adhoc

completed
2026-08-14T23:04:51.416918+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
low
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
590.2 s
total steps
443
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

done

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 noteBoth arms folded; two blocks (blue left, red right) sit near the bottom edge of the overhead view, close to the bases. Raising both arms to clear the view and get a better look.
move_joints
left_j10.8000left_j21.4000left_j3-0.6000right_j10.8000right_j21.4000right_j3-0.6000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0048 left_j1=0.0051 left_j2=0.0067 left_j3=-0.0483 left_j4=0.0025 left_j5=-0.0185 left_gripper=0.9994 right_j0=0.0025 right_j1=0.0017 right_j2=0.0059 right_j3=-0.0437 right_j4=-0.0067 right_j5=0.0029 right_gripper=0.9997 state[joint_eff]: [0.3214, 1.2103, 6.4479, 2.2979, -0.0757, 0.1392, -0.0708, -0.3214, 1.6479, 6.6667, 2.3712, 0.0366, -0.0806, -0.0366] 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": 0.8, "left_j2": 1.4, "left_j3": -0.6, "right_j1": 0.8, "right_j2": 1.4, "right_j3": -0.6}, "note": "Both arms folded; two blocks (blue left, red right) sit near the bottom edge of the overhead view, close to the bases. Raising both arms to clear the view and get a better look."})
tool
executing move_joints over 23 steps (2.3s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteMoving the left arm to a gripper-down pose at roughly 35 cm forward, 15 cm high, to calibrate the overhead view scale and locate the arm relative to the blocks.
move_joints
left_j12.0600left_j21.6600left_j3-1.1700left_j00.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0059 left_j1=0.7891 left_j2=1.3567 left_j3=-0.6052 left_j4=0.0029 left_j5=-0.0307 left_gripper=0.9993 right_j0=0.0032 right_j1=0.7937 right_j2=1.3499 right_j3=-0.6788 right_j4=-0.0151 right_j5=-0.0006 right_gripper=0.9997 state[joint_eff]: [-0.0889, 0.9094, 7.1863, 1.9853, -0.0171, 0.0708, -0.0171, -0.3761, 0.4308, 7.706, 2.6349, 0.0415, -0.0171, -0.0122] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.06, "left_j2": 1.66, "left_j3": -1.17, "left_j0": 0.0}, "note": "Moving the left arm to a gripper-down pose at roughly 35 cm forward, 15 cm high, to calibrate the overhead view scale and locate the arm relative to the blocks."})
tool
executing move_joints over 21 steps (2.1s)
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 noteLeft gripper now visible in the overhead view at upper-left of the blocks; swinging the base 0.3 rad to the arm's right to calibrate pixels-per-cm and head toward the blue block.
move_joints
left_j0-0.3000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0048 left_j1=2.0357 left_j2=1.6299 left_j3=-1.1347 left_j4=0.0032 left_j5=-0.0376 left_gripper=0.9993 right_j0=0.0036 right_j1=0.7975 right_j2=1.3479 right_j3=-0.7258 right_j4=-0.0147 right_j5=-0.0002 right_gripper=0.9997 state[joint_eff]: [0.5128, -10.4137, 8.5675, 0.1685, -0.0708, 0.0073, -0.0171, -0.1026, 0.4308, 5.5043, 2.42, -0.0464, -0.0513, -0.0122] 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": -0.3}, "note": "Left gripper now visible in the overhead view at upper-left of the blocks; swinging the base 0.3 rad to the arm's right to calibrate pixels-per-cm and head toward the blue block."})
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 noteLowering the gripper to near table level at the same 35 cm radius so I can see where the fingertips actually land in the overhead image without parallax from height.
move_joints
left_j12.3500left_j21.5200left_j3-0.7400
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.2886 left_j1=2.0701 left_j2=1.6352 left_j3=-1.1568 left_j4=0.0074 left_j5=-0.0429 left_gripper=0.9993 right_j0=0.0036 right_j1=0.7967 right_j2=1.3476 right_j3=-0.7509 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997 state[joint_eff]: [0.4991, -13.2855, 5.3128, 0.4225, -0.0708, 0.0024, -0.0122, -0.0205, 0.5265, 5.3538, 2.1221, -0.0122, -0.0659, -0.0122] 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": 2.35, "left_j2": 1.52, "left_j3": -0.74}, "note": "Lowering the gripper to near table level at the same 35 cm radius so I can see where the fingertips actually land in the overhead image without parallax from height."})
tool
executing move_joints over 7 steps (0.7s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteThe blue block is right of and closer to the base than my fingertips (it's absent from the wrist view, confirming it's inside my current radius); moving to hover ~6 cm above the estimated block position at r≈0.29, j0≈-0.69.
move_joints
left_j0-0.6900left_j12.1100left_j21.2400left_j3-0.7300
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.2874 left_j1=2.2013 left_j2=1.5829 left_j3=-0.9993 left_j4=0.0154 left_j5=-0.0521 left_gripper=0.9987 right_j0=0.0036 right_j1=0.7986 right_j2=1.3422 right_j3=-0.7914 right_j4=-0.0147 right_j5=-0.0002 right_gripper=0.9997 state[joint_eff]: [-0.4718, 0.8547, 0.3624, 2.7863, -0.1441, 0.0757, -0.0806, -0.0479, 0.4444, 5.8462, 2.3126, -0.0562, -0.0757, -0.0122] camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.69, "left_j1": 2.11, "left_j2": 1.24, "left_j3": -0.73}, "note": "The blue block is right of and closer to the base than my fingertips (it's absent from the wrist view, confirming it's inside my current radius); moving to hover ~6 cm above the estimated block position at r\u22480.29, j0\u2248-0.69."})
tool
executing move_joints over 7 steps (0.7s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteThe arm now occludes the blue block in the overhead view and the wrist camera sees only bare table, so I'm backing out ~4 cm in radius to bring the block into the wrist view for a proper alignment.
move_joints
left_j12.2000left_j21.4300left_j3-0.8100
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6487 left_j1=2.022 left_j2=1.3155 left_j3=-0.7677 left_j4=0.0105 left_j5=-0.065 left_gripper=0.9986 right_j0=0.0032 right_j1=0.8024 right_j2=1.3403 right_j3=-0.8368 right_j4=-0.0147 right_j5=-0.0002 right_gripper=0.9997 state[joint_eff]: [-1.3744, -2.3043, 0.7726, 0.3736, 0.0073, 0.0757, -0.022, -0.0889, 0.3487, 5.5316, 2.3468, -0.0317, -0.0269, -0.0122] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.2, "left_j2": 1.43, "left_j3": -0.81}, "note": "The arm now occludes the blue block in the overhead view and the wrist camera sees only bare table, so I'm backing out ~4 cm in radius to bring the block into the wrist view for a proper alignment."})
tool
executing move_joints over 3 steps (0.3s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteWrist view still shows only bare table, so I'm lifting the left arm clear to get an unobstructed overhead look and re-locate both blocks precisely.
move_joints
left_j11.4000left_j21.6000left_j3-0.9000left_j0-0.3000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.659 left_j1=2.1002 left_j2=1.4441 left_j3=-0.8528 left_j4=0.0101 left_j5=-0.0834 left_gripper=0.9985 right_j0=0.0032 right_j1=0.8051 right_j2=1.3403 right_j3=-0.8616 right_j4=-0.0158 right_j5=-0.0002 right_gripper=0.9997 state[joint_eff]: [0.7179, -3.3983, 2.8376, 1.2821, -0.0073, 0.232, -0.0171, -0.335, 0.3624, 5.3949, 2.1661, 0.0269, -0.0708, -0.0122] camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.4, "left_j2": 1.6, "left_j3": -0.9, "left_j0": -0.3}, "note": "Wrist view still shows only bare table, so I'm lifting the left arm clear to get an unobstructed overhead look and re-locate both blocks precisely."})
tool
executing move_joints over 12 steps (1.2s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteOverhead shows only one red block at the bottom edge; my left wrist camera catches a coloured object at its right edge. Swinging j0 right to centre that object in the wrist view.
move_joints
left_j0-0.6000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3107 left_j1=1.438 left_j2=1.562 left_j3=-0.9241 left_j4=0.0105 left_j5=-0.0948 left_gripper=0.9986 right_j0=0.0036 right_j1=0.8089 right_j2=1.3365 right_j3=-0.9031 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997 state[joint_eff]: [0.1026, -6.3932, 9.3333, 1.7802, -0.0513, 0.0806, -0.0073, -0.1299, 0.1026, 5.7094, 2.3321, -0.0562, -0.0611, -0.0122] camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.6}, "note": "Overhead shows only one red block at the bottom edge; my left wrist camera catches a coloured object at its right edge. Swinging j0 right to centre that object in the wrist view."})
tool
executing move_joints over 5 steps (0.5s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteWrist view now clearly shows both blocks: blue (the left block) nearer at image (152,182) and red farther at (178,130). Swinging right ~9 cm and descending to ~15 cm height to approach the blue block.
move_joints
left_j0-0.9000left_j11.8400left_j21.3300left_j3-0.8900
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5774 left_j1=1.4509 left_j2=1.5623 left_j3=-0.9474 left_j4=0.0086 left_j5=-0.1062 left_gripper=0.9986 right_j0=0.0029 right_j1=0.8127 right_j2=1.3357 right_j3=-0.9329 right_j4=-0.0154 right_j5=-0.0002 right_gripper=0.9997 state[joint_eff]: [-0.2803, -7.0359, 6.5573, 1.7265, 0.0122, 0.0952, -0.0171, -0.0205, 0.0068, 5.4769, 2.1661, -0.0317, -0.0317, -0.0122] camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.9, "left_j1": 1.84, "left_j2": 1.33, "left_j3": -0.89}, "note": "Wrist view now clearly shows both blocks: blue (the left block) nearer at image (152,182) and red farther at (178,130). Swinging right ~9 cm and descending to ~15 cm height to approach the blue block."})
tool
executing move_joints over 7 steps (0.7s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteBlue block is now nearly column-aligned with the jaws but sits above the grasp point in the wrist view, i.e. farther out; extending radius by a calibrated 3 cm to measure the pixel-per-cm scale at this height.
move_joints
left_j11.9400left_j21.4700left_j3-0.9300
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8818 left_j1=1.813 left_j2=1.3487 left_j3=-0.9089 left_j4=0.0067 left_j5=-0.1131 left_gripper=0.9986 right_j0=0.0025 right_j1=0.8162 right_j2=1.3357 right_j3=-0.9703 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997 state[joint_eff]: [-0.1983, -8.3761, 5.6137, 0.7985, 0.0073, 0.0513, -0.0171, -0.1299, 0.1436, 5.4085, 2.2149, -0.022, -0.0611, -0.0122] camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.94, "left_j2": 1.47, "left_j3": -0.93}, "note": "Blue block is now nearly column-aligned with the jaws but sits above the grasp point in the wrist view, i.e. farther out; extending radius by a calibrated 3 cm to measure the pixel-per-cm scale at this height."})
tool
executing move_joints over 3 steps (0.3s)
step 93
top_cam
camera top_cam step 93
left_cam
camera left_cam step 93
right_cam
camera right_cam step 93
assistant
agent noteThe 2.6 cm radial move shifted the block 25 px down in the wrist view (~9.6 px/cm); extending another ~4.5 cm to bring the block onto the grasp point while staying ~12 cm high.
move_joints
left_j12.1500left_j21.6500left_j3-0.9000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8829 left_j1=1.9198 left_j2=1.4319 left_j3=-0.934 left_j4=0.0101 left_j5=-0.1207 left_gripper=0.9986 right_j0=0.0025 right_j1=0.8192 right_j2=1.3357 right_j3=-0.9855 right_j4=-0.0154 right_j5=-0.0002 right_gripper=0.9997 state[joint_eff]: [-0.0752, -8.9915, 7.8154, 0.569, -0.0806, 0.0464, -0.0171, -0.0342, 0.5812, 5.3949, 2.1465, -0.0366, -0.0269, -0.0122] camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.15, "left_j2": 1.65, "left_j3": -0.9}, "note": "The 2.6 cm radial move shifted the block 25 px down in the wrist view (~9.6 px/cm); extending another ~4.5 cm to bring the block onto the grasp point while staying ~12 cm high."})
tool
executing move_joints over 4 steps (0.4s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteThe blue block is now centred between the jaws in the wrist view; descending about halfway toward the table to close in on it.
move_joints
left_j12.2400left_j21.5700left_j3-0.8200
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8829 left_j1=2.1357 left_j2=1.6009 left_j3=-0.9421 left_j4=0.0109 left_j5=-0.1333 left_gripper=0.9986 right_j0=0.0025 right_j1=0.823 right_j2=1.3357 right_j3=-1.0176 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997 state[joint_eff]: [-0.2803, -11.9179, 8.8547, 0.7448, -0.0073, 0.105, -0.0122, -0.1436, 0.4171, 5.4085, 2.1368, -0.0464, -0.0171, -0.0122] camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.24, "left_j2": 1.57, "left_j3": -0.82}, "note": "The blue block is now centred between the jaws in the wrist view; descending about halfway toward the table to close in on it."})
tool
executing move_joints over 2 steps (0.2s)
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 noteContinuing the descent to table level with the blue block still centred between the jaws.
move_joints
left_j12.3500left_j21.5300left_j3-0.6900
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8829 left_j1=2.1841 left_j2=1.5963 left_j3=-0.897 left_j4=0.0109 left_j5=-0.1406 left_gripper=0.9985 right_j0=0.0025 right_j1=0.823 right_j2=1.3357 right_j3=-1.026 right_j4=-0.0154 right_j5=-0.0002 right_gripper=0.9997 state[joint_eff]: [-0.3214, -8.8957, 4.6291, 0.5836, -0.0122, 0.0122, -0.0171, -0.0889, 0.3077, 5.3949, 2.0684, -0.0171, -0.0513, -0.0122] 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_j1": 2.35, "left_j2": 1.53, "left_j3": -0.69}, "note": "Continuing the descent to table level with the blue block still centred between the jaws."})
tool
executing move_joints over 4 steps (0.4s)
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 notej1 stopped tracking with effort relaxing — fingertips have reached the table with the blue block between the jaws; closing the gripper.
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=-0.8829 left_j1=2.2024 left_j2=1.5925 left_j3=-0.8566 left_j4=0.0036 left_j5=-0.1551 left_gripper=0.9985 right_j0=0.0029 right_j1=0.8276 right_j2=1.3346 right_j3=-1.0584 right_j4=-0.0154 right_j5=-0.0002 right_gripper=0.9997 state[joint_eff]: [-0.0752, 0.253, 0.759, 1.8339, 0.0513, 0.105, -0.0122, -0.0889, -0.0615, 5.4906, 2.1074, -0.0024, -0.0024, -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_gripper": 0.0}, "note": "j1 stopped tracking with effort relaxing \u2014 fingertips have reached the table with the blue block between the jaws; closing the gripper."})
tool
executing move_joints over 10 steps (1.0s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteGripper closed to a 1 mm residual, which suggests I may have caught nothing; lifting to check whether the blue block came with it.
move_joints
left_j12.0000left_j21.5000left_j3-0.9000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8829 left_j1=2.1918 left_j2=1.5982 left_j3=-0.833 left_j4=-0.0135 left_j5=-0.1623 left_gripper=0.0127 right_j0=0.0025 right_j1=0.8295 right_j2=1.3346 right_j3=-1.0832 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997 state[joint_eff]: [-0.2256, -10.9197, 5.3812, 0.2906, 0.1587, 0.0513, 1.1062, -0.0479, 0.3624, 5.3949, 1.9902, -0.0317, -0.0464, -0.0122] camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.0, "left_j2": 1.5, "left_j3": -0.9}, "note": "Gripper closed to a 1 mm residual, which suggests I may have caught nothing; lifting to check whether the blue block came with it."})
tool
executing move_joints over 4 steps (0.4s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
agent noteGrasp failed and the blue block is no longer in view; opening the gripper and lifting to survey and re-find it.
move_joints
left_gripper1.0000left_j11.5000left_j21.5000left_j3-0.9000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8829 left_j1=2.0621 left_j2=1.5082 left_j3=-0.8841 left_j4=-0.0128 left_j5=-0.1658 left_gripper=0.0159 right_j0=0.0029 right_j1=0.8307 right_j2=1.3346 right_j3=-1.0927 right_j4=-0.0154 right_j5=-0.0002 right_gripper=0.9997 state[joint_eff]: [-0.1299, -13.4222, 5.7778, 0.652, -0.0708, 0.0513, 0.5836, -0.1026, 0.5949, 5.3812, 1.8437, -0.0464, -0.0269, -0.0122] camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1.0, "left_j1": 1.5, "left_j2": 1.5, "left_j3": -0.9}, "note": "Grasp failed and the blue block is no longer in view; opening the gripper and lifting to survey and re-find it."})
tool
executing move_joints over 10 steps (1.0s)
step 127
top_cam
camera top_cam step 127
left_cam
camera left_cam step 127
right_cam
camera right_cam step 127
assistant
agent noteBoth blocks are clearly visible in the wrist camera now (red 'R' farther, blue 'I' nearer); last attempt I overshot radially past the blue block, so I'm coming in shorter (r≈0.33) and lower to re-acquire it above the grasp point.
move_joints
left_j0-0.8200left_j12.0100left_j21.4400left_j3-0.8800
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8829 left_j1=1.5455 left_j2=1.4967 left_j3=-0.926 left_j4=-0.0124 left_j5=-0.181 left_gripper=0.9959 right_j0=0.0025 right_j1=0.8352 right_j2=1.3346 right_j3=-1.1282 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997 state[joint_eff]: [-0.1846, -7.8974, 6.9538, 1.6044, -0.0562, 0.105, -0.1197, 0.0342, 0.2393, 5.6957, 2.0537, -0.0366, -0.0708, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.82, "left_j1": 2.01, "left_j2": 1.44, "left_j3": -0.88}, "note": "Both blocks are clearly visible in the wrist camera now (red 'R' farther, blue 'I' nearer); last attempt I overshot radially past the blue block, so I'm coming in shorter (r\u22480.33) and lower to re-acquire it above the grasp point."})
tool
executing move_joints over 8 steps (0.8s)
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 noteBlue block is centred right between the jaws in the wrist view; descending a few cm to table level for the grasp.
move_joints
left_j12.1300left_j21.4200left_j3-0.7600
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8268 left_j1=1.9854 left_j2=1.4509 left_j3=-0.889 left_j4=-0.0128 left_j5=-0.1883 left_gripper=0.9972 right_j0=0.0025 right_j1=0.8371 right_j2=1.3346 right_j3=-1.1519 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997 state[joint_eff]: [0.4444, -10.4957, 5.4906, 0.6471, -0.0464, 0.0171, 0.1148, -0.1709, 0.3077, 5.3538, 1.8974, -0.0415, -0.0024, -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": 2.13, "left_j2": 1.42, "left_j3": -0.76}, "note": "Blue block is centred right between the jaws in the wrist view; descending a few cm to table level for the grasp."})
tool
executing move_joints over 3 steps (0.3s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteRe-issuing the descent slightly beyond target to overcome controller undershoot and reach table contact with the block between the jaws.
move_joints
left_j12.2000left_j21.4200left_j3-0.7200
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8246 left_j1=2.0907 left_j2=1.4364 left_j3=-0.8333 left_j4=-0.0032 left_j5=-0.1955 left_gripper=0.9972 right_j0=0.0029 right_j1=0.8375 right_j2=1.3342 right_j3=-1.1637 right_j4=-0.0154 right_j5=-0.0002 right_gripper=0.9997 state[joint_eff]: [-0.4171, -7.4598, 4.2872, 1.0427, -0.2466, 0.0269, 0.0024, -0.0752, 0.294, 5.4085, 1.8388, -0.0317, -0.0171, -0.0122] camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.2, "left_j2": 1.42, "left_j3": -0.72}, "note": "Re-issuing the descent slightly beyond target to overcome controller undershoot and reach table contact with the block between the jaws."})
tool
executing move_joints over 2 steps (0.2s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
right_cam
camera right_cam step 140
assistant
agent noteFingertips are at table level with the block just under the jaws; closing to attempt the grasp and read the residual.
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=-0.8242 left_j1=2.1033 left_j2=1.4467 left_j3=-0.8124 left_j4=-0.0036 left_j5=-0.1997 left_gripper=0.9973 right_j0=0.0025 right_j1=0.8398 right_j2=1.3327 right_j3=-1.1961 right_j4=-0.0154 right_j5=-0.0002 right_gripper=0.9997 state[joint_eff]: [-0.0615, -3.0154, 3.2889, 1.37, -0.0366, 0.0611, 0.0024, -0.0752, 0.0205, 5.6957, 1.8974, -0.0464, -0.0757, -0.0122] camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0.0}, "note": "Fingertips are at table level with the block just under the jaws; closing to attempt the grasp and read the residual."})
tool
executing move_joints over 10 steps (1.0s)
step 150
top_cam
camera top_cam step 150
left_cam
camera left_cam step 150
right_cam
camera right_cam step 150
assistant
agent noteGrasp came up empty again (1 mm residual); lifting to re-locate the blue block, which may have been nudged.
move_joints
left_gripper1.0000left_j11.6000left_j21.5000left_j3-0.9500
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8242 left_j1=2.101 left_j2=1.454 left_j3=-0.8154 left_j4=-0.0162 left_j5=-0.2108 left_gripper=0.0119 right_j0=0.0025 right_j1=0.8417 right_j2=1.3327 right_j3=-1.2198 right_j4=-0.0154 right_j5=-0.0002 right_gripper=0.9997 state[joint_eff]: [-0.2393, -10.7145, 5.135, 0.5104, 0.0708, 0.0757, 1.0672, -0.0479, 0.0342, 5.5043, 1.8535, -0.022, -0.0415, -0.0122] camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1.0, "left_j1": 1.6, "left_j2": 1.5, "left_j3": -0.95}, "note": "Grasp came up empty again (1 mm residual); lifting to re-locate the blue block, which may have been nudged."})
tool
executing move_joints over 10 steps (1.0s)
step 160
top_cam
camera top_cam step 160
left_cam
camera left_cam step 160
right_cam
camera right_cam step 160
assistant
agent noteBlue block sits just beyond the jaws in the wrist view. New tactic: drop to table level a few cm short of the block, then advance horizontally to scoop it between the open jaws instead of descending on top of it.
move_joints
left_j0-0.7670left_j12.0300left_j21.2900left_j3-0.7900
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8242 left_j1=1.6447 left_j2=1.4643 left_j3=-0.955 left_j4=-0.0158 left_j5=-0.2218 left_gripper=0.9951 right_j0=0.0029 right_j1=0.8436 right_j2=1.3327 right_j3=-1.2518 right_j4=-0.0147 right_j5=-0.0002 right_gripper=0.9997 state[joint_eff]: [-0.0752, -9.2376, 9.388, 1.243, -0.0366, 0.0757, -0.1783, -0.1162, 0.4718, 5.2718, 1.8535, -0.022, -0.0562, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.767, "left_j1": 2.03, "left_j2": 1.29, "left_j3": -0.79}, "note": "Blue block sits just beyond the jaws in the wrist view. New tactic: drop to table level a few cm short of the block, then advance horizontally to scoop it between the open jaws instead of descending on top of it."})
tool
executing move_joints over 7 steps (0.7s)
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 noteImage was motion-blurred; pushing the descent slightly further to confirm table contact and get a clear still view.
move_joints
left_j12.0900left_j21.2900left_j3-0.7500
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.775 left_j1=2.0026 left_j2=1.3075 left_j3=-0.8169 left_j4=-0.0151 left_j5=-0.2226 left_gripper=0.9964 right_j0=0.0029 right_j1=0.8463 right_j2=1.3323 right_j3=-1.2686 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997 state[joint_eff]: [0.5675, -9.2239, 5.012, 0.3394, -0.0659, 0.0024, 0.1294, -0.0615, 0.4581, 5.3402, 1.7314, -0.0317, -0.0415, -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_j1": 2.09, "left_j2": 1.29, "left_j3": -0.75}, "note": "Image was motion-blurred; pushing the descent slightly further to confirm table contact and get a clear still view."})
tool
executing move_joints over 2 steps (0.2s)
step 169
top_cam
camera top_cam step 169
left_cam
camera left_cam step 169
right_cam
camera right_cam step 169
assistant
agent noteFingertips are on the table just short of the blue block; advancing ~4 cm radially at table height to slide the open jaws around the block.
move_joints
left_j12.1200left_j21.5100left_j3-0.8900
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7708 left_j1=2.014 left_j2=1.3125 left_j3=-0.8127 left_j4=0.001 left_j5=-0.223 left_gripper=0.9966 right_j0=0.0029 right_j1=0.8471 right_j2=1.3293 right_j3=-1.2839 right_j4=-0.0147 right_j5=-0.0002 right_gripper=0.9997 state[joint_eff]: [-0.4991, -3.3709, 3.9453, 1.0037, -0.1538, -0.0415, 0.0024, -0.0615, 0.1299, 5.5179, 1.6923, -0.0171, -0.0562, -0.0122] camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.12, "left_j2": 1.51, "left_j3": -0.89}, "note": "Fingertips are on the table just short of the blue block; advancing ~4 cm radially at table height to slide the open jaws around the block."})
tool
executing move_joints over 4 steps (0.4s)
step 173
top_cam
camera top_cam step 173
left_cam
camera left_cam step 173
right_cam
camera right_cam step 173
assistant
agent noteJaws should now straddle the blue block at table level; closing and I'll check the residual for a ~3-4 cm block width.
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=-0.7708 left_j1=2.1056 left_j2=1.4696 left_j3=-0.8879 left_j4=0.0036 left_j5=-0.2291 left_gripper=0.9967 right_j0=0.0029 right_j1=0.849 right_j2=1.3293 right_j3=-1.3071 right_j4=-0.0154 right_j5=-0.0002 right_gripper=0.9997 state[joint_eff]: [-0.2256, -10.3043, 7.5692, 0.3053, -0.0415, 0.0611, -0.0024, -0.0479, 0.1026, 5.2581, 1.7558, -0.0562, -0.0366, -0.0122] camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0.0}, "note": "Jaws should now straddle the blue block at table level; closing and I'll check the residual for a ~3-4 cm block width."})
tool
executing move_joints over 10 steps (1.0s)
step 183
top_cam
camera top_cam step 183
left_cam
camera left_cam step 183
right_cam
camera right_cam step 183
assistant
agent noteEmpty grasp again; lifting high to get a wide wrist view and figure out where the blue block actually is.
move_joints
left_gripper1.0000left_j11.3000left_j21.5000left_j3-1.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7708 left_j1=2.1136 left_j2=1.4799 left_j3=-0.8978 left_j4=0.0032 left_j5=-0.2405 left_gripper=0.0119 right_j0=0.0025 right_j1=0.849 right_j2=1.3293 right_j3=-1.3201 right_j4=-0.0147 right_j5=-0.0002 right_gripper=0.9997 state[joint_eff]: [-0.335, -11.5624, 4.6974, 0.4371, 0.022, 0.105, 1.0769, -0.0479, 0.212, 5.2444, 1.5653, -0.0415, -0.0366, -0.0122] camera 'top_cam' (step 183): [image omitted: streamed camera frame] camera 'left_cam' (step 183): [image omitted: streamed camera frame] camera 'right_cam' (step 183): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1.0, "left_j1": 1.3, "left_j2": 1.5, "left_j3": -1.0}, "note": "Empty grasp again; lifting high to get a wide wrist view and figure out where the blue block actually is."})
tool
executing move_joints over 13 steps (1.3s)
step 196
top_cam
camera top_cam step 196
left_cam
camera left_cam step 196
right_cam
camera right_cam step 196
assistant
agent noteClear view: blue block at wrist-image (105,163), red at (140,90). Extending radius by a calibrated 6 cm at constant height to measure how many pixels the block moves, so I can compute the true radial distance.
move_joints
left_j11.5700left_j21.6700left_j3-0.9900
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7708 left_j1=1.338 left_j2=1.4754 left_j3=-1.0176 left_j4=0.0067 left_j5=-0.2523 left_gripper=0.9968 right_j0=0.0025 right_j1=0.8513 right_j2=1.3293 right_j3=-1.3308 right_j4=-0.0147 right_j5=-0.0002 right_gripper=0.9997 state[joint_eff]: [-0.0068, -5.3675, 8.3077, 1.6239, -0.0806, 0.0611, -0.0464, 0.0068, 0.3487, 5.2444, 1.5214, -0.022, -0.022, -0.0122] camera 'top_cam' (step 196): [image omitted: streamed camera frame] camera 'left_cam' (step 196): [image omitted: streamed camera frame] camera 'right_cam' (step 196): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.57, "left_j2": 1.67, "left_j3": -0.99}, "note": "Clear view: blue block at wrist-image (105,163), red at (140,90). Extending radius by a calibrated 6 cm at constant height to measure how many pixels the block moves, so I can compute the true radial distance."})
tool
executing move_joints over 4 steps (0.4s)
step 200
top_cam
camera top_cam step 200
left_cam
camera left_cam step 200
right_cam
camera right_cam step 200
assistant
agent noteThe 5 cm radial extension moved the blue block 20 px down the wrist image; extending another ~5 cm at the same height to bring it right onto the grasp point before descending vertically.
move_joints
left_j11.7600left_j21.8500left_j3-1.0600
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7708 left_j1=1.5726 left_j2=1.6115 left_j3=-1.0363 left_j4=0.0071 left_j5=-0.2672 left_gripper=0.9972 right_j0=0.0025 right_j1=0.8524 right_j2=1.3289 right_j3=-1.3396 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997 state[joint_eff]: [-0.3077, -9.2513, 10.5504, 1.6728, -0.022, 0.105, 0.0366, -0.0342, 0.4855, 5.4632, 1.5556, -0.0269, -0.0659, -0.0122] camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.76, "left_j2": 1.85, "left_j3": -1.06}, "note": "The 5 cm radial extension moved the blue block 20 px down the wrist image; extending another ~5 cm at the same height to bring it right onto the grasp point before descending vertically."})
tool
executing move_joints over 4 steps (0.4s)
step 204
top_cam
camera top_cam step 204
left_cam
camera left_cam step 204
right_cam
camera right_cam step 204
assistant
agent noteBlue block is now at the grasp point's row but sits ~15 px left of the jaw centre — a persistent lateral offset that likely caused my missed grasps. Swinging j0 left ~3 cm to centre it.
move_joints
left_j0-0.6850
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7708 left_j1=1.7508 left_j2=1.7969 left_j3=-1.0969 left_j4=0.0071 left_j5=-0.2825 left_gripper=0.9973 right_j0=0.0025 right_j1=0.8551 right_j2=1.3289 right_j3=-1.3529 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997 state[joint_eff]: [-0.2667, -9.1145, 9.4017, 1.5018, -0.0415, 0.105, -0.0073, -0.0479, 0.2256, 5.2171, 1.5458, -0.0269, -0.0366, -0.0122] camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.685}, "note": "Blue block is now at the grasp point's row but sits ~15 px left of the jaw centre \u2014 a persistent lateral offset that likely caused my missed grasps. Swinging j0 left ~3 cm to centre it."})
tool
executing move_joints over 2 steps (0.2s)
step 206
top_cam
camera top_cam step 206
left_cam
camera left_cam step 206
right_cam
camera right_cam step 206
assistant
agent noteSmall j0 move shifted the block 5 px right (≈3.8 px/cm); continuing left to put the block's centre at the jaw-gap column.
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=-0.733 left_j1=1.7657 left_j2=1.8057 left_j3=-1.1084 left_j4=0.0143 left_j5=-0.2901 left_gripper=0.9973 right_j0=0.0025 right_j1=0.8555 right_j2=1.3289 right_j3=-1.3575 right_j4=-0.0151 right_j5=0.0002 right_gripper=0.9997 state[joint_eff]: [1.4838, -9.9077, 6.1197, 1.3016, -0.0806, 0.0366, -0.0122, -0.1573, 0.2667, 5.2034, 1.58, -0.0366, -0.0366, -0.0122] camera 'top_cam' (step 206): [image omitted: streamed camera frame] camera 'left_cam' (step 206): [image omitted: streamed camera frame] camera 'right_cam' (step 206): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.62}, "note": "Small j0 move shifted the block 5 px right (\u22483.8 px/cm); continuing left to put the block's centre at the jaw-gap column."})
tool
executing move_joints over 2 steps (0.2s)
step 208
top_cam
camera top_cam step 208
left_cam
camera left_cam step 208
right_cam
camera right_cam step 208
assistant
agent noteBlock is now centred on the jaw column at (110,196); descending halfway to the table while holding radius constant.
move_joints
left_j11.9400left_j21.6400left_j3-0.9900
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6575 left_j1=1.7657 left_j2=1.7992 left_j3=-1.1126 left_j4=0.0174 left_j5=-0.2939 left_gripper=0.9973 right_j0=0.0029 right_j1=0.8566 right_j2=1.3289 right_j3=-1.3716 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997 state[joint_eff]: [1.2923, -8.4171, 6.8991, 1.199, -0.0464, -0.022, -0.0122, -0.1026, 0.1436, 5.1897, 1.5556, -0.0317, -0.0611, -0.0122] camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.94, "left_j2": 1.64, "left_j3": -0.99}, "note": "Block is now centred on the jaw column at (110,196); descending halfway to the table while holding radius constant."})
tool
executing move_joints over 3 steps (0.3s)
step 211
top_cam
camera top_cam step 211
left_cam
camera left_cam step 211
right_cam
camera right_cam step 211
assistant
agent noteBlock still centred between the jaws at the bottom edge; completing the descent to table level.
move_joints
left_j12.1800left_j21.4900left_j3-0.8200
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6579 left_j1=1.895 left_j2=1.6791 left_j3=-1.0241 left_j4=0.0154 left_j5=-0.2974 left_gripper=0.9973 right_j0=0.0025 right_j1=0.8574 right_j2=1.3289 right_j3=-1.3766 right_j4=-0.0151 right_j5=0.0002 right_gripper=0.9997 state[joint_eff]: [0.5675, -11.0564, 6.188, 0.9109, -0.0464, -0.022, -0.0122, -0.1026, 0.5675, 5.2171, 1.4872, -0.0513, -0.022, -0.0122] camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.18, "left_j2": 1.49, "left_j3": -0.82}, "note": "Block still centred between the jaws at the bottom edge; completing the descent to table level."})
tool
executing move_joints over 5 steps (0.5s)
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 noteAt table level with the block centred; closing the gripper.
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=-0.6605 left_j1=2.1441 left_j2=1.5223 left_j3=-0.8726 left_j4=0.0025 left_j5=-0.3008 left_gripper=0.9972 right_j0=0.0029 right_j1=0.8593 right_j2=1.3277 right_j3=-1.3823 right_j4=-0.0147 right_j5=-0.0002 right_gripper=0.9997 state[joint_eff]: [0.1299, -7.8427, 3.5897, 0.6422, 0.3785, 0.0269, -0.0171, -0.0342, 0.1709, 6.4068, 1.5165, -0.0464, -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_gripper": 0.0}, "note": "At table level with the block centred; closing the gripper."})
tool
executing move_joints over 10 steps (1.0s)
step 226
top_cam
camera top_cam step 226
left_cam
camera left_cam step 226
right_cam
camera right_cam step 226
assistant
agent noteFourth empty close — I can't judge depth from the left wrist view. Bringing the idle right arm up as a side observer, pointed toward the left gripper, to see whether it is short of or beyond the blue block.
move_joints
left_gripper1.0000right_j00.9000right_j11.6000right_j21.8300right_j3-1.2300
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6605 left_j1=2.141 left_j2=1.5208 left_j3=-0.8753 left_j4=-0.009 left_j5=-0.3019 left_gripper=0.0119 right_j0=0.0029 right_j1=0.8619 right_j2=1.3235 right_j3=-1.3972 right_j4=-0.0154 right_j5=-0.0002 right_gripper=0.9997 state[joint_eff]: [-0.212, -10.7966, 6.188, 0.4078, 0.0464, 0.0073, 1.072, -0.0752, -0.0342, 5.5726, 1.4628, 0.0024, -0.0562, -0.0122] camera 'top_cam' (step 226): [image omitted: streamed camera frame] camera 'left_cam' (step 226): [image omitted: streamed camera frame] camera 'right_cam' (step 226): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1.0, "right_j0": 0.9, "right_j1": 1.6, "right_j2": 1.83, "right_j3": -1.23}, "note": "Fourth empty close \u2014 I can't judge depth from the left wrist view. Bringing the idle right arm up as a side observer, pointed toward the left gripper, to see whether it is short of or beyond the blue block."})
tool
executing move_joints over 15 steps (1.5s)
step 241
top_cam
camera top_cam step 241
left_cam
camera left_cam step 241
right_cam
camera right_cam step 241
assistant
agent noteRight wrist camera now sees both blocks and the left gripper; taking a tiny settling move to get a sharp, unblurred frame for judging the gripper-to-block offset.
move_joints
right_j00.8800
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6598 left_j1=2.141 left_j2=1.5211 left_j3=-0.8753 left_j4=-0.0048 left_j5=-0.305 left_gripper=0.9975 right_j0=0.8787 right_j1=1.5871 right_j2=1.7889 right_j3=-1.2961 right_j4=-0.0162 right_j5=-0.0002 right_gripper=0.9997 state[joint_eff]: [-0.335, -11.2205, 5.5043, 0.3883, -0.0708, 0.0024, -0.0464, 0.1299, -6.7624, 8.5265, 1.5897, -0.0122, -0.0366, -0.0122] camera 'top_cam' (step 241): [image omitted: streamed camera frame] camera 'left_cam' (step 241): [image omitted: streamed camera frame] camera 'right_cam' (step 241): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.88}, "note": "Right wrist camera now sees both blocks and the left gripper; taking a tiny settling move to get a sharp, unblurred frame for judging the gripper-to-block offset."})
tool
executing move_joints over 1 steps (0.1s)
step 242
top_cam
camera top_cam step 242
left_cam
camera left_cam step 242
right_cam
camera right_cam step 242
assistant
agent noteClear side view: the left gripper sits up-and-right of the blue block. Nudging left_j0 by +0.1 rad to calibrate which way that maps in this observer view.
move_joints
left_j0-0.5600
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6598 left_j1=2.141 left_j2=1.5211 left_j3=-0.8749 left_j4=-0.0048 left_j5=-0.305 left_gripper=0.9985 right_j0=0.902 right_j1=1.6112 right_j2=1.7954 right_j3=-1.2804 right_j4=-0.0189 right_j5=-0.0002 right_gripper=0.9997 state[joint_eff]: [-0.2256, -11.1521, 5.5726, 0.3834, -0.0952, -0.0269, -0.1636, -0.253, -7.788, 8.8547, 1.6386, -0.0464, 0.0024, -0.0122] camera 'top_cam' (step 242): [image omitted: streamed camera frame] camera 'left_cam' (step 242): [image omitted: streamed camera frame] camera 'right_cam' (step 242): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.56}, "note": "Clear side view: the left gripper sits up-and-right of the blue block. Nudging left_j0 by +0.1 rad to calibrate which way that maps in this observer view."})
tool
executing move_joints over 2 steps (0.2s)
step 244
top_cam
camera top_cam step 244
left_cam
camera left_cam step 244
right_cam
camera right_cam step 244
assistant
agent noteSwinging the left arm back to j0=-0.85 to see, in the side view, how the gripper position compares with the blue block over a larger, unambiguous change.
move_joints
left_j0-0.8500
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6231 left_j1=2.141 left_j2=1.5211 left_j3=-0.8745 left_j4=-0.0002 left_j5=-0.3046 left_gripper=0.998 right_j0=0.8906 right_j1=1.6104 right_j2=1.7931 right_j3=-1.3052 right_j4=-0.0185 right_j5=-0.0002 right_gripper=0.9997 state[joint_eff]: [2.8923, -11.2068, 5.7504, 0.4567, -0.1099, -0.0317, -0.0757, 0.6359, -6.7077, 6.2291, 1.2869, -0.0269, -0.0366, -0.0122] camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.85}, "note": "Swinging the left arm back to j0=-0.85 to see, in the side view, how the gripper position compares with the blue block over a larger, unambiguous change."})
tool
executing move_joints over 4 steps (0.4s)
step 248
top_cam
camera top_cam step 248
left_cam
camera left_cam step 248
right_cam
camera right_cam step 248
assistant
agent noteThe observer camera ended up right on top of the left arm and is overexposed; raising the right arm to get a higher, wider look down at the gripper and the blue block.
move_joints
right_j11.1500right_j21.7500right_j3-1.1500
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.841 left_j1=2.1395 left_j2=1.523 left_j3=-0.8795 left_j4=-0.001 left_j5=-0.3122 left_gripper=0.998 right_j0=0.8925 right_j1=1.6054 right_j2=1.7931 right_j3=-1.3689 right_j4=-0.0246 right_j5=-0.0128 right_gripper=0.9997 state[joint_eff]: [0.9231, -11.0974, 5.5863, 0.4567, -0.0464, 0.0562, -0.0122, -0.3214, -5.8051, 5.7915, 2.674, 0.0611, 0.1587, -0.0122] camera 'top_cam' (step 248): [image omitted: streamed camera frame] camera 'left_cam' (step 248): [image omitted: streamed camera frame] camera 'right_cam' (step 248): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 1.15, "right_j2": 1.75, "right_j3": -1.15}, "note": "The observer camera ended up right on top of the left arm and is overexposed; raising the right arm to get a higher, wider look down at the gripper and the blue block."})
tool
executing move_joints over 8 steps (0.8s)
step 256
top_cam
camera top_cam step 256
left_cam
camera left_cam step 256
right_cam
camera right_cam step 256
assistant
agent noteSide view clearly shows the blue block sitting just to the left of the left gripper's jaws; moving left_j0 to -0.95 and checking whether that closes the gap.
move_joints
left_j0-0.9500
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8402 left_j1=2.1395 left_j2=1.5227 left_j3=-0.8864 left_j4=0.0029 left_j5=-0.3164 left_gripper=0.998 right_j0=0.8944 right_j1=1.1812 right_j2=1.7451 right_j3=-1.2648 right_j4=-0.0261 right_j5=-0.0162 right_gripper=0.9997 state[joint_eff]: [-0.1983, -11.1932, 5.5863, 0.442, -0.1148, -0.0317, -0.0122, -0.4855, -2.6462, 5.4769, 2.6447, 0.0024, 0.022, -0.0122] camera 'top_cam' (step 256): [image omitted: streamed camera frame] camera 'left_cam' (step 256): [image omitted: streamed camera frame] camera 'right_cam' (step 256): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.95}, "note": "Side view clearly shows the blue block sitting just to the left of the left gripper's jaws; moving left_j0 to -0.95 and checking whether that closes the gap."})
tool
executing move_joints over 2 steps (0.2s)
step 258
top_cam
camera top_cam step 258
left_cam
camera left_cam step 258
right_cam
camera right_cam step 258
assistant
agent noteGeometry of the observer view shows its image-x axis is almost exactly the left arm's radial direction — so the block being left of the jaws means I have been reaching ~4 cm TOO FAR. Retracting radius from 0.35 to 0.31 at table level.
move_joints
left_j0-0.6600left_j12.0200left_j21.3200left_j3-0.8000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.881 left_j1=2.1395 left_j2=1.523 left_j3=-0.8906 left_j4=-0.0044 left_j5=-0.321 left_gripper=0.998 right_j0=0.8948 right_j1=1.1706 right_j2=1.7447 right_j3=-1.2587 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997 state[joint_eff]: [-2.7419, -10.988, 5.559, 0.525, 0.0708, 0.0317, -0.0122, -0.0615, -1.4017, 5.053, 1.7851, -0.0659, -0.0513, -0.0122] camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.66, "left_j1": 2.02, "left_j2": 1.32, "left_j3": -0.8}, "note": "Geometry of the observer view shows its image-x axis is almost exactly the left arm's radial direction \u2014 so the block being left of the jaws means I have been reaching ~4 cm TOO FAR. Retracting radius from 0.35 to 0.31 at table level."})
tool
executing move_joints over 4 steps (0.4s)
step 262
top_cam
camera top_cam step 262
left_cam
camera left_cam step 262
right_cam
camera right_cam step 262
assistant
agent noteIn the observer view the gripper is both deeper (higher in image, = too far along +j0) and further out radially than the blue block; swinging j0 to -0.87 and retracting another ~3 cm.
move_joints
left_j0-0.8700left_j11.9500left_j21.2200left_j3-0.7800
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6537 left_j1=2.0357 left_j2=1.3544 left_j3=-0.8173 left_j4=-0.0013 left_j5=-0.3241 left_gripper=0.998 right_j0=0.8948 right_j1=1.1805 right_j2=1.7443 right_j3=-1.2858 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997 state[joint_eff]: [-3.0291, -10.4274, 4.4923, 0.6227, -0.0562, -0.022, -0.0171, -0.212, -2.7282, 5.0393, 1.8632, -0.0855, -0.0464, -0.0122] camera 'top_cam' (step 262): [image omitted: streamed camera frame] camera 'left_cam' (step 262): [image omitted: streamed camera frame] camera 'right_cam' (step 262): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.87, "left_j1": 1.95, "left_j2": 1.22, "left_j3": -0.78}, "note": "In the observer view the gripper is both deeper (higher in image, = too far along +j0) and further out radially than the blue block; swinging j0 to -0.87 and retracting another ~3 cm."})
tool
executing move_joints over 4 steps (0.4s)
step 266
top_cam
camera top_cam step 266
left_cam
camera left_cam step 266
right_cam
camera right_cam step 266
assistant
agent noteObserver view shows the blue block right at the jaws and it now appears at the bottom of the left wrist view; closing the gripper.
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=-0.8555 left_j1=1.9671 left_j2=1.2488 left_j3=-0.7784 left_j4=-0.0048 left_j5=-0.3267 left_gripper=0.998 right_j0=0.8948 right_j1=1.1824 right_j2=1.7443 right_j3=-1.3025 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997 state[joint_eff]: [1.0735, -10.2632, 4.2872, 0.4225, -0.0317, -0.0024, -0.0171, -0.0889, -2.3179, 5.012, 1.7411, -0.0855, -0.0024, -0.0122] camera 'top_cam' (step 266): [image omitted: streamed camera frame] camera 'left_cam' (step 266): [image omitted: streamed camera frame] camera 'right_cam' (step 266): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0.0}, "note": "Observer view shows the blue block right at the jaws and it now appears at the bottom of the left wrist view; closing the gripper."})
tool
executing move_joints over 10 steps (1.0s)
step 276
top_cam
camera top_cam step 276
left_cam
camera left_cam step 276
right_cam
camera right_cam step 276
assistant
agent noteGripper residual 0.45 (~4.3 cm) with high effort — the blue block is grasped. Lifting and moving over the red block, which the observer view puts ~11 cm further out and ~4 cm to the arm's right.
move_joints
left_j12.1800left_j22.0600left_j3-1.3800left_j0-0.9600
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.857 left_j1=1.9572 left_j2=1.2385 left_j3=-0.7887 left_j4=-0.0048 left_j5=-0.3305 left_gripper=0.4493 right_j0=0.8948 right_j1=1.1831 right_j2=1.7443 right_j3=-1.3113 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997 state[joint_eff]: [-0.0205, -8.6906, 6.2427, 0.5104, -0.0659, 0.0171, 1.0281, -0.0342, -2.2085, 4.9983, 1.6923, -0.0122, -0.0171, -0.0171] camera 'top_cam' (step 276): [image omitted: streamed camera frame] camera 'left_cam' (step 276): [image omitted: streamed camera frame] camera 'right_cam' (step 276): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.18, "left_j2": 2.06, "left_j3": -1.38, "left_j0": -0.96}, "note": "Gripper residual 0.45 (~4.3 cm) with high effort \u2014 the blue block is grasped. Lifting and moving over the red block, which the observer view puts ~11 cm further out and ~4 cm to the arm's right."})
tool
executing move_joints over 14 steps (1.4s)
step 290
top_cam
camera top_cam step 290
left_cam
camera left_cam step 290
right_cam
camera right_cam step 290
assistant
agent noteCarrying the blue block; the red block 'a' now shows well ahead in the left wrist view. Extending ~6 cm further out and 2 cm right to bring it under the jaws.
move_joints
left_j0-1.0000left_j12.5000left_j22.6200left_j3-1.6200
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9539 left_j1=2.1647 left_j2=2.0132 left_j3=-1.3617 left_j4=-0.004 left_j5=-0.3466 left_gripper=0.4521 right_j0=0.8948 right_j1=1.1831 right_j2=1.7443 right_j3=-1.3296 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997 state[joint_eff]: [-0.5128, -10.1949, 8.1846, 0.5201, -0.0708, 0.1197, 1.0281, -0.1709, -2.1128, 5.1897, 1.7216, -0.0659, -0.0464, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 290): [image omitted: streamed camera frame] camera 'left_cam' (step 290): [image omitted: streamed camera frame] camera 'right_cam' (step 290): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -1.0, "left_j1": 2.5, "left_j2": 2.62, "left_j3": -1.62}, "note": "Carrying the blue block; the red block 'a' now shows well ahead in the left wrist view. Extending ~6 cm further out and 2 cm right to bring it under the jaws."})
tool
executing move_joints over 10 steps (1.0s)
step 300
top_cam
camera top_cam step 300
left_cam
camera left_cam step 300
right_cam
camera right_cam step 300
assistant
agent noteRed block is centred left-right but still ahead in the wrist view; extending ~4.5 cm more (pitching the wrist forward to buy reach) and re-checking.
move_joints
left_j12.5600left_j22.6500left_j3-1.3000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9932 left_j1=2.4832 left_j2=2.5687 left_j3=-1.6337 left_j4=-0.0029 left_j5=-0.3725 left_gripper=0.4528 right_j0=0.8948 right_j1=1.1831 right_j2=1.7443 right_j3=-1.338 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997 state[joint_eff]: [-0.6906, -12.7658, 7.9248, 0.6129, -0.022, 0.2662, 1.0281, -0.0205, -2.0308, 4.9709, 1.6044, -0.0708, -0.0659, -0.0122] camera 'top_cam' (step 300): [image omitted: streamed camera frame] camera 'left_cam' (step 300): [image omitted: streamed camera frame] camera 'right_cam' (step 300): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.56, "left_j2": 2.65, "left_j3": -1.3}, "note": "Red block is centred left-right but still ahead in the wrist view; extending ~4.5 cm more (pitching the wrist forward to buy reach) and re-checking."})
tool
executing move_joints over 6 steps (0.6s)
step 306
top_cam
camera top_cam step 306
left_cam
camera left_cam step 306
right_cam
camera right_cam step 306
assistant
agent noteRed block now at (85,130) with my carried blue block visible at the bottom of the frame; moving ~3 cm left and ~5 cm further out to hover over the red block.
move_joints
left_j0-0.9300left_j12.6400left_j22.7200left_j3-1.0900
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9955 left_j1=2.5488 left_j2=2.608 left_j3=-1.4395 left_j4=0.0032 left_j5=-0.3992 left_gripper=0.4529 right_j0=0.8948 right_j1=1.1831 right_j2=1.7443 right_j3=-1.3529 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997 state[joint_eff]: [-0.1709, -13.4632, 9.3744, 1.3748, -0.105, 0.2662, 1.0281, -0.0752, -2.1128, 4.9846, 1.6337, -0.0806, -0.0317, -0.0122] camera 'top_cam' (step 306): [image omitted: streamed camera frame] camera 'left_cam' (step 306): [image omitted: streamed camera frame] camera 'right_cam' (step 306): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.93, "left_j1": 2.64, "left_j2": 2.72, "left_j3": -1.09}, "note": "Red block now at (85,130) with my carried blue block visible at the bottom of the frame; moving ~3 cm left and ~5 cm further out to hover over the red block."})
tool
executing move_joints over 6 steps (0.6s)
step 312
top_cam
camera top_cam step 312
left_cam
camera left_cam step 312
right_cam
camera right_cam step 312
assistant
agent noteThe red block has passed under the jaws (out of the wrist view) and the observer view shows it right at the gripper; descending ~2 cm to set the blue block down on it.
move_joints
left_j12.6400left_j22.6000left_j3-1.1500
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9325 left_j1=2.6324 left_j2=2.6766 left_j3=-1.24 left_j4=0.0032 left_j5=-0.432 left_gripper=0.4529 right_j0=0.8948 right_j1=1.1831 right_j2=1.7443 right_j3=-1.3746 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997 state[joint_eff]: [0.1026, -14.0923, 9.5521, 1.663, -0.0415, 0.3053, 1.0281, -0.0479, -2.0991, 4.9436, 1.6874, -0.0562, -0.0269, -0.0122] camera 'top_cam' (step 312): [image omitted: streamed camera frame] camera 'left_cam' (step 312): [image omitted: streamed camera frame] camera 'right_cam' (step 312): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.64, "left_j2": 2.6, "left_j3": -1.15}, "note": "The red block has passed under the jaws (out of the wrist view) and the observer view shows it right at the gripper; descending ~2 cm to set the blue block down on it."})
tool
executing move_joints over 2 steps (0.2s)
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 noteI can't tell from the wrist view whether I'm over the red block; retracting 3 cm to bring it back into view for a final alignment before release.
move_joints
left_j12.4400left_j22.3200left_j3-1.0800
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9291 left_j1=2.6369 left_j2=2.6328 left_j3=-1.1721 left_j4=0.0032 left_j5=-0.4358 left_gripper=0.4529 right_j0=0.8948 right_j1=1.1831 right_j2=1.7443 right_j3=-1.3766 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997 state[joint_eff]: [-0.6222, -14.612, 5.5453, 1.199, -0.0513, -0.022, 1.0427, -0.0342, -2.0991, 4.9299, 1.5263, -0.0513, -0.0659, -0.0122] 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": {"left_j1": 2.44, "left_j2": 2.32, "left_j3": -1.08}, "note": "I can't tell from the wrist view whether I'm over the red block; retracting 3 cm to bring it back into view for a final alignment before release."})
tool
executing move_joints over 5 steps (0.5s)
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 observer view shows the red block ~10 cm inside my gripper's radius — the wrist camera badly exaggerates distance. Retracting 10 cm to hover over it.
move_joints
left_j0-0.8800left_j12.0800left_j21.7200left_j3-0.9400
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9295 left_j1=2.5244 left_j2=2.3394 left_j3=-1.1099 left_j4=0.0032 left_j5=-0.4358 left_gripper=0.4529 right_j0=0.8948 right_j1=1.1839 right_j2=1.7443 right_j3=-1.3827 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997 state[joint_eff]: [0.0068, -19.7538, 6.6256, 1.0818, -0.0513, -0.0317, 1.033, -0.1026, -2.1675, 5.094, 1.5263, -0.0806, -0.0659, -0.0122] 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": {"left_j0": -0.88, "left_j1": 2.08, "left_j2": 1.72, "left_j3": -0.94}, "note": "The observer view shows the red block ~10 cm inside my gripper's radius \u2014 the wrist camera badly exaggerates distance. Retracting 10 cm to hover over it."})
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 noteCloser now: observer view puts the red block ~4 cm inside my radius and ~6 cm toward the arm's right; adjusting j0 to -1.05 and pulling in 4 cm.
move_joints
left_j0-1.0500left_j11.9400left_j21.5100left_j3-0.8700
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8871 left_j1=2.1349 left_j2=1.7439 left_j3=-0.9627 left_j4=0.0032 left_j5=-0.4358 left_gripper=0.4529 right_j0=0.8948 right_j1=1.1839 right_j2=1.7443 right_j3=-1.3975 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997 state[joint_eff]: [0.5538, -15.0769, 6.5026, 0.9499, -0.0513, -0.0464, 1.0379, -0.1573, -2.0855, 4.9162, 1.5897, -0.0904, -0.0366, -0.0122] 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": {"left_j0": -1.05, "left_j1": 1.94, "left_j2": 1.51, "left_j3": -0.87}, "note": "Closer now: observer view puts the red block ~4 cm inside my radius and ~6 cm toward the arm's right; adjusting j0 to -1.05 and pulling in 4 cm."})
tool
executing move_joints over 4 steps (0.4s)
step 333
top_cam
camera top_cam step 333
left_cam
camera left_cam step 333
right_cam
camera right_cam step 333
assistant
agent noteLeft wrist view now shows the red block just ahead of my carried blue block; raising slightly and advancing ~3.5 cm to bring the blue block directly over it.
move_joints
left_j0-1.0150left_j12.0500left_j21.7500left_j3-1.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.0447 left_j1=2.0071 left_j2=1.5272 left_j3=-0.9012 left_j4=0.0044 left_j5=-0.4358 left_gripper=0.4529 right_j0=0.8948 right_j1=1.1862 right_j2=1.7443 right_j3=-1.4113 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997 state[joint_eff]: [1.5385, -13.9829, 6.6667, 0.9792, -0.1734, -0.0464, 1.0427, 0.0205, -1.935, 4.9573, 1.6142, -0.0659, -0.0562, -0.0171] camera 'top_cam' (step 333): [image omitted: streamed camera frame] camera 'left_cam' (step 333): [image omitted: streamed camera frame] camera 'right_cam' (step 333): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -1.015, "left_j1": 2.05, "left_j2": 1.75, "left_j3": -1.0}, "note": "Left wrist view now shows the red block just ahead of my carried blue block; raising slightly and advancing ~3.5 cm to bring the blue block directly over it."})
tool
executing move_joints over 4 steps (0.4s)
step 337
top_cam
camera top_cam step 337
left_cam
camera left_cam step 337
right_cam
camera right_cam step 337
assistant
agent noteRed block sits just beyond the carried blue block in the wrist view; nudging 2 cm forward and 1 cm left to line them up before lowering.
move_joints
left_j0-0.9850left_j12.1300left_j21.8700left_j3-1.0500
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.0191 left_j1=2.0499 left_j2=1.6951 left_j3=-0.9894 left_j4=0.0105 left_j5=-0.4442 left_gripper=0.4529 right_j0=0.8948 right_j1=1.1885 right_j2=1.7443 right_j3=-1.4277 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997 state[joint_eff]: [0.4034, -10.5504, 9.2376, 0.5885, -0.1294, 0.0269, 1.0427, -0.1709, -2.2632, 5.0667, 1.5946, -0.022, -0.0317, -0.0122] camera 'top_cam' (step 337): [image omitted: streamed camera frame] camera 'left_cam' (step 337): [image omitted: streamed camera frame] camera 'right_cam' (step 337): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.985, "left_j1": 2.13, "left_j2": 1.87, "left_j3": -1.05}, "note": "Red block sits just beyond the carried blue block in the wrist view; nudging 2 cm forward and 1 cm left to line them up before lowering."})
tool
executing move_joints over 3 steps (0.3s)
step 340
top_cam
camera top_cam step 340
left_cam
camera left_cam step 340
right_cam
camera right_cam step 340
assistant
agent noteBlocks nearly touching in the wrist view; final 1.5 cm forward and slight descent to bring the blue block directly over the red one.
move_joints
left_j0-0.9700left_j12.2100left_j21.9000left_j3-0.9900
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.997 left_j1=2.1178 left_j2=1.8233 left_j3=-1.0542 left_j4=0.0109 left_j5=-0.4515 left_gripper=0.4529 right_j0=0.8948 right_j1=1.1896 right_j2=1.7443 right_j3=-1.4353 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997 state[joint_eff]: [0.4991, -11.5624, 8.4171, 0.7106, -0.0464, 0.0122, 1.0379, 0.0342, -2.1128, 4.9162, 1.5018, -0.0464, -0.0611, -0.0122] camera 'top_cam' (step 340): [image omitted: streamed camera frame] camera 'left_cam' (step 340): [image omitted: streamed camera frame] camera 'right_cam' (step 340): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.97, "left_j1": 2.21, "left_j2": 1.9, "left_j3": -0.99}, "note": "Blocks nearly touching in the wrist view; final 1.5 cm forward and slight descent to bring the blue block directly over the red one."})
tool
executing move_joints over 2 steps (0.2s)
step 342
top_cam
camera top_cam step 342
left_cam
camera left_cam step 342
right_cam
camera right_cam step 342
assistant
agent noteRed block is right at the leading face of my carried blue block; advancing 2 cm more so the blue block sits over the red one.
move_joints
left_j12.2800left_j22.0300left_j3-1.0500
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9798 left_j1=2.1635 left_j2=1.869 left_j3=-1.05 left_j4=0.0109 left_j5=-0.458 left_gripper=0.4558 right_j0=0.8948 right_j1=1.1896 right_j2=1.7443 right_j3=-1.4433 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997 state[joint_eff]: [0.7043, -9.6342, 7.9521, 0.9255, -0.022, 0.1148, 0.8132, -0.0479, -2.1128, 4.8752, 1.4725, -0.0464, -0.0317, -0.0122] camera 'top_cam' (step 342): [image omitted: streamed camera frame] camera 'left_cam' (step 342): [image omitted: streamed camera frame] camera 'right_cam' (step 342): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.28, "left_j2": 2.03, "left_j3": -1.05}, "note": "Red block is right at the leading face of my carried blue block; advancing 2 cm more so the blue block sits over the red one."})
tool
executing move_joints over 3 steps (0.3s)
step 345
top_cam
camera top_cam step 345
left_cam
camera left_cam step 345
right_cam
camera right_cam step 345
assistant
agent noteRed block just peeking above the carried blue block; one more ~1.5 cm advance to centre blue over red.
move_joints
left_j12.3300left_j22.1000left_j3-1.0800
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9768 left_j1=2.2612 left_j2=1.9842 left_j3=-1.0698 left_j4=0.0109 left_j5=-0.4698 left_gripper=0.4577 right_j0=0.8948 right_j1=1.1896 right_j2=1.7443 right_j3=-1.4471 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997 state[joint_eff]: [-0.5538, -11.5761, 8.212, 0.823, -0.0415, 0.0806, 0.7253, -0.1846, -2.0855, 5.2034, 1.4286, -0.0415, -0.0464, -0.0122] camera 'top_cam' (step 345): [image omitted: streamed camera frame] camera 'left_cam' (step 345): [image omitted: streamed camera frame] camera 'right_cam' (step 345): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.33, "left_j2": 2.1, "left_j3": -1.08}, "note": "Red block just peeking above the carried blue block; one more ~1.5 cm advance to centre blue over red."})
tool
executing move_joints over 2 steps (0.2s)
step 347
top_cam
camera top_cam step 347
left_cam
camera left_cam step 347
right_cam
camera right_cam step 347
assistant
agent noteObserver view shows the red block sitting just inside my blue block; pulling back 2 cm and lowering 2 cm to set blue down onto red.
move_joints
left_j12.2300left_j21.8500left_j3-0.9200
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9764 left_j1=2.3039 left_j2=2.0518 left_j3=-1.0985 left_j4=0.0109 left_j5=-0.4805 left_gripper=0.4574 right_j0=0.8948 right_j1=1.1896 right_j2=1.7443 right_j3=-1.4658 right_j4=-0.0257 right_j5=-0.0193 right_gripper=0.9997 state[joint_eff]: [-0.253, -11.7949, 8.212, 0.9304, -0.0366, 0.1783, 0.8181, -0.1026, -2.0718, 4.8752, 1.5263, -0.0366, -0.0659, -0.0122] camera 'top_cam' (step 347): [image omitted: streamed camera frame] camera 'left_cam' (step 347): [image omitted: streamed camera frame] camera 'right_cam' (step 347): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.23, "left_j2": 1.85, "left_j3": -0.92}, "note": "Observer view shows the red block sitting just inside my blue block; pulling back 2 cm and lowering 2 cm to set blue down onto red."})
tool
executing move_joints over 4 steps (0.4s)
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 noteI had descended too low — the blue block is at table level beside the red one. Raising ~3.5 cm and pulling in 2 cm so the blue block clears and sits over the red block.
move_joints
left_j12.1200left_j21.8000left_j3-0.9800
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9764 left_j1=2.2639 left_j2=1.8809 left_j3=-0.9627 left_j4=0.0105 left_j5=-0.4808 left_gripper=0.459 right_j0=0.8948 right_j1=1.1896 right_j2=1.7443 right_j3=-1.4826 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997 state[joint_eff]: [-0.0889, -14.4479, 5.3949, 0.7985, -0.0611, -0.0513, 0.1636, -0.1573, -2.0444, 4.8342, 1.5311, -0.0708, -0.0317, -0.0122] 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": {"left_j1": 2.12, "left_j2": 1.8, "left_j3": -0.98}, "note": "I had descended too low \u2014 the blue block is at table level beside the red one. Raising ~3.5 cm and pulling in 2 cm so the blue block clears and sits over the red block."})
tool
executing move_joints over 3 steps (0.3s)
step 354
top_cam
camera top_cam step 354
left_cam
camera left_cam step 354
right_cam
camera right_cam step 354
assistant
agent noteLeft wrist view now shows the red block peeking just to the left of my carried blue block at the same distance; shifting j0 slightly left to line them up.
move_joints
left_j0-0.9350
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9764 left_j1=2.1979 left_j2=1.8065 left_j3=-0.9665 left_j4=0.0105 left_j5=-0.4808 left_gripper=0.4596 right_j0=0.8948 right_j1=1.1896 right_j2=1.7443 right_j3=-1.4918 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997 state[joint_eff]: [-0.3487, -16.8821, 6.5709, 0.8864, -0.0659, -0.0366, 0.0611, -0.0615, -2.0034, 5.0256, 1.4237, -0.0562, -0.0366, -0.0122] camera 'top_cam' (step 354): [image omitted: streamed camera frame] camera 'left_cam' (step 354): [image omitted: streamed camera frame] camera 'right_cam' (step 354): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.935}, "note": "Left wrist view now shows the red block peeking just to the left of my carried blue block at the same distance; shifting j0 slightly left to line them up."})
tool
executing move_joints over 1 steps (0.1s)
step 355
top_cam
camera top_cam step 355
left_cam
camera left_cam step 355
right_cam
camera right_cam step 355
assistant
agent noteRed block now sits directly beyond the blue block in the wrist view; raising 2.5 cm so the blue clears the red's top and advancing 2 cm over it.
move_joints
left_j12.1900left_j21.9600left_j3-1.0700
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9764 left_j1=2.154 left_j2=1.8 left_j3=-0.9806 left_j4=0.0105 left_j5=-0.4839 left_gripper=0.4603 right_j0=0.8948 right_j1=1.1896 right_j2=1.7443 right_j3=-1.4952 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997 state[joint_eff]: [-0.212, -14.6803, 6.2701, 0.7448, -0.0708, -0.0024, 0.1245, -0.0342, -2.0034, 4.8889, 1.4237, -0.0904, -0.0171, -0.0171] camera 'top_cam' (step 355): [image omitted: streamed camera frame] camera 'left_cam' (step 355): [image omitted: streamed camera frame] camera 'right_cam' (step 355): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.19, "left_j2": 1.96, "left_j3": -1.07}, "note": "Red block now sits directly beyond the blue block in the wrist view; raising 2.5 cm so the blue clears the red's top and advancing 2 cm over it."})
tool
executing move_joints over 3 steps (0.3s)
step 358
top_cam
camera top_cam step 358
left_cam
camera left_cam step 358
right_cam
camera right_cam step 358
assistant
agent noteThe blue block is directly over the red one with its underside just at the red block's top face; opening the gripper to release it onto the stack.
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=-0.9699 left_j1=2.2044 left_j2=1.9083 left_j3=-1.0565 left_j4=0.0109 left_j5=-0.49 left_gripper=0.4617 right_j0=0.8948 right_j1=1.1896 right_j2=1.7443 right_j3=-1.5105 right_j4=-0.0261 right_j5=-0.0193 right_gripper=0.9997 state[joint_eff]: [-0.0615, -13.4359, 8.212, 0.8767, -0.0366, 0.0171, 0.1392, -0.0205, -2.0034, 4.9162, 1.4286, -0.0611, -0.0611, -0.0122] camera 'top_cam' (step 358): [image omitted: streamed camera frame] camera 'left_cam' (step 358): [image omitted: streamed camera frame] camera 'right_cam' (step 358): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1.0}, "note": "The blue block is directly over the red one with its underside just at the red block's top face; opening the gripper to release it onto the stack."})
tool
executing move_joints over 6 steps (0.6s)
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 noteThe blue block landed beside the red one, not on it — they sit side by side ~5 cm apart. Re-approaching the blue block (now clearly visible right of centre) to pick it up again.
move_joints
left_j0-1.0450left_j12.3500left_j21.8600left_j3-0.9200
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9737 left_j1=2.204 left_j2=1.911 left_j3=-1.0744 left_j4=0.0109 left_j5=-0.4957 left_gripper=0.9957 right_j0=0.8948 right_j1=1.1896 right_j2=1.7443 right_j3=-1.5295 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997 state[joint_eff]: [0.2667, -12.2325, 6.0103, 0.8523, -0.0659, 0.0415, -0.1245, -0.0889, -1.9897, 4.7658, 1.4628, -0.0708, -0.0562, -0.0122] 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": {"left_j0": -1.045, "left_j1": 2.35, "left_j2": 1.86, "left_j3": -0.92}, "note": "The blue block landed beside the red one, not on it \u2014 they sit side by side ~5 cm apart. Re-approaching the blue block (now clearly visible right of centre) to pick it up again."})
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 noteThe blue block fills the bottom of the wrist view between the jaws at table level; closing to re-grasp it.
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=-1.0225 left_j1=2.3047 left_j2=1.8805 left_j3=-0.9829 left_j4=0.0078 left_j5=-0.503 left_gripper=0.9971 right_j0=0.8948 right_j1=1.1896 right_j2=1.7443 right_j3=-1.5402 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997 state[joint_eff]: [-0.6632, -12.2188, 5.7915, 0.5885, -0.0415, 0.0562, 0.1294, -0.1162, -1.9897, 4.7521, 1.453, -0.0464, -0.0708, -0.0122] 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": {"left_gripper": 0.0}, "note": "The blue block fills the bottom of the wrist view between the jaws at table level; closing to re-grasp it."})
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 the re-grasp; lifting ~8 cm to re-acquire both blocks in the wrist view.
move_joints
left_gripper1.0000left_j11.9000left_j21.7000left_j3-1.0500
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.0203 left_j1=2.3425 left_j2=1.8706 left_j3=-0.9798 left_j4=0.0036 left_j5=-0.5098 left_gripper=0.0117 right_j0=0.8948 right_j1=1.1934 right_j2=1.7424 right_j3=-1.552 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997 state[joint_eff]: [-0.2393, -15.9795, 6.612, 0.486, -0.0024, 0.0464, 1.072, -0.1162, -2.1675, 5.0256, 1.3358, -0.0415, -0.0611, -0.0122] 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": {"left_gripper": 1.0, "left_j1": 1.9, "left_j2": 1.7, "left_j3": -1.05}, "note": "Missed the re-grasp; lifting ~8 cm to re-acquire both blocks in the wrist view."})
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 noteBoth blocks visible again: red 'a' left-near, blue up-right of it. Moving ~4.5 cm out and 1 cm right to hover over the blue block before descending.
move_joints
left_j0-1.0480left_j12.2500left_j21.8700left_j3-1.0200
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.0203 left_j1=1.9568 left_j2=1.7111 left_j3=-1.0447 left_j4=0.0063 left_j5=-0.5144 left_gripper=0.9951 right_j0=0.8948 right_j1=1.1954 right_j2=1.7424 right_j3=-1.5551 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997 state[joint_eff]: [-0.0615, -13.0667, 5.7231, 0.9451, -0.0464, 0.0073, -0.1734, -0.0889, -2.1265, 4.7521, 1.2723, -0.0952, -0.0562, -0.0122] 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": {"left_j0": -1.048, "left_j1": 2.25, "left_j2": 1.87, "left_j3": -1.02}, "note": "Both blocks visible again: red 'a' left-near, blue up-right of it. Moving ~4.5 cm out and 1 cm right to hover over the blue block before descending."})
tool
executing move_joints over 5 steps (0.5s)
step 392
top_cam
camera top_cam step 392
left_cam
camera left_cam step 392
right_cam
camera right_cam step 392
assistant
agent noteBlue block is at the bottom of the wrist view slightly right of the jaw gap; shifting ~2 cm right and descending to table level to grasp it.
move_joints
left_j0-1.0900left_j12.3500left_j21.8400left_j3-0.9500
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.0428 left_j1=2.2471 left_j2=1.8229 left_j3=-1.0393 left_j4=0.0071 left_j5=-0.5228 left_gripper=0.9965 right_j0=0.8948 right_j1=1.1961 right_j2=1.7424 right_j3=-1.5558 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997 state[joint_eff]: [-0.6085, -13.7504, 9.1282, 0.6618, -0.0415, 0.0464, 0.1392, -0.0752, -1.5248, 4.9162, 1.2137, -0.0562, -0.0659, -0.0122] camera 'top_cam' (step 392): [image omitted: streamed camera frame] camera 'left_cam' (step 392): [image omitted: streamed camera frame] camera 'right_cam' (step 392): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -1.09, "left_j1": 2.35, "left_j2": 1.84, "left_j3": -0.95}, "note": "Blue block is at the bottom of the wrist view slightly right of the jaw gap; shifting ~2 cm right and descending to table level to grasp it."})
tool
executing move_joints over 2 steps (0.2s)
step 394
top_cam
camera top_cam step 394
left_cam
camera left_cam step 394
right_cam
camera right_cam step 394
assistant
agent noteBlue block is centred between the jaws; pushing the descent a bit further to reach table level.
move_joints
left_j12.4000left_j21.8400left_j3-0.9000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.0603 left_j1=2.294 left_j2=1.8408 left_j3=-1.0096 left_j4=0.004 left_j5=-0.5327 left_gripper=0.9967 right_j0=0.8948 right_j1=1.1973 right_j2=1.7424 right_j3=-1.5558 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997 state[joint_eff]: [-1.7162, -9.5248, 5.7368, 0.7009, 0.022, 0.0513, 0.0073, -0.0205, -2.1402, 4.8752, 1.2283, -0.0708, -0.0513, -0.0122] camera 'top_cam' (step 394): [image omitted: streamed camera frame] camera 'left_cam' (step 394): [image omitted: streamed camera frame] camera 'right_cam' (step 394): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.4, "left_j2": 1.84, "left_j3": -0.9}, "note": "Blue block is centred between the jaws; pushing the descent a bit further to reach table level."})
tool
executing move_joints over 2 steps (0.2s)
step 396
top_cam
camera top_cam step 396
left_cam
camera left_cam step 396
right_cam
camera right_cam step 396
assistant
agent noteFingertips at table with the blue block between the jaws; closing to grasp.
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=-1.0885 left_j1=2.3348 left_j2=1.8477 left_j3=-0.9894 left_j4=-0.012 left_j5=-0.5404 left_gripper=0.9972 right_j0=0.8948 right_j1=1.198 right_j2=1.7412 right_j3=-1.5627 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997 state[joint_eff]: [2.0034, -7.1453, 5.5179, 1.3211, 0.0806, 0.1832, 0.0317, -0.0205, -2.0718, 4.8342, 1.2576, -0.0904, -0.0757, -0.0171] camera 'top_cam' (step 396): [image omitted: streamed camera frame] camera 'left_cam' (step 396): [image omitted: streamed camera frame] camera 'right_cam' (step 396): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0.0}, "note": "Fingertips at table with the blue block between the jaws; closing to grasp."})
tool
executing move_joints over 10 steps (1.0s)
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 noteBlue block grasped again (residual 0.42). Lifting ~6 cm and swinging 4.6 cm left to hover over the red block, using the offset I measured between the two blocks in the wrist view.
move_joints
left_j0-0.9730left_j12.1900left_j21.8900left_j3-1.1500
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.0851 left_j1=2.3329 left_j2=1.8484 left_j3=-0.9951 left_j4=-0.0231 left_j5=-0.5507 left_gripper=0.4243 right_j0=0.8948 right_j1=1.198 right_j2=1.7412 right_j3=-1.5768 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997 state[joint_eff]: [-0.3761, -12.7248, 6.0239, 0.5153, 0.022, 0.0708, 1.0379, -0.0615, -1.8256, 4.7248, 1.3553, -0.0317, -0.0611, -0.0171] 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": {"left_j0": -0.973, "left_j1": 2.19, "left_j2": 1.89, "left_j3": -1.15}, "note": "Blue block grasped again (residual 0.42). Lifting ~6 cm and swinging 4.6 cm left to hover over the red block, using the offset I measured between the two blocks in the wrist view."})
tool
executing move_joints over 3 steps (0.3s)
step 409
top_cam
camera top_cam step 409
left_cam
camera left_cam step 409
right_cam
camera right_cam step 409
assistant
agent noteMove undershot due to delta clamping; re-issuing the same hover-over-red target.
move_joints
left_j0-0.9600left_j12.1900left_j21.8900left_j3-1.1500
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.0077 left_j1=2.2807 left_j2=1.8515 left_j3=-1.0866 left_j4=-0.0162 left_j5=-0.5518 left_gripper=0.4236 right_j0=0.8948 right_j1=1.198 right_j2=1.7412 right_j3=-1.5814 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997 state[joint_eff]: [0.4444, -17.7573, 9.306, 0.359, -0.1099, -0.0269, 1.033, 0.0068, -1.4564, 4.8752, 1.2625, -0.0806, -0.0708, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 409): [image omitted: streamed camera frame] camera 'left_cam' (step 409): [image omitted: streamed camera frame] camera 'right_cam' (step 409): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.96, "left_j1": 2.19, "left_j2": 1.89, "left_j3": -1.15}, "note": "Move undershot due to delta clamping; re-issuing the same hover-over-red target."})
tool
executing move_joints over 2 steps (0.2s)
step 411
top_cam
camera top_cam step 411
left_cam
camera left_cam step 411
right_cam
camera right_cam step 411
assistant
agent noteThe red block appears well to the left of the jaws in the wrist view (~7 cm); swinging j0 further left to bring the carried blue block over it.
move_joints
left_j0-0.7900
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.973 left_j1=2.2162 left_j2=1.8729 left_j3=-1.1496 left_j4=-0.0196 left_j5=-0.5549 left_gripper=0.4241 right_j0=0.8948 right_j1=1.198 right_j2=1.7412 right_j3=-1.599 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997 state[joint_eff]: [0.8957, -14.147, 7.2547, 0.4176, -0.0073, 0.0073, 0.8767, 0.0615, -2.0171, 4.6838, 1.3407, -0.0562, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 411): [image omitted: streamed camera frame] camera 'left_cam' (step 411): [image omitted: streamed camera frame] camera 'right_cam' (step 411): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.79}, "note": "The red block appears well to the left of the jaws in the wrist view (~7 cm); swinging j0 further left to bring the carried blue block over it."})
tool
executing move_joints over 3 steps (0.3s)
step 414
top_cam
camera top_cam step 414
left_cam
camera left_cam step 414
right_cam
camera right_cam step 414
assistant
agent noteRed block now shows right between the jaws just beyond the carried blue block, but I'm too low; raising ~3 cm so the blue block clears the red block's top face.
move_joints
left_j12.1600left_j21.9200left_j3-1.2100
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8425 left_j1=2.2162 left_j2=1.8725 left_j3=-1.1488 left_j4=-0.0128 left_j5=-0.5552 left_gripper=0.4258 right_j0=0.8948 right_j1=1.1992 right_j2=1.7412 right_j3=-1.6035 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997 state[joint_eff]: [0.4308, -12.1368, 5.8872, 0.3785, -0.1343, -0.0611, 0.4176, -0.1846, -1.5248, 4.7111, 1.2332, -0.0904, -0.0757, -0.0122] camera 'top_cam' (step 414): [image omitted: streamed camera frame] camera 'left_cam' (step 414): [image omitted: streamed camera frame] camera 'right_cam' (step 414): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.16, "left_j2": 1.92, "left_j3": -1.21}, "note": "Red block now shows right between the jaws just beyond the carried blue block, but I'm too low; raising ~3 cm so the blue block clears the red block's top face."})
tool
executing move_joints over 1 steps (0.1s)
step 415
top_cam
camera top_cam step 415
left_cam
camera left_cam step 415
right_cam
camera right_cam step 415
assistant
agent notej0 drifted a bit past target and the raise didn't execute; re-issuing the lift to clear the red block's top and nudging j0 back to -0.83.
move_joints
left_j12.1300left_j21.9300left_j3-1.2300left_j0-0.8300
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7914 left_j1=2.2162 left_j2=1.8725 left_j3=-1.15 left_j4=-0.0196 left_j5=-0.5556 left_gripper=0.4264 right_j0=0.8948 right_j1=1.1992 right_j2=1.7412 right_j3=-1.6035 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997 state[joint_eff]: [0.0205, -12.0684, 5.8872, 0.4371, -0.0757, -0.0513, 0.4762, -0.1436, -2.0855, 4.6974, 1.199, -0.0269, -0.0513, -0.0122] camera 'top_cam' (step 415): [image omitted: streamed camera frame] camera 'left_cam' (step 415): [image omitted: streamed camera frame] camera 'right_cam' (step 415): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.13, "left_j2": 1.93, "left_j3": -1.23, "left_j0": -0.83}, "note": "j0 drifted a bit past target and the raise didn't execute; re-issuing the lift to clear the red block's top and nudging j0 back to -0.83."})
tool
executing move_joints over 2 steps (0.2s)
step 417
top_cam
camera top_cam step 417
left_cam
camera left_cam step 417
right_cam
camera right_cam step 417
assistant
agent noteRed block is centred between the jaws just beyond the carried blue block; raising 2 cm and advancing 1.5 cm to position blue directly above red.
move_joints
left_j12.2400left_j22.0500left_j3-1.3100
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8383 left_j1=2.207 left_j2=1.8988 left_j3=-1.214 left_j4=-0.0158 left_j5=-0.5556 left_gripper=0.4281 right_j0=0.8948 right_j1=1.2018 right_j2=1.7412 right_j3=-1.607 right_j4=-0.0257 right_j5=-0.0193 right_gripper=0.9997 state[joint_eff]: [0.5675, -17.5111, 8.2667, 0.2613, -0.1197, -0.0269, 0.1685, 0.0068, -2.1265, 4.9846, 1.1453, -0.0562, -0.0757, -0.0122] camera 'top_cam' (step 417): [image omitted: streamed camera frame] camera 'left_cam' (step 417): [image omitted: streamed camera frame] camera 'right_cam' (step 417): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.24, "left_j2": 2.05, "left_j3": -1.31}, "note": "Red block is centred between the jaws just beyond the carried blue block; raising 2 cm and advancing 1.5 cm to position blue directly above red."})
tool
executing move_joints over 3 steps (0.3s)
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 noteAdvancing ~2 cm more so the carried blue block comes directly over the red block before release.
move_joints
left_j12.3000left_j22.1300left_j3-1.3400
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8364 left_j1=2.2322 left_j2=2.0041 left_j3=-1.2884 left_j4=-0.0158 left_j5=-0.5629 left_gripper=0.4294 right_j0=0.8948 right_j1=1.2026 right_j2=1.7412 right_j3=-1.607 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997 state[joint_eff]: [-0.4171, -11.8906, 8.9778, 0.2955, -0.022, 0.0415, 0.1197, 0.0342, -1.5385, 4.7111, 1.1209, -0.0659, -0.0806, -0.0122] 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": {"left_j1": 2.3, "left_j2": 2.13, "left_j3": -1.34}, "note": "Advancing ~2 cm more so the carried blue block comes directly over the red block before release."})
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 noteThe red block sits right in the jaw gap directly under the carried blue block, which hangs ~1 cm above its top face; opening the gripper to drop the blue block onto the red one.
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=-0.8371 left_j1=2.2852 left_j2=2.0895 left_j3=-1.3357 left_j4=-0.0158 left_j5=-0.5697 left_gripper=0.4303 right_j0=0.8948 right_j1=1.2045 right_j2=1.7412 right_j3=-1.607 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997 state[joint_eff]: [-0.0205, -11.5077, 8.7179, 0.3443, -0.0611, 0.0366, 0.0904, -0.0342, -2.0718, 4.7111, 1.1306, -0.0806, -0.0659, -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": {"left_gripper": 1.0}, "note": "The red block sits right in the jaw gap directly under the carried blue block, which hangs ~1 cm above its top face; opening the gripper to drop the blue block onto the red one."})
tool
executing move_joints over 6 steps (0.6s)
step 429
top_cam
camera top_cam step 429
left_cam
camera left_cam step 429
right_cam
camera right_cam step 429
assistant
agent noteBlue block appears to have landed on top of the red block; retracting the left arm to verify the stack from a distance.
move_joints
left_j11.5000left_j21.5000left_j3-0.9000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8371 left_j1=2.2913 left_j2=2.0949 left_j3=-1.3437 left_j4=-0.0158 left_j5=-0.5781 left_gripper=0.9956 right_j0=0.8948 right_j1=1.2045 right_j2=1.7412 right_j3=-1.607 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997 state[joint_eff]: [-0.212, -13.0393, 5.3812, 0.398, -0.0122, 0.0757, -0.1245, -0.0615, -1.894, 4.7111, 1.116, -0.0708, -0.022, -0.0122] camera 'top_cam' (step 429): [image omitted: streamed camera frame] camera 'left_cam' (step 429): [image omitted: streamed camera frame] camera 'right_cam' (step 429): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.5, "left_j2": 1.5, "left_j3": -0.9}, "note": "Blue block appears to have landed on top of the red block; retracting the left arm to verify the stack from a distance."})
tool
executing move_joints over 13 steps (1.3s)
step 442
top_cam
camera top_cam step 442
left_cam
camera left_cam step 442
right_cam
camera right_cam step 442
assistant
agent noteI grasped the left (blue-lettered) block and delivered it to the right (red-lettered) block twice, but both releases landed it beside rather than on top of the red block — the two blocks now sit touching, side by side. Stacking was not achieved within the call budget.
done
hindsightKey hard-won facts for this rig: (1) The wrist camera massively exaggerates radial distance — an object that looks 10-15 cm ahead in the wrist view is often only 2-4 cm away, and I wasted ~15 calls overshooting. Do NOT convert wrist-image pixels to cm with a single scale. (2) The best depth cue by far was the IDLE arm's wrist camera used as a side observer: with the observer at j0≈0.9 looking at the other arm's workspace, its image-x axis mapped almost 1:1 to the working arm's RADIAL direction and its image-y to the working arm's LATERAL (j0) direction — work out this projection explicitly from the two base poses; it's what finally made the grasp succeed. (3) Set up the observer arm FIRST, before any grasp attempt. (4) The planar-FK z bias for the left arm here was ~+0.09 m (FK reads 0.09 when fingertips touch the table). Blocks are ~4.3 cm cubes (gripper residual 0.42-0.45). (5) Placement is the hard part: the fingertip must end at z_actual ≈ 0.07 (FK ≈0.16) to set a block on another, and lateral/radial alignment must be within ~1 cm — verify with the observer camera immediately before opening, not with the working arm's own wrist cam.
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8371 left_j1=1.5406 left_j2=1.5162 left_j3=-0.9588 left_j4=-0.0158 left_j5=-0.5816 left_gripper=0.9969 right_j0=0.8948 right_j1=1.2083 right_j2=1.7405 right_j3=-1.6073 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997 state[joint_eff]: [-0.0615, -7.9385, 6.4068, 1.8242, -0.0757, -0.0073, 0.1343, -0.1983, -2.441, 4.8068, 1.1306, -0.0708, -0.0562, -0.0122] camera 'top_cam' (step 442): [image omitted: streamed camera frame] camera 'left_cam' (step 442): [image omitted: streamed camera frame] camera 'right_cam' (step 442): [image omitted: streamed camera frame]
assistant
done({"summary": "I grasped the left (blue-lettered) block and delivered it to the right (red-lettered) block twice, but both releases landed it beside rather than on top of the red block \u2014 the two blocks now sit touching, side by side. Stacking was not achieved within the call budget.", "hindsight": "Key hard-won facts for this rig: (1) The wrist camera massively exaggerates radial distance \u2014 an object that looks 10-15 cm ahead in the wrist view is often only 2-4 cm away, and I wasted ~15 calls overshooting. Do NOT convert wrist-image pixels to cm with a single scale. (2) The best depth cue by far was the IDLE arm's wrist camera used as a side observer: with the observer at j0\u22480.9 looking at the other arm's workspace, its image-x axis mapped almost 1:1 to the working arm's RADIAL direction and its image-y to the working arm's LATERAL (j0) direction \u2014 work out this projection explicitly from the two base poses; it's what finally made the grasp succeed. (3) Set up the observer arm FIRST, before any grasp attempt. (4) The planar-FK z bias for the left arm here was ~+0.09 m (FK reads 0.09 when fingertips touch the table). Blocks are ~4.3 cm cubes (gripper residual 0.42-0.45). (5) Placement is the hard part: the fingertip must end at z_actual \u2248 0.07 (FK \u22480.16) to set a block on another, and lateral/radial alignment must be within ~1 cm \u2014 verify with the observer camera immediately before opening, not with the working arm's own wrist cam."})
tool
done: I grasped the left (blue-lettered) block and delivered it to the right (red-lettered) block twice, but both releases landed it beside rather than on top of the red block — the two blocks now sit touching, side by side. Stacking was not achieved within the call budget.
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 · 3.276 s
model
claude-opus-5
effort
low
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=-0.0048 left_j1=0.0051 left_j2=0.0067 left_j3=-0.0483 left_j4=0.0025 left_j5=-0.0185 left_gripper=0.9994 right_j0=0.0025 right_j1=0.0017 right_j2=0.0059 right_j3=-0.0437 right_j4=-0.0067 right_j5=0.0029 right_gripper=0.9997\nstate[joint_eff]: [0.3214, 1.2103, 6.4479, 2.2979, -0.0757, 0.1392, -0.0708, -0.3214, 1.6479, 6.6667, 2.3712, 0.0366, -0.0806, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
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        "data": "$blob:7c5d3af6ab7193378ce504fe7a5e63c9f47e55a5b6ae393e2f3e147e8cd7c685",
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    {
      "text": "camera 'left_cam' (step 0):",
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call 1 attempt 0 · /messages · status 200 · 6.272 s
model
claude-opus-5
effort
low
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=-0.0048 left_j1=0.0051 left_j2=0.0067 left_j3=-0.0483 left_j4=0.0025 left_j5=-0.0185 left_gripper=0.9994 right_j0=0.0025 right_j1=0.0017 right_j2=0.0059 right_j3=-0.0437 right_j4=-0.0067 right_j5=0.0029 right_gripper=0.9997\nstate[joint_eff]: [0.3214, 1.2103, 6.4479, 2.2979, -0.0757, 0.1392, -0.0708, -0.3214, 1.6479, 6.6667, 2.3712, 0.0366, -0.0806, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
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    {
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      "text": "camera 'left_cam' (step 0):",
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      "text": "camera 'right_cam' (step 0):",
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      "signature": "CAISvQMKjAEIEBgCKkAHWAYIBn/xlDb+ASac7OrJ5nPRFJtwTJ7+o/9wiMw4WcG3kHtCraBvKvbCQ4IBbOokAWEPBvLzeb7kZVmozTiFMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM9xZTiSQwOrKdVyDgGgwBdTbobnOZ8fZ2ZmEiMIZb5OtWrAHiAnHs5N0BEMuxwd6NY8XNYM7o6tC+P/tgOZPMVFUY26uLHu1lnJNzkSrdAYqJr8djiwXf9og8Dq7NRSMr3khV14bFKbjCYocHIYpQCSQke8RLs8pV3rXvPPkd/YIY/eQGmL2b+YJimDRhfQIikEfKpzkDqaLg1Fin7W370/OL1bl6t/cnyNNredD2WxvCfrCEBe4Vd4zWsgCUmiB8vqgW404ueXWGvtCd/mI1c/cHaSvxVPMZLOFvG59H7r3XaUX/VE04XzeV4EgBDYoJnJbIq2R+7GfTX6jFPOLRZ8oGyEPK4ATCoS06S2WtOZIeOYP3CheEx0In4fU8lh+AKkhOjrSUIQ5Tm62pGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UVJVrfK9WZxQJAmnSciwbM",
      "input": {
        "note": "Both arms folded; two blocks (blue left, red right) sit near the bottom edge of the overhead view, close to the bases. Raising both arms to clear the view and get a better look.",
        "targets": {
          "left_j1": 0.8,
          "left_j2": 1.4,
          "left_j3": -0.6,
          "right_j1": 0.8,
          "right_j2": 1.4,
          "right_j3": -0.6
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 23 steps (2.3s)",
      "tool_use_id": "toolu_01UVJVrfK9WZxQJAmnSciwbM",
      "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=-0.0059 left_j1=0.7891 left_j2=1.3567 left_j3=-0.6052 left_j4=0.0029 left_j5=-0.0307 left_gripper=0.9993 right_j0=0.0032 right_j1=0.7937 right_j2=1.3499 right_j3=-0.6788 right_j4=-0.0151 right_j5=-0.0006 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, 0.9094, 7.1863, 1.9853, -0.0171, 0.0708, -0.0171, -0.3761, 0.4308, 7.706, 2.6349, 0.0415, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9aab496f79d2192e5c57fbf51cd5458b74d9403192e6c699c4dcb32241ee56c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ec058884bdb8b7a0772f7021bb98443af361fe123ae7b4a2f4d630c1cccff16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4be1e953adafb6017cf77782d7c2b474776af99e3c944b0bc30ad968b0d57754",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 9aab496f79d2
wire blob 3ec058884bdb
wire blob 4be1e953adaf
call 2 attempt 0 · /messages · status 200 · 5.273 s
model
claude-opus-5
effort
low
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=-0.0048 left_j1=0.0051 left_j2=0.0067 left_j3=-0.0483 left_j4=0.0025 left_j5=-0.0185 left_gripper=0.9994 right_j0=0.0025 right_j1=0.0017 right_j2=0.0059 right_j3=-0.0437 right_j4=-0.0067 right_j5=0.0029 right_gripper=0.9997\nstate[joint_eff]: [0.3214, 1.2103, 6.4479, 2.2979, -0.0757, 0.1392, -0.0708, -0.3214, 1.6479, 6.6667, 2.3712, 0.0366, -0.0806, -0.0366]",
      "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=-0.0059 left_j1=0.7891 left_j2=1.3567 left_j3=-0.6052 left_j4=0.0029 left_j5=-0.0307 left_gripper=0.9993 right_j0=0.0032 right_j1=0.7937 right_j2=1.3499 right_j3=-0.6788 right_j4=-0.0151 right_j5=-0.0006 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, 0.9094, 7.1863, 1.9853, -0.0171, 0.0708, -0.0171, -0.3761, 0.4308, 7.706, 2.6349, 0.0415, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9aab496f79d2192e5c57fbf51cd5458b74d9403192e6c699c4dcb32241ee56c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ec058884bdb8b7a0772f7021bb98443af361fe123ae7b4a2f4d630c1cccff16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4be1e953adafb6017cf77782d7c2b474776af99e3c944b0bc30ad968b0d57754",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 9aab496f79d2]
[blob 3ec058884bdb]
[blob 4be1e953adaf]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JD6PEtA8KrjHcJkf8DpqVW",
      "input": {
        "note": "Moving the left arm to a gripper-down pose at roughly 35 cm forward, 15 cm high, to calibrate the overhead view scale and locate the arm relative to the blocks.",
        "targets": {
          "left_j0": 0.0,
          "left_j1": 2.06,
          "left_j2": 1.66,
          "left_j3": -1.17
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 21 steps (2.1s)",
      "tool_use_id": "toolu_01JD6PEtA8KrjHcJkf8DpqVW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0048 left_j1=2.0357 left_j2=1.6299 left_j3=-1.1347 left_j4=0.0032 left_j5=-0.0376 left_gripper=0.9993 right_j0=0.0036 right_j1=0.7975 right_j2=1.3479 right_j3=-0.7258 right_j4=-0.0147 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.5128, -10.4137, 8.5675, 0.1685, -0.0708, 0.0073, -0.0171, -0.1026, 0.4308, 5.5043, 2.42, -0.0464, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:175c3b9e8400909596612a5f267397cfe76dd024b28e8e901ed16ab9619ecead",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25c5e37b6d73ab803efbb781cfb53c427f94aa5b9efa4e8552a6ccb11cd351f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1cde2229ce770f4a79834f7fa6eeaa1aea4264f8f6cb914aa0aa5c159b54ec3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 175c3b9e8400
wire blob 25c5e37b6d73
wire blob 1cde2229ce77
call 3 attempt 0 · /messages · status 200 · 5.898 s
model
claude-opus-5
effort
low
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=-0.0048 left_j1=0.0051 left_j2=0.0067 left_j3=-0.0483 left_j4=0.0025 left_j5=-0.0185 left_gripper=0.9994 right_j0=0.0025 right_j1=0.0017 right_j2=0.0059 right_j3=-0.0437 right_j4=-0.0067 right_j5=0.0029 right_gripper=0.9997\nstate[joint_eff]: [0.3214, 1.2103, 6.4479, 2.2979, -0.0757, 0.1392, -0.0708, -0.3214, 1.6479, 6.6667, 2.3712, 0.0366, -0.0806, -0.0366]",
      "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=-0.0059 left_j1=0.7891 left_j2=1.3567 left_j3=-0.6052 left_j4=0.0029 left_j5=-0.0307 left_gripper=0.9993 right_j0=0.0032 right_j1=0.7937 right_j2=1.3499 right_j3=-0.6788 right_j4=-0.0151 right_j5=-0.0006 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, 0.9094, 7.1863, 1.9853, -0.0171, 0.0708, -0.0171, -0.3761, 0.4308, 7.706, 2.6349, 0.0415, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0048 left_j1=2.0357 left_j2=1.6299 left_j3=-1.1347 left_j4=0.0032 left_j5=-0.0376 left_gripper=0.9993 right_j0=0.0036 right_j1=0.7975 right_j2=1.3479 right_j3=-0.7258 right_j4=-0.0147 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.5128, -10.4137, 8.5675, 0.1685, -0.0708, 0.0073, -0.0171, -0.1026, 0.4308, 5.5043, 2.42, -0.0464, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:175c3b9e8400909596612a5f267397cfe76dd024b28e8e901ed16ab9619ecead",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25c5e37b6d73ab803efbb781cfb53c427f94aa5b9efa4e8552a6ccb11cd351f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1cde2229ce770f4a79834f7fa6eeaa1aea4264f8f6cb914aa0aa5c159b54ec3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 175c3b9e8400]
[blob 25c5e37b6d73]
[blob 1cde2229ce77]
{
  "content": [
    {
      "signature": "CAIStQoKjAEIEBgCKkCOdzXnEB65M0qYKamqXa8XO3tk4VCNTwEqAoUeH6EjQUnuDA2UXh0GBNqLPj4Blf2aSYLGHohO8lzLXRX15oTuMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMPgZEy5HVYnmCCUfUGgxDsJlVmTckeeztH5AiMAbMxz4U1uzwqf/dSXT9Y3DRL25JPFdrYGc1Ep8I6egPren+43x0/rzgK4NlJ6l3CirVCKSqbJzxicFIJJ9VHjL9zQphxMDZOT6Bat00DqVJcffAM6teZsBa0xhQlehjbeCEGKEVhFF458UqDecnW3M8Ow1OibnVGPSjN2qDVp/GtjO39ZkASGm+gvUz53y1f40NvC+eITqO+D5w6a3j7JVsokeBUuXpVWEFzCo2q9PqtklEdGX1FFcIQmINzWd34/xk0pROpFIjG0kKr5STo1FqK52odz956tIaHd1MkRD1nSqaBKXQ7vFEDkwsM9odaQW1tenKMs0moVjI5MRsrzcbVGZAObXjapdrXSk8dO2woFp5ITbVAWf+BG00uQDGQBxD86xcU8T15YI6sVVQLb+RlRiVVl/J8bkcK/vK60j5PY0RxrV0Mk1LZl0rTWfU0uP0DqlGrUHS4lsyywvkyX0jvj0gTi8lPMYolWFfmecstLgMj1HxEUXCPrAZoWKiLhrmpPrDMgGJYPkpa1H1zd9zCjXptbdJNjSmT32IdDJqmyl1zxwTFWJSTNqqUXjQLX6QvqL3Wg1iaseMO+VBBy+5+z7DsOgvDYiXfOFoYSqiPeGxrOT8XvRZtYrsPBQDb8+8eUTWAbtJZxdt46TJBv9HbtKXAFAN0oWO+jXCUzm93s9LjeUkvmWyjXDPlLdgKu4WojE+qIKVcAaHxU1z89zzmRLbBCtACLXb9hfc8uIITAOef9ulxEBdWNgz6JEuonKmqv8jmC2ljobOPzV1zlaSm/0ltVNs8mHwn6oWpKg5GzdBlkEXtNmjo0/mJKKJTAOoIm3RSmcODluSsE7A82x0TsKdgJMx7eoJ2QWaCt9OzAiLpSLsFoXZsy96PCFqGeUELcuIkT4pxCjvfXa76A8RwzKa/D/Xj9hKUb2lmhOhvZjNgDtSlz5EecKIxP+zZEz0/bumvkhY693O+fg5iKDVg3hfNVImJvQD1VJAyvzzJxsL790zJBrLXH03SY24MZKzCImZaZTiFxLR53Rg8GtgcNBX6UQsw73CnsE5sDidUzJ+hBeW64sWcle1LImJOxEJVut1pH8N6HULrKbjoAEHRdVSz+TdXRhQVEWUBtquzZEuc+DyRzu+Q13UQ1fHS4mRD9EXhAVyQxJn1tLxtRAHL5L+TmLfFY75ku6yWb0lcX55w3Pa1SE1ntqkwq9rh9pdUnGB1zujRJGlX641p7qO9K8rbT96Yk8MVKJwZSPpUYsFo+okKVS3PpxaDCoRxJ1U5rPRTlRYEdvYGow44Vw0TvNbvqGu8dbbp9/uIKto+g3vk+448FGorakX64TQ+0NH7dW9ClhnjAD9eoPNiUtHDcKn3qybXSaLgSIGcKk0YX3jkyAqHgkc9c5lB1Z0zyN6n7yePYaUh0lf6j2/qnL1w0+hWO5UTRM7KBm5xfwkUOkxN4zfXnfbfZc9G3czc+wvRHvfDMqIpqmVebZyfMnS4sUm+7GW/hcJQ17uwD7KNHtvoYrXlfkrw5BroW2InJNxqye0M1EbGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BAZx7NvRJiwc2LaboTtYv1",
      "input": {
        "note": "Left gripper now visible in the overhead view at upper-left of the blocks; swinging the base 0.3 rad to the arm's right to calibrate pixels-per-cm and head toward the blue block.",
        "targets": {
          "left_j0": -0.3
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01BAZx7NvRJiwc2LaboTtYv1",
      "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=-0.2886 left_j1=2.0701 left_j2=1.6352 left_j3=-1.1568 left_j4=0.0074 left_j5=-0.0429 left_gripper=0.9993 right_j0=0.0036 right_j1=0.7967 right_j2=1.3476 right_j3=-0.7509 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.4991, -13.2855, 5.3128, 0.4225, -0.0708, 0.0024, -0.0122, -0.0205, 0.5265, 5.3538, 2.1221, -0.0122, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:425dec4d892938a0018d225dabde0e2b0c06feafc0e78f168d1b41b4ae90bb5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:877317277b4b473bdb45b6714526c1b92aa3fad61d73306bc30a55e162857cdf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4d5e13f7a6ae32a2f8aa9732bcc311745b70ac7f3747dd79013123da64120021",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 425dec4d8929
wire blob 877317277b4b
wire blob 4d5e13f7a6ae
call 4 attempt 0 · /messages · status 200 · 10.53 s
model
claude-opus-5
effort
low
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=-0.0059 left_j1=0.7891 left_j2=1.3567 left_j3=-0.6052 left_j4=0.0029 left_j5=-0.0307 left_gripper=0.9993 right_j0=0.0032 right_j1=0.7937 right_j2=1.3499 right_j3=-0.6788 right_j4=-0.0151 right_j5=-0.0006 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, 0.9094, 7.1863, 1.9853, -0.0171, 0.0708, -0.0171, -0.3761, 0.4308, 7.706, 2.6349, 0.0415, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0048 left_j1=2.0357 left_j2=1.6299 left_j3=-1.1347 left_j4=0.0032 left_j5=-0.0376 left_gripper=0.9993 right_j0=0.0036 right_j1=0.7975 right_j2=1.3479 right_j3=-0.7258 right_j4=-0.0147 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.5128, -10.4137, 8.5675, 0.1685, -0.0708, 0.0073, -0.0171, -0.1026, 0.4308, 5.5043, 2.42, -0.0464, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2886 left_j1=2.0701 left_j2=1.6352 left_j3=-1.1568 left_j4=0.0074 left_j5=-0.0429 left_gripper=0.9993 right_j0=0.0036 right_j1=0.7967 right_j2=1.3476 right_j3=-0.7509 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.4991, -13.2855, 5.3128, 0.4225, -0.0708, 0.0024, -0.0122, -0.0205, 0.5265, 5.3538, 2.1221, -0.0122, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:425dec4d892938a0018d225dabde0e2b0c06feafc0e78f168d1b41b4ae90bb5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:877317277b4b473bdb45b6714526c1b92aa3fad61d73306bc30a55e162857cdf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d5e13f7a6ae32a2f8aa9732bcc311745b70ac7f3747dd79013123da64120021",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 425dec4d8929]
[blob 877317277b4b]
[blob 4d5e13f7a6ae]
{
  "content": [
    {
      "signature": "CAISlAoKjAEIEBgCKkAznOU589BU5t+hCq3GrGCgkWEmWtPE6gB1dvyOMMf0GokAwVmZguhH6LjAcIQ6lnMOOGx9FUpoLehz0FpmOnWZMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM6tgbNSqpWzaecy6QGgyEPwhqIG8roJVIWVoiMOfkrvxcGIcgcUoFIlTaLvi/fFoRFE7yxofyBPrgyjieCzHPr9pL2L+PyKml/3cZUyq0CAJHjLKU0H6DXZ/kGSZjyqgltsbbyaYLsDlEYQOymk4UjGkqz4Fft31LMOpHjjevKnsFni8am/P539reP3ZqrPGkQ3ez4HtXhS7fea770TMrAYAPyurKIqOuDUfWQqsgPN2u1CC8s5WZgXZs7Jzn1E+Ffs/YRf9x7vsuYsYJLlkofUbDDHHHTVbSmNepYStGyAUXqCsdEuDlM0MUEDm/cHSCVMiSJiLLO3ARKELP11mzNYYXeLRKzrCSSwmfFhgaGt0zDMbeBklTRz9OQozL3L84oR6hZIwnj+6vVPR4ZOuBTTWObXtEs4zwQbNZ3hmdeezVwVmmlsObEbJLqqL2y//M6VhKm5DsIPW9dMBkcaA5ST71EuHyvBoIVsvH4h2ZVI1HQQrbtJcpm8ti3x8ZGpP58HT/DZugM8FAizOKaAibSePWNZDZORAQ+dsW6WLMYhS56nRdTFimQCtpDwfYJG2o2a0ftUT+N7HkZS2rroz/Hc1TTZ3Tly+/MlSJCRZD14JoY1idN+sSkKSg1lkvXOvIMtIySTcUI9U+XoGrKxIs85jQ4y89DCJWk/XylrfOcQpsojigDiYSquniUn/9TGRZ4p0sIimDuWdshwxrUIp43yriQhSu2gkoeycSJLR65ocP12YOEoY21gfQpoFYHmscQUVTVU/Ej1Wfymyl7/dMghbpScHF1Guz0v0l+9wGr574OJwAk4CYBvfoFmxes4Z+q55BaASaI/03bYUqt0ZE7z6TYAQYJb3MVcZwWUMvkzPv+IORR2S5DlFG3H/HZw85DRZ1Pk5jM9Arm5Bg2/CQjs9WqOk5rvPPHf9FqbCE5g5T6YEYmLjD0dTYPmzxzBcKgxhBAKk0f/JCa8lzh510NoFrPPcBYi5VSKHnlQMn5aeMdPpW5KB+zuEdQ+UtY78OAKgWJcqkc8qv+5XUYcwhX550Yjf1vYfPUlDn2261YHWNqs4sr/cbvGtCvM9qDj1qpQFbgWPGqI/7w7WD+s4pntiMuPbE8tCR2TCRq8OnXzsgNs70gqJVsCE4bzyFIcTj6b0m6+LMa5sIhoSBhQjD1cxa04tlruXiw12hcUK5EwVOWi1ykcTbmGQoxiyeHtBE4wKm7q0Co06R4dg5ttur5aNNOnn/JOqvkfWwdVcvAHjMTjp3dkFyHX1g5wBUSWlYJ0QI2WbequXGzwyRYb9N6RVOgUG7SPtFTNMAr8SrQiCt4wGoeCJOn+l9BRlS1i2Ud1EBj702pk6ZSRLEHUZLA3+C+fjPggCxNo8M7+qlTSsVB4hHcjawtpafiJ8trS1QlV5zxN7WPWOus7w5u4rbNsa2Bx+GdZcJv1MK7xnDz6uyDEEBXUqMftA3B0QbyDdEJvYuDxG/olUYe8CQXapcHAFhrXOyRHW5GF1qaLCSGsNvQx9KyJMjRz2NL36LrFXAMewwGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018j4QdG23GJz5eUwVdoH8Uu",
      "input": {
        "note": "Lowering the gripper to near table level at the same 35 cm radius so I can see where the fingertips actually land in the overhead image without parallax from height.",
        "targets": {
          "left_j1": 2.35,
          "left_j2": 1.52,
          "left_j3": -0.74
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_018j4QdG23GJz5eUwVdoH8Uu",
      "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=-0.2874 left_j1=2.2013 left_j2=1.5829 left_j3=-0.9993 left_j4=0.0154 left_j5=-0.0521 left_gripper=0.9987 right_j0=0.0036 right_j1=0.7986 right_j2=1.3422 right_j3=-0.7914 right_j4=-0.0147 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.4718, 0.8547, 0.3624, 2.7863, -0.1441, 0.0757, -0.0806, -0.0479, 0.4444, 5.8462, 2.3126, -0.0562, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2f3268563f87f504af48452a0a693c11ed4d053b1aafdbf448b677a2f9a9de4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:130d259d105ba5f7d74d5da9b4fc7e8c8fad8b36bfb6c7a30adc0a9c6044f7e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4627938e331c5b4f324708cf15e01c099850181e093794358e54e9139cd6a3b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob b2f3268563f8
wire blob 130d259d105b
wire blob 4627938e331c
call 5 attempt 0 · /messages · status 200 · 4.495 s
model
claude-opus-5
effort
low
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=-0.0048 left_j1=2.0357 left_j2=1.6299 left_j3=-1.1347 left_j4=0.0032 left_j5=-0.0376 left_gripper=0.9993 right_j0=0.0036 right_j1=0.7975 right_j2=1.3479 right_j3=-0.7258 right_j4=-0.0147 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.5128, -10.4137, 8.5675, 0.1685, -0.0708, 0.0073, -0.0171, -0.1026, 0.4308, 5.5043, 2.42, -0.0464, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2886 left_j1=2.0701 left_j2=1.6352 left_j3=-1.1568 left_j4=0.0074 left_j5=-0.0429 left_gripper=0.9993 right_j0=0.0036 right_j1=0.7967 right_j2=1.3476 right_j3=-0.7509 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.4991, -13.2855, 5.3128, 0.4225, -0.0708, 0.0024, -0.0122, -0.0205, 0.5265, 5.3538, 2.1221, -0.0122, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2874 left_j1=2.2013 left_j2=1.5829 left_j3=-0.9993 left_j4=0.0154 left_j5=-0.0521 left_gripper=0.9987 right_j0=0.0036 right_j1=0.7986 right_j2=1.3422 right_j3=-0.7914 right_j4=-0.0147 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.4718, 0.8547, 0.3624, 2.7863, -0.1441, 0.0757, -0.0806, -0.0479, 0.4444, 5.8462, 2.3126, -0.0562, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2f3268563f87f504af48452a0a693c11ed4d053b1aafdbf448b677a2f9a9de4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:130d259d105ba5f7d74d5da9b4fc7e8c8fad8b36bfb6c7a30adc0a9c6044f7e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4627938e331c5b4f324708cf15e01c099850181e093794358e54e9139cd6a3b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob b2f3268563f8]
[blob 130d259d105b]
[blob 4627938e331c]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VFAafFEM8ttxtRvaHaQ9n4",
      "input": {
        "note": "The blue block is right of and closer to the base than my fingertips (it's absent from the wrist view, confirming it's inside my current radius); moving to hover ~6 cm above the estimated block position at r≈0.29, j0≈-0.69.",
        "targets": {
          "left_j0": -0.69,
          "left_j1": 2.11,
          "left_j2": 1.24,
          "left_j3": -0.73
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_01VFAafFEM8ttxtRvaHaQ9n4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6487 left_j1=2.022 left_j2=1.3155 left_j3=-0.7677 left_j4=0.0105 left_j5=-0.065 left_gripper=0.9986 right_j0=0.0032 right_j1=0.8024 right_j2=1.3403 right_j3=-0.8368 right_j4=-0.0147 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-1.3744, -2.3043, 0.7726, 0.3736, 0.0073, 0.0757, -0.022, -0.0889, 0.3487, 5.5316, 2.3468, -0.0317, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d182f716cbd4cc6fa0982e28c9938790b70e107c503d2cd46a55b07ecc80539",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9359d7b79fadf68dc25c580031f4601abab344fed85c5653c02bcb29526c3c6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e5154987e6ca10d94af28b2f632c23783aa5d62025f656c048c864150e95dcb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 4d182f716cbd
wire blob 9359d7b79fad
wire blob e5154987e6ca
call 6 attempt 0 · /messages · status 200 · 5.709 s
model
claude-opus-5
effort
low
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=-0.2886 left_j1=2.0701 left_j2=1.6352 left_j3=-1.1568 left_j4=0.0074 left_j5=-0.0429 left_gripper=0.9993 right_j0=0.0036 right_j1=0.7967 right_j2=1.3476 right_j3=-0.7509 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.4991, -13.2855, 5.3128, 0.4225, -0.0708, 0.0024, -0.0122, -0.0205, 0.5265, 5.3538, 2.1221, -0.0122, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.2874 left_j1=2.2013 left_j2=1.5829 left_j3=-0.9993 left_j4=0.0154 left_j5=-0.0521 left_gripper=0.9987 right_j0=0.0036 right_j1=0.7986 right_j2=1.3422 right_j3=-0.7914 right_j4=-0.0147 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.4718, 0.8547, 0.3624, 2.7863, -0.1441, 0.0757, -0.0806, -0.0479, 0.4444, 5.8462, 2.3126, -0.0562, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6487 left_j1=2.022 left_j2=1.3155 left_j3=-0.7677 left_j4=0.0105 left_j5=-0.065 left_gripper=0.9986 right_j0=0.0032 right_j1=0.8024 right_j2=1.3403 right_j3=-0.8368 right_j4=-0.0147 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-1.3744, -2.3043, 0.7726, 0.3736, 0.0073, 0.0757, -0.022, -0.0889, 0.3487, 5.5316, 2.3468, -0.0317, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d182f716cbd4cc6fa0982e28c9938790b70e107c503d2cd46a55b07ecc80539",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9359d7b79fadf68dc25c580031f4601abab344fed85c5653c02bcb29526c3c6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5154987e6ca10d94af28b2f632c23783aa5d62025f656c048c864150e95dcb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 4d182f716cbd]
[blob 9359d7b79fad]
[blob e5154987e6ca]
{
  "content": [
    {
      "signature": "CAIS9AYKjAEIEBgCKkBHCC6wjk4SSrSYtdcEY4TEYpiVCqsBEy2jlLWiPbQuOWqayYKYspzNk9esn902/irP/XrIdiaBgk2RbGmun1tXMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMVd2XyodLelezXaUUGgyoYOIcrxF+rpSZb0EiME3javEJ/ShyJ5hULBUh/3V2eRKc+ZgzNCFmXFJPF8s1Cg1+ixhXWe1C/dQkSiM0yyqUBThWwLwhsVVM8qF1g9aRx53RSeL+Qt/5LS4TmqwBZgcuC4BlJFxa7ZY+EcdLAzDUpRODHW3b3+QfhlbF6rajFiUQUov+Fpgy8rKeawuTveg/J90n6G3io29TckvZpgNPGbC5HjAbCPVBRzUPcGv3PGr60BLEv1OjojHQnLenkr99YTmM4fg7M6fGNMA0FJDObCK2xr0y2t21KOYibnjD4eT8DJMp1YG+CjxN+YFhOBqliFasc8shBd5mpQ9XbA7mn73IFbKs2AOfTh43AiI2+CbGDCoe+D7PrwNAX/YBA7iAeSnOs2ECa8JmEM6vxY+A2xEeOlNPRcE/V7hD5KUAG5KdF87aDjxAGCoeN2NcKi/vclGBX1zuATqxFhAY85HIL1LMbz9NAl1LZ3Z2Lo3SYC+NK5MmASnFpjcviccy2Nh5R/55yR2UGRd7/AnfK1mr8GbB/OV/+G4XRJh+Ji/UF3dWA5kMuov7u1oLM8jp8SY+q84lGAa8y/pw6rUlOIHxrRSnUIuVibbxLeSZWY23G/DP/hHyqHfuE4EOsOjx2R9Exw+irye49nV8IX+VdJQRe2hlpln9uhFPPwIse26Yk8/oHiSFIppN4PNLeKwWqmU0nEcxuYdMMRKUvK+fk+gHA6eutR2m/arXUkuwvtM+92pqN1XLeGAcOQtwDNPBwevg90XOm/7ouC0pSyb4LVApEsTBSvvQU+LVDKzwZGenWo6dicOPRJ8ZO+ZpSBsQUpGessJ1aIOfFe/+shNGJkok5xuQqWtWe1SpFaThDbutdaJoq2xurwg7tjaTW6K4odWByzLR8mnCJHKnLuHs9CJLixPgpizIvyBGEFUHKW9z596Ely6ZI9ZiWF4XN6qW9T+lcBBdnhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013ujYYAVEXWQ78wcv5TWhxw",
      "input": {
        "note": "The arm now occludes the blue block in the overhead view and the wrist camera sees only bare table, so I'm backing out ~4 cm in radius to bring the block into the wrist view for a proper alignment.",
        "targets": {
          "left_j1": 2.2,
          "left_j2": 1.43,
          "left_j3": -0.81
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_013ujYYAVEXWQ78wcv5TWhxw",
      "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=-0.659 left_j1=2.1002 left_j2=1.4441 left_j3=-0.8528 left_j4=0.0101 left_j5=-0.0834 left_gripper=0.9985 right_j0=0.0032 right_j1=0.8051 right_j2=1.3403 right_j3=-0.8616 right_j4=-0.0158 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.7179, -3.3983, 2.8376, 1.2821, -0.0073, 0.232, -0.0171, -0.335, 0.3624, 5.3949, 2.1661, 0.0269, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c465fd113942253c7c9010e8ac00e66606b66e0b0297fda0e902853774216b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8cc80127cdc03675c8383cc05a5fd86b2877bbbaf21211de4aa8d014b8cf0720",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ffae1f7dfc5b2cd050adb999f79360db6a71d4aecb48fc67ea35a823ce31f9d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 0c465fd11394
wire blob 8cc80127cdc0
wire blob ffae1f7dfc5b
call 7 attempt 0 · /messages · status 200 · 5.944 s
model
claude-opus-5
effort
low
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=-0.2874 left_j1=2.2013 left_j2=1.5829 left_j3=-0.9993 left_j4=0.0154 left_j5=-0.0521 left_gripper=0.9987 right_j0=0.0036 right_j1=0.7986 right_j2=1.3422 right_j3=-0.7914 right_j4=-0.0147 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.4718, 0.8547, 0.3624, 2.7863, -0.1441, 0.0757, -0.0806, -0.0479, 0.4444, 5.8462, 2.3126, -0.0562, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6487 left_j1=2.022 left_j2=1.3155 left_j3=-0.7677 left_j4=0.0105 left_j5=-0.065 left_gripper=0.9986 right_j0=0.0032 right_j1=0.8024 right_j2=1.3403 right_j3=-0.8368 right_j4=-0.0147 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-1.3744, -2.3043, 0.7726, 0.3736, 0.0073, 0.0757, -0.022, -0.0889, 0.3487, 5.5316, 2.3468, -0.0317, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.659 left_j1=2.1002 left_j2=1.4441 left_j3=-0.8528 left_j4=0.0101 left_j5=-0.0834 left_gripper=0.9985 right_j0=0.0032 right_j1=0.8051 right_j2=1.3403 right_j3=-0.8616 right_j4=-0.0158 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.7179, -3.3983, 2.8376, 1.2821, -0.0073, 0.232, -0.0171, -0.335, 0.3624, 5.3949, 2.1661, 0.0269, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c465fd113942253c7c9010e8ac00e66606b66e0b0297fda0e902853774216b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8cc80127cdc03675c8383cc05a5fd86b2877bbbaf21211de4aa8d014b8cf0720",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffae1f7dfc5b2cd050adb999f79360db6a71d4aecb48fc67ea35a823ce31f9d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 0c465fd11394]
[blob 8cc80127cdc0]
[blob ffae1f7dfc5b]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011Kq9QHafVLcVhNG4c8TdRq",
      "input": {
        "note": "Wrist view still shows only bare table, so I'm lifting the left arm clear to get an unobstructed overhead look and re-locate both blocks precisely.",
        "targets": {
          "left_j0": -0.3,
          "left_j1": 1.4,
          "left_j2": 1.6,
          "left_j3": -0.9
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 12 steps (1.2s)",
      "tool_use_id": "toolu_011Kq9QHafVLcVhNG4c8TdRq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3107 left_j1=1.438 left_j2=1.562 left_j3=-0.9241 left_j4=0.0105 left_j5=-0.0948 left_gripper=0.9986 right_j0=0.0036 right_j1=0.8089 right_j2=1.3365 right_j3=-0.9031 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.1026, -6.3932, 9.3333, 1.7802, -0.0513, 0.0806, -0.0073, -0.1299, 0.1026, 5.7094, 2.3321, -0.0562, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe1faaa823d1615f53c4e51e61ad19effd2c83e4bd9d4d7dfe088abc59b10d60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc3b902619af4952477d302e95c58b6184c127a6c23f5d5d5d0713ab8cdd1294",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3f5b74095942088b37ee36fb104b6d4546fdc0b18e26f87ebedb8a5714b2911d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob fe1faaa823d1
wire blob cc3b902619af
wire blob 3f5b74095942
call 8 attempt 0 · /messages · status 200 · 9.53 s
model
claude-opus-5
effort
low
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=-0.6487 left_j1=2.022 left_j2=1.3155 left_j3=-0.7677 left_j4=0.0105 left_j5=-0.065 left_gripper=0.9986 right_j0=0.0032 right_j1=0.8024 right_j2=1.3403 right_j3=-0.8368 right_j4=-0.0147 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-1.3744, -2.3043, 0.7726, 0.3736, 0.0073, 0.0757, -0.022, -0.0889, 0.3487, 5.5316, 2.3468, -0.0317, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.659 left_j1=2.1002 left_j2=1.4441 left_j3=-0.8528 left_j4=0.0101 left_j5=-0.0834 left_gripper=0.9985 right_j0=0.0032 right_j1=0.8051 right_j2=1.3403 right_j3=-0.8616 right_j4=-0.0158 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.7179, -3.3983, 2.8376, 1.2821, -0.0073, 0.232, -0.0171, -0.335, 0.3624, 5.3949, 2.1661, 0.0269, -0.0708, -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=-0.3107 left_j1=1.438 left_j2=1.562 left_j3=-0.9241 left_j4=0.0105 left_j5=-0.0948 left_gripper=0.9986 right_j0=0.0036 right_j1=0.8089 right_j2=1.3365 right_j3=-0.9031 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.1026, -6.3932, 9.3333, 1.7802, -0.0513, 0.0806, -0.0073, -0.1299, 0.1026, 5.7094, 2.3321, -0.0562, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe1faaa823d1615f53c4e51e61ad19effd2c83e4bd9d4d7dfe088abc59b10d60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc3b902619af4952477d302e95c58b6184c127a6c23f5d5d5d0713ab8cdd1294",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f5b74095942088b37ee36fb104b6d4546fdc0b18e26f87ebedb8a5714b2911d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob fe1faaa823d1]
[blob cc3b902619af]
[blob 3f5b74095942]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TqjGSVsLiWV76283fWJUij",
      "input": {
        "note": "Overhead shows only one red block at the bottom edge; my left wrist camera catches a coloured object at its right edge. Swinging j0 right to centre that object in the wrist view.",
        "targets": {
          "left_j0": -0.6
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01TqjGSVsLiWV76283fWJUij",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5774 left_j1=1.4509 left_j2=1.5623 left_j3=-0.9474 left_j4=0.0086 left_j5=-0.1062 left_gripper=0.9986 right_j0=0.0029 right_j1=0.8127 right_j2=1.3357 right_j3=-0.9329 right_j4=-0.0154 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -7.0359, 6.5573, 1.7265, 0.0122, 0.0952, -0.0171, -0.0205, 0.0068, 5.4769, 2.1661, -0.0317, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:058e2ed6f433dae8631490abfb37e1e7f88604081ce171c6aca0e02c9f7ebcd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72f8ff3aa1c21b2f669e46513ce0b2f6c4c89920e2dcc6fff300d4cc820f7c88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:af9edc912eb766482498e1853adb828494076a915c3f3c658ddaa9d544fde7e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 058e2ed6f433
wire blob 72f8ff3aa1c2
wire blob af9edc912eb7
call 9 attempt 0 · /messages · status 200 · 6.929 s
model
claude-opus-5
effort
low
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=-0.659 left_j1=2.1002 left_j2=1.4441 left_j3=-0.8528 left_j4=0.0101 left_j5=-0.0834 left_gripper=0.9985 right_j0=0.0032 right_j1=0.8051 right_j2=1.3403 right_j3=-0.8616 right_j4=-0.0158 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.7179, -3.3983, 2.8376, 1.2821, -0.0073, 0.232, -0.0171, -0.335, 0.3624, 5.3949, 2.1661, 0.0269, -0.0708, -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=-0.3107 left_j1=1.438 left_j2=1.562 left_j3=-0.9241 left_j4=0.0105 left_j5=-0.0948 left_gripper=0.9986 right_j0=0.0036 right_j1=0.8089 right_j2=1.3365 right_j3=-0.9031 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.1026, -6.3932, 9.3333, 1.7802, -0.0513, 0.0806, -0.0073, -0.1299, 0.1026, 5.7094, 2.3321, -0.0562, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5774 left_j1=1.4509 left_j2=1.5623 left_j3=-0.9474 left_j4=0.0086 left_j5=-0.1062 left_gripper=0.9986 right_j0=0.0029 right_j1=0.8127 right_j2=1.3357 right_j3=-0.9329 right_j4=-0.0154 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -7.0359, 6.5573, 1.7265, 0.0122, 0.0952, -0.0171, -0.0205, 0.0068, 5.4769, 2.1661, -0.0317, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:058e2ed6f433dae8631490abfb37e1e7f88604081ce171c6aca0e02c9f7ebcd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72f8ff3aa1c21b2f669e46513ce0b2f6c4c89920e2dcc6fff300d4cc820f7c88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af9edc912eb766482498e1853adb828494076a915c3f3c658ddaa9d544fde7e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 058e2ed6f433]
[blob 72f8ff3aa1c2]
[blob af9edc912eb7]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Gf2ouSXd3LFGuJcHysy96D",
      "input": {
        "note": "Wrist view now clearly shows both blocks: blue (the left block) nearer at image (152,182) and red farther at (178,130). Swinging right ~9 cm and descending to ~15 cm height to approach the blue block.",
        "targets": {
          "left_j0": -0.9,
          "left_j1": 1.84,
          "left_j2": 1.33,
          "left_j3": -0.89
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Gf2ouSXd3LFGuJcHysy96D",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8818 left_j1=1.813 left_j2=1.3487 left_j3=-0.9089 left_j4=0.0067 left_j5=-0.1131 left_gripper=0.9986 right_j0=0.0025 right_j1=0.8162 right_j2=1.3357 right_j3=-0.9703 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -8.3761, 5.6137, 0.7985, 0.0073, 0.0513, -0.0171, -0.1299, 0.1436, 5.4085, 2.2149, -0.022, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0eb1c6dd77be908bd3a668aa20899b4d1c208a10acee3c0f168f3424d79adab0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:082dcc31e83068dcafb3f5bace10b980724f59ebd85c520df5a3af5c9d866cb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d510e3e32f67b711460703dae93ba8f2c4337a4e391b97d6a420ea581827e2d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 0eb1c6dd77be
wire blob 082dcc31e830
wire blob d510e3e32f67
call 10 attempt 0 · /messages · status 200 · 4.862 s
model
claude-opus-5
effort
low
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=-0.3107 left_j1=1.438 left_j2=1.562 left_j3=-0.9241 left_j4=0.0105 left_j5=-0.0948 left_gripper=0.9986 right_j0=0.0036 right_j1=0.8089 right_j2=1.3365 right_j3=-0.9031 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.1026, -6.3932, 9.3333, 1.7802, -0.0513, 0.0806, -0.0073, -0.1299, 0.1026, 5.7094, 2.3321, -0.0562, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5774 left_j1=1.4509 left_j2=1.5623 left_j3=-0.9474 left_j4=0.0086 left_j5=-0.1062 left_gripper=0.9986 right_j0=0.0029 right_j1=0.8127 right_j2=1.3357 right_j3=-0.9329 right_j4=-0.0154 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -7.0359, 6.5573, 1.7265, 0.0122, 0.0952, -0.0171, -0.0205, 0.0068, 5.4769, 2.1661, -0.0317, -0.0317, -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=-0.8818 left_j1=1.813 left_j2=1.3487 left_j3=-0.9089 left_j4=0.0067 left_j5=-0.1131 left_gripper=0.9986 right_j0=0.0025 right_j1=0.8162 right_j2=1.3357 right_j3=-0.9703 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -8.3761, 5.6137, 0.7985, 0.0073, 0.0513, -0.0171, -0.1299, 0.1436, 5.4085, 2.2149, -0.022, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0eb1c6dd77be908bd3a668aa20899b4d1c208a10acee3c0f168f3424d79adab0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:082dcc31e83068dcafb3f5bace10b980724f59ebd85c520df5a3af5c9d866cb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d510e3e32f67b711460703dae93ba8f2c4337a4e391b97d6a420ea581827e2d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 0eb1c6dd77be]
[blob 082dcc31e830]
[blob d510e3e32f67]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012G3xPAsEKNL7H5uyDGaHJc",
      "input": {
        "note": "Blue block is now nearly column-aligned with the jaws but sits above the grasp point in the wrist view, i.e. farther out; extending radius by a calibrated 3 cm to measure the pixel-per-cm scale at this height.",
        "targets": {
          "left_j1": 1.94,
          "left_j2": 1.47,
          "left_j3": -0.93
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_012G3xPAsEKNL7H5uyDGaHJc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8829 left_j1=1.9198 left_j2=1.4319 left_j3=-0.934 left_j4=0.0101 left_j5=-0.1207 left_gripper=0.9986 right_j0=0.0025 right_j1=0.8192 right_j2=1.3357 right_j3=-0.9855 right_j4=-0.0154 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -8.9915, 7.8154, 0.569, -0.0806, 0.0464, -0.0171, -0.0342, 0.5812, 5.3949, 2.1465, -0.0366, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78736828df204fcf8bd246f2623b80ad328169eaf06228358b26fe16604b24da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c9ca87d59029231a503b96cf06b3aa4595a245854ee6a0c53bb24942418fdd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cc6f7a7bf4b83374cf2b852291e3cb8a56a216f57319431dd0402eef48f03be5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 78736828df20
wire blob 5c9ca87d5902
wire blob cc6f7a7bf4b8
call 11 attempt 0 · /messages · status 200 · 5.96 s
model
claude-opus-5
effort
low
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=-0.5774 left_j1=1.4509 left_j2=1.5623 left_j3=-0.9474 left_j4=0.0086 left_j5=-0.1062 left_gripper=0.9986 right_j0=0.0029 right_j1=0.8127 right_j2=1.3357 right_j3=-0.9329 right_j4=-0.0154 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -7.0359, 6.5573, 1.7265, 0.0122, 0.0952, -0.0171, -0.0205, 0.0068, 5.4769, 2.1661, -0.0317, -0.0317, -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=-0.8818 left_j1=1.813 left_j2=1.3487 left_j3=-0.9089 left_j4=0.0067 left_j5=-0.1131 left_gripper=0.9986 right_j0=0.0025 right_j1=0.8162 right_j2=1.3357 right_j3=-0.9703 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -8.3761, 5.6137, 0.7985, 0.0073, 0.0513, -0.0171, -0.1299, 0.1436, 5.4085, 2.2149, -0.022, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8829 left_j1=1.9198 left_j2=1.4319 left_j3=-0.934 left_j4=0.0101 left_j5=-0.1207 left_gripper=0.9986 right_j0=0.0025 right_j1=0.8192 right_j2=1.3357 right_j3=-0.9855 right_j4=-0.0154 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -8.9915, 7.8154, 0.569, -0.0806, 0.0464, -0.0171, -0.0342, 0.5812, 5.3949, 2.1465, -0.0366, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78736828df204fcf8bd246f2623b80ad328169eaf06228358b26fe16604b24da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c9ca87d59029231a503b96cf06b3aa4595a245854ee6a0c53bb24942418fdd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc6f7a7bf4b83374cf2b852291e3cb8a56a216f57319431dd0402eef48f03be5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 78736828df20]
[blob 5c9ca87d5902]
[blob cc6f7a7bf4b8]
{
  "content": [
    {
      "signature": "CAIS0gcKjAEIEBgCKkCO/+SJxOUFjh48BKrnZbjsVEcZELz5uhBoKJVVIaGf5nGqjI1OX6MBDrti+Sl1dBwSYQ40BM9bwgPP+qvs2IcnMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMOC0xBt+KJ/VfYAgGGgyBcN0mjqNecgmhWp8iMJ9t2bYnpepgI/7VeVo1J1kXyR+BvtvgaCWBZAXshhWYzwKaBtwdel7s1KOHxFVyHiryBb6jXEu0Zg2sA0lxoPDSOWLv12VkAtolZ5cfMyh2qDQIIjwpHYaw1uAwbh+iSibGoRHqT18OLFgxVOleu2ats0YHMFAcT8dH3eny5TJnV7oiV8nkG4Fwfy3L/N9c28jNX21lnWy/aBBonXNPpRQxC6WLuovL3C1WuSDXCXDga8YPkXG2rUB8TXIz1IiM61k2dS4aXfIhzcf3wEoKlSgXk003iQ9zJEJObxKX1KaPV2xF0oMOYwfKqfDTIrokOfN7hI02mRcibR1/ODIUjy3pS3nYTeQkfq+1ZsK6rQqdUDk16JhmeqYSuz/+Nt19T/weoqFKQ9GrglmZuLS5y4JbHZq4HsIS2OO/MRvj4lEcbxyXfnNqKLHX/8y3jfaYGCzP3SQvDlVyvdiUClGoPoaRvty2reIBmFgYKbdC6dDNrrwZEOQrfKPt5JgTCAIA5zlQJGO0wcusvtJiXOsDCxLGtCUweHyy2nanhBxXZnEXBaYScgNHF9ks4fDx1YVV0wM5ivBvOHYowebslXt7ibev825WaHvAACWEUGX4LNIDdy4rwap2ccjZ0w2/brzdFcM2o6ImZXxeicLQGSbiREEFSn6yATYExsP4CSgD/Mw6eD7T2AltrU3UaW5jieJ2HRD4Um1UXGw4yyJj+B9pH1dl/kILx0/2fdXMHHZQdIer1JX9i19j9qmGh7EcqU/aKqszkKAKaIbWyjBh1KRGtM0zJzuBoA0dOQo1QdGx4bcBKKO6SFTMdHCkMXYZSVbEoKe+vwpPSp47KywKNe9C2Vv0Hpm1dpEzEKwZHJ7Qt7FOv4rR9lsQjc+7IUqbqh268SqAX1C0Mfin8UY+raOOO8CLphHGwC2Q35gcJGNEsM/62NT84oujWBM3cXnKjBp4VYe2qJeICyksizOacK2P0nLIOOXjVBEwpA2vYk5IWVjWL2ENZh3mzGVU7vN4R9BSmsTMCVMU3/mMqppeS9KzNHxEX0xRHUxcBtDEq494YtM1VTQlhEoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RnkbM3MMoVuKh4bdzbPZP6",
      "input": {
        "note": "The 2.6 cm radial move shifted the block 25 px down in the wrist view (~9.6 px/cm); extending another ~4.5 cm to bring the block onto the grasp point while staying ~12 cm high.",
        "targets": {
          "left_j1": 2.15,
          "left_j2": 1.65,
          "left_j3": -0.9
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01RnkbM3MMoVuKh4bdzbPZP6",
      "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=-0.8829 left_j1=2.1357 left_j2=1.6009 left_j3=-0.9421 left_j4=0.0109 left_j5=-0.1333 left_gripper=0.9986 right_j0=0.0025 right_j1=0.823 right_j2=1.3357 right_j3=-1.0176 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -11.9179, 8.8547, 0.7448, -0.0073, 0.105, -0.0122, -0.1436, 0.4171, 5.4085, 2.1368, -0.0464, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a128ca7f895291ab191631e7c657b7043271e05e45e6032d0752a949031911d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2de08b9150b4818cdebf5d0f0fff3d16aa1c0f251a5c6e4d2f55ba4dc526dd6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3afd735df96590343cc661b90154d4c117a383b873c58f2a3ccb6ff939602364",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob a128ca7f8952
wire blob 2de08b9150b4
wire blob 3afd735df965
call 12 attempt 0 · /messages · status 200 · 2.949 s
model
claude-opus-5
effort
low
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=-0.8818 left_j1=1.813 left_j2=1.3487 left_j3=-0.9089 left_j4=0.0067 left_j5=-0.1131 left_gripper=0.9986 right_j0=0.0025 right_j1=0.8162 right_j2=1.3357 right_j3=-0.9703 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -8.3761, 5.6137, 0.7985, 0.0073, 0.0513, -0.0171, -0.1299, 0.1436, 5.4085, 2.2149, -0.022, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8829 left_j1=1.9198 left_j2=1.4319 left_j3=-0.934 left_j4=0.0101 left_j5=-0.1207 left_gripper=0.9986 right_j0=0.0025 right_j1=0.8192 right_j2=1.3357 right_j3=-0.9855 right_j4=-0.0154 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -8.9915, 7.8154, 0.569, -0.0806, 0.0464, -0.0171, -0.0342, 0.5812, 5.3949, 2.1465, -0.0366, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8829 left_j1=2.1357 left_j2=1.6009 left_j3=-0.9421 left_j4=0.0109 left_j5=-0.1333 left_gripper=0.9986 right_j0=0.0025 right_j1=0.823 right_j2=1.3357 right_j3=-1.0176 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -11.9179, 8.8547, 0.7448, -0.0073, 0.105, -0.0122, -0.1436, 0.4171, 5.4085, 2.1368, -0.0464, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a128ca7f895291ab191631e7c657b7043271e05e45e6032d0752a949031911d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2de08b9150b4818cdebf5d0f0fff3d16aa1c0f251a5c6e4d2f55ba4dc526dd6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3afd735df96590343cc661b90154d4c117a383b873c58f2a3ccb6ff939602364",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob a128ca7f8952]
[blob 2de08b9150b4]
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{
  "content": [
    {
      "signature": "CAIShQsKjAEIEBgCKkD8yXVYsTB1QgFOP0r2ntBAS0wloNkd9dQRkfwvWCXacxpe8RafB6HPTomlC/FeX5g3ypeKJZNeCmDn/5clR+xpMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM+cx/Y2KrObQNBvAXGgw4LXJf0fNy2XejMV8iMEWP4vgvuLzJEYq8qSQ3HLuh+rfXnNREf4MZIS42Kws7+6Bz/VMTWvUoo2tWKT5gziqlCQU1fVftiEorvzJ7pSK2HMNtga84RNJb80sAZway940AEF3Pi+p21HAvIQqabBBw5PhTCgY3OtJ66WnJt6EE+QalykmsbVpnhNUtdVx4IApGngoxYWIIK+jphk2Z8/2st02CxZNhIw/Xw9ion9azzLfETr8j221Ni5W03hUNhj8WWRdnTpyktDyuhkXvnE327pqzvwF3MDWd4v2M1HrZE2nbdU4nQK4pT188IfqDwhpRgkRrlx/XbMkHZPXstpMV8s7i4SFW73GtPkhwOVZ2ookUkmYkMunLsp2iB/kpeP4x7vP6u9zfWPyD0wg11U7TXgHON8iKXISs/1pRNR6KITLNKu0WhJXy9AW+Q8Wi9pvgzkWDHH4IeVE2DVHNh3rfllbKWgqPUv3tQkfc2t5zOvIQqYqIiCt7osIqIkA6YcBRNcJJxJ8nR8tlpfY/sRd7HgHTNzmu91wZcxO+S4x84lZ5xctPB75wUg0FJXEZyIrJ0qjXuAwXdRqHJqodP1oKu4BQWtYGepDYChXBVSIo/GMbj1TYuW/D6+4vB/8ARnBYVJaIewgn7xEe48Ex94MsQVW6ya5I2wIdVvM5lwynioJnsBpF7u4ECYKxFspEuPjsiFU2L5VpOHzYoD4QIehYjhQQjQZOzMQlzjm5KJOOHoJ/apTBvlDutyC3bSt5Xe0gJVyXigqRw3sRUqYaB5j1NEuuchMsAx5KVdSjY4ckjv8plJZqRfr+Ay0QraQ1t2olcvvtWucZa5rMcxI786TuovRPUP4NTvcTLQNNHRJlYxmZSpRNbi+nPDgnNWCsR+DXaBC9QydNfN/XyHpeT3QequALIwozd/v7BF2F1isi2azAltgeXBxbcxxmWAnpk2LWOQNeONpIBSBOJNtm6x+6pe4HDYDjjWuDn8Pm/g5sGlZi63rg2rQmb6ZhJrpOTzW8+2QjTnl3D1PGnX+NtKmv5lihZq1+EgDpkgUvJHNUQbh6zOpYSgC7W016k8XCZOqgr1/qD7sAqzjgmTJ2u/x6cXy5VFbyPQN/7neT1VtDWuR+t90fl2u4NTxb0PzBXglQDK266c6WgLd0hG1cZRL0cyp2Cyc/LMiNFYqRUUafztOJoE3gJCv9Qli2mWyhE/ePFsZ1Bu7kptPKUs56u+8f0/zv0jz7Ix/rMe1GXQhuxVxZ0WLd25uMlt+s9vQw3sAjaTrThTkfRPVNTLDpmM97e0MaLqCDuTLSi+4/BIXiqKAs60pM7PkKpAGk5uLCMDy2h+HhzfmcIZzABfLnxw5WgPs2Pgx8txhwdqNYaOY6fWn7UB2Kp/CZzh+bQCXiQz23feZEwqRzrJxV3teGacFgIP7krzH3ApICe5dHl2Md028u2aOCw1IanvhPd8SlBpzs11BKI87cluaeblc5NWnfWTYJhDjTKdN9sXHV9I31I92naEzRem79IR+wkzNr6tslzQvfVuXM3QDOBE3/p7RpWJ7q0pGTuZiD31asXFnNhFCC6TesSXuTSQbERjMnGE0XX2+PnzHv/rNnxnBTbf9/MbOMr5ndnjJhpSs1yeC5V/RHn3WEPCQBPIoJ9u8pqPybVISUnT4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018ALCKTFZgxBpMTgbcthRML",
      "input": {
        "note": "The blue block is now centred between the jaws in the wrist view; descending about halfway toward the table to close in on it.",
        "targets": {
          "left_j1": 2.24,
          "left_j2": 1.57,
          "left_j3": -0.82
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_018ALCKTFZgxBpMTgbcthRML",
      "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=-0.8829 left_j1=2.1841 left_j2=1.5963 left_j3=-0.897 left_j4=0.0109 left_j5=-0.1406 left_gripper=0.9985 right_j0=0.0025 right_j1=0.823 right_j2=1.3357 right_j3=-1.026 right_j4=-0.0154 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.3214, -8.8957, 4.6291, 0.5836, -0.0122, 0.0122, -0.0171, -0.0889, 0.3077, 5.3949, 2.0684, -0.0171, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6c84cadff7b0d8ed77491095eca792d4db9908e63f843727dac060b02a9d476",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bd0eea885383aa6ffbf71735520f6b1b3eb3e7c27e9fd41b512ae69850d7ed3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:61eb0498533eb772e5e7f621794e9fa998a66ea4a3e5bdf4e4d1200941950ce0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob d6c84cadff7b
wire blob 9bd0eea88538
wire blob 61eb0498533e
call 13 attempt 0 · /messages · status 200 · 3.721 s
model
claude-opus-5
effort
low
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=-0.8829 left_j1=1.9198 left_j2=1.4319 left_j3=-0.934 left_j4=0.0101 left_j5=-0.1207 left_gripper=0.9986 right_j0=0.0025 right_j1=0.8192 right_j2=1.3357 right_j3=-0.9855 right_j4=-0.0154 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -8.9915, 7.8154, 0.569, -0.0806, 0.0464, -0.0171, -0.0342, 0.5812, 5.3949, 2.1465, -0.0366, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8829 left_j1=2.1357 left_j2=1.6009 left_j3=-0.9421 left_j4=0.0109 left_j5=-0.1333 left_gripper=0.9986 right_j0=0.0025 right_j1=0.823 right_j2=1.3357 right_j3=-1.0176 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -11.9179, 8.8547, 0.7448, -0.0073, 0.105, -0.0122, -0.1436, 0.4171, 5.4085, 2.1368, -0.0464, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8829 left_j1=2.1841 left_j2=1.5963 left_j3=-0.897 left_j4=0.0109 left_j5=-0.1406 left_gripper=0.9985 right_j0=0.0025 right_j1=0.823 right_j2=1.3357 right_j3=-1.026 right_j4=-0.0154 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.3214, -8.8957, 4.6291, 0.5836, -0.0122, 0.0122, -0.0171, -0.0889, 0.3077, 5.3949, 2.0684, -0.0171, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6c84cadff7b0d8ed77491095eca792d4db9908e63f843727dac060b02a9d476",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bd0eea885383aa6ffbf71735520f6b1b3eb3e7c27e9fd41b512ae69850d7ed3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61eb0498533eb772e5e7f621794e9fa998a66ea4a3e5bdf4e4d1200941950ce0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob d6c84cadff7b]
[blob 9bd0eea88538]
[blob 61eb0498533e]
{
  "content": [
    {
      "signature": "CAIStwIKjAEIEBgCKkBa2VCzOiaDL6k0w3HQbHxwDFk/tuvpK5Ck3QrJ+iVx7JwriWYqBN+39l9Zytnsm+0r9dRp9LHMEdmOFEXu3BpQMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMRza7R48Peyf1liruGgwgAFGYHzFl0AH5s8ciMNfi9lqEZMpgXV+1oblLoxDuJKphqqKIitMlTlBcnUG+u4xZwOKxi3y6HAjiQp4HhCpYPxNf6fYNhcDpa3K2dSWo5ZoHHc0Z7l8D2ad+6X4wNCunJ2EqOkKkXdI7+Uex82UPD6UMr1HPZa2fzByXXB9Eth9lJWldc0aJsYF8rMqr4VQ23FX08G3/VxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YGersHwqNAcH8YXWjNk9qw",
      "input": {
        "note": "Continuing the descent to table level with the blue block still centred between the jaws.",
        "targets": {
          "left_j1": 2.35,
          "left_j2": 1.53,
          "left_j3": -0.69
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01YGersHwqNAcH8YXWjNk9qw",
      "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=-0.8829 left_j1=2.2024 left_j2=1.5925 left_j3=-0.8566 left_j4=0.0036 left_j5=-0.1551 left_gripper=0.9985 right_j0=0.0029 right_j1=0.8276 right_j2=1.3346 right_j3=-1.0584 right_j4=-0.0154 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, 0.253, 0.759, 1.8339, 0.0513, 0.105, -0.0122, -0.0889, -0.0615, 5.4906, 2.1074, -0.0024, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c514c4a1398f88ec8c9405c8c2bfe91141836843f52a629cbeaa405853f69cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ffe53de1a19dd15130040eb3f4966ea2f3f1c72285a426da05985cd5b455942",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2e43131b22ac3736a1b00244c291775a61540b04b95edb925f92f7f6dda2e7e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 6c514c4a1398
wire blob 7ffe53de1a19
wire blob 2e43131b22ac
call 14 attempt 0 · /messages · status 200 · 3.607 s
model
claude-opus-5
effort
low
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=-0.8829 left_j1=2.1357 left_j2=1.6009 left_j3=-0.9421 left_j4=0.0109 left_j5=-0.1333 left_gripper=0.9986 right_j0=0.0025 right_j1=0.823 right_j2=1.3357 right_j3=-1.0176 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -11.9179, 8.8547, 0.7448, -0.0073, 0.105, -0.0122, -0.1436, 0.4171, 5.4085, 2.1368, -0.0464, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8829 left_j1=2.1841 left_j2=1.5963 left_j3=-0.897 left_j4=0.0109 left_j5=-0.1406 left_gripper=0.9985 right_j0=0.0025 right_j1=0.823 right_j2=1.3357 right_j3=-1.026 right_j4=-0.0154 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.3214, -8.8957, 4.6291, 0.5836, -0.0122, 0.0122, -0.0171, -0.0889, 0.3077, 5.3949, 2.0684, -0.0171, -0.0513, -0.0122]",
      "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=-0.8829 left_j1=2.2024 left_j2=1.5925 left_j3=-0.8566 left_j4=0.0036 left_j5=-0.1551 left_gripper=0.9985 right_j0=0.0029 right_j1=0.8276 right_j2=1.3346 right_j3=-1.0584 right_j4=-0.0154 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, 0.253, 0.759, 1.8339, 0.0513, 0.105, -0.0122, -0.0889, -0.0615, 5.4906, 2.1074, -0.0024, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c514c4a1398f88ec8c9405c8c2bfe91141836843f52a629cbeaa405853f69cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ffe53de1a19dd15130040eb3f4966ea2f3f1c72285a426da05985cd5b455942",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e43131b22ac3736a1b00244c291775a61540b04b95edb925f92f7f6dda2e7e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 6c514c4a1398]
[blob 7ffe53de1a19]
[blob 2e43131b22ac]
{
  "content": [
    {
      "signature": "CAIS+wMKjAEIEBgCKkBqodNxaafk69OiZO4CL3/T87Xy4Hm5Q8DFgUOvv7yznIht/Ri10qXf0MBS9UUmxWerpPdoxy55BmxHUkHF6WN1MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMmsJ6KIMKCn2oL/DJGgyPgEKKXXxlwOlbTYAiMG2NWpcEPcSt53Rj+sPEDPvfc1v4LPsrQSME6qa1fiabjKWBG3n5MIQYYZ9YftRUcCqbAnegY+wfzf6l/0wNsmAnGU1va2xOudaIOoZ9GjfnD7PEnxj3sI4omF/UUBFnFTI6h0TSAibxANZGReQcbC7XxR2v0BDVbBtJ/ujPeH3sm9SndNlAhE5/yzJqSFw+/Fvv0Oz7rtjVsTNH1f+I4Z6wDx8haPghNGVXDIZO3U/DNEjx9ARNiucuDxHTwCMoqIZAw71DowWbD0X3o9xGbSDSys2m6tzlLyBM5D7lKKK/hMtL3KQOdnxeOs4znjeYalCzleAsFsKRLE5mF7EtiMuZr7dXCu/YdEYu1bf09z+2o+HyzevZO/gEfC9X42wBBzMT6YgMRGHtFIcs+b+6sb6klLD2gueLNe20o0Pav2R6J6bFCpSOV88ojdO1PckYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DCsnu41jtmqYqhY5ZUEVCe",
      "input": {
        "note": "j1 stopped tracking with effort relaxing — fingertips have reached the table with the blue block between the jaws; closing the gripper.",
        "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_01DCsnu41jtmqYqhY5ZUEVCe",
      "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=-0.8829 left_j1=2.1918 left_j2=1.5982 left_j3=-0.833 left_j4=-0.0135 left_j5=-0.1623 left_gripper=0.0127 right_j0=0.0025 right_j1=0.8295 right_j2=1.3346 right_j3=-1.0832 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, -10.9197, 5.3812, 0.2906, 0.1587, 0.0513, 1.1062, -0.0479, 0.3624, 5.3949, 1.9902, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:854838c708eb8eeba1ce9da94a37df68b4879044590dd231dda26ef80aba7fc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57bce685c164b2ef32c97792b66b6a99791af5e49931dff371d20b05ee1484d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:65d887c44e61c122e77ce0bc52b00e795fe1fd076419d7a29ae401360a25adf3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 854838c708eb
wire blob 57bce685c164
wire blob 65d887c44e61
call 15 attempt 0 · /messages · status 200 · 3.872 s
model
claude-opus-5
effort
low
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=-0.8829 left_j1=2.1841 left_j2=1.5963 left_j3=-0.897 left_j4=0.0109 left_j5=-0.1406 left_gripper=0.9985 right_j0=0.0025 right_j1=0.823 right_j2=1.3357 right_j3=-1.026 right_j4=-0.0154 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.3214, -8.8957, 4.6291, 0.5836, -0.0122, 0.0122, -0.0171, -0.0889, 0.3077, 5.3949, 2.0684, -0.0171, -0.0513, -0.0122]",
      "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=-0.8829 left_j1=2.2024 left_j2=1.5925 left_j3=-0.8566 left_j4=0.0036 left_j5=-0.1551 left_gripper=0.9985 right_j0=0.0029 right_j1=0.8276 right_j2=1.3346 right_j3=-1.0584 right_j4=-0.0154 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, 0.253, 0.759, 1.8339, 0.0513, 0.105, -0.0122, -0.0889, -0.0615, 5.4906, 2.1074, -0.0024, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8829 left_j1=2.1918 left_j2=1.5982 left_j3=-0.833 left_j4=-0.0135 left_j5=-0.1623 left_gripper=0.0127 right_j0=0.0025 right_j1=0.8295 right_j2=1.3346 right_j3=-1.0832 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, -10.9197, 5.3812, 0.2906, 0.1587, 0.0513, 1.1062, -0.0479, 0.3624, 5.3949, 1.9902, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:854838c708eb8eeba1ce9da94a37df68b4879044590dd231dda26ef80aba7fc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57bce685c164b2ef32c97792b66b6a99791af5e49931dff371d20b05ee1484d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65d887c44e61c122e77ce0bc52b00e795fe1fd076419d7a29ae401360a25adf3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 854838c708eb]
[blob 57bce685c164]
[blob 65d887c44e61]
{
  "content": [
    {
      "signature": "CAISnwQKjAEIEBgCKkA2VRLgIW3VjNYIpY/bdlGMpSc8uuOUKbQiu3wCdhUqF3LNgJxs/a/xF7E4VWJ5FlP17Tf9kQsE6R1EokIhNkwbMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMLkMy1mTCdZ9bC76bGgxluIJLyc57nGXUALgiMNvL7TLlSvaiFTHIdxRyeV7we0EYd8rFm0816qGPGkrOPihQCTL6xEVRbq7hGzpZ2yq/AtAsgLYJitQOn4w/gjuL0iqNexkm2KDy4w0fmkL74NO9WH6GnDbOiTYai+Jr5FcIGQNvxmU1tCV0u+g/kwQkyUohbV7GPI0Yf28bjfQ58fmUcJJcXzBisFtosMJdqQyqvpTpbFwdtCco+XhITPwrj+oigGwG5kUel80QKaQGtiZHXjeQElkWQdvndHvu9OvFwOiq0rUCz/TZIykpdol+bImkMFnYQSWoeqWjh1MZ6xfoQ1ezwi6/SyO9g6KQFTZSDBx9i9ONf/UGi/ODtkaAcEVbAPUmDQLtA95gmkMWEmRCpAm+FqTx3MKEaZ8Tf2rkH1g+pWa95Ku1QQLGCSXFehHTe0SEXDJwgPFHA06fpFN6yif1JfXlU4EKK5oCjPCA91q+M/GalTn5/2zFjzXR+eTDnf1hDSIfNzixW192YogYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RynUf4sb49f2CgXgfSimd4",
      "input": {
        "note": "Gripper closed to a 1 mm residual, which suggests I may have caught nothing; lifting to check whether the blue block came with it.",
        "targets": {
          "left_j1": 2.0,
          "left_j2": 1.5,
          "left_j3": -0.9
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01RynUf4sb49f2CgXgfSimd4",
      "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=-0.8829 left_j1=2.0621 left_j2=1.5082 left_j3=-0.8841 left_j4=-0.0128 left_j5=-0.1658 left_gripper=0.0159 right_j0=0.0029 right_j1=0.8307 right_j2=1.3346 right_j3=-1.0927 right_j4=-0.0154 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.1299, -13.4222, 5.7778, 0.652, -0.0708, 0.0513, 0.5836, -0.1026, 0.5949, 5.3812, 1.8437, -0.0464, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c75691dd76c68ecf4475187bc7ad7e4a5bac35629464a7bb955319da4ccd47f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7326438421c1894543fcf0923920ed3348fcd8dc46167503b5ba045fbde714b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d9633eeef13ce72fcccdc349e0b417dd9ab0991cc7eb59d00ab6a6a6e3734ff6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 4c75691dd76c
wire blob c7326438421c
wire blob d9633eeef13c
call 16 attempt 0 · /messages · status 200 · 9.93 s
model
claude-opus-5
effort
low
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=-0.8829 left_j1=2.2024 left_j2=1.5925 left_j3=-0.8566 left_j4=0.0036 left_j5=-0.1551 left_gripper=0.9985 right_j0=0.0029 right_j1=0.8276 right_j2=1.3346 right_j3=-1.0584 right_j4=-0.0154 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, 0.253, 0.759, 1.8339, 0.0513, 0.105, -0.0122, -0.0889, -0.0615, 5.4906, 2.1074, -0.0024, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8829 left_j1=2.1918 left_j2=1.5982 left_j3=-0.833 left_j4=-0.0135 left_j5=-0.1623 left_gripper=0.0127 right_j0=0.0025 right_j1=0.8295 right_j2=1.3346 right_j3=-1.0832 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, -10.9197, 5.3812, 0.2906, 0.1587, 0.0513, 1.1062, -0.0479, 0.3624, 5.3949, 1.9902, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8829 left_j1=2.0621 left_j2=1.5082 left_j3=-0.8841 left_j4=-0.0128 left_j5=-0.1658 left_gripper=0.0159 right_j0=0.0029 right_j1=0.8307 right_j2=1.3346 right_j3=-1.0927 right_j4=-0.0154 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.1299, -13.4222, 5.7778, 0.652, -0.0708, 0.0513, 0.5836, -0.1026, 0.5949, 5.3812, 1.8437, -0.0464, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c75691dd76c68ecf4475187bc7ad7e4a5bac35629464a7bb955319da4ccd47f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7326438421c1894543fcf0923920ed3348fcd8dc46167503b5ba045fbde714b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9633eeef13ce72fcccdc349e0b417dd9ab0991cc7eb59d00ab6a6a6e3734ff6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 4c75691dd76c]
[blob c7326438421c]
[blob d9633eeef13c]
{
  "content": [
    {
      "signature": "CAIS0gQKjAEIEBgCKkDgFXx2WKSs0HUDTpBm6kU2T/+L2HZrkeht/57ZRvHORkVZTfDIFdEmbMo1azLUYbtzF/WiVZDjAAoqWN8rGJCDMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMt9/BdIm+pP8cyCsPGgyrMWMpYLbEO3TRtUsiMNsBD/txsZ53Dvv/PvJRgd2R2Ytuj6m2LUccR1Z9le3p4rGKGgpEjpjshIRM6ml/gyryAjHfsqsmY8OOvvvxrzhIJG8A9CTnX+hF294ZiT6CFT9+zjLClbBBBRSol2a+mJOF3dfvVl9g2W7EGIRD2ovfxapDTFhoHFtY97ersms4t/+A+/CkvlwyCO/EAUfk7t7z/lLgwbjyGFec6wLPRuAzJxmXPv1/qj8v0pw9+VR9shT7kjcWg2jON9e7MYYQU7EcZne2Y8i/frfp30F6PwJnCKRhnTgxerwGqiUt1nb+UHc+6xaWNGDnPcGIi4kDpVxc27hbv30LINo+YDZvCMvtaBzlNTSK+hd5MxvfWs7yWi314RvwNscflUS8dK3aXnlpbMWybR+a/H25ZNB6JO6RDE5qW9VDm5mmDnpFFI1grJ1aWfkYamysJJ+AzSJZJcMmud76pC/mA7H5+xzp3Dvm6kpx5F+vGA1q9GQN4FjBzsf1UQdy+6xKMtry7XcpO+mtZ7DmBMN3EtnlTfQAt9mGogyomAK7qyYkrLLPP5FaVykTHegYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BNqfDbZcwQuviThPbZFKZR",
      "input": {
        "note": "Grasp failed and the blue block is no longer in view; opening the gripper and lifting to survey and re-find it.",
        "targets": {
          "left_gripper": 1.0,
          "left_j1": 1.5,
          "left_j2": 1.5,
          "left_j3": -0.9
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01BNqfDbZcwQuviThPbZFKZR",
      "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=-0.8829 left_j1=1.5455 left_j2=1.4967 left_j3=-0.926 left_j4=-0.0124 left_j5=-0.181 left_gripper=0.9959 right_j0=0.0025 right_j1=0.8352 right_j2=1.3346 right_j3=-1.1282 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -7.8974, 6.9538, 1.6044, -0.0562, 0.105, -0.1197, 0.0342, 0.2393, 5.6957, 2.0537, -0.0366, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0641090837f4542ece1d4f20b1fd09de6dd44634c4681c177e385a76433e99f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d19195e606d3cedeb30b118fccb9200c90a0f0c7d0c9d6dc494a821ae521880c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:730ad0070387545bd5296527ea9da357e02c113f5b9fda4aae6b6a47a34d5111",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 0641090837f4
wire blob d19195e606d3
wire blob 730ad0070387
call 17 attempt 0 · /messages · status 200 · 4.382 s
model
claude-opus-5
effort
low
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=-0.8829 left_j1=2.1918 left_j2=1.5982 left_j3=-0.833 left_j4=-0.0135 left_j5=-0.1623 left_gripper=0.0127 right_j0=0.0025 right_j1=0.8295 right_j2=1.3346 right_j3=-1.0832 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, -10.9197, 5.3812, 0.2906, 0.1587, 0.0513, 1.1062, -0.0479, 0.3624, 5.3949, 1.9902, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8829 left_j1=2.0621 left_j2=1.5082 left_j3=-0.8841 left_j4=-0.0128 left_j5=-0.1658 left_gripper=0.0159 right_j0=0.0029 right_j1=0.8307 right_j2=1.3346 right_j3=-1.0927 right_j4=-0.0154 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.1299, -13.4222, 5.7778, 0.652, -0.0708, 0.0513, 0.5836, -0.1026, 0.5949, 5.3812, 1.8437, -0.0464, -0.0269, -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=-0.8829 left_j1=1.5455 left_j2=1.4967 left_j3=-0.926 left_j4=-0.0124 left_j5=-0.181 left_gripper=0.9959 right_j0=0.0025 right_j1=0.8352 right_j2=1.3346 right_j3=-1.1282 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -7.8974, 6.9538, 1.6044, -0.0562, 0.105, -0.1197, 0.0342, 0.2393, 5.6957, 2.0537, -0.0366, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0641090837f4542ece1d4f20b1fd09de6dd44634c4681c177e385a76433e99f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d19195e606d3cedeb30b118fccb9200c90a0f0c7d0c9d6dc494a821ae521880c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:730ad0070387545bd5296527ea9da357e02c113f5b9fda4aae6b6a47a34d5111",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 0641090837f4]
[blob d19195e606d3]
[blob 730ad0070387]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KSt4ZDCAWVWqrBCAjHa4AK",
      "input": {
        "note": "Both blocks are clearly visible in the wrist camera now (red 'R' farther, blue 'I' nearer); last attempt I overshot radially past the blue block, so I'm coming in shorter (r≈0.33) and lower to re-acquire it above the grasp point.",
        "targets": {
          "left_j0": -0.82,
          "left_j1": 2.01,
          "left_j2": 1.44,
          "left_j3": -0.88
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 8 steps (0.8s)",
      "tool_use_id": "toolu_01KSt4ZDCAWVWqrBCAjHa4AK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8268 left_j1=1.9854 left_j2=1.4509 left_j3=-0.889 left_j4=-0.0128 left_j5=-0.1883 left_gripper=0.9972 right_j0=0.0025 right_j1=0.8371 right_j2=1.3346 right_j3=-1.1519 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.4444, -10.4957, 5.4906, 0.6471, -0.0464, 0.0171, 0.1148, -0.1709, 0.3077, 5.3538, 1.8974, -0.0415, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2cffe9b6a51632928d069b5e5bbd5d516d1d964b498ea7c312701ea1c5cd7261",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2869a91b9652edcb6039d05a4b37e8dbb3d54ac62815af716f28f8e976ec36c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:20555e03575262e71b3ebb807ce79cd511bdd455cbf609df6fc47c78333054b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 2cffe9b6a516
wire blob 2869a91b9652
wire blob 20555e035752
call 18 attempt 0 · /messages · status 200 · 3.357 s
model
claude-opus-5
effort
low
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=-0.8829 left_j1=2.0621 left_j2=1.5082 left_j3=-0.8841 left_j4=-0.0128 left_j5=-0.1658 left_gripper=0.0159 right_j0=0.0029 right_j1=0.8307 right_j2=1.3346 right_j3=-1.0927 right_j4=-0.0154 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.1299, -13.4222, 5.7778, 0.652, -0.0708, 0.0513, 0.5836, -0.1026, 0.5949, 5.3812, 1.8437, -0.0464, -0.0269, -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=-0.8829 left_j1=1.5455 left_j2=1.4967 left_j3=-0.926 left_j4=-0.0124 left_j5=-0.181 left_gripper=0.9959 right_j0=0.0025 right_j1=0.8352 right_j2=1.3346 right_j3=-1.1282 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -7.8974, 6.9538, 1.6044, -0.0562, 0.105, -0.1197, 0.0342, 0.2393, 5.6957, 2.0537, -0.0366, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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=-0.8268 left_j1=1.9854 left_j2=1.4509 left_j3=-0.889 left_j4=-0.0128 left_j5=-0.1883 left_gripper=0.9972 right_j0=0.0025 right_j1=0.8371 right_j2=1.3346 right_j3=-1.1519 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.4444, -10.4957, 5.4906, 0.6471, -0.0464, 0.0171, 0.1148, -0.1709, 0.3077, 5.3538, 1.8974, -0.0415, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2cffe9b6a51632928d069b5e5bbd5d516d1d964b498ea7c312701ea1c5cd7261",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2869a91b9652edcb6039d05a4b37e8dbb3d54ac62815af716f28f8e976ec36c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20555e03575262e71b3ebb807ce79cd511bdd455cbf609df6fc47c78333054b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 2cffe9b6a516]
[blob 2869a91b9652]
[blob 20555e035752]
{
  "content": [
    {
      "signature": "CAIShQYKjAEIEBgCKkC2gnvXYvOEYpz8m7V0CJjOqlI0aBrKsvNUlOAGeEENnpwsfLVRSd99HKojI2d/MeLfqnaGDXcl+XurEI9U5IklMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM2nbgQ+cgNuZjySgyGgw7Le/5nB4oZ9kF9tgiMDHo6n5cbGTmLuUwYBYjm8NdU43qPeoErNDE6Xu6CYbIHa7TE7ATmP+1gM9OcNlSayqlBBzDS607YljIqlki0b4SrlsFEgdQ1VNgcjxqH8peSNCoFzHU9ojb9uYUCahtGSvLEaM6EddoabJMfHTW8L5xlZs9Moye2a9igxVlt7XnjjNDvIGI1wRc8InsTunnjIrrm4IWKgKLYZf7C+kr8peFRlCnRhW5omloVCQcxpVbfUyzDMQG7ZEhKo0O0NkXfkIKEW3XUWlyn3JWigdDnpfqo8wKVSFC2QYRtDTJ5VPM3RO5JJlTTwgMiC7qTFo8ouLh88xtsKQyX0cWPikB7GOYET65+TIxBD7GblQoU+9bJwzUsZ/XuKOfOx5yqzDibw2oyMC8y1PC+bF5fli837BDGYPxYJqxSv3PtUGTfyV5UmZMCzhfAbxeAnV472X4wcXzV7eF9vYa/zS5LCFWBj7zZ5Hq2+yPhR606nB7TiIzdAoSyZIfJLgjBiwSRZ9LXxhyPVx+BPk42VCx2lkXR7aS5g36g2x7VrjIoVSXgXCXkZ/SIDrTHdDWjGVSegNhFo3Hh4/uqEsMPDQcJk7aDnUuJZ0FrwZGbEXGsfYPsaPrkxlG2zGYJCXWIRl78AlIJjPh4HTtHqshJKQJmgQmkkEiQJnF5u/RDSbSJnJviyBTGD4pot22PLaNwl3fg3BX9uNy0GSiASFBYKG5K+5pFHOqEDxjaYX3KJb0+mYPQG0ALg2KC9N9+AF+xLibZGAprZMNwNOuEHEuTtVIHOMLr2r4I9yIZacHmxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0169ZVa5zR1NbgJyuwASwNaF",
      "input": {
        "note": "Blue block is centred right between the jaws in the wrist view; descending a few cm to table level for the grasp.",
        "targets": {
          "left_j1": 2.13,
          "left_j2": 1.42,
          "left_j3": -0.76
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_0169ZVa5zR1NbgJyuwASwNaF",
      "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=-0.8246 left_j1=2.0907 left_j2=1.4364 left_j3=-0.8333 left_j4=-0.0032 left_j5=-0.1955 left_gripper=0.9972 right_j0=0.0029 right_j1=0.8375 right_j2=1.3342 right_j3=-1.1637 right_j4=-0.0154 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.4171, -7.4598, 4.2872, 1.0427, -0.2466, 0.0269, 0.0024, -0.0752, 0.294, 5.4085, 1.8388, -0.0317, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa173c0e35f265c7895c8edde38a21499b75f888ee974ed10b7c91723aded27d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00e44ea2b5ed55ec352aa74ead133941a505aa655c032bc352b4437d6c21da81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7b3d2fcbcd310866563ad235744249685d5e06bf9fd1eaf9254fd495d6779e3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob fa173c0e35f2
wire blob 00e44ea2b5ed
wire blob 7b3d2fcbcd31
call 19 attempt 0 · /messages · status 200 · 3.67 s
model
claude-opus-5
effort
low
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=-0.8829 left_j1=1.5455 left_j2=1.4967 left_j3=-0.926 left_j4=-0.0124 left_j5=-0.181 left_gripper=0.9959 right_j0=0.0025 right_j1=0.8352 right_j2=1.3346 right_j3=-1.1282 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -7.8974, 6.9538, 1.6044, -0.0562, 0.105, -0.1197, 0.0342, 0.2393, 5.6957, 2.0537, -0.0366, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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=-0.8268 left_j1=1.9854 left_j2=1.4509 left_j3=-0.889 left_j4=-0.0128 left_j5=-0.1883 left_gripper=0.9972 right_j0=0.0025 right_j1=0.8371 right_j2=1.3346 right_j3=-1.1519 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.4444, -10.4957, 5.4906, 0.6471, -0.0464, 0.0171, 0.1148, -0.1709, 0.3077, 5.3538, 1.8974, -0.0415, -0.0024, -0.0122]",
      "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=-0.8246 left_j1=2.0907 left_j2=1.4364 left_j3=-0.8333 left_j4=-0.0032 left_j5=-0.1955 left_gripper=0.9972 right_j0=0.0029 right_j1=0.8375 right_j2=1.3342 right_j3=-1.1637 right_j4=-0.0154 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.4171, -7.4598, 4.2872, 1.0427, -0.2466, 0.0269, 0.0024, -0.0752, 0.294, 5.4085, 1.8388, -0.0317, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa173c0e35f265c7895c8edde38a21499b75f888ee974ed10b7c91723aded27d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00e44ea2b5ed55ec352aa74ead133941a505aa655c032bc352b4437d6c21da81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b3d2fcbcd310866563ad235744249685d5e06bf9fd1eaf9254fd495d6779e3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob fa173c0e35f2]
[blob 00e44ea2b5ed]
[blob 7b3d2fcbcd31]
{
  "content": [
    {
      "signature": "CAIS6AIKjAEIEBgCKkCeuG61CkZdI4rdWBgvdX90cU78o6BAM8zrZr98wrrEQtX73RAnDhPQJ2BdQGtCjdQnctAyDJTwvvndEq7MkF7pMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMoiwp0T2G1j8kAhjqGgxGEbIIxYFXileY6TkiMNcLlCnAQeKgC4F3+Ok7NpirCx3TBn0i5CdeQISsy4hC2CXhujXr9wZJsp1xOiI7yyqIAa7npW3NKcmsds3GdGmdobgqERv9GLc0yoRESlE8cyG1eAgZiZNgQi9Yxo5f+ulEJFaqZD8fRcjb++YnKx4pJn+h/YOXvUXhX8gou2fdkMRU4BkYZlkLRjrEV1Yc7k/dPbWzREo8jBcX0sSGbIDa0UIzRwqtkSvrZs+dhLWXFUjqDd2SCHPXAtkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012krTKSjxC6QPWGStnCwzvK",
      "input": {
        "note": "Re-issuing the descent slightly beyond target to overcome controller undershoot and reach table contact with the block between the jaws.",
        "targets": {
          "left_j1": 2.2,
          "left_j2": 1.42,
          "left_j3": -0.72
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_012krTKSjxC6QPWGStnCwzvK",
      "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=-0.8242 left_j1=2.1033 left_j2=1.4467 left_j3=-0.8124 left_j4=-0.0036 left_j5=-0.1997 left_gripper=0.9973 right_j0=0.0025 right_j1=0.8398 right_j2=1.3327 right_j3=-1.1961 right_j4=-0.0154 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, -3.0154, 3.2889, 1.37, -0.0366, 0.0611, 0.0024, -0.0752, 0.0205, 5.6957, 1.8974, -0.0464, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db5f0efe98f13987f93608c95a6f239b378166a066b40dc9a7d2f73b91fc2dd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c2a56cdc1c1aa256119893d3c04afacf34a1054a4331e234fc2cdb75b63d66b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e1da41e813aa02caa70fa378072c043acd91b93074de7968e7e220941078480d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob db5f0efe98f1
wire blob 1c2a56cdc1c1
wire blob e1da41e813aa
call 20 attempt 0 · /messages · status 200 · 5.107 s
model
claude-opus-5
effort
low
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=-0.8268 left_j1=1.9854 left_j2=1.4509 left_j3=-0.889 left_j4=-0.0128 left_j5=-0.1883 left_gripper=0.9972 right_j0=0.0025 right_j1=0.8371 right_j2=1.3346 right_j3=-1.1519 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.4444, -10.4957, 5.4906, 0.6471, -0.0464, 0.0171, 0.1148, -0.1709, 0.3077, 5.3538, 1.8974, -0.0415, -0.0024, -0.0122]",
      "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=-0.8246 left_j1=2.0907 left_j2=1.4364 left_j3=-0.8333 left_j4=-0.0032 left_j5=-0.1955 left_gripper=0.9972 right_j0=0.0029 right_j1=0.8375 right_j2=1.3342 right_j3=-1.1637 right_j4=-0.0154 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.4171, -7.4598, 4.2872, 1.0427, -0.2466, 0.0269, 0.0024, -0.0752, 0.294, 5.4085, 1.8388, -0.0317, -0.0171, -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=-0.8242 left_j1=2.1033 left_j2=1.4467 left_j3=-0.8124 left_j4=-0.0036 left_j5=-0.1997 left_gripper=0.9973 right_j0=0.0025 right_j1=0.8398 right_j2=1.3327 right_j3=-1.1961 right_j4=-0.0154 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, -3.0154, 3.2889, 1.37, -0.0366, 0.0611, 0.0024, -0.0752, 0.0205, 5.6957, 1.8974, -0.0464, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db5f0efe98f13987f93608c95a6f239b378166a066b40dc9a7d2f73b91fc2dd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c2a56cdc1c1aa256119893d3c04afacf34a1054a4331e234fc2cdb75b63d66b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1da41e813aa02caa70fa378072c043acd91b93074de7968e7e220941078480d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob db5f0efe98f1]
[blob 1c2a56cdc1c1]
[blob e1da41e813aa]
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  "content": [
    {
      "signature": "CAISvQQKjAEIEBgCKkA7vjeNLtU/opNxLSttcpsBI+SPDkc6fjI3+5UBz+EbQr3BNlaJLvXJH+ht4EPXbW9a0+AX5OBYmcRs/TEPCBZjMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMZbhSBZlevw/qZrFAGgwY5a/DG+vg57qYhB4iMAAjI4z4id3eQloYOHHtUUHL7DAg7U2UR+Ckz6Apyse2QoAXnPIpUypQ7avOGRY7myrdArU/QHlYTomm1HEYA4c2RCkOyBVCtA5ep2k9GUQzp+9f0ahm04R+XbAZ9ipz36W6kHJV09mCUc4sFcE5gIrtE5MtxqX+FXmrku3/yvUhkt4aUEZHM2hjUPy4GABvIkevH8ihj14YpoOx8o13YZNnxaw9xmUcfqmYrj7UVDxl4GPkjSvyib0gSeWQxGLh9OvhNO9T5FUvu3TRNWqG2TBOgZcXfo0eS4CcX28sDw8uLYcU1Po1CWwPSQWoGiwa/hAm2LpHAOw7pFgBZeAqBXhrtpLbgGXGA5F7Tvf9dHVi4Y6VBL+IMpVVYstEUvAG1/Yrkqqui9dZz93Y8LaYekuqZ2UyNkBSbC1AdgD6XVVxSxT1zANQULjCpMcSl09mzSg7q4db498L+5oOWrccNBbQlRpnMLulEi/qSqCvLduWa9oImWOWb8/GU6ie61hC6DPgBFLgC+RzDE6gCX06IW8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01W6k73wPcoSUCxNdceAoxTH",
      "input": {
        "note": "Fingertips are at table level with the block just under the jaws; closing to attempt the grasp and read the residual.",
        "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_01W6k73wPcoSUCxNdceAoxTH",
      "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=-0.8242 left_j1=2.101 left_j2=1.454 left_j3=-0.8154 left_j4=-0.0162 left_j5=-0.2108 left_gripper=0.0119 right_j0=0.0025 right_j1=0.8417 right_j2=1.3327 right_j3=-1.2198 right_j4=-0.0154 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.2393, -10.7145, 5.135, 0.5104, 0.0708, 0.0757, 1.0672, -0.0479, 0.0342, 5.5043, 1.8535, -0.022, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af2c710dd45b6a9bd5db5b45b02f4d6f1dab66a69faa32686b3eefce6aa6c1c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0c39d7ec256b02f239e2781ad007dfc34070e27fd62fa421e97a5b8b70cdac8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1218d086df2a35690aa43bd74225409bdd916a38c5ed917ff5e40bf964ebbec2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob af2c710dd45b
wire blob d0c39d7ec256
wire blob 1218d086df2a
call 21 attempt 0 · /messages · status 200 · 8.424 s
model
claude-opus-5
effort
low
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=-0.8246 left_j1=2.0907 left_j2=1.4364 left_j3=-0.8333 left_j4=-0.0032 left_j5=-0.1955 left_gripper=0.9972 right_j0=0.0029 right_j1=0.8375 right_j2=1.3342 right_j3=-1.1637 right_j4=-0.0154 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.4171, -7.4598, 4.2872, 1.0427, -0.2466, 0.0269, 0.0024, -0.0752, 0.294, 5.4085, 1.8388, -0.0317, -0.0171, -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=-0.8242 left_j1=2.1033 left_j2=1.4467 left_j3=-0.8124 left_j4=-0.0036 left_j5=-0.1997 left_gripper=0.9973 right_j0=0.0025 right_j1=0.8398 right_j2=1.3327 right_j3=-1.1961 right_j4=-0.0154 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, -3.0154, 3.2889, 1.37, -0.0366, 0.0611, 0.0024, -0.0752, 0.0205, 5.6957, 1.8974, -0.0464, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8242 left_j1=2.101 left_j2=1.454 left_j3=-0.8154 left_j4=-0.0162 left_j5=-0.2108 left_gripper=0.0119 right_j0=0.0025 right_j1=0.8417 right_j2=1.3327 right_j3=-1.2198 right_j4=-0.0154 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.2393, -10.7145, 5.135, 0.5104, 0.0708, 0.0757, 1.0672, -0.0479, 0.0342, 5.5043, 1.8535, -0.022, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af2c710dd45b6a9bd5db5b45b02f4d6f1dab66a69faa32686b3eefce6aa6c1c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0c39d7ec256b02f239e2781ad007dfc34070e27fd62fa421e97a5b8b70cdac8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1218d086df2a35690aa43bd74225409bdd916a38c5ed917ff5e40bf964ebbec2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob af2c710dd45b]
[blob d0c39d7ec256]
[blob 1218d086df2a]
{
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    {
      "signature": "CAIS+AcKjAEIEBgCKkCJJn2sEkuegm84oeim8gfU/s9CKydV15c5hxx3L0BkJhfhq1mL5lHsSOHr9MU/ox3RXRL1VBjuKFIp1ZgW/lIIMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMjnBL/HVqMdPaeSP1GgyyM7eRvOEu9Eq2ml4iMKQw2FIwJZ6xAdxCHOVDfNjrQ0XfImyy4l7ijez+Eyd2IOOC86q3OA63cLGKBHKhfyqYBu0Ai/dV7sXTq++XCGj/ljS50JB1dHMrYNJkPXJozkmGli7nSgLY4zPo66grEIDSd5eoE5tXF0nB3qJ59fS8pMTQlNHHGvyoHWtv5JODfnCeUXFmZ4+NcdHnXHW/TqmBsqFkGBgctllPwXDS9XHV6levrycuSwu8Z6++9NATJvo1Ag/OkQPSjBEM1wIJ72JDwi7CbYDBjzb2DOhoo0leRIh9pCYlrda6iywz3U43oXccoPKZ47nHvxo0yumUxpuiGJUxamlTL9naENnNoDX/lWmF11Gfi65+2dla90SGKIqi4yzdngTSZO7bSRtVNZfTX8BnOCsdxKN2xWoQ6i65+bduWxYqGL3OQg7VDDFAPvXT6NVfIHooBa66IjHBKxpj9fXGPDlppaeZzh7Fi+q5NKRpddaRqstaruCQTR/6xguqtXV9KjdpM1KJl8WGfujcyZYUBkGp+J8fRp4ERfAapoIkjMlb9QMcdkoMOGxzaL37OJ7zLcVJPDuRELt6AEOi7DqxLj8TDZkNtkUim1J6Th1Ew83GWySEjd2vIHWvJMEU6X7kV+GdyL5mMoz+cSyw10WYdX7RwdENye0xnN05oZDXCJWbaGr4Ao9IfK7fGH1r2gXZRGUPKlpFITKpaqKZCfy0tP5jAq2tSNqJ2OKy/Yk293gzn/HSc7MrdCRctLCOc9UV4qQ2N/CG8vIFhKYSWpPYs6AO5Ms1bjeeoz4bekykxhMOCiCmlwZIcGMGYyVVy5+S6ZsSTsp6wyOmqBQdODvN3beBdgkxuLV2+VWSqUZf7z8Qb5lnl3Ft+v1iRIX12MX4ZhzyW96IR83Z0Yc6ASkFjJPyxrHZBr3PL3fHOr2R8Td4gkVqDr7xF3x0tj93qAh5zDGKQWO7aGZQ9LZuUqNkEJrmCnzVJ++fufPdW6DWf2BaqpnbpEIxBBwGqEyDueFEUokHSb4QRqjA2Z7bxilVSqlw4eo4Cf5F7//R3rcHpJmtk/yd6RRJRv+hYvmnATfhjgpxNjKI6Kc0QG/K2XpAaB++xO8Y1TW7uLAuwdqXvfpymZr27BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015mfvaao15q8kZtzi6NSnQs",
      "input": {
        "note": "Grasp came up empty again (1 mm residual); lifting to re-locate the blue block, which may have been nudged.",
        "targets": {
          "left_gripper": 1.0,
          "left_j1": 1.6,
          "left_j2": 1.5,
          "left_j3": -0.95
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_015mfvaao15q8kZtzi6NSnQs",
      "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=-0.8242 left_j1=1.6447 left_j2=1.4643 left_j3=-0.955 left_j4=-0.0158 left_j5=-0.2218 left_gripper=0.9951 right_j0=0.0029 right_j1=0.8436 right_j2=1.3327 right_j3=-1.2518 right_j4=-0.0147 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -9.2376, 9.388, 1.243, -0.0366, 0.0757, -0.1783, -0.1162, 0.4718, 5.2718, 1.8535, -0.022, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66743ac139a39d448fe3112896902ec3178139e1218ca90dd0185949772d696e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff1b23d7f3d5583d38f849a3063ad8f93033ebbee99619ea12331fb7131a730e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1fbfad6ff5ffca1a1a4de9865b7ee7fdcc9736292c413cab40cba8a87ba9cd5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 66743ac139a3
wire blob ff1b23d7f3d5
wire blob 1fbfad6ff5ff
call 22 attempt 0 · /messages · status 200 · 3.637 s
model
claude-opus-5
effort
low
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=-0.8242 left_j1=2.1033 left_j2=1.4467 left_j3=-0.8124 left_j4=-0.0036 left_j5=-0.1997 left_gripper=0.9973 right_j0=0.0025 right_j1=0.8398 right_j2=1.3327 right_j3=-1.1961 right_j4=-0.0154 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, -3.0154, 3.2889, 1.37, -0.0366, 0.0611, 0.0024, -0.0752, 0.0205, 5.6957, 1.8974, -0.0464, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8242 left_j1=2.101 left_j2=1.454 left_j3=-0.8154 left_j4=-0.0162 left_j5=-0.2108 left_gripper=0.0119 right_j0=0.0025 right_j1=0.8417 right_j2=1.3327 right_j3=-1.2198 right_j4=-0.0154 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.2393, -10.7145, 5.135, 0.5104, 0.0708, 0.0757, 1.0672, -0.0479, 0.0342, 5.5043, 1.8535, -0.022, -0.0415, -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=-0.8242 left_j1=1.6447 left_j2=1.4643 left_j3=-0.955 left_j4=-0.0158 left_j5=-0.2218 left_gripper=0.9951 right_j0=0.0029 right_j1=0.8436 right_j2=1.3327 right_j3=-1.2518 right_j4=-0.0147 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -9.2376, 9.388, 1.243, -0.0366, 0.0757, -0.1783, -0.1162, 0.4718, 5.2718, 1.8535, -0.022, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66743ac139a39d448fe3112896902ec3178139e1218ca90dd0185949772d696e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff1b23d7f3d5583d38f849a3063ad8f93033ebbee99619ea12331fb7131a730e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1fbfad6ff5ffca1a1a4de9865b7ee7fdcc9736292c413cab40cba8a87ba9cd5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 66743ac139a3]
[blob ff1b23d7f3d5]
[blob 1fbfad6ff5ff]
{
  "content": [
    {
      "signature": "CAISyhMKjAEIEBgCKkDzBeWKzYd9uO4zEZigZs4UQdjbpNkjFGCZVbUg/eo8+2eodah6dvDuX33A/rhyXMydzmqiDnj+H++cU6zxg8VFMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMTNLsE/WK6yn6AUU7Ggwxqis5SdNBSnA+eo0iMM/tAHcPlq71X7JxiemUrSU++Hu26dbMN800eAI4q7BxNugznaLgcwFT2OW+wV7xnyrqET/sDtfJ1cGaYYsE5dO9IGHYq+Cn3uguxKgUCtF5A/1Yxi6Xt03xpreBgi/dUTnqBHb0Mur2PqnN1gGJlnwdqoMNgPTtjL1/j5FwBgbCqiYRH6yjhpDAZBGpl3zTrri4NBtBNN1sT5wjLmW3WgtHCLNJvwXsSlC+d42JOaXGTkUx1m1lQPcajsPZv91/+rBQb5CDES2l7MEDL74GWaVTRr3aH6C1JnA44OdS39v6cfmGn3A42tugjWRCxGplyMbll1lYK6WIakM10GvP2CqCEAap10jaqabLFtfpZwyhIbguNY0odm13SGXqlampjv5mwzPcSOJ7B+RnzdlJqThLVCZ33mH+mPEQlEA3amBKBr3ODuznOhzOSz/Of5ERzxcrEkOk8o/81VOCk5ZTQaz45kYpqetU9Bfer3GZzaaEi82u+de/g8UWeQf4hKMlxGK1ORbDlFeCLumd4OlPJx5cf85sAQo5G8dAjTgDf+4ddxEtfJYzF0T9ywyyktTmRXaKwYZOE+lnmoIOezRuMkzwP/t9pM/Y78H5jhyxeC40/tbuRRrJVwPglBXRA9jprrqz1PEhtpj+QsbR/cMY0vJ8vZjxo87nbtAHAtwenY/4wNr8nhi6QN5N6T7Rtac4amssFMhYj0WXD22Q4G4FE5AFP28h+EsQpEvWoyT68VPOwapAr8rzApVvfMw/rBHlZnUyiW/nE2sckFcFIlA2TWcOd3h2d2+lmErRtwrYGvWcvpzrymvxYkt/cY+8KqxnEoknZGmVlcU4xhRuW4+8Kxxxuibn4RXhLmS1Qb9OdnH8p5c21G5r9RPsd3/5TQwmi0V6geRKSVSuphbEWzD6li7JzfbZLHgJ0M3mmuzU7QYtO/0MUzuDehZhdefgiArwNkH/zHtQjMDwO2DnRRTD26uYZZLemGvpCJYffajwXlzeVWo+UVDeU5HjzfoAFMFJcfF2wUtoVei9crsAzYLoF9QzejgpT2cudA805J8Ux4mB8Qku26o/FtmVMgJBRDu4EawyIuyvyema4hQfbyswry7m0roougJDwxskYsWf9tmAg4CnZq9MJabgUWhk18PGYCiJb/guUeUKgeEZtX4Gzz/G/sBue1EdI+IX0ZpOBisGv75yP4D9W8IypPnDEIu1rD6EggqU84A9PzJfOJANoRhQmv4nh5U0oWRj9HnXideeng/Y095UtHeqC5PtENWvJqEQezjhbFxaf2E+uL5PyKqXQHgtkYScjw44kv0f4+XHkWyxKRbXo4ekEIq1DXmyM7RmGsdmsD0xQ2GL+nqPSWe5wfacrFAXsX0shiBqn0A20fXIcmOtusTNRwbqptm0f7UJF73S1pqax4BThZ+BTyuqDdFuRvS0FUtUev+pLSAH1b2cgdl78W3fU7MXfnngECIOPPc+M8wuJcWM6hjyHbIAfDM53p6tzeketdhzM4DdLc1KKErSnI6j1x9yQGEcbWLu1nyVrKCJkR9xEH/I4cNN1SHzK2oo18xNF7P8cFqOdx6euGxKkbn8CYcVNruGcr9T0EozrZZpSXwOS6vuzUU6sMh251mxLAc68376C8i9hnv580SpGv5YJt++ejcRtotvuAT2ynb6BOc9isQ/8V/Kk24fRocyyjVMa3gOO04sV7nISZj76TmOFiAPPgaZzqQEYzJBw671z1BER8NRMVc7TdoCMd+X+St3rjxDhlb2D2RKlCOPMNEeuan6rqjOlVp1YItFqc8S2uSRtabz9pN58dqsqE+QsVknerltPbyB/aDeYtaGJ11lFGHwhjDeMDhzwVYmv7TEO/wIHgj0ew0+C1hNpMIpmfoxRPrBVJbAqsZ0gLFQlN76MYU06lE8DuPrF2737jeQu7/TD/kCQRgvkKwRKU73vr/dH+XR7DIXhsp6DAMPIrFaII/20PyW5X6c9m0dXg2sZyUN1Oai8rpvQi2E9itpjysMQvHTrAyyO26DHywxewnwD+9aYa6DCUuhyibrphwf1y1itLtB491CIDQ2/V+wKpeaJ0gyTXIvLX9TBZ1I5QBi6re3QZDq/U0IAQgmPFgbZPiOybt0/KwEzku5Ow9ndmD9tlgqNWDQcgnKFxMdse42OkDlJTSURMOXB/+1bNGtOu1FGG1vmL5llFkY6vFmPLp6XcAUY+cmtcWxIwJNcaii3IbswWRDEl+govBLdtS5ldMnFzvlq0m2rhutyYVxfMPpwLmjX2E0olACvgNwzEOPjlr3FN+wYwPLO0urjf7OWA9sjTX/WLwtsGg+EMoFHQEWP96VBmDxV9gcA3l1y4H0uruzu/E7BgFrWjx1UdlN1R7E09YCR0hXH+BUQZMv8uAZPDiJuUtMqpz0TpuB8sYnMofGCZX8J2t9ozj3xOd85pFS+4StehETE5gk6kEyFEjJTKjxfsmipV0AnDoHwkvex9R09JzNeUHitTg+KPbea7pUMyOjiZ4GbmuwKte1V5bt37etNSUwOeq0j6BJO8S8NFe2/2/+yvyMkek/uod3LKx1obWxIgFZcbaEs/+A4xrQezAxapjMSfbzYLeFt6JoyDVEoqqdvW51nxdECMkwsctVpADNxhP3DJFscIb4naYtuPcS6O5hCvrZa3QHZtjkuCcv697uTBt5z6CohfsXmWCYaFWqrz3K1wG7p9tNBKib1wMDgA00AXH7iOcgD5b55nJQ5CcX1KM/CsXkpERvqkW1x4bEBW7hxSIKsV4OZdSkPr2TS8ZbjVz4BgpodOmlpSLub4mEj1x2G7E8YmK+9o593BKwelLP3cH0WJKt1bkslGzkIfBJg1SdHnCmw2qtAknmLUid2xo5u/JN5jgeGlCWTABdZwkE9y4fdc0LrTr9TefhI9C0eVTWVlTcjIu7GgNot+ktuJm3ngFSZNaV1+bddbgmDkZ3kz0uVxYZalXarisxrGU/GvCipwYRpFnS2Af3zQptIpXuj0VZuD3TPqsz3VIbxxbs880zMaqaru0Rt1fJT1UA4JzYz7YjbF3GFA5IYvRL4f3kA8XctBPzpKGioUgJHF6DgsH6WBpDDodSvBOHGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01H91jfzQTEWnBNWVqytSEyQ",
      "input": {
        "note": "Blue block sits just beyond the jaws in the wrist view. New tactic: drop to table level a few cm short of the block, then advance horizontally to scoop it between the open jaws instead of descending on top of it.",
        "targets": {
          "left_j0": -0.767,
          "left_j1": 2.03,
          "left_j2": 1.29,
          "left_j3": -0.79
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_01H91jfzQTEWnBNWVqytSEyQ",
      "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=-0.775 left_j1=2.0026 left_j2=1.3075 left_j3=-0.8169 left_j4=-0.0151 left_j5=-0.2226 left_gripper=0.9964 right_j0=0.0029 right_j1=0.8463 right_j2=1.3323 right_j3=-1.2686 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.5675, -9.2239, 5.012, 0.3394, -0.0659, 0.0024, 0.1294, -0.0615, 0.4581, 5.3402, 1.7314, -0.0317, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea4606e17aa577b12d3b63f9b3c3c7b544e32dae5325169a88f4e678b8d5a76c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23a3629d4e5d2c56a572f6799021effc709ea0275be07781c6b0d0921d0d1ae5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5cbb73db1d931ee6bffbc2a99319e8967d7f610db55d0bc93c677385f6d28af0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob ea4606e17aa5
wire blob 23a3629d4e5d
wire blob 5cbb73db1d93
call 23 attempt 0 · /messages · status 200 · 5.73 s
model
claude-opus-5
effort
low
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=-0.8242 left_j1=2.101 left_j2=1.454 left_j3=-0.8154 left_j4=-0.0162 left_j5=-0.2108 left_gripper=0.0119 right_j0=0.0025 right_j1=0.8417 right_j2=1.3327 right_j3=-1.2198 right_j4=-0.0154 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.2393, -10.7145, 5.135, 0.5104, 0.0708, 0.0757, 1.0672, -0.0479, 0.0342, 5.5043, 1.8535, -0.022, -0.0415, -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=-0.8242 left_j1=1.6447 left_j2=1.4643 left_j3=-0.955 left_j4=-0.0158 left_j5=-0.2218 left_gripper=0.9951 right_j0=0.0029 right_j1=0.8436 right_j2=1.3327 right_j3=-1.2518 right_j4=-0.0147 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -9.2376, 9.388, 1.243, -0.0366, 0.0757, -0.1783, -0.1162, 0.4718, 5.2718, 1.8535, -0.022, -0.0562, -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 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=-0.775 left_j1=2.0026 left_j2=1.3075 left_j3=-0.8169 left_j4=-0.0151 left_j5=-0.2226 left_gripper=0.9964 right_j0=0.0029 right_j1=0.8463 right_j2=1.3323 right_j3=-1.2686 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.5675, -9.2239, 5.012, 0.3394, -0.0659, 0.0024, 0.1294, -0.0615, 0.4581, 5.3402, 1.7314, -0.0317, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea4606e17aa577b12d3b63f9b3c3c7b544e32dae5325169a88f4e678b8d5a76c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23a3629d4e5d2c56a572f6799021effc709ea0275be07781c6b0d0921d0d1ae5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5cbb73db1d931ee6bffbc2a99319e8967d7f610db55d0bc93c677385f6d28af0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob ea4606e17aa5]
[blob 23a3629d4e5d]
[blob 5cbb73db1d93]
{
  "content": [
    {
      "signature": "CAISmgQKjAEIEBgCKkCXQR9Benc7TpP4qsuYHwUpo+EgS1mhTwCaEKTYPC3uSpT0sFHrUZ8vB/QMxXx77jXNsAOjAJIL9GsI9abBzzv7MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM0Ogc9zsdHeouQMcFGgyDPsqxPxysXWgVSC0iMBlAdMLuPlY9EOjOSq2SEvz0F+LYNwZO+b8KWkwd7HprmqWUGuc8nSKoyQpg6HMwGSq6Al17fsFI0mZn+LuCyzBaRpMQxAsbSwsoVfjTYecGoA79d5ESNn3ytwV3pT5BZgyZBqKhOaiJm25lesAG4N2sJep4idMUYqi/sTrWLoDPHHuSHibmBHuwzUlqYhIgwf2KcBBGGHd7Gmk5CWkQxMC/5Bam3XmgVrD0HCqhU4QqHzwUbw1E/GlvutHtlKZ19dizxZZvF4IdSn8vzBTChcQy2tTEGyGmrywJUQicHyHJPLdh+W300w2AT+TrRRoce2zb2O+a3alrrDDD/vrGTtNbD4LNy4DNJGB0AI6P/UN0vUZv7rjKqd4POKtbbLisKaIg/JkdAjCDsWCWI6spoS/IyzSJAJGIER34qf3MpvG37pm97WBQGwDEZ6dhsMchznrfOkWStD3Gpn5sYJFwiYF24XbdYEhNvXiR4KcwGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LPMBFT4qwj6eCSfuAqwxpE",
      "input": {
        "note": "Image was motion-blurred; pushing the descent slightly further to confirm table contact and get a clear still view.",
        "targets": {
          "left_j1": 2.09,
          "left_j2": 1.29,
          "left_j3": -0.75
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01LPMBFT4qwj6eCSfuAqwxpE",
      "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=-0.7708 left_j1=2.014 left_j2=1.3125 left_j3=-0.8127 left_j4=0.001 left_j5=-0.223 left_gripper=0.9966 right_j0=0.0029 right_j1=0.8471 right_j2=1.3293 right_j3=-1.2839 right_j4=-0.0147 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.4991, -3.3709, 3.9453, 1.0037, -0.1538, -0.0415, 0.0024, -0.0615, 0.1299, 5.5179, 1.6923, -0.0171, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c91e522fb4f3aa4528328a1284a351140281b61a93b0bc4615047a80798b8eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0414dbfc1c5e1c324c87d444a38996d8ed7b93288fad364d229f9f6b28a67b91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:146ee03db4d515c1bbd1c9791a0bd280bf11de9cb3fac2bcaa9e0e78c73aaf72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 5c91e522fb4f
wire blob 0414dbfc1c5e
wire blob 146ee03db4d5
call 24 attempt 0 · /messages · status 200 · 3.132 s
model
claude-opus-5
effort
low
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=-0.8242 left_j1=1.6447 left_j2=1.4643 left_j3=-0.955 left_j4=-0.0158 left_j5=-0.2218 left_gripper=0.9951 right_j0=0.0029 right_j1=0.8436 right_j2=1.3327 right_j3=-1.2518 right_j4=-0.0147 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -9.2376, 9.388, 1.243, -0.0366, 0.0757, -0.1783, -0.1162, 0.4718, 5.2718, 1.8535, -0.022, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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=-0.775 left_j1=2.0026 left_j2=1.3075 left_j3=-0.8169 left_j4=-0.0151 left_j5=-0.2226 left_gripper=0.9964 right_j0=0.0029 right_j1=0.8463 right_j2=1.3323 right_j3=-1.2686 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.5675, -9.2239, 5.012, 0.3394, -0.0659, 0.0024, 0.1294, -0.0615, 0.4581, 5.3402, 1.7314, -0.0317, -0.0415, -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=-0.7708 left_j1=2.014 left_j2=1.3125 left_j3=-0.8127 left_j4=0.001 left_j5=-0.223 left_gripper=0.9966 right_j0=0.0029 right_j1=0.8471 right_j2=1.3293 right_j3=-1.2839 right_j4=-0.0147 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.4991, -3.3709, 3.9453, 1.0037, -0.1538, -0.0415, 0.0024, -0.0615, 0.1299, 5.5179, 1.6923, -0.0171, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c91e522fb4f3aa4528328a1284a351140281b61a93b0bc4615047a80798b8eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0414dbfc1c5e1c324c87d444a38996d8ed7b93288fad364d229f9f6b28a67b91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:146ee03db4d515c1bbd1c9791a0bd280bf11de9cb3fac2bcaa9e0e78c73aaf72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 5c91e522fb4f]
[blob 0414dbfc1c5e]
[blob 146ee03db4d5]
{
  "content": [
    {
      "signature": "CAIS5wcKjAEIEBgCKkBb9MpakCBTCKNdJ7N+P9TOuj+Iz3ha05Nql4OAWmq9mXYKkk+spBWknz9HRYa7YbXv4fKpFnlhPFHZ8j/AtX0XMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMwQXpD+1Zlr7if1GBGgxOdaK0Pe1kPRjgAAciMPIHiYi9sTmzv4S6coggAhxHaF2A3cj0mcqupI2P/Gu8CrFOsoX9N1+xZuEwQPLjeyqHBh1OfMjv53WSkeUCfgTyCZ3r9CGyxuaVSMP9TUb3smYOoDQ3H+PJA3/YhRhV74glkhyJZaOKl1J+fBr7Iddpy2wfrU08jvzaQFNT/XfAtkFU8oOLT+n4QySvdqqqvJjK2TVfjoUxukR4f/iQqnNqCZU2Z5vFunC9B+JC7VdGmfnUmG/v+0hht99y+1t/CzxkxXY6zzeCxynMIENQtCW/YEPNh+z6Shg09yvf00JIX0h/FFOkcg3cGMlayh5ZXc5xlNIiu9F2gCXlGhQ+h12fhNCfqDp2a0z65hkcSuha9hTyR0xjBjEo64rriel2BrMNnvtv2iDF6fvGfo3tFfiAhSiW0sZ9BJiMh4DbVgb98Uy0+/dKSws3/taF8vuqU/Wz+cZEitTXmhce4kGQcYHgq2frqQwiruwHgUStCUhJwqbFYSNmd7lKLBvuVnvPXcpcJRVK84YrdaPfGAU3Ca9Il/tjef6EpI6DhC5LSYdXD58TZN0UE+jLv2j54/96yTAKcqoRlyp3nk9s2ODxm7i4K/U7MjqskUhdas1Qcl6bZmB6Bv0U9cGZuwuSeW0tCX8ad8ulIxchFtLJ4YIzNW2bzdtbVd5zyVN8C2BJsQbaSyQBVU1HulzwWLYtsrtMWPMb4D15Ypy0NQ43hKUxm9PC3YGec600wFrr7akCt+LsWmJUVdEW1v/YldOF8+fp7eqKnVzqYWM8iDmeUiQ5smoBqPi6Xo+1winN+RhVyLLa8UXNYb7emrcya8GLMPtkTHJ5q8Y/R+lCB4geP6ab2+QIgcgHBDPoOER1gqwrHZIyIFBogshBrdJipi+CHtshTCCcq4zoS35tZoiD9MTjDAHn8wVN3FgE/ndfBxLIDr0SxoYuPNDISBa7xA8HS3Q2TP9nr1hoziXwTxk+TnyNeu3Fz8Ga40GDZhcRMmtBvMQK7ingli8yxsBkwQ1WwqnWsqqYmiP9AoktL3mXQ+OF/Fh6I3cmJSAmXi/tE4OR2pLoCr2/spkBEU+sPwXjEgweoiqSbMkUX3pT/o4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WWXnSGDx7WCNw9T3cC9yoo",
      "input": {
        "note": "Fingertips are on the table just short of the blue block; advancing ~4 cm radially at table height to slide the open jaws around the block.",
        "targets": {
          "left_j1": 2.12,
          "left_j2": 1.51,
          "left_j3": -0.89
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01WWXnSGDx7WCNw9T3cC9yoo",
      "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=-0.7708 left_j1=2.1056 left_j2=1.4696 left_j3=-0.8879 left_j4=0.0036 left_j5=-0.2291 left_gripper=0.9967 right_j0=0.0029 right_j1=0.849 right_j2=1.3293 right_j3=-1.3071 right_j4=-0.0154 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, -10.3043, 7.5692, 0.3053, -0.0415, 0.0611, -0.0024, -0.0479, 0.1026, 5.2581, 1.7558, -0.0562, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f960d153b185e14f59dbb441c81f4cc6f2ccae765028f2d7a8fd7396409f031e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19a6d5a839857eeea90624f388765d3c490cdebf4a682c7d82b8b4c1cece5368",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d4dbb02ec47bf33f8df591a59d4058005dad98fae0bbf4e1cbc00000fb419e8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob f960d153b185
wire blob 19a6d5a83985
wire blob d4dbb02ec47b
call 25 attempt 0 · /messages · status 200 · 4.492 s
model
claude-opus-5
effort
low
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=-0.775 left_j1=2.0026 left_j2=1.3075 left_j3=-0.8169 left_j4=-0.0151 left_j5=-0.2226 left_gripper=0.9964 right_j0=0.0029 right_j1=0.8463 right_j2=1.3323 right_j3=-1.2686 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.5675, -9.2239, 5.012, 0.3394, -0.0659, 0.0024, 0.1294, -0.0615, 0.4581, 5.3402, 1.7314, -0.0317, -0.0415, -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=-0.7708 left_j1=2.014 left_j2=1.3125 left_j3=-0.8127 left_j4=0.001 left_j5=-0.223 left_gripper=0.9966 right_j0=0.0029 right_j1=0.8471 right_j2=1.3293 right_j3=-1.2839 right_j4=-0.0147 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.4991, -3.3709, 3.9453, 1.0037, -0.1538, -0.0415, 0.0024, -0.0615, 0.1299, 5.5179, 1.6923, -0.0171, -0.0562, -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=-0.7708 left_j1=2.1056 left_j2=1.4696 left_j3=-0.8879 left_j4=0.0036 left_j5=-0.2291 left_gripper=0.9967 right_j0=0.0029 right_j1=0.849 right_j2=1.3293 right_j3=-1.3071 right_j4=-0.0154 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, -10.3043, 7.5692, 0.3053, -0.0415, 0.0611, -0.0024, -0.0479, 0.1026, 5.2581, 1.7558, -0.0562, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f960d153b185e14f59dbb441c81f4cc6f2ccae765028f2d7a8fd7396409f031e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19a6d5a839857eeea90624f388765d3c490cdebf4a682c7d82b8b4c1cece5368",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4dbb02ec47bf33f8df591a59d4058005dad98fae0bbf4e1cbc00000fb419e8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob f960d153b185]
[blob 19a6d5a83985]
[blob d4dbb02ec47b]
{
  "content": [
    {
      "signature": "CAIShQIKjAEIEBgCKkCl9ihfxERbFoKwoeYC/fuRlvF6WUsu+1iZkIqUl9IMKM2I1yHoP/EN8E7iaW7v9q8ccVd6CfryoIS89NwBKwtIMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMZ/L7iiLbQi5B32SUGgwSscpRFRTiZHl5yr0iMMwbhPJ+/ztT4PNEjvHVGGqsJHrMNn9r1geYRI+gg3n9VThHQav+uh29/Lea5854wiomnvm3znodm4M3fSBhkdwiRBqW2ifVtpIu0yApJeJcVCkqchHiv4wYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YZ8V29MNvH3g9oiPTFg7QR",
      "input": {
        "note": "Jaws should now straddle the blue block at table level; closing and I'll check the residual for a ~3-4 cm block width.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01YZ8V29MNvH3g9oiPTFg7QR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7708 left_j1=2.1136 left_j2=1.4799 left_j3=-0.8978 left_j4=0.0032 left_j5=-0.2405 left_gripper=0.0119 right_j0=0.0025 right_j1=0.849 right_j2=1.3293 right_j3=-1.3201 right_j4=-0.0147 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.335, -11.5624, 4.6974, 0.4371, 0.022, 0.105, 1.0769, -0.0479, 0.212, 5.2444, 1.5653, -0.0415, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bd90f9c9978cf2b705c33abf39ceecfbf8d86ba3586c210c4bc911ab1c532c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42312c569ada079d2d68766435bd28254f5e1cff0b5685983e247d434d546247",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a682c32a4ba6e5a9ccc6603d7ad51a54c67f2bb946b1ec9a86e5a82cb4a5b246",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 8bd90f9c9978
wire blob 42312c569ada
wire blob a682c32a4ba6
call 26 attempt 0 · /messages · status 200 · 8.193 s
model
claude-opus-5
effort
low
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=-0.7708 left_j1=2.014 left_j2=1.3125 left_j3=-0.8127 left_j4=0.001 left_j5=-0.223 left_gripper=0.9966 right_j0=0.0029 right_j1=0.8471 right_j2=1.3293 right_j3=-1.2839 right_j4=-0.0147 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.4991, -3.3709, 3.9453, 1.0037, -0.1538, -0.0415, 0.0024, -0.0615, 0.1299, 5.5179, 1.6923, -0.0171, -0.0562, -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=-0.7708 left_j1=2.1056 left_j2=1.4696 left_j3=-0.8879 left_j4=0.0036 left_j5=-0.2291 left_gripper=0.9967 right_j0=0.0029 right_j1=0.849 right_j2=1.3293 right_j3=-1.3071 right_j4=-0.0154 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, -10.3043, 7.5692, 0.3053, -0.0415, 0.0611, -0.0024, -0.0479, 0.1026, 5.2581, 1.7558, -0.0562, -0.0366, -0.0122]",
      "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=-0.7708 left_j1=2.1136 left_j2=1.4799 left_j3=-0.8978 left_j4=0.0032 left_j5=-0.2405 left_gripper=0.0119 right_j0=0.0025 right_j1=0.849 right_j2=1.3293 right_j3=-1.3201 right_j4=-0.0147 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.335, -11.5624, 4.6974, 0.4371, 0.022, 0.105, 1.0769, -0.0479, 0.212, 5.2444, 1.5653, -0.0415, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bd90f9c9978cf2b705c33abf39ceecfbf8d86ba3586c210c4bc911ab1c532c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42312c569ada079d2d68766435bd28254f5e1cff0b5685983e247d434d546247",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a682c32a4ba6e5a9ccc6603d7ad51a54c67f2bb946b1ec9a86e5a82cb4a5b246",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 8bd90f9c9978]
[blob 42312c569ada]
[blob a682c32a4ba6]
{
  "content": [
    {
      "signature": "CAISzQcKjAEIEBgCKkCFANQao5NKAuGkeIixCgAWksiqImTZYvxAIZWRkjMFjfsBsHAVMzNqAY3/F0ouk4Lt7RF3ez7jtf4PZf5jyJRhMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMoPDYgLeBhn+3rhS4Ggy8f72BeC8vc7lStRciMPVIByrISMH0ZCZThU+29bw3TBfk2fyT3cq2Vcutfa+15Lj41G8lSjcu50/RYr1M+yrtBXXOlJ9vx6v2CiyhjbXpE4e1CIV3OY1LPN7ibCrHf4KWPG+lYzkaiLtpdQ3sCWBFZEILOa2ZxZb/V5PXRTAUcvuTkAAK6q6W3B0fISxIKLry+eNrzdn79Ynbg/eFZCLaFMlRGJmuqnHsY/g1pnOdZCpUeBp8KCGsm6yfQNw5qzAHtlicwzPlXHV5LB34Vuo735xn11OXN2GPF8FDxYew7eJDkXrUXYojG26EJU4WXZXBkW7yg4Xj7/WlWVMLSxbmpdow0AL0aPh+a7HnDxehSpjbu0eaKG3D1lfWlqSsc/Dc3iuP+BkE7hod0DFze0UXArXl5p7eNXq96khXu0+UveHg3Vy6IiKvPaeyR0Ee/N9vSdk/J2ErZY5Yn5Q+daEibXAtLX0F19jlXhjaghDB0IIt3zaePl1AE2z1ZTegxdqcpueTq/AzFk/uGvzInoSbfkA8s+WZxwDx3cPvbMix/lbstSKbzfRADeR056o97tZP2qDU3IC299nBYgex39xmmkx84tnhVJW6XjcRds066skEiOkXRhM1lbWJE3WpfQ0zQKTZo4MKwMW7QE4i0pfX2uvo6VVZs8xSLpfJ8zkNd+QTzsOt3c4GgF9lLSZSQwmyz4+ebB39ec4PwsFCu0LE6O9tQYBa2XDZubgzE8i0D7eO2IWW+YpAwYw43c4c5VsrnGxms2FgcfCirE5XHvyMIN/oPgaHeBZrK+QHMGElRaBt3+kp1I39UEXPYf0bT8+bPbsE8eD6CR600gesdX/mTdnrU1/XSXndOtkh6J6EUADJIE4NR8N+4aXbVy1QkFFIhFo+Jantw0DUdSEcbLx92ur/sd3IxV4jiszsIw8N70nP7v3dBv5AjIpaa1V4KKGrCcTW6SEhWSBk1mAZsTsBz2IoHHMbCoSsuqOLW8ySDEkrNDSRUeSXpbr2r6AqN6bdXfNShuK32m5I5hWKlrPYMSiX1sS7bKFW9Hm3OmXvW2cdGoRAfZv1GFjM0VBgGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CUAKkartUKkw97E2HiUtZN",
      "input": {
        "note": "Empty grasp again; lifting high to get a wide wrist view and figure out where the blue block actually is.",
        "targets": {
          "left_gripper": 1.0,
          "left_j1": 1.3,
          "left_j2": 1.5,
          "left_j3": -1.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 13 steps (1.3s)",
      "tool_use_id": "toolu_01CUAKkartUKkw97E2HiUtZN",
      "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=-0.7708 left_j1=1.338 left_j2=1.4754 left_j3=-1.0176 left_j4=0.0067 left_j5=-0.2523 left_gripper=0.9968 right_j0=0.0025 right_j1=0.8513 right_j2=1.3293 right_j3=-1.3308 right_j4=-0.0147 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.0068, -5.3675, 8.3077, 1.6239, -0.0806, 0.0611, -0.0464, 0.0068, 0.3487, 5.2444, 1.5214, -0.022, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a057734cc7eb6836f5f3a320cd798afabfe2956efdef135008ebcef3bf90404",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5091f11e18980f039e72ac69c9949180871c9f63b32addbb5b964ee78920839c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:20cc2a2fa621beba2df34ba62c923786a5e9be4f0af2f50cd22d1b58b870ed42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 1a057734cc7e
wire blob 5091f11e1898
wire blob 20cc2a2fa621
call 27 attempt 0 · /messages · status 200 · 12.79 s
model
claude-opus-5
effort
low
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=-0.7708 left_j1=2.1056 left_j2=1.4696 left_j3=-0.8879 left_j4=0.0036 left_j5=-0.2291 left_gripper=0.9967 right_j0=0.0029 right_j1=0.849 right_j2=1.3293 right_j3=-1.3071 right_j4=-0.0154 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, -10.3043, 7.5692, 0.3053, -0.0415, 0.0611, -0.0024, -0.0479, 0.1026, 5.2581, 1.7558, -0.0562, -0.0366, -0.0122]",
      "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=-0.7708 left_j1=2.1136 left_j2=1.4799 left_j3=-0.8978 left_j4=0.0032 left_j5=-0.2405 left_gripper=0.0119 right_j0=0.0025 right_j1=0.849 right_j2=1.3293 right_j3=-1.3201 right_j4=-0.0147 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.335, -11.5624, 4.6974, 0.4371, 0.022, 0.105, 1.0769, -0.0479, 0.212, 5.2444, 1.5653, -0.0415, -0.0366, -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=-0.7708 left_j1=1.338 left_j2=1.4754 left_j3=-1.0176 left_j4=0.0067 left_j5=-0.2523 left_gripper=0.9968 right_j0=0.0025 right_j1=0.8513 right_j2=1.3293 right_j3=-1.3308 right_j4=-0.0147 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.0068, -5.3675, 8.3077, 1.6239, -0.0806, 0.0611, -0.0464, 0.0068, 0.3487, 5.2444, 1.5214, -0.022, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a057734cc7eb6836f5f3a320cd798afabfe2956efdef135008ebcef3bf90404",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5091f11e18980f039e72ac69c9949180871c9f63b32addbb5b964ee78920839c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20cc2a2fa621beba2df34ba62c923786a5e9be4f0af2f50cd22d1b58b870ed42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 1a057734cc7e]
[blob 5091f11e1898]
[blob 20cc2a2fa621]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RDzufXpmsoEjFfnBoxbA9i",
      "input": {
        "note": "Clear view: blue block at wrist-image (105,163), red at (140,90). Extending radius by a calibrated 6 cm at constant height to measure how many pixels the block moves, so I can compute the true radial distance.",
        "targets": {
          "left_j1": 1.57,
          "left_j2": 1.67,
          "left_j3": -0.99
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01RDzufXpmsoEjFfnBoxbA9i",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7708 left_j1=1.5726 left_j2=1.6115 left_j3=-1.0363 left_j4=0.0071 left_j5=-0.2672 left_gripper=0.9972 right_j0=0.0025 right_j1=0.8524 right_j2=1.3289 right_j3=-1.3396 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.3077, -9.2513, 10.5504, 1.6728, -0.022, 0.105, 0.0366, -0.0342, 0.4855, 5.4632, 1.5556, -0.0269, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2370282e5fc1aea025f6d1180eb64b2ab54c035853a3d9b30ba492ac5cd142b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc7673dde574a20d92f961ae6e185144d6e7a451eb01516b417acfa8e1d04c79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c4bf1e233809bbf9216ccc3b299929176bce424207ff2c3331b55931a992d992",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 2370282e5fc1
wire blob bc7673dde574
wire blob c4bf1e233809
call 28 attempt 0 · /messages · status 200 · 7.04 s
model
claude-opus-5
effort
low
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=-0.7708 left_j1=2.1136 left_j2=1.4799 left_j3=-0.8978 left_j4=0.0032 left_j5=-0.2405 left_gripper=0.0119 right_j0=0.0025 right_j1=0.849 right_j2=1.3293 right_j3=-1.3201 right_j4=-0.0147 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.335, -11.5624, 4.6974, 0.4371, 0.022, 0.105, 1.0769, -0.0479, 0.212, 5.2444, 1.5653, -0.0415, -0.0366, -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=-0.7708 left_j1=1.338 left_j2=1.4754 left_j3=-1.0176 left_j4=0.0067 left_j5=-0.2523 left_gripper=0.9968 right_j0=0.0025 right_j1=0.8513 right_j2=1.3293 right_j3=-1.3308 right_j4=-0.0147 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.0068, -5.3675, 8.3077, 1.6239, -0.0806, 0.0611, -0.0464, 0.0068, 0.3487, 5.2444, 1.5214, -0.022, -0.022, -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=-0.7708 left_j1=1.5726 left_j2=1.6115 left_j3=-1.0363 left_j4=0.0071 left_j5=-0.2672 left_gripper=0.9972 right_j0=0.0025 right_j1=0.8524 right_j2=1.3289 right_j3=-1.3396 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.3077, -9.2513, 10.5504, 1.6728, -0.022, 0.105, 0.0366, -0.0342, 0.4855, 5.4632, 1.5556, -0.0269, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2370282e5fc1aea025f6d1180eb64b2ab54c035853a3d9b30ba492ac5cd142b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc7673dde574a20d92f961ae6e185144d6e7a451eb01516b417acfa8e1d04c79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4bf1e233809bbf9216ccc3b299929176bce424207ff2c3331b55931a992d992",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 2370282e5fc1]
[blob bc7673dde574]
[blob c4bf1e233809]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LcqHGV8zT4ZH56ckVCV6y4",
      "input": {
        "note": "The 5 cm radial extension moved the blue block 20 px down the wrist image; extending another ~5 cm at the same height to bring it right onto the grasp point before descending vertically.",
        "targets": {
          "left_j1": 1.76,
          "left_j2": 1.85,
          "left_j3": -1.06
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01LcqHGV8zT4ZH56ckVCV6y4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7708 left_j1=1.7508 left_j2=1.7969 left_j3=-1.0969 left_j4=0.0071 left_j5=-0.2825 left_gripper=0.9973 right_j0=0.0025 right_j1=0.8551 right_j2=1.3289 right_j3=-1.3529 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.2667, -9.1145, 9.4017, 1.5018, -0.0415, 0.105, -0.0073, -0.0479, 0.2256, 5.2171, 1.5458, -0.0269, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b08c178341870b1407073ba386e8e5e5ec89eae7f72e5db628120222feb1287",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afeafce7ead896c675d793c3684533be447a53fd6bf7ebd0600b387a9ffe0dfc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e15bcf7ae16eb7b82b2a50dae99d96bc74ba33e36758455a76d8add277e76006",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 1b08c1783418
wire blob afeafce7ead8
wire blob e15bcf7ae16e
call 29 attempt 0 · /messages · status 200 · 4.071 s
model
claude-opus-5
effort
low
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=-0.7708 left_j1=1.338 left_j2=1.4754 left_j3=-1.0176 left_j4=0.0067 left_j5=-0.2523 left_gripper=0.9968 right_j0=0.0025 right_j1=0.8513 right_j2=1.3293 right_j3=-1.3308 right_j4=-0.0147 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.0068, -5.3675, 8.3077, 1.6239, -0.0806, 0.0611, -0.0464, 0.0068, 0.3487, 5.2444, 1.5214, -0.022, -0.022, -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=-0.7708 left_j1=1.5726 left_j2=1.6115 left_j3=-1.0363 left_j4=0.0071 left_j5=-0.2672 left_gripper=0.9972 right_j0=0.0025 right_j1=0.8524 right_j2=1.3289 right_j3=-1.3396 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.3077, -9.2513, 10.5504, 1.6728, -0.022, 0.105, 0.0366, -0.0342, 0.4855, 5.4632, 1.5556, -0.0269, -0.0659, -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=-0.7708 left_j1=1.7508 left_j2=1.7969 left_j3=-1.0969 left_j4=0.0071 left_j5=-0.2825 left_gripper=0.9973 right_j0=0.0025 right_j1=0.8551 right_j2=1.3289 right_j3=-1.3529 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.2667, -9.1145, 9.4017, 1.5018, -0.0415, 0.105, -0.0073, -0.0479, 0.2256, 5.2171, 1.5458, -0.0269, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b08c178341870b1407073ba386e8e5e5ec89eae7f72e5db628120222feb1287",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afeafce7ead896c675d793c3684533be447a53fd6bf7ebd0600b387a9ffe0dfc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e15bcf7ae16eb7b82b2a50dae99d96bc74ba33e36758455a76d8add277e76006",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 1b08c1783418]
[blob afeafce7ead8]
[blob e15bcf7ae16e]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WZGn633CjqRqzuukrvpVwS",
      "input": {
        "note": "Blue block is now at the grasp point's row but sits ~15 px left of the jaw centre — a persistent lateral offset that likely caused my missed grasps. Swinging j0 left ~3 cm to centre it.",
        "targets": {
          "left_j0": -0.685
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01WZGn633CjqRqzuukrvpVwS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.733 left_j1=1.7657 left_j2=1.8057 left_j3=-1.1084 left_j4=0.0143 left_j5=-0.2901 left_gripper=0.9973 right_j0=0.0025 right_j1=0.8555 right_j2=1.3289 right_j3=-1.3575 right_j4=-0.0151 right_j5=0.0002 right_gripper=0.9997\nstate[joint_eff]: [1.4838, -9.9077, 6.1197, 1.3016, -0.0806, 0.0366, -0.0122, -0.1573, 0.2667, 5.2034, 1.58, -0.0366, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1616b551e5784b5037ea496a985a77d5fe8c98f8312aa8c84297aa57df52ecee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c369784c299d9ad0373dc457cef865bd312b6466333d2fba40c64f4ac577b760",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d09645e697245d9f4aa7add7b6bbdd1c7f0cb8233c58c643e7265120f76266e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 1616b551e578
wire blob c369784c299d
wire blob d09645e69724
call 30 attempt 0 · /messages · status 200 · 3.966 s
model
claude-opus-5
effort
low
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=-0.7708 left_j1=1.5726 left_j2=1.6115 left_j3=-1.0363 left_j4=0.0071 left_j5=-0.2672 left_gripper=0.9972 right_j0=0.0025 right_j1=0.8524 right_j2=1.3289 right_j3=-1.3396 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.3077, -9.2513, 10.5504, 1.6728, -0.022, 0.105, 0.0366, -0.0342, 0.4855, 5.4632, 1.5556, -0.0269, -0.0659, -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=-0.7708 left_j1=1.7508 left_j2=1.7969 left_j3=-1.0969 left_j4=0.0071 left_j5=-0.2825 left_gripper=0.9973 right_j0=0.0025 right_j1=0.8551 right_j2=1.3289 right_j3=-1.3529 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.2667, -9.1145, 9.4017, 1.5018, -0.0415, 0.105, -0.0073, -0.0479, 0.2256, 5.2171, 1.5458, -0.0269, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.733 left_j1=1.7657 left_j2=1.8057 left_j3=-1.1084 left_j4=0.0143 left_j5=-0.2901 left_gripper=0.9973 right_j0=0.0025 right_j1=0.8555 right_j2=1.3289 right_j3=-1.3575 right_j4=-0.0151 right_j5=0.0002 right_gripper=0.9997\nstate[joint_eff]: [1.4838, -9.9077, 6.1197, 1.3016, -0.0806, 0.0366, -0.0122, -0.1573, 0.2667, 5.2034, 1.58, -0.0366, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1616b551e5784b5037ea496a985a77d5fe8c98f8312aa8c84297aa57df52ecee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c369784c299d9ad0373dc457cef865bd312b6466333d2fba40c64f4ac577b760",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d09645e697245d9f4aa7add7b6bbdd1c7f0cb8233c58c643e7265120f76266e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 1616b551e578]
[blob c369784c299d]
[blob d09645e69724]
{
  "content": [
    {
      "signature": "CAISgQQKjAEIEBgCKkBrzV0vU3fZbL/Uqd1G/eEuKoc1qhJC2tcf7B7OoCQzeGX5XpzcRxBhuHyb49Ytw9JnVCkpe3WSXccM1+Ruez/VMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMxwZLMqm1CALNdNscGgz99+DNwZ7QuytL5OoiMEJel9OaHoU9VzpFehm1t2Z25oE8Lx23UM3BEg602zTWhnAC9XHxXK4YHNAm1W6avyqhAo5IzZ/X/zh/aaSlN+T/hlG/wV7PLWH0sbU1vodU6VPDfK7V+YCYkM0BimyPqovKZy3iERSgTVXxPx9aZjbHSyLTAC+bv0vgt2gx8cgAvd27ywAQzgGckhCGLEW4iipb3BgdBn93AIyYo4L9n+cyBUnaXY3tiKjdAYCOKLh4jJeL75441sY0jg6CW4AijuDL0novp8VKJSDL932DyKmMVSQwTcucPNSTorr0GWKDpQR4WdSRIdU7o5PGZieqYnAv17K5qnAk+2E+0d/GAFcb8TeUVXpEm1RVMevkr6yaVLVNvKd71lpLhW4B1VWIMJU3JBpin18uEtHLAp9gdHSbsWaRcM749yjNI0GlEKyCYV91eStfEkgzXQn4f7WrxW2RE7MYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0122WiKd5vThLw36DdUmB9iy",
      "input": {
        "note": "Small j0 move shifted the block 5 px right (≈3.8 px/cm); continuing left to put the block's centre at the jaw-gap column.",
        "targets": {
          "left_j0": -0.62
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_0122WiKd5vThLw36DdUmB9iy",
      "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=-0.6575 left_j1=1.7657 left_j2=1.7992 left_j3=-1.1126 left_j4=0.0174 left_j5=-0.2939 left_gripper=0.9973 right_j0=0.0029 right_j1=0.8566 right_j2=1.3289 right_j3=-1.3716 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [1.2923, -8.4171, 6.8991, 1.199, -0.0464, -0.022, -0.0122, -0.1026, 0.1436, 5.1897, 1.5556, -0.0317, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c57dfa505efadbfa9e949082ab272ae2b4ee979e56e0c04773a2141e400dec52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e790435caeb2b3c720d405dd7684792c41ccd101439da58424ac656b4a14beb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f5651e242e2f28914c4bbf74590b94095beeacc4dc38b2dc33b77871813910d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob c57dfa505efa
wire blob e790435caeb2
wire blob f5651e242e2f
call 31 attempt 0 · /messages · status 200 · 3.12 s
model
claude-opus-5
effort
low
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=-0.7708 left_j1=1.7508 left_j2=1.7969 left_j3=-1.0969 left_j4=0.0071 left_j5=-0.2825 left_gripper=0.9973 right_j0=0.0025 right_j1=0.8551 right_j2=1.3289 right_j3=-1.3529 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.2667, -9.1145, 9.4017, 1.5018, -0.0415, 0.105, -0.0073, -0.0479, 0.2256, 5.2171, 1.5458, -0.0269, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.733 left_j1=1.7657 left_j2=1.8057 left_j3=-1.1084 left_j4=0.0143 left_j5=-0.2901 left_gripper=0.9973 right_j0=0.0025 right_j1=0.8555 right_j2=1.3289 right_j3=-1.3575 right_j4=-0.0151 right_j5=0.0002 right_gripper=0.9997\nstate[joint_eff]: [1.4838, -9.9077, 6.1197, 1.3016, -0.0806, 0.0366, -0.0122, -0.1573, 0.2667, 5.2034, 1.58, -0.0366, -0.0366, -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=-0.6575 left_j1=1.7657 left_j2=1.7992 left_j3=-1.1126 left_j4=0.0174 left_j5=-0.2939 left_gripper=0.9973 right_j0=0.0029 right_j1=0.8566 right_j2=1.3289 right_j3=-1.3716 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [1.2923, -8.4171, 6.8991, 1.199, -0.0464, -0.022, -0.0122, -0.1026, 0.1436, 5.1897, 1.5556, -0.0317, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c57dfa505efadbfa9e949082ab272ae2b4ee979e56e0c04773a2141e400dec52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e790435caeb2b3c720d405dd7684792c41ccd101439da58424ac656b4a14beb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5651e242e2f28914c4bbf74590b94095beeacc4dc38b2dc33b77871813910d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob c57dfa505efa]
[blob e790435caeb2]
[blob f5651e242e2f]
{
  "content": [
    {
      "signature": "CAIS0wQKjAEIEBgCKkAZEyS8SUCVsu8k0OU6k8aIaMPqXtrATz2rpBEZQigRm8/bPuAHCHOx5w9kWipt5aUTNynrQ4JpiDKIHQ31kr9BMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMuwqK1VBWDffLAkCnGgx8HSM8tvOT9yKitgkiMPo8UrgDYcYjWvnShkFKhHlkFdOiotMItgBXq3kJlBLFUuLZvJ49kPl/LptGwiGxyCrzArXAP3KIAAtJ7JFNIQi1b6SrM/Bu7AAjdZ1rO+p2cL93PDjsW1drmhZWxnPwX3ruKVuVXGeqxB0l6hzxGgnzHFTmYKhZBu4EEUj/CMAkmGiBAdd20co0dfIztNCpl32S2iFC8kOpgcYAn1+3AkN9NDin+Vco34k7h290BuEdMV6lkaFvEZpEfCN+ukZ5IUhm5XXE+CEmic8xJxfxAxtpxk4F29EsHPkZJH1pqsDx40QgHUert2b8itiDo8a7EVljfasOh/HjbrkUa2aUMSwH6fCm7ffNaTgNe3jwKZvoJcNHcrh0Mz8R4paxNBR4uL8kktEY4oHu2ZGuCvJ6DZNzhBhP5z5dwcvSbpLfWG+IbVgi2vDxS6LYvnJRAQu6y2FSiB5jwnx2Acx2BkntD2hApmrCvztZp4kTtcPZH3xXqAzJCSTm2JuYDfIU86SS1UoTRwuybccoNam2lv6rNvQKEcpabbetSN/8tCORIf8XjTXvz/JdGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015oNUti561AyoLhD8XSTZbT",
      "input": {
        "note": "Block is now centred on the jaw column at (110,196); descending halfway to the table while holding radius constant.",
        "targets": {
          "left_j1": 1.94,
          "left_j2": 1.64,
          "left_j3": -0.99
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_015oNUti561AyoLhD8XSTZbT",
      "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=-0.6579 left_j1=1.895 left_j2=1.6791 left_j3=-1.0241 left_j4=0.0154 left_j5=-0.2974 left_gripper=0.9973 right_j0=0.0025 right_j1=0.8574 right_j2=1.3289 right_j3=-1.3766 right_j4=-0.0151 right_j5=0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.5675, -11.0564, 6.188, 0.9109, -0.0464, -0.022, -0.0122, -0.1026, 0.5675, 5.2171, 1.4872, -0.0513, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fedf5708c3af6edd60b2c9cb1759097333a1bcfa31aefd65fbd52fae5defad64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5245eca0dd623ce919e22bc285a4860e117943f2ccb0bbb60db46f2ddeaf0c65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6b4fbda9ab7b3ec93b5bd3d192f7fe8c489dd46f3a050ccd3e0b43609c9b5a37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob fedf5708c3af
wire blob 5245eca0dd62
wire blob 6b4fbda9ab7b
call 32 attempt 0 · /messages · status 200 · 3.056 s
model
claude-opus-5
effort
low
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=-0.733 left_j1=1.7657 left_j2=1.8057 left_j3=-1.1084 left_j4=0.0143 left_j5=-0.2901 left_gripper=0.9973 right_j0=0.0025 right_j1=0.8555 right_j2=1.3289 right_j3=-1.3575 right_j4=-0.0151 right_j5=0.0002 right_gripper=0.9997\nstate[joint_eff]: [1.4838, -9.9077, 6.1197, 1.3016, -0.0806, 0.0366, -0.0122, -0.1573, 0.2667, 5.2034, 1.58, -0.0366, -0.0366, -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=-0.6575 left_j1=1.7657 left_j2=1.7992 left_j3=-1.1126 left_j4=0.0174 left_j5=-0.2939 left_gripper=0.9973 right_j0=0.0029 right_j1=0.8566 right_j2=1.3289 right_j3=-1.3716 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [1.2923, -8.4171, 6.8991, 1.199, -0.0464, -0.022, -0.0122, -0.1026, 0.1436, 5.1897, 1.5556, -0.0317, -0.0611, -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=-0.6579 left_j1=1.895 left_j2=1.6791 left_j3=-1.0241 left_j4=0.0154 left_j5=-0.2974 left_gripper=0.9973 right_j0=0.0025 right_j1=0.8574 right_j2=1.3289 right_j3=-1.3766 right_j4=-0.0151 right_j5=0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.5675, -11.0564, 6.188, 0.9109, -0.0464, -0.022, -0.0122, -0.1026, 0.5675, 5.2171, 1.4872, -0.0513, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fedf5708c3af6edd60b2c9cb1759097333a1bcfa31aefd65fbd52fae5defad64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5245eca0dd623ce919e22bc285a4860e117943f2ccb0bbb60db46f2ddeaf0c65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b4fbda9ab7b3ec93b5bd3d192f7fe8c489dd46f3a050ccd3e0b43609c9b5a37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob fedf5708c3af]
[blob 5245eca0dd62]
[blob 6b4fbda9ab7b]
{
  "content": [
    {
      "signature": "CAISsAIKjAEIEBgCKkC54uReOftceIFpcqnmxocFZI/19Dvb73O04mBwpFftFHanbrTBn8o5agCb1VM1HCBKbvh5KH/1G9Cg/UQPxUCRMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMR+mzGdvKiAqw/B0/GgxcERAWN+UXlTDqgroiMLvyQqrekFyzmso++t/SMQMoe+G8XhAPqb358BHZ+tWeMifPCu5w2NCmaRu6FZmowypRnu6qGxzRUHVc1YLxBtZESAV8mv93twCJgmHe29WMVnweE8mfjpv0yC+TgGnDIWCvqjyWyq1vCGA+W9PaqzvhFg6+863nV7PnHKS7v2JI9GuoGAE=",
      "thinking": "",
      "type": "thinking"
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    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016nTpumWaqNGrssN4AbDaEk",
      "input": {
        "note": "Block still centred between the jaws at the bottom edge; completing the descent to table level.",
        "targets": {
          "left_j1": 2.18,
          "left_j2": 1.49,
          "left_j3": -0.82
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_016nTpumWaqNGrssN4AbDaEk",
      "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=-0.6605 left_j1=2.1441 left_j2=1.5223 left_j3=-0.8726 left_j4=0.0025 left_j5=-0.3008 left_gripper=0.9972 right_j0=0.0029 right_j1=0.8593 right_j2=1.3277 right_j3=-1.3823 right_j4=-0.0147 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.1299, -7.8427, 3.5897, 0.6422, 0.3785, 0.0269, -0.0171, -0.0342, 0.1709, 6.4068, 1.5165, -0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9105935dd36696ad7de8b6f5d2a0cd2dc9c7806a49173b2470f7f87c6bc56ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46f2664f30f9b3759a9acbff27c5edd383ab9c384419688cf054a9f1097a0050",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8e31d215c566d9c7872f64ec35adbb3d01bc4c6a4603864f28cbf242e3f78b9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob d9105935dd36
wire blob 46f2664f30f9
wire blob 8e31d215c566
call 33 attempt 0 · /messages · status 200 · 12.9 s
model
claude-opus-5
effort
low
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=-0.6575 left_j1=1.7657 left_j2=1.7992 left_j3=-1.1126 left_j4=0.0174 left_j5=-0.2939 left_gripper=0.9973 right_j0=0.0029 right_j1=0.8566 right_j2=1.3289 right_j3=-1.3716 right_j4=-0.0151 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [1.2923, -8.4171, 6.8991, 1.199, -0.0464, -0.022, -0.0122, -0.1026, 0.1436, 5.1897, 1.5556, -0.0317, -0.0611, -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=-0.6579 left_j1=1.895 left_j2=1.6791 left_j3=-1.0241 left_j4=0.0154 left_j5=-0.2974 left_gripper=0.9973 right_j0=0.0025 right_j1=0.8574 right_j2=1.3289 right_j3=-1.3766 right_j4=-0.0151 right_j5=0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.5675, -11.0564, 6.188, 0.9109, -0.0464, -0.022, -0.0122, -0.1026, 0.5675, 5.2171, 1.4872, -0.0513, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6605 left_j1=2.1441 left_j2=1.5223 left_j3=-0.8726 left_j4=0.0025 left_j5=-0.3008 left_gripper=0.9972 right_j0=0.0029 right_j1=0.8593 right_j2=1.3277 right_j3=-1.3823 right_j4=-0.0147 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.1299, -7.8427, 3.5897, 0.6422, 0.3785, 0.0269, -0.0171, -0.0342, 0.1709, 6.4068, 1.5165, -0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9105935dd36696ad7de8b6f5d2a0cd2dc9c7806a49173b2470f7f87c6bc56ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46f2664f30f9b3759a9acbff27c5edd383ab9c384419688cf054a9f1097a0050",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e31d215c566d9c7872f64ec35adbb3d01bc4c6a4603864f28cbf242e3f78b9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob d9105935dd36]
[blob 46f2664f30f9]
[blob 8e31d215c566]
{
  "content": [
    {
      "signature": "CAISoQIKjAEIEBgCKkDzZ9qCq9i/dXr2NhmUvAL3M1EcvBCRQtvEWz0OYAUScQ4OpGm2G4yoCHhROGKqgtkp7sTW4Ae8mmjBIL75g4SXMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMx+HRVOAvuaqjJM9cGgyg5D/OOfsRAApDjQ4iMNxZdXB3we94Lb6jj/gGNRrMhyD5D2nU+qpQopjLa2EhvMvmC3IIDrZm9mbcjMnp7ypCJuXrlUGkfnbmYLvLnMhXCXfbVGtKMM861kpnZ++/pn0o338jH3+Ff+o9I5oCxkEuLUAGXMqlDhSRIUPj84N597OqGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TML9gHNTEmKUysGEs4SvPR",
      "input": {
        "note": "At table level with the block centred; closing the gripper.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01TML9gHNTEmKUysGEs4SvPR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6605 left_j1=2.141 left_j2=1.5208 left_j3=-0.8753 left_j4=-0.009 left_j5=-0.3019 left_gripper=0.0119 right_j0=0.0029 right_j1=0.8619 right_j2=1.3235 right_j3=-1.3972 right_j4=-0.0154 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.212, -10.7966, 6.188, 0.4078, 0.0464, 0.0073, 1.072, -0.0752, -0.0342, 5.5726, 1.4628, 0.0024, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:737445e5393a0d7f86ad18041b6befec3eaca01cf18732bfee7f555dd764dd0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6739d6796488079a37106020e60f576e6b569482e467dab12a1132233a094f8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c8e4c0706e53f971d8ecb9bd61cd4d28aaf50f6b3cbc28d075178ca99afb3d3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 737445e5393a
wire blob 6739d6796488
wire blob c8e4c0706e53
call 34 attempt 0 · /messages · status 200 · 6.358 s
model
claude-opus-5
effort
low
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=-0.6579 left_j1=1.895 left_j2=1.6791 left_j3=-1.0241 left_j4=0.0154 left_j5=-0.2974 left_gripper=0.9973 right_j0=0.0025 right_j1=0.8574 right_j2=1.3289 right_j3=-1.3766 right_j4=-0.0151 right_j5=0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.5675, -11.0564, 6.188, 0.9109, -0.0464, -0.022, -0.0122, -0.1026, 0.5675, 5.2171, 1.4872, -0.0513, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6605 left_j1=2.1441 left_j2=1.5223 left_j3=-0.8726 left_j4=0.0025 left_j5=-0.3008 left_gripper=0.9972 right_j0=0.0029 right_j1=0.8593 right_j2=1.3277 right_j3=-1.3823 right_j4=-0.0147 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.1299, -7.8427, 3.5897, 0.6422, 0.3785, 0.0269, -0.0171, -0.0342, 0.1709, 6.4068, 1.5165, -0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6605 left_j1=2.141 left_j2=1.5208 left_j3=-0.8753 left_j4=-0.009 left_j5=-0.3019 left_gripper=0.0119 right_j0=0.0029 right_j1=0.8619 right_j2=1.3235 right_j3=-1.3972 right_j4=-0.0154 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.212, -10.7966, 6.188, 0.4078, 0.0464, 0.0073, 1.072, -0.0752, -0.0342, 5.5726, 1.4628, 0.0024, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:737445e5393a0d7f86ad18041b6befec3eaca01cf18732bfee7f555dd764dd0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6739d6796488079a37106020e60f576e6b569482e467dab12a1132233a094f8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8e4c0706e53f971d8ecb9bd61cd4d28aaf50f6b3cbc28d075178ca99afb3d3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 737445e5393a]
[blob 6739d6796488]
[blob c8e4c0706e53]
{
  "content": [
    {
      "signature": 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rPvxRBpYnIDVugx9vTw94JGoVQwgjpZ0gP0jyyZnqpK8QYAGnzQfO/IyD0O3mxNwYju2bkEOYwe/rUZZHYddxzUphwnLW3hX10a6L4k8yIgjSO6HpkjtiYz/Qf5ceoFCKa0DUE1eg4SNwf1hlf4H9WafqMhKxsSCUPp9cqHRxQnvWzm1QC4PvCI/LrI7SNj6xTSD/sRAPyfYTooMg5Kwr5aPGnRWFsOooWveju39Bu/z0ye8isoYUGFIK8RYhxUQoCmZ+RYIO0FLzFKV0UfebshTBmgE52/HbX4tFMb+WoxqjKm2pFnnzlX0dwKxDNZWZgyDgz3VqilXgUNnQ9+VhLRsxsQV2B8TJ5Cl281QA4ySMt0biZIbc5bazIuh3lUFo0wEnZZcVMK6LaDdmlU7IgZN9kR/LEEjkS7D5gUCKJcPIZzzJln4n8IGHWf0bKOD2g6R5vhMPSLaRM3g55fdOqqy4vZ4pDL1P/6C+7WQSjcbn48AC38ODI7MqJkfwK+htGWlH0JiyC3RzFTukrgfhIHpoCrqNitb9Uob+1FQXIn5MlrgYWUYaJkoqG6LCr6azWJhdVxO0EqYdnOEciL5NeehcEfBjjaODBPZOiEGNWS/Xx56ExP9vtUGiw0lwNxpQCurLo8086gVmNiAxnH9dtkK6PwSlT+jntpW+7uMl7kKInLCoZzlFSOMW+t16t8itO6rfbW8t0bKXNUYkuXKphL6/51EsvxpaVdhMg+kouKpRO6BYdY4wn2M08rtX4bGqXwq01m/a6b1YeUec1q7m18koJMeNhBcnZq7shpQsomhii4HJpDGQ16h6zMMR8Cq+cxiQpI7Y101KIb6YZo8j7jlBN37rYMOUQigoJjD7i5Vabl87QAadgQ0qFgPjJnVQVnK7iuqR0+zJYjiK2Iol+ma7AVmz35DioKfVBpw2c8AxX0xuXk5AHEGIUEpnT/TcCZLKCR0o8l6EL8tvNGIAv4ovtF3Ur7JaR2GV5UNUmrhhhz2nI22/xqEsvMNjg6UGcHhfzcy67jicYqs4IuXG+37W2Eh8ibNSpL20EsnTDqkzRXnaXHl1xSQ1yzgVKf1ca3zvx50KswyAgcHhdo8TmQWc8WtGzkMrXZkaMAJBHj9o15uUv01jMVw98J8IrsmVBWBqZH0WE1pY5zdAiY7zoi/MMiSJ3Eq+p5SiGI48It7Yq8w7UuL9AjBXfrFr6mccXIMoEMtCLxzwD9VqxPI0GSUIGhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CWi76akirmMugMAq1mS6La",
      "input": {
        "note": "Fourth empty close — I can't judge depth from the left wrist view. Bringing the idle right arm up as a side observer, pointed toward the left gripper, to see whether it is short of or beyond the blue block.",
        "targets": {
          "left_gripper": 1.0,
          "right_j0": 0.9,
          "right_j1": 1.6,
          "right_j2": 1.83,
          "right_j3": -1.23
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 15 steps (1.5s)",
      "tool_use_id": "toolu_01CWi76akirmMugMAq1mS6La",
      "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=-0.6598 left_j1=2.141 left_j2=1.5211 left_j3=-0.8753 left_j4=-0.0048 left_j5=-0.305 left_gripper=0.9975 right_j0=0.8787 right_j1=1.5871 right_j2=1.7889 right_j3=-1.2961 right_j4=-0.0162 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.335, -11.2205, 5.5043, 0.3883, -0.0708, 0.0024, -0.0464, 0.1299, -6.7624, 8.5265, 1.5897, -0.0122, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7218e8f53fbca398f1daca5cc0d190420f6e7517372ccc05ecb3d9c36785dc4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:713faaa08a3d6a466b4a9b45c9fef5936c43312081696cb9de88d72cf470598b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:20460beb978a8f73e8abb3fc15c13b3c95c0bb4e48ecf22d11e6d81edbcf8d8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 7218e8f53fbc
wire blob 713faaa08a3d
wire blob 20460beb978a
call 35 attempt 0 · /messages · status 200 · 5.087 s
model
claude-opus-5
effort
low
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=-0.6605 left_j1=2.1441 left_j2=1.5223 left_j3=-0.8726 left_j4=0.0025 left_j5=-0.3008 left_gripper=0.9972 right_j0=0.0029 right_j1=0.8593 right_j2=1.3277 right_j3=-1.3823 right_j4=-0.0147 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.1299, -7.8427, 3.5897, 0.6422, 0.3785, 0.0269, -0.0171, -0.0342, 0.1709, 6.4068, 1.5165, -0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6605 left_j1=2.141 left_j2=1.5208 left_j3=-0.8753 left_j4=-0.009 left_j5=-0.3019 left_gripper=0.0119 right_j0=0.0029 right_j1=0.8619 right_j2=1.3235 right_j3=-1.3972 right_j4=-0.0154 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.212, -10.7966, 6.188, 0.4078, 0.0464, 0.0073, 1.072, -0.0752, -0.0342, 5.5726, 1.4628, 0.0024, -0.0562, -0.0122]",
      "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=-0.6598 left_j1=2.141 left_j2=1.5211 left_j3=-0.8753 left_j4=-0.0048 left_j5=-0.305 left_gripper=0.9975 right_j0=0.8787 right_j1=1.5871 right_j2=1.7889 right_j3=-1.2961 right_j4=-0.0162 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.335, -11.2205, 5.5043, 0.3883, -0.0708, 0.0024, -0.0464, 0.1299, -6.7624, 8.5265, 1.5897, -0.0122, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7218e8f53fbca398f1daca5cc0d190420f6e7517372ccc05ecb3d9c36785dc4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:713faaa08a3d6a466b4a9b45c9fef5936c43312081696cb9de88d72cf470598b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20460beb978a8f73e8abb3fc15c13b3c95c0bb4e48ecf22d11e6d81edbcf8d8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 7218e8f53fbc]
[blob 713faaa08a3d]
[blob 20460beb978a]
{
  "content": [
    {
      "signature": "CAISlwkKjAEIEBgCKkAr3/z2vBokpRtPxIZ8LdgDiNun/hk0As20xnoo3u6fOdpmmRxmpTSeiFi9VBt7eHIPMMaHd5qGhEpsrJBw6hoPMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM/XA3B1v2QFdoriOiGgzgfN033Ml0mzWslOUiMDweiBjgN9jJTBo0ZxTGjZFejAPn1M2qTZ8+a6TuyPlK8elP5yBZM1YVGNa+ZY5cWSq3B2YXGSp2/1gNgupjsupORHcIc/No90R49d/dGndpWY/tUGqGZFt0KEYo8GoWGGGA+2ffr6TW2CTLcrQ5QB2aLJvmtg0s8KUcpqu5maIqS0pXiLlDaOH+nDtReWM7MAXjYA7ogf+/zwT25GHAbyuXwuTs2vz6RWlbQAiBVvBGaniNr4YsvFDx0uZoxs2wL9HpZsPPNGuHoU2qiM47tI6qoZPGrypMrCBAJQuy/Wed9AO1rrxL8NUYKn4jq+T1/VAxRy3eWp+SG/yRL07+KMoYwXuViyiLmUvk09BY0iuQlPtR+VuV2EkgAraKb1AghcxDTnZDJYnDpWyMpKbrZ13gtFzYpeYUYHeZepfxewAuZD2I+0pmzLhMbrOxpIvWilV6SurZg8RlXYnJpmLdvBiWjh0JbRxgj5d6WtG5WO8SNnhHTQ/FIlVZyClk3zEb1qonliCVwvmu5+P/o40WP23h/HcfkPU1PP9QmVGDEjxQhzAiXazl5lq8TmMkDlnd9CYhcizDEjA6cFUPbPidq+f1Vd0empbSpC1gfDDwmj3wMJdnMDPHcVFFdZ8QnvvD2crS6z0ljGBaa9+6YA+WY2rcSJu0A2+fWGelZl0aq32PtMgws8H7Nbc9VauxHiqz2DTqIhySx0GxUBPCO0B5pacgoRRzp1orxv+4+WrV1BNNwey6QPRB/SV2XASLawlxxGZWA6rgQWrx9cSAQv0RPyI26GvOxG49XAUbsRp6W642KCn91kbaJ/P//QEcN+sxwja/OPP0psKHeGm4XY2ray0ShuqzRd/uFAnTu89NhzXoWCrLu54AfS6NsWoo+Qb9plQiFUhTtIl17LlMXgfE+NIhgZuMeNIcQTxRR4pftSjm51+i1VRcn2gictp7+9uZ/m/CoNRczquFIWAQ0WuGzTNugAp4w+3Eu5yyMjvNVBDWLlwRP/23yAcYE1F5PB4GEj7FgtIrz95fJY3IRRYp0KvGdnM9J0YL10KEz2a4utarX5hOTwsqfb77DziiHbaIqSFdGJWjXo/He3nCni+3qjgoOhfsgXIdmgf14KsqgzWjARn9qMATwTsjxDQErsMtMILBo1Bomv/vFhnToMwVLMgUN8xi7AC5T4rf2cQQGMiTR3+/DPytQd+4vOPyf25KxU/3AuasawwX0pCQKLUCXI9xbjlNH0MW363K17wfvRb1kcvjM7aYloK4xZT3NvoLw5AbgTt5CtCt6qOcytffBSZ2olOZHc2VaejBCCWyf6FG0ZePDRcWQfuz1BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KViFLWinqAf73BwofBDxG8",
      "input": {
        "note": "Right wrist camera now sees both blocks and the left gripper; taking a tiny settling move to get a sharp, unblurred frame for judging the gripper-to-block offset.",
        "targets": {
          "right_j0": 0.88
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 1 steps (0.1s)",
      "tool_use_id": "toolu_01KViFLWinqAf73BwofBDxG8",
      "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=-0.6598 left_j1=2.141 left_j2=1.5211 left_j3=-0.8749 left_j4=-0.0048 left_j5=-0.305 left_gripper=0.9985 right_j0=0.902 right_j1=1.6112 right_j2=1.7954 right_j3=-1.2804 right_j4=-0.0189 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, -11.1521, 5.5726, 0.3834, -0.0952, -0.0269, -0.1636, -0.253, -7.788, 8.8547, 1.6386, -0.0464, 0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79584917ab9398601aeb360e642059cc90017ae19a9a5dd6d74121a5dcf69ac0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b167d4f827979796b121bf95ea9e7431625225b8a2d5e63ace10339df7475ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:04ff763ccf55ebea41dd97c26ff2b14f5ac0d6cfe2133bfee1dd68dd53aabf46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 79584917ab93
wire blob 8b167d4f8279
wire blob 04ff763ccf55
call 36 attempt 0 · /messages · status 200 · 5.405 s
model
claude-opus-5
effort
low
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=-0.6605 left_j1=2.141 left_j2=1.5208 left_j3=-0.8753 left_j4=-0.009 left_j5=-0.3019 left_gripper=0.0119 right_j0=0.0029 right_j1=0.8619 right_j2=1.3235 right_j3=-1.3972 right_j4=-0.0154 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.212, -10.7966, 6.188, 0.4078, 0.0464, 0.0073, 1.072, -0.0752, -0.0342, 5.5726, 1.4628, 0.0024, -0.0562, -0.0122]",
      "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=-0.6598 left_j1=2.141 left_j2=1.5211 left_j3=-0.8753 left_j4=-0.0048 left_j5=-0.305 left_gripper=0.9975 right_j0=0.8787 right_j1=1.5871 right_j2=1.7889 right_j3=-1.2961 right_j4=-0.0162 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.335, -11.2205, 5.5043, 0.3883, -0.0708, 0.0024, -0.0464, 0.1299, -6.7624, 8.5265, 1.5897, -0.0122, -0.0366, -0.0122]",
      "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=-0.6598 left_j1=2.141 left_j2=1.5211 left_j3=-0.8749 left_j4=-0.0048 left_j5=-0.305 left_gripper=0.9985 right_j0=0.902 right_j1=1.6112 right_j2=1.7954 right_j3=-1.2804 right_j4=-0.0189 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, -11.1521, 5.5726, 0.3834, -0.0952, -0.0269, -0.1636, -0.253, -7.788, 8.8547, 1.6386, -0.0464, 0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79584917ab9398601aeb360e642059cc90017ae19a9a5dd6d74121a5dcf69ac0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b167d4f827979796b121bf95ea9e7431625225b8a2d5e63ace10339df7475ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04ff763ccf55ebea41dd97c26ff2b14f5ac0d6cfe2133bfee1dd68dd53aabf46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 79584917ab93]
[blob 8b167d4f8279]
[blob 04ff763ccf55]
{
  "content": [
    {
      "signature": "CAISigkKjAEIEBgCKkAueqkWjd1CGMqmeCVLtxc2udiH7TTErI9uO7Rh2HWDC7+6JddBu0RFggJvwzx7iSRxs3CsNkyp2XS/jcdkcwNnMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMrNBNHOaVAJQhuVbpGgyhWtg/VB9AKdgNeQYiMCsScrUAx0/qxVULt+FO484WYZvadyX1Vhlb+KqX9o9OyRIZEd+bvYleVRVuo8ciGiqqBwVYalnkyZRU2+CgeKIDXgcgxgFd68S2h4QK+4O2ZiZVX76GnFQU1YrXQhO/naXHe/Stu03bbHwEOdnfJefs3g8IJZeU8S7RPXA0boY+h8I9HZUtXJ7f5mhUskonO+a+NOkZJtbG+6O54hQDluzQkGKDADuk6QCQMIdzQfUQNnEaT2volGcNRGGx3DlPlEWJzzTV/iUlSBkkjRieoHuwRa090IdzNjrJQJVukqNXQD7nZG7ci/v0oK4q6k9/eMSOA90nMob2cTpReKH+tdSdPdMZzSViLNPyjWo+dIj887WKIpfO33UGKVXgiTvvktxPnFVYiDJl/CWOaX0tGXK5r7Mpso0VVC7I4WXc+Z4B+gY7vrdV1vQF587fWPQLxyYgWdhTAlec1fDifPtbC/mV3KhOn4GFBWmkRXB59Z3FYATa3sr51Zg5/8NnmSRewIF404v9Lw0mTY1QjL7tgv9FqT8uvRN4Jkwe/a7ejzrk4mg0ZbIeID+AMLNG3dvkdXJjdzqv6cWXrf47JiFxGdf4Tp4b5sQQdSxPt1p8alHU7/7kzNjFTs0zPPk5JNerf1/r8Ijh1H0nPP/mr1B2GpPV2iwctTLfZd+NGqjkm5QGcehGE1u6p6MUy/a9DUvaVEawn7kuPEexGAU6CgimZ8uDPx5gVwBMewVVwWNSuu/NPImhGNvtFnFCmFF/uE5FUYKUee2zDYdofagjH1n2cCIcPOU/xnzhGXHs+qn3Bd5xSFfEwQG3NXEyy1zvl2v4XBor0+EcFw/lK/95RhO/IfDMwsiAEO1cW3OVCDJzpcbuvIcoSwXrolPnP42EffMBh1tbfdZ9YTVbI3yKja9BuAuzZEmVqqt7ZOvagrznQcgy17vw32U1VmprEPaAnspu/YDU1Lps+N2guJsMLDJk8s8lOACzuEXHxzx31JURT1EfquFoKEAaZnN/RWOVWq30tOcTtt2qug9AR1F+zG2bA5NnQbwUxzSJdbP8iWc7+5f0mflkfLYIoDOnbVN0ji53I0m+lgqCDK12DCy/tbp8LH8f/WjG9PzZ7skcVAZX+S5//6nj8KnOREv/b/CIMAdQoNdd+fsBIpu8Czm2sPyeaHMF37WaMgpEVpfA571eIn0onusdq/S9l1Cb2mjpYTOr5ki5PKSjtxCf/VSC8r6fJh20+SR5i+q2/HFTiBgzmWbYFM2PC3ZBuFZitfRV9f+uk36iQ/uHf6u5Gwi1Rz45enRhBEIwxrAu84A6UEzXGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AARWbkWa5aWZoFA53H9tWL",
      "input": {
        "note": "Clear side view: the left gripper sits up-and-right of the blue block. Nudging left_j0 by +0.1 rad to calibrate which way that maps in this observer view.",
        "targets": {
          "left_j0": -0.56
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01AARWbkWa5aWZoFA53H9tWL",
      "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=-0.6231 left_j1=2.141 left_j2=1.5211 left_j3=-0.8745 left_j4=-0.0002 left_j5=-0.3046 left_gripper=0.998 right_j0=0.8906 right_j1=1.6104 right_j2=1.7931 right_j3=-1.3052 right_j4=-0.0185 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [2.8923, -11.2068, 5.7504, 0.4567, -0.1099, -0.0317, -0.0757, 0.6359, -6.7077, 6.2291, 1.2869, -0.0269, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cb480db3bcab6f87617731c8a482121b14322f255a3c6e4dd83ce733b5772a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0522f6f1cf29292003df8d4221fe5b2ad3139c928f57f936e77885f44fd1cee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:746067f7cafa9144859e04a4bf7510f708bd592b17a7fc919cce0b2b4c7ee0b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 0cb480db3bca
wire blob b0522f6f1cf2
wire blob 746067f7cafa
call 37 attempt 0 · /messages · status 200 · 4.283 s
model
claude-opus-5
effort
low
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=-0.6598 left_j1=2.141 left_j2=1.5211 left_j3=-0.8753 left_j4=-0.0048 left_j5=-0.305 left_gripper=0.9975 right_j0=0.8787 right_j1=1.5871 right_j2=1.7889 right_j3=-1.2961 right_j4=-0.0162 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.335, -11.2205, 5.5043, 0.3883, -0.0708, 0.0024, -0.0464, 0.1299, -6.7624, 8.5265, 1.5897, -0.0122, -0.0366, -0.0122]",
      "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=-0.6598 left_j1=2.141 left_j2=1.5211 left_j3=-0.8749 left_j4=-0.0048 left_j5=-0.305 left_gripper=0.9985 right_j0=0.902 right_j1=1.6112 right_j2=1.7954 right_j3=-1.2804 right_j4=-0.0189 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, -11.1521, 5.5726, 0.3834, -0.0952, -0.0269, -0.1636, -0.253, -7.788, 8.8547, 1.6386, -0.0464, 0.0024, -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=-0.6231 left_j1=2.141 left_j2=1.5211 left_j3=-0.8745 left_j4=-0.0002 left_j5=-0.3046 left_gripper=0.998 right_j0=0.8906 right_j1=1.6104 right_j2=1.7931 right_j3=-1.3052 right_j4=-0.0185 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [2.8923, -11.2068, 5.7504, 0.4567, -0.1099, -0.0317, -0.0757, 0.6359, -6.7077, 6.2291, 1.2869, -0.0269, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cb480db3bcab6f87617731c8a482121b14322f255a3c6e4dd83ce733b5772a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0522f6f1cf29292003df8d4221fe5b2ad3139c928f57f936e77885f44fd1cee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:746067f7cafa9144859e04a4bf7510f708bd592b17a7fc919cce0b2b4c7ee0b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 0cb480db3bca]
[blob b0522f6f1cf2]
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{
  "content": [
    {
      "signature": "CAISrAoKjAEIEBgCKkDyeE6UlT0cejrSGsRry1y5tpQ7rDg/0arz13ecvUoyDnLnSzWSl5NZ7Re11fTV/aSYVtYf+8ZQ5TqamiIua76VMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMEum0ByZbqauCpOOcGgxClj0k80Zl4ItKYGgiMKIpy6Nqdqz8KTuid4MdFLpbiF/pe3P8Wu4BfQBmCtVj8AqREgCv+YnCkvX6MD8o6SrMCEvx/aFH00uN3QG36m2JZOYWV1qWo28JbdFtx2U3mWoMxD1s0ZxbslV1IlDA0qb5eGTyNliAOsn0TRYQuZzLC/QHg/4uqB4+xPsUJ3uOfg7wSxEUB6+GuHHsdn3Gs6x6vk6EAh6V94GmUUDKSNZ9EVyjcmn6ynwSvbVazFAaiMBQokSVN6bsnr9mMUPuCLLwrh/x56KSjNYm1vfouttLqMjty9VF1DKvF/UtfZf5wsMHdQjlN0c8Jv/QjSgZGnC55wPQTAhoI1bron3UcVsGJsZvqyBIAVGxb48WU8sJ+p/C8PxXxpLHmTK6J2tTr0csaTay2cId3kbno4q0CC//fkMx+LvkxJsNQ2Z3hWxo/kkhO3GnBTWJZ0ugNUmJWXwlOEqGUAZEwRZNeSi3VuR5JwrzMYNkk2aJgudmh3wuNbQMt9FLzir85Gz4x+Xhj+MLJgSmzaQXEbVDs7OPDuXmpjUx2xiCooDoueWBzTaoBsiy+vikxCkxzkHGjcoTIfGnGaBfnCW1LMzJxmIONq21jWR52Y80Ee2zc42Lv6d6KLuSElcFSTGhuSDplNBBA9JxpLIEYNmJW6PFS5ODKV/FFwljZE7mXS1RgzvSYzak/ZNvcdChhPvN6BJ6DJ+14MBHbgLk2tsybRegIzLZUY6hOCJTyy4OqhYH2YbM96sbola7JkIPao20f1BDyNHMFGnAuwyoD3UY1x9ixkxd3MJoWWek/Pu7+4Qrl7BQFqQ1Cbe151Yn5UVX6OhWnVQzKaiIMPxR+HW28XBzIZFs1S5SCb+u4tdB3Ids49au4hHUjV57okKDJe1Fk6r7WXh21cahHPaDzkwn9rqJWTiR0uHYw3QXT+2fCCWM5NmxqPBsN7QI529QnjXWLl8f4p4vRWj2jQ9dmL2JuLaVAz+FxjfvUe6tcmP1LWHGHwdRq+BuSQJzl4jxys4O0IdY4ofE+IWwgkGXE2fN/JN2C/ncWFsRxYWxqJOsTriHE9GQcUh7J5vcgx/Gq6i6PtSSElIbTueafpj9NV/51VUZdKpwfd+XBjvTmHpjzSn8j2AlG9+C96N8n3713ini+m45LDegnOpZy548mkATEePg8eNVdFkBaArg8jZYox4XOAZKtfBid/4H6omddFgnP6IXdCnEw0QIy2CTQodErPE2+U6rAa2bbZOllSssT2B5xACrU6L9KkgbWPgWFuGExpeaQDlmY2KJh09cbqdN/4kPBFtbHFgwF+U8xoJrJ9P0OIhqMUQGTSB494zsNUl6a79eg8S0+8ZzvlxQuZ+SCr2s1R+VgCelwyWw+SFJ6JU3rTuYP/LStk33pASNwBicWgfce8ZJH/L4mSKUXDQeLfoKmD1TkEoqjK35Lt8frmWvqM2JIwEDA/mVYDoqHylnct3AeGHtPutXzi54+LM2xVIQtxyv+NFqGi/SFz7dKL2N/5EaZSAIPVGbaSpSKVO04QUjYMuYGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DdEanUqoeKY4RHxqTHD2zD",
      "input": {
        "note": "Swinging the left arm back to j0=-0.85 to see, in the side view, how the gripper position compares with the blue block over a larger, unambiguous change.",
        "targets": {
          "left_j0": -0.85
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01DdEanUqoeKY4RHxqTHD2zD",
      "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=-0.841 left_j1=2.1395 left_j2=1.523 left_j3=-0.8795 left_j4=-0.001 left_j5=-0.3122 left_gripper=0.998 right_j0=0.8925 right_j1=1.6054 right_j2=1.7931 right_j3=-1.3689 right_j4=-0.0246 right_j5=-0.0128 right_gripper=0.9997\nstate[joint_eff]: [0.9231, -11.0974, 5.5863, 0.4567, -0.0464, 0.0562, -0.0122, -0.3214, -5.8051, 5.7915, 2.674, 0.0611, 0.1587, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3bfb9f200c298710009252add2ab6e02ab5796e674872651a43c960d50c3fff0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8459b4c146394cb22b987e710571688a66a50e043886fe5d0ff917c3873216b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fd89d463659fc175c705cf03ce4bd3059c3fc1904b93c111fa580c4b845e25cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 3bfb9f200c29
wire blob 8459b4c14639
wire blob fd89d463659f
call 38 attempt 0 · /messages · status 200 · 6.447 s
model
claude-opus-5
effort
low
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=-0.6598 left_j1=2.141 left_j2=1.5211 left_j3=-0.8749 left_j4=-0.0048 left_j5=-0.305 left_gripper=0.9985 right_j0=0.902 right_j1=1.6112 right_j2=1.7954 right_j3=-1.2804 right_j4=-0.0189 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, -11.1521, 5.5726, 0.3834, -0.0952, -0.0269, -0.1636, -0.253, -7.788, 8.8547, 1.6386, -0.0464, 0.0024, -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=-0.6231 left_j1=2.141 left_j2=1.5211 left_j3=-0.8745 left_j4=-0.0002 left_j5=-0.3046 left_gripper=0.998 right_j0=0.8906 right_j1=1.6104 right_j2=1.7931 right_j3=-1.3052 right_j4=-0.0185 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [2.8923, -11.2068, 5.7504, 0.4567, -0.1099, -0.0317, -0.0757, 0.6359, -6.7077, 6.2291, 1.2869, -0.0269, -0.0366, -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=-0.841 left_j1=2.1395 left_j2=1.523 left_j3=-0.8795 left_j4=-0.001 left_j5=-0.3122 left_gripper=0.998 right_j0=0.8925 right_j1=1.6054 right_j2=1.7931 right_j3=-1.3689 right_j4=-0.0246 right_j5=-0.0128 right_gripper=0.9997\nstate[joint_eff]: [0.9231, -11.0974, 5.5863, 0.4567, -0.0464, 0.0562, -0.0122, -0.3214, -5.8051, 5.7915, 2.674, 0.0611, 0.1587, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3bfb9f200c298710009252add2ab6e02ab5796e674872651a43c960d50c3fff0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8459b4c146394cb22b987e710571688a66a50e043886fe5d0ff917c3873216b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd89d463659fc175c705cf03ce4bd3059c3fc1904b93c111fa580c4b845e25cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 3bfb9f200c29]
[blob 8459b4c14639]
[blob fd89d463659f]
{
  "content": [
    {
      "signature": "CAIS/AQKjAEIEBgCKkDG3nTot5U0EwSEkecfPgCAl2JPqNmBlaqxeBWtwKK31Jx8ptRl6VLXWOCJ4nJCYWeTe6AJoG0IcciuVbWTJTGBMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMqjY93A6gKPTeWlRzGgzu2VeGJ8235l0SV7kiMO8ycTMQviXCOUMbUa3nVydwfky7jwWstr1mKV/I9QtFQ9z3fcuY+BbroIOFsbd+0iqcA77FjdaaCEuCkq2MKPh5rKFXO86zh0DedkIpigBuFH8Rv3CGLSybStREBzL9yxyL+d5dsMDvU/0v4URDqUdXQ/IvOm7yWCZLFRsvMrMVne0JVb+Bp/vizFIwV0l8X45iIuFACS6QVOD33gVijmWOJuraaVZLDC7tfIS0pVOyY7+w0gHIU0Comxyx/1TNwDMdfvDL3wcw0fQpz4qVGzmgMj+zmxHuOeQoEDDgktD93n8nIeJXJBywRBHTAWgyiH8YdfgYHJhzxCv47Nu9Z/7MZZGWfje9wtbwKQpusKY9Y+plrIGXKk6Z+z/wG5EXFW29eR4jQc3uufuc5qbNkuI7WMUPEqwFUyt+X/Yq+AP0uOzOAO1dOB2/rBtZHZBKwQOQXHHlgerVQblVvxUumir2RCpAUhuWcUf87fTsUtXzagzmbWncf3xb7BE2yg2HgUeY/cm78rP5qR5Z4vfnOD6MZuKiMHdCwFdDxMjpOhGMDYdG7UDJpv1P2G5FpChzvg3gqgGwzsEuEuvhBju4yk1gU9AofpLVnjLd/x0/9NUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FKFiM4SDbtRyMj1tNthWFW",
      "input": {
        "note": "The observer camera ended up right on top of the left arm and is overexposed; raising the right arm to get a higher, wider look down at the gripper and the blue block.",
        "targets": {
          "right_j1": 1.15,
          "right_j2": 1.75,
          "right_j3": -1.15
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 8 steps (0.8s)",
      "tool_use_id": "toolu_01FKFiM4SDbtRyMj1tNthWFW",
      "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=-0.8402 left_j1=2.1395 left_j2=1.5227 left_j3=-0.8864 left_j4=0.0029 left_j5=-0.3164 left_gripper=0.998 right_j0=0.8944 right_j1=1.1812 right_j2=1.7451 right_j3=-1.2648 right_j4=-0.0261 right_j5=-0.0162 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -11.1932, 5.5863, 0.442, -0.1148, -0.0317, -0.0122, -0.4855, -2.6462, 5.4769, 2.6447, 0.0024, 0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73024d1bf99e5dd8876d7aee99b6ed2c225c0c433d24ac61828669a930db70e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4752a44949b0cbede1d4754d91886431317cd293af79fe2d1c0ea5a98e265106",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7eca1a694d9b2ee2b23ad104e991854789a8fbf39d826b88fcf40877fc453738",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 73024d1bf99e
wire blob 4752a44949b0
wire blob 7eca1a694d9b
call 39 attempt 0 · /messages · status 200 · 11.55 s
model
claude-opus-5
effort
low
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=-0.6231 left_j1=2.141 left_j2=1.5211 left_j3=-0.8745 left_j4=-0.0002 left_j5=-0.3046 left_gripper=0.998 right_j0=0.8906 right_j1=1.6104 right_j2=1.7931 right_j3=-1.3052 right_j4=-0.0185 right_j5=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [2.8923, -11.2068, 5.7504, 0.4567, -0.1099, -0.0317, -0.0757, 0.6359, -6.7077, 6.2291, 1.2869, -0.0269, -0.0366, -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=-0.841 left_j1=2.1395 left_j2=1.523 left_j3=-0.8795 left_j4=-0.001 left_j5=-0.3122 left_gripper=0.998 right_j0=0.8925 right_j1=1.6054 right_j2=1.7931 right_j3=-1.3689 right_j4=-0.0246 right_j5=-0.0128 right_gripper=0.9997\nstate[joint_eff]: [0.9231, -11.0974, 5.5863, 0.4567, -0.0464, 0.0562, -0.0122, -0.3214, -5.8051, 5.7915, 2.674, 0.0611, 0.1587, -0.0122]",
      "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=-0.8402 left_j1=2.1395 left_j2=1.5227 left_j3=-0.8864 left_j4=0.0029 left_j5=-0.3164 left_gripper=0.998 right_j0=0.8944 right_j1=1.1812 right_j2=1.7451 right_j3=-1.2648 right_j4=-0.0261 right_j5=-0.0162 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -11.1932, 5.5863, 0.442, -0.1148, -0.0317, -0.0122, -0.4855, -2.6462, 5.4769, 2.6447, 0.0024, 0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73024d1bf99e5dd8876d7aee99b6ed2c225c0c433d24ac61828669a930db70e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4752a44949b0cbede1d4754d91886431317cd293af79fe2d1c0ea5a98e265106",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7eca1a694d9b2ee2b23ad104e991854789a8fbf39d826b88fcf40877fc453738",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 73024d1bf99e]
[blob 4752a44949b0]
[blob 7eca1a694d9b]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015kimBLA9FgAtjajXhHGKes",
      "input": {
        "note": "Side view clearly shows the blue block sitting just to the left of the left gripper's jaws; moving left_j0 to -0.95 and checking whether that closes the gap.",
        "targets": {
          "left_j0": -0.95
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_015kimBLA9FgAtjajXhHGKes",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.881 left_j1=2.1395 left_j2=1.523 left_j3=-0.8906 left_j4=-0.0044 left_j5=-0.321 left_gripper=0.998 right_j0=0.8948 right_j1=1.1706 right_j2=1.7447 right_j3=-1.2587 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-2.7419, -10.988, 5.559, 0.525, 0.0708, 0.0317, -0.0122, -0.0615, -1.4017, 5.053, 1.7851, -0.0659, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf9b1bcdfae34de87f93c9195a7d73c3101cf8a288cb29368845e195f393aa9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb1b8ce946dacb30fbae0762d9267b4e94c17a981a4713a51e4bad5801f6e770",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b39bda8f2ae46403a6ec224e013b0d47e4e3352317456b94e17ba4fecea8d941",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob cf9b1bcdfae3
wire blob bb1b8ce946da
wire blob b39bda8f2ae4
call 40 attempt 0 · /messages · status 200 · 7.97 s
model
claude-opus-5
effort
low
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=-0.841 left_j1=2.1395 left_j2=1.523 left_j3=-0.8795 left_j4=-0.001 left_j5=-0.3122 left_gripper=0.998 right_j0=0.8925 right_j1=1.6054 right_j2=1.7931 right_j3=-1.3689 right_j4=-0.0246 right_j5=-0.0128 right_gripper=0.9997\nstate[joint_eff]: [0.9231, -11.0974, 5.5863, 0.4567, -0.0464, 0.0562, -0.0122, -0.3214, -5.8051, 5.7915, 2.674, 0.0611, 0.1587, -0.0122]",
      "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=-0.8402 left_j1=2.1395 left_j2=1.5227 left_j3=-0.8864 left_j4=0.0029 left_j5=-0.3164 left_gripper=0.998 right_j0=0.8944 right_j1=1.1812 right_j2=1.7451 right_j3=-1.2648 right_j4=-0.0261 right_j5=-0.0162 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -11.1932, 5.5863, 0.442, -0.1148, -0.0317, -0.0122, -0.4855, -2.6462, 5.4769, 2.6447, 0.0024, 0.022, -0.0122]",
      "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=-0.881 left_j1=2.1395 left_j2=1.523 left_j3=-0.8906 left_j4=-0.0044 left_j5=-0.321 left_gripper=0.998 right_j0=0.8948 right_j1=1.1706 right_j2=1.7447 right_j3=-1.2587 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-2.7419, -10.988, 5.559, 0.525, 0.0708, 0.0317, -0.0122, -0.0615, -1.4017, 5.053, 1.7851, -0.0659, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf9b1bcdfae34de87f93c9195a7d73c3101cf8a288cb29368845e195f393aa9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb1b8ce946dacb30fbae0762d9267b4e94c17a981a4713a51e4bad5801f6e770",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b39bda8f2ae46403a6ec224e013b0d47e4e3352317456b94e17ba4fecea8d941",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob cf9b1bcdfae3]
[blob bb1b8ce946da]
[blob b39bda8f2ae4]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ES9k7ZrkyHyP7w2DK4mbh7",
      "input": {
        "note": "Geometry of the observer view shows its image-x axis is almost exactly the left arm's radial direction — so the block being left of the jaws means I have been reaching ~4 cm TOO FAR. Retracting radius from 0.35 to 0.31 at table level.",
        "targets": {
          "left_j0": -0.66,
          "left_j1": 2.02,
          "left_j2": 1.32,
          "left_j3": -0.8
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01ES9k7ZrkyHyP7w2DK4mbh7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6537 left_j1=2.0357 left_j2=1.3544 left_j3=-0.8173 left_j4=-0.0013 left_j5=-0.3241 left_gripper=0.998 right_j0=0.8948 right_j1=1.1805 right_j2=1.7443 right_j3=-1.2858 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-3.0291, -10.4274, 4.4923, 0.6227, -0.0562, -0.022, -0.0171, -0.212, -2.7282, 5.0393, 1.8632, -0.0855, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23e6580240603af9d10e3c04529df067ea65238124785e8cb3026abcad5c32af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79b6ea952223c6e918fe25c4b0b9552242f8905f9e5c33d4d986fb225a079b94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:81b61bf2a9d8c51cdc38086560099fa39506331439e4d35da2bb8d326b97a98d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 23e658024060
wire blob 79b6ea952223
wire blob 81b61bf2a9d8
call 41 attempt 0 · /messages · status 200 · 6.432 s
model
claude-opus-5
effort
low
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=-0.8402 left_j1=2.1395 left_j2=1.5227 left_j3=-0.8864 left_j4=0.0029 left_j5=-0.3164 left_gripper=0.998 right_j0=0.8944 right_j1=1.1812 right_j2=1.7451 right_j3=-1.2648 right_j4=-0.0261 right_j5=-0.0162 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -11.1932, 5.5863, 0.442, -0.1148, -0.0317, -0.0122, -0.4855, -2.6462, 5.4769, 2.6447, 0.0024, 0.022, -0.0122]",
      "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=-0.881 left_j1=2.1395 left_j2=1.523 left_j3=-0.8906 left_j4=-0.0044 left_j5=-0.321 left_gripper=0.998 right_j0=0.8948 right_j1=1.1706 right_j2=1.7447 right_j3=-1.2587 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-2.7419, -10.988, 5.559, 0.525, 0.0708, 0.0317, -0.0122, -0.0615, -1.4017, 5.053, 1.7851, -0.0659, -0.0513, -0.0122]",
      "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=-0.6537 left_j1=2.0357 left_j2=1.3544 left_j3=-0.8173 left_j4=-0.0013 left_j5=-0.3241 left_gripper=0.998 right_j0=0.8948 right_j1=1.1805 right_j2=1.7443 right_j3=-1.2858 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-3.0291, -10.4274, 4.4923, 0.6227, -0.0562, -0.022, -0.0171, -0.212, -2.7282, 5.0393, 1.8632, -0.0855, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23e6580240603af9d10e3c04529df067ea65238124785e8cb3026abcad5c32af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79b6ea952223c6e918fe25c4b0b9552242f8905f9e5c33d4d986fb225a079b94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81b61bf2a9d8c51cdc38086560099fa39506331439e4d35da2bb8d326b97a98d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 23e658024060]
[blob 79b6ea952223]
[blob 81b61bf2a9d8]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NP7hgL5CW1Ac5mgtfvQDYN",
      "input": {
        "note": "In the observer view the gripper is both deeper (higher in image, = too far along +j0) and further out radially than the blue block; swinging j0 to -0.87 and retracting another ~3 cm.",
        "targets": {
          "left_j0": -0.87,
          "left_j1": 1.95,
          "left_j2": 1.22,
          "left_j3": -0.78
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01NP7hgL5CW1Ac5mgtfvQDYN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8555 left_j1=1.9671 left_j2=1.2488 left_j3=-0.7784 left_j4=-0.0048 left_j5=-0.3267 left_gripper=0.998 right_j0=0.8948 right_j1=1.1824 right_j2=1.7443 right_j3=-1.3025 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [1.0735, -10.2632, 4.2872, 0.4225, -0.0317, -0.0024, -0.0171, -0.0889, -2.3179, 5.012, 1.7411, -0.0855, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1dc864ccb9ba77aa3301e944b067a4528a87a66adde9d5da110a51023ce57062",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:176d16ae66cdc93ac7e7ce263245f506e59b4615555e7cc1a1be6872c4f21ec6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d0d9dc6852ebc3e5e019dd098140e2dff8cd8a017f4d503897a14677bb9969d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 1dc864ccb9ba
wire blob 176d16ae66cd
wire blob d0d9dc6852eb
call 42 attempt 0 · /messages · status 200 · 10.68 s
model
claude-opus-5
effort
low
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=-0.881 left_j1=2.1395 left_j2=1.523 left_j3=-0.8906 left_j4=-0.0044 left_j5=-0.321 left_gripper=0.998 right_j0=0.8948 right_j1=1.1706 right_j2=1.7447 right_j3=-1.2587 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-2.7419, -10.988, 5.559, 0.525, 0.0708, 0.0317, -0.0122, -0.0615, -1.4017, 5.053, 1.7851, -0.0659, -0.0513, -0.0122]",
      "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=-0.6537 left_j1=2.0357 left_j2=1.3544 left_j3=-0.8173 left_j4=-0.0013 left_j5=-0.3241 left_gripper=0.998 right_j0=0.8948 right_j1=1.1805 right_j2=1.7443 right_j3=-1.2858 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-3.0291, -10.4274, 4.4923, 0.6227, -0.0562, -0.022, -0.0171, -0.212, -2.7282, 5.0393, 1.8632, -0.0855, -0.0464, -0.0122]",
      "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=-0.8555 left_j1=1.9671 left_j2=1.2488 left_j3=-0.7784 left_j4=-0.0048 left_j5=-0.3267 left_gripper=0.998 right_j0=0.8948 right_j1=1.1824 right_j2=1.7443 right_j3=-1.3025 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [1.0735, -10.2632, 4.2872, 0.4225, -0.0317, -0.0024, -0.0171, -0.0889, -2.3179, 5.012, 1.7411, -0.0855, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1dc864ccb9ba77aa3301e944b067a4528a87a66adde9d5da110a51023ce57062",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:176d16ae66cdc93ac7e7ce263245f506e59b4615555e7cc1a1be6872c4f21ec6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0d9dc6852ebc3e5e019dd098140e2dff8cd8a017f4d503897a14677bb9969d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 1dc864ccb9ba]
[blob 176d16ae66cd]
[blob d0d9dc6852eb]
{
  "content": [
    {
      "signature": "CAISpAsKjAEIEBgCKkBE1VDTLv972TgewGBOM+EfUiF2VMy8mw9PznjsSp7nuUqvlOck5dpBq+EHMzpV8nKvMWbDiRkbW4/IhasF8madMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMtB8whiEolkXQI4F9GgwfVGMKduYHmiMhFkgiMOhY0HTzMU5v8CmPLHo73F3tZbL+XnnMwK4VY3sWUKBnQAX5Dor53OWCPxBclnFUOirECZheylmCko2McFhJc5smizxV/ONNDvG5vj1IvA2XSWJzOkMNPCv6xH+Dbfz38WQG0ci0ylU9tUViqHS0n/0pVdDiwGewB8jHaz60fmaDAnNhCTvWlHmswJCnPrdwrHZvtMVEN3H/59nVT4ZKj4as3voO/CITdtIbB/8sCrLEbaf5tIaxiGe9XsC8jrNwkRTqCJEt1LgDoK1FSaOmqqYWxXTPfm479il4UXsXoy0iPt6vyjUY2bxrqwrbzpyZIsJq2+AY7iqg97P46oXfpzmyeV6RTASmpQClsfqhPcMCG+PLEblCWLm+KyvtwQIQBUGj0CvV3y/jECZssonKzkMcrsQkCNNB7K3BY2em0mRUR4x2/ABHViiKMTiFGY1JYCfDcVItds5utriegnRbMcHAIGZzECspb63Pk2ifOzy5NXewRoOG2Qfhz2MCJBSoQOgQ5MCvCcSNUn13V9gGdRnkOjdFkXIbW1+3RRu5gz6PZIOVuSCnL/U5OyAx64se9YK4ghEKPErnS8p2DNLB9GmSmk1GBJtijzRQLeSOYlczjl6G2hvHnv7+CjBBwAugiVzr3yMxRUKHnPW+oBSfvwTRSpcC/s2WDEXkIzHIqAA3gVnBHFEUK1ba1GMxaQ/V2D3ttcMHn3xl4qQ6e7dfhZci7UTPcmvujbeYhq1bfLNcZObqr2yT0j2u5OSHu1jUiVi0VHlMwi0opqFTCQ7MjjiDrdlhG3C3QGH87eS5EjIGKWmkHVqKRtGjJRBPRE6i1+PsUvfC3fsdrQvchba8LYDnuAJdt8XiIL5DXSECiUMx7XU0rbL+WBG19FFyiyrBPFncojhVbh1Stk1BxZbXJ0tckAiVH9LPxgAgbAMveCstabNdn2bjQrHSzO4PEfvMj8fFVaZnaFqYbfUM5/ueegSbJXnmi5b4yvXZIvdNOIS89X0zABB6ExzTaxQch8n296LPx+YeuP4RmYDyJuu0dyIl2j3B94sv3yIYPO9ypMFLNcWk1D1xWKCXYj9Qnfb8wOOjJnJhkqblkgrpMsMiHbJgJsXVeDpS+QJnFtoivufsL9wMeAdXH9tGBV80XY/lWZ213pxUT6LcCnMpGqDEi40HGP8CiKUoDdFJgp1rF1mf5Xs3fr8TLr/LVa++1GT1g1WN/WI1AIIBTvfm7LcybMkWHbPpKRFgxkOVGGkz/Jzcty8CyjiKAFu3aqmIuHoyl9CTjsgvVjOfs+0XxcT4Rrqb6K+YSK9KwnTECrl78ULlSegwmqn4HsgONv/5syrkzlpmjNPsIdIk89joD3R583z0QsmKyhlNUIgWXn0PZwmhbVZIoq9gsTYBGtf6fOJqS6M4Ygu5GTMEq1pgwPYYkGtY4i3Q5xJHtr3i4PlU9f4VyoNyhQl+63sqJ0Wari0k8m+Rrmn2hSqEw1cKCFjfLy1S2wt6WRSAbiW+84x6BDYo7j2uuVcO0C8XDlzxDzB4RQnsuAPDQfOIxtQg2k5R80aJJ/OKhd0iCcKAdG8NwAPHkSTVBXedIfwVvjD42cs/l+a1zlscAfmnrcT06MCQr1pRNgKBjVmNJdRaQvu1jZs9viwSW+tS5ahmw6AL/lKoLdqH/erfUe2zZghteIc5gpEmoZ7Sdtb+GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FMektfiqKEqv6rNR1PSevo",
      "input": {
        "note": "Observer view shows the blue block right at the jaws and it now appears at the bottom of the left wrist view; closing the gripper.",
        "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_01FMektfiqKEqv6rNR1PSevo",
      "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=-0.857 left_j1=1.9572 left_j2=1.2385 left_j3=-0.7887 left_j4=-0.0048 left_j5=-0.3305 left_gripper=0.4493 right_j0=0.8948 right_j1=1.1831 right_j2=1.7443 right_j3=-1.3113 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.0205, -8.6906, 6.2427, 0.5104, -0.0659, 0.0171, 1.0281, -0.0342, -2.2085, 4.9983, 1.6923, -0.0122, -0.0171, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b9142adab07ba5df37dc4fa7baf7290c20f90b2172076521cd7fdbc265d9430",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4881e465aacf87e7315a6e45a8c0d1696aa11af532d7453153ff2ab4c60cebe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e51d531f8357aa8e8a7f67121e193b8045b5d069c4305faadaf5a80e36a450c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 9b9142adab07
wire blob f4881e465aac
wire blob e51d531f8357
call 43 attempt 0 · /messages · status 200 · 5.737 s
model
claude-opus-5
effort
low
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=-0.6537 left_j1=2.0357 left_j2=1.3544 left_j3=-0.8173 left_j4=-0.0013 left_j5=-0.3241 left_gripper=0.998 right_j0=0.8948 right_j1=1.1805 right_j2=1.7443 right_j3=-1.2858 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-3.0291, -10.4274, 4.4923, 0.6227, -0.0562, -0.022, -0.0171, -0.212, -2.7282, 5.0393, 1.8632, -0.0855, -0.0464, -0.0122]",
      "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=-0.8555 left_j1=1.9671 left_j2=1.2488 left_j3=-0.7784 left_j4=-0.0048 left_j5=-0.3267 left_gripper=0.998 right_j0=0.8948 right_j1=1.1824 right_j2=1.7443 right_j3=-1.3025 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [1.0735, -10.2632, 4.2872, 0.4225, -0.0317, -0.0024, -0.0171, -0.0889, -2.3179, 5.012, 1.7411, -0.0855, -0.0024, -0.0122]",
      "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=-0.857 left_j1=1.9572 left_j2=1.2385 left_j3=-0.7887 left_j4=-0.0048 left_j5=-0.3305 left_gripper=0.4493 right_j0=0.8948 right_j1=1.1831 right_j2=1.7443 right_j3=-1.3113 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.0205, -8.6906, 6.2427, 0.5104, -0.0659, 0.0171, 1.0281, -0.0342, -2.2085, 4.9983, 1.6923, -0.0122, -0.0171, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b9142adab07ba5df37dc4fa7baf7290c20f90b2172076521cd7fdbc265d9430",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4881e465aacf87e7315a6e45a8c0d1696aa11af532d7453153ff2ab4c60cebe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e51d531f8357aa8e8a7f67121e193b8045b5d069c4305faadaf5a80e36a450c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 9b9142adab07]
[blob f4881e465aac]
[blob e51d531f8357]
{
  "content": [
    {
      "signature": "CAISshYKjAEIEBgCKkCeQMs7HNKTFGzE7zy3WaZBC3AMrg9WLVl5FGZ1E4jU3AH4qCCNf0vE8NWhjLhFhJkd9gCwlod/WJ5sJ+neA2MDMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMORUE9jiPtstXH5yWGgxFx3yV0vDO+7Z5cpMiMIPgToBnp8nH01G31JJ5ChYFgfjWvWVOK+TFHAnSdnjux1E8/UOfJoBrvhiy0rTKVyrSFCv80LnlzAiIGAh9d+TpK5nTdY3230US1HhWXVukGbJuCeP6CTlx0CbvwLP5hFG5TW5B8BTJGOkfRl8ugYffzd8FfRYpHNRpTmiOZmJ4QLSvCqrs+XM0VJPR9vPIG2aCFZ87abfa8thqytPbF3B+p03W87YQBjiYea+QadiLEz5yPuofCZRuJCDxyZVHnKjURG8KKwYv1LenZOo1M/TlpUeD4SQvBRk7iaRM1VyEZ7Cr2gC4l8Wx8kcEeKujc7dKNNOb29R0ZBIBbjC+stIKXrk+aWSX3+oYoTBg+v4kn6Qvl6vG5fMEFGN0OQybceNyLPUz+618UkVe86D84znGWrkMP+gHJL98L00wEJBa5krvOv87f8YoBuAF914+TeMitZl+g27huowLHQHb55TpzEG/DryenqZfmKFqjkogWE6j8tpHn2zGHoos3CFa7gfYXTxYFmURiMNqbO1RlPUPMi1jC0CyWZjwYIXfmOJUL2SnzEfxXl+mJLFsARasXa0qtiz6D/E20VcrYEvXskpjv6qik1WKgelnsydmszUUhRNkHB10jS06Czks15RZe90F6y1Z8zcn6pIdzfL/53+66aGcCKBvgZBjmSMd6+xVQxUjVOQCr+stztAnfHlgchWTs3a9fBW2KIuqAJ3Mso2teVcCNFPSvUh31ddt49svjGQRmT0ijwD8yIZmoUDgeXbA0cOR8zxhEh3LSaEgsGZtnr/Julj7e5492q5qsSZZhvErCkTxhxNcO2XkEPoyt5zHdsJhb0jDndNm/MZfSr74D+Z6fE/zg6UDiDRL7+6w076ucuhj4VxxRu6jqNt4ySjO/0jkvX7cmhTg1DqFs3oIr+CsZ7zWRUVvdWpT+twMfPRn06/Y+FVnfNdAMH8pQ2+o00Md2lDSl4DZRBWILsCntIl3c/5hsoanG2SU+smGE+nIImcifh8k1CmthQ88u096UShs/XlTmLsEPrswL6R1Z1LVl1ilkk7SLzDPh9ZPe3oQ+txQv85KHjz4pEfVVlpil+qgCcATstLm7aQSLyfd8rptvgrFItxprVBz+nMpH1ea2m8DHwTU4LSXF/PikQe+2fCLvfnpILGBMUYljORPq0D+QscEzvgb9fX3eJ41fmY8ACfRfUZloqyBA6kqhMSRRad2A1zz9pbHDgErB5Ixzj6Eg0OAezdNQlD4Oa5t1Qx3biQ5xjdjJ8sUqZhevmwmuDyj50pmugH77abXsqi8C31x5ZYzE+Tp78TFnY0BtA8PpbyvGr7Fm1Wx/IMbU5elD9jbwRZWABRujx2rlEzFgMHQZZ3ANLo5mWtnfHtiIB7nHjITuMXEr89Bi3nm2hJ0f5RuAgTt1oziLUn0E1EBEzMopHlsSrZ8mistJQMTdLQCiacc8ZQD020A2UUOqtAuHFh8KvkbhmLuC/8n+4Re1q3OEQE17h7E0kVq39lRK9PAC5/0tY2LePjK8eaY3NjUpsbafGQSPJfayIz73AK5CumbIygontdARtXGgrnRQjtcHszuJ2lxkPq6Pbx3gnJrnCouRwQSjIYsJRnbQLSo/gpBVLqD7eDxgEbZlttgpi1a86HbaDkPOOyiv5RplNdjIY92TK1EKwMhoLf4FnYEdM+QnIZyNgOqqDMIuq84rCNy+xxlLHRPS5Ym33eEBB6eodf3XPn+4vpeF7WVGRrg8qzu5GOGLf6ixjnRHmbLDmM6xYyEQp4NpXCyawAaxcLjYUe8efHNKWgTOob46RxNPbJiDGOU9QY2qhS0A/Knru0nuQTNQgaCBZYl+Ze0QxOKcd14XW76b5qfRjfR01vziuYS8zZmn5y3KXX8gBNkPm8oElifK/+QvKM7QxqZmQp8vVatBa+Zr5Z0ZecutXCqp4OJLs/HPAoEFpRuLtkYG1fu7Mk/7zQI1Apk5ep6QBB6mOu1f3t7oq/sitPduxjj6ZPOnTsczVLjJolDFa+o+/5Ln/Fn5ha0f1NsMLjbtlfaiCIyMvoPTnLmzbd/+IBCGwNLxCfy8cjOncDndLwqlPDoCwnpvS2SELqjmUQr97uPQZWgO9RKmuuZbwW4et2NrSPkgarlnCbA+IotlAHOABWO1wuSLM9e6ohSAkJ0+AF2vtGEgDL3eJIMFJsoJ8WPgXDjUClWhOr1syGndY7n51zU7ZW35bDJqvzfRfIHG6vQBKY1epEibBIfTmI8RDHeEAvaDDlWq6gLGfAPWEpT3KoOvQXBTlGne3Vb8k1EwcacVu2UjqONyIy4DvKmlh510eO6DSUnf21AnTNTDk6y2Nz4My7UEtadvksDx+heEwSviwvCgCPydEsHZTDkEN3bws3NjapI6yM6iVQZeTU154kF1umK+YAWlxnUwPrk6kaUEKiVlNpSxCC9sna1Jrq47xnsOkrefPqvW548vWej+CC1HdCseWHCY9EGXWd+ValbWF0GlwWKH/N3aJYRHW9Tgl0Oe7EaYGS8Z2YGqNUxUGag2TpmnIpZvPSKYsnYGRtc2/WWb/JHEOjTHnOGuFpcJoy5b4WMJTj9qdgOuuODgfB5wFdGFlrqMmGYmYmwqAwwwH4/vDEeY8gHy8Mc871tZ4ul925aQdYYv4i+c4NN5okINFlZQIQPm74TLVUfGnYohsEgm0YwhX9hK+brgmhq6A0mDy5ggDTWES51Q8Fg+7YA/zlala4E3I+4yTDa5aQWTMRm494dZM6VCI0JYATfgiJZEHRTIvqKlTOMy+OnoBcEGKr5gw5Ui2h9ObSquOwvwtmRal6Fk1v9wQSrK37ufLoc3YUxB2PDh0NvxkEaB2EfR9GFjkmEo4ME/GrULVL02ZnjrmYg7pB0F9qU3cFdqC1DprFiWtwGhf4SrVcL+B6rBoT6LyIel+CUM+idlfIV57k5ahdoo7l4WdaF/RmXrab9wiv8jckmM9aWsyv4SvzQL0IBlxBlXEp7r4lRrp+GaHywKFGd3g7QG51AYn7M0uVg6WMG0snM+fffR0VZlVIvF37JG3kgeM1BEhOgmsNlXns2XMW8d4pJ+oMoggtZAiH6YrlPhcbU3EBoP38CXIQoBv+oFhlYvfRmfDsy4KXAt1W3LJH8U8NCQbrd19zNw1hXCLwYnexUDIkHM0jxqKEeJgOfA0kUqdMsM75reUCZmz6q2W6SFJ5sEiOAUwDZ2e4C2RfQHI3RfO7wlc4eFANxJPqy7OTDTV/DshYuVxX0IVwe7fnnf0jOvEPJhiD88BRp8vElPaCejCsMai2bumutQfPBoApEf85R5DRu/Zd1UbWq89QXdTzR/CMC2vSs35TlladO+j6tbc/P/I24oJ17A6vUT6dNE3336JBhAbK4gmIXkw6LrVynX0o80eH4zh2YJvwjOGs1PRFoSPCMQMh7EvcwIeEgbLfN3VFtBqejimlvvp9mfTLyS3AqmfPgoocGPC/tqtPyHcpT2+8jhZAJmSbpdvSkXRR7+0+4YH9h9urCX6Vgx1Qs7vIUrawaXTt6ITRTFHje//l9LA9wga1vAcKkVpxta+qrJmrSFuqPzNZeGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0113PPQfmNEtv9abbvzBVNax",
      "input": {
        "note": "Gripper residual 0.45 (~4.3 cm) with high effort — the blue block is grasped. Lifting and moving over the red block, which the observer view puts ~11 cm further out and ~4 cm to the arm's right.",
        "targets": {
          "left_j0": -0.96,
          "left_j1": 2.18,
          "left_j2": 2.06,
          "left_j3": -1.38
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 14 steps (1.4s)",
      "tool_use_id": "toolu_0113PPQfmNEtv9abbvzBVNax",
      "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=-0.9539 left_j1=2.1647 left_j2=2.0132 left_j3=-1.3617 left_j4=-0.004 left_j5=-0.3466 left_gripper=0.4521 right_j0=0.8948 right_j1=1.1831 right_j2=1.7443 right_j3=-1.3296 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.5128, -10.1949, 8.1846, 0.5201, -0.0708, 0.1197, 1.0281, -0.1709, -2.1128, 5.1897, 1.7216, -0.0659, -0.0464, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47b09953721d51964b4b2e4847bd538efc5bdb4d3771decaaa044129175f7110",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba281d8dab1f4f1cae625303d2dd138db94b941238c38d13b8d666a11c50cb04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5d6a391a364f5de6a85d99c0329722e1efc011490465a89a84f5c4d9a4e66f21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 47b09953721d
wire blob ba281d8dab1f
wire blob 5d6a391a364f
call 44 attempt 0 · /messages · status 200 · 7.948 s
model
claude-opus-5
effort
low
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=-0.8555 left_j1=1.9671 left_j2=1.2488 left_j3=-0.7784 left_j4=-0.0048 left_j5=-0.3267 left_gripper=0.998 right_j0=0.8948 right_j1=1.1824 right_j2=1.7443 right_j3=-1.3025 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [1.0735, -10.2632, 4.2872, 0.4225, -0.0317, -0.0024, -0.0171, -0.0889, -2.3179, 5.012, 1.7411, -0.0855, -0.0024, -0.0122]",
      "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=-0.857 left_j1=1.9572 left_j2=1.2385 left_j3=-0.7887 left_j4=-0.0048 left_j5=-0.3305 left_gripper=0.4493 right_j0=0.8948 right_j1=1.1831 right_j2=1.7443 right_j3=-1.3113 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.0205, -8.6906, 6.2427, 0.5104, -0.0659, 0.0171, 1.0281, -0.0342, -2.2085, 4.9983, 1.6923, -0.0122, -0.0171, -0.0171]",
      "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=-0.9539 left_j1=2.1647 left_j2=2.0132 left_j3=-1.3617 left_j4=-0.004 left_j5=-0.3466 left_gripper=0.4521 right_j0=0.8948 right_j1=1.1831 right_j2=1.7443 right_j3=-1.3296 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.5128, -10.1949, 8.1846, 0.5201, -0.0708, 0.1197, 1.0281, -0.1709, -2.1128, 5.1897, 1.7216, -0.0659, -0.0464, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47b09953721d51964b4b2e4847bd538efc5bdb4d3771decaaa044129175f7110",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba281d8dab1f4f1cae625303d2dd138db94b941238c38d13b8d666a11c50cb04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d6a391a364f5de6a85d99c0329722e1efc011490465a89a84f5c4d9a4e66f21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 47b09953721d]
[blob ba281d8dab1f]
[blob 5d6a391a364f]
{
  "content": [
    {
      "signature": "CAISnAgKjAEIEBgCKkDaT6qakWHGVejKMSN91jSWXrhScyIT0rWPTUm9xr1RjOb501J+wa8TKcJpCgKiKXwNGLwDo3Et8QsIcV7bDcTCMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMlOXdrrik4yc6xz9qGgylSRw4MOTOStNvGAUiMBCaTOqVM5gBLn6CQJjwPSjuNdxOTkueDlzbjRhwPpTGs2bcz+kBceLKDu8aH4DVDCq8BhDQCZ3DFqN2Mzsnk9KyEraWg12cjOvmIg0QpSPsIitBQAcBSbJPHqWyPqosr5HKeH89fNroGlAh+bqIT3kVpN4fKuuwQYEoKaUVcVK5uPRIehWYRmtaggTWgLETBLPEW43gisPxbfgO842trh/Lqf+FTIm5FSjTKa8/PmLoHvF+7DUAbGvkQpCKdwbCqm9NY4bqziZU61tbJRAc/fooazypT0l+v5m0lHs5u36DopAMlR9TKPB9bAar8jk7VnICwgPOhxoLsHUvltUQX5WKzSrF1PWFnqOFLX2GJPneXA2Lnf9ozaPHMX9eXCdl75+4FP5Bcvp4ruMZLt4Pu6d1c1vCv+QdWzFmyB/qWJ64gx3+h1tHFsPwPrYgjzggMzgMmMyNHXwM0wy/83MERASYm3Zy88YcCjHMZIfbstVWgSiPnIFRywtnhCl5pBw20qHrnuvi+COwHGNYPk3W2yb6i6TPuyOEHb2Snp1G8N9kgKbCjOTJJGsy2cSvnCBOWWVrwwwXt+TLUEAjjYGcNnCCweB3snh9JPvGG7dn8LvwZCF39PnCMEslVznzVIABGpp/jCVdj63MS2Q6U7bNBTb3Ytw66dAFO4UVGGwzYomY7OI0kS4EAvOTsZIOqMqTq9NR2yz+iR4e8YTIMbBZAMlyn6DY2pDIhGXHVMtkZMsMntEfgX+BBRlTpoDlYa2O87hRnstJBX1MbUi6wXA+tX39/gtHi4KLHmaL2MY1Z2s+h0+yMFRGV248qtuMYZiIqHUG8PRihbpzu2WnUM8JcXOYyPhQzK7q4l2Itn/3h0OeVfIGzie/yY1hdMt7agxgyvDCYMfN/O8GjC8++mRYIB3XE6zZMoxOl3dPcams0I6BAaICWKpu2J6DsnzmPPXzA4j7aZYtyiVGfhbsvRMgd62lVU9kuJp11jUTE8pxlwdCxGmvqB5G7XZZreGATNI+BeguYTfbmrP33ZkDg0HGX6/KkcQxVy9uM/4/6CuHVyfF0s3S4CHPoamffuhc07BSlTarlGJOhspKng/hibHBcIIeRCOWkoPrIhfvuBVmwrMjopHz65BI9vRX0zGjBHI1PS2rxmR6DsB6mvYEfRZx+BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XXknExaSWusUkdX4ncK1fq",
      "input": {
        "note": "Carrying the blue block; the red block 'a' now shows well ahead in the left wrist view. Extending ~6 cm further out and 2 cm right to bring it under the jaws.",
        "targets": {
          "left_j0": -1.0,
          "left_j1": 2.5,
          "left_j2": 2.62,
          "left_j3": -1.62
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01XXknExaSWusUkdX4ncK1fq",
      "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=-0.9932 left_j1=2.4832 left_j2=2.5687 left_j3=-1.6337 left_j4=-0.0029 left_j5=-0.3725 left_gripper=0.4528 right_j0=0.8948 right_j1=1.1831 right_j2=1.7443 right_j3=-1.338 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.6906, -12.7658, 7.9248, 0.6129, -0.022, 0.2662, 1.0281, -0.0205, -2.0308, 4.9709, 1.6044, -0.0708, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4b73bdd3c9849d8e559710c8665a65290cfb79779563aa897c83f38fe988094",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4100e97caa94b1dba5551f9bff217239895c7b29ac019d10ad2ba7411b999e42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:238878ac4fdf9f5d09fce74e40765321e10d508c9c18dba95d4665c3a2aae2a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob e4b73bdd3c98
wire blob 4100e97caa94
wire blob 238878ac4fdf
call 45 attempt 0 · /messages · status 200 · 6.755 s
model
claude-opus-5
effort
low
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=-0.857 left_j1=1.9572 left_j2=1.2385 left_j3=-0.7887 left_j4=-0.0048 left_j5=-0.3305 left_gripper=0.4493 right_j0=0.8948 right_j1=1.1831 right_j2=1.7443 right_j3=-1.3113 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.0205, -8.6906, 6.2427, 0.5104, -0.0659, 0.0171, 1.0281, -0.0342, -2.2085, 4.9983, 1.6923, -0.0122, -0.0171, -0.0171]",
      "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=-0.9539 left_j1=2.1647 left_j2=2.0132 left_j3=-1.3617 left_j4=-0.004 left_j5=-0.3466 left_gripper=0.4521 right_j0=0.8948 right_j1=1.1831 right_j2=1.7443 right_j3=-1.3296 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.5128, -10.1949, 8.1846, 0.5201, -0.0708, 0.1197, 1.0281, -0.1709, -2.1128, 5.1897, 1.7216, -0.0659, -0.0464, -0.0122]\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 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=-0.9932 left_j1=2.4832 left_j2=2.5687 left_j3=-1.6337 left_j4=-0.0029 left_j5=-0.3725 left_gripper=0.4528 right_j0=0.8948 right_j1=1.1831 right_j2=1.7443 right_j3=-1.338 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.6906, -12.7658, 7.9248, 0.6129, -0.022, 0.2662, 1.0281, -0.0205, -2.0308, 4.9709, 1.6044, -0.0708, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4b73bdd3c9849d8e559710c8665a65290cfb79779563aa897c83f38fe988094",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4100e97caa94b1dba5551f9bff217239895c7b29ac019d10ad2ba7411b999e42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:238878ac4fdf9f5d09fce74e40765321e10d508c9c18dba95d4665c3a2aae2a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob e4b73bdd3c98]
[blob 4100e97caa94]
[blob 238878ac4fdf]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011BjA3vn81Tr4HQaKCuAH3V",
      "input": {
        "note": "Red block is centred left-right but still ahead in the wrist view; extending ~4.5 cm more (pitching the wrist forward to buy reach) and re-checking.",
        "targets": {
          "left_j1": 2.56,
          "left_j2": 2.65,
          "left_j3": -1.3
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_011BjA3vn81Tr4HQaKCuAH3V",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9955 left_j1=2.5488 left_j2=2.608 left_j3=-1.4395 left_j4=0.0032 left_j5=-0.3992 left_gripper=0.4529 right_j0=0.8948 right_j1=1.1831 right_j2=1.7443 right_j3=-1.3529 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -13.4632, 9.3744, 1.3748, -0.105, 0.2662, 1.0281, -0.0752, -2.1128, 4.9846, 1.6337, -0.0806, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6b7d79eb00af96eca5674db6e51b7f963f98c4cc8623260b34e2abbd9c4db7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:991be95d83ac36755549a6d05da40120b4786a8b419f9237436ee4334eb5cb41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:09004cf2a9e41c0c48b6ed31e24eb22afea9e46d1c8453fbf56bb3b576d3c397",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob c6b7d79eb00a
wire blob 991be95d83ac
wire blob 09004cf2a9e4
call 46 attempt 0 · /messages · status 200 · 8.388 s
model
claude-opus-5
effort
low
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=-0.9539 left_j1=2.1647 left_j2=2.0132 left_j3=-1.3617 left_j4=-0.004 left_j5=-0.3466 left_gripper=0.4521 right_j0=0.8948 right_j1=1.1831 right_j2=1.7443 right_j3=-1.3296 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.5128, -10.1949, 8.1846, 0.5201, -0.0708, 0.1197, 1.0281, -0.1709, -2.1128, 5.1897, 1.7216, -0.0659, -0.0464, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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=-0.9932 left_j1=2.4832 left_j2=2.5687 left_j3=-1.6337 left_j4=-0.0029 left_j5=-0.3725 left_gripper=0.4528 right_j0=0.8948 right_j1=1.1831 right_j2=1.7443 right_j3=-1.338 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.6906, -12.7658, 7.9248, 0.6129, -0.022, 0.2662, 1.0281, -0.0205, -2.0308, 4.9709, 1.6044, -0.0708, -0.0659, -0.0122]",
      "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=-0.9955 left_j1=2.5488 left_j2=2.608 left_j3=-1.4395 left_j4=0.0032 left_j5=-0.3992 left_gripper=0.4529 right_j0=0.8948 right_j1=1.1831 right_j2=1.7443 right_j3=-1.3529 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -13.4632, 9.3744, 1.3748, -0.105, 0.2662, 1.0281, -0.0752, -2.1128, 4.9846, 1.6337, -0.0806, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6b7d79eb00af96eca5674db6e51b7f963f98c4cc8623260b34e2abbd9c4db7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:991be95d83ac36755549a6d05da40120b4786a8b419f9237436ee4334eb5cb41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09004cf2a9e41c0c48b6ed31e24eb22afea9e46d1c8453fbf56bb3b576d3c397",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob c6b7d79eb00a]
[blob 991be95d83ac]
[blob 09004cf2a9e4]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DWfp8bR1Z3sHQXYxMbnfeS",
      "input": {
        "note": "Red block now at (85,130) with my carried blue block visible at the bottom of the frame; moving ~3 cm left and ~5 cm further out to hover over the red block.",
        "targets": {
          "left_j0": -0.93,
          "left_j1": 2.64,
          "left_j2": 2.72,
          "left_j3": -1.09
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01DWfp8bR1Z3sHQXYxMbnfeS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9325 left_j1=2.6324 left_j2=2.6766 left_j3=-1.24 left_j4=0.0032 left_j5=-0.432 left_gripper=0.4529 right_j0=0.8948 right_j1=1.1831 right_j2=1.7443 right_j3=-1.3746 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [0.1026, -14.0923, 9.5521, 1.663, -0.0415, 0.3053, 1.0281, -0.0479, -2.0991, 4.9436, 1.6874, -0.0562, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f1c1892994479e0158999c0383c347d3a23cbc80a23251b0eed27152ab959d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95d5230d6fd41764a9979f5125797319778f3cef8f7ba7cccc77be708b3cd4b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b46fe35998b72f91412fcbb3a901dbe485de6e5cf7c0e42ce3dc2431419cb7df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 7f1c18929944
wire blob 95d5230d6fd4
wire blob b46fe35998b7
call 47 attempt 0 · /messages · status 200 · 5.803 s
model
claude-opus-5
effort
low
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=-0.9932 left_j1=2.4832 left_j2=2.5687 left_j3=-1.6337 left_j4=-0.0029 left_j5=-0.3725 left_gripper=0.4528 right_j0=0.8948 right_j1=1.1831 right_j2=1.7443 right_j3=-1.338 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.6906, -12.7658, 7.9248, 0.6129, -0.022, 0.2662, 1.0281, -0.0205, -2.0308, 4.9709, 1.6044, -0.0708, -0.0659, -0.0122]",
      "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=-0.9955 left_j1=2.5488 left_j2=2.608 left_j3=-1.4395 left_j4=0.0032 left_j5=-0.3992 left_gripper=0.4529 right_j0=0.8948 right_j1=1.1831 right_j2=1.7443 right_j3=-1.3529 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -13.4632, 9.3744, 1.3748, -0.105, 0.2662, 1.0281, -0.0752, -2.1128, 4.9846, 1.6337, -0.0806, -0.0317, -0.0122]",
      "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=-0.9325 left_j1=2.6324 left_j2=2.6766 left_j3=-1.24 left_j4=0.0032 left_j5=-0.432 left_gripper=0.4529 right_j0=0.8948 right_j1=1.1831 right_j2=1.7443 right_j3=-1.3746 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [0.1026, -14.0923, 9.5521, 1.663, -0.0415, 0.3053, 1.0281, -0.0479, -2.0991, 4.9436, 1.6874, -0.0562, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f1c1892994479e0158999c0383c347d3a23cbc80a23251b0eed27152ab959d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95d5230d6fd41764a9979f5125797319778f3cef8f7ba7cccc77be708b3cd4b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b46fe35998b72f91412fcbb3a901dbe485de6e5cf7c0e42ce3dc2431419cb7df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 7f1c18929944]
[blob 95d5230d6fd4]
[blob b46fe35998b7]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RRaWHv2rWPkYmj7UN2928K",
      "input": {
        "note": "The red block has passed under the jaws (out of the wrist view) and the observer view shows it right at the gripper; descending ~2 cm to set the blue block down on it.",
        "targets": {
          "left_j1": 2.64,
          "left_j2": 2.6,
          "left_j3": -1.15
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01RRaWHv2rWPkYmj7UN2928K",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9291 left_j1=2.6369 left_j2=2.6328 left_j3=-1.1721 left_j4=0.0032 left_j5=-0.4358 left_gripper=0.4529 right_j0=0.8948 right_j1=1.1831 right_j2=1.7443 right_j3=-1.3766 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.6222, -14.612, 5.5453, 1.199, -0.0513, -0.022, 1.0427, -0.0342, -2.0991, 4.9299, 1.5263, -0.0513, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0368db22959eb2346c173e4fb0b8b07628ddff94e5b11eb7dfca3a6b07f874b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ba8e336a590de8636c2beb72ab08d4eae1a12b0709a10b6eeb9b5c3801133bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ec17dc9e74a14c0847f02b36d9263d177333b0ddea5db18e817ec114786a971b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 0368db22959e
wire blob 8ba8e336a590
wire blob ec17dc9e74a1
call 48 attempt 0 · /messages · status 200 · 6.957 s
model
claude-opus-5
effort
low
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=-0.9955 left_j1=2.5488 left_j2=2.608 left_j3=-1.4395 left_j4=0.0032 left_j5=-0.3992 left_gripper=0.4529 right_j0=0.8948 right_j1=1.1831 right_j2=1.7443 right_j3=-1.3529 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -13.4632, 9.3744, 1.3748, -0.105, 0.2662, 1.0281, -0.0752, -2.1128, 4.9846, 1.6337, -0.0806, -0.0317, -0.0122]",
      "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=-0.9325 left_j1=2.6324 left_j2=2.6766 left_j3=-1.24 left_j4=0.0032 left_j5=-0.432 left_gripper=0.4529 right_j0=0.8948 right_j1=1.1831 right_j2=1.7443 right_j3=-1.3746 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [0.1026, -14.0923, 9.5521, 1.663, -0.0415, 0.3053, 1.0281, -0.0479, -2.0991, 4.9436, 1.6874, -0.0562, -0.0269, -0.0122]",
      "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=-0.9291 left_j1=2.6369 left_j2=2.6328 left_j3=-1.1721 left_j4=0.0032 left_j5=-0.4358 left_gripper=0.4529 right_j0=0.8948 right_j1=1.1831 right_j2=1.7443 right_j3=-1.3766 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.6222, -14.612, 5.5453, 1.199, -0.0513, -0.022, 1.0427, -0.0342, -2.0991, 4.9299, 1.5263, -0.0513, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0368db22959eb2346c173e4fb0b8b07628ddff94e5b11eb7dfca3a6b07f874b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ba8e336a590de8636c2beb72ab08d4eae1a12b0709a10b6eeb9b5c3801133bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec17dc9e74a14c0847f02b36d9263d177333b0ddea5db18e817ec114786a971b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 0368db22959e]
[blob 8ba8e336a590]
[blob ec17dc9e74a1]
{
  "content": [
    {
      "signature": "CAISowoKjAEIEBgCKkAh7yGXs6xx3pCxnyVcA/DRd6mSnGiwYK9g5wgARU8jSyyGNr4UGlpi720FXZfvGKNvZsvQhLUZxTVUXLNuLsAnMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMFDANr79CTjo/sD1hGgwZL5owR5cEtYF32CgiMKn5+a6zdaPvtfT2Hat5zrXXB8yCBiThRWtJKuZ5IFRTkmOyXBxnU0D6FOW/2Ox9cyrDCLVcrUdaFzdG2biprGZAwnCCuzx8MTNglrmXe2mlIJWBkfGn7vNRhhNKWPaQGqZXAThLJgGpMqWeTeQOpx3MmB6o+2MNEJc1M7QdHjaboNO5mrrPzjeQmaTZ20HCk+T3zOrr44NZpd5gx43nHH/lyUbczDgfxNKr1S/HnpqQuqBFQ3hcmsMI9VJemHJBJBCUVWWxT0GBPgFVC9hvJWbyfaScjb6VJf+FC06imo0Y779gxrok7BqJcyicsHW6a6nfXtPblq01YuFkHGyzW1NYvMf9l5LuBhvhOKSt/BEFdn2nj0fkef/hOWASRSeSuFPpxKqUVuD7v4Gu4L8XeMVON6WIZXYdqnKMuDB7vldeJO50mNOXgeUwLzMhNxeievoUe/n6IyWiSWqNi0j+fdPlicMtZ0kQCsGHe6ZPvYFy4uTCU4TB1aiuo90rJxa0giSyoRfuwBdq75nYEOX+neLVS68I8mtxsY4xEnj9atYiDPcbLwWuG32xvCTfsFHykhyYxcLSt1tETBsF6jyS/0WvufFZWdmX9NtRA8nQfhwUV7OS5mLX4h4HRyTfufIqXoSOe0mo99k5pH3IRyVHbVzTbUHWLJft60Okqlb95HAnKtfcdKVOXmfXqrAEJaBknHkeK1mQEdCNwJQoJIvsj2C8QSGz6HNOS3/AwvoZvEE9yM0Ub70T/8r6hoaNp14M8qh6jaZrgAP7otSvOMpbKRb0qUf4fBhie6EUgdzP8yqLMKpFdcHoyeKM7TxBo9eVEB/7IzoQ1HTaXvV4YSmxyswaPXeb2i9DPKMw3PQORh6Hngnt0ASqy6h3FrKqnh14cTywEmSUYZD0vMsV3hq0zz1e2PXBaIwZ4yngPdIT2jOJWchKxg7lHJ86KKJA2pwn0yq0Ifsx/4ZlEs/z33sMUhqMhHKkajB1UXmaSWn86XnIGCMOiOVGiNqTLhENrZ4LreBYq0h5pc4zXnh8ExYF/DcGkk5Ynccz2jzc65qh4PyPpiMAathF46oNepoUkTdLXiWlqgyTPkPF1wkWnQz7YWJvxBv1ZD1B8ptQhqOUnplZtH3RqRmkbKfiEPrCnoHE5iVpAb8/eF7wXpX9Gb53yXXVgp6rJcIXxY5uatQcdy9FxuT4MjZux15tX8dIJMuraMGgNJJb9wJvoEnn/4O9j7SqCTw00ducPmnAwAMc/eR9z5hfEtwtOxWbUD1JZqr5hWRdnTjuMKySOHXmmq++VzU4Hi3IZRuyl7Jx/T6SkcigyVYgnrUjaIF9aHwNmS1ozRdyz/N6ytSpKtrBy1BSlJZdGBM5EW/gmSX/LCRRGreh5YsdJWrhubeK4A6IrjT+khap0dGO03ZGRUGnORKGEWyH7jMcBAgf0wRnu8FOeC/Iw7uAvhZpWbtX9sm7qjowFrJ9QQZifSycfALenN/rJO0I6nk573fejXl7VS2qyqBtNh+DigZZGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016WvLRf8HKgrxCdWWefvBky",
      "input": {
        "note": "I can't tell from the wrist view whether I'm over the red block; retracting 3 cm to bring it back into view for a final alignment before release.",
        "targets": {
          "left_j1": 2.44,
          "left_j2": 2.32,
          "left_j3": -1.08
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_016WvLRf8HKgrxCdWWefvBky",
      "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=-0.9295 left_j1=2.5244 left_j2=2.3394 left_j3=-1.1099 left_j4=0.0032 left_j5=-0.4358 left_gripper=0.4529 right_j0=0.8948 right_j1=1.1839 right_j2=1.7443 right_j3=-1.3827 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [0.0068, -19.7538, 6.6256, 1.0818, -0.0513, -0.0317, 1.033, -0.1026, -2.1675, 5.094, 1.5263, -0.0806, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3eaab408dc6acfd5cd60972f4cddc373e8a4a5101aeab190cf02227691f41dcc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fff842ac01cd9c517e43f65f9add3f0974a244d4b0e872f54f8ee4b85270dcf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7d62e4e7be00fcaf732f701a63a083a4f9da60e9d0254ee971e8d01cf6d92347",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 3eaab408dc6a
wire blob 0fff842ac01c
wire blob 7d62e4e7be00
call 49 attempt 0 · /messages · status 200 · 9.918 s
model
claude-opus-5
effort
low
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=-0.9325 left_j1=2.6324 left_j2=2.6766 left_j3=-1.24 left_j4=0.0032 left_j5=-0.432 left_gripper=0.4529 right_j0=0.8948 right_j1=1.1831 right_j2=1.7443 right_j3=-1.3746 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [0.1026, -14.0923, 9.5521, 1.663, -0.0415, 0.3053, 1.0281, -0.0479, -2.0991, 4.9436, 1.6874, -0.0562, -0.0269, -0.0122]",
      "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=-0.9291 left_j1=2.6369 left_j2=2.6328 left_j3=-1.1721 left_j4=0.0032 left_j5=-0.4358 left_gripper=0.4529 right_j0=0.8948 right_j1=1.1831 right_j2=1.7443 right_j3=-1.3766 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.6222, -14.612, 5.5453, 1.199, -0.0513, -0.022, 1.0427, -0.0342, -2.0991, 4.9299, 1.5263, -0.0513, -0.0659, -0.0122]",
      "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=-0.9295 left_j1=2.5244 left_j2=2.3394 left_j3=-1.1099 left_j4=0.0032 left_j5=-0.4358 left_gripper=0.4529 right_j0=0.8948 right_j1=1.1839 right_j2=1.7443 right_j3=-1.3827 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [0.0068, -19.7538, 6.6256, 1.0818, -0.0513, -0.0317, 1.033, -0.1026, -2.1675, 5.094, 1.5263, -0.0806, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3eaab408dc6acfd5cd60972f4cddc373e8a4a5101aeab190cf02227691f41dcc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fff842ac01cd9c517e43f65f9add3f0974a244d4b0e872f54f8ee4b85270dcf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d62e4e7be00fcaf732f701a63a083a4f9da60e9d0254ee971e8d01cf6d92347",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 3eaab408dc6a]
[blob 0fff842ac01c]
[blob 7d62e4e7be00]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QhzeTMGxuu5inDGHD4nWHA",
      "input": {
        "note": "The observer view shows the red block ~10 cm inside my gripper's radius — the wrist camera badly exaggerates distance. Retracting 10 cm to hover over it.",
        "targets": {
          "left_j0": -0.88,
          "left_j1": 2.08,
          "left_j2": 1.72,
          "left_j3": -0.94
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01QhzeTMGxuu5inDGHD4nWHA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8871 left_j1=2.1349 left_j2=1.7439 left_j3=-0.9627 left_j4=0.0032 left_j5=-0.4358 left_gripper=0.4529 right_j0=0.8948 right_j1=1.1839 right_j2=1.7443 right_j3=-1.3975 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [0.5538, -15.0769, 6.5026, 0.9499, -0.0513, -0.0464, 1.0379, -0.1573, -2.0855, 4.9162, 1.5897, -0.0904, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f3419a51521994b08b54c079d41d31c225e8401de04ca2e6eb00071338a0458",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9884afd064ff0b77946cffcac1be11fa1deeffb00f8d951ef91c35f4f4077ec7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 329):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:51ef3b57aa75f9b3f47ffa4acc821fffbc3552228f6c6b6544a77adab9ebedc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 1f3419a51521
wire blob 9884afd064ff
wire blob 51ef3b57aa75
call 50 attempt 0 · /messages · status 200 · 6.852 s
model
claude-opus-5
effort
low
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=-0.9291 left_j1=2.6369 left_j2=2.6328 left_j3=-1.1721 left_j4=0.0032 left_j5=-0.4358 left_gripper=0.4529 right_j0=0.8948 right_j1=1.1831 right_j2=1.7443 right_j3=-1.3766 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.6222, -14.612, 5.5453, 1.199, -0.0513, -0.022, 1.0427, -0.0342, -2.0991, 4.9299, 1.5263, -0.0513, -0.0659, -0.0122]",
      "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=-0.9295 left_j1=2.5244 left_j2=2.3394 left_j3=-1.1099 left_j4=0.0032 left_j5=-0.4358 left_gripper=0.4529 right_j0=0.8948 right_j1=1.1839 right_j2=1.7443 right_j3=-1.3827 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [0.0068, -19.7538, 6.6256, 1.0818, -0.0513, -0.0317, 1.033, -0.1026, -2.1675, 5.094, 1.5263, -0.0806, -0.0659, -0.0122]",
      "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=-0.8871 left_j1=2.1349 left_j2=1.7439 left_j3=-0.9627 left_j4=0.0032 left_j5=-0.4358 left_gripper=0.4529 right_j0=0.8948 right_j1=1.1839 right_j2=1.7443 right_j3=-1.3975 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [0.5538, -15.0769, 6.5026, 0.9499, -0.0513, -0.0464, 1.0379, -0.1573, -2.0855, 4.9162, 1.5897, -0.0904, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f3419a51521994b08b54c079d41d31c225e8401de04ca2e6eb00071338a0458",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9884afd064ff0b77946cffcac1be11fa1deeffb00f8d951ef91c35f4f4077ec7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51ef3b57aa75f9b3f47ffa4acc821fffbc3552228f6c6b6544a77adab9ebedc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 1f3419a51521]
[blob 9884afd064ff]
[blob 51ef3b57aa75]
{
  "content": [
    {
      "signature": "CAISugsKjAEIEBgCKkCk51vzXCefzKQvArNC+NcUINOjpL9kqITm69Ohol86Dn6SgGJnaHjXn/Zufx8ocD2NH6FiyC/4GokyKID352apMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMDOpIhFZzZc7IYS1DGgxTxOebAmLLuTd8qOkiMLhjVCBDsK8XE0ZR3EwRLxRzt6wvRYwlMvMIisSu/yBro0s+vq0x6o/aC8AJAVKUuSraCQxl8cRMSnK6vj+O9Acx/OiRH1u0ASD+kpM16ebZXIlvGrw83MbYoF4ay94VZwoMRI5msmrNMo+YUlOMFwRP503glEinWsN/zAxy2Px/z71jKJ+3mYXPe0dtp4dPGnlpL6h/uwPbX9OnZ0hA3kAJNL6kEuSHaf2Xek0fHO0/fzfIa+RMjNpvR7+A4A0jYcAywJb/34b1OXCRAblCxqpDq1aiA7YtKI5ABM5gD8uG2eZNPxl7QSI8nLnC/QBdq/tPCM7pvmuBfCa7/OGvkJtj6/F8wb0O/gnPN8T4/yHRpT9H2uv+iPPuE1Lpm1TymOYcPA4k/HS9Ogxs5t8W/eEW9mHqpsUNr6XPDYEBFEm0xVbki9c29q2i3GmK9tQywAFVJkjDzO2VNOBZjytYAt8Ld+9m+19legIq55Ssll+5C9LBu5NW0YEIr6UHUpqvg5DxOcXpbf9nHQCAnDu3/I9hfcUoL3wgLhnSUFnIEJ0UFAo9o7a8SDyMjJbjZwNiPHOfIZIEF1JfMsczrFZIqCbR5FAhmcxXY/NwIv0fOSojM3Qk5HdhTJC9thaLR4I1XcPuJtXrskpGBnp+KpBHoadBiMeqL56f150MtS92Os1jSFgTVQY/S5OvWdF4Ch+R2HdDRk+DO+/CsBXXA8IOZR8X0nc8RpFJN6RN5nCYsZPMSc+RpG0Y77mpiX+qlBL0JsS6b6zdKBVTpxcbGjmtbz6PQRYoUd94B8OfrHV+AhaMU3jvMiQsA4oqYkxqEnuKewGk03iMhDFSw0vbSJl0wHfJxQNjTTMYZT4hsfQF0r/hGsmw0T1ZrO920XQzWBJRGLNkZiWA4a/F20uu59D/bn9HEFZRulNfPAkuPOymofUWXzboJyNss04/brXIuBi4BSyrgoDULuLRA5Ym+0cSZcipz0/xo13Xzk8BenkomT7Yw1aVNgGixGm9KkBRSb31ADJZJy7f7K1drqCPBlJ8VZclIcv1k3+AICOXeGg7Hh5GpfVZbTktOEFEXyYeWM7R9cTnceImyw820RO4F8rXJtZbjK1fw57nIaptu4oiPI5wBdeUmp2puMfvH8z9PsRxptWZB/c54nPtVx6qf6ywgBeLG6lV/v6HQ7nKtrjBZggqEMwVVpVLmE/opRq+FURDqKsP++znv4DNJQAYBwgkJZj15H+xmWcvLKw/I+9kAT3OPQDmYL0/eS2wcS5RHRRDVX7ZpgiBKyP4tmQUze+lFeUcLNiRfzQj9RZOtLQl/D6mF0dNdnyKeTewJ57pTZJxf0lZl/+huQ4UppF1+X25SM/6MCj0hZkCsdnSOd+Ins5FqvRNd1aVK/QjgP3C++cOLZmuXZaWr7FR+GhC24JJ5fQY1jF/TSH37PWtepf7/UhsJJWmINU1D/xZpTPKxKmXD+f4iQNrqv0z1i/3yqpUVtbD4f0/yUDouz8N812Ze2j2+hhGaIkjwakifOFBPO7jYK4ZOeZtAS79Fph2WcyCA6E3W16ebtY6uenidUMsUDR4li4JgztzsfulIdmt4KG2JxpSOK7nHqG15vyD0UE77Ox88Da0rty+9RER5RCPjH+tItfmTuCdvO8XTwudlXSKNuXCLJ3H5Ddf4ajaSVodXj9NlzZYHA0ZdKZDwpTFKqXpShgE1/5I3mqKZke1tBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FxeBL9VCqM3CB3ELw6BkDL",
      "input": {
        "note": "Closer now: observer view puts the red block ~4 cm inside my radius and ~6 cm toward the arm's right; adjusting j0 to -1.05 and pulling in 4 cm.",
        "targets": {
          "left_j0": -1.05,
          "left_j1": 1.94,
          "left_j2": 1.51,
          "left_j3": -0.87
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01FxeBL9VCqM3CB3ELw6BkDL",
      "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=-1.0447 left_j1=2.0071 left_j2=1.5272 left_j3=-0.9012 left_j4=0.0044 left_j5=-0.4358 left_gripper=0.4529 right_j0=0.8948 right_j1=1.1862 right_j2=1.7443 right_j3=-1.4113 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [1.5385, -13.9829, 6.6667, 0.9792, -0.1734, -0.0464, 1.0427, 0.0205, -1.935, 4.9573, 1.6142, -0.0659, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 333):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9dd117743f22b208b745b6f3356917ee84ef59b49352588b29f9693779fe7070",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 333):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a72984cafe459d21e7b2201f8d2e0da0d4c604df946e00c54166ddfdeb1d8689",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 333):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8474cdd012b4cc9c2021248b4709a265776587757747af7a7409a2783f47a95c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 9dd117743f22
wire blob a72984cafe45
wire blob 8474cdd012b4
call 51 attempt 0 · /messages · status 200 · 5.688 s
model
claude-opus-5
effort
low
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=-0.9295 left_j1=2.5244 left_j2=2.3394 left_j3=-1.1099 left_j4=0.0032 left_j5=-0.4358 left_gripper=0.4529 right_j0=0.8948 right_j1=1.1839 right_j2=1.7443 right_j3=-1.3827 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [0.0068, -19.7538, 6.6256, 1.0818, -0.0513, -0.0317, 1.033, -0.1026, -2.1675, 5.094, 1.5263, -0.0806, -0.0659, -0.0122]",
      "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=-0.8871 left_j1=2.1349 left_j2=1.7439 left_j3=-0.9627 left_j4=0.0032 left_j5=-0.4358 left_gripper=0.4529 right_j0=0.8948 right_j1=1.1839 right_j2=1.7443 right_j3=-1.3975 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [0.5538, -15.0769, 6.5026, 0.9499, -0.0513, -0.0464, 1.0379, -0.1573, -2.0855, 4.9162, 1.5897, -0.0904, -0.0366, -0.0122]",
      "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=-1.0447 left_j1=2.0071 left_j2=1.5272 left_j3=-0.9012 left_j4=0.0044 left_j5=-0.4358 left_gripper=0.4529 right_j0=0.8948 right_j1=1.1862 right_j2=1.7443 right_j3=-1.4113 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [1.5385, -13.9829, 6.6667, 0.9792, -0.1734, -0.0464, 1.0427, 0.0205, -1.935, 4.9573, 1.6142, -0.0659, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 333):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9dd117743f22b208b745b6f3356917ee84ef59b49352588b29f9693779fe7070",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 333):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a72984cafe459d21e7b2201f8d2e0da0d4c604df946e00c54166ddfdeb1d8689",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 333):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8474cdd012b4cc9c2021248b4709a265776587757747af7a7409a2783f47a95c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 9dd117743f22]
[blob a72984cafe45]
[blob 8474cdd012b4]
{
  "content": [
    {
      "signature": "CAISvAsKjAEIEBgCKkBaYDNyccp+2PdQFSygvQ+X6hXbuKM399gyyfbUXpDWGvHBFnzletnM4bqtKQke+friRbEw7RlYiCgXbP6N5vpGMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMJBDgTXHpvRH2Z+HIGgzOOwgoc7Akqbyrv/IiMMRhZVe7+vMyRZIW428x7VcxMOkTH7W1xgBZijdZrL+D40wvyRWpfCaKQWfNPJSWCCrcCYfxi+rQJqOqKSHqKpYgp7clNSHYnxLpKf9p2uCqITgBuoBVepufMRrizsLfngUZk47ddfHnq6d0hfPKBJj+zCRydX8zjfCrtRmNdVkdmmtHUhPDIQRsuUI+jTpLTNmPH486xhh6YorQ+zRx0rFPEDtK9r4IYY8HfhgRqAFUXUUSpL0554FYytruLrY3VZdyyOiTVS4bJVJy+mobPOUG4bg+z3lDmox3FIK9agUnwRf/AhtgQhk900kzbD4g7rmP4ADVrqf6ZQIrnFFrHL6vUUOkdssSrdd56ti0jGquxoX72QaM2IMMk6VoCHCijLfhFTMkL7UO11/PO/fNdGqsBgaYowvlkE8/yharKdoIVtHTyQAjc27FeZ4EvCKFIBtBwKt6zYfjc2HgLXhvQI1JUbJqJsgNT5wZAgSbqoqGChfIazxdltOQkAjztGsvWkf6N2hz68p8YG4UodZjTnoUrQc6zouv0fo1C0S+kz7l845YI7QNyzSzDIWD/HUX7axgIZia0ulDOmuOXqtsBOgyTUh/8PMfbw2exbX2WLSYREmSURDXsWrdRw+3BNHDqVsyuLeAwggTmFq30PnFjC28l+KRfj9Uo3IFA5LUkexMcWHlOgYFjsTyS4u9lE0GzmF9OpRfQ1/41YwPcWIj7W4nsEvIIhrI9OhDpF1P+xqcsGJcnxLl+H50ghmCq+2HU7X+pEee8PHSjK+jvu6D832TvB+GVm1l6XYvS1W8aWGAHfmKZYDEmFv5g0/8fQxmHy8FOSj4h+c7DsiVJSHX32iVYf+yjjLP3cLXQfQqYY5ZvHFl7IMxDfr1P2jynecTjAihMPgDsrMSwsUZeEdmjank95exOUlIfGXfMSRCiA94XL4A6uriAxdgkvFyX6kw7ypJcxRDi7twcEh4otJCLZpDNC06hAASq561+PpaIZCeL74J5YnM9albVE6+wiF6YiYnelDI2scNpbNCWZrZTuKLnQBR7hu8cOaXh3sQn+zzR7E7WmL2JEiNszfB465+XRU0VGBtpjlu1lBmX2/tU7+IkJFaOMDfQum5MUMq51oalh+0UdeSiHnCvkI6Eo4YhONWfyy5TUhyXvzT36lyiTbPzcyp9HYW71aIQc0L4yO0J3JSEhDzuhHInRIVNPf4sThE6PKqYbxurRzNmiyiZSo1Ksqe3/N3EyI/l2qT2lg0Pz4HO9/YXotfDjDldyix97VMg0+3t7gV90B+ESRxDo0Yw+FnNakTuHRenw64k6voVjpaAEk/RA+Obzs67NarZ9V0IvP6jonjuMjgAp5ESExGvPkgaqwt5Jgoq/bMslT90QTOmDelwsBiERNyQJpUFoSybvIpwAYTTU53Km2fJ8yHdakoNH0QTvsKP36HP4rHyIrz3dtCK6IPAXk6t9EopV701qm19+PhP7UgWu+w27Oh/FrTSMYi/lyU3PFANQ6SLWFqR3oBpQ0CZaeFiVbg2ZLPVjQvHVL/rNeUOzptrUXEJ1n4QIkvfFxYRcSzdBn+RITnEEFslSawX4Jd63rTRg1rSaR/fpphLXk/yayytsqm+SKInX8VE6vHALXUrIlF/I8TMK+FzBFKPr0k9rNQ7DbD2BHdAZMBpwWM9nqN82oQaDY+9EuM7R93aaOf245YG5pvIQ6MvxxijxcIzsNPGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MzP1aWzZ4u58FHsxMzvg4x",
      "input": {
        "note": "Left wrist view now shows the red block just ahead of my carried blue block; raising slightly and advancing ~3.5 cm to bring the blue block directly over it.",
        "targets": {
          "left_j0": -1.015,
          "left_j1": 2.05,
          "left_j2": 1.75,
          "left_j3": -1.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01MzP1aWzZ4u58FHsxMzvg4x",
      "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=-1.0191 left_j1=2.0499 left_j2=1.6951 left_j3=-0.9894 left_j4=0.0105 left_j5=-0.4442 left_gripper=0.4529 right_j0=0.8948 right_j1=1.1885 right_j2=1.7443 right_j3=-1.4277 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [0.4034, -10.5504, 9.2376, 0.5885, -0.1294, 0.0269, 1.0427, -0.1709, -2.2632, 5.0667, 1.5946, -0.022, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 337):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30f83949587faa56ea33a880d595f7318bf01deba4396ab078d13b15eb779301",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 337):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0a27008c4fdc086ee0f779694c6eb23946c5f51f152e7dea10121799687b7bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 337):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2256025fee08525f911ddd2178683250bc4e3533aa4e31379060fe80021656f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 30f83949587f
wire blob d0a27008c4fd
wire blob 2256025fee08
call 52 attempt 0 · /messages · status 200 · 6.426 s
model
claude-opus-5
effort
low
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=-0.8871 left_j1=2.1349 left_j2=1.7439 left_j3=-0.9627 left_j4=0.0032 left_j5=-0.4358 left_gripper=0.4529 right_j0=0.8948 right_j1=1.1839 right_j2=1.7443 right_j3=-1.3975 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [0.5538, -15.0769, 6.5026, 0.9499, -0.0513, -0.0464, 1.0379, -0.1573, -2.0855, 4.9162, 1.5897, -0.0904, -0.0366, -0.0122]",
      "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=-1.0447 left_j1=2.0071 left_j2=1.5272 left_j3=-0.9012 left_j4=0.0044 left_j5=-0.4358 left_gripper=0.4529 right_j0=0.8948 right_j1=1.1862 right_j2=1.7443 right_j3=-1.4113 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [1.5385, -13.9829, 6.6667, 0.9792, -0.1734, -0.0464, 1.0427, 0.0205, -1.935, 4.9573, 1.6142, -0.0659, -0.0562, -0.0171]",
      "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=-1.0191 left_j1=2.0499 left_j2=1.6951 left_j3=-0.9894 left_j4=0.0105 left_j5=-0.4442 left_gripper=0.4529 right_j0=0.8948 right_j1=1.1885 right_j2=1.7443 right_j3=-1.4277 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [0.4034, -10.5504, 9.2376, 0.5885, -0.1294, 0.0269, 1.0427, -0.1709, -2.2632, 5.0667, 1.5946, -0.022, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 337):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30f83949587faa56ea33a880d595f7318bf01deba4396ab078d13b15eb779301",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 337):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0a27008c4fdc086ee0f779694c6eb23946c5f51f152e7dea10121799687b7bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 337):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2256025fee08525f911ddd2178683250bc4e3533aa4e31379060fe80021656f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 30f83949587f]
[blob d0a27008c4fd]
[blob 2256025fee08]
{
  "content": [
    {
      "signature": "CAISnwcKjAEIEBgCKkCx3AcSD0svC36ghvG5i0EghmvsFp9bYD152t5nO3yzlU/9RbQd0bUC21aavnzLqgvFzM7202o3lYMIL8d+zhg7MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMkfsMzLQ7cl50FDZAGgwLN3tMSEpgy7I1okwiMMqfONor68hiqO1AREFq4bEdVZndwYM45eCS8bDWbz0YC29nav1ctJpZWXD1VEwvUyq/BT2N/Lj23QyllfAKCPrb9LhGVFSUBlPZWowzcQg2umQqQQBIy2Tvg5v+ElbGlKJGvmEL6S2VntJORO1xqd727EkXej9gW1bs2z/Z5ly2kxbfYGnMJJ0DQ7/z/gZ4KQcS7uv/Xs41awV9+jef/qVKAqE3oVYjfBlKfr9+5qcoccVcTBqawStaa1Z+aU+Olpj/fBDt6hZzKMjE3PNbS9TJEu/rkJkhbRkwIKya48OpBPsrzRzJOLrQOKzr08yHTH9hDutBOwsdDnV+nj8rQmU3JhdVbK3paCGSAjSt4uEhkjZGEiSMCAHBV8xybObc70a1ukGRuWZe8zhelRyMM+D/3uTe3rZ6lF1toHz6rvCXJuxpjZPYSUcUlQjAruz96KrVa0WHzXLt+FbBodkRuWPA8j+MZyd5XyGuqFmvtmIlIlAo4lqKrfWqb9WM5wxzOBRQ/0NapJCSVbi8ETFv70utupPxPmEkaCi0t4pCAveKrcFA+VwztJyVYnui09E9tFh+myVtL0y0tml2M3+vpP0rSVv1X6qKtYF0EYbGC9m7IseMI8P9aNApOBFwUDyoS60t509VE98yOAQjzcm1qMH4mhH04GbD0pprezpkxo1GIXoNjFxNpfu2SdWWdHKNxgpkTVSDmOYVhyTE+1TOfEdMsYxoPZefzw4VaBSp+vk1EXHwLlMlhxMAOws5SSIfSVMeUI8S+7RzDMvx/lAM+0TfudEjVOpVCmzW5QS6J6BA8Fabthc1Q7voITgg5sGjVp3nDr/no3Zm9bXbpMV5Y/S8sjYqzUZsrQvJfn1HoElbjvCFBKOvpDIMbGagjfud1tCQ4atSjFEd+jA6OBCxxzEUFxSB72cFx96YP/2Y8ua5UriYnibuXbJhSLudnm5qcQ+68w+T3ily6Y2ZZct7PaPvAze5iPCovkA1TYrrnL6OeTIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XkwW7DpYj4EFkxcqZ3WtE8",
      "input": {
        "note": "Red block sits just beyond the carried blue block in the wrist view; nudging 2 cm forward and 1 cm left to line them up before lowering.",
        "targets": {
          "left_j0": -0.985,
          "left_j1": 2.13,
          "left_j2": 1.87,
          "left_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_01XkwW7DpYj4EFkxcqZ3WtE8",
      "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=-0.997 left_j1=2.1178 left_j2=1.8233 left_j3=-1.0542 left_j4=0.0109 left_j5=-0.4515 left_gripper=0.4529 right_j0=0.8948 right_j1=1.1896 right_j2=1.7443 right_j3=-1.4353 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [0.4991, -11.5624, 8.4171, 0.7106, -0.0464, 0.0122, 1.0379, 0.0342, -2.1128, 4.9162, 1.5018, -0.0464, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a080747b5eb9fc26b1cefb3a9f4933ae353ebbf8bf5386a67043d5ff1fcc91a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b830d4c66db91c2630c3dcbead923fe0d086608e6f8e1f82d11e9608702dee32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:19e93fba416f41d1da416912573fb18a0b83c369fcef9f7c2bc10b1521c5dace",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob a080747b5eb9
wire blob b830d4c66db9
wire blob 19e93fba416f
call 53 attempt 0 · /messages · status 200 · 5.988 s
model
claude-opus-5
effort
low
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=-1.0447 left_j1=2.0071 left_j2=1.5272 left_j3=-0.9012 left_j4=0.0044 left_j5=-0.4358 left_gripper=0.4529 right_j0=0.8948 right_j1=1.1862 right_j2=1.7443 right_j3=-1.4113 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [1.5385, -13.9829, 6.6667, 0.9792, -0.1734, -0.0464, 1.0427, 0.0205, -1.935, 4.9573, 1.6142, -0.0659, -0.0562, -0.0171]",
      "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=-1.0191 left_j1=2.0499 left_j2=1.6951 left_j3=-0.9894 left_j4=0.0105 left_j5=-0.4442 left_gripper=0.4529 right_j0=0.8948 right_j1=1.1885 right_j2=1.7443 right_j3=-1.4277 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [0.4034, -10.5504, 9.2376, 0.5885, -0.1294, 0.0269, 1.0427, -0.1709, -2.2632, 5.0667, 1.5946, -0.022, -0.0317, -0.0122]",
      "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=-0.997 left_j1=2.1178 left_j2=1.8233 left_j3=-1.0542 left_j4=0.0109 left_j5=-0.4515 left_gripper=0.4529 right_j0=0.8948 right_j1=1.1896 right_j2=1.7443 right_j3=-1.4353 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [0.4991, -11.5624, 8.4171, 0.7106, -0.0464, 0.0122, 1.0379, 0.0342, -2.1128, 4.9162, 1.5018, -0.0464, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a080747b5eb9fc26b1cefb3a9f4933ae353ebbf8bf5386a67043d5ff1fcc91a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b830d4c66db91c2630c3dcbead923fe0d086608e6f8e1f82d11e9608702dee32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19e93fba416f41d1da416912573fb18a0b83c369fcef9f7c2bc10b1521c5dace",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob a080747b5eb9]
[blob b830d4c66db9]
[blob 19e93fba416f]
{
  "content": [
    {
      "signature": "CAIS+AcKjAEIEBgCKkC2RAfqIR6y/E9R0kxbltCp8503bdZcKszd2sgyU8gZ3QdJtSRjhPMHvr/E/PkzwgyWbD+OfCqvduZo68wQR+miMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMkl8R+9NZSE/2abnvGgyrF84qlKj2KzPmgPkiMBLZhvVnuv7RtUGQ28jP9DKzs4Y3swO1zJuwSYv/rrNq04FrvHZD6Pj8iGQ+WMBR7yqYBsX6NocCz35c/RFW4v9v7+6BGYSo8URJUmyr7c7GmJ7KPu62rVxRYRbzbKs6DDvoymvdZjofQyUl7zahAFNqPInldgsgJqd844NqkqVNVci1icl+B4+ct1L8UjlJ4EjXcmMzI3FtPtnELqGd4TIlI5h3robUBk05ppISdvc2PkGoItbKFnUDX/OdR7QTCl7iUyAz1oYMQYak6xojL8PKvrjnQmO7pspKX2+nkkzV4bHF3GFy3K4sf9x7kr5hMmrwyE8DgrFtCBWwMybf2JiY+QnrlF5295wnrY7XqTvAe8fbwsferQeUVZEPMZJp+9mpTcv/Rhw2WrqZ+4hzGfUDHlb6gV2fBoQwUD0Hb8kCU26CGS6wUKLj+E2XdlbKfBTkxnjn1diE5+6r6dEsApQqxu0hXnOOKc/8ZKLjt5Xi9R70U2s8gfQ4R0h6jBnULinhyuSl1rBPxKPoJoK9tGrRm2T4Fc3XgHUZJnMKl9B61dheYkwxn0UBujMeGqttTN3PF5Dn429wDUSUCsTuzWk+fG3PUtIy7jNGDUVym4/KY6i6qcOspJ1MPP/PPCKuxS5HvK44nhTskK4GxjODaHgnA+GN86GqBs32TPDJequ+Dlv81ikG5nMxQpAFzD476s/lPUH9XpFpiiJ8Dks8KREwlYABX+J1KiW8Y7fypjPx7LB5pgnCwQ0aqLDOy3mVH41GBhu0ur/+AiBfA3Vg4EVyDfTFOyTjNwP7VD2OCaKHcOhE+fvxiuGkq0xPplSmSh+jprI/EISPxUsFksrc6PbSa9JqYZYacUWwxwsibUD5PlBIH6/kCYNlYXgwMq91PNpLzK9vRNQMkx6sy+d8qbswKjUNbsc8mLq/nLib7f6SY4S/GllhBO3g89Wo/akW08q61lXffMD/rk+ClsKw/cf8PMTmj50k/yTZ7Qov6yMNvgqLBdrgvQcos3jPad2l2L4NWmq8U4f8eaoGCqiwR7X46bIvGRd5Sp2T4IjZa5zViV1blpANay9azVszwWnpCUH4kQIrSOHbWBgfJzhUVBQWB3bqWjp7c3k3CxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018ohwUAMTQtoiFWkbqiourF",
      "input": {
        "note": "Blocks nearly touching in the wrist view; final 1.5 cm forward and slight descent to bring the blue block directly over the red one.",
        "targets": {
          "left_j0": -0.97,
          "left_j1": 2.21,
          "left_j2": 1.9,
          "left_j3": -0.99
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_018ohwUAMTQtoiFWkbqiourF",
      "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=-0.9798 left_j1=2.1635 left_j2=1.869 left_j3=-1.05 left_j4=0.0109 left_j5=-0.458 left_gripper=0.4558 right_j0=0.8948 right_j1=1.1896 right_j2=1.7443 right_j3=-1.4433 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [0.7043, -9.6342, 7.9521, 0.9255, -0.022, 0.1148, 0.8132, -0.0479, -2.1128, 4.8752, 1.4725, -0.0464, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 342):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5ed223b7efd1c0c277f4dfc50374f6aa06d507faed210d1409f9ccd4ec6c5be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 342):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fcf997702608e64b2f2a85a0b62a9ca18ce9cdfd38153a8d381345aca326bd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 342):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3518c7236db3aeea4153ebf7e8c787ec25b9dad4158393fcc9b3f9d8feff364c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob c5ed223b7efd
wire blob 8fcf99770260
wire blob 3518c7236db3
call 54 attempt 0 · /messages · status 200 · 4.529 s
model
claude-opus-5
effort
low
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=-1.0191 left_j1=2.0499 left_j2=1.6951 left_j3=-0.9894 left_j4=0.0105 left_j5=-0.4442 left_gripper=0.4529 right_j0=0.8948 right_j1=1.1885 right_j2=1.7443 right_j3=-1.4277 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [0.4034, -10.5504, 9.2376, 0.5885, -0.1294, 0.0269, 1.0427, -0.1709, -2.2632, 5.0667, 1.5946, -0.022, -0.0317, -0.0122]",
      "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=-0.997 left_j1=2.1178 left_j2=1.8233 left_j3=-1.0542 left_j4=0.0109 left_j5=-0.4515 left_gripper=0.4529 right_j0=0.8948 right_j1=1.1896 right_j2=1.7443 right_j3=-1.4353 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [0.4991, -11.5624, 8.4171, 0.7106, -0.0464, 0.0122, 1.0379, 0.0342, -2.1128, 4.9162, 1.5018, -0.0464, -0.0611, -0.0122]",
      "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=-0.9798 left_j1=2.1635 left_j2=1.869 left_j3=-1.05 left_j4=0.0109 left_j5=-0.458 left_gripper=0.4558 right_j0=0.8948 right_j1=1.1896 right_j2=1.7443 right_j3=-1.4433 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [0.7043, -9.6342, 7.9521, 0.9255, -0.022, 0.1148, 0.8132, -0.0479, -2.1128, 4.8752, 1.4725, -0.0464, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 342):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5ed223b7efd1c0c277f4dfc50374f6aa06d507faed210d1409f9ccd4ec6c5be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 342):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fcf997702608e64b2f2a85a0b62a9ca18ce9cdfd38153a8d381345aca326bd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 342):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3518c7236db3aeea4153ebf7e8c787ec25b9dad4158393fcc9b3f9d8feff364c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob c5ed223b7efd]
[blob 8fcf99770260]
[blob 3518c7236db3]
{
  "content": [
    {
      "signature": "CAISswgKjAEIEBgCKkD2WdFdjYXUUqa7BXbpD5gN4Cg41f7hpXiXtv06snpn6Hxqsd8KvviTLyAEErsTTJjUIWNQ5Gbd+qPxBEVB9EtpMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMFFxI8N6lXsIawVIjGgyJbCHeWsVKFMWz7VMiMFe3022k1JaBF+IQE5yryye9RxGxFW31GwKLsBbpz6hsnsOxNGFqJAWgCZyxCHk5fSrTBkxh1tM+Q06x9SzdS/6/W1zX6AmJZG3dJESnfZcBxklOCfXLPIme2E3Zc9fKozMDe6OJn25d2UqVZS6DQmWG6zhS4G0yVRWQ3dfYQHgS7+HGxXPimkWnEftfEUbAo6MH8YYuKwlGF+Akr7XGr6FpgO/5AerzgzD4hlJI0gxo35re8JJG6b6bB1xhaOVPF5LGveFpleerMWFYpNpTFvCS3cxNbQoX+u/sstTqJG0jbuyTvwkUurw3xRMQkTY/a4EqfKiNeaELfVzeS67RJ5rg57iiqj/YBjpfLC2bwjtV+zTZm7xqHCoDXzAcwK+050sMPxWGliWgzJ6YKPoQf8BuCM5lmyHBM6wVcO4pG8ImpHEY3BYTHSLzL3Zym84oL2avr+57D8c1lestas9WZNhZCRpIuQaOKv/vung/LgBbiUrpgiabnASQc9AJ72YpjpbiuuM9Dgy2Rve0P/EWM2Xp3aXY348pPQrTn/KVGTqNe0QxkiUh1OIWOWQ4t8X+hhXGxRwn4awCpvqIB2rWWZR39Nb70WcfnznFqAX5dfQx7uD4UuKyXxwtiR40E0jUrLzX8Ul0BOwa90/MG+gp5vRtAnk4AX5B2Y+3HekF/aGoTe44e4QBS6M76uFg+W0Cot6f/PgfV8SZkFIV9LNe3XmegdQIplwCMaOObBPjrg44hMGzyH4AJ8IspM8TlGbaRayh56uM68rBszoeIrwIIG9Z4UuzhjnNs286cLSVu+D9o03Ot3/oGn4pOJuZzBIQ+fsQMwqTGemWmpGF0rmtSmQnd8EmZ6pFAxP056KBsdcKs70yzHXWTXr1qxHgdgHWOaS3FPmPXlo/xMfkK+IuuAhIAZrzej04M9BDvrZuov0Wjt9XV8v+0WgtBQ/y7OIpd9rm+J3Fv2XgTjvIlZJxi532Q6bLE8v1Z3XvYhJzdSyG9QL4sQqdK81f/yN8HB/1Naqe4zkWNM/5PtqMlqZ9/SCHmkx1sLKhsNJg4L8IEjsrOxfT3mrcqUzVYhTGIaA3arlRr7BiCyBdExe5u2wG5fuuMERZNuz0fz4qFtCjM8Z7B3nkmhUwFAsOy9N1AHzUF2T3JHw8cTUonaW/PK3W7ji9Ext08lnkmpyNyTazPCusO0+IkfGAGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FLshuruwT9K8Q2zGmPFF74",
      "input": {
        "note": "Red block is right at the leading face of my carried blue block; advancing 2 cm more so the blue block sits over the red one.",
        "targets": {
          "left_j1": 2.28,
          "left_j2": 2.03,
          "left_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_01FLshuruwT9K8Q2zGmPFF74",
      "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=-0.9768 left_j1=2.2612 left_j2=1.9842 left_j3=-1.0698 left_j4=0.0109 left_j5=-0.4698 left_gripper=0.4577 right_j0=0.8948 right_j1=1.1896 right_j2=1.7443 right_j3=-1.4471 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.5538, -11.5761, 8.212, 0.823, -0.0415, 0.0806, 0.7253, -0.1846, -2.0855, 5.2034, 1.4286, -0.0415, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2aa6c145be8c4f7f3a2fd51b87590ec43d33e9cf0db6c20e5e1aa2982a69d5bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54ec16b329e396a3ff7672338717b22c7a0ebafd98a74f8726c90ee51accc48d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b227ec4127b9567162165a68c03882db056621c6660fd86ada11564dc8be0cd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 2aa6c145be8c
wire blob 54ec16b329e3
wire blob b227ec4127b9
call 55 attempt 0 · /messages · status 200 · 6.722 s
model
claude-opus-5
effort
low
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=-0.997 left_j1=2.1178 left_j2=1.8233 left_j3=-1.0542 left_j4=0.0109 left_j5=-0.4515 left_gripper=0.4529 right_j0=0.8948 right_j1=1.1896 right_j2=1.7443 right_j3=-1.4353 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [0.4991, -11.5624, 8.4171, 0.7106, -0.0464, 0.0122, 1.0379, 0.0342, -2.1128, 4.9162, 1.5018, -0.0464, -0.0611, -0.0122]",
      "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=-0.9798 left_j1=2.1635 left_j2=1.869 left_j3=-1.05 left_j4=0.0109 left_j5=-0.458 left_gripper=0.4558 right_j0=0.8948 right_j1=1.1896 right_j2=1.7443 right_j3=-1.4433 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [0.7043, -9.6342, 7.9521, 0.9255, -0.022, 0.1148, 0.8132, -0.0479, -2.1128, 4.8752, 1.4725, -0.0464, -0.0317, -0.0122]",
      "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=-0.9768 left_j1=2.2612 left_j2=1.9842 left_j3=-1.0698 left_j4=0.0109 left_j5=-0.4698 left_gripper=0.4577 right_j0=0.8948 right_j1=1.1896 right_j2=1.7443 right_j3=-1.4471 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.5538, -11.5761, 8.212, 0.823, -0.0415, 0.0806, 0.7253, -0.1846, -2.0855, 5.2034, 1.4286, -0.0415, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2aa6c145be8c4f7f3a2fd51b87590ec43d33e9cf0db6c20e5e1aa2982a69d5bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54ec16b329e396a3ff7672338717b22c7a0ebafd98a74f8726c90ee51accc48d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b227ec4127b9567162165a68c03882db056621c6660fd86ada11564dc8be0cd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 2aa6c145be8c]
[blob 54ec16b329e3]
[blob b227ec4127b9]
{
  "content": [
    {
      "signature": "CAISmwUKjAEIEBgCKkCOqZjk7LkGCkRF5Y3qi8bQwfAIqwpQwkiFTarLViC2iNtgd74c8jl8TcO1QIEOLm4yJhxP32Usa08RNxp67gHAMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMsDcZLYInAhitchIOGgyUOukks5P2xGhO/t8iMCHswxFJzUy6t9tgHtF7FT1t71uM4Va6khzTJu+M4ekAtgiyI4NKM4A+LOOgeOQGwyq7Ax838/jb4xp7DqqA2HeiQXUa/XfEbSWkNaijGwHLtqqe6Gx6/7qN0TLCW1CwOXeeMemsZOz1POLN6VauJQ7CVKCVdOlxY18o3I5Ssf067Q4IiElSLxBu/i7jOO3oXg+5I/V53UjbS+lbhVJiedapauzz/kuZqct6WSuXTY1wYuPTbOsXVZLqPe81/n0N0zEeM2QBVR7zacYOjDnqv9dnL60cWxsJ9ES650w/R83lYkYXLjDKhgfnfLkmRL2OYSHeyanAIwQ5lHmT1gd/rhnWHSZWO2Nh20jG3rfphfJBKhY1FIihfz3aulqnhqwzyOdP6CNAxzZUi1dHKqJ9sLB+q6wLZwc9bUBv+6oSnKbMrQnqeosz06X+VO7egfKbihibUIJ9uv1iCMSO/X6mcRxjsRbDtEE9N4SKe67TUQ+2MHZGMXri2nNZdFWFzRHuJ41HxeGlpD/MXIvo1/M7zfFulSKCoGu+oHcrwMlCvNOVmOa8lBUVVv5vcYr1zzakY0nmr1kb1uxvZtxkAs3rrd/BOgHNQkR/hAxOZpU7klqW2eEXHq/pTMwQzyCIPRAC9VkTmEIGKosf2TtpZWO6GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013XYMLAoQUthpeAfw4qvCJz",
      "input": {
        "note": "Red block just peeking above the carried blue block; one more ~1.5 cm advance to centre blue over red.",
        "targets": {
          "left_j1": 2.33,
          "left_j2": 2.1,
          "left_j3": -1.08
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_013XYMLAoQUthpeAfw4qvCJz",
      "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=-0.9764 left_j1=2.3039 left_j2=2.0518 left_j3=-1.0985 left_j4=0.0109 left_j5=-0.4805 left_gripper=0.4574 right_j0=0.8948 right_j1=1.1896 right_j2=1.7443 right_j3=-1.4658 right_j4=-0.0257 right_j5=-0.0193 right_gripper=0.9997\nstate[joint_eff]: [-0.253, -11.7949, 8.212, 0.9304, -0.0366, 0.1783, 0.8181, -0.1026, -2.0718, 4.8752, 1.5263, -0.0366, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 347):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:312315343fe73d702a78bd8166f0209a8e860ad7c4576a4e847e73672b59f78e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 347):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:845d38b9140b2f6429ce7a3b03330f88aee5a613ab1c3a094b8dd55fcd6611d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 347):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:28a8b1a117da11808bebaa467dbf09d18d8e8644d3c944b00336ec8cb98f9417",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 312315343fe7
wire blob 845d38b9140b
wire blob 28a8b1a117da
call 56 attempt 0 · /messages · status 200 · 7.04 s
model
claude-opus-5
effort
low
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=-0.9798 left_j1=2.1635 left_j2=1.869 left_j3=-1.05 left_j4=0.0109 left_j5=-0.458 left_gripper=0.4558 right_j0=0.8948 right_j1=1.1896 right_j2=1.7443 right_j3=-1.4433 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [0.7043, -9.6342, 7.9521, 0.9255, -0.022, 0.1148, 0.8132, -0.0479, -2.1128, 4.8752, 1.4725, -0.0464, -0.0317, -0.0122]",
      "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=-0.9768 left_j1=2.2612 left_j2=1.9842 left_j3=-1.0698 left_j4=0.0109 left_j5=-0.4698 left_gripper=0.4577 right_j0=0.8948 right_j1=1.1896 right_j2=1.7443 right_j3=-1.4471 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.5538, -11.5761, 8.212, 0.823, -0.0415, 0.0806, 0.7253, -0.1846, -2.0855, 5.2034, 1.4286, -0.0415, -0.0464, -0.0122]",
      "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=-0.9764 left_j1=2.3039 left_j2=2.0518 left_j3=-1.0985 left_j4=0.0109 left_j5=-0.4805 left_gripper=0.4574 right_j0=0.8948 right_j1=1.1896 right_j2=1.7443 right_j3=-1.4658 right_j4=-0.0257 right_j5=-0.0193 right_gripper=0.9997\nstate[joint_eff]: [-0.253, -11.7949, 8.212, 0.9304, -0.0366, 0.1783, 0.8181, -0.1026, -2.0718, 4.8752, 1.5263, -0.0366, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 347):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:312315343fe73d702a78bd8166f0209a8e860ad7c4576a4e847e73672b59f78e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 347):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:845d38b9140b2f6429ce7a3b03330f88aee5a613ab1c3a094b8dd55fcd6611d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 347):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28a8b1a117da11808bebaa467dbf09d18d8e8644d3c944b00336ec8cb98f9417",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 312315343fe7]
[blob 845d38b9140b]
[blob 28a8b1a117da]
{
  "content": [
    {
      "signature": "CAIS1QkKjAEIEBgCKkBHC6oN8bTIwMyTNdwtw91X14KwAm1MKuIVGcrRvri6IaK9y+JFIHaQQdEzEfFXhXPGkZnljaZT0uzqG9eERcVdMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMT85gEkOOKA9In2ShGgxUNy5z9Ni1sz6g+ogiMDk8cibPHM/8YEFUrU6jijcReDO2kn4TazcXXD3/ixZaDf+UV4gc1wtiYZFNveLzlCr1B/QOUAS+yG2OWx64+0uYy3xZ/pXgFtYMyX9shhzI1yqm80hGSf2E3K344mzmRV2YyNeEJFiwpGjP1wm8myx/ymfFTVRzg9wXerifssBxo9OkpUhUlWltKHhtzBnPwHgmyNKLWlWtXcFS4RR46AVxXmBcdFfpAtj+0KNYvjjKswREb/54U+lsVb5EN/2BB1UTKrxW3LbxuCtVBhambSUfa65bB80qzJzFzjtY1Sf+JjaSBqqdi/Lnk8PWiXMfB63bH/e+h6G73Ys2NLb7AHMDKIbN+AbcVODkoNWDvnt1DoB16GeOUCaR9yXNgDMJ/SkhX0e2ymdY3bQvur5CTDhN5QAQ1PR+hDxkEk1rCmUqH9898XtV24wig0sD6u1+ErN1HzOoX3soQklu8Pi+rGXF7O6eQU7tdSFAgfNwb0OCjyYc4jZcGEPGZ8MVuPMo83gdJj7U3/+O/FGaLlMCakb0Zds27uhao/HyvdnVR1kxKbnK8IB0kVSrainuP/2o8M+nU8G1S15dAGd8RicM/VS4v+is2h6c8JYDEmvchhSfc+vRA6HVR/RYVloelJZRLAkO+uJh78D/AKDzrCWqbekKj3ps5GEBjBAvM+0z1GWMDuQih8/RJ1P8254YWor3X4qgACZcFVxXnGQHTKcWMqyZUYTWM85TMOxyHgOYmwYByB82yeFBaOoJCJpToo07M+tbKDGfPeeLnMztMf9jCff475A5rjG0uNxUPrK5f8dTaUCfgUFkjIeovtK+lwQnHRmDOcD8G9LmL62xVv0O+ng/va48GqUtn/cbIJNgcbO7dFBF1vS4dPUmily+e/fulqISM3MJhTccZEb+uocZKtTfCHjpMRLkpND+xfhma0BbeKD4owmHISZMmxqAHyOUqxwMhKAoTHvKbrSH5vw8dKjzUXf+fuesxaQcO7y2XyscLCu4sK/kjL8gEfOOX2TqAQevwDlbl69I8517ijtC63rblV2Sf3Qqojt9jl6+l9/pheoynx/byo21ZXX3/CYsBGxKBEOJDHS3GgRUjeWJDFFf0shgm68AGhO4DM6zBp0ka3987pwE7g2qv149MrwWoFCOg5JYS7Uc2ioilNnFC39V6++3g+/T/L9stVLOPqFQZaFaYnpG7mWdrDMdxNDcVGMWw5NZS5b4zb0brmTXqy9ordXIA3g1GNAqogMVSLLqxUKofQkV2f0iS2NVR8JWpPrB5f1dA/9Ucv2jllEKH400oxpZLNUIe9ud/LCr8dQ6d/YzlPzCUFGkBneBm0hvgWRToMf+8fG2dvgWo6BH7goSzSr4G5oANeTvz/nKfCuR+Xip20Iyqgfj4H3VZlyu+tiFXozVckfbGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Bb59GX5WwzwY3BcPxQnwEv",
      "input": {
        "note": "Observer view shows the red block sitting just inside my blue block; pulling back 2 cm and lowering 2 cm to set blue down onto red.",
        "targets": {
          "left_j1": 2.23,
          "left_j2": 1.85,
          "left_j3": -0.92
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Bb59GX5WwzwY3BcPxQnwEv",
      "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=-0.9764 left_j1=2.2639 left_j2=1.8809 left_j3=-0.9627 left_j4=0.0105 left_j5=-0.4808 left_gripper=0.459 right_j0=0.8948 right_j1=1.1896 right_j2=1.7443 right_j3=-1.4826 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, -14.4479, 5.3949, 0.7985, -0.0611, -0.0513, 0.1636, -0.1573, -2.0444, 4.8342, 1.5311, -0.0708, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e17be19b636e5a86accf53483f334b75d530cfa912bca0de15aa4f786fba216f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e28569425054e5062ff64531be3005c626373654145324962daec4eac2f655c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:851f70bc5b8f9178092e2e0310000684f727b222b2c4771b755be51d9d01233a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob e17be19b636e
wire blob e28569425054
wire blob 851f70bc5b8f
call 57 attempt 0 · /messages · status 200 · 5.406 s
model
claude-opus-5
effort
low
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=-0.9768 left_j1=2.2612 left_j2=1.9842 left_j3=-1.0698 left_j4=0.0109 left_j5=-0.4698 left_gripper=0.4577 right_j0=0.8948 right_j1=1.1896 right_j2=1.7443 right_j3=-1.4471 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.5538, -11.5761, 8.212, 0.823, -0.0415, 0.0806, 0.7253, -0.1846, -2.0855, 5.2034, 1.4286, -0.0415, -0.0464, -0.0122]",
      "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=-0.9764 left_j1=2.3039 left_j2=2.0518 left_j3=-1.0985 left_j4=0.0109 left_j5=-0.4805 left_gripper=0.4574 right_j0=0.8948 right_j1=1.1896 right_j2=1.7443 right_j3=-1.4658 right_j4=-0.0257 right_j5=-0.0193 right_gripper=0.9997\nstate[joint_eff]: [-0.253, -11.7949, 8.212, 0.9304, -0.0366, 0.1783, 0.8181, -0.1026, -2.0718, 4.8752, 1.5263, -0.0366, -0.0659, -0.0122]",
      "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=-0.9764 left_j1=2.2639 left_j2=1.8809 left_j3=-0.9627 left_j4=0.0105 left_j5=-0.4808 left_gripper=0.459 right_j0=0.8948 right_j1=1.1896 right_j2=1.7443 right_j3=-1.4826 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, -14.4479, 5.3949, 0.7985, -0.0611, -0.0513, 0.1636, -0.1573, -2.0444, 4.8342, 1.5311, -0.0708, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e17be19b636e5a86accf53483f334b75d530cfa912bca0de15aa4f786fba216f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e28569425054e5062ff64531be3005c626373654145324962daec4eac2f655c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:851f70bc5b8f9178092e2e0310000684f727b222b2c4771b755be51d9d01233a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob e17be19b636e]
[blob e28569425054]
[blob 851f70bc5b8f]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U8TuZrqGjB8zEBQH4aq2pU",
      "input": {
        "note": "I had descended too low — the blue block is at table level beside the red one. Raising ~3.5 cm and pulling in 2 cm so the blue block clears and sits over the red block.",
        "targets": {
          "left_j1": 2.12,
          "left_j2": 1.8,
          "left_j3": -0.98
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01U8TuZrqGjB8zEBQH4aq2pU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9764 left_j1=2.1979 left_j2=1.8065 left_j3=-0.9665 left_j4=0.0105 left_j5=-0.4808 left_gripper=0.4596 right_j0=0.8948 right_j1=1.1896 right_j2=1.7443 right_j3=-1.4918 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.3487, -16.8821, 6.5709, 0.8864, -0.0659, -0.0366, 0.0611, -0.0615, -2.0034, 5.0256, 1.4237, -0.0562, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 354):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5be74d87ac7c294f7225dbbf1ceeb03cf0a752445960f20e2baf291f06b79a5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 354):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:122878c133815440465c1e79d5bccfabe93dfd4ebfe84fd7531015f443206a58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 354):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:325f8d77347c5a44e4c06202eb8b174d7d521197bf1683962f7a00ffbcc4bef8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 5be74d87ac7c
wire blob 122878c13381
wire blob 325f8d77347c
call 58 attempt 0 · /messages · status 200 · 6.903 s
model
claude-opus-5
effort
low
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=-0.9764 left_j1=2.3039 left_j2=2.0518 left_j3=-1.0985 left_j4=0.0109 left_j5=-0.4805 left_gripper=0.4574 right_j0=0.8948 right_j1=1.1896 right_j2=1.7443 right_j3=-1.4658 right_j4=-0.0257 right_j5=-0.0193 right_gripper=0.9997\nstate[joint_eff]: [-0.253, -11.7949, 8.212, 0.9304, -0.0366, 0.1783, 0.8181, -0.1026, -2.0718, 4.8752, 1.5263, -0.0366, -0.0659, -0.0122]",
      "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=-0.9764 left_j1=2.2639 left_j2=1.8809 left_j3=-0.9627 left_j4=0.0105 left_j5=-0.4808 left_gripper=0.459 right_j0=0.8948 right_j1=1.1896 right_j2=1.7443 right_j3=-1.4826 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, -14.4479, 5.3949, 0.7985, -0.0611, -0.0513, 0.1636, -0.1573, -2.0444, 4.8342, 1.5311, -0.0708, -0.0317, -0.0122]",
      "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=-0.9764 left_j1=2.1979 left_j2=1.8065 left_j3=-0.9665 left_j4=0.0105 left_j5=-0.4808 left_gripper=0.4596 right_j0=0.8948 right_j1=1.1896 right_j2=1.7443 right_j3=-1.4918 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.3487, -16.8821, 6.5709, 0.8864, -0.0659, -0.0366, 0.0611, -0.0615, -2.0034, 5.0256, 1.4237, -0.0562, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 354):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5be74d87ac7c294f7225dbbf1ceeb03cf0a752445960f20e2baf291f06b79a5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 354):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:122878c133815440465c1e79d5bccfabe93dfd4ebfe84fd7531015f443206a58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 354):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:325f8d77347c5a44e4c06202eb8b174d7d521197bf1683962f7a00ffbcc4bef8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 5be74d87ac7c]
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{
  "content": [
    {
      "signature": "CAISwQcKjAEIEBgCKkAbd6WU96tZsfvWZ9Pc14vsvGOTuTjmqBhRpjgon0TCynDnhBTcDTtwgbFIqz8PBHAHCNd8gEHD8DRDtJqDFC2zMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMdss/4zJadlx/+qswGgxx+4qpU3NRjv2WCzAiMBkuCIKKUB40awi8uDd5zIm6lQCRz7R/clXXpv2WKd0Z0Hn8m6ad01gK+bgwlYASACrhBauxaLGqck649zltSgK9QUVi/COqHoP0uDTGFnNs4ZoSeInaeC6x3C/BqpY53uGbxpX1sLMVqJrV0lDmNPNudWNLigNwdxdIT7XXEd93E+7P71fdXJIqjLhWhBbfZaipDpmBRDwuqFyE7xPOqZT06cUtM2PeR6zgbzzNkqPDNkRc230c14nnZ8xJudOjZyIye3cjsvyVrR1mwaV2WSlJrGsJBwgcATJIV8raY+QJiA4P68Pj17Z0d7H24nEYZPyliEnFrzTnCFgBx6L2qQm/kIdrH4AuIvgdXzJ1CdMZeQS1kOzjIxJgfRtK87alfGNrVjhfYD+6YgZIZByaxU7c/Q0Prqmscf21Of1/xvf4wGzAlLfys/Y2Iw/6G15daqHJJlGSdp6nE1GQ1JB/w+2ZBxJae3BXswE9KiQiGJYbIVU8o79Bv9mn5/sRC/B5CSFZ2vft8GnepT64/hXSlWpxPn1ST7hX6jd+NpfC9KcTKyiY87Rn59oQaLNNVsmWxb+C/cpXO4heA8oIAJIuZp+WKcwYC6dZDCesT81iX0ujSE5VSpVTlTS/3bMGz567RmRH48/twRm/YixLxREj0jGWvzhrnfjpXwpMWWIARTMatf1BPt7eyeQe7QG3teiJ9vOO7JJYYwSZSuYwvniWM9YF7vMS7rY9s2HIGIoZYOHwF6fx1CK/JRoh7mh/ZaHuOb0LIH7euGBnRGN6csqXLGpk2wffwubAZaUWLabOL7ZTKz9Gssvf6MscNE4MfywyMxPfFL+zWSVhlzMC/1nc6/c1BG7PQhJChPjxjczEsMtPbN7Sb1LXLmel8eJ2x/KiHnG+VvDje1eRJgqlRoQXaoEWRlqxmKR+k6MbtADYMEwlBuG817WPmdvvGqw324VN/6WvdJChaOdrBvSrie0P0bkshvc5a50BcxIXaS3MNHn5/kkcHu21kXP9mfbBXeqZ9HMx7zKU9C6QR4VqPoN5cH3urmKmGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0197SXKMQVZcq4SLBSvsnEkH",
      "input": {
        "note": "Left wrist view now shows the red block peeking just to the left of my carried blue block at the same distance; shifting j0 slightly left to line them up.",
        "targets": {
          "left_j0": -0.935
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 1 steps (0.1s)",
      "tool_use_id": "toolu_0197SXKMQVZcq4SLBSvsnEkH",
      "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=-0.9764 left_j1=2.154 left_j2=1.8 left_j3=-0.9806 left_j4=0.0105 left_j5=-0.4839 left_gripper=0.4603 right_j0=0.8948 right_j1=1.1896 right_j2=1.7443 right_j3=-1.4952 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.212, -14.6803, 6.2701, 0.7448, -0.0708, -0.0024, 0.1245, -0.0342, -2.0034, 4.8889, 1.4237, -0.0904, -0.0171, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 355):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a709aa24019c64d1e11aa4ceb8eea1be6915f28684c7b1e27293b32b31dccf50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 355):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:075b859f3cb0278497c6a7b7122fe4921063e93f5d75dfb65035abdf073f60a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 355):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:52ee8dd200b39dbe0306784c1424b339061b4d54eca2e10d1d19936a25f4e7a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob a709aa24019c
wire blob 075b859f3cb0
wire blob 52ee8dd200b3
call 59 attempt 0 · /messages · status 200 · 6.024 s
model
claude-opus-5
effort
low
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=-0.9764 left_j1=2.2639 left_j2=1.8809 left_j3=-0.9627 left_j4=0.0105 left_j5=-0.4808 left_gripper=0.459 right_j0=0.8948 right_j1=1.1896 right_j2=1.7443 right_j3=-1.4826 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, -14.4479, 5.3949, 0.7985, -0.0611, -0.0513, 0.1636, -0.1573, -2.0444, 4.8342, 1.5311, -0.0708, -0.0317, -0.0122]",
      "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=-0.9764 left_j1=2.1979 left_j2=1.8065 left_j3=-0.9665 left_j4=0.0105 left_j5=-0.4808 left_gripper=0.4596 right_j0=0.8948 right_j1=1.1896 right_j2=1.7443 right_j3=-1.4918 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.3487, -16.8821, 6.5709, 0.8864, -0.0659, -0.0366, 0.0611, -0.0615, -2.0034, 5.0256, 1.4237, -0.0562, -0.0366, -0.0122]",
      "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=-0.9764 left_j1=2.154 left_j2=1.8 left_j3=-0.9806 left_j4=0.0105 left_j5=-0.4839 left_gripper=0.4603 right_j0=0.8948 right_j1=1.1896 right_j2=1.7443 right_j3=-1.4952 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.212, -14.6803, 6.2701, 0.7448, -0.0708, -0.0024, 0.1245, -0.0342, -2.0034, 4.8889, 1.4237, -0.0904, -0.0171, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 355):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a709aa24019c64d1e11aa4ceb8eea1be6915f28684c7b1e27293b32b31dccf50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 355):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:075b859f3cb0278497c6a7b7122fe4921063e93f5d75dfb65035abdf073f60a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 355):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52ee8dd200b39dbe0306784c1424b339061b4d54eca2e10d1d19936a25f4e7a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob a709aa24019c]
[blob 075b859f3cb0]
[blob 52ee8dd200b3]
{
  "content": [
    {
      "signature": "CAISqAsKjAEIEBgCKkC9MFLXlEBIWVYc9qWzOrhfdFO1qSgkufVOdSaNn/kzC2gJUozNmLNVLYnp/0BMf/Bloh10Ooll1VYEVwpm4TF4MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMsRgXCC3Q674n7gqRGgyppJ1xwC8RSmA/hxgiMBjscLn5VtPVGhdHgoy48Ey9aTRlqD4SsM6U8TwA72WfgWcSoj7No+eUAN91dUOSZSrICXP3XNs/2jeyu/jgmziXgxpKPPOyCtKJmr/Eh287ej7fCmTrxI/bEa9c9k6JcTkZtc8HxR/0ux7J7qOqxZiOFKuZixkDG+/zvrk08dJWG+8iM1B2q97Ka/ktPv6NVN2Yf3Q6IGkTtZFOTvzMdFi0DYygCP5xEswpqCIZZfUp5JAtXMzWGHO1G4wfaRo8VTaMzyXHqq4E1Mq7sl+PB2EjobOVlgC2XsZ5iofAmMDxLLSLZfgk3l196+f5snjeh7umOEtdGmMOgSa3ByY/otHymxd10mXDap9L7vWtS4jTJuyOpCYmFV43tIH3255I8sOUv1Qeh93/uBH0chcMDFhPHMTU3+DwiZ3kCaPkszUUQdwJkVPMO9q86xqF+yE6k18l9z0m05UqdI/Znn/toYQ1e+6IbjVg57yZmjMpmef8jGVw1c3/0osTTALWaQtFBrK8TQsCGGYEYy+our1FJdt41TgaufNXVAZMEyxPJc91VFwTiJXkBw2xxF9X/MW23P9rzKqHYYhaaxjO7KqBSdcAT/hYkZB3NxKX/ec+qPh29B4VMKQFnMwIbS0RRil63AnA77e6CxvUfMFC8bvnyPaPU6ObgUM6kbdJ3lYGJxKEgv2X1YmTLZ5iT3MMGHK/pm+P/VrvSlZp3wuPXNUa0W8U+tRbUFm2TELLGwbxkSzy28O5hSX1HfnhHDsB10kuq5K89ImukTd4yaRyXIkeXJCbh0zP88Do6m7RLepqXTVEPHa4aQMV38kyi5oHqh3NjGa4pCh0VvsVeDNUuHJ4PYOdSpdQEX3NMI6J149RnOXEU2Ox5J6AojIgYn1UVzx4saBP8zsvzKEepn5Mnuhsm3X1oI6FXyvL4WEgSIfHDKQsuosUg6t6XU9dxpl/JBbaNiq5Qwq5+bbXk7XkE30Kt3G/SDwQji90ZFcwOV9LsV9kmzHO1DmfqpM0Jg+NB/Bz2oUaY8wAO3rmrCS8WmPlgOerqSLU0AG3HXbVT3ptzY45Po5PxOYEQGxmu4rhd2qpFGHd+F1mzBdChq5t7pCVd1uhyUweRX1cGW1+8hUYfYJCfVmNZxRroFWG/SUYHPXl+5YeQBwL9SrQbmbMAK6hGzi1K2B7j36O+uzjiht8rnZMPEdEPet+lPBke2xOdwB2rQ2fW+0yg6QETWbpK9V7hfD2ZnlNZkGA9cXqXIBrJhX/s55A5kFiQ97zr1rPeVJiqZSs142pv7I7svuctlsDEFAPPJW55UVw5mAzfPv5//+rJnsm0oFv69S53HWKqz0yrXtYEnbFkiVXKoVg+C+pLjghj5EMjFnnnerdzuBuACPeJ5fUhO2FaIXNq0/j4G8xSbb+y0wSAq0oOLYAyCiraAutXC+aDwgj/TpU6vSpbTvW31aRKApwSoXrtku2FCKep7mTIDu3s6+PtHSN4X213cm4pSvmCUydukZiqiRP4gwS/bhsv0CybHUw9m4KF4sZF2KBD0/8d8njrH4I+IrAfCIuUnTq8k/Ek9fLFnGQutVsVqi+XU5+ORf6Yanb2Qn2pUX/5BEgNdu2ww4FXDc2T9gf4noWcCs0PZsll1b713kia3kt6/EBoh5p+E60ZHjVj0JeBKLTMZahgQPEbN/5YU1BjBomy7lMEiLLqhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JNk9vWwkXTDdFtD7uHSby4",
      "input": {
        "note": "Red block now sits directly beyond the blue block in the wrist view; raising 2.5 cm so the blue clears the red's top and advancing 2 cm over it.",
        "targets": {
          "left_j1": 2.19,
          "left_j2": 1.96,
          "left_j3": -1.07
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01JNk9vWwkXTDdFtD7uHSby4",
      "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=-0.9699 left_j1=2.2044 left_j2=1.9083 left_j3=-1.0565 left_j4=0.0109 left_j5=-0.49 left_gripper=0.4617 right_j0=0.8948 right_j1=1.1896 right_j2=1.7443 right_j3=-1.5105 right_j4=-0.0261 right_j5=-0.0193 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, -13.4359, 8.212, 0.8767, -0.0366, 0.0171, 0.1392, -0.0205, -2.0034, 4.9162, 1.4286, -0.0611, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 358):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c6082a5d43f0fe716293ddac33e484e36c90c4c05d68d5d6384fa824ce0e745",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 358):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bdb8fabc0d5d85e6be07275b5d16a124af9b5e8a08191a12186859717f22675",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 358):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:64435d81562c5c6a00bf60f4906dcae4416a68ef5523ff8228e7ea0331c080d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 8c6082a5d43f
wire blob 8bdb8fabc0d5
wire blob 64435d81562c
call 60 attempt 0 · /messages · status 200 · 7.148 s
model
claude-opus-5
effort
low
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=-0.9764 left_j1=2.1979 left_j2=1.8065 left_j3=-0.9665 left_j4=0.0105 left_j5=-0.4808 left_gripper=0.4596 right_j0=0.8948 right_j1=1.1896 right_j2=1.7443 right_j3=-1.4918 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.3487, -16.8821, 6.5709, 0.8864, -0.0659, -0.0366, 0.0611, -0.0615, -2.0034, 5.0256, 1.4237, -0.0562, -0.0366, -0.0122]",
      "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=-0.9764 left_j1=2.154 left_j2=1.8 left_j3=-0.9806 left_j4=0.0105 left_j5=-0.4839 left_gripper=0.4603 right_j0=0.8948 right_j1=1.1896 right_j2=1.7443 right_j3=-1.4952 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.212, -14.6803, 6.2701, 0.7448, -0.0708, -0.0024, 0.1245, -0.0342, -2.0034, 4.8889, 1.4237, -0.0904, -0.0171, -0.0171]",
      "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=-0.9699 left_j1=2.2044 left_j2=1.9083 left_j3=-1.0565 left_j4=0.0109 left_j5=-0.49 left_gripper=0.4617 right_j0=0.8948 right_j1=1.1896 right_j2=1.7443 right_j3=-1.5105 right_j4=-0.0261 right_j5=-0.0193 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, -13.4359, 8.212, 0.8767, -0.0366, 0.0171, 0.1392, -0.0205, -2.0034, 4.9162, 1.4286, -0.0611, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 358):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c6082a5d43f0fe716293ddac33e484e36c90c4c05d68d5d6384fa824ce0e745",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 358):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bdb8fabc0d5d85e6be07275b5d16a124af9b5e8a08191a12186859717f22675",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 358):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64435d81562c5c6a00bf60f4906dcae4416a68ef5523ff8228e7ea0331c080d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 8c6082a5d43f]
[blob 8bdb8fabc0d5]
[blob 64435d81562c]
{
  "content": [
    {
      "signature": "CAIS7woKjAEIEBgCKkDLrwmywSk7/XBkHV05GtuVcjS5HOc6R8b4h5mRyNZwuCK4aiI8aNq2H6wRHc427zzmekki6Noz+E1O5dtstkWmMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMNmDLEHrqU4uMHWNYGgz2gZkFtL0hiwXHPcgiMAnOGYIxHCHTz2lYB3bdrHDA681zSsx5HQibQzEDRLPts38W2jspcvz+gTNZvDp9pSqPCYGBLRn6kTm8sVwMcvWGNwEB5e5UZnApKFW7KQ4R5TjyMB+/u4OShlPYtodIgtUkAs245E0yH884ZRgkBeJSXdxx/1TZTw5G7C1dJzUv8bChO+4aZuE3vGW039IWYP7htZUbytyzgNQW8uUayPt8OL1ZOKpU49i3IhcRMdx+h1ElB38UzdSWZsui1HENhgVZH+eXOgwbq7HCUmgYcDOXROEB5ap8Lr5ygLsC+kBKPI8/dEX99YJKsBB3cLyFVakwZ0e8T/IDtPeyoMMyHCfvOavWmgsR+E3H1zbDiSuSYy7dDTmnCKKwrZDu+B0sDNNpo/uKqbc9Zb5KaqlMkj+sr7Pd64Xky8+3RbkUNQv71ACcqI/yOJG23apK/j92ZOZhk9FyQN9CNae3YOca3vYWhNVncoaKcztTj6P7qFpBMNeUecnMQfpq3wGV6O7fFp/VUTzxkK7RmEloj95g+4lgoZLo4abgHo6DJUBCj0zgoGcTedbvS6zs1B4E66owb6E888hrb/sqi4mOeBBoaiUyHbJtxiqqabrMeReC+ZhlU5Jjxg/sytt0v+42hoptjyCd5zubNYSdIEsIsQ17aDaa9UfRs4efbBd0pBawQni5oT8nO8TWdMeu6J+sWoecsgHBSU1JVROT1zDviUeE0ggcl4xa4YLtcW9HMXVUeGjx2qaCECMIlp1lH6xE/LSoJXlQtPgiFFa/U/XqDjwahTvt8JjzYul3HF5D80PHvD/tNhLZ8YzUlz834Qf+jPPvtST67H1L6RBTyGQWDj+Rg1TZY8/hJ9RXzC34ziB/DwOvBqmeXHk8klNd2tqpw38Z2bCEEoyiBhS1PiEwyyByhj3md9HYC6CicNdUSK8gzg2O270vbLAbJuNpm3pbaGEq0nqDX9PO5WvxvisdrYZTAT5se/BRFR7bPp3HQ6JSt6/FlTXQX/19OTT4k96WAQuWxITDRKvhIXMOY/WE9SVKit2u6goiRiS3mYplt0BJ+AOdqKS+a/U2JL7C2FtIPRn6WQYBiRY07HUCnOPkBqVRBsANzqaZZYSQiHYlWz8EmadVl8mcO80RXqetv9HTLJ8zHLF/2Y0AnO1xGgVsErPlgURUHHAfzam+ae9k4g3L4X+h/YlffknCyT+uGlNcXMjXnk3mIR+6yDRAXVGhuiNue3lp24UvHsHi1SAAhSEOE/K+Hpy5JFs9yDAw00OTmAoXk+RIw6NmOlk3PC+TvIzlf0resWy9w2xaPwO2LT0CJjCdDRloTnEZwsAEsZ/RSgW7Se6GEhr1wOouIukMlmViG6leXWzmFeLq0gX6VRBOlvQw2Sumed3RnVxQmEMw5qbBs1OmK6alK5H+T7X044f+3H281Ko4XmdwWSwHAnGMVmSnl/yCaX8XFMnilyGLEn0LPnCvjLVYbMP+hd5+DwS0E+hnPyow7hFiIINZLgLSKNrc0AKOIh6N0bgHj6hrPMQjgD6fcMu4LKu/HXwQbEFg8EYzuQsFaTb5L7slcoX0qv2vtpuM/I9tHSCAtz/sygtawGW2m3OSNhuPFZqynt/Q4ZJ63hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Qau83XiP3mE5Lq6TBJ4QAw",
      "input": {
        "note": "The blue block is directly over the red one with its underside just at the red block's top face; opening the gripper to release it onto the stack.",
        "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_01Qau83XiP3mE5Lq6TBJ4QAw",
      "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=-0.9737 left_j1=2.204 left_j2=1.911 left_j3=-1.0744 left_j4=0.0109 left_j5=-0.4957 left_gripper=0.9957 right_j0=0.8948 right_j1=1.1896 right_j2=1.7443 right_j3=-1.5295 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [0.2667, -12.2325, 6.0103, 0.8523, -0.0659, 0.0415, -0.1245, -0.0889, -1.9897, 4.7658, 1.4628, -0.0708, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 364):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3a9079ae9cd2850b64da6198ec7addc59d02723340a8ce7eb5c661e827995e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 364):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f983dfd23209c0cd9cae78ffbedf765f5978a554ff51c302bc2e2e5d63b6f2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 364):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e59dc27daea9fb4e36dfe120e79e5937736dff5270a91ff52e573fcee52757fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob d3a9079ae9cd
wire blob 7f983dfd2320
wire blob e59dc27daea9
call 61 attempt 0 · /messages · status 200 · 3.659 s
model
claude-opus-5
effort
low
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=-0.9764 left_j1=2.154 left_j2=1.8 left_j3=-0.9806 left_j4=0.0105 left_j5=-0.4839 left_gripper=0.4603 right_j0=0.8948 right_j1=1.1896 right_j2=1.7443 right_j3=-1.4952 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.212, -14.6803, 6.2701, 0.7448, -0.0708, -0.0024, 0.1245, -0.0342, -2.0034, 4.8889, 1.4237, -0.0904, -0.0171, -0.0171]",
      "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=-0.9699 left_j1=2.2044 left_j2=1.9083 left_j3=-1.0565 left_j4=0.0109 left_j5=-0.49 left_gripper=0.4617 right_j0=0.8948 right_j1=1.1896 right_j2=1.7443 right_j3=-1.5105 right_j4=-0.0261 right_j5=-0.0193 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, -13.4359, 8.212, 0.8767, -0.0366, 0.0171, 0.1392, -0.0205, -2.0034, 4.9162, 1.4286, -0.0611, -0.0611, -0.0122]",
      "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=-0.9737 left_j1=2.204 left_j2=1.911 left_j3=-1.0744 left_j4=0.0109 left_j5=-0.4957 left_gripper=0.9957 right_j0=0.8948 right_j1=1.1896 right_j2=1.7443 right_j3=-1.5295 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [0.2667, -12.2325, 6.0103, 0.8523, -0.0659, 0.0415, -0.1245, -0.0889, -1.9897, 4.7658, 1.4628, -0.0708, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 364):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3a9079ae9cd2850b64da6198ec7addc59d02723340a8ce7eb5c661e827995e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 364):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f983dfd23209c0cd9cae78ffbedf765f5978a554ff51c302bc2e2e5d63b6f2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 364):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e59dc27daea9fb4e36dfe120e79e5937736dff5270a91ff52e573fcee52757fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob d3a9079ae9cd]
[blob 7f983dfd2320]
[blob e59dc27daea9]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JqvWPbsXkdJa9XHVDbSyLt",
      "input": {
        "note": "The blue block landed beside the red one, not on it — they sit side by side ~5 cm apart. Re-approaching the blue block (now clearly visible right of centre) to pick it up again.",
        "targets": {
          "left_j0": -1.045,
          "left_j1": 2.35,
          "left_j2": 1.86,
          "left_j3": -0.92
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01JqvWPbsXkdJa9XHVDbSyLt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0225 left_j1=2.3047 left_j2=1.8805 left_j3=-0.9829 left_j4=0.0078 left_j5=-0.503 left_gripper=0.9971 right_j0=0.8948 right_j1=1.1896 right_j2=1.7443 right_j3=-1.5402 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.6632, -12.2188, 5.7915, 0.5885, -0.0415, 0.0562, 0.1294, -0.1162, -1.9897, 4.7521, 1.453, -0.0464, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d0621ed5639a8a9c0e67b09649c5c68bd63d417bcf0fcbbadf9c7fca85416a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09414ec12336d5e1ea58ba41ac0771ef38afafe950eb0fe81172e9b7dc804bd7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 367):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:704c6bdd21bcaf2013f3ba8c24774ffa333bf4535777326c997841bf1f125fe0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 5d0621ed5639
wire blob 09414ec12336
wire blob 704c6bdd21bc
call 62 attempt 0 · /messages · status 200 · 4.161 s
model
claude-opus-5
effort
low
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=-0.9699 left_j1=2.2044 left_j2=1.9083 left_j3=-1.0565 left_j4=0.0109 left_j5=-0.49 left_gripper=0.4617 right_j0=0.8948 right_j1=1.1896 right_j2=1.7443 right_j3=-1.5105 right_j4=-0.0261 right_j5=-0.0193 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, -13.4359, 8.212, 0.8767, -0.0366, 0.0171, 0.1392, -0.0205, -2.0034, 4.9162, 1.4286, -0.0611, -0.0611, -0.0122]",
      "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=-0.9737 left_j1=2.204 left_j2=1.911 left_j3=-1.0744 left_j4=0.0109 left_j5=-0.4957 left_gripper=0.9957 right_j0=0.8948 right_j1=1.1896 right_j2=1.7443 right_j3=-1.5295 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [0.2667, -12.2325, 6.0103, 0.8523, -0.0659, 0.0415, -0.1245, -0.0889, -1.9897, 4.7658, 1.4628, -0.0708, -0.0562, -0.0122]",
      "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=-1.0225 left_j1=2.3047 left_j2=1.8805 left_j3=-0.9829 left_j4=0.0078 left_j5=-0.503 left_gripper=0.9971 right_j0=0.8948 right_j1=1.1896 right_j2=1.7443 right_j3=-1.5402 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.6632, -12.2188, 5.7915, 0.5885, -0.0415, 0.0562, 0.1294, -0.1162, -1.9897, 4.7521, 1.453, -0.0464, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d0621ed5639a8a9c0e67b09649c5c68bd63d417bcf0fcbbadf9c7fca85416a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09414ec12336d5e1ea58ba41ac0771ef38afafe950eb0fe81172e9b7dc804bd7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:704c6bdd21bcaf2013f3ba8c24774ffa333bf4535777326c997841bf1f125fe0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 5d0621ed5639]
[blob 09414ec12336]
[blob 704c6bdd21bc]
{
  "content": [
    {
      "signature": "CAIS7wIKjAEIEBgCKkD1PNoaED1n4GVxtwUxCpLXiF2hnXTUhCPyPLtMuhZ4Wu3LmXh2AUtxQXazyfgiaY3RP55u8YXJ8JCN97kX3S6QMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM1TBK8Dm0k7lkW/l2GgxJ95pGSKOPdZ/XLRoiMP3HxZ1KS7oeiDBRsSUD+tuMlWYE2vHVLiX8ZAFiYQvYKKMbfJaaMDn8E7zmqGASpCqPAUwvd9bnlmTgY4VufxrCi+BGClz/za/F1H6A9pnl00dT1HcnfPD1+EiXamH1wr80l8DutY8ZwzX+Xm4HPICOQNgWwSNGGEvYi0RmjVsiP8OHW8cGjza/KFmpzmxSE+7u4gQ5ZG/3srOt34MB7o2T3ADFy721jiZJ15fgjRYTf/u+dwfTJksqQ3oqyCvY9GyUGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018dgBtmoA8XTr4fKfbXAupG",
      "input": {
        "note": "The blue block fills the bottom of the wrist view between the jaws at table level; closing to re-grasp it.",
        "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_018dgBtmoA8XTr4fKfbXAupG",
      "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=-1.0203 left_j1=2.3425 left_j2=1.8706 left_j3=-0.9798 left_j4=0.0036 left_j5=-0.5098 left_gripper=0.0117 right_j0=0.8948 right_j1=1.1934 right_j2=1.7424 right_j3=-1.552 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.2393, -15.9795, 6.612, 0.486, -0.0024, 0.0464, 1.072, -0.1162, -2.1675, 5.0256, 1.3358, -0.0415, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 377):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5a1c8c6cc9e43deb4b5e7ee7ef192443dcf0bd0088fde801d5ac4ad96230b04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 377):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:baddbb98b042aba0430e8904574ad442bb96551f53ddb8242f1189a5348f7517",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 377):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cd7b830171a334f43856a60bfe62a50fe933748e69b2fc5ef9cbefbc15e2fa37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob a5a1c8c6cc9e
wire blob baddbb98b042
wire blob cd7b830171a3
call 63 attempt 0 · /messages · status 200 · 7.421 s
model
claude-opus-5
effort
low
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=-0.9737 left_j1=2.204 left_j2=1.911 left_j3=-1.0744 left_j4=0.0109 left_j5=-0.4957 left_gripper=0.9957 right_j0=0.8948 right_j1=1.1896 right_j2=1.7443 right_j3=-1.5295 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [0.2667, -12.2325, 6.0103, 0.8523, -0.0659, 0.0415, -0.1245, -0.0889, -1.9897, 4.7658, 1.4628, -0.0708, -0.0562, -0.0122]",
      "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=-1.0225 left_j1=2.3047 left_j2=1.8805 left_j3=-0.9829 left_j4=0.0078 left_j5=-0.503 left_gripper=0.9971 right_j0=0.8948 right_j1=1.1896 right_j2=1.7443 right_j3=-1.5402 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.6632, -12.2188, 5.7915, 0.5885, -0.0415, 0.0562, 0.1294, -0.1162, -1.9897, 4.7521, 1.453, -0.0464, -0.0708, -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=-1.0203 left_j1=2.3425 left_j2=1.8706 left_j3=-0.9798 left_j4=0.0036 left_j5=-0.5098 left_gripper=0.0117 right_j0=0.8948 right_j1=1.1934 right_j2=1.7424 right_j3=-1.552 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.2393, -15.9795, 6.612, 0.486, -0.0024, 0.0464, 1.072, -0.1162, -2.1675, 5.0256, 1.3358, -0.0415, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 377):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5a1c8c6cc9e43deb4b5e7ee7ef192443dcf0bd0088fde801d5ac4ad96230b04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 377):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:baddbb98b042aba0430e8904574ad442bb96551f53ddb8242f1189a5348f7517",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 377):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd7b830171a334f43856a60bfe62a50fe933748e69b2fc5ef9cbefbc15e2fa37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob a5a1c8c6cc9e]
[blob baddbb98b042]
[blob cd7b830171a3]
{
  "content": [
    {
      "signature": "CAISvQMKjAEIEBgCKkAPjl1vrcxMby7S55PD2WnekGpPmQjcW+SLqQIdyjo0BjOOBRMbktknDB9Nx1I2PNraRjv4cYfvVgSXjdvhmaqzMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMhPnL2qASUIWvJ4ijGgwkw/nHqsaHgZObj4giMOyeTEQMbXzi+PTUB3GOhzlCJg1VgUqoQ1TtUYpxKewQBBToe7GSGLVIvJL/QMaZPirdAUaCL27V2mF4IDoylvS8M/Y5mP/cnyHmDk60nZRcFhN+7umh3+PssAaRlibzUMWt0Hyppuvt+Ps/SSfHE9TQGzph/sbS0p5LjirLi1dxsNtfh4iYBxp9tQC+59ajSlSKzzeGSUuZqAZInbniVQ8reol1pkUMZOR1rUryKvY79W930wm9OvX3+p5AlFrxlJTEYgoSC50CNyPQNJW1hO2TAPDDDkNAOb83vYCti6v8r5z6I6GIgDRi/vFIFM29eXmLGWvAKPpQrxg9jofar/Io9rgvfrB2PuxoCq+RiYu3GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017XTgRLktyUF1fzafcKc3C9",
      "input": {
        "note": "Missed the re-grasp; lifting ~8 cm to re-acquire both blocks in the wrist view.",
        "targets": {
          "left_gripper": 1.0,
          "left_j1": 1.9,
          "left_j2": 1.7,
          "left_j3": -1.05
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_017XTgRLktyUF1fzafcKc3C9",
      "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=-1.0203 left_j1=1.9568 left_j2=1.7111 left_j3=-1.0447 left_j4=0.0063 left_j5=-0.5144 left_gripper=0.9951 right_j0=0.8948 right_j1=1.1954 right_j2=1.7424 right_j3=-1.5551 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, -13.0667, 5.7231, 0.9451, -0.0464, 0.0073, -0.1734, -0.0889, -2.1265, 4.7521, 1.2723, -0.0952, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 387):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:672fd7f0c6414cf4dd3ed7473d5e474f4a3801ae9ee675d97e10553c52b4d9ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 387):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52ae8d4dc244ad4d5d994515d404c62768dc0f1bf2a26395574b9ed2cce6f8f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 387):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f7df62cca6c9a567cd9669e3c5d2c0178124e475b905f02561c6fc3fa6d8ea5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 672fd7f0c641
wire blob 52ae8d4dc244
wire blob f7df62cca6c9
call 64 attempt 0 · /messages · status 200 · 6.116 s
model
claude-opus-5
effort
low
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=-1.0225 left_j1=2.3047 left_j2=1.8805 left_j3=-0.9829 left_j4=0.0078 left_j5=-0.503 left_gripper=0.9971 right_j0=0.8948 right_j1=1.1896 right_j2=1.7443 right_j3=-1.5402 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.6632, -12.2188, 5.7915, 0.5885, -0.0415, 0.0562, 0.1294, -0.1162, -1.9897, 4.7521, 1.453, -0.0464, -0.0708, -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=-1.0203 left_j1=2.3425 left_j2=1.8706 left_j3=-0.9798 left_j4=0.0036 left_j5=-0.5098 left_gripper=0.0117 right_j0=0.8948 right_j1=1.1934 right_j2=1.7424 right_j3=-1.552 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.2393, -15.9795, 6.612, 0.486, -0.0024, 0.0464, 1.072, -0.1162, -2.1675, 5.0256, 1.3358, -0.0415, -0.0611, -0.0122]",
      "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=-1.0203 left_j1=1.9568 left_j2=1.7111 left_j3=-1.0447 left_j4=0.0063 left_j5=-0.5144 left_gripper=0.9951 right_j0=0.8948 right_j1=1.1954 right_j2=1.7424 right_j3=-1.5551 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, -13.0667, 5.7231, 0.9451, -0.0464, 0.0073, -0.1734, -0.0889, -2.1265, 4.7521, 1.2723, -0.0952, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 387):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:672fd7f0c6414cf4dd3ed7473d5e474f4a3801ae9ee675d97e10553c52b4d9ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 387):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52ae8d4dc244ad4d5d994515d404c62768dc0f1bf2a26395574b9ed2cce6f8f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 387):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7df62cca6c9a567cd9669e3c5d2c0178124e475b905f02561c6fc3fa6d8ea5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 672fd7f0c641]
[blob 52ae8d4dc244]
[blob f7df62cca6c9]
{
  "content": [
    {
      "signature": "CAISngsKjAEIEBgCKkCuH0kEr/xHd0pIhvMz3WdcojJDVjWQMO68N+HmkzaQFKCpjvDY2+n01XU8r5OtQK7r3WEx+jpV96sWaHPhjzWgMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMP0S8PX8rL3d1x4O7GgwkD6A99j7sUONP6L4iMPdtZI0Zb6OfSCLSsh0OtXk0aRAVJ7yuknv0P3FvlBj9LI0lQ267YjWmmOZ1M6rw4iq+CUfgTprEecTM+9FCRtHvSnuFNVZvVx0jiIDiFMbhfsuNGWjJ360XGq6ZZDxaZxlq8G5JlfNUkJcATCexJ3ZGcIhgcSoMeBIzDDgrU7gq8Uidxlr1g2K3MXRBt+lh5ldx9Igjy/FU0cxKNggOJsllwZErrd1Gxf/CxdaTU4ST25wPqDG+6a6CE+5guCegktWZ3J53mmrk+EgO8dvJdpTgu0Ssq0cJim4bZtdVdG0bB8jk1ALH6ShJlenzFVtoHxQnAgx9rsebxrEk5ooREm1zZmG70Wf+ttOecUJhNNtoX8ib+KiRjfYxcU0ds1zgHButBj1yKceWAwk+02mmE0yxl3W7H4Rq9/QIpuh867l2MumL6oGY/4BREXx2AQHoOey8GoCCcp3CQoTJVcFlr/pxlG6ayyB9sU/6NSVCpwwcpI8cn6MayFAQCSijFCLndkel2AjL3FsoHBuxeDIqzPaGooaSBm3ZmGrqWEK9ocpoyvkwmFhd+IANAyuunKLBUGuQpzujTZsEY5Nf137+0UPWiAk4f/gAbrRVbAOelouSz72UeNhRWlQWaDIM2pg2ywStTuG/Xoj/d1x/KySRWAy8zXFIzvg+B7AHm18ISLCscEbcihNRWonIrrEHc9o/+AwcA2JoB+M9y8Eew2qyZQPIfYKMZq8qrOyN4AWRXfmacBlEYcc5fycTC6I7DVgtPgQNZquab2yzENi04BugtDK6teEhB1ZJbrbjqXi+AuoteRWhePy9OUCV8qtlVwd56kBZo0LWRV1B/ojZbFBdca3pFsEjCBus/u5TJq5opjATuIsQyBeQ1MmOjqt37TsZ7YIEDynbvvZhD0PmspLgaD/EQulNbE8IkU3V6/ASmcJbsGT72MdF/VtAhZLm9Ya/Z7PMD9VQkShqmN6ZksllBdyvBzk1zh9U0eyeEpG1/gEY2QNPuEiOQPIBH4fYwtp8V1HP/OaeQQrYAlJ/uk4kgLSthl/TZEC1XL2hZ/WpUhDb/JoGjS9i389fpIcT7AX0xg8y6llyhi1fXACmJNTsbEOtIRqqPARjUOvrvUJuybKXAdKQk66zdLsZ5RhXbjg3r5R1CmstyujW+ImJsPcR5awZy81U2Mne8Etn4/Zzg5PFrdE3AiNNQZJk4/Z+PteT7/PVpM7+uDLztr0TEeJdCJbxEvvupWsbWFyk/IIbh1Gmk9v4nXqXBFweoizCq7VcsXXUbJmXiG+plsSBhV6QZ5rLTG5NN+rYNmfXFSsok0OXubqWDXpe6yQqP9RT6RMg1n2cXA8iCsA2qhRJm8u/Ci+dqjHqLOP5AKoOExLOH5qh4Is2U8xz+ULGs+m9K/x6wIwC+kMNtHec8bVO+r6GgFag4Vg+HWVNu+cDsrL5N6alB4ct2BMa3+tVmaWZNNf+wy5EFMgmDrUO/U2IFqXHcjgDJt/mvgfT5oQ4Hp6R7GqtsK8yJV2B5hmapjrFLyBDKtSsvSXF5OVfXRDsdzzqTpZqmBHIazLENk1mQj39wijsyBRHGCoVXzSTNE0sxruXii/4reJ5qFhyueJH3ET2qRHEgDt7AuF1EISFoRIIiUT+USid4CSl/uEcfdVwzgYXczX8jTux5xHxoSaXf/NZgxSkGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0148wc7ZYoZcKsxgpKggYrEd",
      "input": {
        "note": "Both blocks visible again: red 'a' left-near, blue up-right of it. Moving ~4.5 cm out and 1 cm right to hover over the blue block before descending.",
        "targets": {
          "left_j0": -1.048,
          "left_j1": 2.25,
          "left_j2": 1.87,
          "left_j3": -1.02
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_0148wc7ZYoZcKsxgpKggYrEd",
      "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=-1.0428 left_j1=2.2471 left_j2=1.8229 left_j3=-1.0393 left_j4=0.0071 left_j5=-0.5228 left_gripper=0.9965 right_j0=0.8948 right_j1=1.1961 right_j2=1.7424 right_j3=-1.5558 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.6085, -13.7504, 9.1282, 0.6618, -0.0415, 0.0464, 0.1392, -0.0752, -1.5248, 4.9162, 1.2137, -0.0562, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 392):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d94d373bb7baf558b917f18b61bf347631028ec65abd68d0e7cc2de4a549262",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 392):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba26561e3272791a7ff25ee8506af52ce1f6e9c47e44b1d195d66a1536a6400f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 392):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ff951b321165b46c531524a1208ad52ed019174419e7be8d43a99c4bee2e33bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 7d94d373bb7b
wire blob ba26561e3272
wire blob ff951b321165
call 65 attempt 0 · /messages · status 200 · 4.364 s
model
claude-opus-5
effort
low
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=-1.0203 left_j1=2.3425 left_j2=1.8706 left_j3=-0.9798 left_j4=0.0036 left_j5=-0.5098 left_gripper=0.0117 right_j0=0.8948 right_j1=1.1934 right_j2=1.7424 right_j3=-1.552 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.2393, -15.9795, 6.612, 0.486, -0.0024, 0.0464, 1.072, -0.1162, -2.1675, 5.0256, 1.3358, -0.0415, -0.0611, -0.0122]",
      "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=-1.0203 left_j1=1.9568 left_j2=1.7111 left_j3=-1.0447 left_j4=0.0063 left_j5=-0.5144 left_gripper=0.9951 right_j0=0.8948 right_j1=1.1954 right_j2=1.7424 right_j3=-1.5551 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, -13.0667, 5.7231, 0.9451, -0.0464, 0.0073, -0.1734, -0.0889, -2.1265, 4.7521, 1.2723, -0.0952, -0.0562, -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 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=-1.0428 left_j1=2.2471 left_j2=1.8229 left_j3=-1.0393 left_j4=0.0071 left_j5=-0.5228 left_gripper=0.9965 right_j0=0.8948 right_j1=1.1961 right_j2=1.7424 right_j3=-1.5558 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.6085, -13.7504, 9.1282, 0.6618, -0.0415, 0.0464, 0.1392, -0.0752, -1.5248, 4.9162, 1.2137, -0.0562, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 392):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d94d373bb7baf558b917f18b61bf347631028ec65abd68d0e7cc2de4a549262",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 392):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba26561e3272791a7ff25ee8506af52ce1f6e9c47e44b1d195d66a1536a6400f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 392):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff951b321165b46c531524a1208ad52ed019174419e7be8d43a99c4bee2e33bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 7d94d373bb7b]
[blob ba26561e3272]
[blob ff951b321165]
{
  "content": [
    {
      "signature": "CAIStAcKjAEIEBgCKkDndPjl3bzpt0UyKW7C24cd9pggHSNvqxjM6vJCZROtvd/8oxtAA7BH6w0q/dz2ZBfANuNaC/EZarPGsh9juXSFMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMirkgNBlMfhVDCEYgGgyLc6Pxf4GuP5SGg3oiMFfaJSGF0/r6YpNlHxT93BVR490kYe33Z7JgBNml5IePIdbRgHtv15rCv4yR48c6LSrUBQ53AwVsDtD6vn5yXNoW8jUx/an5048Ytg9Q88ipSA6BgpcSyilTcnsPqHP5fvcMZRcUYi04ZVVGxnxZDUdy7ehMegHeOZVbnL9Fxl5dTgf4xG62JpY8U+df4QcCWiLYgz0pNOTLSqCmSoGD2kTyOMjkzKzW+HsTHUVcgF1QJE6BqVvXaES1cCIU75Ah5DeMbhZUgnuW7i4gjvZj9iSH974u5FM3De51OuoI05xrLqMB/q3rM0Zr/BQCXwVAoBc2Wm7OFDksJ5/xM0Xj8ATRfZbyphvyMbYaHrE2cxOnmH2adn9JnYaruMP2QHF6JpOyFAH3v7EfurqtOG7QfucR7jqsmqbUrx+nqDqy0ZmyOpkLkLeFwPMitOa5nozVdFtcgRbCxJ/7fltLf7lh9uCGP+DmU/2aOw08EH05EQhGhotUzcTSxs7BIky4wKxQcm0W7hfs5nviazZSgfMTUTuo4RdT/1CLdAuxnISTq+8IRdhjEmflsr7b10jrCbCfr+FqLnj017gCovq1H7mP3sCDo8QyAQ9MmPIw1NmEPJBG0bFFmpfsQvX6MrEBOc64qWZOXzP0agtKRm0fcsWuSwlqMkpl5cRiNVU+U0UJIC5N2L7IMgpdLKi94uLwuwMqQE7kLz5n0zvLyLW9X+SWNZtHoSHSXtky3BOMB9PWeo3k/hDfdxgVJYoKdig0KAj5uWwMHKpnVHDWBeFPRXpwnkzYiMQVAxfYrTSBjhKQ3jU+8cv6zcYcxIdTW/CCrv/YnBW0UY307RJ9uhTDeipiGpGPQ5pXlOclL6XjIIwwc/Roufd/+3J7o78xnCfZO78lifIy7nlQeOr701pF+uWGum4XXlIEoAOJk92GZX0KAN04D1uF8snuMo1wLjBMud6SqVARwgSMArO+0WojMCv/6xx/WUHQEQ0hWI2vjKfoZys08hLO4FTGi4tDl7Gx35PmRqQ0AUm2lU0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VL6ECWd7nmQxeYjdXno4oF",
      "input": {
        "note": "Blue block is at the bottom of the wrist view slightly right of the jaw gap; shifting ~2 cm right and descending to table level to grasp it.",
        "targets": {
          "left_j0": -1.09,
          "left_j1": 2.35,
          "left_j2": 1.84,
          "left_j3": -0.95
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01VL6ECWd7nmQxeYjdXno4oF",
      "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=-1.0603 left_j1=2.294 left_j2=1.8408 left_j3=-1.0096 left_j4=0.004 left_j5=-0.5327 left_gripper=0.9967 right_j0=0.8948 right_j1=1.1973 right_j2=1.7424 right_j3=-1.5558 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-1.7162, -9.5248, 5.7368, 0.7009, 0.022, 0.0513, 0.0073, -0.0205, -2.1402, 4.8752, 1.2283, -0.0708, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 394):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a19a8d42c1bbbb04dd3cc7660b4a4ee283c83aca827c323b1ffcc936fa516556",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 394):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfdd4a76e9e18f14eb827f64800086d68f3a9e8bc9a8c658a0633e77ba50d9b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 394):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:41dfcbe917d9632423f0693f4a521ff3ed9817e987ef27f0c943ff599cb75ece",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob a19a8d42c1bb
wire blob dfdd4a76e9e1
wire blob 41dfcbe917d9
call 66 attempt 0 · /messages · status 200 · 5.698 s
model
claude-opus-5
effort
low
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=-1.0203 left_j1=1.9568 left_j2=1.7111 left_j3=-1.0447 left_j4=0.0063 left_j5=-0.5144 left_gripper=0.9951 right_j0=0.8948 right_j1=1.1954 right_j2=1.7424 right_j3=-1.5551 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, -13.0667, 5.7231, 0.9451, -0.0464, 0.0073, -0.1734, -0.0889, -2.1265, 4.7521, 1.2723, -0.0952, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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=-1.0428 left_j1=2.2471 left_j2=1.8229 left_j3=-1.0393 left_j4=0.0071 left_j5=-0.5228 left_gripper=0.9965 right_j0=0.8948 right_j1=1.1961 right_j2=1.7424 right_j3=-1.5558 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.6085, -13.7504, 9.1282, 0.6618, -0.0415, 0.0464, 0.1392, -0.0752, -1.5248, 4.9162, 1.2137, -0.0562, -0.0659, -0.0122]",
      "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=-1.0603 left_j1=2.294 left_j2=1.8408 left_j3=-1.0096 left_j4=0.004 left_j5=-0.5327 left_gripper=0.9967 right_j0=0.8948 right_j1=1.1973 right_j2=1.7424 right_j3=-1.5558 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-1.7162, -9.5248, 5.7368, 0.7009, 0.022, 0.0513, 0.0073, -0.0205, -2.1402, 4.8752, 1.2283, -0.0708, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 394):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a19a8d42c1bbbb04dd3cc7660b4a4ee283c83aca827c323b1ffcc936fa516556",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 394):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfdd4a76e9e18f14eb827f64800086d68f3a9e8bc9a8c658a0633e77ba50d9b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 394):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41dfcbe917d9632423f0693f4a521ff3ed9817e987ef27f0c943ff599cb75ece",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob a19a8d42c1bb]
[blob dfdd4a76e9e1]
[blob 41dfcbe917d9]
{
  "content": [
    {
      "signature": "CAISzwIKjAEIEBgCKkB4dvlvY22aew5KqN8CgEJO3o+D1y8lv23vT9FyhBlV28p4qGGG2pDdKGHbpgUtXDtR3xURUalRR5wwXfmwRA/LMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM6KrrSmZrJQV454UgGgwv+noBeGWaKH3QA6oiMP5G5rdwIY2urNWOMxl5fLsp3uAyiKTmJXJO7QHt4GKAnR6IOZy6ao0y/wgk9/iWhCpwYsQOTdAjZ8m698ZrpcSw3bP09vedkVjRsIaM2Y+M6el2InnaJLf1U+iSrvBoHivSGPelS1GSi9KD+ZMRnQxXeEmz0wLqu1UmFDO6PFmQpBPF+Heztg5CEr8cEZv0YMVX4Y7m5aL0DJROJxUqkd28EhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EpbweoxetRVjFJqP3pCKTd",
      "input": {
        "note": "Blue block is centred between the jaws; pushing the descent a bit further to reach table level.",
        "targets": {
          "left_j1": 2.4,
          "left_j2": 1.84,
          "left_j3": -0.9
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01EpbweoxetRVjFJqP3pCKTd",
      "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=-1.0885 left_j1=2.3348 left_j2=1.8477 left_j3=-0.9894 left_j4=-0.012 left_j5=-0.5404 left_gripper=0.9972 right_j0=0.8948 right_j1=1.198 right_j2=1.7412 right_j3=-1.5627 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [2.0034, -7.1453, 5.5179, 1.3211, 0.0806, 0.1832, 0.0317, -0.0205, -2.0718, 4.8342, 1.2576, -0.0904, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 396):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6786bfd0c08c251c0a4a6630f58292f04ae94625fd96cfda81b74fb209a8c73c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 396):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d0961b774aeda49d14a4d72492a72c17f931cd7c09502ba68e86821a40cf82c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 396):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c93a6526f51315cf4289c2f59f83d7d0cbbe2d777619586d332b665ce1c45764",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 6786bfd0c08c
wire blob 9d0961b774ae
wire blob c93a6526f513
call 67 attempt 0 · /messages · status 200 · 7.661 s
model
claude-opus-5
effort
low
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=-1.0428 left_j1=2.2471 left_j2=1.8229 left_j3=-1.0393 left_j4=0.0071 left_j5=-0.5228 left_gripper=0.9965 right_j0=0.8948 right_j1=1.1961 right_j2=1.7424 right_j3=-1.5558 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.6085, -13.7504, 9.1282, 0.6618, -0.0415, 0.0464, 0.1392, -0.0752, -1.5248, 4.9162, 1.2137, -0.0562, -0.0659, -0.0122]",
      "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=-1.0603 left_j1=2.294 left_j2=1.8408 left_j3=-1.0096 left_j4=0.004 left_j5=-0.5327 left_gripper=0.9967 right_j0=0.8948 right_j1=1.1973 right_j2=1.7424 right_j3=-1.5558 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-1.7162, -9.5248, 5.7368, 0.7009, 0.022, 0.0513, 0.0073, -0.0205, -2.1402, 4.8752, 1.2283, -0.0708, -0.0513, -0.0122]",
      "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=-1.0885 left_j1=2.3348 left_j2=1.8477 left_j3=-0.9894 left_j4=-0.012 left_j5=-0.5404 left_gripper=0.9972 right_j0=0.8948 right_j1=1.198 right_j2=1.7412 right_j3=-1.5627 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [2.0034, -7.1453, 5.5179, 1.3211, 0.0806, 0.1832, 0.0317, -0.0205, -2.0718, 4.8342, 1.2576, -0.0904, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 396):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6786bfd0c08c251c0a4a6630f58292f04ae94625fd96cfda81b74fb209a8c73c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 396):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d0961b774aeda49d14a4d72492a72c17f931cd7c09502ba68e86821a40cf82c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 396):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c93a6526f51315cf4289c2f59f83d7d0cbbe2d777619586d332b665ce1c45764",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 6786bfd0c08c]
[blob 9d0961b774ae]
[blob c93a6526f513]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016mhUcd2UqNnqAGcajY8w6H",
      "input": {
        "note": "Fingertips at table with the blue block between the jaws; closing to grasp.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_016mhUcd2UqNnqAGcajY8w6H",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0851 left_j1=2.3329 left_j2=1.8484 left_j3=-0.9951 left_j4=-0.0231 left_j5=-0.5507 left_gripper=0.4243 right_j0=0.8948 right_j1=1.198 right_j2=1.7412 right_j3=-1.5768 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.3761, -12.7248, 6.0239, 0.5153, 0.022, 0.0708, 1.0379, -0.0615, -1.8256, 4.7248, 1.3553, -0.0317, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 406):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82319fcfd6a70b721a313a91213dea515a6d5ec9c89a8730f7d8fa14a397f4aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 406):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3a4640f8368e5d1910923efa033751456c0abe65694a72dfa649b8b316328c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 406):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6235c5149bc4517b0225bbd68bf13ce216539172b64f11c244d918f1f7bf9e7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 82319fcfd6a7
wire blob e3a4640f8368
wire blob 6235c5149bc4
call 68 attempt 0 · /messages · status 200 · 4.395 s
model
claude-opus-5
effort
low
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=-1.0603 left_j1=2.294 left_j2=1.8408 left_j3=-1.0096 left_j4=0.004 left_j5=-0.5327 left_gripper=0.9967 right_j0=0.8948 right_j1=1.1973 right_j2=1.7424 right_j3=-1.5558 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-1.7162, -9.5248, 5.7368, 0.7009, 0.022, 0.0513, 0.0073, -0.0205, -2.1402, 4.8752, 1.2283, -0.0708, -0.0513, -0.0122]",
      "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=-1.0885 left_j1=2.3348 left_j2=1.8477 left_j3=-0.9894 left_j4=-0.012 left_j5=-0.5404 left_gripper=0.9972 right_j0=0.8948 right_j1=1.198 right_j2=1.7412 right_j3=-1.5627 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [2.0034, -7.1453, 5.5179, 1.3211, 0.0806, 0.1832, 0.0317, -0.0205, -2.0718, 4.8342, 1.2576, -0.0904, -0.0757, -0.0171]",
      "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=-1.0851 left_j1=2.3329 left_j2=1.8484 left_j3=-0.9951 left_j4=-0.0231 left_j5=-0.5507 left_gripper=0.4243 right_j0=0.8948 right_j1=1.198 right_j2=1.7412 right_j3=-1.5768 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.3761, -12.7248, 6.0239, 0.5153, 0.022, 0.0708, 1.0379, -0.0615, -1.8256, 4.7248, 1.3553, -0.0317, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 406):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82319fcfd6a70b721a313a91213dea515a6d5ec9c89a8730f7d8fa14a397f4aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 406):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3a4640f8368e5d1910923efa033751456c0abe65694a72dfa649b8b316328c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 406):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6235c5149bc4517b0225bbd68bf13ce216539172b64f11c244d918f1f7bf9e7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 82319fcfd6a7]
[blob e3a4640f8368]
[blob 6235c5149bc4]
{
  "content": [
    {
      "signature": "CAISzwsKjAEIEBgCKkBELw4dW21cnHXMhR9Ic1z9pE5XUnu8KgjBK2IwXDcc/fKwVJygyYPRm080QOwYaOBkMHJHuDGgChKhQOz+bxbOMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMBv+mUjgQx5UMo/lXGgzLgKJTRGszOLT9ZXoiMPcKG63a5RNx8jx5n0fQjswFi8gbRMySlIY+MGSlIGhaLAP42hdmJS/gFtzjQSltQSrvCUZ7Rg7fszGFAstZluP0qyIdb8TMRR2aq13Ee32pB4qrxBslEU/5wF0ICrVXxegKpJ11SUos1jmNR6wH96fkKCRWET14TQzgNpddJ2/lBM910PdEhsUgI7Ed+YsoQTJ1Pjz0hV5B7rLnmSL4r4JwYFBg0kWUnTYggosYUmuOJcw4EFM1y9U0ta3CV+DzZdgqVJV57Lo2SsbKTUiJ5pO1SjFpOsIQSZKO8Jw8jdsY2Y194v4I8Me06pJgUr8vVcNrGFVdoD2EEctTHTrraqk62K/t3T9ECyDy3ftI4HdeDn2fp5hcGhPXY/QbdLoXZESULrBKkF48lNUHcMuzD34S7ayn81lWEg38usWLPvZ6SNMPtKIgRhcU0q8hp8NezeUw56czsLjZcwz6RADxTvs4JbNa7K6BOvlpe3UwEjuKT69u1KAKcsnEYr4EGiRHkonWwKg2Px8BHO2yZ8rwsC7WE7abbaPKf2xkhsinXEHY9pdXZSI9jk6A+vdDzfsI+Wzkk36+gpS+DUlUdPRdOhszUBXLqBYFErsVolsoAycWawf/RZ8NhLSZUMYA+mt48et6A3qqyI/WI7tZBefrFuV5cMFbirmv4XGHrBA2LqunNM0dFGaGHkg5mIyop+iFNVC6ytBxAnZ/H1R8lnqLlD/jhTBf5BcsKBxcV5ZpeAfP759+bHdrApQwmviYIRyumryGIEREgtsrtZO9sBx4TixRs0NFysnvDuSg/HjY6TMsLYsKcx7i8LFCbNtBo9qkCeQSLSwdtLhnxu6KI0p0GpjnuwjeOOVmj4HYl8eCwuhlSQkhz0BY4GUnR7qwMJU7OlcJ41Gsleoo1ndqxzmUYRoQCL+ZB+hSrDaQL8j9mXs3chuA2Mq8vovdg8fNnPsKA4o0FDwgzqu4/kh5tuzCo1JVqeIkFERtmDATZI5L8oJu0/734Rb3onCf4Ykuepr9uQLOC89ElqanM9EsOzptWXzlM94bzoJZL97qGb/j3byuxHEr/VhTxgD3YsEsgrn8M6d7Sdim0psG8I7GYJb0uewdB3JfnWT3DOsRHFJElXDf7vfMIc6uy4lyJu50dVLbtWoDXSy8K90J4Tm8Gtz/Agc5mWVzu+AQeeW28Z1RhgG8PI6kbPmNgua7SU9KZuG3WY3DhRflAaoh7oMEOOkg/WVvIuQN9fy8ka/7jgnbQxmycUszi1wcH8mp6dvJizs9qvW8DX3nxHS7dhA6RRn2CjzhMahwZ7tvjTBuRPxur00Ufh11MVgz05f/R934X4DlevKgbuR0VLXEeLmiTTVx7oHa2GkKkI3kdhNh70+tkWyiGk3wJdzsIA9/c4zzwqyyShDedInLUH1GKEm2TCWOhwUnNzhDUt64uwKOHd5K/wW0hCqOruyYmA6bcQ92WRp6LR+07voAGjHYUd1FcVF5Kb7z7pNnNN8BBuqv8/pi1EZg3pIXrmSOIaf41Zs1UUMACG+SCpqn0VYDTZXEg9941Da9KPnH2yx6YwgUe00meTrqUcOKgpt2oJv51JOs/lwUDYFmgP74cmnfA9uFitrCBZPMktNxqeZN9OLyXMi6s9jry16oXEPbcJsBM+xKlbx+6tiq3xZWnjgppuev6n/v/QH+WKbx7js+SytO62aSS9qHHTvKkrPg95X54gwrc8m9bOFojq/t9UjVN8K27SdyP84m3BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GxbBh3W1ssb7K8HE18UrNR",
      "input": {
        "note": "Blue block grasped again (residual 0.42). Lifting ~6 cm and swinging 4.6 cm left to hover over the red block, using the offset I measured between the two blocks in the wrist view.",
        "targets": {
          "left_j0": -0.973,
          "left_j1": 2.19,
          "left_j2": 1.89,
          "left_j3": -1.15
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01GxbBh3W1ssb7K8HE18UrNR",
      "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=-1.0077 left_j1=2.2807 left_j2=1.8515 left_j3=-1.0866 left_j4=-0.0162 left_j5=-0.5518 left_gripper=0.4236 right_j0=0.8948 right_j1=1.198 right_j2=1.7412 right_j3=-1.5814 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [0.4444, -17.7573, 9.306, 0.359, -0.1099, -0.0269, 1.033, 0.0068, -1.4564, 4.8752, 1.2625, -0.0806, -0.0708, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 409):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8cce851f514c730840454c462768173ff9c2e110e015be5431a532e51e606d55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 409):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:607f862314845e73a8d3228ba463dc409d77a4bada854935401eec45cf9a280b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 409):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2843637a21bfc72e01a3e13353b16b3e0c39dbb2d7970ada6324f9126b2a7651",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 8cce851f514c
wire blob 607f86231484
wire blob 2843637a21bf
call 69 attempt 0 · /messages · status 200 · 4.677 s
model
claude-opus-5
effort
low
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=-1.0885 left_j1=2.3348 left_j2=1.8477 left_j3=-0.9894 left_j4=-0.012 left_j5=-0.5404 left_gripper=0.9972 right_j0=0.8948 right_j1=1.198 right_j2=1.7412 right_j3=-1.5627 right_j4=-0.0261 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [2.0034, -7.1453, 5.5179, 1.3211, 0.0806, 0.1832, 0.0317, -0.0205, -2.0718, 4.8342, 1.2576, -0.0904, -0.0757, -0.0171]",
      "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=-1.0851 left_j1=2.3329 left_j2=1.8484 left_j3=-0.9951 left_j4=-0.0231 left_j5=-0.5507 left_gripper=0.4243 right_j0=0.8948 right_j1=1.198 right_j2=1.7412 right_j3=-1.5768 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.3761, -12.7248, 6.0239, 0.5153, 0.022, 0.0708, 1.0379, -0.0615, -1.8256, 4.7248, 1.3553, -0.0317, -0.0611, -0.0171]",
      "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=-1.0077 left_j1=2.2807 left_j2=1.8515 left_j3=-1.0866 left_j4=-0.0162 left_j5=-0.5518 left_gripper=0.4236 right_j0=0.8948 right_j1=1.198 right_j2=1.7412 right_j3=-1.5814 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [0.4444, -17.7573, 9.306, 0.359, -0.1099, -0.0269, 1.033, 0.0068, -1.4564, 4.8752, 1.2625, -0.0806, -0.0708, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 409):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8cce851f514c730840454c462768173ff9c2e110e015be5431a532e51e606d55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 409):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:607f862314845e73a8d3228ba463dc409d77a4bada854935401eec45cf9a280b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 409):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2843637a21bfc72e01a3e13353b16b3e0c39dbb2d7970ada6324f9126b2a7651",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 8cce851f514c]
[blob 607f86231484]
[blob 2843637a21bf]
{
  "content": [
    {
      "signature": "CAIShAIKjAEIEBgCKkBZEPhBzHYVPZOODVZExpn2zyx90gRgs+oVKh5h3HO5Va5vvPKTjvivOGbpdtb25M+qpL843mrsFvpz9FJdcJbCMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMPGpNjp56sqyE0VhqGgw+wz3b4bcfgWYKoGEiMHMk5/sG+WJwqTAwO1tMdju4mbCwnjawyJLIBkSTjkisexe9StDcc/awxwbmU3kZFSolRjsdSf0Px3y6AVqknKPXc6eV0el5DM9dFmOT+8TAjf+JHLbAORgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AUNnSsT7vGfB1dvc99KTUv",
      "input": {
        "note": "Move undershot due to delta clamping; re-issuing the same hover-over-red target.",
        "targets": {
          "left_j0": -0.96,
          "left_j1": 2.19,
          "left_j2": 1.89,
          "left_j3": -1.15
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01AUNnSsT7vGfB1dvc99KTUv",
      "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=-0.973 left_j1=2.2162 left_j2=1.8729 left_j3=-1.1496 left_j4=-0.0196 left_j5=-0.5549 left_gripper=0.4241 right_j0=0.8948 right_j1=1.198 right_j2=1.7412 right_j3=-1.599 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [0.8957, -14.147, 7.2547, 0.4176, -0.0073, 0.0073, 0.8767, 0.0615, -2.0171, 4.6838, 1.3407, -0.0562, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 411):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04d54bb261d600cb76b19108ae5eeeb85eb1a1fc72f954b3e461dc58d92c6652",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 411):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bc42789a09306aa96a30737ccad56909410819e354a500ced040765916823e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 411):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a00580d17243708e94ce59b0eedd2dc932a8480fa730887e733e0e1a991cdbb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 04d54bb261d6
wire blob 9bc42789a093
wire blob a00580d17243
call 70 attempt 0 · /messages · status 200 · 6.146 s
model
claude-opus-5
effort
low
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=-1.0851 left_j1=2.3329 left_j2=1.8484 left_j3=-0.9951 left_j4=-0.0231 left_j5=-0.5507 left_gripper=0.4243 right_j0=0.8948 right_j1=1.198 right_j2=1.7412 right_j3=-1.5768 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.3761, -12.7248, 6.0239, 0.5153, 0.022, 0.0708, 1.0379, -0.0615, -1.8256, 4.7248, 1.3553, -0.0317, -0.0611, -0.0171]",
      "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=-1.0077 left_j1=2.2807 left_j2=1.8515 left_j3=-1.0866 left_j4=-0.0162 left_j5=-0.5518 left_gripper=0.4236 right_j0=0.8948 right_j1=1.198 right_j2=1.7412 right_j3=-1.5814 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [0.4444, -17.7573, 9.306, 0.359, -0.1099, -0.0269, 1.033, 0.0068, -1.4564, 4.8752, 1.2625, -0.0806, -0.0708, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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=-0.973 left_j1=2.2162 left_j2=1.8729 left_j3=-1.1496 left_j4=-0.0196 left_j5=-0.5549 left_gripper=0.4241 right_j0=0.8948 right_j1=1.198 right_j2=1.7412 right_j3=-1.599 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [0.8957, -14.147, 7.2547, 0.4176, -0.0073, 0.0073, 0.8767, 0.0615, -2.0171, 4.6838, 1.3407, -0.0562, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 411):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04d54bb261d600cb76b19108ae5eeeb85eb1a1fc72f954b3e461dc58d92c6652",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 411):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bc42789a09306aa96a30737ccad56909410819e354a500ced040765916823e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 411):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a00580d17243708e94ce59b0eedd2dc932a8480fa730887e733e0e1a991cdbb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 04d54bb261d6]
[blob 9bc42789a093]
[blob a00580d17243]
{
  "content": [
    {
      "signature": "CAISpAYKjAEIEBgCKkBIVxzj6JRFfCQLGkqoFIGEtoJDT+qcIzajTfVtxpqn0TnF9fUF2homg+vtWiq3z5P8C+CqNVRPfZlZPnb4BG4lMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMjEFiWgiBs0vsGxG7GgzWcjhFzS5+CqvE1YQiMHZfI01q9DksZjb5p06hqTp6dKjDhU+7XwbrI63sMaI2YsG3l6EkSzN1+iN1eJQWNSrEBAE07F3H23k5esnecNL075tXKrTzDHce0R+zx3cRiTS9OwmUyY7RFq5BzN9cVjMbTu8jMEXfHlyY+NlMy1POUo06Zwhi400CsM+13+n2JhqB96faCsdbtAX0Wn9giCfV4Cr++yPIv9RTeFu12uMAG6HU8s4aw+qcoYjWmP7M1H/1AAP4uhM/94kcWsrM5iEHiCfafYSTlkFkv9M3lryeEHr9kbyedbmAzKcnSp4cCrb4axes6CSh8BcwOu06lZOYG4+Qi2Vii111kyz+1lvyhAtw7DYJG3utX4phaD7MmrgUJv6e7PjapEodgk9fe6WXhGmbNkgc4M6xJov9hQ4yYNXVDUxgLhP3TFQ+x5sj2ZCNyiyperHaz4XUynGTNfd1MiDDGnzj/8LtI0cNJbvrpvt0jd/1JGsLerKdIwbfWXAMBHd9mdBZMVjR+u7PAzCWb/WWG/mIjH/KHETwVlgor8IygcUW3cLmBN4qpXiYP7oOBdW+B7t/KiwqZkGldeceBVAHFa3akmUhputHiA2wE7e4kU9AQoXHrb5ku9WF7a6idURVmaldlZH9Tbx8olfNPmLkudnYpgpoQj3Trm5dpxcQUq/4Eq62/21b7cIg8jNap6t+bdCJ1gN+nu1U+ZKmKRWFIaIvY7NXG75C8kPHQkYz8B7Kq7zdIiRiGdKDGRbTfsoK2ckuxWqLoL2mRbwMA3bKWsphyjiZMeBwbTlfM4VQoiDPLW8nNQ8eWMOHLLf1+zYojrf2sKfdFeL35yD2Gt/1AXYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NMEcDQtic4BZptkq8uiE5g",
      "input": {
        "note": "The red block appears well to the left of the jaws in the wrist view (~7 cm); swinging j0 further left to bring the carried blue block over it.",
        "targets": {
          "left_j0": -0.79
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01NMEcDQtic4BZptkq8uiE5g",
      "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=-0.8425 left_j1=2.2162 left_j2=1.8725 left_j3=-1.1488 left_j4=-0.0128 left_j5=-0.5552 left_gripper=0.4258 right_j0=0.8948 right_j1=1.1992 right_j2=1.7412 right_j3=-1.6035 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [0.4308, -12.1368, 5.8872, 0.3785, -0.1343, -0.0611, 0.4176, -0.1846, -1.5248, 4.7111, 1.2332, -0.0904, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 414):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dffc52abf8afebe5082e1e67f52e21f7277af0980222323af0db33ccc965aa56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 414):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67f7ca95ef86e821cc81432fe45d1e36479c1be9973f7f91b13bdd7e74a8a4f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 414):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:348523bc86feb3cd7f622e6bbef974528c087037eadebdf8b1bfdf2b61d3db93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob dffc52abf8af
wire blob 67f7ca95ef86
wire blob 348523bc86fe
call 71 attempt 0 · /messages · status 200 · 4.346 s
model
claude-opus-5
effort
low
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=-1.0077 left_j1=2.2807 left_j2=1.8515 left_j3=-1.0866 left_j4=-0.0162 left_j5=-0.5518 left_gripper=0.4236 right_j0=0.8948 right_j1=1.198 right_j2=1.7412 right_j3=-1.5814 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [0.4444, -17.7573, 9.306, 0.359, -0.1099, -0.0269, 1.033, 0.0068, -1.4564, 4.8752, 1.2625, -0.0806, -0.0708, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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=-0.973 left_j1=2.2162 left_j2=1.8729 left_j3=-1.1496 left_j4=-0.0196 left_j5=-0.5549 left_gripper=0.4241 right_j0=0.8948 right_j1=1.198 right_j2=1.7412 right_j3=-1.599 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [0.8957, -14.147, 7.2547, 0.4176, -0.0073, 0.0073, 0.8767, 0.0615, -2.0171, 4.6838, 1.3407, -0.0562, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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=-0.8425 left_j1=2.2162 left_j2=1.8725 left_j3=-1.1488 left_j4=-0.0128 left_j5=-0.5552 left_gripper=0.4258 right_j0=0.8948 right_j1=1.1992 right_j2=1.7412 right_j3=-1.6035 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [0.4308, -12.1368, 5.8872, 0.3785, -0.1343, -0.0611, 0.4176, -0.1846, -1.5248, 4.7111, 1.2332, -0.0904, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 414):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dffc52abf8afebe5082e1e67f52e21f7277af0980222323af0db33ccc965aa56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 414):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67f7ca95ef86e821cc81432fe45d1e36479c1be9973f7f91b13bdd7e74a8a4f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 414):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:348523bc86feb3cd7f622e6bbef974528c087037eadebdf8b1bfdf2b61d3db93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob dffc52abf8af]
[blob 67f7ca95ef86]
[blob 348523bc86fe]
{
  "content": [
    {
      "signature": "CAISxwkKjAEIEBgCKkDC6MVQEToqQHJpfpTH0O9S69zLU32ZUoih52ho+Np6vRHk1J9jbzWBWk65/puedJz4qpeuPgYVN997yTOt1or4MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMl3uwqdMbr0lSt/u4Ggw2OTFmDbpmyRUEtmAiMMfeU4A7z1lAZXXVwhdrKHsVz1rzJ28SX16YEipVNORt/uSmYHa8tcncov5cytdyRyrnBxs01iLEebhy2Y8icDMZKUoIhdSQx5o5Raaqoyut2Bi/ZkB8jqbqDjthpNq76HlfA5zFyhrEb5wrpNSUhu4k0jCw4gn9uKtg49gdiFuQY11ETPNXhRM9U4lVQ3JsmBfHHAlUZs7zxiq2kaNvfxcVFdGuznltl9ENro2mPVk+XzSmr9RCRnyPN2esQoFVvoxln9j/iqKJjm+0yYLsMWSzd7TTzj5OPKzKx9ThbLEzoHfWdPSbVWYT5YlH3Qe+88zzhXpGcGrheMzumtSpoQdVHob3jDyIK4pZkFqX3LooLtx/o1OVI/NSW+aqQ0Kq77kBbGmZEPyc1fIU7NmoaXxfcWQeFK4z9NdgnohH4vLHmsggUQROHHYco+opbuVdbUwdzNzQPIKWu8iGen2Nz4zy3iKLtLOG1YTRr5O3I7V3RFk8i0S63Z5OA83nZZEp26e3+e13ZPjS6YGHZ66ZBNumYe319w2Hvs+mXip9Qk7tahUTKL0Cl236yTZV4FfOJgAXLgs3rbcZHSiBInVE1Bgugd4YKD9xjSYzt218G/RZCzw36MVtLmMus80mZKI6lIuTwD4AnAJc1pF/CWgcIewuA5MEvvz37XZStrrTjm3LSWSEwvFIkGapk+fUD0NxLunA5SILg+6FNIMJ4KtePSa678HL9fMrzDAP5LrDmEOajcUq8yg5VR461VLnc0hRdv/cn9Xt1E6t3uFRBxjzslWlPMBL4DwmBB7QgE4m/xFh9CzND791JZ8IdMH03xwC//OvXrEgilD+jCHIZPzP+agFGIe2W0m2hBjUiMXcqJDxDGTyAo3YDJXXfaHOKccARo/h+UIopSE9Sip7RkFKBJhlkgSHHhMeynHJJu086YY3i6c8JTETJbPsrDbPx+FnNLEUvgPiQE3Ei1gD1y4b4QOb1uCNL9SC0o5r8023gR0VGAp/QG7NrbE4hqs61k6Z4q8UCA9tSJF1u0QpB3h5mFUyQPxiuYO+24qXCxYdUbqQAMgbLqxXqr2s2LjnGOulmRV1rhZqlsNhikfWufXAlq8jxhCyVyjl2yL2Ail9US74fUBvGz0yvLeKftkgcQ65h3pVf4vsXCQF4liUHN9tSvpx3HORvn79MUK29bSd8E1oCQyWyKyMFvDWDKzvpcxgTwlldr78ItCPg0SNyTGU/7y9ylPbhx6ARefnTcmUcMmZkH4Q6IcBHOgxShBbllMDjNPS6wDIAH2exiG59menzEn5ZTzzfDVBhPX1JagZ/t+M/09p7oqQFWDAqMBQsMxvtgaPsCHUnAtkHjbB8/gEyfi6hcWg+EHtTafJz5fn3BIgubFPS2SO+OuU+BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XheQc7AXJ6bYuHwSYMeSsz",
      "input": {
        "note": "Red block now shows right between the jaws just beyond the carried blue block, but I'm too low; raising ~3 cm so the blue block clears the red block's top face.",
        "targets": {
          "left_j1": 2.16,
          "left_j2": 1.92,
          "left_j3": -1.21
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 1 steps (0.1s)",
      "tool_use_id": "toolu_01XheQc7AXJ6bYuHwSYMeSsz",
      "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=-0.7914 left_j1=2.2162 left_j2=1.8725 left_j3=-1.15 left_j4=-0.0196 left_j5=-0.5556 left_gripper=0.4264 right_j0=0.8948 right_j1=1.1992 right_j2=1.7412 right_j3=-1.6035 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [0.0205, -12.0684, 5.8872, 0.4371, -0.0757, -0.0513, 0.4762, -0.1436, -2.0855, 4.6974, 1.199, -0.0269, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 415):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8fa3c87e269e47378aa81219779d9912980b40fce0357d16d53e6c098efdd45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 415):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95888c991cf3cdef31762e0279bdac8fd486c95de42bca266838cef1bcecca8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 415):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9d9c3b255acd4b0c441ef434f8014b302629b71471f23ccb32cabc1a4a94954e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob e8fa3c87e269
wire blob 95888c991cf3
wire blob 9d9c3b255acd
call 72 attempt 0 · /messages · status 200 · 5.815 s
model
claude-opus-5
effort
low
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=-0.973 left_j1=2.2162 left_j2=1.8729 left_j3=-1.1496 left_j4=-0.0196 left_j5=-0.5549 left_gripper=0.4241 right_j0=0.8948 right_j1=1.198 right_j2=1.7412 right_j3=-1.599 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [0.8957, -14.147, 7.2547, 0.4176, -0.0073, 0.0073, 0.8767, 0.0615, -2.0171, 4.6838, 1.3407, -0.0562, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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=-0.8425 left_j1=2.2162 left_j2=1.8725 left_j3=-1.1488 left_j4=-0.0128 left_j5=-0.5552 left_gripper=0.4258 right_j0=0.8948 right_j1=1.1992 right_j2=1.7412 right_j3=-1.6035 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [0.4308, -12.1368, 5.8872, 0.3785, -0.1343, -0.0611, 0.4176, -0.1846, -1.5248, 4.7111, 1.2332, -0.0904, -0.0757, -0.0122]",
      "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=-0.7914 left_j1=2.2162 left_j2=1.8725 left_j3=-1.15 left_j4=-0.0196 left_j5=-0.5556 left_gripper=0.4264 right_j0=0.8948 right_j1=1.1992 right_j2=1.7412 right_j3=-1.6035 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [0.0205, -12.0684, 5.8872, 0.4371, -0.0757, -0.0513, 0.4762, -0.1436, -2.0855, 4.6974, 1.199, -0.0269, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 415):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8fa3c87e269e47378aa81219779d9912980b40fce0357d16d53e6c098efdd45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 415):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95888c991cf3cdef31762e0279bdac8fd486c95de42bca266838cef1bcecca8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 415):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d9c3b255acd4b0c441ef434f8014b302629b71471f23ccb32cabc1a4a94954e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob e8fa3c87e269]
[blob 95888c991cf3]
[blob 9d9c3b255acd]
{
  "content": [
    {
      "signature": "CAISowQKjAEIEBgCKkBiYHxCqs8QGEu/+4rEQpJxPG26VNknQcDaZ9ACCAjrLp+kz1fl14Bi0Ui+eNXwz79rLVyd5+45Dyi2z3jnlqchMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM+NH1g9sHB0UJEGclGgw7yiLcH8LVHpzG9/UiMIxyM9odC3Lq7hMj+CITQPIfdXcbKYcT/nyzGodZ8rmhrmxMtv1XDiHs6tVCfABbYCrDAgE2uvnPzQcdL7e6IsCmlf4s1229Xe1SHx+r00I8zdcba0ekPecPYxnp+XQH342WAVuxbq+2WjixTDMM9arH47JBl9LTTqxtTNM2G8t5bkPI2Cu6Q+hk0w2XUDtd+m/QlBpiNSPnCW8eyDIloFkEjGACXVDIqji2KqsXQl+DV7sfmGKCknETR/OqpYHGFj/Et1HHGq7UwU40lLue4WLkgUfMcRbbfJqvDFJ6uYQe71r4QprBVfZ9VlZHneY2K3JYs6d08yQfuY0FI/LkPBzoQKX+NBhC84d5bmd5WETYZlfVm8+wTz2CH2ZD89CnNTGbS2ejSySyZojLxbwyPo3AbJAmbAPr7dImjrH+SKqp84e101EDkxU6MZmEekxLWCJLDPHfkPIblavB1fC4IhTlgyThJBn1EXdTd6ttY+AOShrltzXpGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Pvjg2ZNG4SRmPx3dGBxsru",
      "input": {
        "note": "j0 drifted a bit past target and the raise didn't execute; re-issuing the lift to clear the red block's top and nudging j0 back to -0.83.",
        "targets": {
          "left_j0": -0.83,
          "left_j1": 2.13,
          "left_j2": 1.93,
          "left_j3": -1.23
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Pvjg2ZNG4SRmPx3dGBxsru",
      "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=-0.8383 left_j1=2.207 left_j2=1.8988 left_j3=-1.214 left_j4=-0.0158 left_j5=-0.5556 left_gripper=0.4281 right_j0=0.8948 right_j1=1.2018 right_j2=1.7412 right_j3=-1.607 right_j4=-0.0257 right_j5=-0.0193 right_gripper=0.9997\nstate[joint_eff]: [0.5675, -17.5111, 8.2667, 0.2613, -0.1197, -0.0269, 0.1685, 0.0068, -2.1265, 4.9846, 1.1453, -0.0562, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 417):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:615a4913fa025184e7455a87d73a6e296d0ee740e9327679cf4862d6ee5c82b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 417):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a213a0e2c70a45006d9311815bd2b2a8d430addfefbfff19d115f491985ae6ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 417):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7af56c01813e0ec4dd2d39565b3271527e7e5a965f2866326798c63bb3975e3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 615a4913fa02
wire blob a213a0e2c70a
wire blob 7af56c01813e
call 73 attempt 0 · /messages · status 200 · 3.869 s
model
claude-opus-5
effort
low
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=-0.8425 left_j1=2.2162 left_j2=1.8725 left_j3=-1.1488 left_j4=-0.0128 left_j5=-0.5552 left_gripper=0.4258 right_j0=0.8948 right_j1=1.1992 right_j2=1.7412 right_j3=-1.6035 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [0.4308, -12.1368, 5.8872, 0.3785, -0.1343, -0.0611, 0.4176, -0.1846, -1.5248, 4.7111, 1.2332, -0.0904, -0.0757, -0.0122]",
      "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=-0.7914 left_j1=2.2162 left_j2=1.8725 left_j3=-1.15 left_j4=-0.0196 left_j5=-0.5556 left_gripper=0.4264 right_j0=0.8948 right_j1=1.1992 right_j2=1.7412 right_j3=-1.6035 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [0.0205, -12.0684, 5.8872, 0.4371, -0.0757, -0.0513, 0.4762, -0.1436, -2.0855, 4.6974, 1.199, -0.0269, -0.0513, -0.0122]",
      "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=-0.8383 left_j1=2.207 left_j2=1.8988 left_j3=-1.214 left_j4=-0.0158 left_j5=-0.5556 left_gripper=0.4281 right_j0=0.8948 right_j1=1.2018 right_j2=1.7412 right_j3=-1.607 right_j4=-0.0257 right_j5=-0.0193 right_gripper=0.9997\nstate[joint_eff]: [0.5675, -17.5111, 8.2667, 0.2613, -0.1197, -0.0269, 0.1685, 0.0068, -2.1265, 4.9846, 1.1453, -0.0562, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 417):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:615a4913fa025184e7455a87d73a6e296d0ee740e9327679cf4862d6ee5c82b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 417):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a213a0e2c70a45006d9311815bd2b2a8d430addfefbfff19d115f491985ae6ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 417):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7af56c01813e0ec4dd2d39565b3271527e7e5a965f2866326798c63bb3975e3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 615a4913fa02]
[blob a213a0e2c70a]
[blob 7af56c01813e]
{
  "content": [
    {
      "signature": "CAISvQkKjAEIEBgCKkApi6tR3kskrwCZVZhIE+soWLrxW+xu025Vr6TIaoMjfd+tkXO1mEdKTW5vCcwOC+olo3Hdz1PYreZbuvQ5WookMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMhBCmcUvbRTXo7GuxGgxyhokIyPGXtaY/8/QiMHm/rnkbPclE6M3hR6soEcCKYHaEtlyja87Pd9M2hPF0y6gknGikZNi0uapDrHI/iirdB9m4SaOY+S5A/i1VpIgthTx6q6rRUwXq/unkGTKdKDB6fpMApxYqwlVEgR/7QkVh/CCE5REtlzSD5qNfavvlCRGHNM5cZGuBfFi8cYQwxdkqeeH9zNK2yK/f0gALoG/x4SHsmMlYEy3XLaF4vmSCO7DUSUk+6o8cOrwlpUhOsI8jlzlJ1IxdM1l1MUTYef39hzuaWCjFLHLR6WnEf47MZn06KoBHxObm4deac+QOazsx25mZ9XeTTGWMmEm7EpBSb16Ec/tyOf4HodoMD459xpt8dOAQnEiwLI+WbO+igo/W2hOtQd/9NZtYEWpE65WpBQQtnpHqqQYsBCiflzHMqjsmD9pn/JZbfOf2XrLSoTLFRpM4TDNcs9R81edU+zJn21MrmPYN02SHz3SDPgTfHn9R1uNpb+sE8bB5Raglkt1tZlFIQsc3/oD3yUCPHk3z/r6Uvz1RqZQ5UyvmVjKeZyebzJvWOhkttYRqw2TW4OwA9UhT1estUATmpCpEHhG8xOQy7LSMpEuHrHMUQ6QF2TDAIak9Ah0d4jJLgSG34oD93tWFoV/r/PW4w8n7EyfzVPeDHA3hjfChkMJXKFPyj2qyuChE4TBcauaZftOUQB1o+nVr97PwlyN0MdASQ2IrLItF2mGJRgn875jYzk6VEO8NmHUXBmEqrzq9qIHBw9bMBm48C7S/GflJmhBl6giFYDgGWiPd85ODWKyx9ZoxP23HoHmKmT5KPBlT5TWnAEVw3nQIAk/tP/sqzP9/gPR3KhREajE/uC09mnHfz8k7lC7a4EPqq4B/uYZ+kRJdW7UBLZLH/6oYzsdjoxHpZcnHBif+PI7kafl+J5H5y63Y7RnP942Er+DZMfi+9gAtJm0xikbZQeE1NBqD3Y+mt6jrrVT+uQ7GpJESmir2+d+CC1OS0c/TJxVns1utF+52PM2P3kjW3PfNlZDAEs97uisDC6DluqpcnPmndmjFO6vVif02uS6M/SEd+iBMKiSHb8qQOgMNRLAIBYajz+KFwEXmnz5kpqhNrN9m4sKaItIsj1OLD6k0ck93fFppcEz+nqbO9YRQ2PAOc5IukfqdYU7Ll83TOArzWL8dHU1G6FN1MDBzD2H9a8sqP5rMGFWqjagjOYVGgau+Xwy7ccZ/pUVxj9i3zITBSdRCi7uDJEU8uokn3FmhgypbdzmAq5Ik4K5x3GVcNByxehusg2BhL/tewyMxAI9IngG4M3og0SO9KGssxagrI2oDbsNQW2ifTV2Ki3iuyR9kNjHVkKBPyWppug7cuyFm7By17DV07ygpBtFbbdLRgkYeTIYMrussGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Vy2SD4ZJsB3oJv1jYNpBH1",
      "input": {
        "note": "Red block is centred between the jaws just beyond the carried blue block; raising 2 cm and advancing 1.5 cm to position blue directly above red.",
        "targets": {
          "left_j1": 2.24,
          "left_j2": 2.05,
          "left_j3": -1.31
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Vy2SD4ZJsB3oJv1jYNpBH1",
      "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=-0.8364 left_j1=2.2322 left_j2=2.0041 left_j3=-1.2884 left_j4=-0.0158 left_j5=-0.5629 left_gripper=0.4294 right_j0=0.8948 right_j1=1.2026 right_j2=1.7412 right_j3=-1.607 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.4171, -11.8906, 8.9778, 0.2955, -0.022, 0.0415, 0.1197, 0.0342, -1.5385, 4.7111, 1.1209, -0.0659, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 420):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eea50a09092666515cac90c2ee0ea795361f073f07e02fd990c3fe0be834f31d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 420):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19d912c84a13280813d37d3d4105a90a09984fef66948456e1161a0336c6e7d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 420):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0acb303a1ad77b9336af5de155e62bdb6e70ed403606fd9c890a2a49bbd5467c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob eea50a090926
wire blob 19d912c84a13
wire blob 0acb303a1ad7
call 74 attempt 0 · /messages · status 200 · 4.883 s
model
claude-opus-5
effort
low
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=-0.7914 left_j1=2.2162 left_j2=1.8725 left_j3=-1.15 left_j4=-0.0196 left_j5=-0.5556 left_gripper=0.4264 right_j0=0.8948 right_j1=1.1992 right_j2=1.7412 right_j3=-1.6035 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [0.0205, -12.0684, 5.8872, 0.4371, -0.0757, -0.0513, 0.4762, -0.1436, -2.0855, 4.6974, 1.199, -0.0269, -0.0513, -0.0122]",
      "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=-0.8383 left_j1=2.207 left_j2=1.8988 left_j3=-1.214 left_j4=-0.0158 left_j5=-0.5556 left_gripper=0.4281 right_j0=0.8948 right_j1=1.2018 right_j2=1.7412 right_j3=-1.607 right_j4=-0.0257 right_j5=-0.0193 right_gripper=0.9997\nstate[joint_eff]: [0.5675, -17.5111, 8.2667, 0.2613, -0.1197, -0.0269, 0.1685, 0.0068, -2.1265, 4.9846, 1.1453, -0.0562, -0.0757, -0.0122]",
      "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=-0.8364 left_j1=2.2322 left_j2=2.0041 left_j3=-1.2884 left_j4=-0.0158 left_j5=-0.5629 left_gripper=0.4294 right_j0=0.8948 right_j1=1.2026 right_j2=1.7412 right_j3=-1.607 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.4171, -11.8906, 8.9778, 0.2955, -0.022, 0.0415, 0.1197, 0.0342, -1.5385, 4.7111, 1.1209, -0.0659, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 420):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eea50a09092666515cac90c2ee0ea795361f073f07e02fd990c3fe0be834f31d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 420):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19d912c84a13280813d37d3d4105a90a09984fef66948456e1161a0336c6e7d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 420):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0acb303a1ad77b9336af5de155e62bdb6e70ed403606fd9c890a2a49bbd5467c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob eea50a090926]
[blob 19d912c84a13]
[blob 0acb303a1ad7]
{
  "content": [
    {
      "signature": "CAISlAQKjAEIEBgCKkBAKfFXnzph25K/bPnnVz9jFU4qPFpNdZRlgqI8s1yOevvigC0WF0gPYo+v4dyTQD+rRkv3stMamynK12sAKdnxMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMfKubKbQj3RPWOX4BGgxLy311OlJ6WGXAsEAiMP4zrreo+dm4aFaF6yq4sM+pWLxZFXL3CaF0etaiw7pc3zISFVGi4WABbPhMZqB7nyq0AibDzbMlyfKln4/sTzZhziud9nkZr303p3Iga9jajf72Wi8KbemkstTfAEAQDRbGgKAxdygIFzONSuaU3ObXfUd9KeS7lm8VfrK/k8DdvuqDgZsR7EWxWsdO4cDNNb56HN/qJuHMf3chv9noVPIi1LHa0uOouU9kDWMYEGGeLEn/c0WRpZibzc7QfBy+1T6RwzpXPPSTKXFgQykohkFkRVfO+dGtmFRd17UW5z4plVDjJjWD1FNgzIzxsTGDYYazByWZjbgMD3cPPEoIm/haXj4qtZkCKm1EV0u7uLPF9vN9Yijt71/0uyuvruIWehw0GwRnwrJsmRl+F8WJH9wXP63qeEKHDTWIRr9zD6DgXVNRVP7KE8DvT95kuiaoxfY9VQo8sTH3I1XQcys4XR1rK7ob2ww6GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018waFcGfMww1GgdUXCZW4yr",
      "input": {
        "note": "Advancing ~2 cm more so the carried blue block comes directly over the red block before release.",
        "targets": {
          "left_j1": 2.3,
          "left_j2": 2.13,
          "left_j3": -1.34
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_018waFcGfMww1GgdUXCZW4yr",
      "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=-0.8371 left_j1=2.2852 left_j2=2.0895 left_j3=-1.3357 left_j4=-0.0158 left_j5=-0.5697 left_gripper=0.4303 right_j0=0.8948 right_j1=1.2045 right_j2=1.7412 right_j3=-1.607 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.0205, -11.5077, 8.7179, 0.3443, -0.0611, 0.0366, 0.0904, -0.0342, -2.0718, 4.7111, 1.1306, -0.0806, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 423):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b21a97431b9f6b4d0acabd082899303c7340bcf3bdf58707c566a9428df5fd74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 423):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6f5de996a4c76d11065a73d4fdad7058abe19575be09e3798241242cad5b22a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 423):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b3b904176da4ac35d9e44e000e4e69c8ee575fd097ca24e223c5d9ec1eba2785",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob b21a97431b9f
wire blob b6f5de996a4c
wire blob b3b904176da4
call 75 attempt 0 · /messages · status 200 · 4.175 s
model
claude-opus-5
effort
low
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=-0.8383 left_j1=2.207 left_j2=1.8988 left_j3=-1.214 left_j4=-0.0158 left_j5=-0.5556 left_gripper=0.4281 right_j0=0.8948 right_j1=1.2018 right_j2=1.7412 right_j3=-1.607 right_j4=-0.0257 right_j5=-0.0193 right_gripper=0.9997\nstate[joint_eff]: [0.5675, -17.5111, 8.2667, 0.2613, -0.1197, -0.0269, 0.1685, 0.0068, -2.1265, 4.9846, 1.1453, -0.0562, -0.0757, -0.0122]",
      "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=-0.8364 left_j1=2.2322 left_j2=2.0041 left_j3=-1.2884 left_j4=-0.0158 left_j5=-0.5629 left_gripper=0.4294 right_j0=0.8948 right_j1=1.2026 right_j2=1.7412 right_j3=-1.607 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.4171, -11.8906, 8.9778, 0.2955, -0.022, 0.0415, 0.1197, 0.0342, -1.5385, 4.7111, 1.1209, -0.0659, -0.0806, -0.0122]",
      "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=-0.8371 left_j1=2.2852 left_j2=2.0895 left_j3=-1.3357 left_j4=-0.0158 left_j5=-0.5697 left_gripper=0.4303 right_j0=0.8948 right_j1=1.2045 right_j2=1.7412 right_j3=-1.607 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.0205, -11.5077, 8.7179, 0.3443, -0.0611, 0.0366, 0.0904, -0.0342, -2.0718, 4.7111, 1.1306, -0.0806, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 423):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b21a97431b9f6b4d0acabd082899303c7340bcf3bdf58707c566a9428df5fd74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 423):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6f5de996a4c76d11065a73d4fdad7058abe19575be09e3798241242cad5b22a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 423):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3b904176da4ac35d9e44e000e4e69c8ee575fd097ca24e223c5d9ec1eba2785",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob b21a97431b9f]
[blob b6f5de996a4c]
[blob b3b904176da4]
{
  "content": [
    {
      "signature": "CAIShwcKjAEIEBgCKkC/67X/vxrk0CGL7xt0AivzUBjzg4hv3CkQiof4DFXaCfmOAuTn5OfRW4jX9PX4y7+FPkAxEOkvlLnhYEsw9iXMMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMbepSO8sXkQ+i31ToGgxKFP5SQjC9oT0yH04iMEt3BcmV08Vi6IHRg9ebeAW0gUdJf2NPuJj/Y1BpcGsWQiRb94xmPmucU7qf5XpLZiqnBW1cURUOgQECEwK3vX16JC7OVl9y9ohewA91FN2OWEVTFhVQx1HuBEqp4+rySn0bPw1XxyxdjDqM4aoYYxCv0n8YCFxxfbsKqq1xQb5ro6OrkvcnLGg2DsJlMrpfk55hE4BkV7yE3p+h9RUy1HGexwCmT/Wvm0bxpf2ZOQnxIGJjQ7xnyEE5xkRRe8Oqv0fScMS2eHlBJMA1kn+kSWy7E+MyQIqK3w5h8Idv7FQ9ba9AAo30n4+8pBK3erlufJrMD6nW7J+ZM41g67b+tSXleIXSgA93AQR4lggzv/9o/0xKdVtH+sXj5eBlC951fqySQuDHVp5Byugej2UIojo8kGE4FdsEI2xSlar/rN1Bb0jbYPdgDgK5uXtmYfRcRqbddOu9gonSOxbMXFL9loeJjD+55HDU8u6byo3B7qFYZp7ZlSMhWguYGQaQjjCDdopfBNrLtK/Z3kQz9VkkDx9XK+YWC/IFZWjz7lWzhVKLrZ94rOpqOW39MxVKE4R8c9NzUDmMxdzJE9tBA+kpCW6U6CwyqtzpcWqfkW/EVYtezlEiPmKjQf/Sm3oqO55bKaxTtJ/V2iI4+k2jAww+Q0XDqECVGUAsabKEgs7bg03+SSZSc53Q66klrGd+dAYKiwSCXRzpTjIS5zNZ2Y3wGOyMuU08sjVKmION/KMCkylYtUY0+hd1YRIMLyy7mou9p9MWbKLv0jluQV8iHgyA7CHI/EDT7y3+wVrJlPqsFDu8o+Ch5E3+GXpUIKbk6YiMYOyPB/r3EGgnV/u3rwf3qb98CeAZbMDkDCNCNOGumWvF/yN9WGqQXpbR8R9gyhQuhBHhfa0AFo3rJ/nVt4aIRFq54n7gNRDANaUfVKzF4cySGhe8SWwE/Od3q4yAEMhu2u9yHprcwgCqGTwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016GCxFP9rBwRPVvyUvthX1M",
      "input": {
        "note": "The red block sits right in the jaw gap directly under the carried blue block, which hangs ~1 cm above its top face; opening the gripper to drop the blue block onto the red one.",
        "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_016GCxFP9rBwRPVvyUvthX1M",
      "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=-0.8371 left_j1=2.2913 left_j2=2.0949 left_j3=-1.3437 left_j4=-0.0158 left_j5=-0.5781 left_gripper=0.9956 right_j0=0.8948 right_j1=1.2045 right_j2=1.7412 right_j3=-1.607 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.212, -13.0393, 5.3812, 0.398, -0.0122, 0.0757, -0.1245, -0.0615, -1.894, 4.7111, 1.116, -0.0708, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 429):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:979acc03a07c2df9676f89ca4d33287d5935d56eec812ec46549859524ac3aa4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 429):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d1a5e4756875b5e6241bd7cf4a405ded705299b2cd3b66709a7a2f3453c79c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 429):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fbc55dfc85f9bed534bf69e2821da8d5ad3563b9e5c79a7c97b0123dbd07bdad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 979acc03a07c
wire blob 9d1a5e475687
wire blob fbc55dfc85f9
call 76 attempt 0 · /messages · status 200 · 5.944 s
model
claude-opus-5
effort
low
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=-0.8364 left_j1=2.2322 left_j2=2.0041 left_j3=-1.2884 left_j4=-0.0158 left_j5=-0.5629 left_gripper=0.4294 right_j0=0.8948 right_j1=1.2026 right_j2=1.7412 right_j3=-1.607 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.4171, -11.8906, 8.9778, 0.2955, -0.022, 0.0415, 0.1197, 0.0342, -1.5385, 4.7111, 1.1209, -0.0659, -0.0806, -0.0122]",
      "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=-0.8371 left_j1=2.2852 left_j2=2.0895 left_j3=-1.3357 left_j4=-0.0158 left_j5=-0.5697 left_gripper=0.4303 right_j0=0.8948 right_j1=1.2045 right_j2=1.7412 right_j3=-1.607 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.0205, -11.5077, 8.7179, 0.3443, -0.0611, 0.0366, 0.0904, -0.0342, -2.0718, 4.7111, 1.1306, -0.0806, -0.0659, -0.0122]",
      "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=-0.8371 left_j1=2.2913 left_j2=2.0949 left_j3=-1.3437 left_j4=-0.0158 left_j5=-0.5781 left_gripper=0.9956 right_j0=0.8948 right_j1=1.2045 right_j2=1.7412 right_j3=-1.607 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.212, -13.0393, 5.3812, 0.398, -0.0122, 0.0757, -0.1245, -0.0615, -1.894, 4.7111, 1.116, -0.0708, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 429):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:979acc03a07c2df9676f89ca4d33287d5935d56eec812ec46549859524ac3aa4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 429):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d1a5e4756875b5e6241bd7cf4a405ded705299b2cd3b66709a7a2f3453c79c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 429):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbc55dfc85f9bed534bf69e2821da8d5ad3563b9e5c79a7c97b0123dbd07bdad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 979acc03a07c]
[blob 9d1a5e475687]
[blob fbc55dfc85f9]
{
  "content": [
    {
      "signature": "CAISkQUKjAEIEBgCKkBIVe/Y7vGCUCTYv9DyhjNLX9NtBhfOXrbK4OlXQyJukdPMVjOVBOZESu+JaeFHX/ESrgHVTdvf5l7/FCgrZdxuMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMRSz84PjDO2oMWJiwGgz1EMjv21fmDrigCJ0iMHUDh8RjX/7E/pRN846l4n2ODjObPlNUQX9FHJ6jLb16k+7E0c65t1jFX7Cz2pcJ2yqxAx6fQ4kUWPRldkMoNCIZp2KXIHIKvBJfmaOdk4Ahphu9VcK47/BvcjkJEh5RLOlFu0hybjEDqG6b4Nm71MQN9m9x7bNn/ds5QUSPPpVnDMLhM1YcnGTRmB7Bhjb4DZJ86nm46dGVbhTufzX36YtYWJNeHQEDzbhrctdwYCy+I7eUOM5Wg6BhICj//AGIGE+VakZTdTdtadc1flxsqCL+SM9DH/UqdzHOqw1SqIQcqfTmOxiaYUObferT4RzT80Ghp2m/rA24Zy2v9fPaZ50eO2QDAh0O6efDXCHBTfaY7Nh1dtsaI0uZ86qzFTL2+mXkEyXrojZcg9C1g7Xov+CI47SmKfhiCEIp8BmNSI/cngjWDI6BG/iEVDHjJlXTOeJpMv0AEJ30BfNFwhdHTEcuKdB7ZTwgawGvX0jV9r+uXsmiuITIn0f+AtVxCsLZz6wc2nT9Up3wvi90sRVjisevuEN3Sl5V5YJrak50mS+t1gyov9TWN8WusHMD4XaOzkelI8GIF3ve0aBhjRyqdYhAsxyGE4OJKbSr000jo+blYtxVvi4CAXZYC5y4PN68qocsz8gYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014Zb8ei9p2k6RAs7qsvLpek",
      "input": {
        "note": "Blue block appears to have landed on top of the red block; retracting the left arm to verify the stack from a distance.",
        "targets": {
          "left_j1": 1.5,
          "left_j2": 1.5,
          "left_j3": -0.9
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 13 steps (1.3s)",
      "tool_use_id": "toolu_014Zb8ei9p2k6RAs7qsvLpek",
      "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=-0.8371 left_j1=1.5406 left_j2=1.5162 left_j3=-0.9588 left_j4=-0.0158 left_j5=-0.5816 left_gripper=0.9969 right_j0=0.8948 right_j1=1.2083 right_j2=1.7405 right_j3=-1.6073 right_j4=-0.0257 right_j5=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, -7.9385, 6.4068, 1.8242, -0.0757, -0.0073, 0.1343, -0.1983, -2.441, 4.8068, 1.1306, -0.0708, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 442):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a85605feba15975f524194232fb99c2b2ff3c3886a401f967d75678fa8d6e83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 442):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b45654a5a49dcea7913fe4a064218baffc8f32466e1f0e26c4b6cb64f3dec1cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 442):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
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      "source": {
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