjWa2WEmN2IfHv3iYR/0yV5rB8qjzQxhECZ+TPIEVFd+jVCUXiA6yXYxpzuHtxOEksQyiFVK/8YlQhjrCiyHC3Pta3aLHES4N0VUfBimL6yVOL++K+8TcabfjjJBFwpe/JZwLSstcfKGovDGxg056lraRYxRW6TtEQglwuS3IGNcNZvRo23SfM6mIj9pcrM3fy6Wimymw2Uo10ULN3naOPrOuyfOOD7K7J20GSlISdbVCybydr8hB8wlkc+eON6XnUjtfPuvBLJ9AXt+JPwBHYAqpzV3RvmcLLokBpBeSLjxlFO+OZ+k2JKfiV01gi0GzCH+ui4L6mYK7g668pafPs7AdHPJy2NajW07IgiwxVmWqDOS8JmAX3xEBz6y+mPM6kCR1eE4vOIcRhluDyFMBfCR7OPPixeKCbgZX10C7CCjWaVt6tsihHtcRQ61P/vlw7dcIxZDJwWMLGdCgS/QaqC54Aw1OeOeq/ZRlNzMnQCxwYNfox3XKq8ZgdJWlyeeYjBNdGxwzQ9XCG6SEb0Ypt4wwRZARRUx81TWlDGSOWCSUtp2QcBru5ALdwCM/iMhGG9rUPvlHxgGcWyVZZCCjg0ZqevVUQAa0UQiZ7FOg7E1CusuDiixxv8vpeYr3BlH9PMEGrI/jQ3VwyHh5suzEV5fKqsx/g2fXuDOvx1GFxIvx3XtEAQZyGHgbEpvaYh8K4BpLb4YkV5qreryiyby8qJ4c8mac8MS/u6wgosISzrST57Z1s612oMkVhamz0sXAxgHNrUH/I/ZIrQQKrFf/kumY0+2MLGRNR20VmYm8HJswLBVrH1ID6W5id9cRcAVM3fotJN+3Z6aOtOkkNraIeHftbuGpMeKVrhEwRpijdetfryYTKWPkQyi0RWlThqXZl/oZ2RGl40Z72mkVCFmMnd52aDOFaOA00kcQnXsLqUmJn/aeleFBTw2B/nJNyv6UdqmgHu1hb3h2z7Jh581ZyTs+NOcn7V2pOzwAFXkwJoZsgXk7WJ3/iGf+9/mDrpddKY0WsmeerR4Apkbd4/1sAM5UaHwAaHfzMRTTa0h3I0y1PiVHqzTDhPBPO9AkJjKZGs8PLe5J/jllrWatJXgkQUd4EWUNwYuC8UCsLZHecoKdmUhmdh7ODLtQX8/ZuajXQwnifI+r19OjDld7WQPMKaMzWaEL3tnfW/Q5jU+ylTRkAHwPaVR6aRuHRLZ20A5UTsvXcE/YaSQwQuIeHEJMBiEzMDwlBS9s0fUQG2Z5im9K4ptqW+JovJWe6zz9Lh90NMj4k/EE7M0FOEnPBb9lpy9Fi/mYGH2DEv7Meh3jCkveI/Dirzn0VczWqJiiuhivYNhDEQeX46eunXMD30Kfur/sHEq1DONivXn9RaDFMhxPKnJWm6IFxoWe98PqBsNy/EMdgf+r8uAnx2K8o2zXDJwemCh88OUrhxNgj5DB1mirXki43xXzTi5XWjoQ5RH+S7LO1bFvRr5F6f4f+5XqmDdbTUw+XomHvq7qB+tOa/vJMG8kvk6DvIqUQrfU/ujtjwLkYMoqsp2719w7mH0DbutaUhGgX2ccrNiRYZ/KsnXPdE3dmCb7/LY90u7InSow1MfrjEn7sR0jyuvDetywcIaTwDwhFr+9LtXjCV23idWLqkgps3zJUgPl2fh63N0GyLJQiU5AFZvdzBe0kdpShzhbGpJHNojk7ZkTGp511hwGGQxtXCS/clVMggyNtgtB6ZU6sat/8GU/Bg/q8pnyhTnxfHDDz6ArOYNvwHsQxQu/+/zwZS65CyGRHRLx98KPBl/t9gkLTDFdTH4lPs/BgGR3DDHnUqWDM7rDLvtTv7G2XgsPh5R9gcgaRC3gC0/Q6ZhNybOW1yr8/CS33vIYs+5GhBuzon4eCMQaWVR5jUxz5UW2WiDsNyMIUrI2CJI//KpTnochxR/7dOLICyHQBdFUibvpZ74dKml7slAitd/ImarzUUp6nl9oc26hwgjO72/WfWHVOKq2c9LWpqCdMBGhtrQpgBFjR+oamppkGqGNtkzYY890FnnX6iowOc1SNE5+BVKGmWAki01XWY3RERT5/oCKUqxnLWHYFpc2reThiq+AbQ6sxQm04uffJ0NFhs5R00hLggo9/6PW+BvAwqCkhA7nN0RdX9Sjzb0jlSz1wWwcMOivo8gT7RdnjuYarudbFbWrR3Ts79OmxTFKG4ilKwrsd8dwVnkNds7+J5ZICw+N3ditgrwve0rhjreLiN3Z599hXU+Pks3goeVisnKvWMulbFFgje6ddE8oM2rIhg9SE7psjDNZEj6e4+zRWZOok+SDgWqjuuo/fCAm3vqAMwABoNneUv4Lr4qbwgaEvdvBAZtviXV2mhXURrW3Gm9L5QuQQsU2UW8xGkGhxFczGgcMgCETtuN35h/7IQLhdyxzbS4HCFA+reqVQFqj0lmTjo/S8mTBycK6xSU1KQ/nnYHaMy6GHMLdxRM7BWe5LhjDFUfkttbFIOuItkA6jmqPuyF42J9TUBqH/SZWXTHRvAXNh6zMqEaJOsqAYV6SlhFCrn36Q/ifBRfZWGAb9oTkxDYshgX45ItUFfxtCPwc2HySRGcxDabnvQO+y2BPTeZuyhS8r4BmNYt/w+rAXq9t+PuaWuPhKw9vqLA3InOI8PppjA46kC3T9ggdgH0MdNUF8k5+dPfIjFLDuU8oUf9yS3UIPWMSj791IX52IL6sBo+pG9Xa52THseYwrHNspP8NQElLWodLhvkc30PJo49powYtdGiuxdnXpmRfmfZ7LpM8gx8QyLa93RIOVO6QTqW/S2qmwgZcm2arYuGGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0172gh2XAhjmHmzRGWWTtKoz",
      "input": {
        "note": "Block is securely held (residual 0.46, effort 1.03) and lifted ~17 cm. From the overhead view the red block sits ~16 cm to the arm's right of where the blue one was, so I'm swinging to bearing -0.95 rad, r≈0.44 m, staying ~15 cm high, with wrist roll matched to j0 to keep the cube world-aligned.",
        "targets": {
          "left_j0": -0.95,
          "left_j1": 2.24,
          "left_j2": 2.28,
          "left_j3": -1.61,
          "left_j5": -0.95
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 9 steps (0.9s)",
      "tool_use_id": "toolu_0172gh2XAhjmHmzRGWWTtKoz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9337 left_j1=2.2208 left_j2=2.236 left_j3=-1.6157 left_j4=0.0677 left_j5=-0.923 left_gripper=0.46 right_j0=-0.0013 right_j1=0.0364 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0032 right_j5=-0.0181 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -11.4256, 8.1573, 0.1685, -0.0562, -0.0562, 1.0281, -0.1026, 1.1692, 7.2821, 1.8974, -0.0171, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d4551ccb6fc5d2beb2cddb79f11348392b9ad38d5532c8dbddc8538e311ac68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc486c49bb20df55ef0c3da5b1329e49c454a6d3d27b2e174f7c685e6d8aa849",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9979e3103d3fc6d27be9dd51b15426e6af80bde6fd1b28cbfd5bbcbc4228590d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 3d4551ccb6fc
wire blob fc486c49bb20
wire blob 9979e3103d3f
call 26 attempt 0 · /messages · status 200 · 57.33 s
model
claude-opus-5
effort
high
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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6456 left_j1=1.8843 left_j2=1.4471 left_j3=-1.177 left_j4=0.0612 left_j5=-0.6559 left_gripper=0.4551 right_j0=-0.0013 right_j1=0.0292 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0032 right_j5=-0.0177 right_gripper=0.9989\nstate[joint_eff]: [0.1709, -11.7538, 7.9932, 0.2564, 0.0073, 0.0415, 1.0281, -0.1436, 1.6752, 7.1179, 1.8974, -0.0171, -0.0659, -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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6468 left_j1=1.8267 left_j2=1.7763 left_j3=-1.5436 left_j4=0.0639 left_j5=-0.6636 left_gripper=0.46 right_j0=-0.0013 right_j1=0.0311 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0032 right_j5=-0.0181 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -11.2615, 7.788, 0.1294, -0.0464, 0.0464, 1.033, -0.1573, 1.4427, 7.0359, 1.8974, -0.0317, -0.0757, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9337 left_j1=2.2208 left_j2=2.236 left_j3=-1.6157 left_j4=0.0677 left_j5=-0.923 left_gripper=0.46 right_j0=-0.0013 right_j1=0.0364 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0032 right_j5=-0.0181 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -11.4256, 8.1573, 0.1685, -0.0562, -0.0562, 1.0281, -0.1026, 1.1692, 7.2821, 1.8974, -0.0171, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d4551ccb6fc5d2beb2cddb79f11348392b9ad38d5532c8dbddc8538e311ac68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc486c49bb20df55ef0c3da5b1329e49c454a6d3d27b2e174f7c685e6d8aa849",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9979e3103d3fc6d27be9dd51b15426e6af80bde6fd1b28cbfd5bbcbc4228590d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 3d4551ccb6fc]
[blob fc486c49bb20]
[blob 9979e3103d3f]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DTaxD2Gb61t5BF2H5tH9Du",
      "input": {
        "note": "The wrist camera now shows the red target block near the top of the frame, well beyond the held blue block — so it is further out radially than I am. Extending ~4 cm to measure how fast it moves down the frame and calibrate the remaining distance.",
        "targets": {
          "left_j1": 2.44,
          "left_j2": 2.61,
          "left_j3": -1.75
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01DTaxD2Gb61t5BF2H5tH9Du",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9356 left_j1=2.426 left_j2=2.5649 left_j3=-1.6989 left_j4=0.0704 left_j5=-0.944 left_gripper=0.4635 right_j0=-0.0013 right_j1=0.0376 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0029 right_j5=-0.0181 right_gripper=0.9989\nstate[joint_eff]: [0.1436, -12.465, 7.5145, 0.1197, 0.0024, 0.1538, 1.0281, -0.1299, 1.4974, 7.0632, 1.9316, -0.0269, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03ea408e9c648589c4e3b46fe18b2c90e05bfec2e2579e841468e593ca418dc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7f38cbeb64d4738c0bbf9afef745f077cb5e4a5122b811be2e4c21adadd4727",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8234c0acb8565fdadd9effd24addd9e6888e66bc183842011c85a71fdd1fab24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 03ea408e9c64
wire blob d7f38cbeb64d
wire blob 8234c0acb856
call 27 attempt 0 · /messages · status 200 · 23.9 s
model
claude-opus-5
effort
high
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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6468 left_j1=1.8267 left_j2=1.7763 left_j3=-1.5436 left_j4=0.0639 left_j5=-0.6636 left_gripper=0.46 right_j0=-0.0013 right_j1=0.0311 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0032 right_j5=-0.0181 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -11.2615, 7.788, 0.1294, -0.0464, 0.0464, 1.033, -0.1573, 1.4427, 7.0359, 1.8974, -0.0317, -0.0757, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9337 left_j1=2.2208 left_j2=2.236 left_j3=-1.6157 left_j4=0.0677 left_j5=-0.923 left_gripper=0.46 right_j0=-0.0013 right_j1=0.0364 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0032 right_j5=-0.0181 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -11.4256, 8.1573, 0.1685, -0.0562, -0.0562, 1.0281, -0.1026, 1.1692, 7.2821, 1.8974, -0.0171, -0.0611, -0.0122]",
      "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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9356 left_j1=2.426 left_j2=2.5649 left_j3=-1.6989 left_j4=0.0704 left_j5=-0.944 left_gripper=0.4635 right_j0=-0.0013 right_j1=0.0376 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0029 right_j5=-0.0181 right_gripper=0.9989\nstate[joint_eff]: [0.1436, -12.465, 7.5145, 0.1197, 0.0024, 0.1538, 1.0281, -0.1299, 1.4974, 7.0632, 1.9316, -0.0269, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03ea408e9c648589c4e3b46fe18b2c90e05bfec2e2579e841468e593ca418dc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7f38cbeb64d4738c0bbf9afef745f077cb5e4a5122b811be2e4c21adadd4727",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8234c0acb8565fdadd9effd24addd9e6888e66bc183842011c85a71fdd1fab24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 03ea408e9c64]
[blob d7f38cbeb64d]
[blob 8234c0acb856]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M3VH6PNzywcegfGdpPherd",
      "input": {
        "note": "Three independent estimates from the wrist view say the red target block is 25-40 cm beyond my current reach limit — it sits in the right arm's territory. Retracting the left arm (still holding the blue block) toward its own base and raising the right arm into a gripper-down scanning pose to locate the red block from that side.",
        "targets": {
          "left_j0": -0.35,
          "left_j1": 1.78,
          "left_j2": 1.82,
          "left_j3": -1.61,
          "right_j1": 2.0,
          "right_j2": 2.19,
          "right_j3": -1.76
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 35 steps (3.5s)",
      "tool_use_id": "toolu_01M3VH6PNzywcegfGdpPherd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3584 left_j1=1.8214 left_j2=1.8282 left_j3=-1.6077 left_j4=0.0711 left_j5=-0.9447 left_gripper=0.4635 right_j0=-0.0013 right_j1=1.9774 right_j2=2.1475 right_j3=-1.7092 right_j4=0.004 right_j5=-0.0254 right_gripper=0.9988\nstate[joint_eff]: [0.2667, -11.0701, 5.6957, 0.3053, -0.022, -0.0073, 1.0281, -0.0752, -8.9778, 7.1043, 0.2222, -0.0269, 0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:658eaa93987ce04d8b208c5635b2352ec9a667f13089ff7e44bb865ceaf1b916",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:923df2647ec5292ca50a4becb9a35b867168a6d832dd8d749f60bc36cc8e0e46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e4fafc68ec8fb217846c35934a3d7814311dc7841e519b973ea2e807fd7ce410",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 658eaa93987c
wire blob 923df2647ec5
wire blob e4fafc68ec8f
call 28 attempt 0 · /messages · status 200 · 23.21 s
model
claude-opus-5
effort
high
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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9337 left_j1=2.2208 left_j2=2.236 left_j3=-1.6157 left_j4=0.0677 left_j5=-0.923 left_gripper=0.46 right_j0=-0.0013 right_j1=0.0364 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0032 right_j5=-0.0181 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -11.4256, 8.1573, 0.1685, -0.0562, -0.0562, 1.0281, -0.1026, 1.1692, 7.2821, 1.8974, -0.0171, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9356 left_j1=2.426 left_j2=2.5649 left_j3=-1.6989 left_j4=0.0704 left_j5=-0.944 left_gripper=0.4635 right_j0=-0.0013 right_j1=0.0376 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0029 right_j5=-0.0181 right_gripper=0.9989\nstate[joint_eff]: [0.1436, -12.465, 7.5145, 0.1197, 0.0024, 0.1538, 1.0281, -0.1299, 1.4974, 7.0632, 1.9316, -0.0269, -0.0611, -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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3584 left_j1=1.8214 left_j2=1.8282 left_j3=-1.6077 left_j4=0.0711 left_j5=-0.9447 left_gripper=0.4635 right_j0=-0.0013 right_j1=1.9774 right_j2=2.1475 right_j3=-1.7092 right_j4=0.004 right_j5=-0.0254 right_gripper=0.9988\nstate[joint_eff]: [0.2667, -11.0701, 5.6957, 0.3053, -0.022, -0.0073, 1.0281, -0.0752, -8.9778, 7.1043, 0.2222, -0.0269, 0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:658eaa93987ce04d8b208c5635b2352ec9a667f13089ff7e44bb865ceaf1b916",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:923df2647ec5292ca50a4becb9a35b867168a6d832dd8d749f60bc36cc8e0e46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4fafc68ec8fb217846c35934a3d7814311dc7841e519b973ea2e807fd7ce410",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 658eaa93987c]
[blob 923df2647ec5]
[blob e4fafc68ec8f]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ar2nGLpBbPQjMHvRxZjVph",
      "input": {
        "note": "The right wrist camera sees the red block up and to its left, so it is comfortably in the right arm's half of the table. Swinging the right arm out to bearing +0.35 rad and r≈0.45 m to close in on it.",
        "targets": {
          "right_j0": 0.35,
          "right_j1": 2.47,
          "right_j2": 2.56,
          "right_j3": -1.66,
          "right_j5": 0.35
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 8 steps (0.8s)",
      "tool_use_id": "toolu_01Ar2nGLpBbPQjMHvRxZjVph",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3584 left_j1=1.8179 left_j2=1.824 left_j3=-1.6051 left_j4=0.0711 left_j5=-0.9478 left_gripper=0.4635 right_j0=0.3302 right_j1=2.4371 right_j2=2.5233 right_j3=-1.7058 right_j4=0.0071 right_j5=0.2741 right_gripper=0.9988\nstate[joint_eff]: [-0.0342, -8.0479, 5.9829, 0.2076, -0.0317, -0.0024, 1.0281, 0.1709, -11.6991, 7.4735, 0.5836, -0.0366, 0.232, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59b114fcaa48d43d01397eb1be48a8047012a7c9b50e05fab3f06b123d940102",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b17afa639c87e2ce9e4b8de2a64fef473dada29a98790c1ec97c195fba8b345",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fdc33764e61b21699b963dd264eb0b1dde6db8c8cdb99be2e9637d2db4f6a724",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 59b114fcaa48
wire blob 1b17afa639c8
wire blob fdc33764e61b
call 29 attempt 0 · /messages · status 200 · 37.18 s
model
claude-opus-5
effort
high
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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9356 left_j1=2.426 left_j2=2.5649 left_j3=-1.6989 left_j4=0.0704 left_j5=-0.944 left_gripper=0.4635 right_j0=-0.0013 right_j1=0.0376 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0029 right_j5=-0.0181 right_gripper=0.9989\nstate[joint_eff]: [0.1436, -12.465, 7.5145, 0.1197, 0.0024, 0.1538, 1.0281, -0.1299, 1.4974, 7.0632, 1.9316, -0.0269, -0.0611, -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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3584 left_j1=1.8214 left_j2=1.8282 left_j3=-1.6077 left_j4=0.0711 left_j5=-0.9447 left_gripper=0.4635 right_j0=-0.0013 right_j1=1.9774 right_j2=2.1475 right_j3=-1.7092 right_j4=0.004 right_j5=-0.0254 right_gripper=0.9988\nstate[joint_eff]: [0.2667, -11.0701, 5.6957, 0.3053, -0.022, -0.0073, 1.0281, -0.0752, -8.9778, 7.1043, 0.2222, -0.0269, 0.0366, -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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3584 left_j1=1.8179 left_j2=1.824 left_j3=-1.6051 left_j4=0.0711 left_j5=-0.9478 left_gripper=0.4635 right_j0=0.3302 right_j1=2.4371 right_j2=2.5233 right_j3=-1.7058 right_j4=0.0071 right_j5=0.2741 right_gripper=0.9988\nstate[joint_eff]: [-0.0342, -8.0479, 5.9829, 0.2076, -0.0317, -0.0024, 1.0281, 0.1709, -11.6991, 7.4735, 0.5836, -0.0366, 0.232, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59b114fcaa48d43d01397eb1be48a8047012a7c9b50e05fab3f06b123d940102",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b17afa639c87e2ce9e4b8de2a64fef473dada29a98790c1ec97c195fba8b345",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdc33764e61b21699b963dd264eb0b1dde6db8c8cdb99be2e9637d2db4f6a724",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 59b114fcaa48]
[blob 1b17afa639c8]
[blob fdc33764e61b]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0129uka4wAca1vhdLQcT1Y2C",
      "input": {
        "note": "The right wrist camera now has the red block right next to its jaws, confirming the target lies ~0.58 m from the left base — beyond the left arm's gripper-down reach. New plan: the left arm sets the blue block down at r≈0.42 m, bearing -0.72 (easy reach for both arms), then the right arm will pick it up and stack it. Moving to a hover ~8 cm above that drop spot.",
        "targets": {
          "left_j0": -0.72,
          "left_j1": 2.17,
          "left_j2": 1.89,
          "left_j3": -1.28,
          "left_j5": -0.72
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_0129uka4wAca1vhdLQcT1Y2C",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6941 left_j1=2.1509 left_j2=1.8538 left_j3=-1.3544 left_j4=0.0753 left_j5=-0.7795 left_gripper=0.4635 right_j0=0.3279 right_j1=2.476 right_j2=2.5252 right_j3=-1.7103 right_j4=0.0036 right_j5=0.2733 right_gripper=0.9988\nstate[joint_eff]: [-0.2667, -10.988, 8.9641, 0.1636, 0.0024, 0.2125, 1.0281, 0.0889, -16.3487, 5.135, 0.1294, -0.0073, 0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d95dda91fcc54eeceba229a925a5fd783fc9d88c5b8a68e9e84851812e7d536e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64f564b416c2282e9e53a2ed88dadec8af226349b90600f094eb51e15583493e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:24b57e9bafd6ee5c0438ea8f91c53f4b8f675adf2ee6a5baf61754fdcc28504c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob d95dda91fcc5
wire blob 64f564b416c2
wire blob 24b57e9bafd6
call 30 attempt 0 · /messages · status 200 · 23.16 s
model
claude-opus-5
effort
high
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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3584 left_j1=1.8214 left_j2=1.8282 left_j3=-1.6077 left_j4=0.0711 left_j5=-0.9447 left_gripper=0.4635 right_j0=-0.0013 right_j1=1.9774 right_j2=2.1475 right_j3=-1.7092 right_j4=0.004 right_j5=-0.0254 right_gripper=0.9988\nstate[joint_eff]: [0.2667, -11.0701, 5.6957, 0.3053, -0.022, -0.0073, 1.0281, -0.0752, -8.9778, 7.1043, 0.2222, -0.0269, 0.0366, -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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3584 left_j1=1.8179 left_j2=1.824 left_j3=-1.6051 left_j4=0.0711 left_j5=-0.9478 left_gripper=0.4635 right_j0=0.3302 right_j1=2.4371 right_j2=2.5233 right_j3=-1.7058 right_j4=0.0071 right_j5=0.2741 right_gripper=0.9988\nstate[joint_eff]: [-0.0342, -8.0479, 5.9829, 0.2076, -0.0317, -0.0024, 1.0281, 0.1709, -11.6991, 7.4735, 0.5836, -0.0366, 0.232, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6941 left_j1=2.1509 left_j2=1.8538 left_j3=-1.3544 left_j4=0.0753 left_j5=-0.7795 left_gripper=0.4635 right_j0=0.3279 right_j1=2.476 right_j2=2.5252 right_j3=-1.7103 right_j4=0.0036 right_j5=0.2733 right_gripper=0.9988\nstate[joint_eff]: [-0.2667, -10.988, 8.9641, 0.1636, 0.0024, 0.2125, 1.0281, 0.0889, -16.3487, 5.135, 0.1294, -0.0073, 0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d95dda91fcc54eeceba229a925a5fd783fc9d88c5b8a68e9e84851812e7d536e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64f564b416c2282e9e53a2ed88dadec8af226349b90600f094eb51e15583493e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24b57e9bafd6ee5c0438ea8f91c53f4b8f675adf2ee6a5baf61754fdcc28504c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob d95dda91fcc5]
[blob 64f564b416c2]
[blob 24b57e9bafd6]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TU3uFAXjC87GrAinGKGNV1",
      "input": {
        "note": "Left arm is hovering 8 cm above the chosen drop spot with the blue block still firmly held. Lowering until the block's underside is essentially on the table before releasing.",
        "targets": {
          "left_j1": 2.24,
          "left_j2": 1.68,
          "left_j3": -1.04
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01TU3uFAXjC87GrAinGKGNV1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6933 left_j1=2.2143 left_j2=1.7058 left_j3=-1.1252 left_j4=0.083 left_j5=-0.7788 left_gripper=0.4641 right_j0=0.3279 right_j1=2.476 right_j2=2.5244 right_j3=-1.7103 right_j4=0.0036 right_j5=0.2695 right_gripper=0.9988\nstate[joint_eff]: [-0.212, -9.5248, 3.4393, 0.8864, -0.0122, -0.0269, 0.5836, -0.335, -13.1077, 5.5453, 0.0855, -0.0366, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:812e395b1a887c6684197b21cd9a0939daeb59d7d3d14fe691e8d9c8848d5786",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c185ed64a84133654a9f5d9db2a8b68364e9c95648d10d447325afd8a2448b9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6b4a89ad5f8d5a897ac5a19685dd84d2edfb42beec0ff48fff65009b3ff6fbf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 812e395b1a88
wire blob c185ed64a841
wire blob 6b4a89ad5f8d
call 31 attempt 0 · /messages · status 200 · 10.86 s
model
claude-opus-5
effort
high
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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3584 left_j1=1.8179 left_j2=1.824 left_j3=-1.6051 left_j4=0.0711 left_j5=-0.9478 left_gripper=0.4635 right_j0=0.3302 right_j1=2.4371 right_j2=2.5233 right_j3=-1.7058 right_j4=0.0071 right_j5=0.2741 right_gripper=0.9988\nstate[joint_eff]: [-0.0342, -8.0479, 5.9829, 0.2076, -0.0317, -0.0024, 1.0281, 0.1709, -11.6991, 7.4735, 0.5836, -0.0366, 0.232, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6941 left_j1=2.1509 left_j2=1.8538 left_j3=-1.3544 left_j4=0.0753 left_j5=-0.7795 left_gripper=0.4635 right_j0=0.3279 right_j1=2.476 right_j2=2.5252 right_j3=-1.7103 right_j4=0.0036 right_j5=0.2733 right_gripper=0.9988\nstate[joint_eff]: [-0.2667, -10.988, 8.9641, 0.1636, 0.0024, 0.2125, 1.0281, 0.0889, -16.3487, 5.135, 0.1294, -0.0073, 0.0415, -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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6933 left_j1=2.2143 left_j2=1.7058 left_j3=-1.1252 left_j4=0.083 left_j5=-0.7788 left_gripper=0.4641 right_j0=0.3279 right_j1=2.476 right_j2=2.5244 right_j3=-1.7103 right_j4=0.0036 right_j5=0.2695 right_gripper=0.9988\nstate[joint_eff]: [-0.212, -9.5248, 3.4393, 0.8864, -0.0122, -0.0269, 0.5836, -0.335, -13.1077, 5.5453, 0.0855, -0.0366, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:812e395b1a887c6684197b21cd9a0939daeb59d7d3d14fe691e8d9c8848d5786",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c185ed64a84133654a9f5d9db2a8b68364e9c95648d10d447325afd8a2448b9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b4a89ad5f8d5a897ac5a19685dd84d2edfb42beec0ff48fff65009b3ff6fbf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 812e395b1a88]
[blob c185ed64a841]
[blob 6b4a89ad5f8d]
{
  "content": [
    {
      "signature": "CAISgAQKjAEIEBgCKkBy/FXy+OYujwVbjQDcbeIkCJY2B7TOcpilUdnuzSr/cQ/lmPE7Kqgf0t5bMAxgReNxlL6fC2JeOCIcXQ08fcVOMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMVM1Nn/p5N9jz8Ov2Ggx2ZzJ/uUjnZ0K4gDMiMCqWihbv1FwDlS+htdNeaEckGR2cOvejPVYCxKSzjkilwy94KS+LYRhVUeQAGjVFVyqgAmZcgQswxBfoWUcKulhJ9oI8aXmpyTIuq3q+1atrCk3OtJHPs3aSy/LTsInFPnpIq1WXY4MhReOUqAtE1FMyojA/iQpa2GvzCA8YVrm4nWsQzveXAptcBkKlTUR3wTtYC6lox7BXSkAdVW2LdqyPkJ9wZwC8qg8U41EQGHLvTqW0Er9pBvdEq2zBM9Ve/Q4AnCyA0slVO6Fi1CCYI4ivtYZJ5+Xhf4e/8gd0IQvqbct1subRgXCtR6XoiPqtv5wSTaiTrH9QQHfEToPskW/p+vL/3w5MA6YGxsmkEoqflD9jRrV1LbkiLPqy9qO1PYxcMEIezfFIXFmDFeiPW1LL+0lnQoy8H9K/sAKf6eTRUQu8LsNv2X+oBeEBYipKPemRqhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XqLPjigreRg4spEJ3ZesDv",
      "input": {
        "note": "Fingertips are ~2.4 cm above the table, so the blue block's underside is essentially resting on it. Opening the gripper to release the block at this transfer spot.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01XqLPjigreRg4spEJ3ZesDv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.693 left_j1=2.2162 left_j2=1.7031 left_j3=-1.1263 left_j4=0.086 left_j5=-0.7872 left_gripper=0.9957 right_j0=0.3279 right_j1=2.476 right_j2=2.5244 right_j3=-1.7103 right_j4=0.0036 right_j5=0.2695 right_gripper=0.9988\nstate[joint_eff]: [-0.1573, -11.8769, 5.7504, 0.1245, -0.0269, 0.0415, -0.105, -0.2667, -13.2581, 5.4769, 0.0513, -0.0464, 0.0024, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6240c01344dd70ee663f7c37bc3e5eeab356b3cf66ec88d082d7709583049f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96c274e369dcb698b9bd636daff324359cb403ead4c80dc324f1a821645cd615",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fb21f5f1c5888876440227a9fcd427b09e41f6ab2da8ab232746d063221f9c19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob d6240c01344d
wire blob 96c274e369dc
wire blob fb21f5f1c588
call 32 attempt 0 · /messages · status 200 · 17.82 s
model
claude-opus-5
effort
high
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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6941 left_j1=2.1509 left_j2=1.8538 left_j3=-1.3544 left_j4=0.0753 left_j5=-0.7795 left_gripper=0.4635 right_j0=0.3279 right_j1=2.476 right_j2=2.5252 right_j3=-1.7103 right_j4=0.0036 right_j5=0.2733 right_gripper=0.9988\nstate[joint_eff]: [-0.2667, -10.988, 8.9641, 0.1636, 0.0024, 0.2125, 1.0281, 0.0889, -16.3487, 5.135, 0.1294, -0.0073, 0.0415, -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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6933 left_j1=2.2143 left_j2=1.7058 left_j3=-1.1252 left_j4=0.083 left_j5=-0.7788 left_gripper=0.4641 right_j0=0.3279 right_j1=2.476 right_j2=2.5244 right_j3=-1.7103 right_j4=0.0036 right_j5=0.2695 right_gripper=0.9988\nstate[joint_eff]: [-0.212, -9.5248, 3.4393, 0.8864, -0.0122, -0.0269, 0.5836, -0.335, -13.1077, 5.5453, 0.0855, -0.0366, -0.0122, -0.0122]",
      "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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.693 left_j1=2.2162 left_j2=1.7031 left_j3=-1.1263 left_j4=0.086 left_j5=-0.7872 left_gripper=0.9957 right_j0=0.3279 right_j1=2.476 right_j2=2.5244 right_j3=-1.7103 right_j4=0.0036 right_j5=0.2695 right_gripper=0.9988\nstate[joint_eff]: [-0.1573, -11.8769, 5.7504, 0.1245, -0.0269, 0.0415, -0.105, -0.2667, -13.2581, 5.4769, 0.0513, -0.0464, 0.0024, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6240c01344dd70ee663f7c37bc3e5eeab356b3cf66ec88d082d7709583049f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96c274e369dcb698b9bd636daff324359cb403ead4c80dc324f1a821645cd615",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb21f5f1c5888876440227a9fcd427b09e41f6ab2da8ab232746d063221f9c19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob d6240c01344d]
[blob 96c274e369dc]
[blob fb21f5f1c588]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017cbvHGZebXjJ3DrrJ5W8SV",
      "input": {
        "note": "Blue block released on the table at the transfer spot (visible in the left wrist view sitting free). Parking the left arm back near its own base so the right arm can work that area without collision.",
        "targets": {
          "left_j0": 0.0,
          "left_j1": 0.6,
          "left_j2": 1.2,
          "left_j3": -0.6
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 26 steps (2.6s)",
      "tool_use_id": "toolu_017cbvHGZebXjJ3DrrJ5W8SV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0101 left_j1=0.6189 left_j2=1.2068 left_j3=-0.6579 left_j4=0.0834 left_j5=-0.7975 left_gripper=0.997 right_j0=0.3279 right_j1=2.476 right_j2=2.524 right_j3=-1.71 right_j4=0.0032 right_j5=0.2695 right_gripper=0.9988\nstate[joint_eff]: [0.253, 2.3863, 5.2308, 2.4493, 0.0122, 0.0513, 0.1294, -0.1299, -13.2581, 5.3402, 0.1343, -0.0366, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9d9ea4627241c52c676b42cf4fc0f8ee3c46ac962c35659b277f25068a012f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46008fdbc51046d14caabfd875979777d6964a4577df7bc20a414c5565f3d53a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aa09457e1437a52234b062cfc87d6c93b33e2b24e521aaa1492e8da0c12442b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob c9d9ea462724
wire blob 46008fdbc510
wire blob aa09457e1437
call 33 attempt 0 · /messages · status 200 · 33.07 s
model
claude-opus-5
effort
high
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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6933 left_j1=2.2143 left_j2=1.7058 left_j3=-1.1252 left_j4=0.083 left_j5=-0.7788 left_gripper=0.4641 right_j0=0.3279 right_j1=2.476 right_j2=2.5244 right_j3=-1.7103 right_j4=0.0036 right_j5=0.2695 right_gripper=0.9988\nstate[joint_eff]: [-0.212, -9.5248, 3.4393, 0.8864, -0.0122, -0.0269, 0.5836, -0.335, -13.1077, 5.5453, 0.0855, -0.0366, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.693 left_j1=2.2162 left_j2=1.7031 left_j3=-1.1263 left_j4=0.086 left_j5=-0.7872 left_gripper=0.9957 right_j0=0.3279 right_j1=2.476 right_j2=2.5244 right_j3=-1.7103 right_j4=0.0036 right_j5=0.2695 right_gripper=0.9988\nstate[joint_eff]: [-0.1573, -11.8769, 5.7504, 0.1245, -0.0269, 0.0415, -0.105, -0.2667, -13.2581, 5.4769, 0.0513, -0.0464, 0.0024, -0.0073]",
      "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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0101 left_j1=0.6189 left_j2=1.2068 left_j3=-0.6579 left_j4=0.0834 left_j5=-0.7975 left_gripper=0.997 right_j0=0.3279 right_j1=2.476 right_j2=2.524 right_j3=-1.71 right_j4=0.0032 right_j5=0.2695 right_gripper=0.9988\nstate[joint_eff]: [0.253, 2.3863, 5.2308, 2.4493, 0.0122, 0.0513, 0.1294, -0.1299, -13.2581, 5.3402, 0.1343, -0.0366, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9d9ea4627241c52c676b42cf4fc0f8ee3c46ac962c35659b277f25068a012f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46008fdbc51046d14caabfd875979777d6964a4577df7bc20a414c5565f3d53a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa09457e1437a52234b062cfc87d6c93b33e2b24e521aaa1492e8da0c12442b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob c9d9ea462724]
[blob 46008fdbc510]
[blob aa09457e1437]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0137bYYLTMfxGt11UE3UsXzJ",
      "input": {
        "note": "Left arm is parked. The right wrist camera has the red target block by its jaws; the blue block was set down roughly 17 cm further to the right arm's left, so I'm yawing the right arm 0.37 rad that way to bring the blue block into view.",
        "targets": {
          "right_j0": 0.7,
          "right_j5": 0.7
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_0137bYYLTMfxGt11UE3UsXzJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.6201 left_j2=1.2022 left_j3=-0.6815 left_j4=0.0826 left_j5=-0.8013 left_gripper=0.9973 right_j0=0.6842 right_j1=2.476 right_j2=2.5233 right_j3=-1.7103 right_j4=0.0032 right_j5=0.6159 right_gripper=0.9988\nstate[joint_eff]: [-0.3897, 1.6068, 5.7504, 2.1465, -0.0122, 0.0171, 0.0073, 0.1846, -13.0803, 5.4769, 0.105, -0.0269, 0.1343, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35e867d5922ca91d055e22013b460231559309c7e151d59f3c130c751f893125",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c44b0e6171c29125b91100b9095f6b2828cbcc81eedb444206dd2fa280c26a27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1d53bba57a636bc389b72f9f148f9d24661bf1dadab92e2ef1a8aff021d62f27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 35e867d5922c
wire blob c44b0e6171c2
wire blob 1d53bba57a63
call 34 attempt 0 · /messages · status 200 · 12.37 s
model
claude-opus-5
effort
high
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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.693 left_j1=2.2162 left_j2=1.7031 left_j3=-1.1263 left_j4=0.086 left_j5=-0.7872 left_gripper=0.9957 right_j0=0.3279 right_j1=2.476 right_j2=2.5244 right_j3=-1.7103 right_j4=0.0036 right_j5=0.2695 right_gripper=0.9988\nstate[joint_eff]: [-0.1573, -11.8769, 5.7504, 0.1245, -0.0269, 0.0415, -0.105, -0.2667, -13.2581, 5.4769, 0.0513, -0.0464, 0.0024, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0101 left_j1=0.6189 left_j2=1.2068 left_j3=-0.6579 left_j4=0.0834 left_j5=-0.7975 left_gripper=0.997 right_j0=0.3279 right_j1=2.476 right_j2=2.524 right_j3=-1.71 right_j4=0.0032 right_j5=0.2695 right_gripper=0.9988\nstate[joint_eff]: [0.253, 2.3863, 5.2308, 2.4493, 0.0122, 0.0513, 0.1294, -0.1299, -13.2581, 5.3402, 0.1343, -0.0366, -0.0317, -0.0073]",
      "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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.6201 left_j2=1.2022 left_j3=-0.6815 left_j4=0.0826 left_j5=-0.8013 left_gripper=0.9973 right_j0=0.6842 right_j1=2.476 right_j2=2.5233 right_j3=-1.7103 right_j4=0.0032 right_j5=0.6159 right_gripper=0.9988\nstate[joint_eff]: [-0.3897, 1.6068, 5.7504, 2.1465, -0.0122, 0.0171, 0.0073, 0.1846, -13.0803, 5.4769, 0.105, -0.0269, 0.1343, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35e867d5922ca91d055e22013b460231559309c7e151d59f3c130c751f893125",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c44b0e6171c29125b91100b9095f6b2828cbcc81eedb444206dd2fa280c26a27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d53bba57a636bc389b72f9f148f9d24661bf1dadab92e2ef1a8aff021d62f27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 35e867d5922c]
[blob c44b0e6171c2]
[blob 1d53bba57a63]
{
  "content": [
    {
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TTP6v8VzkpKUoT0IWPTin4X5KGMFTy7Y0icWTPw/cFJgXig3gLWaTVuj7IxqCThKd9xnq0is+rt37mJTC7zgmFceE8vrHmLqU8uDnDhxZmNDQ7m10JTOQ6G833wmg6Cc/VImn0Yhj7bMNj/o0h77wnIP2MfyhGMNF0re3rAFbgx2XEkOqFjVGm3dl288aVPMWsOnuHug/5L2h+pVXQvCPsY5UbczuW0VfRPc70tr90IUFPAIS4q4jIQv6kfNl4tuyeG4ypxOaQRHQGuFuVvDhJwyb3VcPWt7CpkaTTuJXEV/fbvzmde8yFrpnchi3MGzvrbnj0BoYSJEXoV5G0IeOknG/elzwVCyDMmbuAjQ492auTGsLTZbwjEItO49pNv7YgG0ON61uMXUfGTMTCeQFr27EH/LXev1XPUgFpKMve7XgxpuUXnesaYYmi3zUmZ47L8ZWZsPi1ovIZbowntuRHNKfjdW3jIPZajdVPiMk31sRlPwoCoHhVYq1Jn5NaokfSZQu6kdgsJo3yxeDMvVBYXx4uNs5gaVCrHAh3dk3/o/MTbYP3Ce9b1ECixQYTFsyoh4fUPwiwAPg3H8LgaBrmeJlvfTct/9vkAj/SSFtAvl32jdaxd3HvICfPtcq+WHnLQCH2nk3yQd4caUZJeGHKwnKI9nzIxjjhI5O+nomjFHlvQiUyi6XwYEt3tF9uT7GTEJw8uIYd1QFJ552cEDe6nrFYGgHDe/P9Ze87YUIH2DTfKPSSjvygxY7t0KKelbw9OYAtQyRiN6yld0X7m9cGpIvIG0tAaJKyKc9jP2aKQrlHei00bFpAh0xfU6rcHDxYgc4dqjX5ftjOsbJckDBSg6RVabfGDz4GUfJeLh5cuMj8pe0T8u7n3Slzp2JzrBAQUX2z0+ugHgdotYGrHdih+8xXs7MvviRUcTEt/7V0KjXwelVtP+UKWUNgCvT1mPiEqsuHRW9G0mlrlLb+QRNHDVw95sjlo6OUwY1b/xQHpyJ3Z5u0SyYJGeBOVX2jQhiDzha3Z8EtUyD0zbmIck84EgXYsyGJLjwIcZGr4N14wfKH9SIUTHWQVsGuKsRxEaEQzqsaTYuqviZzq6fKhg1+Ip0iA1wzuo9qm0T8LEhxj7RJk0xen+G0r/IbPciTuWZlrbJGN3AZrmMygTP2JGzKX0HWiTvQH+YnYGfGtVD0Vh039nA8tXbPLfAlxE1T3YLfzwyvJSt0MF3j7rqD6A7vwGhLxzLXLsuTvcEAmvUDysEvBUWGflOKHd9EcGHYm0K8STaFxvPVY6Zwrjgh1C9Hv4x7tYrvWrUymiYSnomefDOL2FV6SnteWlgqHOWaDOoAG63HIvWi6fOtNnJ2Oi+kane688L2w42147T7oFBbSMSgQLXiFiTuZSAJkCpO6HLYKT7hX0TrNzCENuXrpB0CG5DkVfhS2+Kpd95PxauQHX3nLpCMdgmW2PiwlqMwJvfNfn66gEAP5b0CsyUhw+P88R6WToOUEQIC7RysJn6DygJBHPMRSKOGyAHDhSxbmLJlcEXZ2MeST6E1r5c60d37HKf0odJn1/EjjPHWxmCP1qERKWw04IBvOwDsixs9qhIyyKO1yo+wmwthC8bilrbtXYDHRxHTTyk94WJ9PM8H3ptszPdKE3hPNHFvCSY0zOyQrkwLw/eSuJ22nU0aI78sk44I7rWjE2W8v/0xtbl8Wabp645aZN/A7J57hkRlHcRvgylH3/I8K/Pzm5JjVXcrLsLvQBJRKljjnkWL9GOiwg9nDFItL6t4G1b9C+GBnLi/YqA1eDUVhxAathSdbeHwg4tp/4HQpg6ZcrNhQXxZSB2dpbnADQlvTcOCgJUgbFnC0CvZRfZs5Uy06MJ83abaCuiwLWfyF0d1p8GinX8ZE4dtyHRy4Luwv+RWJWo4KTQ6B5sBTQVJyPirbjoMDpnqR6sz1JxBh5oPKCPemW+nBbDm/9qGqPyrD0E/HhwBhvx7WplAdx51CdYYntJjzboka9OcPnUrtgO7Fn0RnYVCJoE/qnt+dUTYxluum/4yvOE/QaPvyF/IsGYFku4KT/X8ynkBKPYutN5RCUSnluB5+iSV/a99kuN5faQKtXWUHC/s9S7c0oVBWvzink0qZjUrhreTm2DnA6XBXq+TrffbE69d3wxcwFEM9ln8ZyVuoUoK9zhb5mEK56gtMKMa/f4qDoJ8cIjw73BwTObMhC4dzXjwpqMavZd6+o3Swh61pUHTQ83w3hNjt88l4Wh3EE+6Eo6Zd9Y7rCjwKe8HZgbnCpfwd7x363QnG5vbqN4X2vhN0akyeL0nvodHuv6ElIUZDb4kwk1hk9ymiBdw2eNq4fsGsD7mZhmW+YqcaBrstP95nm/YxQRBXOMZTlw39jQ9qHplFE8Q3Goy3RBltrY+MMFvQMCCZcCxW19CXLN2HzXrNdmj6fehu3aLxyeuqhTymvq74OXU2DuwetYa+J+/Ff/UxUpM+vMTffybviiXRNaqF4FkUejjrqXV9l1mPU9F/BN5pqxHkV0f/Ll/Ue20XVcsAJdGrbmhOIof03ViiitgBuJAuwGbtd5BW5dSu3B1heeW4CEFPE9RlFGxfrGsAyJFrkL5cvD0LodgUqjHfwW135UaNE4CJTB/FJkUj2XqSH/Trc60y11q4EPcGvWyklK9wDIx8/Kj0hwPXOtjKjC2KUDuJ0oAETCiOo7Gzvs0Nluaw8zIqLQHstoO0brcWNJqsm3Kts6HmpRHj8GJWVYucBZwEUZw3CHSOR6JXHVv9GcCM0BnD7ZomnDic/j2Jd9+M5615mbseW46WTjqi8iTM7A9gJscx0jb/GkbtYUD8pUXXeTTdqm0lMPE1gSlubd5c1GNBBa4FgnIwIYtOYbm9qAZlXJacNNnWAK8djUkoml9bLZUrfLpccHC8dOk9AFpjptm/l99f0IWGHOug09LnjGzLm/qaseK/RKjc8znuwaG25c65zPRyE5q1+6CpPSn/n9jol5WcGDJKdDUaAI6/vdF57iTM2gMutyvSTK/L+oNKf33nxh7zhh5p7gWNheDfFMkTAYJPevMJNcx9uy3aumfxqncyiDjrJSXMfq54pPa6/j+rDpAatDXSgujmnOUGYCkGP9tLB3GXe14gh9Qk1cpqhcJIJpuStgSLtnm4GqOnSoDFZQbCJvjRjO/QUbdBiiLdta74cCNKSbrNSRRaSCfFvNa+O6ZTt+ybLvkNIQTe1MmMFPeBaisVQEXmdN4zqEHVLCVWYh9uog7nGqAqNrCd6TvDqmHPZNcfz19NG07dPW8h69wwwSlIXdidhHPzABJha/EI4QvGixtGQT/4J82gHnBtSxqlOKDnA6IF0ZY5bX5SFnfICpsV44wtz903w6OJ8nrBzBrdAEfqrIuJiub7yqcJhIQYSYLTJxBw55RAYB0XTPYY2AW213mGQGxwOUavNFL4OqCk0rWJSkNXDSgbySYT8D0CSUNfD+Xh79g6oga0EqHzZFyYA3VlLKF4h7yl7//jwDLizoC287/oYr2v7Mgx+C+1eni3M7+/OOTUZEYjEWWYz/LbKuW/Ug6SOV9zt75ISResiOzyBqJBo+7+Ozz8f18ECmQnJuGTRppovzfQF8dqAMqkUha5zGvi4IwjeWZ/b1c1C9f/n4Ao2yC2jP3clHCkDUznpsV//wIaVbTTIZIxB1vZm0m86bCuTUx66IH+ZnfYM8tsYRRWeqSik4eiiW53wdL5x8ADS5v/EcQdgGC3mUXSTcFWtIsRb3Fg8y++ye0ulczdRKIkwUvnJp9dYx0ytbe6TvHYKAlGMlnyImzR/rGqntURFbEegOc4NMgTNPcuVMHLxFlZJgI/xqT7WMSphcAO+jNWpTa4v7fSsJ9LcAyqnF8XqUX3jZ82zjhNvYlushAMj2dtkdq+HsYUeUFcJBEEMkNiMeTKk/CtIALN/O/uIc8lef1bpQ+3hlVyh2wooqMLjGubWhRTEDAXppXmk+TxVxxWcMpLd9GmZApeT+XgRl+BcUK0ZY73Y4n6pf7ZX/jBbgBGQSoLgXvb1zNBqR4ZE5Qk0NISWTI1dyt6r7fsADFL4/yDmHiIvA65noqj7baDJS4WVbCPkPd1kEkz4SLd9dglFdd9ZOIYaaYeKlx6DGEZ18mb+6H10eWlafFe5DSl3Em8do+M2qrgZ6OAYZuH2JkEhimbXbRWynVAZmGR6CT9QsDIDynAblyXIcDwQoXw83B3OdGKH7jNezRmS3OmJHIt00dZX0rnqSsgl0cYy6Dr/UMeRKueh0JEfUtQDNbVN/vVdxKwusLp4bQoNil/w+kACKx1F4dPtIihTILSSrl+xtT0SVLE9C8+0iKXvNLIeWzgmaoyqr+Glqg5diGjngaqoYPW2c8+cNi7WNXSba07hgwGht991e8a8+El5D0NMtGZ9Q3DZJLKSqC6uj2GvMH6+jlr7X5EtY7SOtjRLVfg56/FZN8UhNKTPd76i53AMVV++6/M5KaFGSdBtLj22CIW3k0HJOe5ORE/ADRcU9EuN5PhxhD+0Qo9rqaXNQoYOecGpjnVPSgDTDMoqgvPYZ2Io/+zolAG/voieKeF1o5dzarBYrceUUtwxHGeTJ+66V6JiaFLrYBgcXmHN0RzAwbs7l7ipKOmmyK7KLQisEEUlCNLzWgSUTiRt0331Gf2oGoB+dD0B4U0ABI4nUxtMPheo3rgaLzAqgWTl7zs6yi/X92B/FMMGZSsUI5lYnLt2o4M/HJDUX3b76W6D5ex8QZ2cPM+YwHP5PTZRKY0Wfe1ahIGHfSWaZ8BJ3k4FkNUf9muR2pjISt+++w/vKLKT+o59UFXqERQ46397aPUhBmzXxOqs5rPAwyaZAFthDo9aXP3c3ucMR8HT+0w0EhJvQXtPvWOiH/92xil7k+zfhhPm2d1SrkV+pmpnP4rjUwcJVM2ZSlBnndWd9epfzyAY4I2r1TeKq7EPTItjkbUYrS2Gyl58bTl/NaBeAOaqNXMQQZjBlDdNOILYwcOmzdjFU9tFkJ7URcaL1kZcXEvZZH+8BUNR+qLnwZKaKxpXS2sD3fUM16nrmCrTb3rEAIQU+PeFgr8d1GNHaqzVJWCt5u5N0gH26HiX2ENUhxuaiwBhUUUn+TFy5j+Bakeb/GfKuzhfUZwZeBucwnz+cOj1cWFdnuFm5c/xbf6hqunMhgZLZVncugVBxAZMCTkQWpa9OV2WFDrK/2XTonpi5tDJ8jyOcu7KJLzUTRi8+DlnpQ4xJDHSr9ATG0oPTvGb0rZunLdt6VH0BRI4TlV0Cl9a/IkTlky0ANJUtzAUduVM91yLRddqcGN6mUOz/8jKth0opDaPQQgbviTus95SaaM7FLFjwPYymKQnZWDScxP8hxsZ9tSX6Y7zkIfgp0D4CWQug2sJTohNp+N7vmseFr/KpvDqLdBdrpZqcsDxkn+57gO8SahoK5LPEcez4H3wE1amMH/VPTY6c7VSv9GEY2jygQXx6yRdHOGzaHR/Lkw9DNm0Tc9F22zWx2/avQZU3pRaJ4lxyDRyTXJTbXbqJeUNKyIMxV7u7yS66NmwGTeBGKJ/79h3jowhwQqz9miWn/FijxNPAVPOmvBYq/fzxvLfs3piGnjGiAqGuYwVfT8PW+vPglzP32nxNmueJYiTo0ke2AyMTZIEgkVztc60LyCM2wq7L6lSkZPd/fb9NHnB4kUag70f4O/liBOD0uTFl5+3eBjNBv11CIKu0jSGImMfVW6FvVYbW5qr14tp2L/JS8ylla0z8H5n2T+mZh53QNaCvzGsai/xTLrvHqwRFJ0iBBDxwByMNiKqA/KOWKaKjmZ7kh0+s94W8pWdzJu/29kdm+Iu3uUfZqCPl+enERP9X54MZ5039n8RVCttujEZKmhp4FJfCZhUSW/kslqYBotzZtpv4p3p+INBMp+zd9a0tFcS0eLVcI0O8bfSN7X8jSpIzUiZV7kJqPVytiflPdZK4jJBRwZ8mYXb8koRE9p6EUoOxuLNVB2OM99b+OG01eJ62gFIacojbIrTyMMtwmK8gGF8t3PHDy6mbvEqDML//FKaeOh0qhRjp3JbehKHniRlY7MZ8FOp33qx2KO6cVcmgd2SPBsSLf24XpfiwiVNc7TbAqb6wW5TC8+53Z+lpK6e7FKgqm4bSGY1A4Z1ocYw6h743F92Fni9B7fOC6Wk0IP02CJZgcMx6c8kWUdpHNxzyiJJ2Pa70A28D/DoRzGuZjIQezhfGKQ2/3lez+sshveL0zNGN4miLoPh8QTddez6/bHaVUGVTjU/17yQ5mAB0wN1kQZpohiIqjNxb0qcRHeNNgcUymFVj8ML+UsvtFTRSbUFZKN28fuF7N3ux2Gyubz3WeCnYg8fmfOH0duVQl5DqNA2rXBN252wV+bIG3KSs7f2Gfu1ot1K7EL26RoCO5NHbPaowSpq0R/0rVzrqLl1getHpN5hu1yERKGFeA2z+sooN1phy8c/1TCCJa35dnToo4mSyMUreiYW6MXjHKN72u7BuB7AvO6Lj1k6/LOxDSGBJPWvXqWjdx7txWp1fnNfMCuBERkeL5R8jZRDnxKULEBimSOkVXdEZV/bCwWCJdx59sNPdVUt19jMp+n392G4WgTKUEkPxyJ1RXj9fm6t23oC43vkt6zymXGm/+eoqJYQREk5KfJIgUTczxh5acrGcHZM5qcX6lmv+cJVe48lsFKsTtHx7EZN9eADv1zjRwG2UnwsiM8+gnEiba0fmbIcnF891K7BB17/vl40r45/wDN7RXnlOP1ovWq1OGzKdo3O7/KrgX4teu4uogju70tJFVzg5cIpEGljtn9rOrUMVq3glnRCmHDerj8KjTZ1EfK9pMRNvfTrs9z7OortQ1I3bzgM+hze/yqU47HEFS4GkkBIRKHkDR0uqZ5AwrXS0qlZ63suQLaND/5ejg1OkvxSMeyCJHNXPUqb9GeqxEN9Y54qej5tNDqIFTDgMjqSmS2naZ3sK5DfpEvnn7v/I/dTToVXJRZDreckKYgrroBmmH+yd8m/KQXJ4FN5Mvhu+zhiLyvm2ynevtQ8aYpZL28d5WUa2RytqAh8UKueY68ffUJIOMNFs0PioBUT4igOWEPFDFkDFiXNdt+FPUL/lMNkAmXfJaQqBw5NMaPIvO0L5o3+i5Jp0DBqXosl4+DSUZotq/QLBkhFWkgrQKd9w89YvbATRG+0vWbZvJeJ3GsNrJwNHuE66D/DcFNHZy7vinMLh2+nflTU0QKtm5RW0x/ZyfhkSGXPYmhafI8mTQxawJnI/Voa5k2S1h6aVQkD2gfHGm1LqDbkhqQM2gBRki+xKp5ftEuZAFK93eZAti8caTMscwFvCGp1OPS0JdhAr8/FiyHI0ZMWmJtjjTpkg8CHvZQMmx1+CEMPqO6oczuBgffEXEY7XwCkl73xjvLOjdix5DRDjI7fI5TAciI5K5PJjzIzcIG8qigvyQQNI81MfYdzRYhD/2Xz995s0Hcv4v1Zi4O4wp7k4sFkqJKQXEhY0nye0ufi+SgVicn4YfZCxp9873MYBrB5FDOupg0Y9blskgaSfULpqC+3OjEaI9stJCfvM6nswfZD/mb0GqeJupKp1J7GDQpM6i+KLKlGOArnHtwJwAaqK296k/br/neAuZPZhizWeUiFPQ36u4R/5fZdB44gFJrjJVKyE64LyZ3cn5dk00i6zHt+3/YVdukpylKirZnu8BEHwukUnXzyVQRaLDmxfyPI3+z6wOuz/vauHSDoV3gijnTpZq2AIU9AWYE3T4PBl0nC8VjegVHAhm6sGyZ1WVeFeeup43DdKgUEj25wzQMsi0MK7ryEHvFkdRhkq37FmM8/mIK3+lv75U2KTO6XGfqGixVwuyNHOCN1E00b3ig9G3VuES3QntyetFP84IK1L7EL5wo+OGHT9vF4HmaZvoo3UErk1WH3sfrESIRdhKSPtjpAHPSLEbRwmiVVi5lBqEHFUnYqYYOjPchK15nd3oJsPxc35gcMimeL4pKHf8b15CHdwdQvnjAdA1ZoBa7pkQNOWHyXxb9oEecy2CfawizRR/9YHWqv8quCenB2OJpOIdVUb/WhfHO0dPWo2yORHhEyfuXFwjyGW4Q01BSjWjrFcnEkMFqpPR0KL7JKm6nTvLCZEjFEL9CXlImMpW7XmBrmxHx3WY7MU5nuj4zetPnJEAUaj4MZG+n+8kpMdlJKvEUuPwOBRlgzQjUJIqNCCxwsq8lspU9FB5gW0+PhIIy0Zy9VcG9H979r3QS08nN+Ir3UWpdYZqbioLM8psPyqNke0CgMxCOfDY7vq42OGbLKqmodtD2NO8VlTEettWyIcygunXdOjBFOsrPaPIJUQAjBkL4tktAi9YMxrhkmAqrcMCRX/zvpuzLln94f4EsQHr1/fW5Wcj8igHf4i7Nn7+KAtFE0AXeTv9el8ZicaDXiUOwbkJWDs/jN4VkTRpFhYnNnG+5+O2t5DroCG7oeqtQe3sX3aBQ8ZzA8bqkAHoe2qOHg2OvCN2UrL1EEYGcayxZOeA0t0uXXzaHE9KIjwyXn/3crxVs7hPdbWdJIf5Tk4IRc4sDO2tVegoge0lRZHKUWSN2pBvZhG5rTbxeTfoHNyxK+rx36XZgQLinaZVfShXqx6sV7p4XrNN+k3RZ8kP0ndFGxZrnHynhV5obLz7tW/4LYYij1boKDGlJeS0YiU6n5U+cjQvwAZj3BkTJNMOYP945M5Q3ncxRnfM4LKGVvTcDGCYimZKBUbiFi2AbjDtwt+asaOdZvjbCyuq0HPQcJVh9mcGxDAFYn3Zzg0wVP/2fUEu65HiphIvZgGHyloeqNc8mnAFnstQaGuZxcnOSU1qtdsP58PN9EGCMYhU26XBACY852VI5ODExzEekbONfoeZcpXoSUPZL8ruS6hNXmVuu6SBbpUvzWApf6cRTANdk1CO36oi87bgWPp+MOu0Kcw/S8gEFChDSKYvJ+5i3yPlmklGiyfKLKsj6VDBT3y4oRUjdSzA+t2kCrhrEh0Nr1JjQl5VfdPEW/GgdiN21smiTXG+4uNFLQEq2yeFxtziQd7OUjPJCAi/vJyrwvuvs/TCUFxq8YWCFOB8TvqI6z1RYTIa3inhXl90BgTEvByebyyfwWCcG1bJBkoz6EnCIQ9WM+RpmBwvNlxTmT/nfeLFq39v2qbUOh8tThNDwleqo5FFSpYRVWT6De0/smkOkd7Q3DunuxmYY510GcVVQHH+ofIY0dmwoOF8pxAzI62DBmhnPQi6slSHikvIl76GcUQk306pu9Fa9v1wFiESPr+xdn2l4YWP1mbT1fRplsKUUUC3wIjfRE1NllDaR3cqtnbDLIGqj9Heb93aTxgJ110GWUJt5M4DqzCo7mHZ4QhkdVyQOsVpJToy9Q600Xs9dR3lyTBLcJAf1XDGfaR6lnEyMih/GD7OJeobHGnwGYrT5OfUVtSOXTwHdeW8T2z+rojgDFEe828V00jtzU87Ix485Q/XunpGka5h0XYURQpYvZwav9KNR59ehlbq66cKHG7CLOWEI0ZSn8SsyDo9eHL0MJISU3KmuT3/C0+yN1np/ad/ELOnqrHk4JH/Qo6enV7mJi3xLIrZcYCd+bPzQlo0hQinEsKP0TV73hcyJwD9U0uYJh1Ml5ufUXotJAwhKcEFt6JfGLMmcyUuipjoR3Y2HW6a11ruqMY1A0KldPdhgY7uomMUMgwo0jQComQfW2Sqcnf+FEjSLxj0/2qjaLSb5REHoyuzBbYjwZPNfLK5kSqDmRly+dpEKJb3zuA7JyQZhJrhRPgQ7TqK2M/N4IhUyeFKaP5q2ogzdkHsDQ6c19MNxXY0dYL+E1TILU861xbNTgP+/0z/o4w0H5Xdcw8/5xI1RfgPkpXtx4hzoNLH7I+wdcjYoMpQOKf+NMhPgiuvDO2K2DajGUogQKzIX1tiW+GaY2fgBHZSJFVaewsuwk+T9LIb0yRXOt6OEB2VqLvfw1yt5LEYs/pDvmPGkwwrqcMkkcvd4+CJTc5H5UeSWw/Ym+5FghXpwKMjjl70+pGx+OuHiCO/SnNZKUO2DerinrdROJSLu4eh5jmG6nZMJcv/R2shIis2olKcSVKUJOs72MZ1k/zZdi6M8l1h4cT91niZDf5M5j7w0sVePjp5LATgT1ECbu5fLNNuLKcMzDXJcLUWiByp2hbE0/BBKAgKUCwP9wviIGGUDTExy6i4kddcGoege0gi7sjXTFRAlgzgDlDk/lahufAwBWnYwpawHyNuibp/qTo9xg9ulsDpKOPCE5nGN4O4Nk77uUOvEcnUoYUpv62G8ZLg57Z/H7dXOb7wiTWD7JgoJMleyx4QpIYuYBHT7564lMo5hCYAmMR1G/oEbDjUWM8C1nqeyR3DGMLbWoTGw9PKXPlBprPLMOTjcda4Uvb3zDK8d4Alkiz8TXn0FMlBHI/Xyzwb3gpgWQVblhBBQOsFs/hWTDwCVeRAqWeJnHKYJ0h7BedhBybDdcKp0cgXd8jmMwqtHdx6TeHPr1VmbH1jz2M0VUm3PZ2I92D0qhFHSPb78RH/K6TdE1UAoEWvz5e+zjmiBTTEYja6Eaav33Tg0JrC0vdAnyuBLYYWeX2Y+e7S411pddR0BbMd+vQRR2nTF4v/+AANo3uLxnTKFRA7JyVaWiqF61iu5rmj6HAVpNJ5BZDbmVx7fR86ydaJExnrdAZXbEGHjZGUCotNnkE2qf4l2CqEVmElY5W39lqsBpq56AuScpk4X92vGxa8wFGPhQjrfTmDaGcXbg7mRRLGhUv6gHX0z0s+F8G5YV9a1OLaO0yuoqWoHmB6BZxZbeQYQEv7uHMNKZqZE52Kwknyo/+9W/qNBMtKpJfIYDkSWL2egG4ANwCh2XrQ+D6ZhAXFPrmKS8NxW5IYamcaAMU7wKIfsyLanuez9uQJtQ7AQRNfq6/IsjC/XYMHtb0zButDcokwO3tATptdqJrFpNL9JVG+CYCYhLNlb181waRceE0W6h0I3itjYJc8Y/N1nszq8WhShykesnlVZYa3zdZuxLqzbGvTTqjzSyieJ9tvQETtVBCBz294sJSGTfh4JRq5YURWE2tw470TF6Q4hIOnTF0sCpBl/ykLaqYQJ0sU9Ry7aA6SbfAz8BlLjZolXXS0pzsQTl/JPAOv8P0xdUOpLP6pX4Vm7mumRT2NrxXsbVvWyobSXWwp6/GFNC8YOmW7qXgYnwQaN6UbO8V0vAVUNeQbwv22Cq80DjGMr+zB5p8ZRPrbKQWHSxbTauar2S8CTu9qrnIlMF55kwfzdCBuIvHG59nz7W6BZpsWk17/RNClzYWgySM13EYtBUQuliXCngb4/yT9UoFF1CPSBhQqJJHcqYuptR1/fFlwna1Uktnrjr0sMkyzrw7g5QpOyfX32eEHxtopAmRxWfoXRgyT4CjSU6K4b+JY9Q6N8AbFZfuX8JjkYNliX7Rs1j3dJSiryMvhuD+t0dHzsENWIbW3kBumfASmgokzG8QKdxT/7kt0FtECdH92BbHmmjQpTBY0Ii+jHPc+1tp/6Fi1P+/7uuZ68UEJbW85yLOEMPxzrsahOzoUk6qQhEFd8KSHYHUwCGN7HXqpjS2yqN9+2sZ50gDfpKODDffnUPksoOnDUi6t7KB2LrWsCczxEDBkvYBls4kBnqScBVcmlCaweL6Lq9xVoA/+7g1fTB8n+KI17Kby6QEUSgqAKiy4INkWtSecmDzJCy4fLOvNKOaCadV0NldMLNngFEki7qx3a37W5MORJVMQFLR6zH92+YSo7dKR6jjxEkTy9aIKtVkMI3JQ471rGejHHyaD9nuDe/6oy6DD7PAjDl5vyzquKbBFKKBRpEAGeGRpvzlykHKqYzd4z+U8JE+7SSD+nmeysDQsnDQnXN6JG3nsEY4R2FACUlZTZNtpdKQESw/bFbT2Yl9muSp6Ia5TS+GdKCnd7Zp3O7jS2Uz0z4q0Z30za91B81C+HPQpaJBlugkoBHOn0lNj9Oz2I7taQvXJTr9x/SdPi4d2xhZ63u7Wroj30MT+OwFHNF+Z7AE1Xv31UWTPZLP1VEB8n93RENLnHhbvNE+cNG3rg7CVtc4TVoipDHA+ZSkQe42UbwQ7VJu2tSiHPhEgGUb/6sod+dScpfxQsgqJnOKd3mwqhgSJcJErSkdOe2iu+lFE4pgmrW9Bq4lLC7KsTjJI0Wv22gLJRqvLYGVc6vLa+FXGyzYReZ4f89j2hocFh4QmuKUOWY6ZCgXUhUf/+47BizwsAItvGcut4HK6wtqkT3bzPc2UgXhkF3KgWlUaZSvRy/Y6w4MSA6NtSKuvDqycdACi55vg8iLNKZKe38HH+gaKcE0S+WtBAIhmBU7VbZXKG/xjKyLtbc+iKRMiSMuAfas8xToMCRaTaS1cmM4BA8fDM+q0Ijbjw03KLhxOGRwz2jICgzdgKjfkBOyqtsiGjdTKm2PypA0HjUpKgyDVvYrqZYWZ2EU66zlT6MzzV6c2ElstpXj/gd9FAqU9wKsVYqz3gJgSpNrc86R6dhqKbNpYI8qi16bNZyoyHH51rCKwlllbGwhJlk6OV5Czpf553krV13mwY+MNkdI/VY4lBGoZ4PDiBRtAOAOphG5bbyCjweZYMzU32UcqWcE1aJdR1jcMrZ68bcrdAhrvriX+57XKvdu5HUPj/RVMr1mINJNf3yix/33IPViidvRrtZ3IbnaIaUK9WDymKtcTXKmX9Rz9A3TynLTVNaIfxxzfly2sfafAp65fpvuCFOzzCwXsCtQ6DebpTP4e1AnwQC9jd5x57xZGhyprzKqndn3sXMFf6n7vvBasjMqBPbb82GPNiAIFqelDJtHz6K2mewitWtgYk/Uunud/sQfItSyJD/tWtdj4MEeuXEPz+rRext3VEOeUAJ9Zu0UnCtwuIQa74Jj1jeKq0tIeJ7rbPw1QHqradiAptCYzPNCrfBQ3KMl46PveUupIslCCxO5PLTY4Rid5qtbkiQdMR+s2Avo27xcNrDSCNqS8zhfUxSyotJ8HXTlGDpJQZc9btf2aRkIID1LOvU34uBQzf2H8/04UwdqPz/PKQWcix0SXzRf16kzooEHMEFkgJbIxvHQd6mHc1JYcjn+MFK65QJUKIXNpkvjTI+zsZNP7W9YD/hONY8s9ZUrAcdEc94pGJGicosPGU4DAPWuXsbnebeawS1ARA5KCTaNTHZOMqkAIukKu1dV+WFqG+jzNEurzYF6pdY8lRQkA8V9TIbgFvWR1RezOdE4pb9xwQxyTn+vVNS9zl4HkM1ljXhZ/IREUfHc1PvwsxjTseRs+BBUomgJznA2TmCwNPlVTPmUYgZs5/gyx62kHxul+UYOtR9HOx5rSPHOgVbTkaC5Up4aO0EnPuEQkkyMAXxC9SsQ6G+ACLGzh8OAsOOjkyhwF0Ipk021Pd+n+VUV1KAvRotJd878eoTSLU1vcsV8L1fU4X3Y5FGt5+WwJE9kTIkZIwjdQJERJX85U3BOey2LRf4axDsKyJuId+LOUyS2bInEALd6N/uoA6dsW9yH0dOg72oADQXBBIEWEDbYv6fAxpfDraukPLzp5gNP10miRGS/JT0M2qqJuDy3+ufNEOS2ky34clES+7WVRdboTnu7UkaB5LU9Oq307pWABy3f8YRaDIR4jQ7rydsDCclIZbMUbvsWSVZqUaJJL2sl75l8z2iyRHoYpq7wd4P/tyqoQmZpZ0oA0U7PgmrED3guibxmb1R+2/svvr6dUPfFLXIaoz0AFgfLm8+nklNICW9pVc8Uc3mQnahSnCUdp7vn3yB/X1r/azlTmq+09FOSWTuc518MOcujMCqnt44oLrw6KdpbfOCQDPTjga/piBttRY+IRwcz1KQDGvhPheDPd0b1ZnCgXbhSEe3uuWT7naEXu5NvhnVK7xc4QuNOWSk8ksTZ/160jaGyeZIP39iKjOKoUyOTXXF3zjk0SsCP8bngUrBN9m3o6KSkW/YPN7iexxGozIQcvpjAv0T56Ma31dMVha+4G158TyJ6BQES3z81I7jSLedigzDEDqxAfewDEl6Vmy1nS5Ltt8In4z/Xxp8qw6h4wFFKF0P1zFzhnJIatmiDz9orVWDX71LLRAE6NhlE0nPeX/jRqtt/p4GruCvwGrlttnDCu9Xzcad2NJCVWFyJ8qufgO3P8nhL7W4OjtyAh6PC/Yap4vioP8nTItCG+HZpead09Ta1shingsvthGWoVvOlyYNKXvNYLs/Vfm1i+Y/ghRFBwexnz9nMjlQrxgovsLIIHCq19+tIj0hOUsGuxpiF23+5DmEv7a8noedubWCSJtUSMj7RB4E1GEytf4RiJ05h+ZJUUUJLYFDNoQXmESJSU+yhfnvJiWakcQ99Wes45s3+VFRLlHAhJ45IrREAds0ecbM7AXtbtj3AzHWruCFkRWq56uh9Ea3Cnd4BkOJhx+HIxxEo7a8KEBpEdugj9OaWp8ziCDVpZ0UEGMqMwznx0QvN2PBmbTPf/lgS0HvKoU7Kh6KKs+Wur8aDUIwaycfSAMs17EKvVAu/+81oSI6AFiOoqIGgi+K911porOVO0rB+rf12eGWTwyJY7sP3MAZCdbaylDT2v61v7hTvsQgrsJGXhSFYGUVnA2PXnotBXepWWzl7rbI8vkcYKplNPHFABdg5+9zUjSah9Upu0I4dcOxY4yGQvqkJG5jyhpGo8djIppEf8z5axTX4E+axM4s8bfgvVWW32PoR0X8EVKVAI/6cuPcnsT8mkWqd3YJw36f9rBfG02RcNs4FPFcb26mFXmYhetETZDVy+F6mtFXthKusjRAw8eFYghQ7ApfwBaIY3MLVtWREANIiJUOkXXfq5JlUpoAgJdQe59OQMgH8luOum/FwDutECnVYzjyBJUtZQIBJu7xpcBLZFqhZE4UFsyOH7Vdm61dVAwMfdz276lrAUSuOImB0rFO6nlXQpK8/sAytswNitmuTdjN+WXicSYn2quEaRUoRMrpEJ/1cOJ0aicYvFkmw8awRe0/wubbFF4/Ij5TscmyxeGjSMAOUuJdTcBDQRM2CQHed9fgynE5qyuSzOWHZ1dEzL08nmMBDxCy81flJ9+Rpg+jVkaxN3Kt9FD4blNEBlolGkJz0n+yFRaTdgxAdJ4cmjx+mOm41p8qa4mUNvGAMwURb+aHeWVVT1p8odk+hZoberbjU7ackmPxf7TfD00gU4k9SPqBqv6h7ZQgCf7OUU0Ty6oaGiW6v503j2hfJLZsXiDkMzp+ASAPJP2OOhOl02gKUa7US27OOy8RT16ppjhCRGgBwhlhZsCDLKflZQZ6ZOTEV2+noQu/Vnj+0rEOgTOGLQQVvVdi+wosLvL+5Ynu2cfik76/uLg8Pn6NU8vR6GExLU4HGfEDdEKkfyHPdruzzGOaJDcdLGNyF7PZMt4tuOUMeZcV+MB1eVj6ooMhy5rcpZKsC1BNClOLhzT1qDM+JCHXHaDGfo+sw2FjGW0ZVRy1rDSAeMSfEajA+a+fagAA8dETRVijqnN5AI4Uy/6iy0pWC4CcBDBIC3zpW61CmIOT2L23LGphCQUZewn7FyfVxz/Kk5ce+5/1kckQUSibNFhjTGf/YIk9jm7sOMQnywSFcCpghXQKrYF3s4NhldrA0AiGj/YSIDBdJys9f+piObNJy9wrvcAzCAIfKm4K0etTyaQl61QF5OVhRViY73ydHn1iTPvmBz+2SeQD24evhc54DbJEdmhuMeOohCI6xE7AewjcZ/t1uE7THik2IC5gV4qL9IcHrs8DBYUigDLfUUEaEdrVy2z7xwdXVhJ7NT4CfZEX7HWB8gRjrp/Kw9gtuheSbyUbg/t6VcTs0YJYU5+fXWyd9dR96eePlMGc6G2t1U5rjNQZyMchnIljAwl8X6EJIpGzzuQlbBIKbW8evDatBIpCfJ+JzH3Jg+//o1sLMPdnVXxWGfCZTmNbo3aKEK58PGjiOn+nbjSakPN8GOTy+TVN4gnpjA17XubVVArsiw94QqH+zEBRIOS697cVrHx7O2ZWbjfQtsrTYIoCowoX9C4bQPPA4aoMZrc7zRR5fis0it0/DsBI7pxC6nUsI9L5Mo2p4aLxPClpivl6xbR8bsA0hKjmEDGaszbNkK07azxAf62GgRh51wkx5UD1OMSgbjw02LGp1Is4Hzg4ODn8C2jnMx+adsZNAPJ8akLO+1rvXsmx5c8T8EIYqs48VqM9N5AUJm7iF/Wk/xiiSct/T+ztoyfQOpPB2oDZqrXZ8t7Lu7pppbVhRy24JIU/9dxgHewZBcK5RrKIz5lQ0fAmy98CnWmbcDb1n+nrcI2TFrPKDAcO/n8D6G7Oing6tumiY0h3a3Er0EuAdc0EoasVnKmQ/boZs/wEK25tZOfK52jwM4mNyp//q+sj05HGF9U2VwBAbBlZvWA/mPHAgaC1HV7MFtqaBSiD2phHQTMG/JIaRe1vzJnK8FuMUyJHuyINIvfdUPoUI9gpksrqXflau1WXfAWOeLwgCp/sYPTaHPf+kRnKRahOI6J3WF+81fCVR9SUMpducYxm/LlfVFM7an1klwzkWNOmjByich1Q6LN0qegpH47OeoHn9AjWGWImfFajV8hPsiwN12MasjO9IB5nD18swytM9jRGvXVqxDlVFPHjFo/f/K5BmSrGja9W6T/ctY9kM10ZofNmJa0BoKiEejVpswAAcRrLFeVqxgTr+HJOSJUSd2KukSYDkZBud+G+A0soxdDLNe0XRuzfXFPah/tpu+xLFmCa7xbcJ78hwUkpIW1YLYGr7Tkxe6aTqZZcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CPDJ9CT1zuHiFYSWSLUKwX",
      "input": {
        "note": "Both blocks are now visible in the right wrist camera (blue at image-left, red at image-right, ~9 cm apart). The blue block reads ~3 cm to the arm's left and ~6 cm further out, so I'm extending and lowering toward it to re-measure from closer in.",
        "targets": {
          "right_j0": 0.75,
          "right_j1": 2.67,
          "right_j2": 2.66,
          "right_j3": -1.56,
          "right_j5": 0.75
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01CPDJ9CT1zuHiFYSWSLUKwX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6216 left_j2=1.2022 left_j3=-0.6975 left_j4=0.0822 left_j5=-0.8021 left_gripper=0.9973 right_j0=0.7391 right_j1=2.6469 right_j2=2.6255 right_j3=-1.6394 right_j4=0.0036 right_j5=0.7071 right_gripper=0.9988\nstate[joint_eff]: [-0.1299, 1.6479, 5.4906, 2.0635, -0.0317, -0.0513, -0.0122, 0.2393, -14.4068, 8.2393, 0.3248, -0.022, 0.1392, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d006c03e2366f5eced2c628993fce040246c30aeee4cb7637383580cca342099",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2dae2c3fa55efee79ae336a07b621729a228859b199394366bcdb9adf43811f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d6f0fa6c815830772fe53b42c640afd33a77899934fb4f44f19c95b384f46e58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob d006c03e2366
wire blob e2dae2c3fa55
wire blob d6f0fa6c8158
call 35 attempt 0 · /messages · status 200 · 14.32 s
model
claude-opus-5
effort
high
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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0101 left_j1=0.6189 left_j2=1.2068 left_j3=-0.6579 left_j4=0.0834 left_j5=-0.7975 left_gripper=0.997 right_j0=0.3279 right_j1=2.476 right_j2=2.524 right_j3=-1.71 right_j4=0.0032 right_j5=0.2695 right_gripper=0.9988\nstate[joint_eff]: [0.253, 2.3863, 5.2308, 2.4493, 0.0122, 0.0513, 0.1294, -0.1299, -13.2581, 5.3402, 0.1343, -0.0366, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.6201 left_j2=1.2022 left_j3=-0.6815 left_j4=0.0826 left_j5=-0.8013 left_gripper=0.9973 right_j0=0.6842 right_j1=2.476 right_j2=2.5233 right_j3=-1.7103 right_j4=0.0032 right_j5=0.6159 right_gripper=0.9988\nstate[joint_eff]: [-0.3897, 1.6068, 5.7504, 2.1465, -0.0122, 0.0171, 0.0073, 0.1846, -13.0803, 5.4769, 0.105, -0.0269, 0.1343, -0.0073]",
      "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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6216 left_j2=1.2022 left_j3=-0.6975 left_j4=0.0822 left_j5=-0.8021 left_gripper=0.9973 right_j0=0.7391 right_j1=2.6469 right_j2=2.6255 right_j3=-1.6394 right_j4=0.0036 right_j5=0.7071 right_gripper=0.9988\nstate[joint_eff]: [-0.1299, 1.6479, 5.4906, 2.0635, -0.0317, -0.0513, -0.0122, 0.2393, -14.4068, 8.2393, 0.3248, -0.022, 0.1392, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d006c03e2366f5eced2c628993fce040246c30aeee4cb7637383580cca342099",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2dae2c3fa55efee79ae336a07b621729a228859b199394366bcdb9adf43811f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6f0fa6c815830772fe53b42c640afd33a77899934fb4f44f19c95b384f46e58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob d006c03e2366]
[blob e2dae2c3fa55]
[blob d6f0fa6c8158]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TiMKynSUa6vvn7onjQDLh4",
      "input": {
        "note": "Closer in, the blue block reads only ~1.4 cm to the arm's left and ~1.2 cm further out from the jaw axis. Applying that small correction and dropping to ~2 cm fingertip height so the jaws straddle the block.",
        "targets": {
          "right_j0": 0.769,
          "right_j1": 2.68,
          "right_j2": 2.57,
          "right_j3": -1.45,
          "right_j5": 0.769
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01TiMKynSUa6vvn7onjQDLh4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.622 left_j2=1.2022 left_j3=-0.7162 left_j4=0.0822 left_j5=-0.8024 left_gripper=0.9973 right_j0=0.7631 right_j1=2.6835 right_j2=2.571 right_j3=-1.5414 right_j4=0.0036 right_j5=0.7364 right_gripper=0.9988\nstate[joint_eff]: [-0.212, 1.6342, 5.2171, 2.1074, -0.0659, -0.0415, -0.0122, 0.4855, -14.8034, 5.9966, 0.779, 0.0073, 0.2222, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6fad77eb1e8b7fa58e100e21182acf0e1b361671cd18cf312804ab3de9e9b854",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da11185cbcd1bd4b96cc50a2622b090d0796872a4d56ca655aec28338042a168",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e29d75134396f8e9f13d0630693c88b9373cdb107e0d6d1494592e6675c1e282",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 6fad77eb1e8b
wire blob da11185cbcd1
wire blob e29d75134396
call 36 attempt 0 · /messages · status 200 · 7.558 s
model
claude-opus-5
effort
high
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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0071 left_j1=0.6201 left_j2=1.2022 left_j3=-0.6815 left_j4=0.0826 left_j5=-0.8013 left_gripper=0.9973 right_j0=0.6842 right_j1=2.476 right_j2=2.5233 right_j3=-1.7103 right_j4=0.0032 right_j5=0.6159 right_gripper=0.9988\nstate[joint_eff]: [-0.3897, 1.6068, 5.7504, 2.1465, -0.0122, 0.0171, 0.0073, 0.1846, -13.0803, 5.4769, 0.105, -0.0269, 0.1343, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6216 left_j2=1.2022 left_j3=-0.6975 left_j4=0.0822 left_j5=-0.8021 left_gripper=0.9973 right_j0=0.7391 right_j1=2.6469 right_j2=2.6255 right_j3=-1.6394 right_j4=0.0036 right_j5=0.7071 right_gripper=0.9988\nstate[joint_eff]: [-0.1299, 1.6479, 5.4906, 2.0635, -0.0317, -0.0513, -0.0122, 0.2393, -14.4068, 8.2393, 0.3248, -0.022, 0.1392, -0.0073]",
      "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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.622 left_j2=1.2022 left_j3=-0.7162 left_j4=0.0822 left_j5=-0.8024 left_gripper=0.9973 right_j0=0.7631 right_j1=2.6835 right_j2=2.571 right_j3=-1.5414 right_j4=0.0036 right_j5=0.7364 right_gripper=0.9988\nstate[joint_eff]: [-0.212, 1.6342, 5.2171, 2.1074, -0.0659, -0.0415, -0.0122, 0.4855, -14.8034, 5.9966, 0.779, 0.0073, 0.2222, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6fad77eb1e8b7fa58e100e21182acf0e1b361671cd18cf312804ab3de9e9b854",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da11185cbcd1bd4b96cc50a2622b090d0796872a4d56ca655aec28338042a168",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e29d75134396f8e9f13d0630693c88b9373cdb107e0d6d1494592e6675c1e282",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 6fad77eb1e8b]
[blob da11185cbcd1]
[blob e29d75134396]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Vx1cHX6ghybwKwyus1hiFd",
      "input": {
        "note": "The blue block sits between the open jaws but reads ~1 cm inboard of the finger axis (it is below the downward vanishing point in the wrist image). Pulling in 1 cm before closing.",
        "targets": {
          "right_j1": 2.57,
          "right_j2": 2.34,
          "right_j3": -1.34
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Vx1cHX6ghybwKwyus1hiFd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.622 left_j2=1.2022 left_j3=-0.7364 left_j4=0.0822 left_j5=-0.8089 left_gripper=0.9973 right_j0=0.7647 right_j1=2.5984 right_j2=2.3623 right_j3=-1.4063 right_j4=-0.0074 right_j5=0.7338 right_gripper=0.9988\nstate[joint_eff]: [-0.1983, 2.2085, 5.2171, 2.1856, -0.0464, 0.0073, -0.0122, -0.1299, -15.7607, 5.3128, 0.4957, 0.0611, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94600c27c67017688f347179abfca189a466678b705817e230f69b1710789da2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8732ad40e9b63015072efe0ce636ac6594a71903bb7f758d381473e98fcafae0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:912e302d6fd5eb3dfba688adc3a680edc34584eb25ae5978ce30e4ceae0632b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 94600c27c670
wire blob 8732ad40e9b6
wire blob 912e302d6fd5
call 37 attempt 0 · /messages · status 200 · 15.13 s
model
claude-opus-5
effort
high
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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6216 left_j2=1.2022 left_j3=-0.6975 left_j4=0.0822 left_j5=-0.8021 left_gripper=0.9973 right_j0=0.7391 right_j1=2.6469 right_j2=2.6255 right_j3=-1.6394 right_j4=0.0036 right_j5=0.7071 right_gripper=0.9988\nstate[joint_eff]: [-0.1299, 1.6479, 5.4906, 2.0635, -0.0317, -0.0513, -0.0122, 0.2393, -14.4068, 8.2393, 0.3248, -0.022, 0.1392, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.622 left_j2=1.2022 left_j3=-0.7162 left_j4=0.0822 left_j5=-0.8024 left_gripper=0.9973 right_j0=0.7631 right_j1=2.6835 right_j2=2.571 right_j3=-1.5414 right_j4=0.0036 right_j5=0.7364 right_gripper=0.9988\nstate[joint_eff]: [-0.212, 1.6342, 5.2171, 2.1074, -0.0659, -0.0415, -0.0122, 0.4855, -14.8034, 5.9966, 0.779, 0.0073, 0.2222, -0.0122]",
      "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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.622 left_j2=1.2022 left_j3=-0.7364 left_j4=0.0822 left_j5=-0.8089 left_gripper=0.9973 right_j0=0.7647 right_j1=2.5984 right_j2=2.3623 right_j3=-1.4063 right_j4=-0.0074 right_j5=0.7338 right_gripper=0.9988\nstate[joint_eff]: [-0.1983, 2.2085, 5.2171, 2.1856, -0.0464, 0.0073, -0.0122, -0.1299, -15.7607, 5.3128, 0.4957, 0.0611, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94600c27c67017688f347179abfca189a466678b705817e230f69b1710789da2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8732ad40e9b63015072efe0ce636ac6594a71903bb7f758d381473e98fcafae0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:912e302d6fd5eb3dfba688adc3a680edc34584eb25ae5978ce30e4ceae0632b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 94600c27c670]
[blob 8732ad40e9b6]
[blob 912e302d6fd5]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Hmtm3Bdbn32vtSWhPEFgRR",
      "input": {
        "note": "Fingertips are ~1 cm above the table with the blue block sitting between the jaws at the bottom of the wrist frame. Closing to grasp; residual should read ≈0.45 if I have the block.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Hmtm3Bdbn32vtSWhPEFgRR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.622 left_j2=1.2022 left_j3=-0.749 left_j4=0.0822 left_j5=-0.8165 left_gripper=0.9973 right_j0=0.7647 right_j1=2.5919 right_j2=2.3493 right_j3=-1.4044 right_j4=-0.0124 right_j5=0.73 right_gripper=0.014\nstate[joint_eff]: [-0.1846, 1.6615, 5.4222, 2.0, -0.0464, 0.0171, -0.0122, -0.1846, -13.6684, 6.6393, 0.105, -0.0024, -0.0122, 0.6667]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e24777b6f4ac3f7342235d626b37c4807f111c925860c042caeb1c1ad1ae7ccb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e70cd0363972e08d27919da24ce8815e66b41dbe7f61cf9c0b11155f3342b37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:581630bc45debd37c6673477ad0a0f5bdfd4bcbffb5f636c0f63487f94329d9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob e24777b6f4ac
wire blob 0e70cd036397
wire blob 581630bc45de
call 38 attempt 0 · /messages · status 200 · 14.75 s
model
claude-opus-5
effort
high
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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.622 left_j2=1.2022 left_j3=-0.7162 left_j4=0.0822 left_j5=-0.8024 left_gripper=0.9973 right_j0=0.7631 right_j1=2.6835 right_j2=2.571 right_j3=-1.5414 right_j4=0.0036 right_j5=0.7364 right_gripper=0.9988\nstate[joint_eff]: [-0.212, 1.6342, 5.2171, 2.1074, -0.0659, -0.0415, -0.0122, 0.4855, -14.8034, 5.9966, 0.779, 0.0073, 0.2222, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.622 left_j2=1.2022 left_j3=-0.7364 left_j4=0.0822 left_j5=-0.8089 left_gripper=0.9973 right_j0=0.7647 right_j1=2.5984 right_j2=2.3623 right_j3=-1.4063 right_j4=-0.0074 right_j5=0.7338 right_gripper=0.9988\nstate[joint_eff]: [-0.1983, 2.2085, 5.2171, 2.1856, -0.0464, 0.0073, -0.0122, -0.1299, -15.7607, 5.3128, 0.4957, 0.0611, -0.022, -0.0122]",
      "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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.622 left_j2=1.2022 left_j3=-0.749 left_j4=0.0822 left_j5=-0.8165 left_gripper=0.9973 right_j0=0.7647 right_j1=2.5919 right_j2=2.3493 right_j3=-1.4044 right_j4=-0.0124 right_j5=0.73 right_gripper=0.014\nstate[joint_eff]: [-0.1846, 1.6615, 5.4222, 2.0, -0.0464, 0.0171, -0.0122, -0.1846, -13.6684, 6.6393, 0.105, -0.0024, -0.0122, 0.6667]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e24777b6f4ac3f7342235d626b37c4807f111c925860c042caeb1c1ad1ae7ccb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e70cd0363972e08d27919da24ce8815e66b41dbe7f61cf9c0b11155f3342b37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:581630bc45debd37c6673477ad0a0f5bdfd4bcbffb5f636c0f63487f94329d9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob e24777b6f4ac]
[blob 0e70cd036397]
[blob 581630bc45de]
{
  "content": [
    {
      "signature": 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pL413TYKlnrbmJ59lxMMfCFVORtRGzaz0LeOXDbYKEOpgy5ydwNqK2eEKh3ihZYNXac/vqnBdl4xZDj3aBYmSM2f3Bjmx9gDuJqH1aNlXEGA5SYbzkHmQ46qn+9N2qk80ZqCmdhTtvfcVBQrv1NIvuiTJL3OZzU2I71hecJ3v6i1DQ3Vrw4RgDKvuY14tYGvu1ZTFtyKpSYzOWKWRY+5aD1cuvRfJ0SZ9jjeFRNvawROItNMn9XxKIEu/RuinR7UOHi8dARVkiDcufZoFEjg3YpWwXHpDK4icloyARPq6WS2mQat81Aa8HqODcDzgBuCCEcDk7Obs67ivqioEPYJvCAfMPJqu4/SoOCM7YxANyx6G9YOYijuZ4W7PHoqbMBN4kuplciwMg6taDMoXSNahstW34rZtUuiVPrSxuFsDxsLV379VbMpdwRE4qik43oW1COKr640YphejdASU4AhuVstnm6iukS0zrD++YcxPr1hPXj6RTMWQTZDDwFuGGr6OrEEho1sXLyv0rfJD6W6QdJY/ABM/EqHX83bo4hMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KLGSUnpJNKfc7KBFqBx11k",
      "input": {
        "note": "Empty close again (residual 0.014) — with the block clipped at the bottom of the frame I keep underestimating how far inboard it is. Backing up to ~10 cm height where the whole block is visible so I can align cleanly, then I will descend straight down without changing radius.",
        "targets": {
          "right_gripper": 1.0,
          "right_j1": 2.4,
          "right_j2": 2.36,
          "right_j3": -1.53
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01KLGSUnpJNKfc7KBFqBx11k",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.622 left_j2=1.2022 left_j3=-0.7681 left_j4=0.0822 left_j5=-0.8242 left_gripper=0.9973 right_j0=0.7647 right_j1=2.4496 right_j2=2.3493 right_j3=-1.5143 right_j4=-0.0124 right_j5=0.7254 right_gripper=0.9943\nstate[joint_eff]: [-0.1709, 1.6615, 5.2855, 2.0635, -0.0513, 0.0415, -0.0122, -0.1846, -16.4991, 6.7077, 0.1294, -0.0122, 0.0171, 0.0317]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c4ef5dc503728bfc578c30dedac82f3b42408db5d24ab0a528517b1f2498ded",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7de36317d5a55bda4fe26b457e58c5d2e9935e06f4f5ead83e398ec04ec6a70e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c0585f88b9787a478e2c0d238745862635e5be7bcd98c9a48630b366654cc232",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 1c4ef5dc5037
wire blob 7de36317d5a5
wire blob c0585f88b978
call 39 attempt 0 · /messages · status 200 · 9.999 s
model
claude-opus-5
effort
high
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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.622 left_j2=1.2022 left_j3=-0.7364 left_j4=0.0822 left_j5=-0.8089 left_gripper=0.9973 right_j0=0.7647 right_j1=2.5984 right_j2=2.3623 right_j3=-1.4063 right_j4=-0.0074 right_j5=0.7338 right_gripper=0.9988\nstate[joint_eff]: [-0.1983, 2.2085, 5.2171, 2.1856, -0.0464, 0.0073, -0.0122, -0.1299, -15.7607, 5.3128, 0.4957, 0.0611, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.622 left_j2=1.2022 left_j3=-0.749 left_j4=0.0822 left_j5=-0.8165 left_gripper=0.9973 right_j0=0.7647 right_j1=2.5919 right_j2=2.3493 right_j3=-1.4044 right_j4=-0.0124 right_j5=0.73 right_gripper=0.014\nstate[joint_eff]: [-0.1846, 1.6615, 5.4222, 2.0, -0.0464, 0.0171, -0.0122, -0.1846, -13.6684, 6.6393, 0.105, -0.0024, -0.0122, 0.6667]",
      "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: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.622 left_j2=1.2022 left_j3=-0.7681 left_j4=0.0822 left_j5=-0.8242 left_gripper=0.9973 right_j0=0.7647 right_j1=2.4496 right_j2=2.3493 right_j3=-1.5143 right_j4=-0.0124 right_j5=0.7254 right_gripper=0.9943\nstate[joint_eff]: [-0.1709, 1.6615, 5.2855, 2.0635, -0.0513, 0.0415, -0.0122, -0.1846, -16.4991, 6.7077, 0.1294, -0.0122, 0.0171, 0.0317]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c4ef5dc503728bfc578c30dedac82f3b42408db5d24ab0a528517b1f2498ded",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7de36317d5a55bda4fe26b457e58c5d2e9935e06f4f5ead83e398ec04ec6a70e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0585f88b9787a478e2c0d238745862635e5be7bcd98c9a48630b366654cc232",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 1c4ef5dc5037]
[blob 7de36317d5a5]
[blob c0585f88b978]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HLcohjnYVpXm4NRoss6igM",
      "input": {
        "note": "With the whole blue block visible at 7.6 cm height I can measure properly: its vertical axis is 2.5 cm further out and 0.7 cm to the arm's right of the jaw axis. Applying that correction while holding height, so I can verify alignment before a straight-down descent.",
        "targets": {
          "right_j0": 0.75,
          "right_j1": 2.6,
          "right_j2": 2.6,
          "right_j3": -1.59,
          "right_j5": 0.75
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01HLcohjnYVpXm4NRoss6igM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6224 left_j2=1.2022 left_j3=-0.7902 left_j4=0.0822 left_j5=-0.8318 left_gripper=0.9973 right_j0=0.7578 right_j1=2.5828 right_j2=2.5561 right_j3=-1.5993 right_j4=-0.0132 right_j5=0.7269 right_gripper=0.996\nstate[joint_eff]: [-0.1162, 1.6752, 5.3538, 2.1319, -0.0562, 0.0073, -0.0122, -0.8821, -13.559, 7.9795, 0.4274, -0.0171, 0.2027, 0.1685]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:456e619280a3e8d97d55152f0968f6e5d4ab41160a8153879b2f2fb7ce6b082b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9296082255f717acbbd38ecd9d11f3a67d3c783c2a74d76ae9c4fcc8e60dcb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e79c122e141a5880db96fd0e47693c107daebaaf650711109ff361150159baad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 456e619280a3
wire blob e9296082255f
wire blob e79c122e141a
call 40 attempt 0 · /messages · status 200 · 5.332 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 112 changed as sent

message 115 changed as sent

message 118 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.622 left_j2=1.2022 left_j3=-0.749 left_j4=0.0822 left_j5=-0.8165 left_gripper=0.9973 right_j0=0.7647 right_j1=2.5919 right_j2=2.3493 right_j3=-1.4044 right_j4=-0.0124 right_j5=0.73 right_gripper=0.014\nstate[joint_eff]: [-0.1846, 1.6615, 5.4222, 2.0, -0.0464, 0.0171, -0.0122, -0.1846, -13.6684, 6.6393, 0.105, -0.0024, -0.0122, 0.6667]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.622 left_j2=1.2022 left_j3=-0.7681 left_j4=0.0822 left_j5=-0.8242 left_gripper=0.9973 right_j0=0.7647 right_j1=2.4496 right_j2=2.3493 right_j3=-1.5143 right_j4=-0.0124 right_j5=0.7254 right_gripper=0.9943\nstate[joint_eff]: [-0.1709, 1.6615, 5.2855, 2.0635, -0.0513, 0.0415, -0.0122, -0.1846, -16.4991, 6.7077, 0.1294, -0.0122, 0.0171, 0.0317]\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 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6224 left_j2=1.2022 left_j3=-0.7902 left_j4=0.0822 left_j5=-0.8318 left_gripper=0.9973 right_j0=0.7578 right_j1=2.5828 right_j2=2.5561 right_j3=-1.5993 right_j4=-0.0132 right_j5=0.7269 right_gripper=0.996\nstate[joint_eff]: [-0.1162, 1.6752, 5.3538, 2.1319, -0.0562, 0.0073, -0.0122, -0.8821, -13.559, 7.9795, 0.4274, -0.0171, 0.2027, 0.1685]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:456e619280a3e8d97d55152f0968f6e5d4ab41160a8153879b2f2fb7ce6b082b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9296082255f717acbbd38ecd9d11f3a67d3c783c2a74d76ae9c4fcc8e60dcb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e79c122e141a5880db96fd0e47693c107daebaaf650711109ff361150159baad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 456e619280a3]
[blob e9296082255f]
[blob e79c122e141a]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MW5e6V2b3pvueseJPb5BJw",
      "input": {
        "note": "At 6.6 cm height the block is laterally centred and only ~1 cm further out than the jaw axis. Applying that last 1 cm and descending straight down to ~2 cm fingertip height, which preserves the horizontal alignment.",
        "targets": {
          "right_j1": 2.64,
          "right_j2": 2.48,
          "right_j3": -1.41
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01MW5e6V2b3pvueseJPb5BJw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0074 left_j1=0.6228 left_j2=1.2022 left_j3=-0.8101 left_j4=0.0822 left_j5=-0.8394 left_gripper=0.9973 right_j0=0.7563 right_j1=2.6232 right_j2=2.4836 right_j3=-1.5013 right_j4=-0.0143 right_j5=0.7219 right_gripper=0.9962\nstate[joint_eff]: [-0.1026, 1.6752, 5.2171, 2.0733, -0.0562, 0.0073, -0.0122, -0.0752, -12.9162, 5.8735, 0.7546, -0.0024, -0.0024, 0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d84e03a3b29a47ec260c34f4ebb19c317725d75a589a5a241796cc2198a41d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a51f1051562213123e9f95d6a36786891f1f947bad97a0ff3c47c9d0d8e99a2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b53ff647f0fcf444166af987d4b5ca2c77ed72690771961221eb14d49f534746",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 5d84e03a3b29
wire blob a51f10515622
wire blob b53ff647f0fc
call 41 attempt 0 · /messages · status 200 · 19.43 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 115 changed as sent

message 118 changed as sent

message 121 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.622 left_j2=1.2022 left_j3=-0.7681 left_j4=0.0822 left_j5=-0.8242 left_gripper=0.9973 right_j0=0.7647 right_j1=2.4496 right_j2=2.3493 right_j3=-1.5143 right_j4=-0.0124 right_j5=0.7254 right_gripper=0.9943\nstate[joint_eff]: [-0.1709, 1.6615, 5.2855, 2.0635, -0.0513, 0.0415, -0.0122, -0.1846, -16.4991, 6.7077, 0.1294, -0.0122, 0.0171, 0.0317]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6224 left_j2=1.2022 left_j3=-0.7902 left_j4=0.0822 left_j5=-0.8318 left_gripper=0.9973 right_j0=0.7578 right_j1=2.5828 right_j2=2.5561 right_j3=-1.5993 right_j4=-0.0132 right_j5=0.7269 right_gripper=0.996\nstate[joint_eff]: [-0.1162, 1.6752, 5.3538, 2.1319, -0.0562, 0.0073, -0.0122, -0.8821, -13.559, 7.9795, 0.4274, -0.0171, 0.2027, 0.1685]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0074 left_j1=0.6228 left_j2=1.2022 left_j3=-0.8101 left_j4=0.0822 left_j5=-0.8394 left_gripper=0.9973 right_j0=0.7563 right_j1=2.6232 right_j2=2.4836 right_j3=-1.5013 right_j4=-0.0143 right_j5=0.7219 right_gripper=0.9962\nstate[joint_eff]: [-0.1026, 1.6752, 5.2171, 2.0733, -0.0562, 0.0073, -0.0122, -0.0752, -12.9162, 5.8735, 0.7546, -0.0024, -0.0024, 0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d84e03a3b29a47ec260c34f4ebb19c317725d75a589a5a241796cc2198a41d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a51f1051562213123e9f95d6a36786891f1f947bad97a0ff3c47c9d0d8e99a2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b53ff647f0fcf444166af987d4b5ca2c77ed72690771961221eb14d49f534746",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 5d84e03a3b29]
[blob a51f10515622]
[blob b53ff647f0fc]
{
  "content": [
    {
      "signature": "CAIS5QYKjAEIEBgCKkDVlz6Vu7Sk3q79CsVWrE8dAP2h5YlLUCtzCXeQR7h+R9iPyG0kVsdqGbnKh6X/LI128infrjtLio4CJaNov3FOMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMSpTL62BTLP/YiYUbGgwnWSRllqDUULtLe1wiMIvdbBEzU7hzeKbNwGnFD70K/OJkN7UBDQQ9wL31W+FO7t+2pOYRP6zM1TScHDY0mSqFBWiOrO+Dl91rgXxNi0LR7qSso3u94N1jVMFxUY3dbD7m9XiivKCF7xGt0+WIG3tOJhY/sv97uNyU7/fO0xN9wyp8Tz+IAgmrjqCU7C+DxiTo+l9x+n2dM2CyMzmLibRU64L7DWIkpONB5Hpll7482RNnCxwQC2gGjUgdHLUxBKVgkKN066Tg6nbT5TwmpU71V24+T01KU3AosEPC5Q7huDJ52I3QcX5/HrgCQTErJLbzFsA8XiMAkNAOeAzU22O916B1nBr9e0zcvC2f0J2CkIpNXMwtS8GMfR02YWgFMd56Go0GxR8ohB5YKtUqKeDtNTwNdWY08bquirti5CcNHRBaiZ7A86O2zpksZpFieOZB2gP69RrEdY6KEA9sJOP7vliyrsJL2/w/UnaO2wPwKbajNxXrAq7GfTMBs0AqWraG3iEXRskyOAUDWA9Uh0vSqf8zZXihtJz8i/XiMFjOJW04qHneCpP0M03Iou9Sh76ReNyhaScOh7tteAxNnH6NRZNmZyT1RizNP3AVri0n1JRow7ws0fIHdFINgZ5hgogkZvafZP0wF9Y4q87nVOhiPH5oM2XSs5jER71BFDx2VTdzGFd99RakOvjIuJUth0188ha95rgKuZpQtPCwBvb/tD8kkIqdRk+3XLFUddM7elarQNkLrxGDIRFR9YQPK+kI0krRekfE+T+h3kVvR/2Q6Zci8syB+tOilQo84dbTFpE1s4l1Gh/Wxxzp4GyQlhHcXekE5rCExhsIUeQKwwDUqdY366ainLGMP8bTo0eN3ZhchwMbtr+9/bavmxgvCyECWKWq3w7DZP12Vt0lrRYVzVOrseLBVYduWV+5HSsASmI4bvHSXxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WTv1mxZpBbB4B4nzz4qd2X",
      "input": {
        "note": "Fingertips are ~3 cm above the table with the block right at the jaw gap at the bottom of the frame. Closing to grasp.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01WTv1mxZpBbB4B4nzz4qd2X",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0074 left_j1=0.6228 left_j2=1.2022 left_j3=-0.8322 left_j4=0.0826 left_j5=-0.8467 left_gripper=0.9973 right_j0=0.7578 right_j1=2.6331 right_j2=2.4771 right_j3=-1.5017 right_j4=-0.0189 right_j5=0.7151 right_gripper=0.0132\nstate[joint_eff]: [0.0342, 1.6615, 5.2171, 2.1172, -0.0659, -0.0024, -0.0122, -0.335, -15.1316, 6.0376, 0.1441, 0.0122, 0.0757, 1.1941]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0d266e929373328c501bf6982bae269eec26facf6639674c1ea40b554155653",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7cdded8a632fd866a5a26424361a7e274cb33788e5eeac3293870ed53c415d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:515426c0c5edfb71333afc450f308d5562a1e101c6f13539ffa46f64a0e55400",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob a0d266e92937
wire blob d7cdded8a632
wire blob 515426c0c5ed
call 42 attempt 0 · /messages · status 200 · 4.82 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 118 changed as sent

message 121 changed as sent

message 124 changed as sent

message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6224 left_j2=1.2022 left_j3=-0.7902 left_j4=0.0822 left_j5=-0.8318 left_gripper=0.9973 right_j0=0.7578 right_j1=2.5828 right_j2=2.5561 right_j3=-1.5993 right_j4=-0.0132 right_j5=0.7269 right_gripper=0.996\nstate[joint_eff]: [-0.1162, 1.6752, 5.3538, 2.1319, -0.0562, 0.0073, -0.0122, -0.8821, -13.559, 7.9795, 0.4274, -0.0171, 0.2027, 0.1685]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0074 left_j1=0.6228 left_j2=1.2022 left_j3=-0.8101 left_j4=0.0822 left_j5=-0.8394 left_gripper=0.9973 right_j0=0.7563 right_j1=2.6232 right_j2=2.4836 right_j3=-1.5013 right_j4=-0.0143 right_j5=0.7219 right_gripper=0.9962\nstate[joint_eff]: [-0.1026, 1.6752, 5.2171, 2.0733, -0.0562, 0.0073, -0.0122, -0.0752, -12.9162, 5.8735, 0.7546, -0.0024, -0.0024, 0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0074 left_j1=0.6228 left_j2=1.2022 left_j3=-0.8322 left_j4=0.0826 left_j5=-0.8467 left_gripper=0.9973 right_j0=0.7578 right_j1=2.6331 right_j2=2.4771 right_j3=-1.5017 right_j4=-0.0189 right_j5=0.7151 right_gripper=0.0132\nstate[joint_eff]: [0.0342, 1.6615, 5.2171, 2.1172, -0.0659, -0.0024, -0.0122, -0.335, -15.1316, 6.0376, 0.1441, 0.0122, 0.0757, 1.1941]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0d266e929373328c501bf6982bae269eec26facf6639674c1ea40b554155653",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7cdded8a632fd866a5a26424361a7e274cb33788e5eeac3293870ed53c415d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:515426c0c5edfb71333afc450f308d5562a1e101c6f13539ffa46f64a0e55400",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob a0d266e92937]
[blob d7cdded8a632]
[blob 515426c0c5ed]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014RXhuu8EpKGT7mxCECFicQ",
      "input": {
        "note": "Another empty close — and the sliver of block now visible past the shut jaws shows it ~1.8 cm to the arm's left, which means a finger has been clipping its side and shoving it. Lifting clear (jaws still shut so I don't bat it again) while yawing 0.037 rad left to correct.",
        "targets": {
          "right_j0": 0.795,
          "right_j1": 2.5,
          "right_j2": 2.54,
          "right_j3": -1.61,
          "right_j5": 0.795
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_014RXhuu8EpKGT7mxCECFicQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2022 left_j3=-0.8474 left_j4=0.0822 left_j5=-0.8478 left_gripper=0.9973 right_j0=0.7795 right_j1=2.5904 right_j2=2.495 right_j3=-1.565 right_j4=-0.0193 right_j5=0.7578 right_gripper=0.0155\nstate[joint_eff]: [-0.1846, 2.0034, 5.2855, 2.0488, -0.0611, -0.0464, -0.0122, 0.8684, -19.4256, 9.0598, 0.0806, -0.0562, 0.0904, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ac6b47db5001862f3f7c0a236d858340d3b85a1905d88227f1a8d2aa660c090",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb9eea7bccbab5d109e0a437aedce4ab30bf751d53ba08beb5e9d1d733cfb83e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e1648977b8cdb9ea1c8abc3a1fa47bc2e54c63a6183f83e77999f94aad288da8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 9ac6b47db500
wire blob fb9eea7bccba
wire blob e1648977b8cd
call 43 attempt 0 · /messages · status 200 · 12.97 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 121 changed as sent

message 124 changed as sent

message 127 changed as sent

message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0074 left_j1=0.6228 left_j2=1.2022 left_j3=-0.8101 left_j4=0.0822 left_j5=-0.8394 left_gripper=0.9973 right_j0=0.7563 right_j1=2.6232 right_j2=2.4836 right_j3=-1.5013 right_j4=-0.0143 right_j5=0.7219 right_gripper=0.9962\nstate[joint_eff]: [-0.1026, 1.6752, 5.2171, 2.0733, -0.0562, 0.0073, -0.0122, -0.0752, -12.9162, 5.8735, 0.7546, -0.0024, -0.0024, 0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0074 left_j1=0.6228 left_j2=1.2022 left_j3=-0.8322 left_j4=0.0826 left_j5=-0.8467 left_gripper=0.9973 right_j0=0.7578 right_j1=2.6331 right_j2=2.4771 right_j3=-1.5017 right_j4=-0.0189 right_j5=0.7151 right_gripper=0.0132\nstate[joint_eff]: [0.0342, 1.6615, 5.2171, 2.1172, -0.0659, -0.0024, -0.0122, -0.335, -15.1316, 6.0376, 0.1441, 0.0122, 0.0757, 1.1941]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2022 left_j3=-0.8474 left_j4=0.0822 left_j5=-0.8478 left_gripper=0.9973 right_j0=0.7795 right_j1=2.5904 right_j2=2.495 right_j3=-1.565 right_j4=-0.0193 right_j5=0.7578 right_gripper=0.0155\nstate[joint_eff]: [-0.1846, 2.0034, 5.2855, 2.0488, -0.0611, -0.0464, -0.0122, 0.8684, -19.4256, 9.0598, 0.0806, -0.0562, 0.0904, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ac6b47db5001862f3f7c0a236d858340d3b85a1905d88227f1a8d2aa660c090",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb9eea7bccbab5d109e0a437aedce4ab30bf751d53ba08beb5e9d1d733cfb83e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1648977b8cdb9ea1c8abc3a1fa47bc2e54c63a6183f83e77999f94aad288da8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 9ac6b47db500]
[blob fb9eea7bccba]
[blob e1648977b8cd]
{
  "content": [
    {
      "signature": "CAISmwUKjAEIEBgCKkA+t4DWRXKh+gN8XfNKa6CKuY4eKx25E2BywuvAZjwvKtOlXjnNe3XeitVITkUjunc5Zph+EEUgd7DRxk+6cHOKMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMXA68bFR7R9mCAfhhGgyQoZ/rFA9Ou2WNEZsiMBxKyhZrUWuH1FCorxLOjFyNmMOZ1iQoV/XLGIJxpuJcYK62PdxtyZrQdxhNC4w17Cq7A+ts54sT4SvxVerrd9Z1f5ZFKiK4xVoTBgYZ23fDyu01WDKRCNL25RzTHNSYPJBlD9pa46Fdr21+Ywg1MGy81MIMP2R/fkA4qMukEl7WATNywF6gCTH7oX2rpU10a5vf8aUSFYuGQehpSIOz3hlDOr3nW7P8VpzwAe7qdHFv3fe9OEJiClyHw6fBE0safH73dGg7cgRlfz4ivLO+J8+aRfhl/XXpvxh14D6li4as6xqh2UWl8kCSXyWJ1LAgC6KSDe9x8NhxTgyUNuQr3xTLC/QG8y2dKan6j5giEXGCuBgyvfZ2wSHocYZT8fGT6920v8yxyKBa0XKFr7gXzGaFGeLceZ8qMai2ut2q3ePZ5ml18q9LZ5gnxQydxzWzw3wfP62sEJxzY69MBvxRMp/7x9Wr7K55yFCsFKfBKGxSc9oJf3yeThtOl9M7mrARfCt+2ZfNUBhcP+3g5yIrQWVIH8zxryGGVvG4iEeU3ySDvAqBZ0+OUJvXrz0BIvZhzcV8oRwKp10czYvbDYkzfZU6WOuZ7eqk3/fhmTLKaHJj8o8IvxDT6sNSQJM37JTezwos2tfipHWb7GeSz8mSGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01H1UqK78V5fmVBXsf4hPj8L",
      "input": {
        "note": "The lift only partly executed (controller undershoot); re-issuing to get the closed jaws well above block height before reopening.",
        "targets": {
          "right_j1": 2.48,
          "right_j2": 2.56,
          "right_j3": -1.64
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01H1UqK78V5fmVBXsf4hPj8L",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2022 left_j3=-0.857 left_j4=0.0826 left_j5=-0.8509 left_gripper=0.9973 right_j0=0.7929 right_j1=2.5153 right_j2=2.5267 right_j3=-1.626 right_j4=-0.0196 right_j5=0.7677 right_gripper=0.0155\nstate[joint_eff]: [-0.3487, 1.8256, 5.2171, 2.0293, -0.0659, -0.022, -0.0122, -1.0598, -16.4171, 8.0615, 0.1538, -0.0366, -0.0317, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c3486c32d9b927b594fbf7aa149f6e97c301438bbbffabcc8a638e2e4da4e78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0732980a305609ef244e1cd438b33d4403c5eb0d9a5fa4da8862ab416f76acc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bb844eb058c74412170a91f6cd31302cfb163f25e23afec6ad6905f38fe41991",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 0c3486c32d9b
wire blob 0732980a3056
wire blob bb844eb058c7
call 44 attempt 0 · /messages · status 200 · 8.119 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 124 changed as sent

message 127 changed as sent

message 130 changed as sent

message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0074 left_j1=0.6228 left_j2=1.2022 left_j3=-0.8322 left_j4=0.0826 left_j5=-0.8467 left_gripper=0.9973 right_j0=0.7578 right_j1=2.6331 right_j2=2.4771 right_j3=-1.5017 right_j4=-0.0189 right_j5=0.7151 right_gripper=0.0132\nstate[joint_eff]: [0.0342, 1.6615, 5.2171, 2.1172, -0.0659, -0.0024, -0.0122, -0.335, -15.1316, 6.0376, 0.1441, 0.0122, 0.0757, 1.1941]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2022 left_j3=-0.8474 left_j4=0.0822 left_j5=-0.8478 left_gripper=0.9973 right_j0=0.7795 right_j1=2.5904 right_j2=2.495 right_j3=-1.565 right_j4=-0.0193 right_j5=0.7578 right_gripper=0.0155\nstate[joint_eff]: [-0.1846, 2.0034, 5.2855, 2.0488, -0.0611, -0.0464, -0.0122, 0.8684, -19.4256, 9.0598, 0.0806, -0.0562, 0.0904, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2022 left_j3=-0.857 left_j4=0.0826 left_j5=-0.8509 left_gripper=0.9973 right_j0=0.7929 right_j1=2.5153 right_j2=2.5267 right_j3=-1.626 right_j4=-0.0196 right_j5=0.7677 right_gripper=0.0155\nstate[joint_eff]: [-0.3487, 1.8256, 5.2171, 2.0293, -0.0659, -0.022, -0.0122, -1.0598, -16.4171, 8.0615, 0.1538, -0.0366, -0.0317, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c3486c32d9b927b594fbf7aa149f6e97c301438bbbffabcc8a638e2e4da4e78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0732980a305609ef244e1cd438b33d4403c5eb0d9a5fa4da8862ab416f76acc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb844eb058c74412170a91f6cd31302cfb163f25e23afec6ad6905f38fe41991",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 0c3486c32d9b]
[blob 0732980a3056]
[blob bb844eb058c7]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0142mgMiRV4FPsBehuaC3Lin",
      "input": {
        "note": "Clear view now: the blue block sits just above the closed jaw wedge, the red block at the right edge. Before touching anything I'm doing a pure +0.06 rad yaw (≈2.7 cm to the arm's left) to measure exactly which way and how far the block shifts in this rolled wrist image — my lateral estimates have been the thing failing.",
        "targets": {
          "right_j0": 0.853
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 1 steps (0.1s)",
      "tool_use_id": "toolu_0142mgMiRV4FPsBehuaC3Lin",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2022 left_j3=-0.8696 left_j4=0.0826 left_j5=-0.8509 left_gripper=0.9973 right_j0=0.7784 right_j1=2.5153 right_j2=2.5267 right_j3=-1.6405 right_j4=-0.0193 right_j5=0.7601 right_gripper=0.0155\nstate[joint_eff]: [-0.212, 1.6889, 5.2034, 2.1172, -0.0513, -0.022, -0.0122, -0.0752, -16.4171, 8.0342, 0.149, -0.0366, -0.0611, 0.9988]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8073a8a1a5223ab3a73d16e741e981ed03cc759d5de1b51cc86f037ee69577bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c4860c0bcec51acecab1fb1f2e6025ded2ffb78504f3a142b67acd5bd319f27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fc819aa134f633f2783a4c63fc6fff5f790767d22ad71b5109da345139547a25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 8073a8a1a522
wire blob 5c4860c0bcec
wire blob fc819aa134f6
call 45 attempt 0 · /messages · status 200 · 35.25 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 127 changed as sent

message 130 changed as sent

message 133 changed as sent

message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2022 left_j3=-0.8474 left_j4=0.0822 left_j5=-0.8478 left_gripper=0.9973 right_j0=0.7795 right_j1=2.5904 right_j2=2.495 right_j3=-1.565 right_j4=-0.0193 right_j5=0.7578 right_gripper=0.0155\nstate[joint_eff]: [-0.1846, 2.0034, 5.2855, 2.0488, -0.0611, -0.0464, -0.0122, 0.8684, -19.4256, 9.0598, 0.0806, -0.0562, 0.0904, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2022 left_j3=-0.857 left_j4=0.0826 left_j5=-0.8509 left_gripper=0.9973 right_j0=0.7929 right_j1=2.5153 right_j2=2.5267 right_j3=-1.626 right_j4=-0.0196 right_j5=0.7677 right_gripper=0.0155\nstate[joint_eff]: [-0.3487, 1.8256, 5.2171, 2.0293, -0.0659, -0.022, -0.0122, -1.0598, -16.4171, 8.0615, 0.1538, -0.0366, -0.0317, 1.033]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2022 left_j3=-0.8696 left_j4=0.0826 left_j5=-0.8509 left_gripper=0.9973 right_j0=0.7784 right_j1=2.5153 right_j2=2.5267 right_j3=-1.6405 right_j4=-0.0193 right_j5=0.7601 right_gripper=0.0155\nstate[joint_eff]: [-0.212, 1.6889, 5.2034, 2.1172, -0.0513, -0.022, -0.0122, -0.0752, -16.4171, 8.0342, 0.149, -0.0366, -0.0611, 0.9988]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8073a8a1a5223ab3a73d16e741e981ed03cc759d5de1b51cc86f037ee69577bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c4860c0bcec51acecab1fb1f2e6025ded2ffb78504f3a142b67acd5bd319f27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc819aa134f633f2783a4c63fc6fff5f790767d22ad71b5109da345139547a25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 8073a8a1a522]
[blob 5c4860c0bcec]
[blob fc819aa134f6]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TT3aS8GEBsFr85gF7LR9Hw",
      "input": {
        "note": "The previous yaw command barely executed (one step, and backwards). Re-issuing a larger +0.12 rad yaw so I get an unambiguous measurement of the image direction corresponding to the arm's lateral axis.",
        "targets": {
          "right_j0": 0.9
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01TT3aS8GEBsFr85gF7LR9Hw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2022 left_j3=-0.8772 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.8684 right_j1=2.5153 right_j2=2.5263 right_j3=-1.6402 right_j4=-0.0193 right_j5=0.7601 right_gripper=0.0155\nstate[joint_eff]: [-0.0342, 1.6752, 5.2855, 1.9658, -0.0269, -0.0464, -0.0122, 1.7846, -13.5863, 5.4085, 0.1734, -0.022, -0.0366, 0.9988]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5cd3b9f8f30e77cd0255bff796c1f3a16b9a0056c2d0f68aa5ce0537d636422b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b64760a87f79231153fe1e7da836c66b565affdef9816fb44756452947954bf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:228d36016017914bd9cb40709e54cbfdaa27eca374576a802a4334edbcb29244",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 5cd3b9f8f30e
wire blob b64760a87f79
wire blob 228d36016017
call 46 attempt 0 · /messages · status 200 · 16.77 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 130 changed as sent

message 133 changed as sent

message 136 changed as sent

message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2022 left_j3=-0.857 left_j4=0.0826 left_j5=-0.8509 left_gripper=0.9973 right_j0=0.7929 right_j1=2.5153 right_j2=2.5267 right_j3=-1.626 right_j4=-0.0196 right_j5=0.7677 right_gripper=0.0155\nstate[joint_eff]: [-0.3487, 1.8256, 5.2171, 2.0293, -0.0659, -0.022, -0.0122, -1.0598, -16.4171, 8.0615, 0.1538, -0.0366, -0.0317, 1.033]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2022 left_j3=-0.8696 left_j4=0.0826 left_j5=-0.8509 left_gripper=0.9973 right_j0=0.7784 right_j1=2.5153 right_j2=2.5267 right_j3=-1.6405 right_j4=-0.0193 right_j5=0.7601 right_gripper=0.0155\nstate[joint_eff]: [-0.212, 1.6889, 5.2034, 2.1172, -0.0513, -0.022, -0.0122, -0.0752, -16.4171, 8.0342, 0.149, -0.0366, -0.0611, 0.9988]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2022 left_j3=-0.8772 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.8684 right_j1=2.5153 right_j2=2.5263 right_j3=-1.6402 right_j4=-0.0193 right_j5=0.7601 right_gripper=0.0155\nstate[joint_eff]: [-0.0342, 1.6752, 5.2855, 1.9658, -0.0269, -0.0464, -0.0122, 1.7846, -13.5863, 5.4085, 0.1734, -0.022, -0.0366, 0.9988]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5cd3b9f8f30e77cd0255bff796c1f3a16b9a0056c2d0f68aa5ce0537d636422b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b64760a87f79231153fe1e7da836c66b565affdef9816fb44756452947954bf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:228d36016017914bd9cb40709e54cbfdaa27eca374576a802a4334edbcb29244",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 5cd3b9f8f30e]
[blob b64760a87f79]
[blob 228d36016017]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019m34bssxEGEKACEYhcxwyG",
      "input": {
        "note": "The yaw test calibrated the wrist view properly: arm-right is image direction (0.78,-0.63) at ~7.8 px/cm here. Relative to the jaw tips the block reads ~3.4 cm to the arm's right and ~1.7 cm out, so I'm applying that while staying at 9 cm height (safely above the block) and reopening the jaws.",
        "targets": {
          "right_gripper": 1.0,
          "right_j0": 0.792,
          "right_j1": 2.61,
          "right_j2": 2.7,
          "right_j3": -1.67,
          "right_j5": 0.792
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_019m34bssxEGEKACEYhcxwyG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2022 left_j3=-0.8989 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.7998 right_j1=2.5904 right_j2=2.6678 right_j3=-1.6894 right_j4=-0.0196 right_j5=0.7757 right_gripper=0.9944\nstate[joint_eff]: [-0.0615, 1.853, 5.2034, 2.0977, -0.0464, -0.0366, -0.0073, -0.5538, -12.2462, 7.9932, 0.442, -0.0171, 0.105, -0.2418]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfda449ebd20bd6dfa3f682124286f25bd9fed57da12c3f0295f0ee1cb330641",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b76e5c7a404ff7de32c095e3d34b2fef3cade4a6a6262589cff317a799a8ca6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 329):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5de90e5e5e31cd7e1d57fbef5428da6239daf10346ec90481a14e79a576ed1cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob cfda449ebd20
wire blob 3b76e5c7a404
wire blob 5de90e5e5e31
call 47 attempt 0 · /messages · status 200 · 9.017 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 133 changed as sent

message 136 changed as sent

message 139 changed as sent

message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2022 left_j3=-0.8696 left_j4=0.0826 left_j5=-0.8509 left_gripper=0.9973 right_j0=0.7784 right_j1=2.5153 right_j2=2.5267 right_j3=-1.6405 right_j4=-0.0193 right_j5=0.7601 right_gripper=0.0155\nstate[joint_eff]: [-0.212, 1.6889, 5.2034, 2.1172, -0.0513, -0.022, -0.0122, -0.0752, -16.4171, 8.0342, 0.149, -0.0366, -0.0611, 0.9988]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2022 left_j3=-0.8772 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.8684 right_j1=2.5153 right_j2=2.5263 right_j3=-1.6402 right_j4=-0.0193 right_j5=0.7601 right_gripper=0.0155\nstate[joint_eff]: [-0.0342, 1.6752, 5.2855, 1.9658, -0.0269, -0.0464, -0.0122, 1.7846, -13.5863, 5.4085, 0.1734, -0.022, -0.0366, 0.9988]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2022 left_j3=-0.8989 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.7998 right_j1=2.5904 right_j2=2.6678 right_j3=-1.6894 right_j4=-0.0196 right_j5=0.7757 right_gripper=0.9944\nstate[joint_eff]: [-0.0615, 1.853, 5.2034, 2.0977, -0.0464, -0.0366, -0.0073, -0.5538, -12.2462, 7.9932, 0.442, -0.0171, 0.105, -0.2418]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfda449ebd20bd6dfa3f682124286f25bd9fed57da12c3f0295f0ee1cb330641",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b76e5c7a404ff7de32c095e3d34b2fef3cade4a6a6262589cff317a799a8ca6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5de90e5e5e31cd7e1d57fbef5428da6239daf10346ec90481a14e79a576ed1cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob cfda449ebd20]
[blob 3b76e5c7a404]
[blob 5de90e5e5e31]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RXAnzaSbJztGuUEjxQGjyP",
      "input": {
        "note": "My radial estimates keep saying \"the block is a few cm further out\" no matter how far I extend, so I'm switching to a scooping strategy: drop the open jaws to table level a few cm inboard of the block, then creep outward until the block is captured between the visible prongs.",
        "targets": {
          "right_j0": 0.758,
          "right_j1": 2.49,
          "right_j2": 2.15,
          "right_j3": -1.23,
          "right_j5": 0.758
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 9 steps (0.9s)",
      "tool_use_id": "toolu_01RXAnzaSbJztGuUEjxQGjyP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2022 left_j3=-0.9218 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.7616 right_j1=2.5034 right_j2=2.1761 right_j3=-1.3025 right_j4=-0.0315 right_j5=0.7597 right_gripper=0.996\nstate[joint_eff]: [-0.1299, 2.2632, 5.3949, 2.0977, -0.0464, -0.0269, -0.0122, -0.6222, -14.3521, 4.9299, 0.4664, 0.0659, -0.022, 0.1538]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 338):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64af2b868335bb13990a702c1915b7c546033b936e9f2b63f82559575208aa9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 338):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14ff8725f8fdea7b5aa4e6edaaf965b0c568b2ec1d61775149e59673f2249e0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 338):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fb86689742be72e9d733c9b38c9ac8d7a8469d8db6ab8d688032710acd146c24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 64af2b868335
wire blob 14ff8725f8fd
wire blob fb86689742be
call 48 attempt 0 · /messages · status 200 · 10.64 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 136 changed as sent

message 139 changed as sent

message 142 changed as sent

message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2022 left_j3=-0.8772 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.8684 right_j1=2.5153 right_j2=2.5263 right_j3=-1.6402 right_j4=-0.0193 right_j5=0.7601 right_gripper=0.0155\nstate[joint_eff]: [-0.0342, 1.6752, 5.2855, 1.9658, -0.0269, -0.0464, -0.0122, 1.7846, -13.5863, 5.4085, 0.1734, -0.022, -0.0366, 0.9988]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2022 left_j3=-0.8989 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.7998 right_j1=2.5904 right_j2=2.6678 right_j3=-1.6894 right_j4=-0.0196 right_j5=0.7757 right_gripper=0.9944\nstate[joint_eff]: [-0.0615, 1.853, 5.2034, 2.0977, -0.0464, -0.0366, -0.0073, -0.5538, -12.2462, 7.9932, 0.442, -0.0171, 0.105, -0.2418]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2022 left_j3=-0.9218 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.7616 right_j1=2.5034 right_j2=2.1761 right_j3=-1.3025 right_j4=-0.0315 right_j5=0.7597 right_gripper=0.996\nstate[joint_eff]: [-0.1299, 2.2632, 5.3949, 2.0977, -0.0464, -0.0269, -0.0122, -0.6222, -14.3521, 4.9299, 0.4664, 0.0659, -0.022, 0.1538]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 338):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64af2b868335bb13990a702c1915b7c546033b936e9f2b63f82559575208aa9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 338):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14ff8725f8fdea7b5aa4e6edaaf965b0c568b2ec1d61775149e59673f2249e0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 338):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb86689742be72e9d733c9b38c9ac8d7a8469d8db6ab8d688032710acd146c24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 64af2b868335]
[blob 14ff8725f8fd]
[blob fb86689742be]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UL19xZzaZNe3FKjauc11dm",
      "input": {
        "note": "At table level the block has disappeared below the frame edge, which means it is now at or just inside the jaw tips rather than ahead of them. Closing to test whether it is actually captured between the jaws.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01UL19xZzaZNe3FKjauc11dm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2022 left_j3=-0.9291 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.762 right_j1=2.4981 right_j2=2.1662 right_j3=-1.2961 right_j4=-0.0418 right_j5=0.7528 right_gripper=0.0134\nstate[joint_eff]: [-0.0752, 1.6889, 5.2034, 1.956, -0.0611, -0.0659, -0.0122, -0.3487, -13.2308, 6.4205, 0.1245, 0.0317, 0.0562, 1.1648]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 348):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8db2f9ccc35cd3cd424e3b3fb2bdc198157b1784b85feb95de75f43548e4af07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 348):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db4386e4c24a974fd0ce5c83dfe63cc406a05c4ccb4a88addbaeeacfba1bcace",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 348):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:173ff92d3d9187a866fcc1374a5a634f0800c0e99dd8e9b4652852754f4e6897",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 8db2f9ccc35c
wire blob db4386e4c24a
wire blob 173ff92d3d91
call 49 attempt 0 · /messages · status 200 · 7.067 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 139 changed as sent

message 142 changed as sent

message 145 changed as sent

message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2022 left_j3=-0.8989 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.7998 right_j1=2.5904 right_j2=2.6678 right_j3=-1.6894 right_j4=-0.0196 right_j5=0.7757 right_gripper=0.9944\nstate[joint_eff]: [-0.0615, 1.853, 5.2034, 2.0977, -0.0464, -0.0366, -0.0073, -0.5538, -12.2462, 7.9932, 0.442, -0.0171, 0.105, -0.2418]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2022 left_j3=-0.9218 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.7616 right_j1=2.5034 right_j2=2.1761 right_j3=-1.3025 right_j4=-0.0315 right_j5=0.7597 right_gripper=0.996\nstate[joint_eff]: [-0.1299, 2.2632, 5.3949, 2.0977, -0.0464, -0.0269, -0.0122, -0.6222, -14.3521, 4.9299, 0.4664, 0.0659, -0.022, 0.1538]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2022 left_j3=-0.9291 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.762 right_j1=2.4981 right_j2=2.1662 right_j3=-1.2961 right_j4=-0.0418 right_j5=0.7528 right_gripper=0.0134\nstate[joint_eff]: [-0.0752, 1.6889, 5.2034, 1.956, -0.0611, -0.0659, -0.0122, -0.3487, -13.2308, 6.4205, 0.1245, 0.0317, 0.0562, 1.1648]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 348):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8db2f9ccc35cd3cd424e3b3fb2bdc198157b1784b85feb95de75f43548e4af07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 348):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db4386e4c24a974fd0ce5c83dfe63cc406a05c4ccb4a88addbaeeacfba1bcace",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 348):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:173ff92d3d9187a866fcc1374a5a634f0800c0e99dd8e9b4652852754f4e6897",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 8db2f9ccc35c]
[blob db4386e4c24a]
[blob 173ff92d3d91]
{
  "content": [
    {
      "signature": "CAIS4RgKjAEIEBgCKkBqk/1nTbaES5WN4+k9CS4hcSSQ2Vp/q/W7CX+vX1jwNMJzCcr4uy997QEzFSrXZh9oSSkLR+gVM08JwmXmbgcLMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMxeK2QJUjPaPwlxEsGgx6/YaE7sWraxWl8vgiML+Uu9xV8poMuQsj7VzqJby3JmbWRGLzPTRmu2qGk1dTYTUSYUEwrzlzGUMCUf3W+CqBF6hUnGhXXHoBU8ZUTkCpcYRyg+JzhJue2aHXH6XzqNgkkS6ba0u5dDBXdeSn8g2kHrjtALC5ydo53KBCyHuWayG0NnqigmetcsR8eM5Et48fwqxMEmLInGyXE6Ty0MvG00fpFmoHgfLf7QSznUHPsHNfUMWNml+J5Tm8E+oKIrOZLK60ltsrFcrgiPFFeU5gyy+m68I53K9MO1bH3WYa0WcumD9FxJFUnPeNrr7wYL7HlD4R2HDHerTmNJ1hHy7C8UVLlxoor9TfOYz8syLBFfBjYCgSUqj7cCC8BDY1Wv0OKl01If5abybcX9aMkAFPuHSAK/qeJPPD6UzZcRDNCv/bR2fZMP1xv+B601yDN0sjHSqAbjEZCgj6GFkMx3ilSZe8xeHXTJxsiGQBMFVsiC6JA5ih9nyQFD/63JASds7sCy73E9+5hVEYVyNUC+AI6rYY70sEVE9tiKpeYoIXH73jlbbqFs9IRbWqEN4y74h/zQxuH+fLjUkcckxhlWVAuc5bH/UF1GmEB2kS9+iJbuuLD4Aovv/gWrwUOtAOUWq4bmVoUE41vnQGvcwigEWNMQuO65bmMqkGZDxWpbrcdmmpexLsvvPifK4XDBbVcHIRzTDu62XeHrLO/XLExiTvGRnqnhMzAtPxw4EKQFwoMmvO7fZBMDfDytPVLtq/lXcMSOWYSS2Hd3Qq5ywttV2IAm5QKF3OUX0o68J2TmA79pXtNqDpOeC30OXdDsF7zKaWRPiYmPx0jQSzM/W5vkW83S3jBvl6B1Sgt64t2fVtRJT80VC9Daxkq4M+LJzowitkVy4jJPCy3Ba7OlOVGXYwdibl2F9vDsX54460eIkr8tW0kwD/04ODX2KOahSAgK7LT5aT/E4cdktkD1ova1B5FyC6S2vM+0lATZ4vmTqpLKbKWGcuVex/ogysaYn6eVYCGuNg2IRiUJ4JU81F08KZp1NRIioTf/KyamhEDYGS8hRXWuB3OkofIwVDJLYkdHU/8bT4+qUOrBpJ9ejKHWAH3r7p2efN544FhnfqwW6K45m6NLfwz5CFeudZ/HV43pFEqs4YhXgMLNvlQE9QF0ekICHrrsSJio4SamJSuJXy7jTvurHUU+eaBZuOo6CsqBM/+u2upvGqCINn0MFKLniroPUvHfukGpv9tVkwVuLEoMZjxCDAiqQb8P2C/Wf2IDQdzlw3FsTsU7X57bSxDv+15XhHwxjvd2eXgl6r6SUqVmpjRBXxyiGae/DJWGlGCx6H4KoeTu/SyLa5VYl0Onbr6YHeF7mudFaGI1kJGMHbFk9XFjGPSwdunaMVe411+cxuEbwpuCBw2UU4xXpwZkSLXw18nrljsKXqti4llG3OMUQKhMo5CCQmYnEKgjdVn4MefXeJyPallbxyd6ZxBoXM+y1TrHEKOVkbkOPuUoTj0v9jhr3heq5vlecl6HyaAHHqonkCKZj7bWMadBDF3DLbjDb8xi1RmDZsgjAoj325Pv/nYgtiaCtUCsZ2b9P8S1DuojPyLWGaJPChCilsYNqdJGqbf0UHxkJnyzVnF1M1dMjklJ3U2/KFDM1VYnPV+rVJ4HIZpvxkHIfgocJxcivp2NK8QmliwLLWXAZu+s+N3/k0ISLHo4ug1ly8L279QO2WKkNqbL9mEeuYgvVH3VQoq08akiB8+kRC4Lm1iId3otREbHuEcveSSSwVMpT173ScbNp39Tasw1ULYlGngUCrSSAyQiGni4K3Ls3xIYD+waXxZkEul9mkMjKoEXCUqSKzqTqpfVk0wAmQH312GCF2IPbH/bC0u7pvliUZfVj4o03ty2Wn2TFPLZRqasgNWkJwQP1OkC7dZ+CeVn7qaLeLItgKSe5+LQVnZJCUSDx+aCUw3PUeg1WSlb2afFMZcHGNscP6YOoFAMV0TucMyAKXdmquaIY0CWyhPuAU2ay/UzbkBrLvoaOVFmCu5IgpcFb+eeesDoSWNOeHGLEdbmjNlP3vfXzRapUb11rF9X89x+jlBgyvc1zhc09QBbIO0tMmPT6WDL7SvJNrarVh66H1RTnDcnAL7tGXuzMHIu1ed83lBgKHTiQ9Auli0ScpujKeUhov6LO63hwM9LmeeCG7Egu8AA3Eorgbqee17Iy1MxAXyVJ+iQ5WVIZbNYnjfYXgA9lzzjC/EyW50EDZzIBaeVw8S2EP0u0xE9U6/26VrqYoLCLNGNx3jUdif31n4ofypU9DmWCqOHkASqG0DqLi3OXjuJn5xMDBhbHLeSX9WtbXgaXW0ZyYuiFvnYCGVPWvyN3gK1JpGrDwJG155DS1VLaRwkG5oj7hcRcVQk/9UQZlWAQAQmWkq9jivBLMbHEcQ2Ft7ljEQFPQs/YAcUROgXK1CnMGj6JtYPXpZ1uozjCEGwTQmDrGMfrV3hZnFdPzG4/zLBrGxfuzHjOri8TLLPoyEaIB9SkBtJaSFFmfoHBzFJu1RBOISsGTatzb7HMLnzjL9bCsZnbNko65FJH5VvNQJ6z8Wb6XC+TmgYemdRmjqMCyzvl1kBmlUaYNs4x36g0VklX+z1uIzxhsuMUf/mCwC2QWmSefbJ0IbwKWZxuxg8ni0GxPvYLTa/+lLYpK2eZxmlIROu/Qsw7ehb87xP2Jav8tqd+6ZLsJSfsvxkCIicurum6E5eqnewUc/5f21AHSRgsZDOv6UoHP+FsMY9RZM172kpK4wT8oOWUhT7qd3hGgtucfhh9pR4g52KrmL54vtZatQDkhp2Y0pZoTgUb1iHbEo4dEI0Li9x3dhD3CsM7q9t3/y704PaFglwpDGHxFxyyMkkP0gd8Bs9FA9QHsfpxjwno4dvAXbpSlb/YUqIygdjs6G3JYVHIP+qMvK3FwUBRqlCtEGrF0Nu9UOyfd0D+hWbXQmx+8FelpPeLnec+XUydNnTYpm5lxGktjsxhkWGOCjvmUFKJX08GnhIrzzQ+D/30rqYKDg2IZZYswd1vXbQLDFZkkb5kdTt4wS5IZxIDRfR9JGW/y3i44S7nYiaVIRDruUmSnEA9JsIAtPLOBlP1jclYbXFgSuWKIJ7PcypTU46K9L8rBR7FhSfeRygum5Ss7utL+XC/NoBF8vau4wHCkyX4TZwm06LjTCMzsi1+YvG14vnFPgv3B4YrRcxpXgETX06Q9lyAcZCz044a2d4qVkGp5LZDpVURju97cTagcagEZs4mB7o6RnB3T2qa1GJeDnyHcVMoC3C6S+Y4HMzZCHvD16cjf0w3DL3CXY+yM8Gp1JvcFqiymmZKT0VDaqbUbIeWxxr9j90QkE73wb0hvaeZos5lQWQNqUcc0V/K8SJFGTsO+2VtuaMK0MS4E03VZtBsQZfuT5uWQwt0MlvB/yqbEunG6WZbjOWbjIDTowz6NRuk9udlpO+MnDdqTi1nwRxQRWggZsFe8nqnj8zOrz4OHm6XuoC4nhstr8ugEW+e8LvZd+BjdszPc0faKe3+mDJpokj72qQvP7KrXbpDT4UffA97PYfAClYB38oKfiKPL8yYfenJRZ1V48ysT6imahF4lis9Z5FGtVITwZAIaUufGvRE7DNc42ABXRVthi/M1mKzS1UWZsANeezdJs4jVHCBhkigriX3n9dF23dBBoTCWC3vYQBuIxiCv+oj2XeGfyGo+aPYju8rnOYcvJ5y+26FMgEwktfVzvxquouy6BBgcLOlJPT1Q8VzWSFZ0AW3QbPRbvfOQ5vUNrL+kT0OsP3jeNEik36Pu0rthhiB0/Z1xQBDt8gtg4m5DiemvRdP9ekEhV6AUHKWdfUmxn80TAm/tR8e+1vWM6yKl9y+CK86FJcaXhnjjsqDSmZoWuToa6POyELfYFiIBDmaGXI+VRE68CJlczhnB3jA0GdnYIhTz3XbYY+3EZ2PG/S/S7/5jB/mcLQgkirSqhVkboYT5ogJQuR5KVGqhGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VjUDoezDcYjFuXogVSkczZ",
      "input": {
        "note": "Still empty, and with the jaws open at table level the space between the prongs was bare table — so the block is not where I put the jaws. Lifting straight back up to ~9 cm, keeping radius and yaw fixed, so I can see exactly where the block is relative to this known jaw position.",
        "targets": {
          "right_j1": 2.4,
          "right_j2": 2.31,
          "right_j3": -1.48
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01VjUDoezDcYjFuXogVSkczZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6224 left_j2=1.2022 left_j3=-0.9337 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.7616 right_j1=2.4767 right_j2=2.2635 right_j3=-1.409 right_j4=-0.0425 right_j5=0.7517 right_gripper=0.0155\nstate[joint_eff]: [-0.1709, 1.7026, 5.2034, 1.9267, -0.0562, -0.0366, -0.0122, -0.1709, -18.4, 7.9111, 0.0415, -0.0317, -0.0415, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68481d9becd6cdb64279e26e198992eb0b80e6905bf674a83e54e556bb8d5e1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64556d7f4fb156bf45f529884a89fb0e06e5628377aa8936f2ac9c3e7dbce2ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0a3cad4ba6b16320072b95ec464320496ff5b5302ceb4d6e979f80718329abb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 68481d9becd6
wire blob 64556d7f4fb1
wire blob 0a3cad4ba6b1
call 50 attempt 0 · /messages · status 200 · 13.07 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 142 changed as sent

message 145 changed as sent

message 148 changed as sent

message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2022 left_j3=-0.9218 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.7616 right_j1=2.5034 right_j2=2.1761 right_j3=-1.3025 right_j4=-0.0315 right_j5=0.7597 right_gripper=0.996\nstate[joint_eff]: [-0.1299, 2.2632, 5.3949, 2.0977, -0.0464, -0.0269, -0.0122, -0.6222, -14.3521, 4.9299, 0.4664, 0.0659, -0.022, 0.1538]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2022 left_j3=-0.9291 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.762 right_j1=2.4981 right_j2=2.1662 right_j3=-1.2961 right_j4=-0.0418 right_j5=0.7528 right_gripper=0.0134\nstate[joint_eff]: [-0.0752, 1.6889, 5.2034, 1.956, -0.0611, -0.0659, -0.0122, -0.3487, -13.2308, 6.4205, 0.1245, 0.0317, 0.0562, 1.1648]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6224 left_j2=1.2022 left_j3=-0.9337 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.7616 right_j1=2.4767 right_j2=2.2635 right_j3=-1.409 right_j4=-0.0425 right_j5=0.7517 right_gripper=0.0155\nstate[joint_eff]: [-0.1709, 1.7026, 5.2034, 1.9267, -0.0562, -0.0366, -0.0122, -0.1709, -18.4, 7.9111, 0.0415, -0.0317, -0.0415, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68481d9becd6cdb64279e26e198992eb0b80e6905bf674a83e54e556bb8d5e1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64556d7f4fb156bf45f529884a89fb0e06e5628377aa8936f2ac9c3e7dbce2ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a3cad4ba6b16320072b95ec464320496ff5b5302ceb4d6e979f80718329abb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 68481d9becd6]
[blob 64556d7f4fb1]
[blob 0a3cad4ba6b1]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01V9BTYvmvmzjit1V6YMNCH6",
      "input": {
        "note": "The frame was motion-blurred but showed a pale object at the bottom-left corner. Re-issuing the same pose (and reopening the jaws, safely above block height) to settle and get a sharp look at where the block has ended up.",
        "targets": {
          "right_gripper": 1.0,
          "right_j1": 2.4,
          "right_j2": 2.31,
          "right_j3": -1.48
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01V9BTYvmvmzjit1V6YMNCH6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2022 left_j3=-0.9508 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.7616 right_j1=2.4466 right_j2=2.2833 right_j3=-1.4704 right_j4=-0.0429 right_j5=0.7486 right_gripper=0.9945\nstate[joint_eff]: [-0.0889, 1.6889, 5.1897, 2.0293, -0.0513, 0.0024, -0.0122, -0.3214, -17.0872, 7.706, 0.0855, -0.0513, 0.0024, -0.2027]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 361):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:750ac562fb8cd2f559ba31f690be1ef19e8b008666800035f7aa899125c415c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 361):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31fc8cef2b0f21be7a4a4e76fac2a7dd3a3919a666a60946f521c5e399bdbf10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 361):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b61695bcaee5a6c36344dfa5f58e0d14f72e0c195a794dbefac36540e0a99e39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 750ac562fb8c
wire blob 31fc8cef2b0f
wire blob b61695bcaee5
call 51 attempt 0 · /messages · status 200 · 6.908 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 145 changed as sent

message 148 changed as sent

message 151 changed as sent

message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2022 left_j3=-0.9291 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.762 right_j1=2.4981 right_j2=2.1662 right_j3=-1.2961 right_j4=-0.0418 right_j5=0.7528 right_gripper=0.0134\nstate[joint_eff]: [-0.0752, 1.6889, 5.2034, 1.956, -0.0611, -0.0659, -0.0122, -0.3487, -13.2308, 6.4205, 0.1245, 0.0317, 0.0562, 1.1648]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6224 left_j2=1.2022 left_j3=-0.9337 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.7616 right_j1=2.4767 right_j2=2.2635 right_j3=-1.409 right_j4=-0.0425 right_j5=0.7517 right_gripper=0.0155\nstate[joint_eff]: [-0.1709, 1.7026, 5.2034, 1.9267, -0.0562, -0.0366, -0.0122, -0.1709, -18.4, 7.9111, 0.0415, -0.0317, -0.0415, 1.033]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2022 left_j3=-0.9508 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.7616 right_j1=2.4466 right_j2=2.2833 right_j3=-1.4704 right_j4=-0.0429 right_j5=0.7486 right_gripper=0.9945\nstate[joint_eff]: [-0.0889, 1.6889, 5.1897, 2.0293, -0.0513, 0.0024, -0.0122, -0.3214, -17.0872, 7.706, 0.0855, -0.0513, 0.0024, -0.2027]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 361):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:750ac562fb8cd2f559ba31f690be1ef19e8b008666800035f7aa899125c415c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 361):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31fc8cef2b0f21be7a4a4e76fac2a7dd3a3919a666a60946f521c5e399bdbf10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 361):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b61695bcaee5a6c36344dfa5f58e0d14f72e0c195a794dbefac36540e0a99e39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 750ac562fb8c]
[blob 31fc8cef2b0f]
[blob b61695bcaee5]
{
  "content": [
    {
      "signature": 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b1yRSaCGfyHFqrplR2gnzQRXAaSyFgI++DAQuYdXYwfHE3+nDCP1fP/Cxa7B5FjV1SJBlC5jVP4Sd79ui/JyHCJFzZ6i0LKMFvJ8FZjaeXYwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01V73jnFKd1vM4rjyemXXMrh",
      "input": {
        "note": "Sharp view at last: the blue block sits between the open prongs, laterally centred, about 1.3 cm further out than the jaw axis (using the block's own 4.3 cm width to fix the image scale — my earlier scale was 2x too small, which is why I kept overshooting). Moving out that 1.3 cm and descending to ~1.5 cm fingertip height.",
        "targets": {
          "right_j1": 2.56,
          "right_j2": 2.31,
          "right_j3": -1.32
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01V73jnFKd1vM4rjyemXXMrh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2022 left_j3=-0.9665 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7628 right_j1=2.5206 right_j2=2.291 right_j3=-1.4052 right_j4=-0.0441 right_j5=0.7441 right_gripper=0.9962\nstate[joint_eff]: [-0.1162, 1.7436, 5.1897, 2.1709, -0.0366, -0.0415, -0.0122, -0.1709, -12.465, 7.1316, 0.5885, 0.0122, 0.0513, 0.1587]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 364):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf6c2ea43d8b1211cb4ecbb7dbf88a5dec94ff61282198deb2e2b543eeaa7f1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 364):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3901226529bf0b5da49b915f137a62d684868a280430e672471aa85dfa9d0b88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 364):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a3a115f515273648c19d480f0e3e0a9cc113ba26e8d237892cb9e41b7c160e48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob cf6c2ea43d8b
wire blob 3901226529bf
wire blob a3a115f51527
call 52 attempt 0 · /messages · status 200 · 5.646 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 148 changed as sent

message 151 changed as sent

message 154 changed as sent

message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6224 left_j2=1.2022 left_j3=-0.9337 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.7616 right_j1=2.4767 right_j2=2.2635 right_j3=-1.409 right_j4=-0.0425 right_j5=0.7517 right_gripper=0.0155\nstate[joint_eff]: [-0.1709, 1.7026, 5.2034, 1.9267, -0.0562, -0.0366, -0.0122, -0.1709, -18.4, 7.9111, 0.0415, -0.0317, -0.0415, 1.033]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2022 left_j3=-0.9508 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.7616 right_j1=2.4466 right_j2=2.2833 right_j3=-1.4704 right_j4=-0.0429 right_j5=0.7486 right_gripper=0.9945\nstate[joint_eff]: [-0.0889, 1.6889, 5.1897, 2.0293, -0.0513, 0.0024, -0.0122, -0.3214, -17.0872, 7.706, 0.0855, -0.0513, 0.0024, -0.2027]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2022 left_j3=-0.9665 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7628 right_j1=2.5206 right_j2=2.291 right_j3=-1.4052 right_j4=-0.0441 right_j5=0.7441 right_gripper=0.9962\nstate[joint_eff]: [-0.1162, 1.7436, 5.1897, 2.1709, -0.0366, -0.0415, -0.0122, -0.1709, -12.465, 7.1316, 0.5885, 0.0122, 0.0513, 0.1587]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 364):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf6c2ea43d8b1211cb4ecbb7dbf88a5dec94ff61282198deb2e2b543eeaa7f1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 364):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3901226529bf0b5da49b915f137a62d684868a280430e672471aa85dfa9d0b88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 364):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3a115f515273648c19d480f0e3e0a9cc113ba26e8d237892cb9e41b7c160e48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
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[blob cf6c2ea43d8b]
[blob 3901226529bf]
[blob a3a115f51527]
{
  "content": [
    {
      "signature": "CAIS+AkKjAEIEBgCKkAzHmM2EDax5ZqwPznpSRWYellwj/sZpEqfsMmTweualNBTSauQUImquAcm6+7KvXlyw9G7BOcVDVw140wHhg1aMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM0wm1rge4SJYzBVADGgxhYKEpHXAoMmdcH2kiMEWYUVyWr5xbQSsNshQRZDyu7uCPuAjpyUT5x8TW1j9p6l6PGVO+3yBnEubo75nOvCqYCKPc2It0deV+S3r5cXD63pmoT+O61LnbdQ2p7QA4a61myG+S24e51N5/aheX25/L1UtTINMZvEE7FwSIAglrEQLTMXSwebijIPaYQ14mP2ykZEN5WaQh6PUZgaC8OPcriYtjArL/3fs3XNEZ/jzQiOfB4UVedN1lhh/Z3VFN2WoxxrBWc3jT/azjOrZBFuTFJDCkCGE77tOX+QCosi3E/xafc+7yay5bMtYRPvqUVdVQTg8UDhzTNAKgsXfTVLw8qU5vnXHaeMMc1qZAMshzZGK8MTlmImxlYCwvtRkJmVFk+gO2z3KR6+7RA2EQdInfmrB24+YzLNhQyv07EYTrQRe++0+Mdy3pPlJuQxr07yYEca1O2RQVmIjZNTryEPirDTCUdAuZehRRo4GIZySM1utaz4hLxXRUZ31gheyIo+P/TxQyx+cVaURO+rXcf3jNRMYZQq+Mbx6SThDdzNn62gF6ss088HN7l6DBDfysAa9ryL/WZfF0iJ/J9H7uL0+yTDOwTbLcXoeWtbr/XO8K3OCdLYm+E0G6QotDiF8DeB5RXDS66EUZ9LK/W+/48Q7iYWKVnChhw5g5xo01m0vLFBZnPvginT4hS6qWJ/BBO9Ynzf3cwDl5j0Wl2lhD5ktgJ2oG1Jmxd8igAFp2yB3BonyH+mRs+hdHUipEJeKx+lYM8e6+l22uiBToaNjC0l1BFqZYUZQGMeFAKennDLqLaPEm5NW7rJKZR53INDjFB2qooILqEDC36CDC/mOtv22GVj0cdVCP7ofAvc1mre4RSxZayX815vkhIkPJI7AhxEv3TALsans9Mcz0GY9lqeRhs7SW3kzbUipLoIqQH+BcEw4J44z5pEv6AMLG7IeznnSlKd073M/Btn5ZB4KIAHVeIxDqrk+/KhtHkiCKrefg1yrB73ev7Q3d1rccICw+ZvMXvxaqu7inth5K8ZUH3ns+VDg/r61lK2pvFwoY/lLKeqA/+vWIQWh3Ew3JsQIYsSqg/OMzFUV9juk2ROT6RX/FeDXjYaqBE3T5DFQq/v5dclPxs/26XwImt6Y6hjE7JQxrYyk/5qCjgSDha05/o/6DWP4omNaI+YA318fknJ3YRRX9jMaOy8W2oPI86FTtQJO6W4pLyyFDh/ElBiLSGZtrgNgxEDc3eS4QZhTf/X6Fi4lO1BmnxwXk41NkYcMdtxWVxDrND4UI4a8HofHQFVFYDWzD3KJFBND6pnh8bKCwLukNYGLwDQV7xrPyIyaF4N3Ewftn3d9rb4lGdlBZ89Hq3oi9Rpt44gkQzJDlIRImFIgHEZlNHxejVm9+mU0k00Wnyw1RCm4GPIsvwsrcKBlclji+ido/8dlt6pdjDYam92SA3PbdovmRr4Hs4MWn44tdDK+VD3Ek4nEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DkS9WkE9xfyzC3rNLM594c",
      "input": {
        "note": "Partial convergence — fingertips are at 3 cm and about 0.9 of the 1.3 cm outward correction is in. Re-issuing to finish the descent to ~1.5 cm before closing.",
        "targets": {
          "right_j1": 2.58,
          "right_j2": 2.31,
          "right_j3": -1.26
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01DkS9WkE9xfyzC3rNLM594c",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2018 left_j3=-0.9821 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7643 right_j1=2.5629 right_j2=2.2913 right_j3=-1.3525 right_j4=-0.0498 right_j5=0.7334 right_gripper=0.9949\nstate[joint_eff]: [-0.1983, 1.7162, 5.2034, 2.0, -0.0317, -0.0464, -0.0122, -0.2803, -12.2051, 7.3368, 0.9304, -0.022, 0.0464, -0.1441]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2983bab6b1595e14e92b9eec8573208968b71ad07962970f4fd40da8eb7af5b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31d7e824f9d4aad4861c19fc9cb5c477e7cd1632192f65252b164858ff847ff2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 367):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:12dfe0de570aaf61b402a7dd5390f420728ae8955bc13bef0d9a1247e9335a9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 2983bab6b159
wire blob 31d7e824f9d4
wire blob 12dfe0de570a
call 53 attempt 0 · /messages · status 200 · 17.51 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 151 changed as sent

message 154 changed as sent

message 157 changed as sent

message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2022 left_j3=-0.9508 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.7616 right_j1=2.4466 right_j2=2.2833 right_j3=-1.4704 right_j4=-0.0429 right_j5=0.7486 right_gripper=0.9945\nstate[joint_eff]: [-0.0889, 1.6889, 5.1897, 2.0293, -0.0513, 0.0024, -0.0122, -0.3214, -17.0872, 7.706, 0.0855, -0.0513, 0.0024, -0.2027]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2022 left_j3=-0.9665 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7628 right_j1=2.5206 right_j2=2.291 right_j3=-1.4052 right_j4=-0.0441 right_j5=0.7441 right_gripper=0.9962\nstate[joint_eff]: [-0.1162, 1.7436, 5.1897, 2.1709, -0.0366, -0.0415, -0.0122, -0.1709, -12.465, 7.1316, 0.5885, 0.0122, 0.0513, 0.1587]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 157 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2018 left_j3=-0.9821 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7643 right_j1=2.5629 right_j2=2.2913 right_j3=-1.3525 right_j4=-0.0498 right_j5=0.7334 right_gripper=0.9949\nstate[joint_eff]: [-0.1983, 1.7162, 5.2034, 2.0, -0.0317, -0.0464, -0.0122, -0.2803, -12.2051, 7.3368, 0.9304, -0.022, 0.0464, -0.1441]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2983bab6b1595e14e92b9eec8573208968b71ad07962970f4fd40da8eb7af5b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31d7e824f9d4aad4861c19fc9cb5c477e7cd1632192f65252b164858ff847ff2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12dfe0de570aaf61b402a7dd5390f420728ae8955bc13bef0d9a1247e9335a9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 2983bab6b159]
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[blob 12dfe0de570a]
{
  "content": [
    {
      "signature": "CAISogYKjAEIEBgCKkB3wWA+BL/wgadTgJcPxBpAICerA1zz1NohWjRpSzrl7Ghd/XTDI+MqXAtNsBSN8R4BwJXdP/0HwqjCwMr/DIkMMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMPQ+eFkN4iWx3TffmGgzof8D8EjeAOM9oNtQiMPalClb2T377CpXN/1iO/vm6kYpCCildE4mOF9wGDLkQzKlI0XJezycO/9ABkVI7sSrCBPMCHObJg9dOuE8DOiqXeL+2fbxDlyMkJ5M66W+RTktjiGLBKmbhKhf+FDJdd1H+LzuEOYoZt5t7YFLeagraTlGV3xAlgbHCRPkMqPbGO3DZFiAU2WMAw77FqrOc2DjKba10SuEKCYgCz0BAF2f7f7ipKiuKwF40SCdmsNRGOzyU+7b6MPrMoBG+itF65EoDiXFihne9/s//KgHFQFRTAJ/bbvP42uo5UvB14rOZb62DoXx1WCDRJjmhOvDh8q8TYXgc7GM4fDZxEJCiqYdLK0MftXizKmQ8PLPdU7ars6We0ipNhj7oZ04kcnhKTCkvtb2vH92tC/9DNUcJXZ6u/+KLR62PHeJPNRjk7YXoCxM+L55FNpT2zixc0j4p08KN8vzAJx9dy3jhwD9NHIj9LWwQYIwo6y7Yxe/Y1tEwQpgDmY3SFEJLID08y/Q7utxLE2gOr8K0XihcCZsd3Rdx7Sa12mv0JdQo311HyXapuCfRDEyy8rAHh2cWcY7v71/wWIjFd6M6aFLe1dTm9dEpmsEv6GFEYYB7covTjzdYq6klT/VBAspbW6UX0hSh0MQWb96fLJ6Ly6xtgqx0imv+g/NVK1uXTQjLV4vww8pojFNBwQhKdPf/3CCmWgTJkk5M1Dvqfb5EKGdGuJ+fiFqTLtH88Hqn9U6LQMI3GKKgC9QrEOTiaTGnREU+qEw9JnOaH8h0DLcy+o5hEFojVrvoZOsD9XYgIFFQi3h/ofHTvtfmWBcsW4cYPAluivQ5ZXGueH13GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NJiHLLmGcxqKXDrokipvPD",
      "input": {
        "note": "Fingertips are ~1 cm above the table and the block is visible right in the gap between the two prongs. Closing to grasp.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01NJiHLLmGcxqKXDrokipvPD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2018 left_j3=-1.0008 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7643 right_j1=2.5633 right_j2=2.2906 right_j3=-1.351 right_j4=-0.0494 right_j5=0.7334 right_gripper=0.0133\nstate[joint_eff]: [-0.1299, 1.7299, 5.135, 2.0098, -0.0073, -0.0366, -0.0122, -0.3487, -14.0923, 5.9966, 0.149, -0.0611, -0.0464, 0.6911]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 377):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c56c6256ec849a3c043f7c4fb421f5cfbf5c5714642fac1624e7fb729334d91e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 377):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57c000433424c0acad437b1722ea4a94128492c365c0e4c1167ca33639fa782b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 377):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0011d2f826ea7dc74f3e5b356837a238554d3f001ebc74c8c38bb6e6dac7f5f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob c56c6256ec84
wire blob 57c000433424
wire blob 0011d2f826ea
call 54 attempt 0 · /messages · status 200 · 10.65 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 154 changed as sent

message 157 changed as sent

message 160 changed as sent

message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2022 left_j3=-0.9665 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7628 right_j1=2.5206 right_j2=2.291 right_j3=-1.4052 right_j4=-0.0441 right_j5=0.7441 right_gripper=0.9962\nstate[joint_eff]: [-0.1162, 1.7436, 5.1897, 2.1709, -0.0366, -0.0415, -0.0122, -0.1709, -12.465, 7.1316, 0.5885, 0.0122, 0.0513, 0.1587]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 157 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2018 left_j3=-0.9821 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7643 right_j1=2.5629 right_j2=2.2913 right_j3=-1.3525 right_j4=-0.0498 right_j5=0.7334 right_gripper=0.9949\nstate[joint_eff]: [-0.1983, 1.7162, 5.2034, 2.0, -0.0317, -0.0464, -0.0122, -0.2803, -12.2051, 7.3368, 0.9304, -0.022, 0.0464, -0.1441]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 160 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2018 left_j3=-1.0008 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7643 right_j1=2.5633 right_j2=2.2906 right_j3=-1.351 right_j4=-0.0494 right_j5=0.7334 right_gripper=0.0133\nstate[joint_eff]: [-0.1299, 1.7299, 5.135, 2.0098, -0.0073, -0.0366, -0.0122, -0.3487, -14.0923, 5.9966, 0.149, -0.0611, -0.0464, 0.6911]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 377):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c56c6256ec849a3c043f7c4fb421f5cfbf5c5714642fac1624e7fb729334d91e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 377):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57c000433424c0acad437b1722ea4a94128492c365c0e4c1167ca33639fa782b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 377):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0011d2f826ea7dc74f3e5b356837a238554d3f001ebc74c8c38bb6e6dac7f5f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012iQkDgUgpvBP4NJDbWcrHB",
      "input": {
        "note": "Missed again with the block sitting at the very bottom edge of the frame, which means it is actually inboard of the jaw axis, not outboard as I had been assuming. Lifting to ~7 cm, reopening, and pulling in 2.5 cm to test the opposite correction.",
        "targets": {
          "right_gripper": 1.0,
          "right_j1": 2.36,
          "right_j2": 2.16,
          "right_j3": -1.37
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_012iQkDgUgpvBP4NJDbWcrHB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2018 left_j3=-1.0187 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7643 right_j1=2.4096 right_j2=2.1658 right_j3=-1.3705 right_j4=-0.0494 right_j5=0.7296 right_gripper=0.9945\nstate[joint_eff]: [-0.1709, 1.9761, 5.3265, 2.0147, -0.0366, -0.0415, -0.0122, -0.1983, -16.6632, 5.6137, 0.188, -0.0562, 0.0171, -0.2418]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 387):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d02b9dfb1856cd8c28e0b5db336466e5294d105fca877d2d0a8dc2817dac2dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 387):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e284ccfb3f410795131f32d7d98e398f0b01840f8836c374fa2bfa554965917",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 387):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:468e10f73013832499d0cf9f7801ef3f4697be304440c168971c49771c3fe7ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 3d02b9dfb185
wire blob 1e284ccfb3f4
wire blob 468e10f73013
call 55 attempt 0 · /messages · status 200 · 5.454 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 157 changed as sent

message 160 changed as sent

message 163 changed as sent

message 157 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2018 left_j3=-0.9821 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7643 right_j1=2.5629 right_j2=2.2913 right_j3=-1.3525 right_j4=-0.0498 right_j5=0.7334 right_gripper=0.9949\nstate[joint_eff]: [-0.1983, 1.7162, 5.2034, 2.0, -0.0317, -0.0464, -0.0122, -0.2803, -12.2051, 7.3368, 0.9304, -0.022, 0.0464, -0.1441]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 160 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2018 left_j3=-1.0008 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7643 right_j1=2.5633 right_j2=2.2906 right_j3=-1.351 right_j4=-0.0494 right_j5=0.7334 right_gripper=0.0133\nstate[joint_eff]: [-0.1299, 1.7299, 5.135, 2.0098, -0.0073, -0.0366, -0.0122, -0.3487, -14.0923, 5.9966, 0.149, -0.0611, -0.0464, 0.6911]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 163 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2018 left_j3=-1.0187 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7643 right_j1=2.4096 right_j2=2.1658 right_j3=-1.3705 right_j4=-0.0494 right_j5=0.7296 right_gripper=0.9945\nstate[joint_eff]: [-0.1709, 1.9761, 5.3265, 2.0147, -0.0366, -0.0415, -0.0122, -0.1983, -16.6632, 5.6137, 0.188, -0.0562, 0.0171, -0.2418]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 387):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d02b9dfb1856cd8c28e0b5db336466e5294d105fca877d2d0a8dc2817dac2dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 387):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e284ccfb3f410795131f32d7d98e398f0b01840f8836c374fa2bfa554965917",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 387):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:468e10f73013832499d0cf9f7801ef3f4697be304440c168971c49771c3fe7ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 3d02b9dfb185]
[blob 1e284ccfb3f4]
[blob 468e10f73013]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HLszcFs4SgjrKANJ7mF2JA",
      "input": {
        "note": "Pulling in 2.2 cm worked: at 5 cm height the block now reads radially aligned with the prong-tip midpoint and only 0.85 cm to the arm's left. Applying that small yaw correction and descending straight down to ~1 cm fingertip height.",
        "targets": {
          "right_j0": 0.783,
          "right_j1": 2.46,
          "right_j2": 2.05,
          "right_j3": -1.17,
          "right_j5": 0.783
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01HLszcFs4SgjrKANJ7mF2JA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0074 left_j1=0.6224 left_j2=1.2018 left_j3=-1.0344 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7776 right_j1=2.4416 right_j2=2.0594 right_j3=-1.2358 right_j4=-0.0547 right_j5=0.7616 right_gripper=0.9959\nstate[joint_eff]: [-0.0752, 1.7573, 5.3265, 1.9365, -0.0122, -0.0415, -0.0122, 0.6359, -11.4667, 5.2034, 0.5788, 0.188, 0.1538, 0.1392]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 391):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80f1de115b6a102c66bd7a4af1e2f8bbb0ddea9df30227dfdc6caeebbe7912e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 391):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5766b2b1233b03615a82eeda56fead0b5dfb74cd698a26f746acecdf5df561c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 391):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:af679f1406bef0552238d1a6089e11ff875e8be64a19f646bb93da4f9facb992",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 80f1de115b6a
wire blob e5766b2b1233
wire blob af679f1406be
call 56 attempt 0 · /messages · status 200 · 12.19 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 160 changed as sent

message 163 changed as sent

message 166 changed as sent

message 160 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2018 left_j3=-1.0008 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7643 right_j1=2.5633 right_j2=2.2906 right_j3=-1.351 right_j4=-0.0494 right_j5=0.7334 right_gripper=0.0133\nstate[joint_eff]: [-0.1299, 1.7299, 5.135, 2.0098, -0.0073, -0.0366, -0.0122, -0.3487, -14.0923, 5.9966, 0.149, -0.0611, -0.0464, 0.6911]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 163 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2018 left_j3=-1.0187 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7643 right_j1=2.4096 right_j2=2.1658 right_j3=-1.3705 right_j4=-0.0494 right_j5=0.7296 right_gripper=0.9945\nstate[joint_eff]: [-0.1709, 1.9761, 5.3265, 2.0147, -0.0366, -0.0415, -0.0122, -0.1983, -16.6632, 5.6137, 0.188, -0.0562, 0.0171, -0.2418]\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 166 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0074 left_j1=0.6224 left_j2=1.2018 left_j3=-1.0344 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7776 right_j1=2.4416 right_j2=2.0594 right_j3=-1.2358 right_j4=-0.0547 right_j5=0.7616 right_gripper=0.9959\nstate[joint_eff]: [-0.0752, 1.7573, 5.3265, 1.9365, -0.0122, -0.0415, -0.0122, 0.6359, -11.4667, 5.2034, 0.5788, 0.188, 0.1538, 0.1392]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 391):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80f1de115b6a102c66bd7a4af1e2f8bbb0ddea9df30227dfdc6caeebbe7912e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 391):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5766b2b1233b03615a82eeda56fead0b5dfb74cd698a26f746acecdf5df561c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 391):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af679f1406bef0552238d1a6089e11ff875e8be64a19f646bb93da4f9facb992",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 80f1de115b6a]
[blob e5766b2b1233]
[blob af679f1406be]
{
  "content": [
    {
      "signature": "CAIS3AUKjAEIEBgCKkCdq4vLv9w/XvClfYcFtOtOZb6Oz1qfZqllkTfU5wiXZaPj0ChbC2Q2+nPiowfSvuMjsgYD/HdvcjV1mWuCs/W8MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM313qB1gvCtalJKX2GgzMBlyinftk74OiPUkiMK1KwNWb2Cx8r6zbM43PyLgJMIcUg7XvVDtm3FB3YpoTZZ7IXyjxtO3HJ+Xd3P2xQyr8A63EmBVOXTCym6dlJq0gt3ZsYp3fHU38+NVMQ/Nc1jBngJRO6ZcYI34OtoqEop9GwNYO3rewjpK5zPgyKwghAr78ToIMK7FpbxVojwYRNH5pHeAoz5QiF7jrFEu+855tbIcM1CcyQVusEfvse5kChOaO7XSmdnrjl7AdfYlMTuBpk6tVGKiYBp/rxU+WP8SJxIP3Y407lnMSdIWwHAY4grP8X4Y2+VSgpKLCvEuLDi8Y/k65NQ4AMKm2GgoVdzaZRGVaD+TTQMykqh9SjO6u2isXvZLHRA7oEFhXEvo49cPmwWr2VHZLzVJtANkPw+rHsa3DX2VicPDJAvADEXjGYfduOSTHa/AxbzobRl5QbxEhLPu7RcdPSKAAG5QeDtM/FsA6t1BRy3reYTrMUxZeg1wdoGe9WlpVgm3Nx2r4W+DYCvVlFVO9asTA447wCvqeAKNI+NxH1F5VWwrcNTom1LZofJWlLPUeV/uL7G0HdGfQeIXwEJciDbugaJiLvRvw3QGGOWpZXmWbBdGk/bFSNg8ih5M+JbL3QrVf54myZfGO9m/+alZQwvPJegAPVLDYHV00LhDmzfH7RpZY8l6HqcSZihqlCw6X1R+LqxtMqGQpSxLYuX+SCdSKnjhYLUeFNJPy61u1wG6VKFkZZ6/Mth6/n/N28Z4flnKO1b0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YVECnoxVtp5y2fB3pwCXoq",
      "input": {
        "note": "Fingertips are at ~1 cm with the block between the prongs at the bottom of the frame. Closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01YVECnoxVtp5y2fB3pwCXoq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2018 left_j3=-1.0561 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.7776 right_j1=2.4413 right_j2=2.0567 right_j3=-1.2388 right_j4=-0.0647 right_j5=0.7601 right_gripper=0.0132\nstate[joint_eff]: [-0.1846, 1.7162, 5.2444, 2.0244, -0.0415, -0.0171, -0.0122, -0.1026, -13.3675, 5.8325, 0.2418, 0.0024, -0.0269, 0.9011]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 401):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b701f6b94a9719eefe21038bb64f54898926e4c952b9e1e4c46e6f56b6a1ccd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 401):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5807f0f2113a4256df370b3431fb6cd488e213fa88ec1b3d7ee4c4361138854f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 401):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:60e979cdd2b1cfc11edb7b2aedb22e6539c247153f83b8bfc6e9b11328012fa2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 7b701f6b94a9
wire blob 5807f0f2113a
wire blob 60e979cdd2b1
call 57 attempt 0 · /messages · status 200 · 9.213 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 163 changed as sent

message 166 changed as sent

message 169 changed as sent

message 163 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2018 left_j3=-1.0187 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7643 right_j1=2.4096 right_j2=2.1658 right_j3=-1.3705 right_j4=-0.0494 right_j5=0.7296 right_gripper=0.9945\nstate[joint_eff]: [-0.1709, 1.9761, 5.3265, 2.0147, -0.0366, -0.0415, -0.0122, -0.1983, -16.6632, 5.6137, 0.188, -0.0562, 0.0171, -0.2418]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 166 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0074 left_j1=0.6224 left_j2=1.2018 left_j3=-1.0344 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7776 right_j1=2.4416 right_j2=2.0594 right_j3=-1.2358 right_j4=-0.0547 right_j5=0.7616 right_gripper=0.9959\nstate[joint_eff]: [-0.0752, 1.7573, 5.3265, 1.9365, -0.0122, -0.0415, -0.0122, 0.6359, -11.4667, 5.2034, 0.5788, 0.188, 0.1538, 0.1392]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 169 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2018 left_j3=-1.0561 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.7776 right_j1=2.4413 right_j2=2.0567 right_j3=-1.2388 right_j4=-0.0647 right_j5=0.7601 right_gripper=0.0132\nstate[joint_eff]: [-0.1846, 1.7162, 5.2444, 2.0244, -0.0415, -0.0171, -0.0122, -0.1026, -13.3675, 5.8325, 0.2418, 0.0024, -0.0269, 0.9011]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 401):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b701f6b94a9719eefe21038bb64f54898926e4c952b9e1e4c46e6f56b6a1ccd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 401):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5807f0f2113a4256df370b3431fb6cd488e213fa88ec1b3d7ee4c4361138854f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 401):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60e979cdd2b1cfc11edb7b2aedb22e6539c247153f83b8bfc6e9b11328012fa2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 7b701f6b94a9]
[blob 5807f0f2113a]
[blob 60e979cdd2b1]
{
  "content": [
    {
      "signature": 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Qzw03c21OjELdhUGAmypkIfqeFaJOBAwf5wpn/aMon8ilDyvm2V2yjotgy+H0Vm8btQhHUp8dbnw2KVUKWUeDAvFqrkIqzHQfFwFtqnlVYcEapLh5vP3VE0vgLjwhTYEOb6nc53uEw2uK7i04WYitMGjjZ1i9CzVStewZkQJHWenfCk7+LXRzEpxCMC276COU6VOj+nko0+EQb+vpGQ6Yqds/Ivqo+A8ODn1BzibWstOYbh0QUrl/XqFuJJe/MPuBpZBjn0afUEhHPLrYz65HcEqVZzbO4rlVo4jDHa1qjGQmNEo4FbpyIaHMecr4/ykG0/KTfMIJ6loGMSca45U9YrC3ob5s5kK08tqLwoWkc/aM/XF9cHM9apa2TLBWfxS9GAGjgo/IVGrru5a8nJLTmIPNjAxaw7zoouiJWZrsxiwrwAUQberKKrPTyzNKhzM9ffpa2diEz9RuN2M2H5dwkEX9SiJ15kwI033+SJpazM6y2Duu/ZX0k38PBv0CubYILkNzm4kKeUPUKHkXt4cYMAXyMVEsRcrZudgaqhHEfaHLtr8X5Lka9WAH8RLlNfkr7RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DYuN81qnxa87BPcwDVXFH5",
      "input": {
        "note": "Another empty close with the block vanished under the jaws — I now suspect the right arm's height bias differs from the left's, so my \"1 cm above table\" is really several cm up and the jaws are shutting above the block. Driving the closed jaws down to nominal table level to find the true contact height.",
        "targets": {
          "right_j1": 2.61,
          "right_j2": 1.97,
          "right_j3": -0.93
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01DYuN81qnxa87BPcwDVXFH5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2018 left_j3=-1.0645 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7776 right_j1=2.4489 right_j2=2.0407 right_j3=-1.2087 right_j4=-0.0727 right_j5=0.7601 right_gripper=0.0154\nstate[joint_eff]: [-0.1846, 1.7436, 5.1214, 1.8828, -0.022, -0.0269, -0.0122, -0.0205, -0.2393, 0.335, 2.9475, -0.0269, -0.0269, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 406):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e21ec7f053ff188b6acad827dcf6159065a28f618cfbda9092dc35de88f9497a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 406):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57624c005b6c07a44d52ab971e04b82c60ddb73dfe6757babc32f8c300e9c422",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 406):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a1ca63ba0a9a9ee1166c49e7d817e91c3c494d8f4d12613c4dc252d38a0d1a37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob e21ec7f053ff
wire blob 57624c005b6c
wire blob a1ca63ba0a9a
call 58 attempt 0 · /messages · status 200 · 13.09 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 166 changed as sent

message 169 changed as sent

message 172 changed as sent

message 166 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0074 left_j1=0.6224 left_j2=1.2018 left_j3=-1.0344 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7776 right_j1=2.4416 right_j2=2.0594 right_j3=-1.2358 right_j4=-0.0547 right_j5=0.7616 right_gripper=0.9959\nstate[joint_eff]: [-0.0752, 1.7573, 5.3265, 1.9365, -0.0122, -0.0415, -0.0122, 0.6359, -11.4667, 5.2034, 0.5788, 0.188, 0.1538, 0.1392]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 169 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2018 left_j3=-1.0561 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.7776 right_j1=2.4413 right_j2=2.0567 right_j3=-1.2388 right_j4=-0.0647 right_j5=0.7601 right_gripper=0.0132\nstate[joint_eff]: [-0.1846, 1.7162, 5.2444, 2.0244, -0.0415, -0.0171, -0.0122, -0.1026, -13.3675, 5.8325, 0.2418, 0.0024, -0.0269, 0.9011]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 172 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2018 left_j3=-1.0645 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7776 right_j1=2.4489 right_j2=2.0407 right_j3=-1.2087 right_j4=-0.0727 right_j5=0.7601 right_gripper=0.0154\nstate[joint_eff]: [-0.1846, 1.7436, 5.1214, 1.8828, -0.022, -0.0269, -0.0122, -0.0205, -0.2393, 0.335, 2.9475, -0.0269, -0.0269, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 406):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e21ec7f053ff188b6acad827dcf6159065a28f618cfbda9092dc35de88f9497a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 406):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57624c005b6c07a44d52ab971e04b82c60ddb73dfe6757babc32f8c300e9c422",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 406):",
      "type": "text"
    },
    {
      "source": {
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    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ERddKdfeBfU95qfjMdyBZo",
      "input": {
        "note": "Good news: the jaws stalled with j1 effort collapsing at z_fk=0.084, matching the left arm's table height, so my heights are right and the misses are purely horizontal. Lifting to 10 cm with jaws open for a wide view to re-find where the block has been shoved.",
        "targets": {
          "right_gripper": 1.0,
          "right_j1": 2.32,
          "right_j2": 2.22,
          "right_j3": -1.48
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01ERddKdfeBfU95qfjMdyBZo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2018 left_j3=-1.0794 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.7776 right_j1=2.365 right_j2=2.1918 right_j3=-1.4517 right_j4=-0.0727 right_j5=0.7597 right_gripper=0.9947\nstate[joint_eff]: [-0.0889, 1.8393, 5.094, 1.9316, 0.0024, -0.022, -0.0122, -0.2256, -15.5692, 7.7197, 0.1343, -0.0806, -0.0269, -0.2076]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 416):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5878d17fd5158ef9d705603afd2dd8fa7b5d4253173baccfbc6d813ed343e2c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 416):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95df2d4d4ce72461df8e23062f70491f7e3ea587f057dfcceef8334bf4bc818c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 416):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f73e5725157427dab072c210d2b24650b17f7827b862cda856278e40b49511a5",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
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  ],
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}
wire blob 5878d17fd515
wire blob 95df2d4d4ce7
wire blob f73e57251574
call 59 attempt 0 · /messages · status 200 · 5.831 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 169 changed as sent

message 172 changed as sent

message 175 changed as sent

message 169 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2018 left_j3=-1.0561 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.7776 right_j1=2.4413 right_j2=2.0567 right_j3=-1.2388 right_j4=-0.0647 right_j5=0.7601 right_gripper=0.0132\nstate[joint_eff]: [-0.1846, 1.7162, 5.2444, 2.0244, -0.0415, -0.0171, -0.0122, -0.1026, -13.3675, 5.8325, 0.2418, 0.0024, -0.0269, 0.9011]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 172 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2018 left_j3=-1.0645 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7776 right_j1=2.4489 right_j2=2.0407 right_j3=-1.2087 right_j4=-0.0727 right_j5=0.7601 right_gripper=0.0154\nstate[joint_eff]: [-0.1846, 1.7436, 5.1214, 1.8828, -0.022, -0.0269, -0.0122, -0.0205, -0.2393, 0.335, 2.9475, -0.0269, -0.0269, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 175 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2018 left_j3=-1.0794 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.7776 right_j1=2.365 right_j2=2.1918 right_j3=-1.4517 right_j4=-0.0727 right_j5=0.7597 right_gripper=0.9947\nstate[joint_eff]: [-0.0889, 1.8393, 5.094, 1.9316, 0.0024, -0.022, -0.0122, -0.2256, -15.5692, 7.7197, 0.1343, -0.0806, -0.0269, -0.2076]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 416):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5878d17fd5158ef9d705603afd2dd8fa7b5d4253173baccfbc6d813ed343e2c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 416):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95df2d4d4ce72461df8e23062f70491f7e3ea587f057dfcceef8334bf4bc818c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 416):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f73e5725157427dab072c210d2b24650b17f7827b862cda856278e40b49511a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 5878d17fd515]
[blob 95df2d4d4ce7]
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{
  "content": [
    {
      "signature": 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f+nNIU7qaGDuNBAw8CKZdaV6cVI3lV5LwQgLq9hpAYdqmbopPdntuZCXL/cWm3+rDPvUoOhW1kJ8d6tWCOm8ZypsBbUPf1K8N1Xsnm5imV8m6EkRBj5oATm3iE+m2JNSFcWvQlOU9bPI/yTknuDyDXg1Ed0xPAhNlVxI5YM8S3APJMvubuD/dmVzaTG6Dp7RnTBVooalotBKo5GU9il9TdrlYZs05lGS3cA8ghQcr0OkvBZvilbKCmlIWwFBmxUYqz3uSguWIoN40+1S3PqQ0bF7pDfqdFvSWiz8P8FbsdHnA/BQyjdk7cXjSm+Hz28NoADZrOmu585ufFa1LyWUy4SrtVOn2k5/86gAFNR4Y+QHFS3qzUN0tPrVxLEJn4r0l16LigU7OT4LYLUc52yKELCJG/QBjB4isv9XN/9qi/xdOM/hn+TQ8pr7hEfi2ha3TuIiR71tVDqi9fJcS8fsP1mtP2nVNQhKzRYJ8cgcMjG98wGEOSdISnCa66gt1dHwqy/t02ScGxU9nzTufAFOhOrnjImu9zm4v+cR7v7bPZIEnusv70DvMzNr0FWiPbczr2yg3IofbtlFHZdyQQF4mddkwQcU0kXyBMjRR+0t232aC3Euh13P/zW3JTfuRDRcmUBU0/U37HGIEn9x63wTGraNhLBxWWCR1KQY2zvql4veLStW+vAtpyha4gwE+24YZEazYYEWaDvjbf5DtXiLMOrwx2t45qseEfrB4rlt0D4vG5S8RLFFgIbq43uftu+5VCB+WN8kWAQjgxRlCb/fXGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EsmzhboK1ZZHsGSrngLoCr",
      "input": {
        "note": "Clear wide view: the blue block reads 2.25 cm further out and essentially laterally centred relative to the prong-tip midpoint. Applying the outward correction and dropping to ~4.5 cm — just above block height — for one more check before the final descent.",
        "targets": {
          "right_j0": 0.774,
          "right_j1": 2.47,
          "right_j2": 2.27,
          "right_j3": -1.37,
          "right_j5": 0.774
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01EsmzhboK1ZZHsGSrngLoCr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0074 left_j1=0.622 left_j2=1.2018 left_j3=-1.0863 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.7776 right_j1=2.3985 right_j2=2.249 right_j3=-1.4643 right_j4=-0.0731 right_j5=0.7605 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, 1.9897, 5.2171, 2.0488, 0.0024, -0.0415, -0.0122, -0.6496, -9.6889, 6.0786, 0.4274, -0.0464, 0.0806, 0.1392]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 418):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55180551fc858d3e6edc76f16e478fef492723a7a94e48c004ac6b2515207c60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 418):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc72bff771692f9b7e9ff60af5ac227c361491e78577ec7e3443556a69c0f5c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 418):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b16fb0ffd6c2620f41ae18cfa9aa855f18def01d852b9d4417e25e8485b19412",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 55180551fc85
wire blob bc72bff77169
wire blob b16fb0ffd6c2
call 60 attempt 0 · /messages · status 200 · 8.154 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 172 changed as sent

message 175 changed as sent

message 178 changed as sent

message 172 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2018 left_j3=-1.0645 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7776 right_j1=2.4489 right_j2=2.0407 right_j3=-1.2087 right_j4=-0.0727 right_j5=0.7601 right_gripper=0.0154\nstate[joint_eff]: [-0.1846, 1.7436, 5.1214, 1.8828, -0.022, -0.0269, -0.0122, -0.0205, -0.2393, 0.335, 2.9475, -0.0269, -0.0269, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 175 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2018 left_j3=-1.0794 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.7776 right_j1=2.365 right_j2=2.1918 right_j3=-1.4517 right_j4=-0.0727 right_j5=0.7597 right_gripper=0.9947\nstate[joint_eff]: [-0.0889, 1.8393, 5.094, 1.9316, 0.0024, -0.022, -0.0122, -0.2256, -15.5692, 7.7197, 0.1343, -0.0806, -0.0269, -0.2076]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 178 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0074 left_j1=0.622 left_j2=1.2018 left_j3=-1.0863 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.7776 right_j1=2.3985 right_j2=2.249 right_j3=-1.4643 right_j4=-0.0731 right_j5=0.7605 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, 1.9897, 5.2171, 2.0488, 0.0024, -0.0415, -0.0122, -0.6496, -9.6889, 6.0786, 0.4274, -0.0464, 0.0806, 0.1392]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 418):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55180551fc858d3e6edc76f16e478fef492723a7a94e48c004ac6b2515207c60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 418):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc72bff771692f9b7e9ff60af5ac227c361491e78577ec7e3443556a69c0f5c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 418):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b16fb0ffd6c2620f41ae18cfa9aa855f18def01d852b9d4417e25e8485b19412",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 55180551fc85]
[blob bc72bff77169]
[blob b16fb0ffd6c2]
{
  "content": [
    {
      "signature": "CAISlgYKjAEIEBgCKkAUyKrIvmjL1cGI24kI5IqztNtWg5ZRo6obaNspdPHbynpnqA5HJfV7WjHwN/ajTJoSY+X9g7JTuYrvC6wMh/lUMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMbw8GuMimrV7vgfTmGgyY8D6TVLvmqougeFIiMJfZnl9cHI+C7ls6l65fY+oKyos/l4eSpKiYd/jxPjed6hyHT7C8oEtVkIDHbV2wWCq2BOwhquiBjbXWo8pTsGy3v/dy2Zo7yT4Kj+JOh0J6kcRd4tDo1NZtMWgT9vOz9BFMgIiT/jY8Mq746veR0gOLMiT4v31ZhZxGuY4wgRt2mfDvCwFl4cj7Su9gO76ouBqScjKdcjxbr3Z36l3UtVM/PGskGgWPvQ50atn623dZCs87U/RELi7WIDq0VphEvNdOL5Pruan7NIZ7+r9G43OhMZb5D7dmaIX73eIH2DoqvZMWjCeD4BTO0OaSwCB1ZiKd8Qif9uzbDp+JOrsQa32wl5A2/BRfUPTKISS8x8C0kT9aAgiFLwTIO45aaI2LlW7n0/D0Xxn2PqNHw6hFArfG/nzL5MOdsJuxzwcBMPxcjgEcTHWizXJ3/S7YVQYVXM/uU7HPIeePCVwtNWw2yLOcRzfIIqaNFxdbfga46Qmm7blmdw11PAhQev3rLFTBI0ywI3+k37PSM69VRcn68YNxKMBtBit/lG9PFKOgYPQRw2qX8NoMSJn+QgkBE+DZ+rrsnHtilMNJBeJ0J3RQp3BPWyL2kv+Bl+jeQbawXgAhGN2cHvv2v0wqNTE3SkCDRrtulz+19V+rTjyZk5OUMCG/Mz9nhbQx66juxmtzMAtknu242blag5L4FOA54CTvuffxA2p76j1v8V8TXXRhTdS3Q/9+tplCrc0CM9odpT7CZ3hFsbTMfB9IGfu+51L4x9hZIOXsN7f04mno1oJLoIxVDbUcUPmJAIRIHOSKxXJ2ETLaHGK8TZsjGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Q1t2r5N689Aw9gz3SC7A3e",
      "input": {
        "note": "The move undershot badly (only 0.8 cm of the 2.25 cm extension, no descent). Re-issuing a stronger target to reach r≈0.447 m at ~4.5 cm height.",
        "targets": {
          "right_j1": 2.52,
          "right_j2": 2.3,
          "right_j3": -1.34
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Q1t2r5N689Aw9gz3SC7A3e",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2018 left_j3=-1.1015 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7776 right_j1=2.4939 right_j2=2.2688 right_j3=-1.396 right_j4=-0.0727 right_j5=0.7589 right_gripper=0.9963\nstate[joint_eff]: [-0.1299, 1.7162, 5.1487, 1.9023, -0.0366, -0.022, -0.0122, -0.1573, -11.5077, 8.3761, 0.6764, -0.0513, -0.0171, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 420):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06d3f93efa04f759431f574d6eb15bbd46b8baea26cd477001eb56c2e47dfeb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 420):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1764cfc9f261017d4fb73e6a638929e5a94d53be7925a65c2da27171e9955ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 420):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c0182daf77aa1226068a24dcdf222dc464996f9a76f809443db1f6271fff0bf6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 06d3f93efa04
wire blob b1764cfc9f26
wire blob c0182daf77aa
call 61 attempt 0 · /messages · status 200 · 9.704 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 175 changed as sent

message 178 changed as sent

message 181 changed as sent

message 175 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2018 left_j3=-1.0794 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.7776 right_j1=2.365 right_j2=2.1918 right_j3=-1.4517 right_j4=-0.0727 right_j5=0.7597 right_gripper=0.9947\nstate[joint_eff]: [-0.0889, 1.8393, 5.094, 1.9316, 0.0024, -0.022, -0.0122, -0.2256, -15.5692, 7.7197, 0.1343, -0.0806, -0.0269, -0.2076]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 178 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0074 left_j1=0.622 left_j2=1.2018 left_j3=-1.0863 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.7776 right_j1=2.3985 right_j2=2.249 right_j3=-1.4643 right_j4=-0.0731 right_j5=0.7605 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, 1.9897, 5.2171, 2.0488, 0.0024, -0.0415, -0.0122, -0.6496, -9.6889, 6.0786, 0.4274, -0.0464, 0.0806, 0.1392]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 181 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2018 left_j3=-1.1015 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7776 right_j1=2.4939 right_j2=2.2688 right_j3=-1.396 right_j4=-0.0727 right_j5=0.7589 right_gripper=0.9963\nstate[joint_eff]: [-0.1299, 1.7162, 5.1487, 1.9023, -0.0366, -0.022, -0.0122, -0.1573, -11.5077, 8.3761, 0.6764, -0.0513, -0.0171, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 420):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06d3f93efa04f759431f574d6eb15bbd46b8baea26cd477001eb56c2e47dfeb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 420):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1764cfc9f261017d4fb73e6a638929e5a94d53be7925a65c2da27171e9955ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 420):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0182daf77aa1226068a24dcdf222dc464996f9a76f809443db1f6271fff0bf6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 06d3f93efa04]
[blob b1764cfc9f26]
[blob c0182daf77aa]
{
  "content": [
    {
      "signature": "CAISlhAKjAEIEBgCKkB/fRZnxKHop55mwAKQf2l54nBhJTbBE2vsSxPg3ETVZ/kxpA2+QNeZI7T98WjL2nduNgz2bG2yXSCZVeUoWe3nMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMOy6Jjt+B+YYys3QcGgwOSHAtuZWB4MuyVjYiMNPK8PV5ZPhZoswQhYozlZGRBfkyoXt5HL/0B+GBkNatwnQMPHj2WRVxaBX0NO9+siq2DmvNaVsqhruRSyhBM4993X76RkWZS/SKwJX/qtlAlbD1EYy0J1RsRHy13XmnTspgujF/bMGNuPuJzLnx/ASBpjynKDr9swy+ku/MLZrQilYaZdcZskq40iZcUnt5oq+RlD37YhjxaKMyXrYe2+ICXr7JuIJrYx7gHWVF0p5Ka3IzAt0KPkWN4eMgCPM7CXaVJjpEySN+qSErGXDdBAz7wryDE/BPs2WXGTQK4h9JGNqohGE21/J+oRDQL43dMGtr1cffjJRNCQd1Bzp2RNyWXi+gkQxa9JzF8hVBEVdXRXjIx0syrHdgbYe2uSgDsp63lzQHngUKWsYsXg+uQ3OxcGCBb97EW8zg0tO0LbgO9KeD5Hbb8skWW6I/ctiP3oOWnQr2j1gqgFeAQRKM22hSL5eLSCLWRaKmPA8PAtObyvjzmMJ1nHfy+n4JDkMlrpQKo5I6Q/FUkCSNf1BwfyVnEe1pTCAmYNdJcEcblT616bGH7uCiviLIT0Pz4/Id3XINb5k7cIfLFr3Qh7I+13/8FhDyHBbvx1DJdgt8NZjb8ED7UGzusr6/sxkSkOdAmP8CZ12HcvlcCPMWeJGmRYsX1qXE8W0AHAZvPOWtZ97JRIfm3hW5gWsWL8pKbC1xbuKmAdhY3VZDVVlY+/xLI9gjN77UQ59VGuGZw9S+QZeFDa7GBGxrrfgiuBXO25Rro2OHkNsBhj6vsGOrXeInubbd4F+Lnb3LEntAbwZISDgi560lMr7BM2miE5l7snxZBJOcJtkdsqo1ZSv1t3d9zURtCVwHi6LP+UflaOh+KI6WtyTsr8F6Au2qGpPfcHmDKvQ+B/34ScVwev2lP7wsekknFBDMj+Llf4s50OYFknbPtoklZkWjghSYy2+pbH6Rp2I8fF1rL9H67OF+dAAb+nI5r03iJvlD9WsWgJMGV0OLTV26fSuLyMNyOupMpxOtM5ahSG2TatgvgFxyGU9O55VmvmrYKjluyn7pA0xb3769dBWMVCFvJXF/YhC5qa1SbJRWd0YcTo9ULjYvjHpcc6FpFu5ea4RZhi6H3/pjTrxwNAKhzN8qhCicJmajgEby+oL2IoUSmKCwOGwKF7xiIVXMTnVIfiffLvDruGpaoC9TXTbXuXo5VS/443h0kiM38po2N+lGwH40p6VfzvG1V+/x67AMmcypWrq3QT7QgTn2TjRX4lNt6i9OrVVFkM1fjIGfLIX85gL9wX0YzQvKHVR3xCBJD3yJDByikc0YdUXBkUKsaEjbN/A+5JifK/j07UtsDKAl6dhaofC/2RNqqkyzXV6WCddg0/mm5NtXM06iGma9s+ykMTZZPgsTJWFfa3RFPiyTH/08Rph0/70Wt69OscvAFIxGHuxCBY6Uw3mIH1jDNcruUsO6P68hxVRrcmX4XcOoUYSaMDtvGGpI7i7PDCMrl5rMbXvJbsKp60l/kQJqDHZWUtUq9ckh42rckeX9DxBzMEpHApEBDz7oUMKwwUWZgnV+AoRw/zc2LLQUkVNd/KbBXYlaP4F8rWJGs/jVCu7ziBHpoUzDRSfjIb/WEPJ8Fc293DvZa3IkFEWACUzkXHpjG65SwPTJtiTOYRt+3uZ2CL7RVmh+OGo7hwkNE4j2BD7C4KTCZsOm6s3C3DNDHtyn3w+N0yCay/6Hjivm/DsSKl8En4OiAP4sFAJstyCcpWtg5UljqttIlUaAsS2LDwTTJoSkLAea9/sByicSm+6lZK24870OYtYmCSjr6twejecMb44sJnrSCpOi1GBFCwH4gWV8qNHHax2MDJB8GTTfgO1ACr22/lEz6gV5m9u6RyNqKqV6+JWdSAdz0rzGrFCK6K5uMyxjrYS2z4fSVnqvXfOe9zB3SrnEt7Y4ZhhFtQao3w8KyA4N4Vkb4MMDOAN82fat45uQ2xwGW585xGvfZLrvWz1k9qDmxE8MD0Sv+scZc+ZirckLursZ4wRC6g+id9/DmXhvTjJClnX1e/jKWQZZuGPUb0XXHCWTpU7PT2CxjJepAWSr7TdcMtXTg0iruaHecgRHtaazFOSHhyhD6sfLyC4Pjaads/9+PAEmGA3zjwuvB6clcB+d3zy0lXLxwyhXUpXWc9qW5yiUAm3qmpXmDWv4MZAiLovqVsPUovr9Ig0SKChJ5XCGekjfdSErRXkinUTQspkKleLhkNq0J4wlGU1/bHi7oqA6F3c/TWTaRzZGudOcq1Q7ERTxWAIT5G42Ml0QDcLKmujnye+yT8yKjF7imjr5/zligvX+u/igYHAC2X7Ymhamr4g0kKExn+4uQn4pm1fOTYhF3o1/wae9KKzUgutSYNzDL0yrTWvOyj4I+gFyT55P5AKlNvpZA7oM4sPEvrMNxuhkH1gji0uMNFNG6skQOfnwOHZRgqTlrBpwTEALni5QYehIg3qS4QsAro+mxiWtpg9Fofww8IiYCyvQZo5ZbhmpNn4WGR1yBL4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015T7fKoYYtWHQyUFxP2s6fq",
      "input": {
        "note": "The block is now squarely between the two prongs at the bottom of the frame with the arm at r≈0.444 m. Descending the last ~2 cm straight down to grasp height.",
        "targets": {
          "right_j1": 2.53,
          "right_j2": 2.17,
          "right_j3": -1.23
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_015T7fKoYYtWHQyUFxP2s6fq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0074 left_j1=0.6228 left_j2=1.2018 left_j3=-1.1088 left_j4=0.0826 left_j5=-0.8551 left_gripper=0.9973 right_j0=0.7776 right_j1=2.5141 right_j2=2.188 right_j3=-1.3037 right_j4=-0.0834 right_j5=0.7567 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, 2.1675, 5.1487, 1.8828, -0.0464, -0.0659, -0.0122, -0.335, -12.3419, 4.5744, 0.525, 0.3785, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 423):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7195d0484e11388f8c3690f3a0ae978b5a2022475bb6147173936caef6639327",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 423):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41b1d3fe188c726a84985e77063f85524c245455c91eecad7a82a7759e167b87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 423):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a572e59127ed9e1411484d02051ed5e2029daae58bdf64b469c1dd47b98b2c23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 7195d0484e11
wire blob 41b1d3fe188c
wire blob a572e59127ed
call 62 attempt 0 · /messages · status 200 · 12.77 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 178 changed as sent

message 181 changed as sent

message 184 changed as sent

message 178 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0074 left_j1=0.622 left_j2=1.2018 left_j3=-1.0863 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.7776 right_j1=2.3985 right_j2=2.249 right_j3=-1.4643 right_j4=-0.0731 right_j5=0.7605 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, 1.9897, 5.2171, 2.0488, 0.0024, -0.0415, -0.0122, -0.6496, -9.6889, 6.0786, 0.4274, -0.0464, 0.0806, 0.1392]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 181 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2018 left_j3=-1.1015 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7776 right_j1=2.4939 right_j2=2.2688 right_j3=-1.396 right_j4=-0.0727 right_j5=0.7589 right_gripper=0.9963\nstate[joint_eff]: [-0.1299, 1.7162, 5.1487, 1.9023, -0.0366, -0.022, -0.0122, -0.1573, -11.5077, 8.3761, 0.6764, -0.0513, -0.0171, -0.0024]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 184 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0074 left_j1=0.6228 left_j2=1.2018 left_j3=-1.1088 left_j4=0.0826 left_j5=-0.8551 left_gripper=0.9973 right_j0=0.7776 right_j1=2.5141 right_j2=2.188 right_j3=-1.3037 right_j4=-0.0834 right_j5=0.7567 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, 2.1675, 5.1487, 1.8828, -0.0464, -0.0659, -0.0122, -0.335, -12.3419, 4.5744, 0.525, 0.3785, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 423):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7195d0484e11388f8c3690f3a0ae978b5a2022475bb6147173936caef6639327",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 423):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41b1d3fe188c726a84985e77063f85524c245455c91eecad7a82a7759e167b87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 423):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a572e59127ed9e1411484d02051ed5e2029daae58bdf64b469c1dd47b98b2c23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 7195d0484e11]
[blob 41b1d3fe188c]
[blob a572e59127ed]
{
  "content": [
    {
      "signature": "CAIS4wUKjAEIEBgCKkDQHS57/cTEBHELHnqw9OVCLfqWFPN0gypj4fb/76TgRhfFlSqyZWoDtkIdpXXdgQu7sFNBC1tSlFgCKiJy349JMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMz8O5d56/+bvBZgIhGgzukwxTt0xuqdxf0dQiMBX/B/OTAgAhU27CF73WRmoO2wZxB053M3J3/lOpUmHu00S3b77NUmY15K7+Jxg4qCqDBH0mp0tnNwnuTJND5IEmdbVt2Lp+Hik8yHjDVXV5mQX866NL+6oGjXfwtoF9FL+P/Qr5eeDwjUWvNR3b1QaIlqIavqjOoz9h279LHhEF9q9Y+f3Gywr64ZpHw5MX/AoRSmMd7mL9p3TcCSKaBQubGuo77sch0Zle/BqbYb8LMyoiHiXVuXTabVZfpgoyOW/Vkl8Z/czhW2/kklOUhrp21TOqFsXAiZnIZcMF3haJNQjf4qdgt0sNWprVYyAH8XAzpCAlIXrIQmHRjuLtRAH6gNJ1vagt3KjKvNW0vHb63pNK1782Xrgg0em8+LLIRlGnUSajnYCwMEBpYb7kY7xuzAbxz+GkDtG03McahOeTnATepaDCrAiPm3iiv1o5vC3ASvZOjFanZ+wIVDTB1byT6NPIyi+tLZk1l8d0oCfgq33sV06aGOebQ1Q0zRX62nXMDz5FlhLWyBFoh51BGpilgLRdTzB/+1dYgCFR62RY+IBa1RovyB3QktdM26WnespnApT26XqKetn9yxAOk8kUTR8F6Cfq4w9XhHhT0K6taabnUOy5BVItq0zrAoZoWRljLaWsgCbxPh6dLxmgzd/e5oyB/AHIORVl4zF6+BNEX3b/0F3mi/MorVAfY62h6GF3conMn4kDkHJ25BdSZPHvgj9ul2BTf3QhWir+gbHdvS8+a2UOGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018XgfL22XBZ3jZX5wjGGnTa",
      "input": {
        "note": "Fingertips are essentially at table level with the block between the prongs. Closing to grasp.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_018XgfL22XBZ3jZX5wjGGnTa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2018 left_j3=-1.1309 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7776 right_j1=2.5137 right_j2=2.1876 right_j3=-1.3155 right_j4=-0.0879 right_j5=0.7525 right_gripper=0.0132\nstate[joint_eff]: [-0.1436, 1.9761, 5.2855, 1.9365, -0.0317, -0.0708, -0.0122, -0.2393, -13.7504, 5.6274, 0.2808, -0.0611, 0.0171, 1.1746]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 433):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:703f07c291e407be2c3777084710ba60708f911083727b77152a40c53f2e5925",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 433):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86263f7b698c0f52af87c46aa9d65d015e4354f8e232a94f22ef1ce86424854a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 433):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fff2980407efff195423357daff915674075a607974ed96274bd99c5d872bfc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 703f07c291e4
wire blob 86263f7b698c
wire blob fff2980407ef
call 63 attempt 0 · /messages · status 200 · 17.84 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 181 changed as sent

message 184 changed as sent

message 187 changed as sent

message 181 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2018 left_j3=-1.1015 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7776 right_j1=2.4939 right_j2=2.2688 right_j3=-1.396 right_j4=-0.0727 right_j5=0.7589 right_gripper=0.9963\nstate[joint_eff]: [-0.1299, 1.7162, 5.1487, 1.9023, -0.0366, -0.022, -0.0122, -0.1573, -11.5077, 8.3761, 0.6764, -0.0513, -0.0171, -0.0024]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 184 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0074 left_j1=0.6228 left_j2=1.2018 left_j3=-1.1088 left_j4=0.0826 left_j5=-0.8551 left_gripper=0.9973 right_j0=0.7776 right_j1=2.5141 right_j2=2.188 right_j3=-1.3037 right_j4=-0.0834 right_j5=0.7567 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, 2.1675, 5.1487, 1.8828, -0.0464, -0.0659, -0.0122, -0.335, -12.3419, 4.5744, 0.525, 0.3785, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 187 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2018 left_j3=-1.1309 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7776 right_j1=2.5137 right_j2=2.1876 right_j3=-1.3155 right_j4=-0.0879 right_j5=0.7525 right_gripper=0.0132\nstate[joint_eff]: [-0.1436, 1.9761, 5.2855, 1.9365, -0.0317, -0.0708, -0.0122, -0.2393, -13.7504, 5.6274, 0.2808, -0.0611, 0.0171, 1.1746]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 433):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:703f07c291e407be2c3777084710ba60708f911083727b77152a40c53f2e5925",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 433):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86263f7b698c0f52af87c46aa9d65d015e4354f8e232a94f22ef1ce86424854a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 433):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fff2980407efff195423357daff915674075a607974ed96274bd99c5d872bfc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 703f07c291e4]
[blob 86263f7b698c]
[blob fff2980407ef]
{
  "content": [
    {
      "signature": 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vwxxVIj5kgwacHoy+PHxRlHmMUioCAi9B0+zAf+xd59gdMtC8ot0c4CSirMPxF4xwSBVQ8/SGzeO2aSNGf5gNlt4UB1EMfWmrNgach1avaetE7Ypl3XS5YHj926M6i7pMxu+Xh4pZOkpQt5vItI0ljRwcrbtfN4lHlmA4imrKU+KLjt93b8OY7A8WmHP6iiXm3V056iL+PLyqyYyJu1zV4CwZ9uV3oUdtXWFylQRXooEUVcUwnwlALjTUZDPIMCdulsgQQT4uuqpQLErZQG4LWFhUVYCCec5DihW/fNGlL8AEk1ASVooXSZyc3lrML+8e1hj6gUSwLAhERyXkIV8OlC3f8OMHac94iv4/5Wb/b/UbMoF6ubTS1VSGHJ476tT4ooPywvZhl1lrX0poUgyWQs5spOr4M1aT+psp9iCtiizeTDUKqeqFLb7gQlzdWBZxZR66FARM4Q1DCU1bbYmZDrlMheX6S9KKPVd3wz5jFa+YZAbwWhlUBrKUX1aXLlvPqX/1GzKf/4qONHh/TH+dejoq9t3pLHMYNDMwbNIoJDAj8Nr2oOdjZ9oiDnCNKulyX+aZ2Q9eAeAcC1EItTNyUDSvubCZ6TYoPq3gTFHxvXS4xiPuS1hFm/zO/BEoTVZ+c4kbCI+oemckRzCBT06+pYGY3zN3SS4j/mf4VvpvOcQVC/lwHGoYEQw+SnPSGj5Rw+s789N8pPiR97HGhhYIbg2F5ear/MenYDqMBNNh5PbZIGENE/sC7ObAurDevrPZUQV9+vVDnkoJgktK7+Bofpglw9EbVktvjCC77lrx0l9dJM08q1gs68l0Jy4Nx1ORN3KTOqkAxPINO6QDOtPYgUYcH7z/uljnHGmRK1dN3h+MQSZHoO9VuuQCfYEEx64YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EmRZe3pD3RjLTs6pVF47EM",
      "input": {
        "note": "Seven failed top-down closes: lateral alignment looks reliable but my radial estimate keeps being off by a couple of cm. So I'm rolling the wrist 90° so the jaws now close along the radial direction — that puts the full 9.5 cm jaw opening across my uncertain axis. Lifting to 7 cm first to re-acquire the block in the rotated view.",
        "targets": {
          "right_gripper": 1.0,
          "right_j1": 2.42,
          "right_j2": 2.28,
          "right_j3": -1.43,
          "right_j5": 2.35
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 26 steps (2.6s)",
      "tool_use_id": "toolu_01EmRZe3pD3RjLTs6pVF47EM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2018 left_j3=-1.1534 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7776 right_j1=2.4664 right_j2=2.2459 right_j3=-1.4849 right_j4=-0.0952 right_j5=2.0956 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, 1.7983, 5.0803, 1.9414, -0.022, -0.0513, -0.0122, -0.0068, -16.9641, 8.3487, 0.5592, -0.0073, 1.3993, -0.1245]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 459):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:caf0c15e20122acf791ede322953141bb4896648d681ef2c46622bbad0289324",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 459):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e40ecf32ea69f539d6f1e5b0f311dc8ea796b026ed9792c834fd54feba9395ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 459):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5e69e09abc2a2b6b821d8f416a65f8aac961b9eaede72b1105741fac3e583603",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob caf0c15e2012
wire blob e40ecf32ea69
wire blob 5e69e09abc2a
call 64 attempt 0 · /messages · status 200 · 7.371 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 184 changed as sent

message 187 changed as sent

message 190 changed as sent

message 184 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0074 left_j1=0.6228 left_j2=1.2018 left_j3=-1.1088 left_j4=0.0826 left_j5=-0.8551 left_gripper=0.9973 right_j0=0.7776 right_j1=2.5141 right_j2=2.188 right_j3=-1.3037 right_j4=-0.0834 right_j5=0.7567 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, 2.1675, 5.1487, 1.8828, -0.0464, -0.0659, -0.0122, -0.335, -12.3419, 4.5744, 0.525, 0.3785, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 187 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2018 left_j3=-1.1309 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7776 right_j1=2.5137 right_j2=2.1876 right_j3=-1.3155 right_j4=-0.0879 right_j5=0.7525 right_gripper=0.0132\nstate[joint_eff]: [-0.1436, 1.9761, 5.2855, 1.9365, -0.0317, -0.0708, -0.0122, -0.2393, -13.7504, 5.6274, 0.2808, -0.0611, 0.0171, 1.1746]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 190 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2018 left_j3=-1.1534 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7776 right_j1=2.4664 right_j2=2.2459 right_j3=-1.4849 right_j4=-0.0952 right_j5=2.0956 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, 1.7983, 5.0803, 1.9414, -0.022, -0.0513, -0.0122, -0.0068, -16.9641, 8.3487, 0.5592, -0.0073, 1.3993, -0.1245]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 459):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:caf0c15e20122acf791ede322953141bb4896648d681ef2c46622bbad0289324",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 459):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e40ecf32ea69f539d6f1e5b0f311dc8ea796b026ed9792c834fd54feba9395ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 459):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e69e09abc2a2b6b821d8f416a65f8aac961b9eaede72b1105741fac3e583603",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob caf0c15e2012]
[blob e40ecf32ea69]
[blob 5e69e09abc2a]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TNhVGxqF3ZaHnmL1WdgKpg",
      "input": {
        "note": "Now I have a big, crisp view of the block: it is 30 px right of the jaw gap and 65 px above the jaw tips, i.e. ~2.2 cm to the arm's right and ~2.6 cm inboard. Applying that correction at constant height.",
        "targets": {
          "right_j0": 0.728,
          "right_j1": 2.3,
          "right_j2": 1.95,
          "right_j3": -1.22
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01TNhVGxqF3ZaHnmL1WdgKpg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2018 left_j3=-1.1687 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7315 right_j1=2.3638 right_j2=1.9587 right_j3=-1.2911 right_j4=-0.099 right_j5=2.0949 right_gripper=0.9983\nstate[joint_eff]: [-0.0889, 2.3316, 5.0803, 1.8437, -0.0415, -0.0611, -0.0122, -0.4444, -16.3897, 6.7214, 0.4762, -0.0659, -0.0171, 0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 464):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4cde946ce7c5b1aedf98f0e5b8a4e12d8976bac5f05869f89ffbe5c704b7638d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 464):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfdc106ff02e06871e191befbc6a6578b0529f8e39eb0f8db13bc082bbf6ff94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 464):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ae1f3f47d36c8d83b9cb4fa8bb6af5e9c7f9a950208441f7c3784eb28c6901cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 4cde946ce7c5
wire blob cfdc106ff02e
wire blob ae1f3f47d36c
call 65 attempt 0 · /messages · status 200 · 11.92 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 187 changed as sent

message 190 changed as sent

message 193 changed as sent

message 187 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2018 left_j3=-1.1309 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7776 right_j1=2.5137 right_j2=2.1876 right_j3=-1.3155 right_j4=-0.0879 right_j5=0.7525 right_gripper=0.0132\nstate[joint_eff]: [-0.1436, 1.9761, 5.2855, 1.9365, -0.0317, -0.0708, -0.0122, -0.2393, -13.7504, 5.6274, 0.2808, -0.0611, 0.0171, 1.1746]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 190 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2018 left_j3=-1.1534 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7776 right_j1=2.4664 right_j2=2.2459 right_j3=-1.4849 right_j4=-0.0952 right_j5=2.0956 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, 1.7983, 5.0803, 1.9414, -0.022, -0.0513, -0.0122, -0.0068, -16.9641, 8.3487, 0.5592, -0.0073, 1.3993, -0.1245]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 193 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2018 left_j3=-1.1687 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7315 right_j1=2.3638 right_j2=1.9587 right_j3=-1.2911 right_j4=-0.099 right_j5=2.0949 right_gripper=0.9983\nstate[joint_eff]: [-0.0889, 2.3316, 5.0803, 1.8437, -0.0415, -0.0611, -0.0122, -0.4444, -16.3897, 6.7214, 0.4762, -0.0659, -0.0171, 0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 464):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4cde946ce7c5b1aedf98f0e5b8a4e12d8976bac5f05869f89ffbe5c704b7638d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 464):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfdc106ff02e06871e191befbc6a6578b0529f8e39eb0f8db13bc082bbf6ff94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 464):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae1f3f47d36c8d83b9cb4fa8bb6af5e9c7f9a950208441f7c3784eb28c6901cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 4cde946ce7c5]
[blob cfdc106ff02e]
[blob ae1f3f47d36c]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J7JpQkvJVbzHMQq6g6M1yc",
      "input": {
        "note": "After the correction the block sits at the bottom centre, only ~0.5-0.7 cm off the jaw gap, with fingertips at ~2 cm height. Closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01J7JpQkvJVbzHMQq6g6M1yc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2015 left_j3=-1.1908 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7319 right_j1=2.3432 right_j2=1.9587 right_j3=-1.2846 right_j4=-0.1028 right_j5=2.0911 right_gripper=0.4503\nstate[joint_eff]: [-0.1709, 1.894, 5.053, 1.8926, -0.0464, -0.0464, -0.0122, -0.2667, -10.9197, 5.5316, -0.0073, -0.0659, -0.0122, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 474):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b100ecf2a2479a59f4dead52957a6491a30420131a119f6e18840655ffe18b7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 474):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3563f76350b64897ed49424874869c62c2af33713730a4c88dcfeb4a995b54fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 474):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6d85a3548ab4b09b1efe1b89c2bc19013235a92d2ca194a9ed6af8963fe7808f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob b100ecf2a247
wire blob 3563f76350b6
wire blob 6d85a3548ab4
call 66 attempt 0 · /messages · status 200 · 10.95 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 190 changed as sent

message 193 changed as sent

message 196 changed as sent

message 190 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2018 left_j3=-1.1534 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7776 right_j1=2.4664 right_j2=2.2459 right_j3=-1.4849 right_j4=-0.0952 right_j5=2.0956 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, 1.7983, 5.0803, 1.9414, -0.022, -0.0513, -0.0122, -0.0068, -16.9641, 8.3487, 0.5592, -0.0073, 1.3993, -0.1245]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 193 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2018 left_j3=-1.1687 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7315 right_j1=2.3638 right_j2=1.9587 right_j3=-1.2911 right_j4=-0.099 right_j5=2.0949 right_gripper=0.9983\nstate[joint_eff]: [-0.0889, 2.3316, 5.0803, 1.8437, -0.0415, -0.0611, -0.0122, -0.4444, -16.3897, 6.7214, 0.4762, -0.0659, -0.0171, 0.0757]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 196 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2015 left_j3=-1.1908 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7319 right_j1=2.3432 right_j2=1.9587 right_j3=-1.2846 right_j4=-0.1028 right_j5=2.0911 right_gripper=0.4503\nstate[joint_eff]: [-0.1709, 1.894, 5.053, 1.8926, -0.0464, -0.0464, -0.0122, -0.2667, -10.9197, 5.5316, -0.0073, -0.0659, -0.0122, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 474):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b100ecf2a2479a59f4dead52957a6491a30420131a119f6e18840655ffe18b7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 474):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3563f76350b64897ed49424874869c62c2af33713730a4c88dcfeb4a995b54fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 474):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d85a3548ab4b09b1efe1b89c2bc19013235a92d2ca194a9ed6af8963fe7808f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob b100ecf2a247]
[blob 3563f76350b6]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018B4qRRbZtw42mnvhq8dFSe",
      "input": {
        "note": "Grasped! Gripper residual 0.45 (≈4.3 cm) with high effort — the blue block is in the jaws. Lifting to ~15 cm and swinging ~0.21 rad to the arm's right, toward where the red block sits.",
        "targets": {
          "right_j0": 0.525,
          "right_j1": 2.2,
          "right_j2": 2.23,
          "right_j3": -1.6
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_018B4qRRbZtw42mnvhq8dFSe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2011 left_j3=-1.2125 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.5339 right_j1=2.2539 right_j2=2.1887 right_j3=-1.5917 right_j4=-0.1139 right_j5=2.0865 right_gripper=0.4503\nstate[joint_eff]: [-0.0889, 1.9761, 5.2308, 1.8584, -0.0171, -0.0757, -0.0122, -0.212, -15.0085, 7.706, 0.7399, 0.0024, 0.0122, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 480):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f76b1b3968b694fc1fe8816fb95a21ecd1be9830182be40ec2b00325975c2c24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 480):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a59bb269cc82e9b13c79f555b5a2b83da1b5a615dff5d76e14070077d0ebf437",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 480):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aba5d09ac671329a4d6f371b85b67ab90881146d01248b19d4ad3ecfb84f2754",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob f76b1b3968b6
wire blob a59bb269cc82
wire blob aba5d09ac671
call 67 attempt 0 · /messages · status 200 · 15.82 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 193 changed as sent

message 196 changed as sent

message 199 changed as sent

message 193 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2018 left_j3=-1.1687 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7315 right_j1=2.3638 right_j2=1.9587 right_j3=-1.2911 right_j4=-0.099 right_j5=2.0949 right_gripper=0.9983\nstate[joint_eff]: [-0.0889, 2.3316, 5.0803, 1.8437, -0.0415, -0.0611, -0.0122, -0.4444, -16.3897, 6.7214, 0.4762, -0.0659, -0.0171, 0.0757]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 196 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2015 left_j3=-1.1908 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7319 right_j1=2.3432 right_j2=1.9587 right_j3=-1.2846 right_j4=-0.1028 right_j5=2.0911 right_gripper=0.4503\nstate[joint_eff]: [-0.1709, 1.894, 5.053, 1.8926, -0.0464, -0.0464, -0.0122, -0.2667, -10.9197, 5.5316, -0.0073, -0.0659, -0.0122, 1.033]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 199 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2011 left_j3=-1.2125 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.5339 right_j1=2.2539 right_j2=2.1887 right_j3=-1.5917 right_j4=-0.1139 right_j5=2.0865 right_gripper=0.4503\nstate[joint_eff]: [-0.0889, 1.9761, 5.2308, 1.8584, -0.0171, -0.0757, -0.0122, -0.212, -15.0085, 7.706, 0.7399, 0.0024, 0.0122, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 480):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f76b1b3968b694fc1fe8816fb95a21ecd1be9830182be40ec2b00325975c2c24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 480):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a59bb269cc82e9b13c79f555b5a2b83da1b5a615dff5d76e14070077d0ebf437",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 480):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aba5d09ac671329a4d6f371b85b67ab90881146d01248b19d4ad3ecfb84f2754",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob f76b1b3968b6]
[blob a59bb269cc82]
[blob aba5d09ac671]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NMC9q7AFULVzn5W1dohfqT",
      "input": {
        "note": "Carrying the blue block at ~12 cm, with the red target block clearly visible above it in the wrist view, laterally aligned but ~10 cm away along the image-up axis. Moving ~8.7 cm to the arm's right and ~4 cm inboard to bring the red block under the jaws.",
        "targets": {
          "right_j0": 0.332,
          "right_j1": 2.04,
          "right_j2": 1.86,
          "right_j3": -1.38
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01NMC9q7AFULVzn5W1dohfqT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.1992 left_j3=-1.2209 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.3397 right_j1=2.096 right_j2=1.8675 right_j3=-1.4445 right_j4=-0.1207 right_j5=2.0834 right_gripper=0.4503\nstate[joint_eff]: [-0.0205, 2.3863, 5.1897, 1.7216, -0.022, -0.0464, -0.0073, -0.1709, -13.5726, 6.7487, 0.6178, -0.0317, -0.0122, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 486):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f11ee3d93cbe9766eea65e60e76a7862d54c3edd84a1df08a2e39399c7415d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 486):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c9e654167234c7814231f3dca6b61afa151be50fa77b5b6ba0ce7a546cd1d21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 486):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4bea843a1ec553f8c74eab1dce8cf217dfe9d98d2161e3b18426e621fd6e6180",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 4f11ee3d93cb
wire blob 8c9e65416723
wire blob 4bea843a1ec5
call 68 attempt 0 · /messages · status 200 · 15.23 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 196 changed as sent

message 199 changed as sent

message 202 changed as sent

message 196 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2015 left_j3=-1.1908 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.7319 right_j1=2.3432 right_j2=1.9587 right_j3=-1.2846 right_j4=-0.1028 right_j5=2.0911 right_gripper=0.4503\nstate[joint_eff]: [-0.1709, 1.894, 5.053, 1.8926, -0.0464, -0.0464, -0.0122, -0.2667, -10.9197, 5.5316, -0.0073, -0.0659, -0.0122, 1.033]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 199 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2011 left_j3=-1.2125 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.5339 right_j1=2.2539 right_j2=2.1887 right_j3=-1.5917 right_j4=-0.1139 right_j5=2.0865 right_gripper=0.4503\nstate[joint_eff]: [-0.0889, 1.9761, 5.2308, 1.8584, -0.0171, -0.0757, -0.0122, -0.212, -15.0085, 7.706, 0.7399, 0.0024, 0.0122, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 202 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.1992 left_j3=-1.2209 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.3397 right_j1=2.096 right_j2=1.8675 right_j3=-1.4445 right_j4=-0.1207 right_j5=2.0834 right_gripper=0.4503\nstate[joint_eff]: [-0.0205, 2.3863, 5.1897, 1.7216, -0.022, -0.0464, -0.0073, -0.1709, -13.5726, 6.7487, 0.6178, -0.0317, -0.0122, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 486):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f11ee3d93cbe9766eea65e60e76a7862d54c3edd84a1df08a2e39399c7415d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 486):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c9e654167234c7814231f3dca6b61afa151be50fa77b5b6ba0ce7a546cd1d21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 486):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bea843a1ec553f8c74eab1dce8cf217dfe9d98d2161e3b18426e621fd6e6180",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 4f11ee3d93cb]
[blob 8c9e65416723]
[blob 4bea843a1ec5]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017JKFiGPhfW1UPLtc9QRu6j",
      "input": {
        "note": "The red block is now almost entirely hidden behind the carried blue block, peeking out only on one side — meaning I am nearly over it. Applying the last ~0.9 cm lateral correction and easing down toward stacking height.",
        "targets": {
          "right_j0": 0.317,
          "right_j1": 2.074,
          "right_j2": 1.766,
          "right_j3": -1.263
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_017JKFiGPhfW1UPLtc9QRu6j",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6239 left_j2=1.198 left_j3=-1.2312 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.3252 right_j1=2.0731 right_j2=1.7714 right_j3=-1.3399 right_j4=-0.1253 right_j5=2.0796 right_gripper=0.4503\nstate[joint_eff]: [-0.1436, 2.2906, 5.1077, 1.9072, -0.0415, -0.0513, -0.0122, -0.6769, -10.3453, 6.8855, 0.3639, -0.0757, 0.0073, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 489):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c34a9953d01747ab182d9815c3e95e0010847b994c07c919f50567cc67e7d9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 489):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c4da870457a2304571cbe820126e13f74d79b6df02d1e2f7746746f9d4f3ff9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 489):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:14537e013422cb91ef8a1293ae0743f5f85f22ec2c2f9f4d5028b778422dcaa4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 2c34a9953d01
wire blob 4c4da870457a
wire blob 14537e013422
call 69 attempt 0 · /messages · status 200 · 10.83 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 199 changed as sent

message 202 changed as sent

message 205 changed as sent

message 199 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.2011 left_j3=-1.2125 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.5339 right_j1=2.2539 right_j2=2.1887 right_j3=-1.5917 right_j4=-0.1139 right_j5=2.0865 right_gripper=0.4503\nstate[joint_eff]: [-0.0889, 1.9761, 5.2308, 1.8584, -0.0171, -0.0757, -0.0122, -0.212, -15.0085, 7.706, 0.7399, 0.0024, 0.0122, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 202 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.1992 left_j3=-1.2209 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.3397 right_j1=2.096 right_j2=1.8675 right_j3=-1.4445 right_j4=-0.1207 right_j5=2.0834 right_gripper=0.4503\nstate[joint_eff]: [-0.0205, 2.3863, 5.1897, 1.7216, -0.022, -0.0464, -0.0073, -0.1709, -13.5726, 6.7487, 0.6178, -0.0317, -0.0122, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 205 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6239 left_j2=1.198 left_j3=-1.2312 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.3252 right_j1=2.0731 right_j2=1.7714 right_j3=-1.3399 right_j4=-0.1253 right_j5=2.0796 right_gripper=0.4503\nstate[joint_eff]: [-0.1436, 2.2906, 5.1077, 1.9072, -0.0415, -0.0513, -0.0122, -0.6769, -10.3453, 6.8855, 0.3639, -0.0757, 0.0073, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 489):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c34a9953d01747ab182d9815c3e95e0010847b994c07c919f50567cc67e7d9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 489):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c4da870457a2304571cbe820126e13f74d79b6df02d1e2f7746746f9d4f3ff9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 489):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14537e013422cb91ef8a1293ae0743f5f85f22ec2c2f9f4d5028b778422dcaa4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 2c34a9953d01]
[blob 4c4da870457a]
[blob 14537e013422]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GFWRZSPwVHFMu52VoPhXZp",
      "input": {
        "note": "The red block is hidden behind the carried block except for a ~1 cm sliver on one side, so I'm applying that last centimetre of correction and lowering until the carried block's underside is right at the red block's top face (~4.3 cm).",
        "targets": {
          "right_j0": 0.336,
          "right_j1": 2.04,
          "right_j2": 1.63,
          "right_j3": -1.16
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01GFWRZSPwVHFMu52VoPhXZp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.198 left_j3=-1.2419 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.3328 right_j1=2.0663 right_j2=1.6409 right_j3=-1.2236 right_j4=-0.1291 right_j5=2.0762 right_gripper=0.4503\nstate[joint_eff]: [-0.2393, 2.0855, 5.0393, 1.7753, -0.0269, -0.0073, -0.0122, 0.3761, -12.5607, 6.9265, 0.2222, -0.1001, 0.022, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 492):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f224845394173e13c08752c5d0d47d97ea6eb11aae00ff3071dd2e1cb7e7a894",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 492):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91ee319289db373ae37e179ee0de8bae320997c24f5378877d9e4d574ae355f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 492):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3ddfc9c6502d3f90b53bb4855e08fb4a30922d8dd32ea4e088eecc407e7dfe7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob f22484539417
wire blob 91ee319289db
wire blob 3ddfc9c6502d
call 70 attempt 0 · /messages · status 200 · 16.49 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 202 changed as sent

message 205 changed as sent

message 208 changed as sent

message 202 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.1992 left_j3=-1.2209 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.3397 right_j1=2.096 right_j2=1.8675 right_j3=-1.4445 right_j4=-0.1207 right_j5=2.0834 right_gripper=0.4503\nstate[joint_eff]: [-0.0205, 2.3863, 5.1897, 1.7216, -0.022, -0.0464, -0.0073, -0.1709, -13.5726, 6.7487, 0.6178, -0.0317, -0.0122, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 205 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6239 left_j2=1.198 left_j3=-1.2312 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.3252 right_j1=2.0731 right_j2=1.7714 right_j3=-1.3399 right_j4=-0.1253 right_j5=2.0796 right_gripper=0.4503\nstate[joint_eff]: [-0.1436, 2.2906, 5.1077, 1.9072, -0.0415, -0.0513, -0.0122, -0.6769, -10.3453, 6.8855, 0.3639, -0.0757, 0.0073, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 208 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.198 left_j3=-1.2419 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.3328 right_j1=2.0663 right_j2=1.6409 right_j3=-1.2236 right_j4=-0.1291 right_j5=2.0762 right_gripper=0.4503\nstate[joint_eff]: [-0.2393, 2.0855, 5.0393, 1.7753, -0.0269, -0.0073, -0.0122, 0.3761, -12.5607, 6.9265, 0.2222, -0.1001, 0.022, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 492):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f224845394173e13c08752c5d0d47d97ea6eb11aae00ff3071dd2e1cb7e7a894",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 492):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91ee319289db373ae37e179ee0de8bae320997c24f5378877d9e4d574ae355f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 492):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ddfc9c6502d3f90b53bb4855e08fb4a30922d8dd32ea4e088eecc407e7dfe7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob f22484539417]
[blob 91ee319289db]
[blob 3ddfc9c6502d]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KNcN7bsKXbcHGRwa55LGnb",
      "input": {
        "note": "The red block is now fully hidden behind the carried block, but I felt no contact at the expected stacking height. Commanding a deeper descent: if the arm stalls with the block's underside near 4.3 cm I am on top of the red block; if it goes all the way to 0 I have missed it.",
        "targets": {
          "right_j1": 2.08,
          "right_j2": 1.56,
          "right_j3": -1.05
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01KNcN7bsKXbcHGRwa55LGnb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.1976 left_j3=-1.2488 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.3344 right_j1=2.0686 right_j2=1.565 right_j3=-1.1149 right_j4=-0.1326 right_j5=2.0758 right_gripper=0.4503\nstate[joint_eff]: [0.0068, 2.2222, 5.1214, 1.79, -0.0415, -0.0659, -0.0122, -0.4581, -9.4564, 6.4342, 0.3492, -0.0855, 0.0024, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 495):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:434c97e3a32a1ac68f32f049dadeb31b247b14dfe3c865439940b91bfd131718",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 495):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ed1ae83d896720af0c94470b91eb5068165781d3dbed750311e4d63f187b745",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 495):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f865c426d02372567b3f428350227bfe7b302a5e41ef7a1c3a8e02d16101dc41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 434c97e3a32a
wire blob 6ed1ae83d896
wire blob f865c426d023
call 71 attempt 0 · /messages · status 200 · 22.87 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 205 changed as sent

message 208 changed as sent

message 211 changed as sent

message 205 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6239 left_j2=1.198 left_j3=-1.2312 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.3252 right_j1=2.0731 right_j2=1.7714 right_j3=-1.3399 right_j4=-0.1253 right_j5=2.0796 right_gripper=0.4503\nstate[joint_eff]: [-0.1436, 2.2906, 5.1077, 1.9072, -0.0415, -0.0513, -0.0122, -0.6769, -10.3453, 6.8855, 0.3639, -0.0757, 0.0073, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 208 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.198 left_j3=-1.2419 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.3328 right_j1=2.0663 right_j2=1.6409 right_j3=-1.2236 right_j4=-0.1291 right_j5=2.0762 right_gripper=0.4503\nstate[joint_eff]: [-0.2393, 2.0855, 5.0393, 1.7753, -0.0269, -0.0073, -0.0122, 0.3761, -12.5607, 6.9265, 0.2222, -0.1001, 0.022, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 211 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.1976 left_j3=-1.2488 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.3344 right_j1=2.0686 right_j2=1.565 right_j3=-1.1149 right_j4=-0.1326 right_j5=2.0758 right_gripper=0.4503\nstate[joint_eff]: [0.0068, 2.2222, 5.1214, 1.79, -0.0415, -0.0659, -0.0122, -0.4581, -9.4564, 6.4342, 0.3492, -0.0855, 0.0024, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 495):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:434c97e3a32a1ac68f32f049dadeb31b247b14dfe3c865439940b91bfd131718",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 495):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ed1ae83d896720af0c94470b91eb5068165781d3dbed750311e4d63f187b745",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 495):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f865c426d02372567b3f428350227bfe7b302a5e41ef7a1c3a8e02d16101dc41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 434c97e3a32a]
[blob 6ed1ae83d896]
[blob f865c426d023]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017yWQj8vvAmgHgVXAce924R",
      "input": {
        "note": "The carried block descended past 2 cm with no contact, so it is not over the red block — I overshot inboard. Lifting clear and moving ~4 cm back out to re-acquire the red block beside the carried block's silhouette.",
        "targets": {
          "right_j1": 2.14,
          "right_j2": 1.84,
          "right_j3": -1.27
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_017yWQj8vvAmgHgVXAce924R",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6224 left_j2=1.1973 left_j3=-1.2659 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.3355 right_j1=2.125 right_j2=1.7912 right_j3=-1.2964 right_j4=-0.1406 right_j5=2.0686 right_gripper=0.4503\nstate[joint_eff]: [-0.294, 1.9624, 5.0256, 1.7705, 0.0073, 0.0024, -0.0122, -0.1299, -9.853, 8.1026, 0.7741, -0.0024, 0.0464, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 500):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c907b4dbf4713af4aa8fc18a4c64abac44e9b3360db288e86000f24fb0dad015",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 500):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21fc84f3d112cca0a0f58351d957fe991a55febe7861e63626353d709b9d1c5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 500):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5ad890ed252a2176d236d767ead3aaa997205e81bbaacaa46104b25baaf1f9d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob c907b4dbf471
wire blob 21fc84f3d112
wire blob 5ad890ed252a
call 72 attempt 0 · /messages · status 200 · 10.7 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 208 changed as sent

message 211 changed as sent

message 214 changed as sent

message 208 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.198 left_j3=-1.2419 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.3328 right_j1=2.0663 right_j2=1.6409 right_j3=-1.2236 right_j4=-0.1291 right_j5=2.0762 right_gripper=0.4503\nstate[joint_eff]: [-0.2393, 2.0855, 5.0393, 1.7753, -0.0269, -0.0073, -0.0122, 0.3761, -12.5607, 6.9265, 0.2222, -0.1001, 0.022, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 211 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.1976 left_j3=-1.2488 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.3344 right_j1=2.0686 right_j2=1.565 right_j3=-1.1149 right_j4=-0.1326 right_j5=2.0758 right_gripper=0.4503\nstate[joint_eff]: [0.0068, 2.2222, 5.1214, 1.79, -0.0415, -0.0659, -0.0122, -0.4581, -9.4564, 6.4342, 0.3492, -0.0855, 0.0024, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 214 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6224 left_j2=1.1973 left_j3=-1.2659 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.3355 right_j1=2.125 right_j2=1.7912 right_j3=-1.2964 right_j4=-0.1406 right_j5=2.0686 right_gripper=0.4503\nstate[joint_eff]: [-0.294, 1.9624, 5.0256, 1.7705, 0.0073, 0.0024, -0.0122, -0.1299, -9.853, 8.1026, 0.7741, -0.0024, 0.0464, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 500):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c907b4dbf4713af4aa8fc18a4c64abac44e9b3360db288e86000f24fb0dad015",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 500):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21fc84f3d112cca0a0f58351d957fe991a55febe7861e63626353d709b9d1c5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 500):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ad890ed252a2176d236d767ead3aaa997205e81bbaacaa46104b25baaf1f9d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob c907b4dbf471]
[blob 21fc84f3d112]
[blob 5ad890ed252a]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MHV2jJ22qwemJH8JJFFTuX",
      "input": {
        "note": "The overhead view shows the red block sitting to the arm's left and nearer the base than my carried block, so my earlier wrist-camera correction overshot to the right. Moving ~6 cm left and ~3 cm inboard, keeping the block clear at ~6 cm, and I will re-check the overhead view.",
        "targets": {
          "right_j0": 0.496,
          "right_j1": 2.0,
          "right_j2": 1.59,
          "right_j3": -1.17
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01MHV2jJ22qwemJH8JJFFTuX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6231 left_j2=1.1973 left_j3=-1.2819 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.482 right_j1=2.0338 right_j2=1.61 right_j3=-1.2053 right_j4=-0.1375 right_j5=2.0686 right_gripper=0.4503\nstate[joint_eff]: [-0.1162, 1.8256, 5.012, 1.7998, 0.0171, -0.0464, -0.0122, -0.4171, -12.0, 5.5316, 0.3297, -0.1001, -0.0073, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 504):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:727c1c751215727e02c6307b16c4d0e5cd2d054d3cdd3d926e1f4006420d1a70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 504):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c965bc42ae2e887c979d8d458c24cdef1b757d08ad046421364ad209b2cd18c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 504):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a84f80eeaee1b46204b8e31966f82ad3d496c344f8e8cb7356f4a7dc46ebe355",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 727c1c751215
wire blob 1c965bc42ae2
wire blob a84f80eeaee1
call 73 attempt 0 · /messages · status 200 · 15.27 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 211 changed as sent

message 214 changed as sent

message 217 changed as sent

message 211 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.1976 left_j3=-1.2488 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.3344 right_j1=2.0686 right_j2=1.565 right_j3=-1.1149 right_j4=-0.1326 right_j5=2.0758 right_gripper=0.4503\nstate[joint_eff]: [0.0068, 2.2222, 5.1214, 1.79, -0.0415, -0.0659, -0.0122, -0.4581, -9.4564, 6.4342, 0.3492, -0.0855, 0.0024, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 214 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6224 left_j2=1.1973 left_j3=-1.2659 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.3355 right_j1=2.125 right_j2=1.7912 right_j3=-1.2964 right_j4=-0.1406 right_j5=2.0686 right_gripper=0.4503\nstate[joint_eff]: [-0.294, 1.9624, 5.0256, 1.7705, 0.0073, 0.0024, -0.0122, -0.1299, -9.853, 8.1026, 0.7741, -0.0024, 0.0464, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 217 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6231 left_j2=1.1973 left_j3=-1.2819 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.482 right_j1=2.0338 right_j2=1.61 right_j3=-1.2053 right_j4=-0.1375 right_j5=2.0686 right_gripper=0.4503\nstate[joint_eff]: [-0.1162, 1.8256, 5.012, 1.7998, 0.0171, -0.0464, -0.0122, -0.4171, -12.0, 5.5316, 0.3297, -0.1001, -0.0073, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 504):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:727c1c751215727e02c6307b16c4d0e5cd2d054d3cdd3d926e1f4006420d1a70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 504):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c965bc42ae2e887c979d8d458c24cdef1b757d08ad046421364ad209b2cd18c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 504):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a84f80eeaee1b46204b8e31966f82ad3d496c344f8e8cb7356f4a7dc46ebe355",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 727c1c751215]
[blob 1c965bc42ae2]
[blob a84f80eeaee1]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016j5JW8SrkrmzLMQh8ECs6J",
      "input": {
        "note": "The red block is peeking out just beside the carried block again and the carried block's underside is at ~4.6 cm, right at stacking height. Easing down ~1 cm: if it stalls immediately I am resting on the red block.",
        "targets": {
          "right_j1": 2.03,
          "right_j2": 1.56,
          "right_j3": -1.1
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_016j5JW8SrkrmzLMQh8ECs6J",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.622 left_j2=1.1973 left_j3=-1.2892 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.4885 right_j1=2.0193 right_j2=1.5814 right_j3=-1.1755 right_j4=-0.152 right_j5=2.0682 right_gripper=0.4503\nstate[joint_eff]: [-0.1846, 1.9897, 5.1077, 1.6825, -0.022, -0.0562, -0.0122, -0.5265, -9.4154, 4.0821, 0.8425, 0.1636, -0.022, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 506):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:202f5fbba64c23774ea29169542024b157bda9a144bace0f16bd83fff485928c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 506):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6bf63749c51e720429d4d9b4c3b90d7c7208be508395d2c4274d7b7204833895",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 506):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2bff5549acf6ee76ce723068fc43b53976fd116323e9ead1c38a6fbc8fd3e7ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 202f5fbba64c
wire blob 6bf63749c51e
wire blob 2bff5549acf6
call 74 attempt 0 · /messages · status 200 · 19.24 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 214 changed as sent

message 217 changed as sent

message 220 changed as sent

message 214 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6224 left_j2=1.1973 left_j3=-1.2659 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.3355 right_j1=2.125 right_j2=1.7912 right_j3=-1.2964 right_j4=-0.1406 right_j5=2.0686 right_gripper=0.4503\nstate[joint_eff]: [-0.294, 1.9624, 5.0256, 1.7705, 0.0073, 0.0024, -0.0122, -0.1299, -9.853, 8.1026, 0.7741, -0.0024, 0.0464, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 217 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6231 left_j2=1.1973 left_j3=-1.2819 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.482 right_j1=2.0338 right_j2=1.61 right_j3=-1.2053 right_j4=-0.1375 right_j5=2.0686 right_gripper=0.4503\nstate[joint_eff]: [-0.1162, 1.8256, 5.012, 1.7998, 0.0171, -0.0464, -0.0122, -0.4171, -12.0, 5.5316, 0.3297, -0.1001, -0.0073, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 220 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.622 left_j2=1.1973 left_j3=-1.2892 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.4885 right_j1=2.0193 right_j2=1.5814 right_j3=-1.1755 right_j4=-0.152 right_j5=2.0682 right_gripper=0.4503\nstate[joint_eff]: [-0.1846, 1.9897, 5.1077, 1.6825, -0.022, -0.0562, -0.0122, -0.5265, -9.4154, 4.0821, 0.8425, 0.1636, -0.022, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 506):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:202f5fbba64c23774ea29169542024b157bda9a144bace0f16bd83fff485928c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 506):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6bf63749c51e720429d4d9b4c3b90d7c7208be508395d2c4274d7b7204833895",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 506):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2bff5549acf6ee76ce723068fc43b53976fd116323e9ead1c38a6fbc8fd3e7ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 202f5fbba64c]
[blob 6bf63749c51e]
[blob 2bff5549acf6]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014PoaWwEFZsxaALMhyg8mFt",
      "input": {
        "note": "Both the overhead and the left-arm camera agree the carried block is still to the arm's right and forward of the red block. Making a decisive ~6 cm left / ~4 cm inboard move while holding the block clear at ~6 cm.",
        "targets": {
          "right_j0": 0.65,
          "right_j1": 1.87,
          "right_j2": 1.44,
          "right_j3": -1.14
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_014PoaWwEFZsxaALMhyg8mFt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6235 left_j2=1.1957 left_j3=-1.3037 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.6209 right_j1=1.9102 right_j2=1.4551 right_j3=-1.1446 right_j4=-0.1482 right_j5=2.0686 right_gripper=0.4503\nstate[joint_eff]: [-0.1026, 2.0855, 5.094, 1.6825, -0.0415, -0.0464, -0.0122, -0.7043, -11.0701, 6.0239, 0.4274, -0.1343, -0.0708, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 509):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb7c67e7b29b17e32de2b4ae07b69adb161883d41238aa49bb93eceab0663fdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 509):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1a9a011c509c080aed7e350b93479362158bca07cd59bb1aaf383ba12dfd838",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 509):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:50b3569d9a19077f174546aef7ef659a193c14f2951dd2695b6ab44630ff6c7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob eb7c67e7b29b
wire blob e1a9a011c509
wire blob 50b3569d9a19
call 75 attempt 0 · /messages · status 200 · 16.88 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 217 changed as sent

message 220 changed as sent

message 223 changed as sent

message 217 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6231 left_j2=1.1973 left_j3=-1.2819 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.482 right_j1=2.0338 right_j2=1.61 right_j3=-1.2053 right_j4=-0.1375 right_j5=2.0686 right_gripper=0.4503\nstate[joint_eff]: [-0.1162, 1.8256, 5.012, 1.7998, 0.0171, -0.0464, -0.0122, -0.4171, -12.0, 5.5316, 0.3297, -0.1001, -0.0073, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 220 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.622 left_j2=1.1973 left_j3=-1.2892 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.4885 right_j1=2.0193 right_j2=1.5814 right_j3=-1.1755 right_j4=-0.152 right_j5=2.0682 right_gripper=0.4503\nstate[joint_eff]: [-0.1846, 1.9897, 5.1077, 1.6825, -0.022, -0.0562, -0.0122, -0.5265, -9.4154, 4.0821, 0.8425, 0.1636, -0.022, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 223 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6235 left_j2=1.1957 left_j3=-1.3037 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.6209 right_j1=1.9102 right_j2=1.4551 right_j3=-1.1446 right_j4=-0.1482 right_j5=2.0686 right_gripper=0.4503\nstate[joint_eff]: [-0.1026, 2.0855, 5.094, 1.6825, -0.0415, -0.0464, -0.0122, -0.7043, -11.0701, 6.0239, 0.4274, -0.1343, -0.0708, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 509):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb7c67e7b29b17e32de2b4ae07b69adb161883d41238aa49bb93eceab0663fdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 509):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1a9a011c509c080aed7e350b93479362158bca07cd59bb1aaf383ba12dfd838",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 509):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50b3569d9a19077f174546aef7ef659a193c14f2951dd2695b6ab44630ff6c7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob eb7c67e7b29b]
[blob e1a9a011c509]
[blob 50b3569d9a19]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CHR8RSH85JmkHfu9CX1fRP",
      "input": {
        "note": "The last move gave me a clean two-point calibration of this rolled wrist view (11.2 px/cm, arm-right ≈ straight up in the image). Solving with it, the red block is 6.5 cm to the arm's right and 1.5 cm inboard of the carried block — moving there now.",
        "targets": {
          "right_j0": 0.429,
          "right_j1": 1.85,
          "right_j2": 1.37,
          "right_j3": -1.09
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01CHR8RSH85JmkHfu9CX1fRP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6239 left_j2=1.1957 left_j3=-1.3239 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.437 right_j1=1.8675 right_j2=1.3823 right_j3=-1.1275 right_j4=-0.1772 right_j5=2.0644 right_gripper=0.4503\nstate[joint_eff]: [-0.1846, 2.441, 4.9846, 1.7558, -0.0269, -0.0366, -0.0073, 0.9368, -9.6752, 5.3949, 0.5739, 0.0757, 0.0122, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 513):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2f34764733b48c33186c8fc275402348b14b8667dcafaa0e14c1c56792b0f33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 513):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab33233ce338bab4c1e572482d1e653b09b7d3052462d80a0a7f2147854709d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 513):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:660f7d0d11f83e962ae34e2151948c930519803eb0d312e19f2196845cb80824",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob d2f34764733b
wire blob ab33233ce338
wire blob 660f7d0d11f8
call 76 attempt 0 · /messages · status 200 · 14.6 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 220 changed as sent

message 223 changed as sent

message 226 changed as sent

message 220 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.622 left_j2=1.1973 left_j3=-1.2892 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.4885 right_j1=2.0193 right_j2=1.5814 right_j3=-1.1755 right_j4=-0.152 right_j5=2.0682 right_gripper=0.4503\nstate[joint_eff]: [-0.1846, 1.9897, 5.1077, 1.6825, -0.022, -0.0562, -0.0122, -0.5265, -9.4154, 4.0821, 0.8425, 0.1636, -0.022, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 223 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6235 left_j2=1.1957 left_j3=-1.3037 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.6209 right_j1=1.9102 right_j2=1.4551 right_j3=-1.1446 right_j4=-0.1482 right_j5=2.0686 right_gripper=0.4503\nstate[joint_eff]: [-0.1026, 2.0855, 5.094, 1.6825, -0.0415, -0.0464, -0.0122, -0.7043, -11.0701, 6.0239, 0.4274, -0.1343, -0.0708, 1.0232]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 226 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6239 left_j2=1.1957 left_j3=-1.3239 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.437 right_j1=1.8675 right_j2=1.3823 right_j3=-1.1275 right_j4=-0.1772 right_j5=2.0644 right_gripper=0.4503\nstate[joint_eff]: [-0.1846, 2.441, 4.9846, 1.7558, -0.0269, -0.0366, -0.0073, 0.9368, -9.6752, 5.3949, 0.5739, 0.0757, 0.0122, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 513):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2f34764733b48c33186c8fc275402348b14b8667dcafaa0e14c1c56792b0f33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 513):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab33233ce338bab4c1e572482d1e653b09b7d3052462d80a0a7f2147854709d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 513):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:660f7d0d11f83e962ae34e2151948c930519803eb0d312e19f2196845cb80824",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob d2f34764733b]
[blob ab33233ce338]
[blob 660f7d0d11f8]
{
  "content": [
    {
      "signature": 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rLx4cU+J6tBmehWKB4ADjW6HYq9BzOdINN2+Dz1VuuvzZS/+q8ttYvriiB4+4lgygQe1TWacH5jYZYDLgFq7vKLq4y5ahO1BWO18jEc60fJfWfbGWqpCYHUOtZEQ1W7xAmyIBjjOH8rrHqc+M6I9V88+Ye2mWNvo9BS8W2JbhXG7Lw3Y0vbldqJGcLKFsVcGKJuxbwhJ+QGjuMkEsZbIO5GsFKpuGrQtqdr61EI/00qcsAnpytWwCQQc/SthPHLlSHx6MRk6sQRBMjJtHSXkZwD0RDCfPNPWyqjwwwKaI9IgodoYZSEpf6JgzG+I/37RSDGfR6RZoz1NF0u3enEbJ+NCxCc9tMv1x2Aehx4nSG0Kcdc0hDsrgiGqOQZZEXckkn90ihfEqO/1wOE5BplOdBMkqlQ0BAvuIO7UCwi0QO2KmsQmbr+7Lo812INsIR6Z1prXBKcbPuihJr7w2CBUl22TZXiU08SCQ+3K5250ZAZoXGbdJyA6xqkvLC/jmCio20neWlXvAo72qrKl7tFOv3elzLBaCMGMc2RR6Pd/gSgVrdNp/XJ6jFPCXhywCSV7sm/frEWzSRm9GyNNNogGILh3rfDgAFMKGhfSjasjrwOQH8tLOIyhvFveT+MMYE7rOLSSqyDBpYtOQNxTreb/HbFO1RTHQ8bcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01P6siYdnqPnjqrTqvu4sYcQ",
      "input": {
        "note": "Two calibration moves let me fit the full image Jacobian for this pose; solving it says the red block is ~7 cm to the arm's right and ~2 cm further out. Applying that, still holding the block ~5 cm up.",
        "targets": {
          "right_j0": 0.219,
          "right_j1": 1.93,
          "right_j2": 1.47,
          "right_j3": -1.11
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01P6siYdnqPnjqrTqvu4sYcQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6239 left_j2=1.1954 left_j3=-1.3373 left_j4=0.083 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.2367 right_j1=1.9148 right_j2=1.4364 right_j3=-1.1545 right_j4=-0.1947 right_j5=2.0575 right_gripper=0.4503\nstate[joint_eff]: [-0.1573, 2.1128, 4.9573, 1.6972, 0.0122, -0.0171, -0.0122, 0.1162, -8.3624, 8.0615, 0.5104, 0.0269, 0.0513, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 517):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46942cb34a1772868e219bf513af56cdd3748beb984c749d9eac9d02a86dc2c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 517):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53f89898a264cd859e791e90f35aa002c6d22d3fe5b285847a0742c73e32e729",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 517):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a6f67569fde709acdce34382e98a576e858e00caf9ae968d779ab14b975f5f22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 46942cb34a17
wire blob 53f89898a264
wire blob a6f67569fde7
call 77 attempt 0 · /messages · status 200 · 9.084 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 223 changed as sent

message 226 changed as sent

message 229 changed as sent

message 223 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6235 left_j2=1.1957 left_j3=-1.3037 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.6209 right_j1=1.9102 right_j2=1.4551 right_j3=-1.1446 right_j4=-0.1482 right_j5=2.0686 right_gripper=0.4503\nstate[joint_eff]: [-0.1026, 2.0855, 5.094, 1.6825, -0.0415, -0.0464, -0.0122, -0.7043, -11.0701, 6.0239, 0.4274, -0.1343, -0.0708, 1.0232]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 226 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6239 left_j2=1.1957 left_j3=-1.3239 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.437 right_j1=1.8675 right_j2=1.3823 right_j3=-1.1275 right_j4=-0.1772 right_j5=2.0644 right_gripper=0.4503\nstate[joint_eff]: [-0.1846, 2.441, 4.9846, 1.7558, -0.0269, -0.0366, -0.0073, 0.9368, -9.6752, 5.3949, 0.5739, 0.0757, 0.0122, 1.0232]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 229 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6239 left_j2=1.1954 left_j3=-1.3373 left_j4=0.083 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.2367 right_j1=1.9148 right_j2=1.4364 right_j3=-1.1545 right_j4=-0.1947 right_j5=2.0575 right_gripper=0.4503\nstate[joint_eff]: [-0.1573, 2.1128, 4.9573, 1.6972, 0.0122, -0.0171, -0.0122, 0.1162, -8.3624, 8.0615, 0.5104, 0.0269, 0.0513, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 517):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46942cb34a1772868e219bf513af56cdd3748beb984c749d9eac9d02a86dc2c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 517):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53f89898a264cd859e791e90f35aa002c6d22d3fe5b285847a0742c73e32e729",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 517):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6f67569fde709acdce34382e98a576e858e00caf9ae968d779ab14b975f5f22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 46942cb34a17]
[blob 53f89898a264]
[blob a6f67569fde7]
{
  "content": [
    {
      "signature": "CAIS0QsKjAEIEBgCKkBrIGwwTHpdlHrTpEb2s0kZ6vVRg0ik1hZ0PwvBgR3uG+uz6UeE8YHpyiEtoYQ2KP1y9ID2ezO+8hOy6Xo/WTFnMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMGj6H3AQ+JnEVn20qGgyBFuPRdcbw+uqXDI4iMKRXYR/5mSuz3zR5kb1Ll77Z5GcigUfbqTWsekNIDarMarJbGlC/kIszFK/zCNRIJSrxCYg55ueqI06JkxdYDVE845T8BLah/E2LvhXPJlpIhxshUjDe6GooPtbvuMAytjGAst/ZnGhmKaVVWOSSx96KefUhAvl07DUPE4ypFpmVXb0WCTcwYII+WokUjmSBO0E23EIo7xFZAebWSxT4z+45M0PUmbiHv4n5WuAmRwo6bMx/TStNdMCtZbiPkmY1Kc/DS59kzepaV2DXlvM1dYIdFYbvvbntcK5bAUovZYbHCgPOy1QgmVYTPIo8mWLCAiRIZ42yExwxFYCxTxaU/Kym0p77Lz3HqgCKC4kuwXUoRSc7bZB1iieUxaVyt/JOmdqf0Xbc7pDa96BHO558ulI6MvIkrEcsDQ9+OThk62enwj9CfpHmK5mYKhmNav6/tqskG0Y/1lZa8jB04szMWwJ9hEvoSwLH/HZha8Hh9KZxyXrJ++Uuol1MZy0z68KBu85oUu8Wh0IzXdv4WH9hp54OH2IALek61MV3MkjI3P+CIT5QIjZ2sJnA/xI6Ex34NmUEo5mQAfMQArpJI4hlfjdplLWHMl4aWHw0m0KE0E8s1CNBPzSB1zUM8yVd98BlP2WULcOSEPLB+A86GNXUkgRMhNOlc3RZ1dOK/z1IuIODchKvtvh2Upodej1EdFrmJCf99E7MxqZftNyvp+vfU1CZ40nhWJfg3zDiT65nTHay3t/5A6k0fZFTqOyYRrXUjRG9PGD478Mk5Lsn5YY4+QTiblAzGRhOIVRNHHstCflXC1dWFHJkg5MxBKOPkgLYBm5aZPnDE0fsgvgmx5YWS21rgDYN4oatpVoSlbUgvunkJ9gtPCUC204ToL6zJAU2Cow5g9qK04BT+E9yI6dIVaLEkR85QmfoEi5cAaMk4iZr0dDA99ZJLIbG6IN+NUNLARfmY737Z4I2fvV2QsG3yi5Mw9+h3FtPhJn2GjES/xNURccytFiWu2W8TSfwPLYAl0FWmgcUsmPI87F4UNWDHH6hHua30ABPZ+AWW8qEs3ePvdIhrpp+/oKbS5M+8y40xEGPVtzgculsNOZRGxHjkF7wyGpTX6S+3Mn5VsGmP6qEtc1hscTaGGWGhysi7bkTNcY63XjFWTuAYNgYSHJN/V5+nx/eIuC8OpybCnL7ggIvI3a3n+/XN8CdbX44QpS2nR+ZvIq+8mo8JjNd0g0+Y/hUDDev2+kxF6T969ZaLuNG2bYkRIO2BlbiBzsud8dG1rWbL2SZHOiK/qkz3UeMTw53++v8jwRCo3SQN1MwNf0Rzp/yneVEwcLTDAScAoGvNrFItwg08edpnhqeqChYU7AV9zWR6MUZ4Apdie20Rdf0U5X/d6aEvNMcOedcvs4RfDV06cHGUhn9C1k23lcgcstPfHbTuKeP0mz6GTNkZhhPaUw3+NDty7BDZl5pzcAXsD9qVC1bOrxlZnkEC8X1TcklQS93KYwbD3rQaLRXZHxv857Ze/gPPL3mtC5hV8G7cYJtY3Gs7A0Zfoo4imUn5gn1WPDmi1ixwBHuoIuzLDUjjxd5WTeiY/VOYnetK+bBtaIrz/W6QOS8/F0Pnfvto82Pj9TbTjEWcs8lN8HwVvnvRdrOCzjAsPQqPfb6kXm7/1I4e+Tx5PCoUa28h2YjSerkviQ88ppNiWyluIUIUEbkvnmjd4baVqb4xm4fE1+kefMSIivZt9mQdnPWKudR/tN8x5h8GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Nui1rR3z5xzpWgp8gNJ29G",
      "input": {
        "note": "The red block has disappeared completely behind the carried block, and the carried block's underside is at ~4.5 cm — right at the red block's top face. Lowering ~1.5 cm to feel for contact.",
        "targets": {
          "right_j1": 1.93,
          "right_j2": 1.38,
          "right_j3": -1.02
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Nui1rR3z5xzpWgp8gNJ29G",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6235 left_j2=1.1954 left_j3=-1.3479 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.2276 right_j1=1.9148 right_j2=1.4086 right_j3=-1.1023 right_j4=-0.1909 right_j5=2.0571 right_gripper=0.4503\nstate[joint_eff]: [-0.0479, 2.1402, 5.0256, 1.663, -0.0122, -0.0073, -0.0122, 0.4308, -7.9795, 3.5761, 0.9304, -0.1587, -0.0464, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 520):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87c38913f1f97389d70c5bf6d32cdc6471d46c2237eeadd4ab182adddfd18992",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 520):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d29af9c53fcc17e2827030bb110028fa06c3b5c28ec656826e6e7147d97a4ca6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 520):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7df22a8a26166a200f53c39b42eaa15e1fb481a052f8dbe143f3dac0ac9c2392",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 87c38913f1f9
wire blob d29af9c53fcc
wire blob 7df22a8a2616
call 78 attempt 0 · /messages · status 200 · 7.755 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 226 changed as sent

message 229 changed as sent

message 232 changed as sent

message 226 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6239 left_j2=1.1957 left_j3=-1.3239 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.437 right_j1=1.8675 right_j2=1.3823 right_j3=-1.1275 right_j4=-0.1772 right_j5=2.0644 right_gripper=0.4503\nstate[joint_eff]: [-0.1846, 2.441, 4.9846, 1.7558, -0.0269, -0.0366, -0.0073, 0.9368, -9.6752, 5.3949, 0.5739, 0.0757, 0.0122, 1.0232]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 229 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6239 left_j2=1.1954 left_j3=-1.3373 left_j4=0.083 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.2367 right_j1=1.9148 right_j2=1.4364 right_j3=-1.1545 right_j4=-0.1947 right_j5=2.0575 right_gripper=0.4503\nstate[joint_eff]: [-0.1573, 2.1128, 4.9573, 1.6972, 0.0122, -0.0171, -0.0122, 0.1162, -8.3624, 8.0615, 0.5104, 0.0269, 0.0513, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 232 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6235 left_j2=1.1954 left_j3=-1.3479 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.2276 right_j1=1.9148 right_j2=1.4086 right_j3=-1.1023 right_j4=-0.1909 right_j5=2.0571 right_gripper=0.4503\nstate[joint_eff]: [-0.0479, 2.1402, 5.0256, 1.663, -0.0122, -0.0073, -0.0122, 0.4308, -7.9795, 3.5761, 0.9304, -0.1587, -0.0464, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 520):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87c38913f1f97389d70c5bf6d32cdc6471d46c2237eeadd4ab182adddfd18992",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 520):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d29af9c53fcc17e2827030bb110028fa06c3b5c28ec656826e6e7147d97a4ca6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 520):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7df22a8a26166a200f53c39b42eaa15e1fb481a052f8dbe143f3dac0ac9c2392",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 87c38913f1f9]
[blob d29af9c53fcc]
[blob 7df22a8a2616]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Stq88KpPsRCJik3mr7Y1Lh",
      "input": {
        "note": "No firm contact yet at 3.9 cm. Commanding a full descent to table level: the height at which it stalls will tell me definitively whether the carried block has landed on the red block (~4.3 cm) or on bare table.",
        "targets": {
          "right_j1": 1.98,
          "right_j2": 1.33,
          "right_j3": -0.93
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Stq88KpPsRCJik3mr7Y1Lh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6239 left_j2=1.1954 left_j3=-1.3521 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.2131 right_j1=1.9076 right_j2=1.3808 right_j3=-1.0714 right_j4=-0.2104 right_j5=2.0487 right_gripper=0.4503\nstate[joint_eff]: [-0.212, 2.4274, 5.1077, 1.5604, -0.0415, -0.0562, -0.0122, 1.1829, -3.3162, 1.8256, 1.5214, 0.1685, 0.0708, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 523):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b3327e2fcd518f7d5771cfff9be90e5589bd96219e346f3e5f7f54a09d4de97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 523):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ce3269c980e8bac6dd2a9081dc630a55d2686f6a611c5c7b02159892e007cb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 523):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:36a8140c57d926536c40001d20aa1a85ae99ad152fa10de280467ffb0f978c19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 8b3327e2fcd5
wire blob 6ce3269c980e
wire blob 36a8140c57d9
call 79 attempt 0 · /messages · status 200 · 7.785 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 229 changed as sent

message 232 changed as sent

message 235 changed as sent

message 229 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6239 left_j2=1.1954 left_j3=-1.3373 left_j4=0.083 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.2367 right_j1=1.9148 right_j2=1.4364 right_j3=-1.1545 right_j4=-0.1947 right_j5=2.0575 right_gripper=0.4503\nstate[joint_eff]: [-0.1573, 2.1128, 4.9573, 1.6972, 0.0122, -0.0171, -0.0122, 0.1162, -8.3624, 8.0615, 0.5104, 0.0269, 0.0513, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 232 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6235 left_j2=1.1954 left_j3=-1.3479 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.2276 right_j1=1.9148 right_j2=1.4086 right_j3=-1.1023 right_j4=-0.1909 right_j5=2.0571 right_gripper=0.4503\nstate[joint_eff]: [-0.0479, 2.1402, 5.0256, 1.663, -0.0122, -0.0073, -0.0122, 0.4308, -7.9795, 3.5761, 0.9304, -0.1587, -0.0464, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 235 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6239 left_j2=1.1954 left_j3=-1.3521 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.2131 right_j1=1.9076 right_j2=1.3808 right_j3=-1.0714 right_j4=-0.2104 right_j5=2.0487 right_gripper=0.4503\nstate[joint_eff]: [-0.212, 2.4274, 5.1077, 1.5604, -0.0415, -0.0562, -0.0122, 1.1829, -3.3162, 1.8256, 1.5214, 0.1685, 0.0708, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 523):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b3327e2fcd518f7d5771cfff9be90e5589bd96219e346f3e5f7f54a09d4de97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 523):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ce3269c980e8bac6dd2a9081dc630a55d2686f6a611c5c7b02159892e007cb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 523):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36a8140c57d926536c40001d20aa1a85ae99ad152fa10de280467ffb0f978c19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 8b3327e2fcd5]
[blob 6ce3269c980e]
[blob 36a8140c57d9]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012HpUW6FV1oqBBbjcwGvoET",
      "input": {
        "note": "Contact! The descent stalled with j1/j2 efforts relaxing at a carried-block underside height of ~3.6 cm — that is the top of the red block, not the table. Opening the jaws to release the blue block onto it.",
        "targets": {
          "right_gripper": 0.65
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_012HpUW6FV1oqBBbjcwGvoET",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6235 left_j2=1.1954 left_j3=-1.3705 left_j4=0.083 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.2085 right_j1=1.9007 right_j2=1.3758 right_j3=-1.0691 right_j4=-0.2146 right_j5=2.043 right_gripper=0.6406\nstate[joint_eff]: [-0.1573, 2.1675, 5.0256, 1.6874, -0.022, -0.0708, -0.0122, 0.3214, -8.1436, 6.0239, 0.1832, -0.1538, 0.0952, 0.2369]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 525):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec45e7bb1cdc29ef099e927ae7f3f79ba61795bd52275b02cfbd540ee6fdb153",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 525):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abd587ec8170ab4a89fe9e19614403b1f1d5274cab210e7af193d63510c80405",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 525):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7ee47d85c70043a4416b9d9b5d572bb011da62b146bfd26727e50e9389581ec7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob ec45e7bb1cdc
wire blob abd587ec8170
wire blob 7ee47d85c700
call 80 attempt 0 · /messages · status 200 · 15.42 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 232 changed as sent

message 235 changed as sent

message 238 changed as sent

message 232 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6235 left_j2=1.1954 left_j3=-1.3479 left_j4=0.0826 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.2276 right_j1=1.9148 right_j2=1.4086 right_j3=-1.1023 right_j4=-0.1909 right_j5=2.0571 right_gripper=0.4503\nstate[joint_eff]: [-0.0479, 2.1402, 5.0256, 1.663, -0.0122, -0.0073, -0.0122, 0.4308, -7.9795, 3.5761, 0.9304, -0.1587, -0.0464, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 235 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6239 left_j2=1.1954 left_j3=-1.3521 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.2131 right_j1=1.9076 right_j2=1.3808 right_j3=-1.0714 right_j4=-0.2104 right_j5=2.0487 right_gripper=0.4503\nstate[joint_eff]: [-0.212, 2.4274, 5.1077, 1.5604, -0.0415, -0.0562, -0.0122, 1.1829, -3.3162, 1.8256, 1.5214, 0.1685, 0.0708, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 238 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6235 left_j2=1.1954 left_j3=-1.3705 left_j4=0.083 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.2085 right_j1=1.9007 right_j2=1.3758 right_j3=-1.0691 right_j4=-0.2146 right_j5=2.043 right_gripper=0.6406\nstate[joint_eff]: [-0.1573, 2.1675, 5.0256, 1.6874, -0.022, -0.0708, -0.0122, 0.3214, -8.1436, 6.0239, 0.1832, -0.1538, 0.0952, 0.2369]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 525):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec45e7bb1cdc29ef099e927ae7f3f79ba61795bd52275b02cfbd540ee6fdb153",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 525):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abd587ec8170ab4a89fe9e19614403b1f1d5274cab210e7af193d63510c80405",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 525):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ee47d85c70043a4416b9d9b5d572bb011da62b146bfd26727e50e9389581ec7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob ec45e7bb1cdc]
[blob abd587ec8170]
[blob 7ee47d85c700]
{
  "content": [
    {
      "signature": "CAIStwkKjAEIEBgCKkBtlvxfQQTaky8vU6l7nx7CFm8i+N1RbWHsQ3K8WcxHp8klywy7Aengyzfhu18b4Fhhuo+fmV/B9n85pjFdV8v+MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMjQ6SGBwv0hS3yStnGgxmU75MjVf8EfNLXhwiMJBJ978cOZPbJx5LvkJ4OghPy/GGkDvHYmiz4Q8QeiHo4oVCEY2xiMVVPO1VnnleRyrXBzBvj9jbbcr6J5RpbCLrNJqg4Z84lQJMKbW5DhfpLNUSR9gsdTxcaJW7tHzcsnjzxTG5e68X0iUhFLeSG8YlX6w2SuR7Z+jHS3bW6Vu3kDvUgBCkVsTbQkKO29wNclz75O/3MY2wLCCo+Ev1Jg3HdKnzOsJWwrWYHi0TO8hcXNfYG4gGwh0AerN22/iDQsiA8jgBPBD+iRj9/dcV0nM3W0IzkPCUP9bRUb3dwe/hkd1bD+S4XLv5vKxmIESkUkt/Hfv4s02m2URZ5RC77wRTJmrSAT2iZx3StN+cxXokMq7sHxDhgFiaFyUUNlltQT5F3fvRuBS8/g0qBWvt8qDhYut/M0dfBDhIfwc8RUjpOuZsU2IR9D9vFI0ppZubIG/KhGOL98Xr1wUVqL2IIuIp40ny+iiZUKLEErvtvdqoydHxGCODHhjt/r+m+B/z1RpjTdQ2nGpAHph7CsUVRNt3RDB2mG4Zonx9zJQGLXh/pOs/AfzJAdHAdXn/g3h698vgErIVCEjEjrb589G7jaLLR4k+hcY7vYS//taNlT43ZtMxL7+FQ0YfC12rfYRi+mGwzBJcZMrAvuPnerG4YR7ca5S2jWwKyOg1fhjaegqRkoE3avT6+qeOWrUUBsac4VX37+sijJ+WYof1njh6aWKcvdAozoMKSkSxCEFxoXlunM5xTBrdzDcWojlZP+m+6/jVOVXLG7EVzZw7NYu5iET1LrwpqxeWZAsTxieFUYjjnW+H2SjLGq6tfjG24BWC5IvUzMbmRVyb3ZVwQdP+W3ZHBYg9SfLdh004KzdBCLwMj1j3xtgRFY1XtoURjkIDP2WO2+6q8EGMVZ0U7SbEvc3Vqra6zVOs+lYQtty/XDNNYZdz09FBpi+Dx5aaWLYSdmQmVtH+VnKx+hmGCp5QST9nxLKdD3od+gVTZcrC4twJll5PBr9RzRYVNxCGC9gGroUqLuJj95E6iv1txZmW+S/OUPsKKrqz5czP+Y3O10DDL8Rll733X89iGeEA0vRxKGI0abpFg+J4Ji2vKJXGT6e1n6a+R9rqrUarrFxBMi6N1sAOCj8IzbX4s5VRy1AbfMLi9ypn88Ro+f2IoqbHn0bP6RnZYbwUNXTfkFCmoGabRfpdgFezgoJLJJceRKFvYEi5YuiFhTNn2dvpeH8tN9dGfLaFWSpByOsXc50DoOpN7xLel/d9bi5+SaygHKoHc2i4L8CXzI8kj+nX9G/MMB/Gs6oO1Zk0ESS+r8TwhuVkAhp/URB1X2dSYeeN1v1MyHib9FQN6DydS27pj/tkKW+TpBgqZ9ZCpL6zGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013WNKV7tEXJme8ttY5N5pEL",
      "input": {
        "note": "Block released. Opening the jaws fully and lifting the arm straight up and back to ~20 cm so I can see whether the blue block is actually sitting on top of the red one.",
        "targets": {
          "right_gripper": 1.0,
          "right_j1": 1.77,
          "right_j2": 1.8,
          "right_j3": -1.6
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 9 steps (0.9s)",
      "tool_use_id": "toolu_013WNKV7tEXJme8ttY5N5pEL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6235 left_j2=1.1954 left_j3=-1.3777 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.21 right_j1=1.8088 right_j2=1.7592 right_j3=-1.5703 right_j4=-0.2226 right_j5=2.0422 right_gripper=0.9977\nstate[joint_eff]: [-0.0479, 2.0855, 4.8752, 1.5751, -0.0415, -0.022, -0.0122, -0.294, -10.7009, 7.747, 0.315, -0.0513, -0.0122, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 534):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c24df577c9f5cbaf72bdee29563d14fc9e23b18d462fac00174cf8682d662138",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 534):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d222ec1d36f873fc72fa625f0654f3baf82150cc3097d3d8502ce115d865db75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 534):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6afaf99779a1384da8c5359eaeac198e8469518eb4773b4b5aa5458e30321f14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob c24df577c9f5
wire blob d222ec1d36f8
wire blob 6afaf99779a1
call 81 attempt 0 · /messages · status 200 · 13.84 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 235 changed as sent

message 238 changed as sent

message 241 changed as sent

message 235 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6239 left_j2=1.1954 left_j3=-1.3521 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.2131 right_j1=1.9076 right_j2=1.3808 right_j3=-1.0714 right_j4=-0.2104 right_j5=2.0487 right_gripper=0.4503\nstate[joint_eff]: [-0.212, 2.4274, 5.1077, 1.5604, -0.0415, -0.0562, -0.0122, 1.1829, -3.3162, 1.8256, 1.5214, 0.1685, 0.0708, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 238 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6235 left_j2=1.1954 left_j3=-1.3705 left_j4=0.083 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.2085 right_j1=1.9007 right_j2=1.3758 right_j3=-1.0691 right_j4=-0.2146 right_j5=2.043 right_gripper=0.6406\nstate[joint_eff]: [-0.1573, 2.1675, 5.0256, 1.6874, -0.022, -0.0708, -0.0122, 0.3214, -8.1436, 6.0239, 0.1832, -0.1538, 0.0952, 0.2369]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 241 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6235 left_j2=1.1954 left_j3=-1.3777 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.21 right_j1=1.8088 right_j2=1.7592 right_j3=-1.5703 right_j4=-0.2226 right_j5=2.0422 right_gripper=0.9977\nstate[joint_eff]: [-0.0479, 2.0855, 4.8752, 1.5751, -0.0415, -0.022, -0.0122, -0.294, -10.7009, 7.747, 0.315, -0.0513, -0.0122, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 534):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c24df577c9f5cbaf72bdee29563d14fc9e23b18d462fac00174cf8682d662138",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 534):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d222ec1d36f873fc72fa625f0654f3baf82150cc3097d3d8502ce115d865db75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 534):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6afaf99779a1384da8c5359eaeac198e8469518eb4773b4b5aa5458e30321f14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob c24df577c9f5]
[blob d222ec1d36f8]
[blob 6afaf99779a1]
{
  "content": [
    {
      "signature": 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iCjb2KjWe5FMLG5tr0MeHVmQscmgec+n2wnI9wp61r7GzxlsxnaKL33YAVRNjC7fVmnZqZGZEKOFhIPpzPgpSKC4tdK3ZoVPyiWDfZMNg1p9sDbS+kr4nDBPn7pLnCUEA/K6r9kBnnKNvpLlZaxXqJAvfxtGGTqdAI912cAvm5Kj+hTOio2UtadXLYump4NM7A6Ab7ReeepUdTHY3aJbt0/1ssFrRXrYlZEHcdeVQPyrt6l1SjxpTz7W3NRZzMObfNbPpOl+FZB8gy8LEYa5UrprboLMMeGUNa73rbGQeSpRLX1q4FLuDlVekOWhk1U1shVKh+Y3vqLPWkx7QehkiUewmgZqv9C7xdPHu83nqMBbBvGgeAjEpCR4ixe/8dSDJR6U5UhCBTjShI1a8ACpd4IcK+1c0th6VL7KvMFm64MZ4QOO5u9dt3cVKsWTFInyPDkTnnASAGCzCBrjUxlrx82D1JRVlX94QFV7hAzCNyS7r4QZ7dJqz3/TZaHIkD+YwHypkrclyFkQOXA9+ViV1SyOVbV/FU5MXXrh3Klo2Fek6Sax/ztaSONDGTBVF6i9ZAZPay2bzDtYW0UMKH+3E9X9A//dS66lWx+K86ZqlDnbqw9elni6U6HHh68oPBOW2a35hlo5NnDifxC1tZ8EKeMHIsUljMHVVI0wXzLWpqGPQ5UrlMVlGBE5hRyPw9lsKnXDUpYZviMnMorpJJ2SbCMo9Oe+Um5uvdUpjyc7UVnEQGREkVGzdgcv9BPcnalJpAaVXm1Qb9L96V1Ch+c6Mu5CWEP23UOTgFWNqCnyzheLXZrEdbbsDqdreX2NQfSnspwFSJsXHZ/SKOQAs3BNIef9dtXmq83LshAzWs5HQpC9nQ69kdsM+kbfS9WuZoOwwCj4aaKpmCuzzg14jKcKvnfjExV1bHSY1an54F+5wtH29cUWpcbdYIUKsyjN7TOTtz5TNjzjPpGu0FKJYO+Vd6lo/x2s/qThwSyvdpTGw7v9LrdPKeWcZL4hzlzIEq0abMLiqmUQrw9YuBYrFJmpbUWz1LRoG0MxNTI08fPzBn/7L9mXzt1cmIjEVQykYTUYv2xkV4DZXnDcKWUWLCjyu1hFsR+9QCv32rDOfwehHWGFDC1akRZatCZkXl5YrWnH7utawIYzyDCaPQiOZggGxdR0kJLcSrVybZgpoezNBSdXtaT9YGnQLSWqgAPZdjMBCqwX2pOr0puBKrFyxGvzmHWHYgwchtPNfgKFxShB/DAroZ/dKNxDz37IrV2nlFxf2RtUpd7tXaYvwSitTOZ9FhzV0R3YQ4Eqc+SRPW7uISNjVZH+XP1hikYvZGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CNQLAAaUBHavb5gPC33Hw3",
      "input": {
        "note": "The blue block is released. Parking the right arm back near its base to clear the view so the overhead and left-arm cameras can show me whether the two blocks are stacked.",
        "targets": {
          "right_j0": 0.3,
          "right_j1": 0.7,
          "right_j2": 1.3,
          "right_j3": -0.7
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 18 steps (1.8s)",
      "tool_use_id": "toolu_01CNQLAAaUBHavb5gPC33Hw3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0074 left_j1=0.6235 left_j2=1.1954 left_j3=-1.3933 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.2958 right_j1=0.7212 right_j2=1.2991 right_j3=-0.8375 right_j4=-0.2256 right_j5=2.0464 right_gripper=0.9983\nstate[joint_eff]: [-0.0752, 1.9624, 5.1897, 1.6532, -0.0366, -0.0269, -0.0122, 0.4718, 1.7573, 5.8188, 2.9915, -0.0171, -0.0806, 0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 552):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6afe7c229f4f35ef718e9edcdb31968774fda3bb8d715d26afaf5b864866d257",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 552):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:955a3266eee3fda8a6ad1cd3f46e2e282259b1eb4cf1210db935fa79c4b02758",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 552):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:535aa2e059d17c9fe882cd2b05b2c2a229745d3553e5df724e403ca21e259c65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 6afe7c229f4f
wire blob 955a3266eee3
wire blob 535aa2e059d1
call 82 attempt 0 · /messages · status 200 · 26.61 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 238 changed as sent

message 241 changed as sent

message 244 changed as sent

message 238 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6235 left_j2=1.1954 left_j3=-1.3705 left_j4=0.083 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.2085 right_j1=1.9007 right_j2=1.3758 right_j3=-1.0691 right_j4=-0.2146 right_j5=2.043 right_gripper=0.6406\nstate[joint_eff]: [-0.1573, 2.1675, 5.0256, 1.6874, -0.022, -0.0708, -0.0122, 0.3214, -8.1436, 6.0239, 0.1832, -0.1538, 0.0952, 0.2369]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 241 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6235 left_j2=1.1954 left_j3=-1.3777 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.21 right_j1=1.8088 right_j2=1.7592 right_j3=-1.5703 right_j4=-0.2226 right_j5=2.0422 right_gripper=0.9977\nstate[joint_eff]: [-0.0479, 2.0855, 4.8752, 1.5751, -0.0415, -0.022, -0.0122, -0.294, -10.7009, 7.747, 0.315, -0.0513, -0.0122, -0.0757]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 244 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0074 left_j1=0.6235 left_j2=1.1954 left_j3=-1.3933 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.2958 right_j1=0.7212 right_j2=1.2991 right_j3=-0.8375 right_j4=-0.2256 right_j5=2.0464 right_gripper=0.9983\nstate[joint_eff]: [-0.0752, 1.9624, 5.1897, 1.6532, -0.0366, -0.0269, -0.0122, 0.4718, 1.7573, 5.8188, 2.9915, -0.0171, -0.0806, 0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 552):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6afe7c229f4f35ef718e9edcdb31968774fda3bb8d715d26afaf5b864866d257",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 552):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:955a3266eee3fda8a6ad1cd3f46e2e282259b1eb4cf1210db935fa79c4b02758",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 552):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:535aa2e059d17c9fe882cd2b05b2c2a229745d3553e5df724e403ca21e259c65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 6afe7c229f4f]
[blob 955a3266eee3]
[blob 535aa2e059d1]
{
  "content": [
    {
      "signature": 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g+SU0ASey3tdPJGu/VypS7u4eOofxwTRRZuW17QL6HZif76DJXU/TH/GS19MQmFNRaGUdQtSkPhfNmLX9tcrAvygU/801EIcaoJko3ptUEgEjevpfFqK+Uda7lmOszhM8wmu1GrJAX/LJQCipUMS3R9Bv8ZE76dhz7nz7DlScBkn7CmuNKXz+ODJSf4CO8KXSBpJPYV1YTd8lPh9KLAlQ1iHC192LvSR3LzOwx2BqI/dEdqwZO+lsh+I84kl+eJFHmemDwTk7b1etfGtp0jVbH/ALiauQi8T6yYicT5+okush8Tpwyg7L0n16j3YLqgzVZCAzUeYuvUlQQOnkqYoV+J91ZQJbd3DATnI6t0dKQGeSfNuwSDFky7xmx00Zsng6TEh3gT2nrDmIzPggO6an8dqNeMNjt6GovYnNnNTBqDZWpobQeIUVjDcnlmfkYipoiFE4bkeA8nN2j3VJ/atjBoAt/obhPm+4n7WDMBhYSsDmDnqnYq4N0Bx9vhS+NgtDOZtRiDSmHabn/KsGnYe/jY/TauRDxQpPUrr4heXBqvTyVSupg/RJIF7aD4IBZjrWwuDs5sSqou8d3pZi0QnIoTsnjOgW92sKm6K/cl8D47XNGoyPXX5QuQ0Rj9mgptX0LhpazZrUG57kLB+olhsVp77qUP+6QSdmLoJa81H2kEYiArY7MS0r8i4bqr2F2bAu3U85SlXCj0v4WdOuvJBhlhD5Zqj06D5fq8sdMVPpO7E7Kyzrhaicsq5gZfYRA2je5ngX0n38UOXriahYV5lwlmHx0DT/ASBvrW9oN2C0e8pEI7g8b1kQzzV8YZ6+o+F2RYn2nOFzartfB1v7nt/xHSeDuCoLIX+6qCJJeqlxfMhQmeA7vbY6+5DiovmOtvqUoebME4K4bTOCf6dFJ2aBHGaqGNkFoAifE2GYDHBFX+Jt14o4iuhyXJzzDF+qWea5FZnTux4fsDrNfLh6qQQFzrHoTWGiQAvLE/4ZqoBw/Hv9SDYwfUNXxVNAZEjixt0P5K2yrdKtrJNnW1xl5thgPZlmZ4lPxierSwcbvmP4v7FNnWrELjTMZYx8lPhXDR+grmoPfFW7GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SZTA1LRVa5s1qy2MMk4wCY",
      "input": {
        "note": "The overhead view shows the two blocks side by side rather than stacked — the blue block slid off the red one's edge. Going back over the blue block (right where I released it) at ~5 cm to re-grasp it.",
        "targets": {
          "right_j0": 0.21,
          "right_j1": 1.91,
          "right_j2": 1.36,
          "right_j3": -1.02
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 19 steps (1.9s)",
      "tool_use_id": "toolu_01SZTA1LRVa5s1qy2MMk4wCY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6239 left_j2=1.1954 left_j3=-1.4162 left_j4=0.083 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.2123 right_j1=1.8847 right_j2=1.3399 right_j3=-0.9939 right_j4=-0.2256 right_j5=2.0457 right_gripper=0.9983\nstate[joint_eff]: [-0.0205, 2.1538, 4.8752, 1.7411, 0.0024, -0.0464, -0.0122, -0.3897, -8.841, 7.7607, 0.0806, -0.1734, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 571):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e67cbbac6d86112addd8f75fb81aa40e6a37cd3ba7c2e6a035a18d82c652413",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 571):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3b8473b9e80657c2480fe91e7dcacc39524facdd213aa4ff753f0ab025ec6c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 571):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:815b19d3d125dd6c8f55b9398c7d1bd7c0c3b7d21b6cddcd8253fa645c453552",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 7e67cbbac6d8
wire blob a3b8473b9e80
wire blob 815b19d3d125
call 83 attempt 0 · /messages · status 200 · 11.56 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 241 changed as sent

message 244 changed as sent

message 247 changed as sent

message 241 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6235 left_j2=1.1954 left_j3=-1.3777 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.21 right_j1=1.8088 right_j2=1.7592 right_j3=-1.5703 right_j4=-0.2226 right_j5=2.0422 right_gripper=0.9977\nstate[joint_eff]: [-0.0479, 2.0855, 4.8752, 1.5751, -0.0415, -0.022, -0.0122, -0.294, -10.7009, 7.747, 0.315, -0.0513, -0.0122, -0.0757]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 244 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0074 left_j1=0.6235 left_j2=1.1954 left_j3=-1.3933 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.2958 right_j1=0.7212 right_j2=1.2991 right_j3=-0.8375 right_j4=-0.2256 right_j5=2.0464 right_gripper=0.9983\nstate[joint_eff]: [-0.0752, 1.9624, 5.1897, 1.6532, -0.0366, -0.0269, -0.0122, 0.4718, 1.7573, 5.8188, 2.9915, -0.0171, -0.0806, 0.0464]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 247 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6239 left_j2=1.1954 left_j3=-1.4162 left_j4=0.083 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.2123 right_j1=1.8847 right_j2=1.3399 right_j3=-0.9939 right_j4=-0.2256 right_j5=2.0457 right_gripper=0.9983\nstate[joint_eff]: [-0.0205, 2.1538, 4.8752, 1.7411, 0.0024, -0.0464, -0.0122, -0.3897, -8.841, 7.7607, 0.0806, -0.1734, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 571):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e67cbbac6d86112addd8f75fb81aa40e6a37cd3ba7c2e6a035a18d82c652413",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 571):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3b8473b9e80657c2480fe91e7dcacc39524facdd213aa4ff753f0ab025ec6c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 571):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:815b19d3d125dd6c8f55b9398c7d1bd7c0c3b7d21b6cddcd8253fa645c453552",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 7e67cbbac6d8]
[blob a3b8473b9e80]
[blob 815b19d3d125]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HaV1faV3PvrDkrhv7eq7Bs",
      "input": {
        "note": "The wrist view shows the red block right under the jaws and the blue block further along; the overhead plan view says the blue is 6.5 cm to the arm's left and ~1.7 cm out. Translating there at 5 cm height, clear of both blocks.",
        "targets": {
          "right_j0": 0.407,
          "right_j1": 1.95,
          "right_j2": 1.44,
          "right_j3": -1.06
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01HaV1faV3PvrDkrhv7eq7Bs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6235 left_j2=1.1954 left_j3=-1.4227 left_j4=0.083 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.4011 right_j1=1.9297 right_j2=1.4189 right_j3=-1.0332 right_j4=-0.2276 right_j5=2.0453 right_gripper=0.9983\nstate[joint_eff]: [-0.0889, 2.0581, 4.8342, 1.5458, -0.0415, -0.022, -0.0122, -1.6889, -7.9248, 6.735, 0.0317, -0.105, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 575):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd28090e81a7b823d2f3be89a23c47eedb6d30e91a5c538dee0a4812eaf35dd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 575):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07440e980c62d7ad51d42c04cd649394072e5a7d386df5f68a28eff3a7115aa3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 575):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:38de74e6e01752e5c58e4673de1062b630b5a3ef26458af49784c910794a1307",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob bd28090e81a7
wire blob 07440e980c62
wire blob 38de74e6e017
call 84 attempt 0 · /messages · status 200 · 13.5 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 244 changed as sent

message 247 changed as sent

message 250 changed as sent

message 244 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0074 left_j1=0.6235 left_j2=1.1954 left_j3=-1.3933 left_j4=0.0826 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.2958 right_j1=0.7212 right_j2=1.2991 right_j3=-0.8375 right_j4=-0.2256 right_j5=2.0464 right_gripper=0.9983\nstate[joint_eff]: [-0.0752, 1.9624, 5.1897, 1.6532, -0.0366, -0.0269, -0.0122, 0.4718, 1.7573, 5.8188, 2.9915, -0.0171, -0.0806, 0.0464]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 247 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6239 left_j2=1.1954 left_j3=-1.4162 left_j4=0.083 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.2123 right_j1=1.8847 right_j2=1.3399 right_j3=-0.9939 right_j4=-0.2256 right_j5=2.0457 right_gripper=0.9983\nstate[joint_eff]: [-0.0205, 2.1538, 4.8752, 1.7411, 0.0024, -0.0464, -0.0122, -0.3897, -8.841, 7.7607, 0.0806, -0.1734, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 250 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6235 left_j2=1.1954 left_j3=-1.4227 left_j4=0.083 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.4011 right_j1=1.9297 right_j2=1.4189 right_j3=-1.0332 right_j4=-0.2276 right_j5=2.0453 right_gripper=0.9983\nstate[joint_eff]: [-0.0889, 2.0581, 4.8342, 1.5458, -0.0415, -0.022, -0.0122, -1.6889, -7.9248, 6.735, 0.0317, -0.105, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 575):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd28090e81a7b823d2f3be89a23c47eedb6d30e91a5c538dee0a4812eaf35dd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 575):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07440e980c62d7ad51d42c04cd649394072e5a7d386df5f68a28eff3a7115aa3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 575):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38de74e6e01752e5c58e4673de1062b630b5a3ef26458af49784c910794a1307",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob bd28090e81a7]
[blob 07440e980c62]
[blob 38de74e6e017]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015B813pgmdBukq9r7w3DSqE",
      "input": {
        "note": "Moving left made things worse — the overhead camera's x axis is mirrored relative to what I assumed, so the blue block is actually to the arm's RIGHT of the red one. Swinging ~8 cm back the other way at 5 cm height.",
        "targets": {
          "right_j0": 0.143,
          "right_j1": 1.87,
          "right_j2": 1.34,
          "right_j3": -1.04
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_015B813pgmdBukq9r7w3DSqE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0074 left_j1=0.6235 left_j2=1.1954 left_j3=-1.4288 left_j4=0.083 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.1543 right_j1=1.9049 right_j2=1.3464 right_j3=-1.0393 right_j4=-0.2329 right_j5=2.043 right_gripper=0.9983\nstate[joint_eff]: [-0.0615, 2.0171, 4.8342, 1.5311, 0.0024, -0.022, -0.0122, -0.1846, -11.4667, 5.5316, 0.232, -0.1392, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 580):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:364f3ebe081f5bf81a549b76faa4c47fb6631d34df8cd30cffda9f5d408f870a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 580):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a297fe7aa1fb41240b001d914f71acbb2c0c52efd177a31d1cd5399a17ef322",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 580):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7e5496f37184938da7661c2950ee4aad8e492307fca85b049fae0384fe562912",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 364f3ebe081f
wire blob 1a297fe7aa1f
wire blob 7e5496f37184
call 85 attempt 0 · /messages · status 200 · 9.698 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 247 changed as sent

message 250 changed as sent

message 253 changed as sent

message 247 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6239 left_j2=1.1954 left_j3=-1.4162 left_j4=0.083 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.2123 right_j1=1.8847 right_j2=1.3399 right_j3=-0.9939 right_j4=-0.2256 right_j5=2.0457 right_gripper=0.9983\nstate[joint_eff]: [-0.0205, 2.1538, 4.8752, 1.7411, 0.0024, -0.0464, -0.0122, -0.3897, -8.841, 7.7607, 0.0806, -0.1734, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 250 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6235 left_j2=1.1954 left_j3=-1.4227 left_j4=0.083 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.4011 right_j1=1.9297 right_j2=1.4189 right_j3=-1.0332 right_j4=-0.2276 right_j5=2.0453 right_gripper=0.9983\nstate[joint_eff]: [-0.0889, 2.0581, 4.8342, 1.5458, -0.0415, -0.022, -0.0122, -1.6889, -7.9248, 6.735, 0.0317, -0.105, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 253 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0074 left_j1=0.6235 left_j2=1.1954 left_j3=-1.4288 left_j4=0.083 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.1543 right_j1=1.9049 right_j2=1.3464 right_j3=-1.0393 right_j4=-0.2329 right_j5=2.043 right_gripper=0.9983\nstate[joint_eff]: [-0.0615, 2.0171, 4.8342, 1.5311, 0.0024, -0.022, -0.0122, -0.1846, -11.4667, 5.5316, 0.232, -0.1392, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 580):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:364f3ebe081f5bf81a549b76faa4c47fb6631d34df8cd30cffda9f5d408f870a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 580):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a297fe7aa1fb41240b001d914f71acbb2c0c52efd177a31d1cd5399a17ef322",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 580):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e5496f37184938da7661c2950ee4aad8e492307fca85b049fae0384fe562912",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 364f3ebe081f]
[blob 1a297fe7aa1f]
[blob 7e5496f37184]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01G1gMhj5ptXcdQ7ZABRrtAF",
      "input": {
        "note": "Confirmed from the last move: image-up in this wrist view is the arm's right, and the blue block is still ~70 px up from the jaw axis. Yawing ~5 cm further right to close on it.",
        "targets": {
          "right_j0": -0.007
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01G1gMhj5ptXcdQ7ZABRrtAF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6235 left_j2=1.1954 left_j3=-1.4418 left_j4=0.083 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.0193 right_j1=1.8984 right_j2=1.3411 right_j3=-1.0424 right_j4=-0.2459 right_j5=2.0426 right_gripper=0.9983\nstate[joint_eff]: [-0.212, 2.1265, 4.8068, 1.5409, -0.0122, -0.0513, -0.0122, 0.4718, -8.5949, 5.9556, 0.2515, -0.105, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 583):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95d574b691460e7c77c4e67255729eb9c51e57d567dc5b0216af243f91296ff5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 583):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a30d73551fca02fa9d0273b8e98b3307542e216d0ff7f711c6e9d6ea1aedf66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 583):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b6404a6072065197fe4b3c3968f89421648e74d3be7f72af118c29352f45a842",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 95d574b69146
wire blob 2a30d73551fc
wire blob b6404a607206
call 86 attempt 0 · /messages · status 200 · 5.812 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 250 changed as sent

message 253 changed as sent

message 256 changed as sent

message 250 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6235 left_j2=1.1954 left_j3=-1.4227 left_j4=0.083 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.4011 right_j1=1.9297 right_j2=1.4189 right_j3=-1.0332 right_j4=-0.2276 right_j5=2.0453 right_gripper=0.9983\nstate[joint_eff]: [-0.0889, 2.0581, 4.8342, 1.5458, -0.0415, -0.022, -0.0122, -1.6889, -7.9248, 6.735, 0.0317, -0.105, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 253 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0074 left_j1=0.6235 left_j2=1.1954 left_j3=-1.4288 left_j4=0.083 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.1543 right_j1=1.9049 right_j2=1.3464 right_j3=-1.0393 right_j4=-0.2329 right_j5=2.043 right_gripper=0.9983\nstate[joint_eff]: [-0.0615, 2.0171, 4.8342, 1.5311, 0.0024, -0.022, -0.0122, -0.1846, -11.4667, 5.5316, 0.232, -0.1392, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 256 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6235 left_j2=1.1954 left_j3=-1.4418 left_j4=0.083 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.0193 right_j1=1.8984 right_j2=1.3411 right_j3=-1.0424 right_j4=-0.2459 right_j5=2.0426 right_gripper=0.9983\nstate[joint_eff]: [-0.212, 2.1265, 4.8068, 1.5409, -0.0122, -0.0513, -0.0122, 0.4718, -8.5949, 5.9556, 0.2515, -0.105, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 583):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95d574b691460e7c77c4e67255729eb9c51e57d567dc5b0216af243f91296ff5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 583):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a30d73551fca02fa9d0273b8e98b3307542e216d0ff7f711c6e9d6ea1aedf66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 583):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6404a6072065197fe4b3c3968f89421648e74d3be7f72af118c29352f45a842",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 95d574b69146]
[blob 2a30d73551fc]
[blob b6404a607206]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019xryJxiLmxyAa7NH5oafZh",
      "input": {
        "note": "The blue block is now between the prongs at the bottom of the frame, just slightly inboard. Descending to grasp height with a ~1 cm inward trim.",
        "targets": {
          "right_j1": 1.94,
          "right_j2": 1.2,
          "right_j3": -0.834
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_019xryJxiLmxyAa7NH5oafZh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6235 left_j2=1.1954 left_j3=-1.449 left_j4=0.083 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.0231 right_j1=1.9278 right_j2=1.2106 right_j3=-0.8986 right_j4=-0.2481 right_j5=2.0422 right_gripper=0.9983\nstate[joint_eff]: [-0.1846, 2.0444, 4.9573, 1.4921, -0.0024, -0.0611, -0.0122, -0.2256, -7.5419, 4.465, 0.5983, -0.0904, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 587):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bacc118398cd3a5df8a6019c93d1c314bbb33f9bab729f5e4ffbfc9fb30a49f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 587):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8abb9a9626044c8a846db6153d8f82be22b5a8299abcdffe9f87e3e5cccce361",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 587):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a2bbcf17f2551e32e82b0d89290250d5f5eedc10c29c74033f5d360740c8429c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 9bacc118398c
wire blob 8abb9a962604
wire blob a2bbcf17f255
call 87 attempt 0 · /messages · status 200 · 11.23 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 253 changed as sent

message 256 changed as sent

message 259 changed as sent

message 253 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0074 left_j1=0.6235 left_j2=1.1954 left_j3=-1.4288 left_j4=0.083 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.1543 right_j1=1.9049 right_j2=1.3464 right_j3=-1.0393 right_j4=-0.2329 right_j5=2.043 right_gripper=0.9983\nstate[joint_eff]: [-0.0615, 2.0171, 4.8342, 1.5311, 0.0024, -0.022, -0.0122, -0.1846, -11.4667, 5.5316, 0.232, -0.1392, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 256 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6235 left_j2=1.1954 left_j3=-1.4418 left_j4=0.083 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.0193 right_j1=1.8984 right_j2=1.3411 right_j3=-1.0424 right_j4=-0.2459 right_j5=2.0426 right_gripper=0.9983\nstate[joint_eff]: [-0.212, 2.1265, 4.8068, 1.5409, -0.0122, -0.0513, -0.0122, 0.4718, -8.5949, 5.9556, 0.2515, -0.105, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 259 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6235 left_j2=1.1954 left_j3=-1.449 left_j4=0.083 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.0231 right_j1=1.9278 right_j2=1.2106 right_j3=-0.8986 right_j4=-0.2481 right_j5=2.0422 right_gripper=0.9983\nstate[joint_eff]: [-0.1846, 2.0444, 4.9573, 1.4921, -0.0024, -0.0611, -0.0122, -0.2256, -7.5419, 4.465, 0.5983, -0.0904, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 587):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bacc118398cd3a5df8a6019c93d1c314bbb33f9bab729f5e4ffbfc9fb30a49f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 587):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8abb9a9626044c8a846db6153d8f82be22b5a8299abcdffe9f87e3e5cccce361",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 587):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2bbcf17f2551e32e82b0d89290250d5f5eedc10c29c74033f5d360740c8429c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 9bacc118398c]
[blob 8abb9a962604]
[blob a2bbcf17f255]
{
  "content": [
    {
      "signature": "CAISlQUKjAEIEBgCKkCFbdCLV8zrUUQCfh2UN0aGySNePA8g9bgP8Pd2BsGn5TsiexU3MjHgnIKVmVGOUKqMy0WfFPU6UrfsYGJOW8DFMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM0/PPjZqH44FgXmaRGgwjc8HuxvGKBJ+wtPoiMHPz/40L8oIKJtTQ65rUOcUI+gzbe1/O/P6xkxPf1X98wLEEb5EBBipKtb1GxgN2YSq1A0MvcxELMgzpKBrxnMucrNSFtBRR7TnT4cO6SEdm6pqCIBsxdA6l23p7S1N7pCtsP/4aDtWTw2PZMakkg8PlnofDGoFMup+PjzZ02IavrhD4c3I6L7UMwOBFN3PWl9bXRs1Mi1jsW24GyUW6R5W8cEyU6mIwbiMjc5a1IJ+9/puuIvTvi4orVBporcMe9pYk2kj8/35lcjkN8E7gAv1jKh5SyX+rukVC/+7pX9xNG4xteDz8zVcW7TEdJmpZuaW85U8r/t43r2z8ehK+kMbYfH925J+2Wqne4wwPSA5aLDJq0mCqlftAaGw11X8PfSp0sUolh+kObDhDMpWBa+qU1Vrv7BUgc3gVPTbAif9l9dx09+H6mUXPnSk2Q/RlZXRBSzLQi4VuptKdbs/w44s+Vr2AYRreX49Denh8049wveKhYQI7R7V3zoDqkelbPOmogbVmDCvyYDnG10ZCAJ/yTNtzHEex1OHIUHeRIl95NDTFbh1I6PpsTdewbxbyg43pvCJ1LTrUeLblJuMNr9aIZ/6MxWWDtalqVDA6ktYvJ0kMV2uJNd7xwkyzYQGqJUcTSs+zhxU8GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015PS62D3oVpUsXJ3eboRDyu",
      "input": {
        "note": "Fingertips at ~1.5 cm with the blue block at the bottom centre between the prongs. Closing to re-grasp it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_015PS62D3oVpUsXJ3eboRDyu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6235 left_j2=1.1954 left_j3=-1.4601 left_j4=0.083 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.0204 right_j1=1.9282 right_j2=1.206 right_j3=-0.8867 right_j4=-0.2512 right_j5=2.0422 right_gripper=0.014\nstate[joint_eff]: [-0.0615, 2.1402, 4.8752, 1.4823, 0.022, -0.022, -0.0122, -0.0068, -8.9368, 5.4769, 0.105, -0.1343, -0.0317, 0.6227]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 597):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e02a383316451da952a6b5d8260a1d71ea07f1888e7fe1b3f6106e27df1f60c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 597):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a58a3deb546de86462c503f9e5267a1b9eb51b95060df51a83959ff7a99d373",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 597):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e8b3f95759450a09c04c4aac6eb874a7655a5ed8034d423959f5735038379fdc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob e02a38331645
wire blob 2a58a3deb546
wire blob e8b3f9575945
call 88 attempt 0 · /messages · status 200 · 9.951 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 256 changed as sent

message 259 changed as sent

message 262 changed as sent

message 256 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6235 left_j2=1.1954 left_j3=-1.4418 left_j4=0.083 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.0193 right_j1=1.8984 right_j2=1.3411 right_j3=-1.0424 right_j4=-0.2459 right_j5=2.0426 right_gripper=0.9983\nstate[joint_eff]: [-0.212, 2.1265, 4.8068, 1.5409, -0.0122, -0.0513, -0.0122, 0.4718, -8.5949, 5.9556, 0.2515, -0.105, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 259 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6235 left_j2=1.1954 left_j3=-1.449 left_j4=0.083 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.0231 right_j1=1.9278 right_j2=1.2106 right_j3=-0.8986 right_j4=-0.2481 right_j5=2.0422 right_gripper=0.9983\nstate[joint_eff]: [-0.1846, 2.0444, 4.9573, 1.4921, -0.0024, -0.0611, -0.0122, -0.2256, -7.5419, 4.465, 0.5983, -0.0904, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 262 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6235 left_j2=1.1954 left_j3=-1.4601 left_j4=0.083 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.0204 right_j1=1.9282 right_j2=1.206 right_j3=-0.8867 right_j4=-0.2512 right_j5=2.0422 right_gripper=0.014\nstate[joint_eff]: [-0.0615, 2.1402, 4.8752, 1.4823, 0.022, -0.022, -0.0122, -0.0068, -8.9368, 5.4769, 0.105, -0.1343, -0.0317, 0.6227]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 597):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e02a383316451da952a6b5d8260a1d71ea07f1888e7fe1b3f6106e27df1f60c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 597):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a58a3deb546de86462c503f9e5267a1b9eb51b95060df51a83959ff7a99d373",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 597):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8b3f95759450a09c04c4aac6eb874a7655a5ed8034d423959f5735038379fdc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
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[blob e02a38331645]
[blob 2a58a3deb546]
[blob e8b3f9575945]
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      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017YohCN9EuweD2Uf82WMhxe",
      "input": {
        "note": "Missed; the block shows at the bottom-right of the frame meaning it is ~2.5 cm inboard. Reopening and scooping straight inward at grasp height so the open jaws sweep over it.",
        "targets": {
          "right_gripper": 1.0,
          "right_j1": 1.84,
          "right_j2": 1.08,
          "right_j3": -0.81
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_017YohCN9EuweD2Uf82WMhxe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6239 left_j2=1.1954 left_j3=-1.4742 left_j4=0.083 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.0208 right_j1=1.8488 right_j2=1.0939 right_j3=-0.8223 right_j4=-0.2676 right_j5=2.0338 right_gripper=0.9943\nstate[joint_eff]: [-0.3487, 2.5641, 4.8205, 1.4921, -0.0073, -0.0269, -0.0122, 0.0752, -8.759, 4.465, 0.3297, -0.0073, 0.0562, -0.2222]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 607):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26cfa255ce3c62b793b4bf2367efcf1ee8d1d1a8c0518c022f346a23ee6c75c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 607):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95124209f8909c8ab2343ac691f348fa6c6910c6251b8f14996d2de8731c661e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 607):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b4656e12060654602cb25a2d97d85c9dcc2ebf9a8e07f2515fc636db7a18b0af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 26cfa255ce3c
wire blob 95124209f890
wire blob b4656e120606
call 89 attempt 0 · /messages · status 200 · 6.805 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 259 changed as sent

message 262 changed as sent

message 265 changed as sent

message 259 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6235 left_j2=1.1954 left_j3=-1.449 left_j4=0.083 left_j5=-0.8547 left_gripper=0.9973 right_j0=0.0231 right_j1=1.9278 right_j2=1.2106 right_j3=-0.8986 right_j4=-0.2481 right_j5=2.0422 right_gripper=0.9983\nstate[joint_eff]: [-0.1846, 2.0444, 4.9573, 1.4921, -0.0024, -0.0611, -0.0122, -0.2256, -7.5419, 4.465, 0.5983, -0.0904, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 262 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6235 left_j2=1.1954 left_j3=-1.4601 left_j4=0.083 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.0204 right_j1=1.9282 right_j2=1.206 right_j3=-0.8867 right_j4=-0.2512 right_j5=2.0422 right_gripper=0.014\nstate[joint_eff]: [-0.0615, 2.1402, 4.8752, 1.4823, 0.022, -0.022, -0.0122, -0.0068, -8.9368, 5.4769, 0.105, -0.1343, -0.0317, 0.6227]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 265 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6239 left_j2=1.1954 left_j3=-1.4742 left_j4=0.083 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.0208 right_j1=1.8488 right_j2=1.0939 right_j3=-0.8223 right_j4=-0.2676 right_j5=2.0338 right_gripper=0.9943\nstate[joint_eff]: [-0.3487, 2.5641, 4.8205, 1.4921, -0.0073, -0.0269, -0.0122, 0.0752, -8.759, 4.465, 0.3297, -0.0073, 0.0562, -0.2222]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 607):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26cfa255ce3c62b793b4bf2367efcf1ee8d1d1a8c0518c022f346a23ee6c75c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 607):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95124209f8909c8ab2343ac691f348fa6c6910c6251b8f14996d2de8731c661e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 607):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4656e12060654602cb25a2d97d85c9dcc2ebf9a8e07f2515fc636db7a18b0af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QvXdNLfTiYWb8WJVFjEkiE",
      "input": {
        "note": "The block still reads inboard of the jaws, so continuing the inward scoop another ~2.5 cm at grasp height.",
        "targets": {
          "right_j1": 1.77,
          "right_j2": 0.99,
          "right_j3": -0.79
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01QvXdNLfTiYWb8WJVFjEkiE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.625 left_j2=1.1954 left_j3=-1.4776 left_j4=0.083 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.0204 right_j1=1.8011 right_j2=1.0256 right_j3=-0.783 right_j4=-0.2699 right_j5=2.0312 right_gripper=0.9961\nstate[joint_eff]: [-0.2256, 2.4684, 4.7658, 1.4188, 0.0024, -0.0659, -0.0122, -0.1983, -8.1573, 5.1487, 0.3199, -0.1734, 0.0073, 0.1685]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 609):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91086a7e77ae031ed6f344174b2b55e26f225c37b5476f6359f4efa45ecc5ecd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 609):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7fdb4c17712ce336e7a258ad91ecd2335fe7eda988dae7ecc96380241ab4720",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 609):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f82b4dda0d8e5f4be03e6be074b620ecd6297428c02b1a5120be18d2def81cad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 91086a7e77ae
wire blob b7fdb4c17712
wire blob f82b4dda0d8e
call 90 attempt 0 · /messages · status 200 · 12.69 s
model
claude-opus-5
effort
high
temperature
n/a
tool count
3

message 262 changed as sent

message 265 changed as sent

message 268 changed as sent

message 262 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6235 left_j2=1.1954 left_j3=-1.4601 left_j4=0.083 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.0204 right_j1=1.9282 right_j2=1.206 right_j3=-0.8867 right_j4=-0.2512 right_j5=2.0422 right_gripper=0.014\nstate[joint_eff]: [-0.0615, 2.1402, 4.8752, 1.4823, 0.022, -0.022, -0.0122, -0.0068, -8.9368, 5.4769, 0.105, -0.1343, -0.0317, 0.6227]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 265 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6239 left_j2=1.1954 left_j3=-1.4742 left_j4=0.083 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.0208 right_j1=1.8488 right_j2=1.0939 right_j3=-0.8223 right_j4=-0.2676 right_j5=2.0338 right_gripper=0.9943\nstate[joint_eff]: [-0.3487, 2.5641, 4.8205, 1.4921, -0.0073, -0.0269, -0.0122, 0.0752, -8.759, 4.465, 0.3297, -0.0073, 0.0562, -0.2222]\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 268 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.625 left_j2=1.1954 left_j3=-1.4776 left_j4=0.083 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.0204 right_j1=1.8011 right_j2=1.0256 right_j3=-0.783 right_j4=-0.2699 right_j5=2.0312 right_gripper=0.9961\nstate[joint_eff]: [-0.2256, 2.4684, 4.7658, 1.4188, 0.0024, -0.0659, -0.0122, -0.1983, -8.1573, 5.1487, 0.3199, -0.1734, 0.0073, 0.1685]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 609):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91086a7e77ae031ed6f344174b2b55e26f225c37b5476f6359f4efa45ecc5ecd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 609):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7fdb4c17712ce336e7a258ad91ecd2335fe7eda988dae7ecc96380241ab4720",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 609):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f82b4dda0d8e5f4be03e6be074b620ecd6297428c02b1a5120be18d2def81cad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 91086a7e77ae]
[blob b7fdb4c17712]
[blob f82b4dda0d8e]
{
  "content": [
    {
      "signature": "CAIS0wcKjAEIEBgCKkBGMdBq2rmHVDnzzJTR3tXKVV24ZOCGyNFAcF/8iRQg4MYCmyuNbSpFOwpT0kj9ld1xmy/hGVqJcDLAGpI1Rn56MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMvxe2LuTqFT8QkvOwGgyNqqkIF49OXlRUgNAiMFmzyyyDbil8XCQ14Fc+cFjjirT6/I5e5bZJ/AP6kjjkK+on9DVFHeQUUYgQ5X/ADyrzBQHxMttbZ4vzUzRCK4CHIeXD9EjTl9Ic8MyPovuQcTVnzs+7FVKZTiAlyHVSv92v+jxcorlfO3otLk2vEg0a7EK5gIozVl3QksxzcMUN+h0Gr3Ce0S1aMY60cfSOpF2nuPPXqxSG27bwEY5f+sUKl38ejFK+Hh9HqzPvmcNYw0TDGh5KT4feMSZWsSr6xmvUYx7Sn9pBwOT0z8h2clEWRN7u9zWi78DnKBq8PWDg4USYjheBCpICNABSzYjEmbbXImyzbKOlx72b2g7OI+Wx2xCNZXZ+cmPEwW6pSLXpJnQSV9vk50D/tiszKHerqCgtGtr2urKrGfPXlPYziYPegXoHne98DOw8n3rul4o97H9/smWaUzsCPRHmtCn1744ZrjUkg2OOy5GGKalaF4lQ7gLKzhBsVt6gY/HKAg3bSZteU14DeKzJ8F0bRGMPs5V6CbS72BvqOuiFwji21UciWxEGMQiEw3JyMDcm70pa9RtA0D7ehzGnTMX2MANRHcr5/1sZMD4bxxRduBo0sMeuUqwZ2l47QPB/IJVNVb8DR7VbKbVcsJpcxnlUc/B7QsJM2Le4c7Midh8EQPGDsngZl/kj0KeBsMLQIczfumgt/5WquJlYHnlmBGVnh/0YGn7TIJekPZjOjiQPPcdxpJhCTZGY6bn3spEiGN2MR3uIT7G4D5B9oKX0obV9ftgi7BV8ARkhEjIrixFmuAEuAfW+E1d035wePiUyCAqZWVHZTPBUinHmUB2yeczkAiBMc2hUIwpyBHY5Bxhb5DPSgc3XdX77GIdpnnNA0NG/P07D8GABqnnNG6bE8Ot06ThoEA9cN64n16YOCwVCZVP2rUak/hDzILJWXTufZOIIE1kRlE3eE121NHU9Mbf7WqDB9jgim87OwBpH3+r5iPCPSHLVNFXb/IhKaE3EBj78A6NLrIw1wNbxFGYXr3LswJF88biPM5aH4tkja7PWOWaYLMlNg7TTUTq+HmOZCswwEKzdAAWmXYVOGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Af4e2vd9rNhwMY5Snx2hC8",
      "input": {
        "note": "Closing after the inward scoop — last realistic chance to re-capture the blue block within my remaining budget.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Af4e2vd9rNhwMY5Snx2hC8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6239 left_j2=1.1954 left_j3=-1.4826 left_j4=0.083 left_j5=-0.8543 left_gripper=0.9973 right_j0=0.0204 right_j1=1.7935 right_j2=1.0077 right_j3=-0.7856 right_j4=-0.2707 right_j5=2.0239 right_gripper=0.0133\nstate[joint_eff]: [-0.0889, 2.3179, 4.8342, 1.3895, -0.0269, -0.0317, -0.0122, -0.1299, -7.1453, 6.4342, 0.2662, -0.1392, 0.0366, 0.9451]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 619):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c93d0b55feb250910a179bea02c158eaddf0bada8b43676920140d25907a2e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 619):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c90715c05f1a43a6195a7afe3ab78505d7bf80fd3a764f23deadd120dbbd6745",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 619):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4c1cfc036de64f22a1a6855a74eb4f5e4c35d38871a95897a6749c47568fd5e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 7c93d0b55feb
wire blob c90715c05f1a
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