adhoc

completed
2026-08-14T23:15:59.276393+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
medium
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
1251 s
total steps
719
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Place the left block on top of the right block

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n
Trial 0 transcript
Run video
top_cam · left_cam · right_cam
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 100 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper. Each arm has its own base frame: +x points forward out of the base (the direction the folded gripper points at all-zero joints), +y left, +z up; how the two bases are mounted relative to each other depends on the rig. Joint guide (positive direction, identical for both arms): - left_j0 / right_j0: base yaw about the vertical axis; positive swings the arm counterclockwise seen from above (a forward-pointing gripper moves toward +y). - left_j1 / right_j1: shoulder pitch; 0 points the upper arm horizontally backward and is the lower hard stop (it cannot go negative), positive raises it (about 1.57 is straight up, about 3.14 is horizontal forward). - left_j2 / right_j2: elbow; 0 is fully folded with the forearm doubled back against the upper arm and is the lower hard stop, positive opens it. - left_j3 / right_j3: wrist pitch, axis parallel to the elbow; positive tilts the gripper up. - left_j4 / right_j4: wrist yaw; positive swings the gripper toward the arm's right seen from above (opposite sign sense of j0). - left_j5 / right_j5: wrist roll about the gripper's pointing axis; positive turns clockwise when viewed from behind the gripper looking out along the fingers. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. At all-zero joints the arm rests folded low with the gripper pointing forward. While the arm is folded, a single joint's effect on the gripper position can be counterintuitive; move deliberately and re-check the observation after each motion. The joint values above are positions as shown in the observation; when actions are per-step changes (delta mode), the same sign conventions apply to each change. # Rig facts (YAM rigs) Measured and derived facts about these rigs, shared across all rig dirs (the rigs are built identically, up to per-rig calibration offsets noted where measured). Kinematic constants come from forward kinematics on the i2rt YAM model that drives the robot (i2rt 1.1.2, `robot_models/arm/yam/yam.urdf`); workspace dimensions (camera height, base spacing, table plane) were measured at rig-2. ## Kinematics (per arm) - Upper arm (shoulder pitch to elbow): 0.264 m. Forearm (elbow to wrist pitch): 0.245 m. - Shoulder pitch axis sits 0.114 m above the arm's mounting plane. - Wrist pitch axis to fingertip midpoint: 0.101 m (gripper flange to fingertip: 0.057 m, stock linear gripper). Contact happens at the fingertips, and this offset rotates with wrist pitch. - Gripper stroke is ~9.5 cm jaw-to-jaw fully open, and gripper commands/ readings are the normalized fraction of that: residual × 9.5 cm ≈ grasped thickness (e.g. a reading of 0.04 ≈ 4 mm — a thin handle), and anything wider than ~9 cm cannot be grasped across. - Gripper yaw follows j0: the direction the jaws close along rotates with the base joint, and is compensable with wrist roll. - Episodes start with both arms folded near all-zero joints and grippers fully open (reading ≈ 1.0). ## Cameras - `top` is a fixed overhead camera. `left` and `right` are wrist cameras mounted on the rolling gripper body of the same-named arm, tilted forward of the finger axis; the mounting is identical on both arms, so the wrist-image facts below apply to either. - Overhead frame orientation: arm-forward = image-up, arm-right = image-right. Both arm bases sit near the bottom edge of the frame; a folded gripper shows as a dark blob near the bottom-left/bottom-right corner. - Top-camera scale at table level is roughly 2–3 px/cm and differs per rig (≈3.1 measured at rig-2; rig-1 runs consistently measure ≈2.2–2.7) — never trust a remembered number. Scale grows with height: an object h metres above the table reads larger by H/(H − h) with camera height H ≈ 0.72 m, so a gripper carrying at 10 cm reads ~15% larger than it will at table level, and things shrink slightly as you lower them. - In each wrist image the grasp point (where the jaws meet) projects at (x≈115, y≈200) in the 224-px frame, just off the bottom edge — independent of wrist roll, but NOT of pitch: pitched 60–70° forward it shifts up to y≈150–190. The camera looks beyond the fingertips, so anything at or nearer than the grasp point is out of frame, and the dark wedge at the bottom-centre of the frame is the jaws themselves, not the object. A held object is never visible in its own wrist camera. To re-calibrate at the current pitch: briefly close the empty gripper and watch where the jaws converge. - At wrist roll = 0: image-right = the arm's right (−y in arm coordinates, reached with negative j0), image-down = radially inward toward the arm's base. Rolling the wrist rotates the scene in the image, but the jaws always close along image-x. - Wrist-cam scale varies strongly with height and pose: measured values within ~10 cm of the table ranged from ~3 to ~12 px/cm across runs, so never trust a remembered scale — close to the table the 224-px frame may span only a few tens of centimetres, and a hand-sized object can fill it. A pure j0 nudge shifts the scene laterally by r·Δj0 metres, which calibrates this view in a single call. - The wrist image's vertical axis conflates radial distance and height: a 3 cm radial move and a 1.4 cm descent shift features by a similar number of pixels, and radial (depth) distance cannot be eyeballed from the top-down wrist view. ## Workspace geometry - Arm bases are 0.584 m (23 in) apart, mounted parallel (facing the same way). - Table plane: the tabletop coincides with the arm mounting plane — true fingertip z = 0 at table contact (verified by replaying contact poses through the framework's grasp-site forward kinematics). - With the gripper pointing straight down, reach caps at ~0.51 m wrist radius; pitching the gripper 30–45° forward buys another 10–20 cm. ## Controller behavior - Position moves undershoot: a `move_joints` call tracks only partway to the target and stalls near contact (gravity-loaded j1/j3 sag 0.05–0.1 rad). Re-issue the same target, or command slightly beyond it, to converge. Undershoot grows when carrying a load — expect lifts with an object in the gripper to need more re-issues or stronger targets. - Larger commands are clamped by a per-step delta limit (`delta_clamped` in the move result) and each call reports only a few steps. Nothing is broken — re-issue, or command 0.1–0.2 rad beyond the goal. - Position error that stops shrinking while descending usually means the fingers or object reached the table. When joint effort is available (below), prefer it over this heuristic. ## Joint effort (when `report_joint_eff` is enabled) - Contact vs. sag on descents: gravity assists a downward j1 move, so j1 falling short during a descent means contact, not controller sag. The effort reading distinguishes how hard you are contacting: on a light touch j1 simply stops tracking while its effort stays negative (still holding the arm against gravity); if effort flips positive, the arm is actively pressing into the surface — back off. - After a full close, the gripper residual settles at the grasped object's thickness in gripper units, and gripper effort reads high (≈1.0–2.0) around an object versus low (≈0.1) when empty. A partial close gives an ambiguous readback for thin objects. - A grasped object touching down reads as stopped descent plus rising effort on the wrist joints. # Rig formulas (YAM rigs) Planar arm kinematics in the radial–vertical (r, z) plane, from the i2rt URDF constants: upper arm L1 = 0.264 m, forearm L2 = 0.245 m, wrist-to-fingertip L3 = 0.101 m, shoulder pitch axis L0 = 0.114 m above the mounting plane (= table level). - Angles: A = π − j1 (upper arm), B = j2 − j1 (forearm), C = B + j3 (fingertip axis; gripper-down is C = −π/2). - Forward: fingertip ≈ (0, L0) + L1·(cos A, sin A) + L2·(cos B, sin B) + L3·(cos C, sin C). - Inverse (target radius r, height z, approach angle C): let P = (r, z) − L3·(cos C, sin C) − (0, L0) and d = |P|; then A = atan2(P_z, P_r) + acos((d² + L1² − L2²) / (2·L1·d)) and B = atan2(P_z − L1·sin A, P_r − L1·cos A); recover j1 = π − A, j2 = B + j1, j3 = C − B. This is the elbow-up branch — the one the arms use in practice. Check reachability d ≤ L1 + L2 = 0.509 first. - Accuracy: in the gripper-down working envelope (r ≈ 0.3–0.5 m) the approximation reads ~3–4 cm short in r and ~7–10 cm high in z. The bias varies per arm but is nearly constant for a given arm, so relative moves and the local Jacobian are accurate — and both the forward and inverse solutions inherit the bias, so measure your arm's z offset with one closed-gripper table touch and correct all absolute heights by it. Outside that envelope (arm folded) the approximation degrades sharply. # Rig advice (YAM rigs) Working practice distilled from episode hindsight on these rigs. ## Calibrate before you commit - Overhead scale: calibrate px/cm in your first few calls, before planning any layout, from a known gripper move observed in the top frame — compute the travelled distance from joint readback, not the commanded target (controller undershoot otherwise skews the scale low). A grasped object of known size also works. - Height: before the first grasp, close the empty gripper and descend until joint effort shows table contact (j1 stops tracking while its holding torque relaxes), then record what the planar FK reads at that pose — that offset is your arm's z bias. A 2 cm height error is the difference between grasping a 4 cm object and closing on air. - Depth: do an early calibrated test move (translate a known 3 cm, measure the pixel shift in the wrist view) — first radial estimates are otherwise off by 5–10 cm. - Prefer solving the planar IK for a target and issuing j1/j2/j3 together over nudging single joints — it converges in far fewer calls. ## Keep the target in view - A target vanishing mid-approach is ambiguous: still ahead beyond the frame, or already at/behind the grasp point. Never close or keep advancing on a target you can't see — retract 3–5 cm to re-acquire it, and close only when it shows between the two jaw silhouettes. Blind closes at a computed position usually miss and shove the object 5–9 cm, forcing a re-find. - Never read depth from image-y alone: descend in 1–2 cm steps, keeping the target column-aligned with the jaw gap (x≈115), and re-check between steps. ## Grasping - Roll the wrist until the target's long axis looks vertical in the wrist image to align a grasp across it — and since gripper yaw follows j0, setting wrist roll ≈ j0 keeps the jaws square to a world-aligned target from any bearing. - For thin objects lying on a surface, lower the open gripper until joint effort confirms fingertip–table contact, then close — closing at an unverified height is the main cause of angled, slip-prone grasps. - Verify every grasp with a full close and check the residual against the expected thickness of the part you meant to grip; never test a grasp with a partial close. A residual several times too large with high effort means you clamped something bulky or at an angle, and it will slip during transport — regrasp. A near-zero residual (≈0.01) on a rigid object is the opposite failure: a shallow edge pinch that will slip — regrasp deeper so more material sits between the jaws. - Failed close attempts drag the object. After any failed grasp, re-find the object's actual position in the overhead frame before retrying — don't assume it is where it was. ## Transport and placement - A carried object hangs and pivots below the grasp point, and wrist roll shifts where its center sits relative to the gripper — adjust roll after grasping so the load hangs where you want it before transporting. An object picked at one bearing and placed at another lands rotated by (j0 at place − j0 at pick) unless you re-match roll. - When grasping near an object's end, the object extends well beyond the grasp point. Plan the release around where the object's extent will land, not where the gripper is, and verify placement in the overhead frame after release before declaring the task done. - Time the release off joint effort: a grasped object touching down reads as stopped descent plus rising wrist effort. ## Planning the episode - Before moving anything, choose where the goal arrangement will be built: keep it inside both arms' reach overlap — nearer the bases — so no object needs a cross-arm handoff; a handoff costs ~10 calls. Budget ~6–10 move calls per verified pick-and-place when planning against a call limit. - The idle arm's wrist camera is a genuinely useful second viewpoint — fly it in for close-ups the overhead view can't resolve. The only hazard is shared space, and it cuts both ways: the classic collision is the working arm swinging into an idle arm left hovering over the table after its last use. Before sweeping one arm across the workspace, park the other near its own base (j1 ≈ 0.6, j2 ≈ 1.2, j3 ≈ −0.6), then bring it back out when you need the viewpoint again. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place the left block on top of the right block
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 100 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper. Each arm has its own base frame: +x points forward out of the base (the direction the folded gripper points at all-zero joints), +y left, +z up; how the two bases are mounted relative to each other depends on the rig. Joint guide (positive direction, identical for both arms): - left_j0 / right_j0: base yaw about the vertical axis; positive swings the arm counterclockwise seen from above (a forward-pointing gripper moves toward +y). - left_j1 / right_j1: shoulder pitch; 0 points the upper arm horizontally backward and is the lower hard stop (it cannot go negative), positive raises it (about 1.57 is straight up, about 3.14 is horizontal forward). - left_j2 / right_j2: elbow; 0 is fully folded with the forearm doubled back against the upper arm and is the lower hard stop, positive opens it. - left_j3 / right_j3: wrist pitch, axis parallel to the elbow; positive tilts the gripper up. - left_j4 / right_j4: wrist yaw; positive swings the gripper toward the arm's right seen from above (opposite sign sense of j0). - left_j5 / right_j5: wrist roll about the gripper's pointing axis; positive turns clockwise when viewed from behind the gripper looking out along the fingers. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. At all-zero joints the arm rests folded low with the gripper pointing forward. While the arm is folded, a single joint's effect on the gripper position can be counterintuitive; move deliberately and re-check the observation after each motion. The joint values above are positions as shown in the observation; when actions are per-step changes (delta mode), the same sign conventions apply to each change. # Rig facts (YAM rigs) Measured and derived facts about these rigs, shared across all rig dirs (the rigs are built identically, up to per-rig calibration offsets noted where measured). Kinematic constants come from forward kinematics on the i2rt YAM model that drives the robot (i2rt 1.1.2, `robot_models/arm/yam/yam.urdf`); workspace dimensions (camera height, base spacing, table plane) were measured at rig-2. ## Kinematics (per arm) - Upper arm (shoulder pitch to elbow): 0.264 m. Forearm (elbow to wrist pitch): 0.245 m. - Shoulder pitch axis sits 0.114 m above the arm's mounting plane. - Wrist pitch axis to fingertip midpoint: 0.101 m (gripper flange to fingertip: 0.057 m, stock linear gripper). Contact happens at the fingertips, and this offset rotates with wrist pitch. - Gripper stroke is ~9.5 cm jaw-to-jaw fully open, and gripper commands/ readings are the normalized fraction of that: residual × 9.5 cm ≈ grasped thickness (e.g. a reading of 0.04 ≈ 4 mm — a thin handle), and anything wider than ~9 cm cannot be grasped across. - Gripper yaw follows j0: the direction the jaws close along rotates with the base joint, and is compensable with wrist roll. - Episodes start with both arms folded near all-zero joints and grippers fully open (reading ≈ 1.0). ## Cameras - `top` is a fixed overhead camera. `left` and `right` are wrist cameras mounted on the rolling gripper body of the same-named arm, tilted forward of the finger axis; the mounting is identical on both arms, so the wrist-image facts below apply to either. - Overhead frame orientation: arm-forward = image-up, arm-right = image-right. Both arm bases sit near the bottom edge of the frame; a folded gripper shows as a dark blob near the bottom-left/bottom-right corner. - Top-camera scale at table level is roughly 2–3 px/cm and differs per rig (≈3.1 measured at rig-2; rig-1 runs consistently measure ≈2.2–2.7) — never trust a remembered number. Scale grows with height: an object h metres above the table reads larger by H/(H − h) with camera height H ≈ 0.72 m, so a gripper carrying at 10 cm reads ~15% larger than it will at table level, and things shrink slightly as you lower them. - In each wrist image the grasp point (where the jaws meet) projects at (x≈115, y≈200) in the 224-px frame, just off the bottom edge — independent of wrist roll, but NOT of pitch: pitched 60–70° forward it shifts up to y≈150–190. The camera looks beyond the fingertips, so anything at or nearer than the grasp point is out of frame, and the dark wedge at the bottom-centre of the frame is the jaws themselves, not the object. A held object is never visible in its own wrist camera. To re-calibrate at the current pitch: briefly close the empty gripper and watch where the jaws converge. - At wrist roll = 0: image-right = the arm's right (−y in arm coordinates, reached with negative j0), image-down = radially inward toward the arm's base. Rolling the wrist rotates the scene in the image, but the jaws always close along image-x. - Wrist-cam scale varies strongly with height and pose: measured values within ~10 cm of the table ranged from ~3 to ~12 px/cm across runs, so never trust a remembered scale — close to the table the 224-px frame may span only a few tens of centimetres, and a hand-sized object can fill it. A pure j0 nudge shifts the scene laterally by r·Δj0 metres, which calibrates this view in a single call. - The wrist image's vertical axis conflates radial distance and height: a 3 cm radial move and a 1.4 cm descent shift features by a similar number of pixels, and radial (depth) distance cannot be eyeballed from the top-down wrist view. ## Workspace geometry - Arm bases are 0.584 m (23 in) apart, mounted parallel (facing the same way). - Table plane: the tabletop coincides with the arm mounting plane — true fingertip z = 0 at table contact (verified by replaying contact poses through the framework's grasp-site forward kinematics). - With the gripper pointing straight down, reach caps at ~0.51 m wrist radius; pitching the gripper 30–45° forward buys another 10–20 cm. ## Controller behavior - Position moves undershoot: a `move_joints` call tracks only partway to the target and stalls near contact (gravity-loaded j1/j3 sag 0.05–0.1 rad). Re-issue the same target, or command slightly beyond it, to converge. Undershoot grows when carrying a load — expect lifts with an object in the gripper to need more re-issues or stronger targets. - Larger commands are clamped by a per-step delta limit (`delta_clamped` in the move result) and each call reports only a few steps. Nothing is broken — re-issue, or command 0.1–0.2 rad beyond the goal. - Position error that stops shrinking while descending usually means the fingers or object reached the table. When joint effort is available (below), prefer it over this heuristic. ## Joint effort (when `report_joint_eff` is enabled) - Contact vs. sag on descents: gravity assists a downward j1 move, so j1 falling short during a descent means contact, not controller sag. The effort reading distinguishes how hard you are contacting: on a light touch j1 simply stops tracking while its effort stays negative (still holding the arm against gravity); if effort flips positive, the arm is actively pressing into the surface — back off. - After a full close, the gripper residual settles at the grasped object's thickness in gripper units, and gripper effort reads high (≈1.0–2.0) around an object versus low (≈0.1) when empty. A partial close gives an ambiguous readback for thin objects. - A grasped object touching down reads as stopped descent plus rising effort on the wrist joints. # Rig formulas (YAM rigs) Planar arm kinematics in the radial–vertical (r, z) plane, from the i2rt URDF constants: upper arm L1 = 0.264 m, forearm L2 = 0.245 m, wrist-to-fingertip L3 = 0.101 m, shoulder pitch axis L0 = 0.114 m above the mounting plane (= table level). - Angles: A = π − j1 (upper arm), B = j2 − j1 (forearm), C = B + j3 (fingertip axis; gripper-down is C = −π/2). - Forward: fingertip ≈ (0, L0) + L1·(cos A, sin A) + L2·(cos B, sin B) + L3·(cos C, sin C). - Inverse (target radius r, height z, approach angle C): let P = (r, z) − L3·(cos C, sin C) − (0, L0) and d = |P|; then A = atan2(P_z, P_r) + acos((d² + L1² − L2²) / (2·L1·d)) and B = atan2(P_z − L1·sin A, P_r − L1·cos A); recover j1 = π − A, j2 = B + j1, j3 = C − B. This is the elbow-up branch — the one the arms use in practice. Check reachability d ≤ L1 + L2 = 0.509 first. - Accuracy: in the gripper-down working envelope (r ≈ 0.3–0.5 m) the approximation reads ~3–4 cm short in r and ~7–10 cm high in z. The bias varies per arm but is nearly constant for a given arm, so relative moves and the local Jacobian are accurate — and both the forward and inverse solutions inherit the bias, so measure your arm's z offset with one closed-gripper table touch and correct all absolute heights by it. Outside that envelope (arm folded) the approximation degrades sharply. # Rig advice (YAM rigs) Working practice distilled from episode hindsight on these rigs. ## Calibrate before you commit - Overhead scale: calibrate px/cm in your first few calls, before planning any layout, from a known gripper move observed in the top frame — compute the travelled distance from joint readback, not the commanded target (controller undershoot otherwise skews the scale low). A grasped object of known size also works. - Height: before the first grasp, close the empty gripper and descend until joint effort shows table contact (j1 stops tracking while its holding torque relaxes), then record what the planar FK reads at that pose — that offset is your arm's z bias. A 2 cm height error is the difference between grasping a 4 cm object and closing on air. - Depth: do an early calibrated test move (translate a known 3 cm, measure the pixel shift in the wrist view) — first radial estimates are otherwise off by 5–10 cm. - Prefer solving the planar IK for a target and issuing j1/j2/j3 together over nudging single joints — it converges in far fewer calls. ## Keep the target in view - A target vanishing mid-approach is ambiguous: still ahead beyond the frame, or already at/behind the grasp point. Never close or keep advancing on a target you can't see — retract 3–5 cm to re-acquire it, and close only when it shows between the two jaw silhouettes. Blind closes at a computed position usually miss and shove the object 5–9 cm, forcing a re-find. - Never read depth from image-y alone: descend in 1–2 cm steps, keeping the target column-aligned with the jaw gap (x≈115), and re-check between steps. ## Grasping - Roll the wrist until the target's long axis looks vertical in the wrist image to align a grasp across it — and since gripper yaw follows j0, setting wrist roll ≈ j0 keeps the jaws square to a world-aligned target from any bearing. - For thin objects lying on a surface, lower the open gripper until joint effort confirms fingertip–table contact, then close — closing at an unverified height is the main cause of angled, slip-prone grasps. - Verify every grasp with a full close and check the residual against the expected thickness of the part you meant to grip; never test a grasp with a partial close. A residual several times too large with high effort means you clamped something bulky or at an angle, and it will slip during transport — regrasp. A near-zero residual (≈0.01) on a rigid object is the opposite failure: a shallow edge pinch that will slip — regrasp deeper so more material sits between the jaws. - Failed close attempts drag the object. After any failed grasp, re-find the object's actual position in the overhead frame before retrying — don't assume it is where it was. ## Transport and placement - A carried object hangs and pivots below the grasp point, and wrist roll shifts where its center sits relative to the gripper — adjust roll after grasping so the load hangs where you want it before transporting. An object picked at one bearing and placed at another lands rotated by (j0 at place − j0 at pick) unless you re-match roll. - When grasping near an object's end, the object extends well beyond the grasp point. Plan the release around where the object's extent will land, not where the gripper is, and verify placement in the overhead frame after release before declaring the task done. - Time the release off joint effort: a grasped object touching down reads as stopped descent plus rising wrist effort. ## Planning the episode - Before moving anything, choose where the goal arrangement will be built: keep it inside both arms' reach overlap — nearer the bases — so no object needs a cross-arm handoff; a handoff costs ~10 calls. Budget ~6–10 move calls per verified pick-and-place when planning against a call limit. - The idle arm's wrist camera is a genuinely useful second viewpoint — fly it in for close-ups the overhead view can't resolve. The only hazard is shared space, and it cuts both ways: the classic collision is the working arm swinging into an idle arm left hovering over the table after its last use. Before sweeping one arm across the workspace, park the other near its own base (j1 ≈ 0.6, j2 ≈ 1.2, j3 ≈ −0.6), then bring it back out when you need the viewpoint again. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place the left block on top of the right block
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteOverhead view shows two small blocks near the bottom of the frame (a blue one left of a red one). I'm lifting the left arm to a gripper-down pose ~35 cm out, 15 cm up, to calibrate the overhead scale and see the workspace better.
move_joints
left_j00.0000left_j12.0625left_j21.6603left_j3-1.1686left_j40.0000left_j50.0000
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=0.0048 left_j2=0.0082 left_j3=-0.0422 left_j4=-0.012 left_j5=-0.0223 left_gripper=0.9988 right_j0=-0.0013 right_j1=0.0029 right_j2=0.0063 right_j3=-0.0429 right_j4=0.0002 right_j5=-0.0147 right_gripper=0.9997 state[joint_eff]: [0.1846, 1.265, 6.7761, 2.2295, 0.0415, 0.2027, -0.1392, 0.0205, 1.388, 6.653, 2.3272, -0.0366, 0.1148, -0.0415] 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_j0": 0, "left_j1": 2.0625, "left_j2": 1.6603, "left_j3": -1.1686, "left_j4": 0, "left_j5": 0}, "note": "Overhead view shows two small blocks near the bottom of the frame (a blue one left of a red one). I'm lifting the left arm to a gripper-down pose ~35 cm out, 15 cm up, to calibrate the overhead scale and see the workspace better."})
tool
executing move_joints over 33 steps (3.3s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteCalibrating from the last move: the left gripper moved ~65 px in the top view for a 15 cm radial move, so ~3.3 px/cm at table level. That puts the blue (left) block roughly 24 cm forward and 20 cm right of the left base; I'm swinging the left arm over it to confirm with the wrist camera.
move_joints
left_j0-0.6950left_j11.8555left_j21.5810left_j3-1.2963left_j5-0.6950
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=2.0407 left_j2=1.6188 left_j3=-1.1423 left_j4=-0.0116 left_j5=-0.0219 left_gripper=0.9987 right_j0=-0.0013 right_j1=0.0048 right_j2=0.0063 right_j3=-0.0715 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997 state[joint_eff]: [0.1299, -10.5231, 8.0615, 0.1783, 0.0611, 0.2125, -0.022, -0.1026, 1.7299, 6.9812, 2.2051, 0.0122, -0.0513, -0.0171] camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.695, "left_j1": 1.8555, "left_j2": 1.581, "left_j3": -1.2963, "left_j5": -0.695}, "note": "Calibrating from the last move: the left gripper moved ~65 px in the top view for a 15 cm radial move, so ~3.3 px/cm at table level. That puts the blue (left) block roughly 24 cm forward and 20 cm right of the left base; I'm swinging the left arm over it to confirm with the wrist camera."})
tool
executing move_joints over 11 steps (1.1s)
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 noteThe blue block is now clearly in the left wrist camera, centered horizontally (x≈115) but well above the grasp point, meaning it's still ~8-10 cm farther out. Extending radially ~5 cm and lowering a little to bring it toward the jaws.
move_joints
left_j12.0845left_j21.7391left_j3-1.2254
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6743 left_j1=1.8992 left_j2=1.5856 left_j3=-1.2732 left_j4=-0.0116 left_j5=-0.622 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0059 right_j2=0.0063 right_j3=-0.0795 right_j4=0.0006 right_j5=-0.0116 right_gripper=0.9997 state[joint_eff]: [-0.0615, -12.3145, 5.4359, 0.1343, -0.0562, -0.1636, -0.022, -0.1573, 2.0034, 7.0496, 1.9512, -0.0073, -0.0659, -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_j1": 2.0845, "left_j2": 1.7391, "left_j3": -1.2254}, "note": "The blue block is now clearly in the left wrist camera, centered horizontally (x\u2248115) but well above the grasp point, meaning it's still ~8-10 cm farther out. Extending radially ~5 cm and lowering a little to bring it toward the jaws."})
tool
executing move_joints over 3 steps (0.3s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteBlock moved only slightly down in the wrist view (y≈100), so it is still ahead of the jaws; extending another ~3 cm radially and dropping ~5 cm to bring the jaws down over it.
move_joints
left_j12.2641left_j21.8173left_j3-1.1240
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6777 left_j1=2.0525 left_j2=1.7061 left_j3=-1.2587 left_j4=-0.0082 left_j5=-0.6537 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0086 right_j2=0.0063 right_j3=-0.0795 right_j4=-0.0002 right_j5=-0.0116 right_gripper=0.9997 state[joint_eff]: [0.2803, -10.9607, 7.9385, 0.0611, -0.0464, 0.2076, -0.0122, -0.0205, 1.4974, 6.9949, 1.8828, -0.0122, -0.0757, -0.0122] camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.2641, "left_j2": 1.8173, "left_j3": -1.124}, "note": "Block moved only slightly down in the wrist view (y\u2248100), so it is still ahead of the jaws; extending another ~3 cm radially and dropping ~5 cm to bring the jaws down over it."})
tool
executing move_joints over 4 steps (0.4s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteThe blue block is now close to the jaws but off to the image-left. I'm zeroing wrist roll so the wrist view has the canonical orientation (image-right = arm's right, image-up = radially outward), which makes the remaining alignment nudges unambiguous; the block is a cube so jaw yaw doesn't matter.
move_joints
left_j50.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6735 left_j1=2.2219 left_j2=1.7973 left_j3=-1.2278 left_j4=-0.0307 left_j5=-0.6655 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0105 right_j2=0.0063 right_j3=-0.0795 right_j4=0.001 right_j5=-0.0116 right_gripper=0.9997 state[joint_eff]: [-0.4034, -8.2667, 6.8581, 1.2381, 0.2466, 0.0904, -0.0122, -0.0889, 1.4701, 6.9949, 1.9072, -0.0171, -0.0611, -0.0122] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j5": 0.0}, "note": "The blue block is now close to the jaws but off to the image-left. I'm zeroing wrist roll so the wrist view has the canonical orientation (image-right = arm's right, image-up = radially outward), which makes the remaining alignment nudges unambiguous; the block is a cube so jaw yaw doesn't matter."})
tool
executing move_joints over 11 steps (1.1s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteWith roll zeroed, the block sits at image-left of the jaw gap; swinging j0 positive by ~0.07 rad (≈3 cm at this radius) should center it between the jaws.
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=-0.6735 left_j1=2.2234 left_j2=1.8 left_j3=-1.2732 left_j4=-0.0311 left_j5=-0.0994 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0105 right_j2=0.0063 right_j3=-0.0799 right_j4=-0.0002 right_j5=-0.0116 right_gripper=0.9997 state[joint_eff]: [-0.3214, -11.5487, 5.2581, 0.5104, -0.0513, 0.3199, -0.0122, -0.0479, 1.6342, 7.1179, 1.8974, -0.0269, -0.0562, -0.0122] camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.6}, "note": "With roll zeroed, the block sits at image-left of the jaw gap; swinging j0 positive by ~0.07 rad (\u22483 cm at this radius) should center it between the jaws."})
tool
executing move_joints over 2 steps (0.2s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteThe nudge moved the block image-left, not right, so the sign is opposite to my assumption; calibrated at ~15 px/cm, I need j0 about 0.10 rad more negative to center the block between the jaws.
move_joints
left_j0-0.7600
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6479 left_j1=2.2234 left_j2=1.7996 left_j3=-1.2804 left_j4=-0.0235 left_j5=-0.0643 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0105 right_j2=0.0063 right_j3=-0.0795 right_j4=-0.0002 right_j5=-0.0116 right_gripper=0.9997 state[joint_eff]: [2.3863, -11.6991, 5.8872, 0.1685, -0.1245, 0.0122, -0.0122, -0.0205, 1.7436, 6.9949, 1.8877, -0.0317, -0.0562, -0.0122] camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.76}, "note": "The nudge moved the block image-left, not right, so the sign is opposite to my assumption; calibrated at ~15 px/cm, I need j0 about 0.10 rad more negative to center the block between the jaws."})
tool
executing move_joints over 2 steps (0.2s)
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 notej0 undershot badly (only reached -0.657) but the block did shift right to x≈90; re-issuing a slightly larger negative j0 to finish centering it in the jaw gap.
move_joints
left_j0-0.7200
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.6567 left_j1=2.2238 left_j2=1.7996 left_j3=-1.2861 left_j4=-0.0387 left_j5=-0.0937 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0105 right_j2=0.0063 right_j3=-0.0799 right_j4=-0.0002 right_j5=-0.0116 right_gripper=0.9997 state[joint_eff]: [-4.547, -11.7128, 5.4359, 0.0952, 0.1343, 0.1538, -0.0122, -0.0752, 1.7709, 7.0632, 1.9072, -0.022, -0.0513, -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_j0": -0.72}, "note": "j0 undershot badly (only reached -0.657) but the block did shift right to x\u224890; re-issuing a slightly larger negative j0 to finish centering it in the jaw gap."})
tool
executing move_joints over 2 steps (0.2s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteMy lateral readings are inconsistent because the block keeps falling into the blind zone at the bottom of the wrist frame; backing up ~4 cm and rising ~5 cm to get the whole block in view before committing to a descent.
move_joints
left_j12.0845left_j21.7391left_j3-1.2254left_j0-0.7200
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7437 left_j1=2.2238 left_j2=1.7996 left_j3=-1.3029 left_j4=-0.0196 left_j5=-0.0902 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0105 right_j2=0.0063 right_j3=-0.0795 right_j4=0.001 right_j5=-0.0116 right_gripper=0.9997 state[joint_eff]: [1.388, -11.5624, 5.3949, 0.1001, -0.2027, 0.022, -0.0122, -0.1299, 1.6205, 7.1726, 1.8828, -0.0317, -0.0513, -0.0122] camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.0845, "left_j2": 1.7391, "left_j3": -1.2254, "left_j0": -0.72}, "note": "My lateral readings are inconsistent because the block keeps falling into the blind zone at the bottom of the wrist frame; backing up ~4 cm and rising ~5 cm to get the whole block in view before committing to a descent."})
tool
executing move_joints over 3 steps (0.3s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteThe block still sits at the far image-left edge; making a deliberately large +0.17 rad j0 swing to unambiguously establish which way the scene shifts and how many pixels per radian.
move_joints
left_j0-0.5500
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7204 left_j1=2.1578 left_j2=1.7428 left_j3=-1.2636 left_j4=-0.0212 left_j5=-0.0944 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0105 right_j2=0.0063 right_j3=-0.0795 right_j4=0.0013 right_j5=-0.0113 right_gripper=0.9997 state[joint_eff]: [-0.1983, -15.241, 5.6547, 0.398, -0.1001, 0.0073, -0.0122, -0.0342, 1.7573, 6.9949, 1.9121, -0.0122, -0.0464, -0.0171] camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.55}, "note": "The block still sits at the far image-left edge; making a deliberately large +0.17 rad j0 swing to unambiguously establish which way the scene shifts and how many pixels per radian."})
tool
executing move_joints over 3 steps (0.3s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteConfirmed: positive j0 shifts the scene image-right, and the block is now centered under the jaw gap (x≈110). Descending ~6 cm while holding radius to bring the open jaws down around it.
move_joints
left_j12.1837left_j21.6291left_j3-1.0162
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5884 left_j1=2.149 left_j2=1.7393 left_j3=-1.261 left_j4=-0.0132 left_j5=-0.0944 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0105 right_j2=0.0063 right_j3=-0.0795 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997 state[joint_eff]: [-0.1162, -10.865, 5.8872, 0.0366, -0.1197, -0.0317, -0.0122, -0.0889, 1.6479, 6.9812, 1.8974, -0.0317, -0.0464, -0.0122] camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.1837, "left_j2": 1.6291, "left_j3": -1.0162}, "note": "Confirmed: positive j0 shifts the scene image-right, and the block is now centered under the jaw gap (x\u2248110). Descending ~6 cm while holding radius to bring the open jaws down around it."})
tool
executing move_joints over 4 steps (0.4s)
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 noteThe cube now sits squarely between the two jaw silhouettes at the bottom of the wrist view. Lowering another ~7 cm toward the table; I'll watch j1 effort for contact.
move_joints
left_j12.3462left_j21.5714left_j3-0.7960
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5953 left_j1=2.1757 left_j2=1.6417 left_j3=-1.1027 left_j4=-0.0189 left_j5=-0.0982 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0105 right_j2=0.0063 right_j3=-0.0795 right_j4=0.0002 right_j5=-0.0113 right_gripper=0.9997 state[joint_eff]: [0.3624, -10.7966, 5.2444, 0.3834, -0.0122, 0.0073, -0.0122, -0.0889, 1.7983, 6.9949, 1.8974, -0.0415, -0.0513, -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_j1": 2.3462, "left_j2": 1.5714, "left_j3": -0.796}, "note": "The cube now sits squarely between the two jaw silhouettes at the bottom of the wrist view. Lowering another ~7 cm toward the table; I'll watch j1 effort for contact."})
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 notej1 stalled and its holding effort relaxed from -10.8 to -1.0, indicating the fingertips reached the table with the cube between them. 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=-0.5888 left_j1=2.215 left_j2=1.6238 left_j3=-1.0027 left_j4=0.0143 left_j5=-0.1093 left_gripper=0.9985 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0795 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997 state[joint_eff]: [-0.8547, -0.9641, 1.3333, 2.2833, -0.359, 0.1001, -0.0171, -0.0889, 1.5658, 7.0359, 1.9414, -0.0073, -0.0757, -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_gripper": 0.0}, "note": "j1 stalled and its holding effort relaxed from -10.8 to -1.0, indicating the fingertips reached the table with the cube between them. Closing the gripper."})
tool
executing move_joints over 10 steps (1.0s)
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 noteGripper closed to a residual of only 0.013 (~1 mm) — too thin for a cube, so this is at best an edge pinch. Lifting to see whether anything came with it.
move_joints
left_j12.0845left_j21.7391left_j3-1.2254
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5888 left_j1=2.2032 left_j2=1.6257 left_j3=-1.0222 left_j4=0.0063 left_j5=-0.1184 left_gripper=0.0131 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0113 right_gripper=0.9997 state[joint_eff]: [-0.1573, -10.6598, 5.4496, 0.3834, 0.0513, 0.0757, 1.1502, -0.0752, 1.6068, 6.9949, 1.9121, -0.0269, -0.0513, -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": 2.0845, "left_j2": 1.7391, "left_j3": -1.2254}, "note": "Gripper closed to a residual of only 0.013 (~1 mm) \u2014 too thin for a cube, so this is at best an edge pinch. Lifting to see whether anything came with it."})
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 grasp was empty — the green/blue cube is visible just image-left of the jaws. Reopening and swinging j0 ~0.09 rad positive (≈3 cm) to bring the jaws over it.
move_joints
left_gripper1.0000left_j0-0.5000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5888 left_j1=2.1479 left_j2=1.6997 left_j3=-1.1713 left_j4=0.0071 left_j5=-0.1207 left_gripper=0.0145 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0799 right_j4=-0.0002 right_j5=-0.0116 right_gripper=0.9997 state[joint_eff]: [-0.1573, -14.8308, 8.0068, 0.1392, -0.0611, -0.0415, 0.9011, -0.0752, 1.8667, 6.9949, 1.8974, -0.0024, -0.0757, -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_gripper": 1.0, "left_j0": -0.5}, "note": "The grasp was empty \u2014 the green/blue cube is visible just image-left of the jaws. Reopening and swinging j0 ~0.09 rad positive (\u22483 cm) to bring the jaws over it."})
tool
executing move_joints over 10 steps (1.0s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteThe object (a small white carton with a green logo) is now well centered between the open jaws at x≈112. Descending about 7 cm and re-checking before the final drop.
move_joints
left_j12.2040left_j21.6162left_j3-0.9830
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.506 left_j1=2.1441 left_j2=1.7016 left_j3=-1.1862 left_j4=0.0071 left_j5=-0.1249 left_gripper=0.9951 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0795 right_j4=0.0002 right_j5=-0.0113 right_gripper=0.9997 state[joint_eff]: [0.3897, -10.7829, 5.4085, 0.3199, -0.0269, -0.0171, -0.1197, -0.1573, 1.6068, 6.9949, 1.8926, -0.0073, -0.022, -0.0122] camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.204, "left_j2": 1.6162, "left_j3": -0.983}, "note": "The object (a small white carton with a green logo) is now well centered between the open jaws at x\u2248112. Descending about 7 cm and re-checking before the final drop."})
tool
executing move_joints over 4 steps (0.4s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent noteObject still centered between the jaws in the (motion-blurred) wrist view; commanding the final descent to table level and watching j1 effort for contact.
move_joints
left_j12.3462left_j21.5714left_j3-0.7960
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5034 left_j1=2.1933 left_j2=1.6283 left_j3=-1.0512 left_j4=0.0067 left_j5=-0.1284 left_gripper=0.9964 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0795 right_j4=0.001 right_j5=-0.0113 right_gripper=0.9997 state[joint_eff]: [-0.3214, -11.0838, 5.3128, 0.3932, -0.0464, 0.022, 0.1343, -0.1162, 1.8256, 6.9812, 1.8632, -0.022, -0.0611, -0.0122] camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.3462, "left_j2": 1.5714, "left_j3": -0.796}, "note": "Object still centered between the jaws in the (motion-blurred) wrist view; commanding the final descent to table level and watching j1 effort for contact."})
tool
executing move_joints over 5 steps (0.5s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteFingertips are at table level again (j1 stalled, effort relaxed to -1.1) with the object's teal band just visible in the jaw gap. Closing.
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=-0.5034 left_j1=2.2143 left_j2=1.6218 left_j3=-1.0096 left_j4=0.0185 left_j5=-0.1303 left_gripper=0.9967 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0799 right_j4=-0.0002 right_j5=-0.0113 right_gripper=0.9997 state[joint_eff]: [-0.3487, -1.1282, 1.3333, 2.337, -0.1685, -0.0122, 0.0073, -0.0479, 1.6068, 7.3094, 1.8681, 0.0122, -0.0122, -0.0122] camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0.0}, "note": "Fingertips are at table level again (j1 stalled, effort relaxed to -1.1) with the object's teal band just visible in the jaw gap. Closing."})
tool
executing move_joints over 10 steps (1.0s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
agent noteSecond empty close (residual 0.012). Reopening and pulling back ~3 cm while rising ~13 cm to re-acquire the object and see exactly where it sits relative to the jaws.
move_joints
left_gripper1.0000left_j11.9772left_j21.5764left_j3-1.1700
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5034 left_j1=2.2028 left_j2=1.6241 left_j3=-1.0229 left_j4=0.0093 left_j5=-0.136 left_gripper=0.0125 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0799 right_j4=-0.0002 right_j5=-0.0113 right_gripper=0.9997 state[joint_eff]: [-0.2256, -10.6051, 5.2444, 0.3199, 0.0757, 0.0415, 1.116, -0.0752, 1.5932, 7.3641, 1.9267, -0.0269, -0.0366, -0.0122] camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1.0, "left_j1": 1.9772, "left_j2": 1.5764, "left_j3": -1.17}, "note": "Second empty close (residual 0.012). Reopening and pulling back ~3 cm while rising ~13 cm to re-acquire the object and see exactly where it sits relative to the jaws."})
tool
executing move_joints over 10 steps (1.0s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteRe-acquired: the target is a tall clear box with a blue label, centered at x≈115 with its top edge at y≈120. Extending radially 3 cm at constant height as a depth calibration — I'll measure how far its top edge shifts down the frame.
move_joints
left_j12.0845left_j21.7391left_j3-1.2254
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5034 left_j1=2.0235 left_j2=1.5826 left_j3=-1.1511 left_j4=0.0105 left_j5=-0.1398 left_gripper=0.9951 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0006 right_j5=-0.0116 right_gripper=0.9997 state[joint_eff]: [-0.1436, -13.0393, 5.2171, 0.2759, -0.0757, -0.0024, -0.1929, -0.1436, 1.9624, 6.9949, 1.8877, -0.0024, -0.0708, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.0845, "left_j2": 1.7391, "left_j3": -1.2254}, "note": "Re-acquired: the target is a tall clear box with a blue label, centered at x\u2248115 with its top edge at y\u2248120. Extending radially 3 cm at constant height as a depth calibration \u2014 I'll measure how far its top edge shifts down the frame."})
tool
executing move_joints over 3 steps (0.3s)
step 139
top_cam
camera top_cam step 139
left_cam
camera left_cam step 139
right_cam
camera right_cam step 139
assistant
agent noteThe box's top face (white/green) is at y≈120-155 and its blue front face at y≈155-190, just beyond the jaw gap. Descending ~5 cm only — the box is tall enough to grasp at mid-height — and I'll close as soon as it straddles the jaws.
move_joints
left_j12.1568left_j21.5834left_j3-0.9974
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5034 left_j1=2.0727 left_j2=1.6924 left_j3=-1.2125 left_j4=0.0109 left_j5=-0.1467 left_gripper=0.9965 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0113 right_gripper=0.9997 state[joint_eff]: [-0.1026, -10.0308, 8.4855, 0.2369, -0.0513, 0.0904, 0.1392, -0.0752, 1.6068, 6.9949, 1.9023, -0.0122, -0.0611, -0.0122] camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.1568, "left_j2": 1.5834, "left_j3": -0.9974}, "note": "The box's top face (white/green) is at y\u2248120-155 and its blue front face at y\u2248155-190, just beyond the jaw gap. Descending ~5 cm only \u2014 the box is tall enough to grasp at mid-height \u2014 and I'll close as soon as it straddles the jaws."})
tool
executing move_joints over 4 steps (0.4s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent noteThe box now sits right in the jaw gap at mid-height (top face at y≈165, centered x≈118). Closing here rather than at table level.
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=-0.5034 left_j1=2.1468 left_j2=1.594 left_j3=-1.0687 left_j4=0.0109 left_j5=-0.1471 left_gripper=0.9967 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0795 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997 state[joint_eff]: [-0.0479, -10.988, 5.9009, 0.398, -0.0122, -0.0122, 0.0122, -0.0752, 1.5932, 6.9949, 1.8779, 0.0073, -0.0806, -0.0122] camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0.0}, "note": "The box now sits right in the jaw gap at mid-height (top face at y\u2248165, centered x\u2248118). Closing here rather than at table level."})
tool
executing move_joints over 10 steps (1.0s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteThird empty close; the closed jaw tip projects at (115,180) in this view and the box has vanished, so it must be nearer to the base than my fingertips. Opening and pulling back/up to r≈0.30, z≈0.22 for a clean look.
move_joints
left_gripper1.0000left_j11.8001left_j21.5947left_j3-1.3654
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5034 left_j1=2.1624 left_j2=1.5799 left_j3=-1.0626 left_j4=0.0109 left_j5=-0.1547 left_gripper=0.0128 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0799 right_j4=0.001 right_j5=-0.0116 right_gripper=0.9997 state[joint_eff]: [-0.1026, -12.1368, 6.4889, 0.0757, -0.0415, 0.0757, 1.1648, -0.0752, 1.5932, 6.9949, 1.8681, -0.0366, -0.0611, -0.0122] camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1.0, "left_j1": 1.8001, "left_j2": 1.5947, "left_j3": -1.3654}, "note": "Third empty close; the closed jaw tip projects at (115,180) in this view and the box has vanished, so it must be nearer to the base than my fingertips. Opening and pulling back/up to r\u22480.30, z\u22480.22 for a clean look."})
tool
executing move_joints over 10 steps (1.0s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteNow I can see the target clearly: a blue letter cube at (110,115) in the wrist view, laterally centered but beyond the jaws. Extending exactly 4 cm radially at constant height to calibrate how many pixels per cm the ground plane moves in this view.
move_joints
left_j11.9510left_j21.7948left_j3-1.4146
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5034 left_j1=1.8435 left_j2=1.5791 left_j3=-1.327 left_j4=0.0109 left_j5=-0.1619 left_gripper=0.9955 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0799 right_j4=-0.0002 right_j5=-0.0113 right_gripper=0.9997 state[joint_eff]: [-0.1026, -10.6598, 6.9402, 0.2173, -0.0122, 0.0611, -0.2076, -0.1573, 1.6068, 6.9812, 1.873, -0.0415, -0.0415, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.951, "left_j2": 1.7948, "left_j3": -1.4146}, "note": "Now I can see the target clearly: a blue letter cube at (110,115) in the wrist view, laterally centered but beyond the jaws. Extending exactly 4 cm radially at constant height to calibrate how many pixels per cm the ground plane moves in this view."})
tool
executing move_joints over 4 steps (0.4s)
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 noteA 2.8 cm radial move only shifted the cube 5-7 px down the frame, implying the cube is much farther out than I assumed (~2.5 px/cm here). Extending another 5 cm radially to test that hypothesis.
move_joints
left_j12.1268left_j22.0152left_j3-1.4592
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5034 left_j1=1.9457 left_j2=1.7454 left_j3=-1.4082 left_j4=0.0113 left_j5=-0.1673 left_gripper=0.9969 right_j0=-0.0013 right_j1=0.012 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0113 right_gripper=0.9997 state[joint_eff]: [-0.2667, -9.6479, 8.1846, 0.2125, 0.0122, 0.0269, 0.1392, -0.0889, 1.5658, 7.1863, 1.8779, -0.0659, -0.0611, -0.0122] camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.1268, "left_j2": 2.0152, "left_j3": -1.4592}, "note": "A 2.8 cm radial move only shifted the cube 5-7 px down the frame, implying the cube is much farther out than I assumed (~2.5 px/cm here). Extending another 5 cm radially to test that hypothesis."})
tool
executing move_joints over 5 steps (0.5s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteGood calibration: 4.1 cm radial = 28 px, so ~6.8 px/cm, and the cube (now at y≈150, x≈105) is still ~7 cm beyond the jaws. Descending to fingertip height ~3 cm above the table (table contact measured at FK z=0.087) and nudging j0 to center it.
move_joints
left_j12.2006left_j21.7384left_j3-1.1086left_j0-0.4600
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5034 left_j1=2.1159 left_j2=1.969 left_j3=-1.4727 left_j4=0.0113 left_j5=-0.1741 left_gripper=0.9972 right_j0=-0.0013 right_j1=0.0132 right_j2=0.0063 right_j3=-0.0795 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997 state[joint_eff]: [-0.1026, -10.7556, 7.9795, 0.2906, -0.0464, 0.0366, 0.0171, -0.1299, 1.5385, 7.159, 1.8584, -0.0122, -0.0757, -0.0122] camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.2006, "left_j2": 1.7384, "left_j3": -1.1086, "left_j0": -0.46}, "note": "Good calibration: 4.1 cm radial = 28 px, so ~6.8 px/cm, and the cube (now at y\u2248150, x\u2248105) is still ~7 cm beyond the jaws. Descending to fingertip height ~3 cm above the table (table contact measured at FK z=0.087) and nudging j0 to center it."})
tool
executing move_joints over 6 steps (0.6s)
step 178
top_cam
camera top_cam step 178
left_cam
camera left_cam step 178
right_cam
camera right_cam step 178
assistant
agent noteThe cube's base is now a sliver at the bottom edge between the jaws, but my depth calibration says I'm still short; pushing 4 cm further out at the same height so the jaws actually straddle it before closing.
move_joints
left_j12.3473left_j21.9961left_j3-1.2196
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.4648 left_j1=2.1918 left_j2=1.7546 left_j3=-1.1873 left_j4=0.0109 left_j5=-0.1738 left_gripper=0.9972 right_j0=-0.0013 right_j1=0.0132 right_j2=0.0063 right_j3=-0.0799 right_j4=0.001 right_j5=-0.0113 right_gripper=0.9997 state[joint_eff]: [0.4034, -11.0427, 5.7094, 0.3492, -0.0464, -0.0171, -0.0122, -0.0615, 1.6068, 6.9812, 1.8779, -0.0366, -0.022, -0.0122] camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.3473, "left_j2": 1.9961, "left_j3": -1.2196}, "note": "The cube's base is now a sliver at the bottom edge between the jaws, but my depth calibration says I'm still short; pushing 4 cm further out at the same height so the jaws actually straddle it before closing."})
tool
executing move_joints over 4 steps (0.4s)
step 182
top_cam
camera top_cam step 182
left_cam
camera left_cam step 182
right_cam
camera right_cam step 182
assistant
agent noteThe cube has passed into the blind zone right at the jaws; closing now.
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=-0.4641 left_j1=2.3257 left_j2=1.9503 left_j3=-1.2316 left_j4=0.0109 left_j5=-0.1879 left_gripper=0.9972 right_j0=-0.0013 right_j1=0.0151 right_j2=0.0063 right_j3=-0.0795 right_j4=-0.0002 right_j5=-0.0116 right_gripper=0.9997 state[joint_eff]: [-0.4171, -11.7949, 8.0068, 0.3736, -0.0415, 0.1197, -0.0122, -0.0615, 1.4701, 7.0222, 1.8584, 0.0122, -0.0757, -0.0122] camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0.0}, "note": "The cube has passed into the blind zone right at the jaws; closing now."})
tool
executing move_joints over 10 steps (1.0s)
step 192
top_cam
camera top_cam step 192
left_cam
camera left_cam step 192
right_cam
camera right_cam step 192
assistant
agent noteFourth empty close. The overhead view suggests the cube actually sits a few cm to the arm's left of my jaws, contradicting the wrist view. Rising 8 cm straight up at the same radius to get an unambiguous look at the cube relative to the open jaws.
move_joints
left_gripper1.0000left_j12.2724left_j22.2128left_j3-1.5112
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.4641 left_j1=2.3444 left_j2=1.9549 left_j3=-1.2392 left_j4=0.0109 left_j5=-0.1963 left_gripper=0.0126 right_j0=-0.0013 right_j1=0.0158 right_j2=0.0063 right_j3=-0.0799 right_j4=-0.0002 right_j5=-0.0116 right_gripper=0.9997 state[joint_eff]: [-0.1846, -13.9419, 5.2308, 0.2222, -0.0415, 0.0464, 1.1209, -0.0615, 1.7436, 7.241, 1.9219, 0.0024, -0.0562, -0.0122] camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1.0, "left_j1": 2.2724, "left_j2": 2.2128, "left_j3": -1.5112}, "note": "Fourth empty close. The overhead view suggests the cube actually sits a few cm to the arm's left of my jaws, contradicting the wrist view. Rising 8 cm straight up at the same radius to get an unambiguous look at the cube relative to the open jaws."})
tool
executing move_joints over 10 steps (1.0s)
step 202
top_cam
camera top_cam step 202
left_cam
camera left_cam step 202
right_cam
camera right_cam step 202
assistant
agent noteFrom 8 cm up the cube sits perfectly centered between the open jaws, so lateral aim is right — the error must be depth/height. Descending to table level at this exact radius and bearing to re-inspect before closing.
move_joints
left_j12.3886left_j21.9533left_j3-1.1355
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.4641 left_j1=2.3318 left_j2=2.1708 left_j3=-1.4971 left_j4=0.0109 left_j5=-0.2131 left_gripper=0.9952 right_j0=-0.0013 right_j1=0.017 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0113 right_gripper=0.9997 state[joint_eff]: [-0.335, -16.8, 8.759, 0.2369, -0.0415, 0.1832, -0.2125, -0.0479, 1.5111, 7.1316, 1.8877, -0.0122, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.3886, "left_j2": 1.9533, "left_j3": -1.1355}, "note": "From 8 cm up the cube sits perfectly centered between the open jaws, so lateral aim is right \u2014 the error must be depth/height. Descending to table level at this exact radius and bearing to re-inspect before closing."})
tool
executing move_joints over 6 steps (0.6s)
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 noteAt table level the cube is out of the wrist frame entirely. Retracting 2.5 cm radially to see whether it reappears just at the jaw line, which would pin down the correct grasp depth.
move_joints
left_j12.3017left_j21.7917left_j3-1.0608
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.4641 left_j1=2.3741 left_j2=1.9652 left_j3=-1.224 left_j4=0.0109 left_j5=-0.2157 left_gripper=0.9965 right_j0=-0.0013 right_j1=0.0177 right_j2=0.0063 right_j3=-0.0795 right_j4=-0.0002 right_j5=-0.0113 right_gripper=0.9997 state[joint_eff]: [-0.212, -11.5897, 5.9282, 0.4127, -0.0317, -0.0073, 0.1197, -0.0615, 1.5795, 6.9949, 1.9316, -0.0317, -0.0513, -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": 2.3017, "left_j2": 1.7917, "left_j3": -1.0608}, "note": "At table level the cube is out of the wrist frame entirely. Retracting 2.5 cm radially to see whether it reappears just at the jaw line, which would pin down the correct grasp depth."})
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 noteThe wrist view has become unreliable, so I'm trusting the overhead frame: it shows the blue cube roughly 5 cm to the arm's left and 10 cm nearer the base than my gripper. Moving there and hovering ~7 cm up to re-check.
move_joints
left_j0-0.3200left_j11.8382left_j21.3837left_j3-1.1163
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.4637 left_j1=2.3192 left_j2=1.8267 left_j3=-1.1053 left_j4=0.0185 left_j5=-0.2218 left_gripper=0.9971 right_j0=-0.0013 right_j1=0.0196 right_j2=0.0063 right_j3=-0.0795 right_j4=0.001 right_j5=-0.0116 right_gripper=0.9997 state[joint_eff]: [0.1299, -13.135, 4.6154, 0.4567, -0.1734, 0.0513, 0.0513, -0.0752, 1.9624, 7.0085, 1.9805, -0.0024, -0.0562, -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_j0": -0.32, "left_j1": 1.8382, "left_j2": 1.3837, "left_j3": -1.1163}, "note": "The wrist view has become unreliable, so I'm trusting the overhead frame: it shows the blue cube roughly 5 cm to the arm's left and 10 cm nearer the base than my gripper. Moving there and hovering ~7 cm up to re-check."})
tool
executing move_joints over 8 steps (0.8s)
step 219
top_cam
camera top_cam step 219
left_cam
camera left_cam step 219
right_cam
camera right_cam step 219
assistant
agent noteNow it's clear: pulling back 10 cm brought the cube back into the wrist frame near the jaw line (it was previously well past the fingers). Nudging j0 back to -0.43 to re-center it laterally and adding ~1 cm of reach.
move_joints
left_j0-0.4300left_j11.8732left_j21.4309left_j3-1.1285
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3309 left_j1=1.8847 left_j2=1.4052 left_j3=-1.1118 left_j4=0.0219 left_j5=-0.2222 left_gripper=0.9972 right_j0=-0.0013 right_j1=0.0238 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0006 right_j5=-0.0116 right_gripper=0.9997 state[joint_eff]: [0.4034, -10.8923, 5.6, 0.5153, -0.0757, -0.0366, 0.0024, -0.0068, 1.5521, 7.0496, 1.8974, -0.0024, -0.0708, -0.0171] camera 'top_cam' (step 219): [image omitted: streamed camera frame] camera 'left_cam' (step 219): [image omitted: streamed camera frame] camera 'right_cam' (step 219): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.43, "left_j1": 1.8732, "left_j2": 1.4309, "left_j3": -1.1285}, "note": "Now it's clear: pulling back 10 cm brought the cube back into the wrist frame near the jaw line (it was previously well past the fingers). Nudging j0 back to -0.43 to re-center it laterally and adding ~1 cm of reach."})
tool
executing move_joints over 2 steps (0.2s)
step 221
top_cam
camera top_cam step 221
left_cam
camera left_cam step 221
right_cam
camera right_cam step 221
assistant
agent noteThe cube still sits well to the image-right of the jaw gap (x≈168 vs 115), about 4 cm; commanding j0 to -0.55 (with extra to beat the controller's undershoot) to bring it into the gap.
move_joints
left_j0-0.5500
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3725 left_j1=1.8656 left_j2=1.3994 left_j3=-1.1328 left_j4=0.0143 left_j5=-0.2256 left_gripper=0.9972 right_j0=-0.0013 right_j1=0.0235 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0113 right_gripper=0.9997 state[joint_eff]: [-1.5932, -8.1436, 8.1162, 0.2711, 0.0757, 0.0024, -0.0122, -0.0205, 1.6068, 7.2, 1.9365, -0.022, -0.0464, -0.0122] camera 'top_cam' (step 221): [image omitted: streamed camera frame] camera 'left_cam' (step 221): [image omitted: streamed camera frame] camera 'right_cam' (step 221): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.55}, "note": "The cube still sits well to the image-right of the jaw gap (x\u2248168 vs 115), about 4 cm; commanding j0 to -0.55 (with extra to beat the controller's undershoot) to bring it into the gap."})
tool
executing move_joints over 3 steps (0.3s)
step 224
top_cam
camera top_cam step 224
left_cam
camera left_cam step 224
right_cam
camera right_cam step 224
assistant
agent noteCube is now centered in the jaw gap at x≈115. Advancing ~4 cm and descending ~5 cm so the jaws come down around it; I'll check the view once more before closing.
move_joints
left_j12.1040left_j21.4942left_j3-0.9610
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5182 left_j1=1.8671 left_j2=1.3994 left_j3=-1.1416 left_j4=0.0151 left_j5=-0.2272 left_gripper=0.9972 right_j0=-0.0013 right_j1=0.0235 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997 state[joint_eff]: [-0.0615, -9.0598, 5.6137, 0.2906, -0.0171, -0.0122, -0.0122, -0.0342, 1.8393, 7.0906, 1.8681, 0.0122, -0.0757, -0.0122] camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.104, "left_j2": 1.4942, "left_j3": -0.961}, "note": "Cube is now centered in the jaw gap at x\u2248115. Advancing ~4 cm and descending ~5 cm so the jaws come down around it; I'll check the view once more before closing."})
tool
executing move_joints over 4 steps (0.4s)
step 228
top_cam
camera top_cam step 228
left_cam
camera left_cam step 228
right_cam
camera right_cam step 228
assistant
agent noteThe cube is now directly in the jaw gap at the bottom of the wrist frame with the fingertips near table level. Closing.
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=-0.5137 left_j1=2.0933 left_j2=1.4574 left_j3=-1.0313 left_j4=0.0216 left_j5=-0.2375 left_gripper=0.9972 right_j0=-0.0013 right_j1=0.0254 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997 state[joint_eff]: [-0.4308, -11.6171, 8.3897, 0.2808, -0.0562, 0.0806, -0.0122, -0.0342, 1.5658, 7.0085, 1.8779, -0.0073, -0.0806, -0.0171] camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0.0}, "note": "The cube is now directly in the jaw gap at the bottom of the wrist frame with the fingertips near table level. Closing."})
tool
executing move_joints over 10 steps (1.0s)
step 238
top_cam
camera top_cam step 238
left_cam
camera left_cam step 238
right_cam
camera right_cam step 238
assistant
agent noteFifth empty close — my model of where the cube is must be wrong. Parking the left arm near its base to get a completely unobstructed overhead view of both blocks so I can re-locate them from scratch.
move_joints
left_j00.0000left_j10.6000left_j21.2000left_j3-0.6000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5163 left_j1=2.1075 left_j2=1.4647 left_j3=-1.0302 left_j4=0.0257 left_j5=-0.2443 left_gripper=0.0119 right_j0=-0.0013 right_j1=0.0254 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997 state[joint_eff]: [0.0752, -11.6855, 4.6017, 0.0513, -0.0513, 0.0171, 1.0525, -0.1709, 1.5932, 7.2, 1.8584, -0.0269, -0.0806, -0.0122] camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": 0, "left_j1": 0.6, "left_j2": 1.2, "left_j3": -0.6, "left_gripper": 1.0}, "note": "Fifth empty close \u2014 my model of where the cube is must be wrong. Parking the left arm near its base to get a completely unobstructed overhead view of both blocks so I can re-locate them from scratch."})
tool
executing move_joints over 24 steps (2.4s)
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 noteClean overhead view: the blue cube is at pixel (93,213) and the red cube at (163,208), both near the bottom edge. Now extending the left arm straight forward (j0=0) with the gripper closed to table height, to calibrate the overhead pixel-to-arm mapping from a known fingertip position.
move_joints
left_j00.0000left_j12.3350left_j21.8534left_j3-1.0892left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0097 left_j1=0.6216 left_j2=1.2045 left_j3=-0.6552 left_j4=0.0246 left_j5=-0.2558 left_gripper=0.9978 right_j0=-0.0013 right_j1=0.0311 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0006 right_j5=-0.0113 right_gripper=0.9997 state[joint_eff]: [0.4171, 2.4137, 5.094, 2.381, -0.0171, 0.0904, -0.0611, -0.1983, 1.5111, 7.0222, 1.8584, -0.0366, -0.022, -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, "left_j1": 2.335, "left_j2": 1.8534, "left_j3": -1.0892, "left_gripper": 0.0}, "note": "Clean overhead view: the blue cube is at pixel (93,213) and the red cube at (163,208), both near the bottom edge. Now extending the left arm straight forward (j0=0) with the gripper closed to table height, to calibrate the overhead pixel-to-arm mapping from a known fingertip position."})
tool
executing move_joints over 28 steps (2.8s)
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 noteOverhead calibration: with the fingertip at true radius 0.435 m and j0=0 it appears at pixel (52,160), giving ~3 px/cm and putting the blue cube at radius ≈0.29 m, bearing j0≈-0.49 — about 8 cm nearer than where I have been closing. Moving to hover over that spot.
move_joints
left_j0-0.4900left_j11.7362left_j21.2073left_j3-1.0419left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0055 left_j1=2.31 left_j2=1.8263 left_j3=-1.0672 left_j4=0.0223 left_j5=-0.2634 left_gripper=0.0113 right_j0=-0.0013 right_j1=0.0364 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0006 right_j5=-0.0116 right_gripper=0.9997 state[joint_eff]: [0.335, -12.1915, 7.788, 0.1392, -0.0024, 0.0073, 0.6081, -0.0615, 1.3197, 7.1863, 1.8632, 0.0024, -0.0464, -0.0122] 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": -0.49, "left_j1": 1.7362, "left_j2": 1.2073, "left_j3": -1.0419, "left_gripper": 1.0}, "note": "Overhead calibration: with the fingertip at true radius 0.435 m and j0=0 it appears at pixel (52,160), giving ~3 px/cm and putting the blue cube at radius \u22480.29 m, bearing j0\u2248-0.49 \u2014 about 8 cm nearer than where I have been closing. Moving to hover over that spot."})
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 noteThe blue cube is clearly in view just beyond the open jaws. Descending straight to table height at this radius/bearing and I'll inspect the close-up view before closing.
move_joints
left_j11.8972left_j21.0956left_j3-0.7692
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.4736 left_j1=1.7832 left_j2=1.2301 left_j3=-1.0447 left_j4=0.0235 left_j5=-0.2672 left_gripper=0.9948 right_j0=-0.0013 right_j1=0.0437 right_j2=0.0067 right_j3=-0.0799 right_j4=0.001 right_j5=-0.0116 right_gripper=0.9997 state[joint_eff]: [-0.1709, -9.9487, 5.7231, 0.6276, -0.1001, -0.0073, -0.188, -0.0205, 1.2786, 7.0496, 1.8828, -0.0366, -0.0415, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). 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": 1.8972, "left_j2": 1.0956, "left_j3": -0.7692}, "note": "The blue cube is clearly in view just beyond the open jaws. Descending straight to table height at this radius/bearing and I'll inspect the close-up view before closing."})
tool
executing move_joints over 5 steps (0.5s)
step 305
top_cam
camera top_cam step 305
left_cam
camera left_cam step 305
right_cam
camera right_cam step 305
assistant
agent noteAt table height the cube drops out of the wrist frame (only a blue sliver at the bottom-right), which is expected at this pitch. Closing here at the overhead-derived radius of 0.29 m.
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=-0.4755 left_j1=1.8778 left_j2=1.1152 left_j3=-0.8654 left_j4=0.0315 left_j5=-0.2707 left_gripper=0.9959 right_j0=-0.0013 right_j1=0.0441 right_j2=0.0067 right_j3=-0.0795 right_j4=0.001 right_j5=-0.0116 right_gripper=0.9997 state[joint_eff]: [0.294, -6.7897, 3.7265, 0.9597, -0.0415, 0.0317, 0.0904, -0.0342, 1.5248, 7.2274, 1.873, -0.0073, -0.0757, -0.0122] camera 'top_cam' (step 305): [image omitted: streamed camera frame] camera 'left_cam' (step 305): [image omitted: streamed camera frame] camera 'right_cam' (step 305): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 0.0}, "note": "At table height the cube drops out of the wrist frame (only a blue sliver at the bottom-right), which is expected at this pitch. Closing here at the overhead-derived radius of 0.29 m."})
tool
executing move_joints over 10 steps (1.0s)
step 315
top_cam
camera top_cam step 315
left_cam
camera left_cam step 315
right_cam
camera right_cam step 315
assistant
agent noteGrasp confirmed — the gripper closed to a residual of 0.448 (≈4.3 cm, matching the cube) with high effort. Lifting the cube ~11 cm.
move_joints
left_j11.6558left_j21.3396left_j3-1.2546
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.4763 left_j1=1.8751 left_j2=1.1133 left_j3=-0.8749 left_j4=0.0319 left_j5=-0.2718 left_gripper=0.4484 right_j0=-0.0013 right_j1=0.0441 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997 state[joint_eff]: [-0.0889, -8.2256, 5.094, 0.2027, -0.0513, -0.0171, 1.0281, -0.0889, 1.6615, 7.1863, 1.873, -0.022, -0.0513, -0.0122] camera 'top_cam' (step 315): [image omitted: streamed camera frame] camera 'left_cam' (step 315): [image omitted: streamed camera frame] camera 'right_cam' (step 315): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 1.6558, "left_j2": 1.3396, "left_j3": -1.2546}, "note": "Grasp confirmed \u2014 the gripper closed to a residual of 0.448 (\u22484.3 cm, matching the cube) with high effort. Lifting the cube ~11 cm."})
tool
executing move_joints over 7 steps (0.7s)
step 322
top_cam
camera top_cam step 322
left_cam
camera left_cam step 322
right_cam
camera right_cam step 322
assistant
agent noteThe blue cube is gone from its spot in the overhead view, confirming it's in the gripper. Using the same overhead mapping, the red block sits at radius ≈0.46 m, bearing j0≈-0.94; moving there and hovering ~11 cm above the table.
move_joints
left_j0-0.9350left_j12.3219left_j22.2974left_j3-1.5463
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.477 left_j1=1.6962 left_j2=1.3037 left_j3=-1.1995 left_j4=0.033 left_j5=-0.2749 left_gripper=0.4484 right_j0=-0.0013 right_j1=0.0444 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0006 right_j5=-0.0116 right_gripper=0.9997 state[joint_eff]: [-0.1983, -9.5111, 7.8974, 0.2857, -0.0415, -0.0122, 1.0281, -0.1026, 1.7162, 7.1863, 1.9512, -0.0122, -0.022, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 322): [image omitted: streamed camera frame] camera 'left_cam' (step 322): [image omitted: streamed camera frame] camera 'right_cam' (step 322): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.935, "left_j1": 2.3219, "left_j2": 2.2974, "left_j3": -1.5463}, "note": "The blue cube is gone from its spot in the overhead view, confirming it's in the gripper. Using the same overhead mapping, the red block sits at radius \u22480.46 m, bearing j0\u2248-0.94; moving there and hovering ~11 cm above the table."})
tool
executing move_joints over 16 steps (1.6s)
step 338
top_cam
camera top_cam step 338
left_cam
camera left_cam step 338
right_cam
camera right_cam step 338
assistant
agent noteThe wrist view shows the carried gnome block below and the red "a" block ahead near the top of the frame. Descending ~5 cm to the computed stacking height (one block-height above the table) and re-checking alignment.
move_joints
left_j12.3519left_j22.1404left_j3-1.3593
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9215 left_j1=2.3051 left_j2=2.2478 left_j3=-1.5475 left_j4=0.0338 left_j5=-0.2935 left_gripper=0.453 right_j0=-0.0013 right_j1=0.0486 right_j2=0.0067 right_j3=-0.0795 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997 state[joint_eff]: [-0.2803, -11.6171, 8.1162, 0.3492, 0.0122, 0.1685, 1.033, -0.1709, 1.1829, 7.0632, 1.9316, -0.0122, -0.0562, -0.0122] camera 'top_cam' (step 338): [image omitted: streamed camera frame] camera 'left_cam' (step 338): [image omitted: streamed camera frame] camera 'right_cam' (step 338): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.3519, "left_j2": 2.1404, "left_j3": -1.3593}, "note": "The wrist view shows the carried gnome block below and the red \"a\" block ahead near the top of the frame. Descending ~5 cm to the computed stacking height (one block-height above the table) and re-checking alignment."})
tool
executing move_joints over 3 steps (0.3s)
step 341
top_cam
camera top_cam step 341
left_cam
camera left_cam step 341
right_cam
camera right_cam step 341
assistant
agent noteThe overhead view suggests my gripper is ~14 cm beyond the red block while the wrist view suggests the opposite; pulling back 5 cm at constant height as a test — if the red block drops toward the bottom of the wrist frame, the overhead reading is the correct one.
move_joints
left_j12.1532left_j21.8008left_j3-1.2184
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9268 left_j1=2.3379 left_j2=2.1582 left_j3=-1.4448 left_j4=0.033 left_j5=-0.2974 left_gripper=0.4538 right_j0=-0.0013 right_j1=0.049 right_j2=0.0067 right_j3=-0.0799 right_j4=-0.0002 right_j5=-0.0113 right_gripper=0.9997 state[joint_eff]: [0.5538, -12.2598, 5.3675, 0.4225, -0.0024, -0.0073, 0.9695, -0.0889, 1.5111, 7.2547, 1.9023, 0.0073, -0.0562, -0.0122] camera 'top_cam' (step 341): [image omitted: streamed camera frame] camera 'left_cam' (step 341): [image omitted: streamed camera frame] camera 'right_cam' (step 341): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.1532, "left_j2": 1.8008, "left_j3": -1.2184}, "note": "The overhead view suggests my gripper is ~14 cm beyond the red block while the wrist view suggests the opposite; pulling back 5 cm at constant height as a test \u2014 if the red block drops toward the bottom of the wrist frame, the overhead reading is the correct one."})
tool
executing move_joints over 6 steps (0.6s)
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 noteRetracting pushed the red block further away in the wrist view, so the wrist camera is right and I am short, not long. Extending to near-maximum reach (FK r≈0.47) at the stacking height and swinging j0 slightly to follow it.
move_joints
left_j12.5911left_j22.5825left_j3-1.5622left_j0-0.9700
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9226 left_j1=2.212 left_j2=1.8187 left_j3=-1.2629 left_j4=0.033 left_j5=-0.3008 left_gripper=0.4565 right_j0=-0.0013 right_j1=0.0498 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997 state[joint_eff]: [-0.4171, -15.5556, 5.7641, 0.486, -0.0024, -0.0024, 0.8913, -0.1573, 1.9487, 7.2821, 1.9072, -0.0513, -0.0708, -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": 2.5911, "left_j2": 2.5825, "left_j3": -1.5622, "left_j0": -0.97}, "note": "Retracting pushed the red block further away in the wrist view, so the wrist camera is right and I am short, not long. Extending to near-maximum reach (FK r\u22480.47) at the stacking height and swinging j0 slightly to follow it."})
tool
executing move_joints over 13 steps (1.3s)
step 360
top_cam
camera top_cam step 360
left_cam
camera left_cam step 360
right_cam
camera right_cam step 360
assistant
agent noteThe red "a" block is now directly above the carried block in the wrist view — laterally aligned, just ~2-3 cm short in reach. Tilting the gripper 12° forward buys the extra reach at the same fingertip height.
move_joints
left_j12.5769left_j22.5455left_j3-1.3186
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9634 left_j1=2.5755 left_j2=2.5324 left_j3=-1.5753 left_j4=0.0334 left_j5=-0.3202 left_gripper=0.4565 right_j0=-0.0013 right_j1=0.0517 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0006 right_j5=-0.0116 right_gripper=0.9997 state[joint_eff]: [-0.6632, -12.9983, 8.4308, 0.3443, -0.0073, 0.1538, 0.9548, -0.1573, 1.4564, 7.2547, 1.9072, -0.0464, -0.0611, -0.0122] camera 'top_cam' (step 360): [image omitted: streamed camera frame] camera 'left_cam' (step 360): [image omitted: streamed camera frame] camera 'right_cam' (step 360): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.5769, "left_j2": 2.5455, "left_j3": -1.3186}, "note": "The red \"a\" block is now directly above the carried block in the wrist view \u2014 laterally aligned, just ~2-3 cm short in reach. Tilting the gripper 12\u00b0 forward buys the extra reach at the same fingertip height."})
tool
executing move_joints over 5 steps (0.5s)
step 365
top_cam
camera top_cam step 365
left_cam
camera left_cam step 365
right_cam
camera right_cam step 365
assistant
agent noteExtending shifted the red block to the left edge of the wrist view, so it's ~3.5 cm to the arm's left of my carried block; nudging j0 positive to 0.89 and re-issuing the reach target (the controller undershot j3 last time).
move_joints
left_j0-0.8900left_j12.5769left_j22.5455left_j3-1.3186
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9672 left_j1=2.582 left_j2=2.5393 left_j3=-1.4368 left_j4=0.0334 left_j5=-0.3431 left_gripper=0.4566 right_j0=-0.0013 right_j1=0.0517 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997 state[joint_eff]: [0.1026, -14.6803, 6.2838, 1.1209, -0.0317, 0.2027, 0.9255, -0.1162, 1.5521, 7.0769, 1.9365, -0.022, -0.0806, -0.0122] camera 'top_cam' (step 365): [image omitted: streamed camera frame] camera 'left_cam' (step 365): [image omitted: streamed camera frame] camera 'right_cam' (step 365): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.89, "left_j1": 2.5769, "left_j2": 2.5455, "left_j3": -1.3186}, "note": "Extending shifted the red block to the left edge of the wrist view, so it's ~3.5 cm to the arm's left of my carried block; nudging j0 positive to 0.89 and re-issuing the reach target (the controller undershot j3 last time)."})
tool
executing move_joints over 2 steps (0.2s)
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 notej0 undershot again (reached -0.945); the red block is still a pink sliver at the left edge of the wrist view. Re-issuing a more positive j0 to swing the carried block over it.
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=-0.9451 left_j1=2.5816 left_j2=2.5393 left_j3=-1.3838 left_j4=0.0383 left_j5=-0.3508 left_gripper=0.4566 right_j0=-0.0013 right_j1=0.0517 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0006 right_j5=-0.0113 right_gripper=0.9997 state[joint_eff]: [3.1385, -14.7897, 6.5162, 1.1062, -0.0415, 0.0464, 0.9548, 0.0342, 1.7026, 7.0769, 1.873, -0.0122, -0.0122, -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_j0": -0.85}, "note": "j0 undershot again (reached -0.945); the red block is still a pink sliver at the left edge of the wrist view. Re-issuing a more positive j0 to swing the carried block over it."})
tool
executing move_joints over 2 steps (0.2s)
step 369
top_cam
camera top_cam step 369
left_cam
camera left_cam step 369
right_cam
camera right_cam step 369
assistant
agent noteThe red block is now hidden directly behind/below the carried block, suggesting good alignment. Lowering ~1.5 cm to feel for contact between the carried block and the red block before releasing.
move_joints
left_j12.5885left_j22.4869left_j3-1.3234
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8795 left_j1=2.582 left_j2=2.5393 left_j3=-1.3823 left_j4=0.0376 left_j5=-0.3573 left_gripper=0.4566 right_j0=-0.0013 right_j1=0.0517 right_j2=0.0067 right_j3=-0.0795 right_j4=0.0002 right_j5=-0.0113 right_gripper=0.9997 state[joint_eff]: [1.7573, -14.3932, 5.8735, 0.6764, 0.0513, 0.0073, 0.9646, -0.0479, 1.5248, 7.1043, 1.9121, -0.022, -0.0611, -0.0122] camera 'top_cam' (step 369): [image omitted: streamed camera frame] camera 'left_cam' (step 369): [image omitted: streamed camera frame] camera 'right_cam' (step 369): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.5885, "left_j2": 2.4869, "left_j3": -1.3234}, "note": "The red block is now hidden directly behind/below the carried block, suggesting good alignment. Lowering ~1.5 cm to feel for contact between the carried block and the red block before releasing."})
tool
executing move_joints over 1 steps (0.1s)
step 370
top_cam
camera top_cam step 370
left_cam
camera left_cam step 370
right_cam
camera right_cam step 370
assistant
agent noteCarried block appears to be right over the red block at roughly one block-height above the table; releasing it to drop onto the red block, then I'll verify from overhead.
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=-0.8501 left_j1=2.582 left_j2=2.5393 left_j3=-1.3922 left_j4=0.0368 left_j5=-0.3569 left_gripper=0.4593 right_j0=-0.0013 right_j1=0.0517 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0113 right_gripper=0.9997 state[joint_eff]: [0.0205, -14.3248, 6.1607, 0.5739, -0.0171, 0.0464, 0.7595, 0.0205, 1.6068, 7.0769, 1.9072, -0.022, -0.0269, -0.0122] camera 'top_cam' (step 370): [image omitted: streamed camera frame] camera 'left_cam' (step 370): [image omitted: streamed camera frame] camera 'right_cam' (step 370): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_gripper": 1.0}, "note": "Carried block appears to be right over the red block at roughly one block-height above the table; releasing it to drop onto the red block, then I'll verify from overhead."})
tool
executing move_joints over 6 steps (0.6s)
step 376
top_cam
camera top_cam step 376
left_cam
camera left_cam step 376
right_cam
camera right_cam step 376
assistant
agent noteThe release dropped the block next to, not on, the red block — both are now visible in the wrist frame. Parking the arm to get a clean overhead view and re-plan with the overhead mapping that worked for the first pick.
move_joints
left_j00.0000left_j10.6000left_j21.2000left_j3-0.6000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8459 left_j1=2.5855 left_j2=2.5141 left_j3=-1.3956 left_j4=0.0372 left_j5=-0.3618 left_gripper=0.9963 right_j0=-0.0013 right_j1=0.0517 right_j2=0.0067 right_j3=-0.0799 right_j4=0.001 right_j5=-0.0116 right_gripper=0.9997 state[joint_eff]: [-0.6359, -14.4889, 7.8017, 0.4664, -0.0269, 0.022, -0.1197, -0.0479, 1.5248, 7.0906, 1.8877, -0.0122, -0.0806, -0.0122] camera 'top_cam' (step 376): [image omitted: streamed camera frame] camera 'left_cam' (step 376): [image omitted: streamed camera frame] camera 'right_cam' (step 376): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": 0, "left_j1": 0.6, "left_j2": 1.2, "left_j3": -0.6}, "note": "The release dropped the block next to, not on, the red block \u2014 both are now visible in the wrist frame. Parking the arm to get a clean overhead view and re-plan with the overhead mapping that worked for the first pick."})
tool
executing move_joints over 32 steps (3.2s)
step 408
top_cam
camera top_cam step 408
left_cam
camera left_cam step 408
right_cam
camera right_cam step 408
assistant
agent noteClean overhead: the dropped C block is at pixel (172,208) and the red block at (163,222) — the C block landed ~5 cm beyond the red one. Moving to hover over the C block (r≈0.48, j0≈-0.97) to re-grasp it.
move_joints
left_j0-0.9720left_j12.4644left_j22.3481left_j3-1.4545left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0101 left_j1=0.6182 left_j2=1.2129 left_j3=-0.6655 left_j4=0.0368 left_j5=-0.3721 left_gripper=0.9972 right_j0=-0.0013 right_j1=0.0566 right_j2=0.0067 right_j3=-0.0803 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997 state[joint_eff]: [0.2256, 2.5915, 5.6684, 2.5812, -0.0171, 0.0464, 0.0855, -0.0479, 1.4017, 7.2684, 1.8779, -0.0513, -0.0366, -0.0122] camera 'top_cam' (step 408): [image omitted: streamed camera frame] camera 'left_cam' (step 408): [image omitted: streamed camera frame] camera 'right_cam' (step 408): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": -0.972, "left_j1": 2.4644, "left_j2": 2.3481, "left_j3": -1.4545, "left_gripper": 1.0}, "note": "Clean overhead: the dropped C block is at pixel (172,208) and the red block at (163,222) \u2014 the C block landed ~5 cm beyond the red one. Moving to hover over the C block (r\u22480.48, j0\u2248-0.97) to re-grasp it."})
tool
executing move_joints over 30 steps (3.0s)
step 438
top_cam
camera top_cam step 438
left_cam
camera left_cam step 438
right_cam
camera right_cam step 438
assistant
agent noteHovering at the overhead-derived location of the dropped C block (the red block is visible further ahead in the wrist view). Descending to table level here to grasp it.
move_joints
left_j12.5321left_j22.2121left_j3-1.2508
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9573 left_j1=2.4401 left_j2=2.3081 left_j3=-1.4418 left_j4=0.0349 left_j5=-0.384 left_gripper=0.9985 right_j0=-0.0013 right_j1=0.0608 right_j2=0.0067 right_j3=-0.0799 right_j4=-0.0002 right_j5=-0.0113 right_gripper=0.9997 state[joint_eff]: [-0.3624, -12.7795, 8.8, 0.2027, -0.0708, 0.0855, -0.1685, -0.0205, 1.1829, 7.2684, 1.873, -0.0073, -0.0415, -0.0122] camera 'top_cam' (step 438): [image omitted: streamed camera frame] camera 'left_cam' (step 438): [image omitted: streamed camera frame] camera 'right_cam' (step 438): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j1": 2.5321, "left_j2": 2.2121, "left_j3": -1.2508}, "note": "Hovering at the overhead-derived location of the dropped C block (the red block is visible further ahead in the wrist view). Descending to table level here to grasp it."})
tool
executing move_joints over 4 steps (0.4s)
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 noteThe wrist view shows I'm actually straddling the RED block, not the dropped C block — so my overhead radius estimate is ~5 cm long. Moving 5 cm further out and 3 cm to the arm's right (with a slight forward gripper tilt to make the reach) to get over the C block.
move_joints
left_j0-1.0180left_j12.6354left_j22.3977left_j3-1.0623
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9581 left_j1=2.5122 left_j2=2.2227 left_j3=-1.3201 left_j4=0.033 left_j5=-0.3878 left_gripper=0.9981 right_j0=-0.0013 right_j1=0.0612 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0006 right_j5=-0.0116 right_gripper=0.9997 state[joint_eff]: [0.1299, -12.8889, 5.7915, 0.4225, -0.0122, -0.0122, -0.0513, -0.1026, 1.4974, 7.0906, 1.8974, -0.0513, -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
move_joints({"targets": {"left_j0": -1.018, "left_j1": 2.6354, "left_j2": 2.3977, "left_j3": -1.0623}, "note": "The wrist view shows I'm actually straddling the RED block, not the dropped C block \u2014 so my overhead radius estimate is ~5 cm long. Moving 5 cm further out and 3 cm to the arm's right (with a slight forward gripper tilt to make the reach) to get over the C block."})
tool
executing move_joints over 5 steps (0.5s)
step 447
top_cam
camera top_cam step 447
left_cam
camera left_cam step 447
right_cam
camera right_cam step 447
assistant
agent noteThe C block sits at the very edge of the left arm's reach, but it's well inside the right arm's workspace. Parking the left arm and bringing the right arm to hover over the C block (r≈0.33, j0≈+0.59 in right-arm coordinates).
move_joints
left_j00.0000left_j10.6000left_j21.2000left_j3-0.6000right_j00.5900right_j11.8696right_j21.3806right_j3-1.0818
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-1.0092 left_j1=2.6038 left_j2=2.3596 left_j3=-1.1908 left_j4=0.0288 left_j5=-0.4103 left_gripper=0.998 right_j0=-0.0013 right_j1=0.0612 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997 state[joint_eff]: [-0.6359, -12.0137, 8.3077, 1.3407, 0.0366, 0.1783, -0.0171, -0.0752, 1.5658, 7.3231, 1.8828, -0.0317, -0.0806, -0.0122] camera 'top_cam' (step 447): [image omitted: streamed camera frame] camera 'left_cam' (step 447): [image omitted: streamed camera frame] camera 'right_cam' (step 447): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"left_j0": 0, "left_j1": 0.6, "left_j2": 1.2, "left_j3": -0.6, "right_j0": 0.59, "right_j1": 1.8696, "right_j2": 1.3806, "right_j3": -1.0818}, "note": "The C block sits at the very edge of the left arm's reach, but it's well inside the right arm's workspace. Parking the left arm and bringing the right arm to hover over the C block (r\u22480.33, j0\u2248+0.59 in right-arm coordinates)."})
tool
executing move_joints over 32 steps (3.2s)
step 479
top_cam
camera top_cam step 479
left_cam
camera left_cam step 479
right_cam
camera right_cam step 479
assistant
agent noteThe right wrist camera shows the red "a" block centered and a greenish block (the C block) at the top-right corner. Shifting the right arm toward it (j0 to 0.45, +5 cm reach) to bring the C block into the jaw gap.
move_joints
right_j00.4500right_j12.0278right_j21.6078right_j3-1.1508
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0109 left_j1=0.6178 left_j2=1.2098 left_j3=-0.654 left_j4=0.0292 left_j5=-0.4244 left_gripper=0.998 right_j0=0.5838 right_j1=1.8488 right_j2=1.3499 right_j3=-1.0492 right_j4=0.0036 right_j5=-0.0116 right_gripper=0.9997 state[joint_eff]: [0.0205, 2.6735, 5.641, 2.4249, -0.0659, 0.0708, -0.0171, 0.212, -8.6496, 7.2274, 0.1441, -0.0317, -0.0659, -0.0171] camera 'top_cam' (step 479): [image omitted: streamed camera frame] camera 'left_cam' (step 479): [image omitted: streamed camera frame] camera 'right_cam' (step 479): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.45, "right_j1": 2.0278, "right_j2": 1.6078, "right_j3": -1.1508}, "note": "The right wrist camera shows the red \"a\" block centered and a greenish block (the C block) at the top-right corner. Shifting the right arm toward it (j0 to 0.45, +5 cm reach) to bring the C block into the jaw gap."})
tool
executing move_joints over 5 steps (0.5s)
step 484
top_cam
camera top_cam step 484
left_cam
camera left_cam step 484
right_cam
camera right_cam step 484
assistant
agent noteBoth blocks are now visible from the right wrist: the red "a" block sits right at the jaw line and the target (the igloo/C block) is ~5 cm beyond and slightly right. Advancing 5 cm and nudging j0 to line up on the igloo block.
move_joints
right_j00.4000right_j12.2063right_j21.8937right_j3-1.2582
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6193 left_j2=1.2022 left_j3=-0.6777 left_j4=0.0292 left_j5=-0.4294 left_gripper=0.998 right_j0=0.4557 right_j1=2.0106 right_j2=1.5719 right_j3=-1.1461 right_j4=0.0044 right_j5=-0.012 right_gripper=0.9997 state[joint_eff]: [-0.3214, 1.7026, 5.8462, 2.1563, -0.0269, -0.0171, -0.0122, -0.2803, -9.5248, 7.3778, 0.2857, -0.0366, -0.0171, -0.0122] camera 'top_cam' (step 484): [image omitted: streamed camera frame] camera 'left_cam' (step 484): [image omitted: streamed camera frame] camera 'right_cam' (step 484): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.4, "right_j1": 2.2063, "right_j2": 1.8937, "right_j3": -1.2582}, "note": "Both blocks are now visible from the right wrist: the red \"a\" block sits right at the jaw line and the target (the igloo/C block) is ~5 cm beyond and slightly right. Advancing 5 cm and nudging j0 to line up on the igloo block."})
tool
executing move_joints over 6 steps (0.6s)
step 490
top_cam
camera top_cam step 490
left_cam
camera left_cam step 490
right_cam
camera right_cam step 490
assistant
agent noteThe igloo block is now centered at (120,105) with the red block behind-left. Advancing ~3 cm and dropping ~3 cm to bring the igloo block into the jaw gap.
move_joints
right_j00.4000right_j12.3641right_j22.0388right_j3-1.2455
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6205 left_j2=1.2022 left_j3=-0.6975 left_j4=0.0292 left_j5=-0.4328 left_gripper=0.998 right_j0=0.4076 right_j1=2.1876 right_j2=1.8534 right_j3=-1.2663 right_j4=0.004 right_j5=-0.0193 right_gripper=0.9997 state[joint_eff]: [-0.0615, 1.5932, 5.3265, 2.083, -0.0269, -0.022, -0.0122, -0.6906, -10.5915, 7.6376, 0.2711, -0.0073, 0.0073, -0.0122] camera 'top_cam' (step 490): [image omitted: streamed camera frame] camera 'left_cam' (step 490): [image omitted: streamed camera frame] camera 'right_cam' (step 490): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.4, "right_j1": 2.3641, "right_j2": 2.0388, "right_j3": -1.2455}, "note": "The igloo block is now centered at (120,105) with the red block behind-left. Advancing ~3 cm and dropping ~3 cm to bring the igloo block into the jaw gap."})
tool
executing move_joints over 3 steps (0.3s)
step 493
top_cam
camera top_cam step 493
left_cam
camera left_cam step 493
right_cam
camera right_cam step 493
assistant
agent noteThe igloo block is in the jaw gap; descending to table level with a small +0.03 rad j0 correction to center it, then I'll close.
move_joints
right_j00.4300right_j12.4122right_j21.9846right_j3-1.1432
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6209 left_j2=1.2022 left_j3=-0.7101 left_j4=0.0292 left_j5=-0.4358 left_gripper=0.998 right_j0=0.4026 right_j1=2.326 right_j2=2.0037 right_j3=-1.2861 right_j4=0.0036 right_j5=-0.0265 right_gripper=0.9997 state[joint_eff]: [-0.0615, 1.7299, 5.2444, 2.2198, -0.0513, -0.0317, -0.0122, -0.5265, -12.041, 7.4325, 0.2711, -0.0171, 0.0317, -0.0122] camera 'top_cam' (step 493): [image omitted: streamed camera frame] camera 'left_cam' (step 493): [image omitted: streamed camera frame] camera 'right_cam' (step 493): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.43, "right_j1": 2.4122, "right_j2": 1.9846, "right_j3": -1.1432}, "note": "The igloo block is in the jaw gap; descending to table level with a small +0.03 rad j0 correction to center it, then I'll close."})
tool
executing move_joints over 3 steps (0.3s)
step 496
top_cam
camera top_cam step 496
left_cam
camera left_cam step 496
right_cam
camera right_cam step 496
assistant
agent noteThe blue "1" face of the target block is centered between the right gripper's jaws just above the table. Closing to grasp it.
move_joints
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.622 left_j2=1.2022 left_j3=-0.7212 left_j4=0.0292 left_j5=-0.4366 left_gripper=0.998 right_j0=0.4221 right_j1=2.3867 right_j2=1.9907 right_j3=-1.2232 right_j4=0.004 right_j5=-0.0265 right_gripper=0.9997 state[joint_eff]: [-0.2256, 1.5932, 5.3265, 2.0635, -0.0415, -0.0562, -0.0122, 0.253, -11.412, 5.2444, 0.6618, -0.0562, -0.0317, -0.0122] camera 'top_cam' (step 496): [image omitted: streamed camera frame] camera 'left_cam' (step 496): [image omitted: streamed camera frame] camera 'right_cam' (step 496): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.0}, "note": "The blue \"1\" face of the target block is centered between the right gripper's jaws just above the table. Closing to grasp it."})
tool
executing move_joints over 10 steps (1.0s)
step 506
top_cam
camera top_cam step 506
left_cam
camera left_cam step 506
right_cam
camera right_cam step 506
assistant
agent noteGrasp confirmed on the right arm (residual 0.448 ≈ 4.3 cm, high effort). Lifting to ~13 cm and swinging to hover over the red block, which is ~4.7 cm nearer and 3 cm to this arm's left.
move_joints
right_j00.5360right_j12.1582right_j22.1075right_j3-1.5201
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.622 left_j2=1.2022 left_j3=-0.7422 left_j4=0.0292 left_j5=-0.4412 left_gripper=0.998 right_j0=0.424 right_j1=2.4016 right_j2=1.9884 right_j3=-1.2255 right_j4=0.004 right_j5=-0.0303 right_gripper=0.448 state[joint_eff]: [-0.0615, 1.6615, 5.2444, 2.1563, -0.0366, -0.0171, -0.0122, -0.5128, -14.2838, 5.7504, 0.1587, -0.0562, -0.0415, 1.0281] camera 'top_cam' (step 506): [image omitted: streamed camera frame] camera 'left_cam' (step 506): [image omitted: streamed camera frame] camera 'right_cam' (step 506): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.536, "right_j1": 2.1582, "right_j2": 2.1075, "right_j3": -1.5201}, "note": "Grasp confirmed on the right arm (residual 0.448 \u2248 4.3 cm, high effort). Lifting to ~13 cm and swinging to hover over the red block, which is ~4.7 cm nearer and 3 cm to this arm's left."})
tool
executing move_joints over 5 steps (0.5s)
step 511
top_cam
camera top_cam step 511
left_cam
camera left_cam step 511
right_cam
camera right_cam step 511
assistant
agent noteThe red block shows just ahead of the carried block in the right wrist view, well centered. Descending to one block-height above the table for the stack.
move_joints
right_j12.2150right_j21.8906right_j3-1.2464
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6224 left_j2=1.2022 left_j3=-0.7643 left_j4=0.0296 left_j5=-0.4442 left_gripper=0.998 right_j0=0.5377 right_j1=2.2089 right_j2=2.0781 right_j3=-1.4483 right_j4=0.0036 right_j5=-0.0307 right_gripper=0.4525 state[joint_eff]: [-0.0615, 1.9487, 5.2171, 2.1074, -0.0513, -0.0464, -0.0073, -1.0188, -13.012, 7.241, 0.2808, -0.0562, -0.022, 0.9548] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 511): [image omitted: streamed camera frame] camera 'left_cam' (step 511): [image omitted: streamed camera frame] camera 'right_cam' (step 511): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.215, "right_j2": 1.8906, "right_j3": -1.2464}, "note": "The red block shows just ahead of the carried block in the right wrist view, well centered. Descending to one block-height above the table for the stack."})
tool
executing move_joints over 4 steps (0.4s)
step 515
top_cam
camera top_cam step 515
left_cam
camera left_cam step 515
right_cam
camera right_cam step 515
assistant
agent noteThe red block is still peeking out just ahead of the carried block, so I'm ~1.5 cm short; nudging forward at the same height before releasing.
move_joints
right_j12.2496right_j21.9404right_j3-1.2616
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6224 left_j2=1.2022 left_j3=-0.7788 left_j4=0.0292 left_j5=-0.4507 left_gripper=0.998 right_j0=0.5362 right_j1=2.2234 right_j2=1.8946 right_j3=-1.3209 right_j4=0.0044 right_j5=-0.0307 right_gripper=0.4552 state[joint_eff]: [-0.1299, 1.7162, 5.2308, 2.1416, -0.0562, 0.0122, -0.0122, -0.2256, -12.8615, 7.1179, 0.4078, -0.0317, -0.0464, 1.0232] camera 'top_cam' (step 515): [image omitted: streamed camera frame] camera 'left_cam' (step 515): [image omitted: streamed camera frame] camera 'right_cam' (step 515): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.2496, "right_j2": 1.9404, "right_j3": -1.2616}, "note": "The red block is still peeking out just ahead of the carried block, so I'm ~1.5 cm short; nudging forward at the same height before releasing."})
tool
executing move_joints over 1 steps (0.1s)
step 516
top_cam
camera top_cam step 516
left_cam
camera left_cam step 516
right_cam
camera right_cam step 516
assistant
agent noteThe red block is now almost entirely hidden behind the carried block, meaning they're vertically aligned at stacking height. Releasing.
move_joints
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6224 left_j2=1.2022 left_j3=-0.7902 left_j4=0.0296 left_j5=-0.4507 left_gripper=0.998 right_j0=0.5373 right_j1=2.2295 right_j2=1.879 right_j3=-1.2766 right_j4=0.004 right_j5=-0.0345 right_gripper=0.4539 state[joint_eff]: [-0.2667, 1.6615, 5.2171, 2.1758, -0.0269, 0.0366, -0.0122, -0.3077, -13.1624, 6.7214, 0.442, -0.0366, 0.0464, 1.0281] camera 'top_cam' (step 516): [image omitted: streamed camera frame] camera 'left_cam' (step 516): [image omitted: streamed camera frame] camera 'right_cam' (step 516): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 1.0}, "note": "The red block is now almost entirely hidden behind the carried block, meaning they're vertically aligned at stacking height. Releasing."})
tool
executing move_joints over 6 steps (0.6s)
step 522
top_cam
camera top_cam step 522
left_cam
camera left_cam step 522
right_cam
camera right_cam step 522
assistant
agent noteReleased; the wrist view shows the blue block sitting against/on the red one. Backing the right arm up and away to get a clear look and verify the stack.
move_joints
right_j00.5373right_j11.7000right_j21.6000right_j3-1.4000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6224 left_j2=1.2022 left_j3=-0.8101 left_j4=0.0292 left_j5=-0.458 left_gripper=0.998 right_j0=0.5373 right_j1=2.2406 right_j2=1.879 right_j3=-1.2808 right_j4=0.004 right_j5=-0.0376 right_gripper=0.9948 state[joint_eff]: [-0.0889, 1.7709, 5.2171, 2.0928, -0.0562, 0.0024, -0.0122, -0.0342, -12.9162, 5.6137, 0.1636, -0.0269, -0.0171, -0.0611] camera 'top_cam' (step 522): [image omitted: streamed camera frame] camera 'left_cam' (step 522): [image omitted: streamed camera frame] camera 'right_cam' (step 522): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.5373, "right_j1": 1.7, "right_j2": 1.6, "right_j3": -1.4}, "note": "Released; the wrist view shows the blue block sitting against/on the red one. Backing the right arm up and away to get a clear look and verify the stack."})
tool
executing move_joints over 9 steps (0.9s)
step 531
top_cam
camera top_cam step 531
left_cam
camera left_cam step 531
right_cam
camera right_cam step 531
assistant
agent noteThe wrist view now shows only the red "a" block, so the blue block may not be stacked. Parking the right arm for a clean overhead check.
move_joints
right_j00.0000right_j10.6000right_j21.2000right_j3-0.6000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.622 left_j2=1.2022 left_j3=-0.8379 left_j4=0.0296 left_j5=-0.4587 left_gripper=0.998 right_j0=0.5373 right_j1=1.7458 right_j2=1.607 right_j3=-1.3846 right_j4=0.0044 right_j5=-0.038 right_gripper=0.9954 state[joint_eff]: [-0.212, 1.894, 5.2308, 2.1368, -0.0415, -0.0317, -0.0122, -0.212, -9.5521, 6.1333, 0.5055, -0.0171, -0.0122, 0.0513] camera 'top_cam' (step 531): [image omitted: streamed camera frame] camera 'left_cam' (step 531): [image omitted: streamed camera frame] camera 'right_cam' (step 531): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0, "right_j1": 0.6, "right_j2": 1.2, "right_j3": -0.6}, "note": "The wrist view now shows only the red \"a\" block, so the blue block may not be stacked. Parking the right arm for a clean overhead check."})
tool
executing move_joints over 19 steps (1.9s)
step 550
top_cam
camera top_cam step 550
left_cam
camera left_cam step 550
right_cam
camera right_cam step 550
assistant
agent noteOverhead confirms the blue block landed beside the red one (blue at (150,208), red at (172,218)) rather than on top. Moving the right arm to hover over the blue block's new position for another pick.
move_joints
right_j00.5245right_j12.4322right_j22.2886right_j3-1.4272right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.622 left_j2=1.2022 left_j3=-0.8688 left_j4=0.0296 left_j5=-0.4622 left_gripper=0.998 right_j0=0.009 right_j1=0.6216 right_j2=1.1995 right_j3=-0.7197 right_j4=0.0013 right_j5=-0.0525 right_gripper=0.9955 state[joint_eff]: [-0.1846, 1.853, 5.2034, 2.1856, -0.0611, -0.0269, -0.0122, -0.2393, 2.0308, 5.9145, 2.7375, 0.0171, 0.1197, -0.0073] camera 'top_cam' (step 550): [image omitted: streamed camera frame] camera 'left_cam' (step 550): [image omitted: streamed camera frame] camera 'right_cam' (step 550): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.5245, "right_j1": 2.4322, "right_j2": 2.2886, "right_j3": -1.4272, "right_gripper": 1.0}, "note": "Overhead confirms the blue block landed beside the red one (blue at (150,208), red at (172,218)) rather than on top. Moving the right arm to hover over the blue block's new position for another pick."})
tool
executing move_joints over 29 steps (2.9s)
step 579
top_cam
camera top_cam step 579
left_cam
camera left_cam step 579
right_cam
camera right_cam step 579
assistant
agent noteThe blue block is visible slightly image-left of the jaw gap with the red block behind it. Nudging j0 +0.04 and descending to table level over the blue block to grasp it.
move_joints
right_j00.5600right_j12.5642right_j22.2989right_j3-1.3055
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6224 left_j2=1.2022 left_j3=-0.8989 left_j4=0.0296 left_j5=-0.4736 left_gripper=0.998 right_j0=0.5171 right_j1=2.4008 right_j2=2.2566 right_j3=-1.3983 right_j4=0.004 right_j5=-0.0601 right_gripper=0.9991 state[joint_eff]: [-0.2256, 1.7573, 5.2034, 2.2295, -0.0611, 0.0806, -0.0122, 0.1846, -12.506, 7.5282, 0.1538, -0.0757, 0.0757, -0.105] camera 'top_cam' (step 579): [image omitted: streamed camera frame] camera 'left_cam' (step 579): [image omitted: streamed camera frame] camera 'right_cam' (step 579): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.56, "right_j1": 2.5642, "right_j2": 2.2989, "right_j3": -1.3055}, "note": "The blue block is visible slightly image-left of the jaw gap with the red block behind it. Nudging j0 +0.04 and descending to table level over the blue block to grasp it."})
tool
executing move_joints over 3 steps (0.3s)
step 582
top_cam
camera top_cam step 582
left_cam
camera left_cam step 582
right_cam
camera right_cam step 582
assistant
agent noteThe blue block fills the jaw gap at the bottom of the wrist view; closing to grasp.
move_joints
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6224 left_j2=1.2022 left_j3=-0.9104 left_j4=0.0296 left_j5=-0.477 left_gripper=0.998 right_j0=0.5484 right_j1=2.5149 right_j2=2.2799 right_j3=-1.3731 right_j4=0.004 right_j5=-0.0643 right_gripper=0.999 state[joint_eff]: [0.0342, 1.7162, 5.3265, 2.1123, -0.0415, -0.0024, -0.0073, 0.3897, -12.2462, 7.2274, 0.3736, -0.0659, -0.022, -0.0171] camera 'top_cam' (step 582): [image omitted: streamed camera frame] camera 'left_cam' (step 582): [image omitted: streamed camera frame] camera 'right_cam' (step 582): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.0}, "note": "The blue block fills the jaw gap at the bottom of the wrist view; closing to grasp."})
tool
executing move_joints over 10 steps (1.0s)
step 592
top_cam
camera top_cam step 592
left_cam
camera left_cam step 592
right_cam
camera right_cam step 592
assistant
agent noteBlue block grasped again (residual 0.447). Lifting to ~11 cm and shifting 5 cm toward the red block's bearing before descending onto it.
move_joints
right_j00.4726right_j12.2173right_j22.1205right_j3-1.4740
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0074 left_j1=0.6224 left_j2=1.1984 left_j3=-0.9253 left_j4=0.0292 left_j5=-0.4808 left_gripper=0.998 right_j0=0.5484 right_j1=2.5584 right_j2=2.2848 right_j3=-1.3708 right_j4=0.0044 right_j5=-0.0677 right_gripper=0.4468 state[joint_eff]: [-0.0342, 1.6615, 5.7231, 1.9805, -0.0659, -0.0171, -0.0073, -0.0479, -17.4017, 5.1897, 0.0952, -0.0513, 0.0122, 1.033] camera 'top_cam' (step 592): [image omitted: streamed camera frame] camera 'left_cam' (step 592): [image omitted: streamed camera frame] camera 'right_cam' (step 592): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.4726, "right_j1": 2.2173, "right_j2": 2.1205, "right_j3": -1.474}, "note": "Blue block grasped again (residual 0.447). Lifting to ~11 cm and shifting 5 cm toward the red block's bearing before descending onto it."})
tool
executing move_joints over 6 steps (0.6s)
step 598
top_cam
camera top_cam step 598
left_cam
camera left_cam step 598
right_cam
camera right_cam step 598
assistant
agent noteApplied the exact offset measured from the last failed drop (5 cm right, 2.4 cm nearer). Descending to one block-height above the table for the release.
move_joints
right_j12.2612right_j21.9665right_j3-1.2761
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.1973 left_j3=-0.9459 left_j4=0.0296 left_j5=-0.4843 left_gripper=0.998 right_j0=0.4728 right_j1=2.2654 right_j2=2.13 right_j3=-1.4563 right_j4=0.0048 right_j5=-0.0711 right_gripper=0.4508 state[joint_eff]: [-0.1983, 2.0718, 5.2991, 2.0293, -0.0562, -0.0366, -0.0122, 0.0205, -13.6137, 5.3402, 0.4518, -0.0513, 0.0024, 1.0281] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 598): [image omitted: streamed camera frame] camera 'left_cam' (step 598): [image omitted: streamed camera frame] camera 'right_cam' (step 598): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 2.2612, "right_j2": 1.9665, "right_j3": -1.2761}, "note": "Applied the exact offset measured from the last failed drop (5 cm right, 2.4 cm nearer). Descending to one block-height above the table for the release."})
tool
executing move_joints over 3 steps (0.3s)
step 601
top_cam
camera top_cam step 601
left_cam
camera left_cam step 601
right_cam
camera right_cam step 601
assistant
agent noteRed block is centered just above the carried block at stacking height with the measured correction applied; releasing.
move_joints
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.1973 left_j3=-0.9604 left_j4=0.0296 left_j5=-0.4847 left_gripper=0.998 right_j0=0.4717 right_j1=2.2475 right_j2=1.9827 right_j3=-1.3533 right_j4=0.004 right_j5=-0.0715 right_gripper=0.4508 state[joint_eff]: [-0.1299, 2.2632, 5.2581, 2.0391, -0.022, -0.0562, -0.0122, -0.2393, -11.8222, 6.9265, 0.4908, -0.0073, -0.0073, 1.0281] camera 'top_cam' (step 601): [image omitted: streamed camera frame] camera 'left_cam' (step 601): [image omitted: streamed camera frame] camera 'right_cam' (step 601): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 1.0}, "note": "Red block is centered just above the carried block at stacking height with the measured correction applied; releasing."})
tool
executing move_joints over 6 steps (0.6s)
step 607
top_cam
camera top_cam step 607
left_cam
camera left_cam step 607
right_cam
camera right_cam step 607
assistant
agent noteReleased; the wrist view shows the blue block and the red "a" block adjacent. Backing up and rising to check whether they are stacked.
move_joints
right_j11.9000right_j21.7500right_j3-1.4500
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.1973 left_j3=-0.9813 left_j4=0.0296 left_j5=-0.485 left_gripper=0.998 right_j0=0.4717 right_j1=2.2745 right_j2=1.9587 right_j3=-1.3483 right_j4=0.004 right_j5=-0.0761 right_gripper=0.9948 state[joint_eff]: [-0.1709, 1.8667, 5.3675, 2.0244, -0.0513, -0.0513, -0.0122, -0.3214, -14.4205, 7.6376, 0.0122, -0.0366, 0.0122, -0.2173] camera 'top_cam' (step 607): [image omitted: streamed camera frame] camera 'left_cam' (step 607): [image omitted: streamed camera frame] camera 'right_cam' (step 607): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j1": 1.9, "right_j2": 1.75, "right_j3": -1.45}, "note": "Released; the wrist view shows the blue block and the red \"a\" block adjacent. Backing up and rising to check whether they are stacked."})
tool
executing move_joints over 6 steps (0.6s)
step 613
top_cam
camera top_cam step 613
left_cam
camera left_cam step 613
right_cam
camera right_cam step 613
assistant
agent noteStill not stacked — the two blocks lie side by side. Parking the right arm for a clean overhead measurement of their offset.
move_joints
right_j00.0000right_j10.6000right_j21.2000right_j3-0.6000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.1973 left_j3=-1.0004 left_j4=0.0296 left_j5=-0.485 left_gripper=0.998 right_j0=0.4717 right_j1=1.9362 right_j2=1.7649 right_j3=-1.4277 right_j4=0.0044 right_j5=-0.0788 right_gripper=0.9967 state[joint_eff]: [-0.1026, 1.9214, 5.2444, 1.9902, -0.0366, -0.0464, -0.0073, -0.3214, -10.1128, 5.6684, 0.3834, -0.022, -0.0171, 0.1832] camera 'top_cam' (step 613): [image omitted: streamed camera frame] camera 'left_cam' (step 613): [image omitted: streamed camera frame] camera 'right_cam' (step 613): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0, "right_j1": 0.6, "right_j2": 1.2, "right_j3": -0.6}, "note": "Still not stacked \u2014 the two blocks lie side by side. Parking the right arm for a clean overhead measurement of their offset."})
tool
executing move_joints over 22 steps (2.2s)
step 635
top_cam
camera top_cam step 635
left_cam
camera left_cam step 635
right_cam
camera right_cam step 635
assistant
agent noteOverhead shows blue at (168,185) and red at (172,205): the blue landed ~5 cm beyond the red. Going straight to a table-level pick pose over the blue block's new location.
move_joints
right_j00.4181right_j12.6782right_j22.5222right_j3-1.4148right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0074 left_j1=0.6228 left_j2=1.1973 left_j3=-1.0298 left_j4=0.0296 left_j5=-0.485 left_gripper=0.998 right_j0=0.0059 right_j1=0.6186 right_j2=1.1995 right_j3=-0.7155 right_j4=0.0036 right_j5=-0.094 right_gripper=0.9956 state[joint_eff]: [-0.0479, 2.0034, 5.1487, 2.1514, -0.0073, -0.0513, -0.0122, -0.1573, 2.2769, 5.9419, 2.8254, -0.022, 0.1343, -0.1197] camera 'top_cam' (step 635): [image omitted: streamed camera frame] camera 'left_cam' (step 635): [image omitted: streamed camera frame] camera 'right_cam' (step 635): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.4181, "right_j1": 2.6782, "right_j2": 2.5222, "right_j3": -1.4148, "right_gripper": 1.0}, "note": "Overhead shows blue at (168,185) and red at (172,205): the blue landed ~5 cm beyond the red. Going straight to a table-level pick pose over the blue block's new location."})
tool
executing move_joints over 33 steps (3.3s)
step 668
top_cam
camera top_cam step 668
left_cam
camera left_cam step 668
right_cam
camera right_cam step 668
assistant
agent noteAt the computed table-level pose over the blue block (wrist image is motion-blurred); closing and I'll use the residual to confirm whether I have the block.
move_joints
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.1957 left_j3=-1.0565 left_j4=0.0296 left_j5=-0.4881 left_gripper=0.998 right_j0=0.4118 right_j1=2.6457 right_j2=2.4905 right_j3=-1.3968 right_j4=0.004 right_j5=-0.1047 right_gripper=0.9991 state[joint_eff]: [-0.0342, 1.9487, 5.2991, 2.1123, -0.0317, 0.022, -0.0122, 0.335, -13.7231, 7.8564, 0.0952, -0.0317, 0.0806, -0.105] camera 'top_cam' (step 668): [image omitted: streamed camera frame] camera 'left_cam' (step 668): [image omitted: streamed camera frame] camera 'right_cam' (step 668): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.0}, "note": "At the computed table-level pose over the blue block (wrist image is motion-blurred); closing and I'll use the residual to confirm whether I have the block."})
tool
executing move_joints over 10 steps (1.0s)
step 678
top_cam
camera top_cam step 678
left_cam
camera left_cam step 678
right_cam
camera right_cam step 678
assistant
agent noteEmpty close — the overhead shows my fingertips landed ~4 cm nearer... actually short of and left of the blue block. Correcting 4 cm outward-to-nearer and 2 cm right and reopening for another attempt.
move_joints
right_j00.3750right_j12.4761right_j22.1299right_j3-1.2246right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.1954 left_j3=-1.079 left_j4=0.0296 left_j5=-0.4885 left_gripper=0.998 right_j0=0.4129 right_j1=2.669 right_j2=2.4954 right_j3=-1.4136 right_j4=0.004 right_j5=-0.1051 right_gripper=0.0086 state[joint_eff]: [-0.0752, 2.0171, 5.2855, 2.0342, -0.0366, -0.0659, -0.0122, -0.4308, -16.4581, 5.3128, 0.4225, -0.0513, -0.022, 0.6276] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 678): [image omitted: streamed camera frame] camera 'left_cam' (step 678): [image omitted: streamed camera frame] camera 'right_cam' (step 678): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.375, "right_j1": 2.4761, "right_j2": 2.1299, "right_j3": -1.2246, "right_gripper": 1.0}, "note": "Empty close \u2014 the overhead shows my fingertips landed ~4 cm nearer... actually short of and left of the blue block. Correcting 4 cm outward-to-nearer and 2 cm right and reopening for another attempt."})
tool
executing move_joints over 10 steps (1.0s)
step 688
top_cam
camera top_cam step 688
left_cam
camera left_cam step 688
right_cam
camera right_cam step 688
assistant
agent noteA light-coloured object edge is just entering the bottom of the wrist frame between the jaws; closing to try the grasp.
move_joints
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.1954 left_j3=-1.1023 left_j4=0.0296 left_j5=-0.4885 left_gripper=0.998 right_j0=0.3824 right_j1=2.4924 right_j2=2.1532 right_j3=-1.2427 right_j4=0.004 right_j5=-0.1051 right_gripper=0.9946 state[joint_eff]: [-0.1846, 2.1538, 5.2444, 1.9805, -0.022, -0.0513, -0.0122, -0.7726, -14.4752, 4.9846, 0.2906, -0.0464, -0.0122, -0.1343] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 688): [image omitted: streamed camera frame] camera 'left_cam' (step 688): [image omitted: streamed camera frame] camera 'right_cam' (step 688): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.0}, "note": "A light-coloured object edge is just entering the bottom of the wrist frame between the jaws; closing to try the grasp."})
tool
executing move_joints over 10 steps (1.0s)
step 698
top_cam
camera top_cam step 698
left_cam
camera left_cam step 698
right_cam
camera right_cam step 698
assistant
agent noteEmpty again, but the blue block is now visible at the bottom-left corner of the wrist frame, ~5 cm to the arm's left of the jaws. Reopening and swinging j0 to +0.50 to line up.
move_joints
right_j00.5000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6224 left_j2=1.1954 left_j3=-1.1095 left_j4=0.0296 left_j5=-0.4885 left_gripper=0.998 right_j0=0.3801 right_j1=2.487 right_j2=2.1445 right_j3=-1.24 right_j4=0.004 right_j5=-0.1051 right_gripper=0.0083 state[joint_eff]: [-0.1436, 1.8256, 5.2581, 1.8242, -0.0171, -0.0757, -0.0122, -0.1436, -13.135, 6.5162, 0.2418, -0.0171, -0.0171, 0.5543] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 698): [image omitted: streamed camera frame] camera 'left_cam' (step 698): [image omitted: streamed camera frame] camera 'right_cam' (step 698): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_j0": 0.5, "right_gripper": 1.0}, "note": "Empty again, but the blue block is now visible at the bottom-left corner of the wrist frame, ~5 cm to the arm's left of the jaws. Reopening and swinging j0 to +0.50 to line up."})
tool
executing move_joints over 10 steps (1.0s)
step 708
top_cam
camera top_cam step 708
left_cam
camera left_cam step 708
right_cam
camera right_cam step 708
assistant
agent noteThe block now shows as a sliver right between the open jaws at the bottom of the wrist frame; closing.
move_joints
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.1954 left_j3=-1.1309 left_j4=0.0296 left_j5=-0.4885 left_gripper=0.998 right_j0=0.4843 right_j1=2.487 right_j2=2.1445 right_j3=-1.2396 right_j4=0.0105 right_j5=-0.1055 right_gripper=0.9944 state[joint_eff]: [-0.1846, 1.7573, 5.2308, 1.9267, -0.0269, -0.0415, -0.0122, 0.9915, -13.5453, 5.7094, 0.2418, -0.0317, -0.0513, -0.0513] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 708): [image omitted: streamed camera frame] camera 'left_cam' (step 708): [image omitted: streamed camera frame] camera 'right_cam' (step 708): [image omitted: streamed camera frame]
assistant
move_joints({"targets": {"right_gripper": 0.0}, "note": "The block now shows as a sliver right between the open jaws at the bottom of the wrist frame; closing."})
tool
executing move_joints over 10 steps (1.0s)
step 718
top_cam
camera top_cam step 718
left_cam
camera left_cam step 718
right_cam
camera right_cam step 718
assistant
agent noteOut of call budget with the two blocks side by side rather than stacked. I successfully picked the left (blue/gnome) block twice and released it right next to the red block, but each release landed 3-5 cm off, and my last three re-grasp attempts closed on air. The depth/lateral ambiguity of the wrist views on this rig ate the budget.
give_up
hindsightConcrete lessons from this rig/run: 1. The "top" camera here is NOT a true overhead: it is mounted high and behind the arms looking forward-down at a steep angle. Image-up = away from the bases. Scale is ~3 px/cm near mid-table but ~4.2 px/cm near the bottom edge (closer to the camera), and objects raised even 4 cm show a large parallax shift "upward" (away) — a block sitting on another block appears ~15-20 px farther, which can be mistaken for a missed stack (and vice versa). Calibrate scale locally from a known 4.3 cm block width, not from a remembered constant. 2. The wrist-camera vertical axis was the single biggest time sink. The documented rule ("grasp point at y≈200, camera looks beyond the fingertips") did not predict behaviour reliably here: at some poses retracting the arm moved ground features DOWN the frame. Do not infer depth from wrist image-y. Instead, do a two-point calibration with the OVERHEAD camera: drive the closed gripper to a known FK radius at table height, note its pixel, and build the pixel↔(r, j0) map. That map found the first block correctly on the first try after five wasted wrist-guided attempts. 3. Lateral (j0) servoing from the wrist view IS reliable: positive j0 moves the scene image-right, ~15 px/cm at ~30 cm radius. j0 undershoots badly (command 0.1 rad beyond the goal), and effort on j0 spikes to 1-4 N·m while it lags. 4. Measured z bias for this rig's left arm: at fingertip–table contact the planar FK reads z ≈ 0.087 m (right arm ≈ 0.093). Subtract that from all FK heights. Radial bias ≈ +0.035 m (true r = FK r + 0.035). 5. Grasp verification: an empty full close reads residual ≈ 0.012 with gripper effort ≈ 1.1 — the effort alone does NOT distinguish empty from grasped. Only the residual does: these wooden blocks are 4.3 cm, reading ≈ 0.45. 6. Both blocks sat near the outer edge of the LEFT arm's reach (true r ≈ 0.46-0.52) but comfortably inside the RIGHT arm's. Check which arm owns the object before committing; switching arms cost me ~15 calls but immediately produced a clean grasp. 7. Budget reality: with this camera ambiguity, allow ~15 calls per verified pick-and-place, not 6-10.
Raw transcript
user
Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.1954 left_j3=-1.1534 left_j4=0.0296 left_j5=-0.4885 left_gripper=0.998 right_j0=0.4889 right_j1=2.487 right_j2=2.1445 right_j3=-1.24 right_j4=0.0048 right_j5=-0.1051 right_gripper=0.0083 state[joint_eff]: [-0.0889, 2.1128, 5.1624, 1.9707, -0.0122, -0.0562, -0.0122, -0.3761, -13.7504, 5.7231, 0.2369, 0.0171, -0.022, 0.569] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 718): [image omitted: streamed camera frame] camera 'left_cam' (step 718): [image omitted: streamed camera frame] camera 'right_cam' (step 718): [image omitted: streamed camera frame]
assistant
give_up({"reason": "Out of call budget with the two blocks side by side rather than stacked. I successfully picked the left (blue/gnome) block twice and released it right next to the red block, but each release landed 3-5 cm off, and my last three re-grasp attempts closed on air. The depth/lateral ambiguity of the wrist views on this rig ate the budget.", "hindsight": "Concrete lessons from this rig/run:\n\n1. The \"top\" camera here is NOT a true overhead: it is mounted high and behind the arms looking forward-down at a steep angle. Image-up = away from the bases. Scale is ~3 px/cm near mid-table but ~4.2 px/cm near the bottom edge (closer to the camera), and objects raised even 4 cm show a large parallax shift \"upward\" (away) \u2014 a block sitting on another block appears ~15-20 px farther, which can be mistaken for a missed stack (and vice versa). Calibrate scale locally from a known 4.3 cm block width, not from a remembered constant.\n\n2. The wrist-camera vertical axis was the single biggest time sink. The documented rule (\"grasp point at y\u2248200, camera looks beyond the fingertips\") did not predict behaviour reliably here: at some poses retracting the arm moved ground features DOWN the frame. Do not infer depth from wrist image-y. Instead, do a two-point calibration with the OVERHEAD camera: drive the closed gripper to a known FK radius at table height, note its pixel, and build the pixel\u2194(r, j0) map. That map found the first block correctly on the first try after five wasted wrist-guided attempts.\n\n3. Lateral (j0) servoing from the wrist view IS reliable: positive j0 moves the scene image-right, ~15 px/cm at ~30 cm radius. j0 undershoots badly (command 0.1 rad beyond the goal), and effort on j0 spikes to 1-4 N\u00b7m while it lags.\n\n4. Measured z bias for this rig's left arm: at fingertip\u2013table contact the planar FK reads z \u2248 0.087 m (right arm \u2248 0.093). Subtract that from all FK heights. Radial bias \u2248 +0.035 m (true r = FK r + 0.035).\n\n5. Grasp verification: an empty full close reads residual \u2248 0.012 with gripper effort \u2248 1.1 \u2014 the effort alone does NOT distinguish empty from grasped. Only the residual does: these wooden blocks are 4.3 cm, reading \u2248 0.45.\n\n6. Both blocks sat near the outer edge of the LEFT arm's reach (true r \u2248 0.46-0.52) but comfortably inside the RIGHT arm's. Check which arm owns the object before committing; switching arms cost me ~15 calls but immediately produced a clean grasp.\n\n7. Budget reality: with this camera ambiguity, allow ~15 calls per verified pick-and-place, not 6-10."})
tool
give_up: Out of call budget with the two blocks side by side rather than stacked. I successfully picked the left (blue/gnome) block twice and released it right next to the red block, but each release landed 3-5 cm off, and my last three re-grasp attempts closed on air. The depth/lateral ambiguity of the wrist views on this rig ate the 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 · 6.392 s
model
claude-opus-5
effort
medium
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=0.0048 left_j2=0.0082 left_j3=-0.0422 left_j4=-0.012 left_j5=-0.0223 left_gripper=0.9988 right_j0=-0.0013 right_j1=0.0029 right_j2=0.0063 right_j3=-0.0429 right_j4=0.0002 right_j5=-0.0147 right_gripper=0.9997\nstate[joint_eff]: [0.1846, 1.265, 6.7761, 2.2295, 0.0415, 0.2027, -0.1392, 0.0205, 1.388, 6.653, 2.3272, -0.0366, 0.1148, -0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:772237b6ec29e0cec70a1578558dfbd0f5168f68b1fc01a00ee8949897174d7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e9c244aade6d7b0533eda264ff4d72b27fc9c5a398b91d1b55059ab52d2ce09",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
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        "data": "$blob:c1f9d4a9cd878208dcbc11c1c606a42f7ea3d3eab1028acfa3027d79d1309ba7",
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  "role": "user"
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wire blob 772237b6ec29
wire blob 4e9c244aade6
wire blob c1f9d4a9cd87
call 1 attempt 0 · /messages · status 200 · 13.15 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0048 left_j1=0.0048 left_j2=0.0082 left_j3=-0.0422 left_j4=-0.012 left_j5=-0.0223 left_gripper=0.9988 right_j0=-0.0013 right_j1=0.0029 right_j2=0.0063 right_j3=-0.0429 right_j4=0.0002 right_j5=-0.0147 right_gripper=0.9997\nstate[joint_eff]: [0.1846, 1.265, 6.7761, 2.2295, 0.0415, 0.2027, -0.1392, 0.0205, 1.388, 6.653, 2.3272, -0.0366, 0.1148, -0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:772237b6ec29e0cec70a1578558dfbd0f5168f68b1fc01a00ee8949897174d7c",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e9c244aade6d7b0533eda264ff4d72b27fc9c5a398b91d1b55059ab52d2ce09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1f9d4a9cd878208dcbc11c1c606a42f7ea3d3eab1028acfa3027d79d1309ba7",
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[blob 772237b6ec29]
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      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Mzx1Z3RQnksiwpQ4v7Z9WC",
      "input": {
        "note": "Overhead view shows two small blocks near the bottom of the frame (a blue one left of a red one). I'm lifting the left arm to a gripper-down pose ~35 cm out, 15 cm up, to calibrate the overhead scale and see the workspace better.",
        "targets": {
          "left_j0": 0,
          "left_j1": 2.0625,
          "left_j2": 1.6603,
          "left_j3": -1.1686,
          "left_j4": 0,
          "left_j5": 0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 33 steps (3.3s)",
      "tool_use_id": "toolu_01Mzx1Z3RQnksiwpQ4v7Z9WC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0048 left_j1=2.0407 left_j2=1.6188 left_j3=-1.1423 left_j4=-0.0116 left_j5=-0.0219 left_gripper=0.9987 right_j0=-0.0013 right_j1=0.0048 right_j2=0.0063 right_j3=-0.0715 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [0.1299, -10.5231, 8.0615, 0.1783, 0.0611, 0.2125, -0.022, -0.1026, 1.7299, 6.9812, 2.2051, 0.0122, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:372e127efc18e0c2a30b307a719e0aa77994e3183e22533c0f3c8d0314883d76",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d1eaa6abdc0fd34322d749eb0a5b780a7f0d031acb4eb5ae3c5e6155da516d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2b3e6752e678388808eabc1a4141febb23737bc19ab852957eeea7c3b0e2606b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 372e127efc18
wire blob 1d1eaa6abdc0
wire blob 2b3e6752e678
call 2 attempt 0 · /messages · status 200 · 6.545 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0048 left_j1=0.0048 left_j2=0.0082 left_j3=-0.0422 left_j4=-0.012 left_j5=-0.0223 left_gripper=0.9988 right_j0=-0.0013 right_j1=0.0029 right_j2=0.0063 right_j3=-0.0429 right_j4=0.0002 right_j5=-0.0147 right_gripper=0.9997\nstate[joint_eff]: [0.1846, 1.265, 6.7761, 2.2295, 0.0415, 0.2027, -0.1392, 0.0205, 1.388, 6.653, 2.3272, -0.0366, 0.1148, -0.0415]",
      "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=-0.0048 left_j1=2.0407 left_j2=1.6188 left_j3=-1.1423 left_j4=-0.0116 left_j5=-0.0219 left_gripper=0.9987 right_j0=-0.0013 right_j1=0.0048 right_j2=0.0063 right_j3=-0.0715 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [0.1299, -10.5231, 8.0615, 0.1783, 0.0611, 0.2125, -0.022, -0.1026, 1.7299, 6.9812, 2.2051, 0.0122, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:372e127efc18e0c2a30b307a719e0aa77994e3183e22533c0f3c8d0314883d76",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d1eaa6abdc0fd34322d749eb0a5b780a7f0d031acb4eb5ae3c5e6155da516d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b3e6752e678388808eabc1a4141febb23737bc19ab852957eeea7c3b0e2606b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 372e127efc18]
[blob 1d1eaa6abdc0]
[blob 2b3e6752e678]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ExY1NDXCXiGzR2rJWEJPXC",
      "input": {
        "note": "Calibrating from the last move: the left gripper moved ~65 px in the top view for a 15 cm radial move, so ~3.3 px/cm at table level. That puts the blue (left) block roughly 24 cm forward and 20 cm right of the left base; I'm swinging the left arm over it to confirm with the wrist camera.",
        "targets": {
          "left_j0": -0.695,
          "left_j1": 1.8555,
          "left_j2": 1.581,
          "left_j3": -1.2963,
          "left_j5": -0.695
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 11 steps (1.1s)",
      "tool_use_id": "toolu_01ExY1NDXCXiGzR2rJWEJPXC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6743 left_j1=1.8992 left_j2=1.5856 left_j3=-1.2732 left_j4=-0.0116 left_j5=-0.622 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0059 right_j2=0.0063 right_j3=-0.0795 right_j4=0.0006 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, -12.3145, 5.4359, 0.1343, -0.0562, -0.1636, -0.022, -0.1573, 2.0034, 7.0496, 1.9512, -0.0073, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d634e51106cb6ed46b500697d97711664d8c72c62f63f6ae07abf75c7f09009f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35b5047120f15d91dde29d9185f891b6811f7f2dd9b81a8bbb4b9ec7e02f62b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9586f8e29c7b0e20fd7cf6aa531afd4bd6443c5ea8ff2143d284a0b2394dda94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob d634e51106cb
wire blob 35b5047120f1
wire blob 9586f8e29c7b
call 3 attempt 0 · /messages · status 200 · 9.114 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0048 left_j1=0.0048 left_j2=0.0082 left_j3=-0.0422 left_j4=-0.012 left_j5=-0.0223 left_gripper=0.9988 right_j0=-0.0013 right_j1=0.0029 right_j2=0.0063 right_j3=-0.0429 right_j4=0.0002 right_j5=-0.0147 right_gripper=0.9997\nstate[joint_eff]: [0.1846, 1.265, 6.7761, 2.2295, 0.0415, 0.2027, -0.1392, 0.0205, 1.388, 6.653, 2.3272, -0.0366, 0.1148, -0.0415]",
      "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=-0.0048 left_j1=2.0407 left_j2=1.6188 left_j3=-1.1423 left_j4=-0.0116 left_j5=-0.0219 left_gripper=0.9987 right_j0=-0.0013 right_j1=0.0048 right_j2=0.0063 right_j3=-0.0715 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [0.1299, -10.5231, 8.0615, 0.1783, 0.0611, 0.2125, -0.022, -0.1026, 1.7299, 6.9812, 2.2051, 0.0122, -0.0513, -0.0171]",
      "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=-0.6743 left_j1=1.8992 left_j2=1.5856 left_j3=-1.2732 left_j4=-0.0116 left_j5=-0.622 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0059 right_j2=0.0063 right_j3=-0.0795 right_j4=0.0006 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, -12.3145, 5.4359, 0.1343, -0.0562, -0.1636, -0.022, -0.1573, 2.0034, 7.0496, 1.9512, -0.0073, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d634e51106cb6ed46b500697d97711664d8c72c62f63f6ae07abf75c7f09009f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35b5047120f15d91dde29d9185f891b6811f7f2dd9b81a8bbb4b9ec7e02f62b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9586f8e29c7b0e20fd7cf6aa531afd4bd6443c5ea8ff2143d284a0b2394dda94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob d634e51106cb]
[blob 35b5047120f1]
[blob 9586f8e29c7b]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JbdSMH2Lfkdmu7FYt89nSm",
      "input": {
        "note": "The blue block is now clearly in the left wrist camera, centered horizontally (x≈115) but well above the grasp point, meaning it's still ~8-10 cm farther out. Extending radially ~5 cm and lowering a little to bring it toward the jaws.",
        "targets": {
          "left_j1": 2.0845,
          "left_j2": 1.7391,
          "left_j3": -1.2254
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01JbdSMH2Lfkdmu7FYt89nSm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6777 left_j1=2.0525 left_j2=1.7061 left_j3=-1.2587 left_j4=-0.0082 left_j5=-0.6537 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0086 right_j2=0.0063 right_j3=-0.0795 right_j4=-0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [0.2803, -10.9607, 7.9385, 0.0611, -0.0464, 0.2076, -0.0122, -0.0205, 1.4974, 6.9949, 1.8828, -0.0122, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3f627e993749fb36fa11f5bc35d4fbc85a2e874e41fb10bb2f8ee3141136cf4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2bd44e35773d491cbd8993837ea3220f5bb5153407541363b735895cd422b97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:78c9cc3f38d2d5a48dd11d8e0775ac70a0c50ce3838177650669a990426ceacc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob a3f627e99374
wire blob e2bd44e35773
wire blob 78c9cc3f38d2
call 4 attempt 0 · /messages · status 200 · 9.805 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0048 left_j1=2.0407 left_j2=1.6188 left_j3=-1.1423 left_j4=-0.0116 left_j5=-0.0219 left_gripper=0.9987 right_j0=-0.0013 right_j1=0.0048 right_j2=0.0063 right_j3=-0.0715 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [0.1299, -10.5231, 8.0615, 0.1783, 0.0611, 0.2125, -0.022, -0.1026, 1.7299, 6.9812, 2.2051, 0.0122, -0.0513, -0.0171]",
      "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=-0.6743 left_j1=1.8992 left_j2=1.5856 left_j3=-1.2732 left_j4=-0.0116 left_j5=-0.622 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0059 right_j2=0.0063 right_j3=-0.0795 right_j4=0.0006 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, -12.3145, 5.4359, 0.1343, -0.0562, -0.1636, -0.022, -0.1573, 2.0034, 7.0496, 1.9512, -0.0073, -0.0659, -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=-0.6777 left_j1=2.0525 left_j2=1.7061 left_j3=-1.2587 left_j4=-0.0082 left_j5=-0.6537 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0086 right_j2=0.0063 right_j3=-0.0795 right_j4=-0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [0.2803, -10.9607, 7.9385, 0.0611, -0.0464, 0.2076, -0.0122, -0.0205, 1.4974, 6.9949, 1.8828, -0.0122, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3f627e993749fb36fa11f5bc35d4fbc85a2e874e41fb10bb2f8ee3141136cf4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2bd44e35773d491cbd8993837ea3220f5bb5153407541363b735895cd422b97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78c9cc3f38d2d5a48dd11d8e0775ac70a0c50ce3838177650669a990426ceacc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob a3f627e99374]
[blob e2bd44e35773]
[blob 78c9cc3f38d2]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PGakBg4cHN4Gbv3KnJLPLU",
      "input": {
        "note": "Block moved only slightly down in the wrist view (y≈100), so it is still ahead of the jaws; extending another ~3 cm radially and dropping ~5 cm to bring the jaws down over it.",
        "targets": {
          "left_j1": 2.2641,
          "left_j2": 1.8173,
          "left_j3": -1.124
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01PGakBg4cHN4Gbv3KnJLPLU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6735 left_j1=2.2219 left_j2=1.7973 left_j3=-1.2278 left_j4=-0.0307 left_j5=-0.6655 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0105 right_j2=0.0063 right_j3=-0.0795 right_j4=0.001 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.4034, -8.2667, 6.8581, 1.2381, 0.2466, 0.0904, -0.0122, -0.0889, 1.4701, 6.9949, 1.9072, -0.0171, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41ebd508c265619556da45c754979daaf638d21b34f8c9246d194cbcb19342a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c959b93aedf53a90938ea9cdf09b1753cccde07e5f99edbe6f5c51e325acedb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b8619f5b430e45a7c3f4cd469116c0369c0d3f808a6a3c06891dde4ba0d88407",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 41ebd508c265
wire blob 5c959b93aedf
wire blob b8619f5b430e
call 5 attempt 0 · /messages · status 200 · 4.304 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6743 left_j1=1.8992 left_j2=1.5856 left_j3=-1.2732 left_j4=-0.0116 left_j5=-0.622 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0059 right_j2=0.0063 right_j3=-0.0795 right_j4=0.0006 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, -12.3145, 5.4359, 0.1343, -0.0562, -0.1636, -0.022, -0.1573, 2.0034, 7.0496, 1.9512, -0.0073, -0.0659, -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=-0.6777 left_j1=2.0525 left_j2=1.7061 left_j3=-1.2587 left_j4=-0.0082 left_j5=-0.6537 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0086 right_j2=0.0063 right_j3=-0.0795 right_j4=-0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [0.2803, -10.9607, 7.9385, 0.0611, -0.0464, 0.2076, -0.0122, -0.0205, 1.4974, 6.9949, 1.8828, -0.0122, -0.0757, -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=-0.6735 left_j1=2.2219 left_j2=1.7973 left_j3=-1.2278 left_j4=-0.0307 left_j5=-0.6655 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0105 right_j2=0.0063 right_j3=-0.0795 right_j4=0.001 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.4034, -8.2667, 6.8581, 1.2381, 0.2466, 0.0904, -0.0122, -0.0889, 1.4701, 6.9949, 1.9072, -0.0171, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41ebd508c265619556da45c754979daaf638d21b34f8c9246d194cbcb19342a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c959b93aedf53a90938ea9cdf09b1753cccde07e5f99edbe6f5c51e325acedb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8619f5b430e45a7c3f4cd469116c0369c0d3f808a6a3c06891dde4ba0d88407",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 41ebd508c265]
[blob 5c959b93aedf]
[blob b8619f5b430e]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J7i8PkoZncZWAgCw9qn44W",
      "input": {
        "note": "The blue block is now close to the jaws but off to the image-left. I'm zeroing wrist roll so the wrist view has the canonical orientation (image-right = arm's right, image-up = radially outward), which makes the remaining alignment nudges unambiguous; the block is a cube so jaw yaw doesn't matter.",
        "targets": {
          "left_j5": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 11 steps (1.1s)",
      "tool_use_id": "toolu_01J7i8PkoZncZWAgCw9qn44W",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6735 left_j1=2.2234 left_j2=1.8 left_j3=-1.2732 left_j4=-0.0311 left_j5=-0.0994 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0105 right_j2=0.0063 right_j3=-0.0799 right_j4=-0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.3214, -11.5487, 5.2581, 0.5104, -0.0513, 0.3199, -0.0122, -0.0479, 1.6342, 7.1179, 1.8974, -0.0269, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1cd2d9b78bd0346d65cc17c1e13dfaf1de009c84c2cd60949b9732c50d349711",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67e289319808f4c67f068782e361e056c010a96f9c392d081f78b4ba33d00735",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2a3e4a6d1e98179abf44b3d24ccbaabd6298dc1381ea0da090892dce73f29927",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 1cd2d9b78bd0
wire blob 67e289319808
wire blob 2a3e4a6d1e98
call 6 attempt 0 · /messages · status 200 · 5.923 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6777 left_j1=2.0525 left_j2=1.7061 left_j3=-1.2587 left_j4=-0.0082 left_j5=-0.6537 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0086 right_j2=0.0063 right_j3=-0.0795 right_j4=-0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [0.2803, -10.9607, 7.9385, 0.0611, -0.0464, 0.2076, -0.0122, -0.0205, 1.4974, 6.9949, 1.8828, -0.0122, -0.0757, -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=-0.6735 left_j1=2.2219 left_j2=1.7973 left_j3=-1.2278 left_j4=-0.0307 left_j5=-0.6655 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0105 right_j2=0.0063 right_j3=-0.0795 right_j4=0.001 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.4034, -8.2667, 6.8581, 1.2381, 0.2466, 0.0904, -0.0122, -0.0889, 1.4701, 6.9949, 1.9072, -0.0171, -0.0611, -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=-0.6735 left_j1=2.2234 left_j2=1.8 left_j3=-1.2732 left_j4=-0.0311 left_j5=-0.0994 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0105 right_j2=0.0063 right_j3=-0.0799 right_j4=-0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.3214, -11.5487, 5.2581, 0.5104, -0.0513, 0.3199, -0.0122, -0.0479, 1.6342, 7.1179, 1.8974, -0.0269, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1cd2d9b78bd0346d65cc17c1e13dfaf1de009c84c2cd60949b9732c50d349711",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67e289319808f4c67f068782e361e056c010a96f9c392d081f78b4ba33d00735",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a3e4a6d1e98179abf44b3d24ccbaabd6298dc1381ea0da090892dce73f29927",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 1cd2d9b78bd0]
[blob 67e289319808]
[blob 2a3e4a6d1e98]
{
  "content": [
    {
      "signature": "CAISnwYKjAEIEBgCKkDAVfQeWNh79/JJ/DAdjhSHLfe7Zl3hIlXNV8DAgHG0Pbf9gNfN+yZjQr79XiMfjjFJoOOpEPF7RDz25GTkT2ooMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMayExJbw6OtGexWtQGgzzCBHo9GFzuzK3gVciMAw1w3pVJDV8c3X9gqf+6Y2pXhrhyEbzEJ6RUC3NvrBacs/KnwNSilnzQpoPSeiDuCq/BCQk9aa3H3b//v+KfnpJSztb+eZ2VItnm94lHwbHMIJL0y0kNCrZoVGgDqfkrFlBrquDDzHrSEybnm7eM85P2LvEQ1YY6M3KdSIgAqYKqUUIbG9h+TT7olaiLu9g1Cfi5B6T/wD1w4dWqecgxajGOKLDcfwD+aMQY5fXVtscaEdkeohxX+wrhYzxYbzxbRugB0P6P++xEB9UCP4GbYl/1GCVUMOjCBOVzFt/ojsSY247zkV53J4b30XgPrf2Zg3+agP1OndJO/Ea2/k0aL9H5YRn9YhYensAtnpNNkO7UH657AgBRrFdJ6i62dD7Kk4EoJv7M2xdS2CZgPAnQImuVpudHH51x5cDMD9HtvnnnRziQlN0X7biPDRrg1S4EacolI3NrMLXPx9Z2sO6tlaupAwvBB4zXuWWCiKC0utIi/M9OCa9I77cB4KiCCq4pG082bE45GxY+4HItvEeQQ2UVHNE9c2Nv73rJvwx975dhRas0hWlE2wRyeKATDL/PFjxGJQv7RvUlkeY+aIEeo30qEhCVj8nRPckE86aC1UvozFUa5udvgW2k+5yMeWyzerP1PWwdtqh/M/wvwloVKPvhGXLKNGpvWJK/B8TKLQKCYDAFx3PHdnp5U7oeYs5HWOZzOvs5wh20iZJGW9jTKdifd+NgmqTx43F6IpCw6M6ahm1foc4ryR1QlaMBfIzPWLuUbIe8iqWmCjEfoSU1YQyuERH3o7OOZRKAvb1h+gz6rz0vxf1wYaE8EsVxACAYE4BGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Lc6xCGPh8eo2Dj2p2jSWfm",
      "input": {
        "note": "With roll zeroed, the block sits at image-left of the jaw gap; swinging j0 positive by ~0.07 rad (≈3 cm at this radius) should center it between the jaws.",
        "targets": {
          "left_j0": -0.6
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Lc6xCGPh8eo2Dj2p2jSWfm",
      "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=-0.6479 left_j1=2.2234 left_j2=1.7996 left_j3=-1.2804 left_j4=-0.0235 left_j5=-0.0643 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0105 right_j2=0.0063 right_j3=-0.0795 right_j4=-0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [2.3863, -11.6991, 5.8872, 0.1685, -0.1245, 0.0122, -0.0122, -0.0205, 1.7436, 6.9949, 1.8877, -0.0317, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04c6715a0a98bab1d128fcd19157a242b72b1ca64912637b8fb5258ad7d7cc49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84496f354ca351b8822b55f1d3e1452b5d2618c8b24688bc7fd3fa0436525ee7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d5124c0ffecfa5c43f25af0c5f3118c95d357ed298dbca1ca0d2868a797b537c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 04c6715a0a98
wire blob 84496f354ca3
wire blob d5124c0ffecf
call 7 attempt 0 · /messages · status 200 · 4.498 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6735 left_j1=2.2219 left_j2=1.7973 left_j3=-1.2278 left_j4=-0.0307 left_j5=-0.6655 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0105 right_j2=0.0063 right_j3=-0.0795 right_j4=0.001 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.4034, -8.2667, 6.8581, 1.2381, 0.2466, 0.0904, -0.0122, -0.0889, 1.4701, 6.9949, 1.9072, -0.0171, -0.0611, -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=-0.6735 left_j1=2.2234 left_j2=1.8 left_j3=-1.2732 left_j4=-0.0311 left_j5=-0.0994 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0105 right_j2=0.0063 right_j3=-0.0799 right_j4=-0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.3214, -11.5487, 5.2581, 0.5104, -0.0513, 0.3199, -0.0122, -0.0479, 1.6342, 7.1179, 1.8974, -0.0269, -0.0562, -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=-0.6479 left_j1=2.2234 left_j2=1.7996 left_j3=-1.2804 left_j4=-0.0235 left_j5=-0.0643 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0105 right_j2=0.0063 right_j3=-0.0795 right_j4=-0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [2.3863, -11.6991, 5.8872, 0.1685, -0.1245, 0.0122, -0.0122, -0.0205, 1.7436, 6.9949, 1.8877, -0.0317, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04c6715a0a98bab1d128fcd19157a242b72b1ca64912637b8fb5258ad7d7cc49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84496f354ca351b8822b55f1d3e1452b5d2618c8b24688bc7fd3fa0436525ee7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5124c0ffecfa5c43f25af0c5f3118c95d357ed298dbca1ca0d2868a797b537c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 04c6715a0a98]
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{
  "content": [
    {
      "signature": "CAISwAkKjAEIEBgCKkCz4LN8u53AQeVrVV827NpinafC0k/8/LslAVWuqFmVCfecatmZHpoFcjCE2QgVmcoVR3AqAeEovmwFBncDS/c2MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMc20/H4GsCsoBbbm1Ggz6bslaohVTPuWw/v4iMC6Mss1jAvZ7g7sIt3UDDeRYd/ofbAht82aIqNUAkCNQZKjvoPzBfEEfEqy58dKsbirgB0VBJs+hlTUCzhoIgMCBcA/oYwcvJtMrrKu42QmEEFgc2VfGTLUhWbT1uIEfYZ9mlJ0pvVYPkXMlZlYPW+mVbXvoBoZM9Kd19iHVHzeY1jTh5tog9OocrwuH+6rYy6mVPBlDQoLRbupsvg6WTmV+wGpTY8xC6oXhcy5fHTO4kCIja2gQwwiwRwdg9DIoeUsBaC2n5hjVzVCczQpKVIWzsKE0LLMZSujbC+U0aqMLDfJHuBI3x7L4HigjHHjvQVSL0r7/zDqHnQW7u2Tsdnx1oub9gq3Sb6lAGIXQLuJWb9n9NBtb5ZFHBp/FquhiXqBo3BCA9AygNgqU374TdoIhXd2/4T5nh0pZ6xmUWbwrUNdwgCK8ioq4tQ+PfSYwklCkLmuLHApXKT0khlUwu555HuDFHB2+27FG7q2y4pTHfJUKsARymEf/LaJUimLl9+cMq9XZhNOkIHWRw3P4clbm/4o7yA4Vthq41mP782XIumk+Wr7Vvp0aNgpgV2AtRMGzJNYjTyV2ZewSzMKuKOCTLy++h9yhpdlXlJHF3+S995q3FtP5oLxqDhQaN1I0vWomTYp75iG29Jit4Cq70GmCFK8hLaguL64u9f0PxSNQJV3a/GVllDeWct7dWU9SjL1h4tlvlEsA4F2Xi6EvnGtYurLCa5995hr/4HuAvM9IRBJWOU3uSS2qLp/kzD44k/lRWp8VpWFYRpc5pRcKiY6ZAvHUPvQgk7vpxxOgDGx7WmuzX5ZUvVa3qdlm8mlmwnPScnNty6BAnr9+CMWhcUedud50T3ap23SVueHbV8tBpSIm3gdDNyn6mdVbr3g0Al9/WyUn9w0jc22QtgYNqtVvHiDRT/0rdKYk4RJTIXO7MUb8BjwqU88HISt+6ndcbjvU0xCHz9W5nIARmrlcBm/BjW9dUhyMWj4RgQKl1J+22qRk+uMc6tCpO47ULWxjpTa5FPERaFa20rBsRGGWEq2R9OmYTyEugYZ6ZShcpt8R1FR1jcWhNaNzKFtZwm9sx+bN3AoZF03g3VKbLDCOtW9dJ6habOE52pzMB+O+c4EfwISy17ErHi5Dof3V0XYzUy5PxOe1YK4qy/z/nDJaH74Q6bmA94LnNa55XtxizsNbtwQzFifQGh+TQl4LhIO0Cu6a27haBGaSP6EQwbPRwguuZt8Iyq7lpP+esxMYQVpAO51rdpLe2o2esYMafE3AjW/ovysrWX2O40CP6uvWtDZI01y03zFvhwm6rYrqdBfuiJHZF8CN3v24+Jlg3+BbD2pzOQw59HfVmFt/JKuftw0bpfGR8Oq4jmCkrPTLartBHhIbGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DmxTx9BXQEU8Rg1u2bkPev",
      "input": {
        "note": "The nudge moved the block image-left, not right, so the sign is opposite to my assumption; calibrated at ~15 px/cm, I need j0 about 0.10 rad more negative to center the block between the jaws.",
        "targets": {
          "left_j0": -0.76
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01DmxTx9BXQEU8Rg1u2bkPev",
      "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=-0.6567 left_j1=2.2238 left_j2=1.7996 left_j3=-1.2861 left_j4=-0.0387 left_j5=-0.0937 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0105 right_j2=0.0063 right_j3=-0.0799 right_j4=-0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-4.547, -11.7128, 5.4359, 0.0952, 0.1343, 0.1538, -0.0122, -0.0752, 1.7709, 7.0632, 1.9072, -0.022, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d57545109429e6650cb46fcb052a1e4fa21d502593b01218c23ac4d1fe89540e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27ebd108e0ad40c171a646639f75b8e3a8541f8185c2a5e250dce0358e779c91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f0779b7e25af054f20ed6d5357de731b0378a79da6123e6dc1e3b106bc7c98cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob d57545109429
wire blob 27ebd108e0ad
wire blob f0779b7e25af
call 8 attempt 0 · /messages · status 200 · 6.801 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6735 left_j1=2.2234 left_j2=1.8 left_j3=-1.2732 left_j4=-0.0311 left_j5=-0.0994 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0105 right_j2=0.0063 right_j3=-0.0799 right_j4=-0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.3214, -11.5487, 5.2581, 0.5104, -0.0513, 0.3199, -0.0122, -0.0479, 1.6342, 7.1179, 1.8974, -0.0269, -0.0562, -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=-0.6479 left_j1=2.2234 left_j2=1.7996 left_j3=-1.2804 left_j4=-0.0235 left_j5=-0.0643 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0105 right_j2=0.0063 right_j3=-0.0795 right_j4=-0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [2.3863, -11.6991, 5.8872, 0.1685, -0.1245, 0.0122, -0.0122, -0.0205, 1.7436, 6.9949, 1.8877, -0.0317, -0.0562, -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=-0.6567 left_j1=2.2238 left_j2=1.7996 left_j3=-1.2861 left_j4=-0.0387 left_j5=-0.0937 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0105 right_j2=0.0063 right_j3=-0.0799 right_j4=-0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-4.547, -11.7128, 5.4359, 0.0952, 0.1343, 0.1538, -0.0122, -0.0752, 1.7709, 7.0632, 1.9072, -0.022, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d57545109429e6650cb46fcb052a1e4fa21d502593b01218c23ac4d1fe89540e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27ebd108e0ad40c171a646639f75b8e3a8541f8185c2a5e250dce0358e779c91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0779b7e25af054f20ed6d5357de731b0378a79da6123e6dc1e3b106bc7c98cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob d57545109429]
[blob 27ebd108e0ad]
[blob f0779b7e25af]
{
  "content": [
    {
      "signature": "CAISiwYKjAEIEBgCKkBkc6x/Tu+CgnxLXA1XP0nSCaiELRqGlRFCmW+z3UPl7F8C/h0iYolGXQW1vLk1xDek35pR4wd1BWhhKqinXRrBMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMZH86OKBjXTsemSD2GgwcJZNkfq2yhXoBKwoiMC+cvUxK/C3zdkhIaa+5DJXMxmcDtayEQMhqUK2FteG0gH19NCGBotDtTXBW20gQiyqrBOaNrG8j8ElfT4HY1AyZxHYbjgoWL2NHyeGirbMrsrvG8WMR4SfCw4v3MjRVwRFLNrPGj0tOah1hKmOPkFIgUmOHdwzEB7mDjcEDtf4DHG8PPftq4+/QhK7XE622QuVL7LXrvYZO70R8gRnMr+K7f+7H8nSIdgrY46b/sKtCPIdUqYxvMrZQynULzMixycgNynAohrJqZo3OaZKmBYMKdcElUiXzuyAJD4yBkZXa3QH4+b75wLJNE6R8Wq+W0YK61DTc4vkCd74YV8Vay9jPA2xEWaXh9o0A6T3AYgLSDSSn6mwm6waZo4r1Ygdj+P88AQH6IWRC6NwH7su1+Cpu8ceqDwpmCHZrYc6g/bph6jJQttmUumHjgEjjefCftuJgSTuDiAqDy1Trdi90Ya1OS1Db0kExWwO1aZzoZxWoBExL0NGlcFLvJxFQyFECoJiW4sG99rGa3YgDlVvwwg6VvAinjKfnv8GLN6ClgOlnd9bsUdSZPg2yIJ7Zl696Nnf2k8IC1gKvr1wpCN4IFnHVE5lLBFu2f1wkmzyo/VIKPQPkg79fFC73J5AAD/Y6ZP1PjWx9lr4fQie2BkzfPS7mzCr78K2vtBt7nSLq3Aaky3vTOQptkRGXKrWGgQiboJ1G3mXkZGHuXMC54HontnXM74ocseMOXBosQLQWD7Vq3GTd6ImdX0sPnVWejsrHVjzLuiSnOsmjpRPfteFMO0R4nTvVZBqL9FcpECvQ3xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01R1pb7kUVisxd7AEs3KsyQ9",
      "input": {
        "note": "j0 undershot badly (only reached -0.657) but the block did shift right to x≈90; re-issuing a slightly larger negative j0 to finish centering it in the jaw gap.",
        "targets": {
          "left_j0": -0.72
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01R1pb7kUVisxd7AEs3KsyQ9",
      "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=-0.7437 left_j1=2.2238 left_j2=1.7996 left_j3=-1.3029 left_j4=-0.0196 left_j5=-0.0902 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0105 right_j2=0.0063 right_j3=-0.0795 right_j4=0.001 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [1.388, -11.5624, 5.3949, 0.1001, -0.2027, 0.022, -0.0122, -0.1299, 1.6205, 7.1726, 1.8828, -0.0317, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:486c8a150330368459e2bf88d4086aadbf0a220f10229012dd485086d2d617a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dcb21b328ef3baec40de1f06c2f52cf390892c55f1612487a92652fa98a4c78f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b8656a9679340089f4415cc3b7d24a06bb57310b93e930a678ac50adc8d14e6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 486c8a150330
wire blob dcb21b328ef3
wire blob b8656a967934
call 9 attempt 0 · /messages · status 200 · 6.431 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6479 left_j1=2.2234 left_j2=1.7996 left_j3=-1.2804 left_j4=-0.0235 left_j5=-0.0643 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0105 right_j2=0.0063 right_j3=-0.0795 right_j4=-0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [2.3863, -11.6991, 5.8872, 0.1685, -0.1245, 0.0122, -0.0122, -0.0205, 1.7436, 6.9949, 1.8877, -0.0317, -0.0562, -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=-0.6567 left_j1=2.2238 left_j2=1.7996 left_j3=-1.2861 left_j4=-0.0387 left_j5=-0.0937 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0105 right_j2=0.0063 right_j3=-0.0799 right_j4=-0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-4.547, -11.7128, 5.4359, 0.0952, 0.1343, 0.1538, -0.0122, -0.0752, 1.7709, 7.0632, 1.9072, -0.022, -0.0513, -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=-0.7437 left_j1=2.2238 left_j2=1.7996 left_j3=-1.3029 left_j4=-0.0196 left_j5=-0.0902 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0105 right_j2=0.0063 right_j3=-0.0795 right_j4=0.001 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [1.388, -11.5624, 5.3949, 0.1001, -0.2027, 0.022, -0.0122, -0.1299, 1.6205, 7.1726, 1.8828, -0.0317, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:486c8a150330368459e2bf88d4086aadbf0a220f10229012dd485086d2d617a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dcb21b328ef3baec40de1f06c2f52cf390892c55f1612487a92652fa98a4c78f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8656a9679340089f4415cc3b7d24a06bb57310b93e930a678ac50adc8d14e6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 486c8a150330]
[blob dcb21b328ef3]
[blob b8656a967934]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WibuKPA9HswNvhEzn3siQf",
      "input": {
        "note": "My lateral readings are inconsistent because the block keeps falling into the blind zone at the bottom of the wrist frame; backing up ~4 cm and rising ~5 cm to get the whole block in view before committing to a descent.",
        "targets": {
          "left_j0": -0.72,
          "left_j1": 2.0845,
          "left_j2": 1.7391,
          "left_j3": -1.2254
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01WibuKPA9HswNvhEzn3siQf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7204 left_j1=2.1578 left_j2=1.7428 left_j3=-1.2636 left_j4=-0.0212 left_j5=-0.0944 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0105 right_j2=0.0063 right_j3=-0.0795 right_j4=0.0013 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -15.241, 5.6547, 0.398, -0.1001, 0.0073, -0.0122, -0.0342, 1.7573, 6.9949, 1.9121, -0.0122, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:219c762c8d03ba8c3f145914dfce6f4d4fa0d2dd92ac262f217b013580b52c4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bbc0167910e3b6f8bbd7a36fd701f8aae6c5083b3e8cc9bd08917596e85da52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:74e918b4ac3c7b9e7342c2e598a07a993c53024210cb00890dd65f63812cf027",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 219c762c8d03
wire blob 9bbc0167910e
wire blob 74e918b4ac3c
call 10 attempt 0 · /messages · status 200 · 6.943 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6567 left_j1=2.2238 left_j2=1.7996 left_j3=-1.2861 left_j4=-0.0387 left_j5=-0.0937 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0105 right_j2=0.0063 right_j3=-0.0799 right_j4=-0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-4.547, -11.7128, 5.4359, 0.0952, 0.1343, 0.1538, -0.0122, -0.0752, 1.7709, 7.0632, 1.9072, -0.022, -0.0513, -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=-0.7437 left_j1=2.2238 left_j2=1.7996 left_j3=-1.3029 left_j4=-0.0196 left_j5=-0.0902 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0105 right_j2=0.0063 right_j3=-0.0795 right_j4=0.001 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [1.388, -11.5624, 5.3949, 0.1001, -0.2027, 0.022, -0.0122, -0.1299, 1.6205, 7.1726, 1.8828, -0.0317, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7204 left_j1=2.1578 left_j2=1.7428 left_j3=-1.2636 left_j4=-0.0212 left_j5=-0.0944 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0105 right_j2=0.0063 right_j3=-0.0795 right_j4=0.0013 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -15.241, 5.6547, 0.398, -0.1001, 0.0073, -0.0122, -0.0342, 1.7573, 6.9949, 1.9121, -0.0122, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:219c762c8d03ba8c3f145914dfce6f4d4fa0d2dd92ac262f217b013580b52c4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bbc0167910e3b6f8bbd7a36fd701f8aae6c5083b3e8cc9bd08917596e85da52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74e918b4ac3c7b9e7342c2e598a07a993c53024210cb00890dd65f63812cf027",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 219c762c8d03]
[blob 9bbc0167910e]
[blob 74e918b4ac3c]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JJRu1tcZvvbbTHTRLYa9rk",
      "input": {
        "note": "The block still sits at the far image-left edge; making a deliberately large +0.17 rad j0 swing to unambiguously establish which way the scene shifts and how many pixels per radian.",
        "targets": {
          "left_j0": -0.55
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01JJRu1tcZvvbbTHTRLYa9rk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5884 left_j1=2.149 left_j2=1.7393 left_j3=-1.261 left_j4=-0.0132 left_j5=-0.0944 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0105 right_j2=0.0063 right_j3=-0.0795 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.1162, -10.865, 5.8872, 0.0366, -0.1197, -0.0317, -0.0122, -0.0889, 1.6479, 6.9812, 1.8974, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c798d0ce8725ced949d5bfd2ad7daedf82f2305bd92df7efcc43e4989aa3b5a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a87f3bd371c0c051eacca48834578b94052a3b46848af6f3cdf4859fa8afaf59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1618a06ac4688762d5091eacee037c43c09976d4e3fde4121538878da728466c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob c798d0ce8725
wire blob a87f3bd371c0
wire blob 1618a06ac468
call 11 attempt 0 · /messages · status 200 · 5.718 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7437 left_j1=2.2238 left_j2=1.7996 left_j3=-1.3029 left_j4=-0.0196 left_j5=-0.0902 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0105 right_j2=0.0063 right_j3=-0.0795 right_j4=0.001 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [1.388, -11.5624, 5.3949, 0.1001, -0.2027, 0.022, -0.0122, -0.1299, 1.6205, 7.1726, 1.8828, -0.0317, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7204 left_j1=2.1578 left_j2=1.7428 left_j3=-1.2636 left_j4=-0.0212 left_j5=-0.0944 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0105 right_j2=0.0063 right_j3=-0.0795 right_j4=0.0013 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -15.241, 5.6547, 0.398, -0.1001, 0.0073, -0.0122, -0.0342, 1.7573, 6.9949, 1.9121, -0.0122, -0.0464, -0.0171]",
      "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=-0.5884 left_j1=2.149 left_j2=1.7393 left_j3=-1.261 left_j4=-0.0132 left_j5=-0.0944 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0105 right_j2=0.0063 right_j3=-0.0795 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.1162, -10.865, 5.8872, 0.0366, -0.1197, -0.0317, -0.0122, -0.0889, 1.6479, 6.9812, 1.8974, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c798d0ce8725ced949d5bfd2ad7daedf82f2305bd92df7efcc43e4989aa3b5a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a87f3bd371c0c051eacca48834578b94052a3b46848af6f3cdf4859fa8afaf59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1618a06ac4688762d5091eacee037c43c09976d4e3fde4121538878da728466c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob c798d0ce8725]
[blob a87f3bd371c0]
[blob 1618a06ac468]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012F4yuS5jdTcAHvo3KMQejt",
      "input": {
        "note": "Confirmed: positive j0 shifts the scene image-right, and the block is now centered under the jaw gap (x≈110). Descending ~6 cm while holding radius to bring the open jaws down around it.",
        "targets": {
          "left_j1": 2.1837,
          "left_j2": 1.6291,
          "left_j3": -1.0162
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_012F4yuS5jdTcAHvo3KMQejt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5953 left_j1=2.1757 left_j2=1.6417 left_j3=-1.1027 left_j4=-0.0189 left_j5=-0.0982 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0105 right_j2=0.0063 right_j3=-0.0795 right_j4=0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [0.3624, -10.7966, 5.2444, 0.3834, -0.0122, 0.0073, -0.0122, -0.0889, 1.7983, 6.9949, 1.8974, -0.0415, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:958af6b7a86869c32f3bc3efcc5001dd6ec50770dda2aeb12daa46384bf668e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a14aada50d2b9c4c29f85b86d0e1f71df5216ddb4146c45f9b0b4a7b8df0939a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f4ac66a779576b902d016349e1b078c1e94cf250471dc36ca8d1b1cc7cb3ed1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 958af6b7a868
wire blob a14aada50d2b
wire blob f4ac66a77957
call 12 attempt 0 · /messages · status 200 · 3.68 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7204 left_j1=2.1578 left_j2=1.7428 left_j3=-1.2636 left_j4=-0.0212 left_j5=-0.0944 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0105 right_j2=0.0063 right_j3=-0.0795 right_j4=0.0013 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -15.241, 5.6547, 0.398, -0.1001, 0.0073, -0.0122, -0.0342, 1.7573, 6.9949, 1.9121, -0.0122, -0.0464, -0.0171]",
      "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=-0.5884 left_j1=2.149 left_j2=1.7393 left_j3=-1.261 left_j4=-0.0132 left_j5=-0.0944 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0105 right_j2=0.0063 right_j3=-0.0795 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.1162, -10.865, 5.8872, 0.0366, -0.1197, -0.0317, -0.0122, -0.0889, 1.6479, 6.9812, 1.8974, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5953 left_j1=2.1757 left_j2=1.6417 left_j3=-1.1027 left_j4=-0.0189 left_j5=-0.0982 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0105 right_j2=0.0063 right_j3=-0.0795 right_j4=0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [0.3624, -10.7966, 5.2444, 0.3834, -0.0122, 0.0073, -0.0122, -0.0889, 1.7983, 6.9949, 1.8974, -0.0415, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:958af6b7a86869c32f3bc3efcc5001dd6ec50770dda2aeb12daa46384bf668e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a14aada50d2b9c4c29f85b86d0e1f71df5216ddb4146c45f9b0b4a7b8df0939a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4ac66a779576b902d016349e1b078c1e94cf250471dc36ca8d1b1cc7cb3ed1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 958af6b7a868]
[blob a14aada50d2b]
[blob f4ac66a77957]
{
  "content": [
    {
      "signature": "CAIS2gUKjAEIEBgCKkD5tgpFWnIvVB1C4i81fWNFHJSzmIkrLmt3035bhyVS1ecJrwn7P/4IwVjNGiqHsM9q1xKbQYWNeidT57EAPWEkMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIML9s3H7pdh0QUYMMqGgxihwxQzttCjIwAsYMiMC2VwyMusNh/PmUP8RMOzc5zFblcQEr8GIjha5zFgdidIcMkjemDUS+QT0L/E7ntGyr6A3lBQ0BbISPY1aFdaI4kux1aaD6z/K66Pb0Z++87P76qJ60iBOdAIRyymDI3gNf9k5oxlJH29sQb3jZE8HZkp6TSWQ3cV3Fk/fr+odXX0v8Npn3q8fjnNF9wZrgcPfMlS1yTQAVp41AmSHOWpWF3CbTJ2rNG7ToEZ8NKrrOgfprOUoakw9t3dIQIWNx605YU8vIwz5sBKLl2pcIWFC10BuswYafBdI3UokKPPUvEKF7W+gjLdRaP8BB2O+PRiuyLmuyRsdhxnL2yfWJAVkcngdhP3G3xcXUfkPtRL0bFX25G6y5QUxjC9YXQO52W/U/xt4TaTwbErS+3hv/SD4myBHVdwAHGdRSjIpGKokBF2c8d1s7/G736FXcGkEYJcTq+Kll2v+77UuRkNwdLXak5uLGmU6NGniccldOX3O7rUOunI8gwamKQHKLLgspi4KxIqT2o+jPAg+2+8nhvSlweGx3FyTxb8U6igtYA1+ByPnV9r615YT6Rv90agYgSgfHI/Rzrayutx7yj1kG90gwd4KOHpZ7DnO+1SxhDg6bkvnu4NLvSHCUUzykeO0XJ7Jsrfhv0E42zRcNlO232LSmN2bqCdpoeA+wrRR5pzWo7G9+2KuvwBCymSHFfDZdQ+H/MZdo5/t6DVNbH9A39GEk/cj2XC8LcXnohF+PnGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BHt2FKhboQ3S34kCg7D3Jx",
      "input": {
        "note": "The cube now sits squarely between the two jaw silhouettes at the bottom of the wrist view. Lowering another ~7 cm toward the table; I'll watch j1 effort for contact.",
        "targets": {
          "left_j1": 2.3462,
          "left_j2": 1.5714,
          "left_j3": -0.796
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01BHt2FKhboQ3S34kCg7D3Jx",
      "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=-0.5888 left_j1=2.215 left_j2=1.6238 left_j3=-1.0027 left_j4=0.0143 left_j5=-0.1093 left_gripper=0.9985 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0795 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.8547, -0.9641, 1.3333, 2.2833, -0.359, 0.1001, -0.0171, -0.0889, 1.5658, 7.0359, 1.9414, -0.0073, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20b4db070feb78d63beb2d0eab169266ef041cf3501fd9fe4f5faf3a2722d9f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6ccbf4a0adeb74a38b54dff239e4bfbe6986f550132fa5e9ddaa575c5476afd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8a233cfc92c00eb70288d671a4d707cb0c710e16d3f5bc90c1d44e73aeaad2f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 20b4db070feb
wire blob c6ccbf4a0ade
wire blob 8a233cfc92c0
call 13 attempt 0 · /messages · status 200 · 4.47 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5884 left_j1=2.149 left_j2=1.7393 left_j3=-1.261 left_j4=-0.0132 left_j5=-0.0944 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0105 right_j2=0.0063 right_j3=-0.0795 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.1162, -10.865, 5.8872, 0.0366, -0.1197, -0.0317, -0.0122, -0.0889, 1.6479, 6.9812, 1.8974, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5953 left_j1=2.1757 left_j2=1.6417 left_j3=-1.1027 left_j4=-0.0189 left_j5=-0.0982 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0105 right_j2=0.0063 right_j3=-0.0795 right_j4=0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [0.3624, -10.7966, 5.2444, 0.3834, -0.0122, 0.0073, -0.0122, -0.0889, 1.7983, 6.9949, 1.8974, -0.0415, -0.0513, -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=-0.5888 left_j1=2.215 left_j2=1.6238 left_j3=-1.0027 left_j4=0.0143 left_j5=-0.1093 left_gripper=0.9985 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0795 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.8547, -0.9641, 1.3333, 2.2833, -0.359, 0.1001, -0.0171, -0.0889, 1.5658, 7.0359, 1.9414, -0.0073, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20b4db070feb78d63beb2d0eab169266ef041cf3501fd9fe4f5faf3a2722d9f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6ccbf4a0adeb74a38b54dff239e4bfbe6986f550132fa5e9ddaa575c5476afd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a233cfc92c00eb70288d671a4d707cb0c710e16d3f5bc90c1d44e73aeaad2f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 20b4db070feb]
[blob c6ccbf4a0ade]
[blob 8a233cfc92c0]
{
  "content": [
    {
      "signature": "CAISxgQKjAEIEBgCKkBxGgdH0xd7vjxCaKQyk8exxDtD7OeNpojdz3/VonUMXr4xZO2uFNMrcmf3gOyAm0YdM6wthvq0pq173uaPfGQYMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMqAJ3q//rNEcmCrZQGgyNIvncoB4mHU9qMREiMC2uq1ZMQzZkpM7bwuGw6zIiETIYC9VAOIljvhAUasZEbTZuzj+1GlAaEBjWM79/5CrmAj77OvanZAMdwIjWkGN5hRGhcpvKYYfZaNr7ZqorcEIUgxIb/k7v9dLd0Ey6dpnkRF/OCjdP6+wHQsSOuhQqPOe2A6vpfTKDDm4rhFRWIHA4asX5zvTQmAbAZcxMnlwPUtRH1rZtA2/LvlcQqHiUeRSpGtqjgD2RMZTe9ajMJyL7pbXOilsfmVK7RM5TJGwMpRhK19xOuQPNoVH1IV+3X4NmVAuOytq7rmDePQBzdxzkXNp6sav4corx403H+w++INwYwJaJmbIjJ6QQO5KjT0tD+7w4i/TW2U+8DTVzO0YalwC3P9cx4y5fLL5P8qtOAmBAsbs0Ikf7MS+Tx5MUhRifR8uuOTZk1VwU3VTdyhR5FgyHil9bDml9unfFPrlnnQ1agn2BQRffcBYJtqW1PIqgDw1eIfGiIM55gi0u9OQBOG5ZYZM8W0tBxyff4SjKxAV7FF/Lwd1/l5sQOfVfbUpvNwlgOwoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RPYaxkzYjp7UFaUpycWunH",
      "input": {
        "note": "j1 stalled and its holding effort relaxed from -10.8 to -1.0, indicating the fingertips reached the table with the cube between them. 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_01RPYaxkzYjp7UFaUpycWunH",
      "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=-0.5888 left_j1=2.2032 left_j2=1.6257 left_j3=-1.0222 left_j4=0.0063 left_j5=-0.1184 left_gripper=0.0131 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [-0.1573, -10.6598, 5.4496, 0.3834, 0.0513, 0.0757, 1.1502, -0.0752, 1.6068, 6.9949, 1.9121, -0.0269, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c274162bb9c7c89bfe43baf3a0d509afdda9c902c58b8580d94bba7bac765822",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85a0268c876ef2f488f256ffea7b7929ec201171f451609629c52648e1f0fd46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dcfb788b7d1d2800a7615edffdba1079847c1af1523e63b24fc8c2b5f01378d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob c274162bb9c7
wire blob 85a0268c876e
wire blob dcfb788b7d1d
call 14 attempt 0 · /messages · status 200 · 8.684 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5953 left_j1=2.1757 left_j2=1.6417 left_j3=-1.1027 left_j4=-0.0189 left_j5=-0.0982 left_gripper=0.9986 right_j0=-0.0013 right_j1=0.0105 right_j2=0.0063 right_j3=-0.0795 right_j4=0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [0.3624, -10.7966, 5.2444, 0.3834, -0.0122, 0.0073, -0.0122, -0.0889, 1.7983, 6.9949, 1.8974, -0.0415, -0.0513, -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=-0.5888 left_j1=2.215 left_j2=1.6238 left_j3=-1.0027 left_j4=0.0143 left_j5=-0.1093 left_gripper=0.9985 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0795 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.8547, -0.9641, 1.3333, 2.2833, -0.359, 0.1001, -0.0171, -0.0889, 1.5658, 7.0359, 1.9414, -0.0073, -0.0757, -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=-0.5888 left_j1=2.2032 left_j2=1.6257 left_j3=-1.0222 left_j4=0.0063 left_j5=-0.1184 left_gripper=0.0131 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [-0.1573, -10.6598, 5.4496, 0.3834, 0.0513, 0.0757, 1.1502, -0.0752, 1.6068, 6.9949, 1.9121, -0.0269, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c274162bb9c7c89bfe43baf3a0d509afdda9c902c58b8580d94bba7bac765822",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85a0268c876ef2f488f256ffea7b7929ec201171f451609629c52648e1f0fd46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dcfb788b7d1d2800a7615edffdba1079847c1af1523e63b24fc8c2b5f01378d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob c274162bb9c7]
[blob 85a0268c876e]
[blob dcfb788b7d1d]
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  "content": [
    {
      "signature": "CAISogYKjAEIEBgCKkBnb4Q86xYn4c7wTA9rixsFq2nvMZlWDfQ5Jg6Lt381cR8rl1llXCxo7KP4bM2kJaBjwhGC2qlWqYveT6WqEGTAMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMTLxgUSGdIqjdRbWMGgyuY5cDlKuZCs+nagAiMOzAOp/0ILsYkv/eR/yigUedpdi+VU680JY+GRi/rorhZNN/TVE871vjYaEoaK51cyrCBB4xvwucII0M6GyGP5Dc32rTrFuMQnL2Zk4OMofjxPrZqZn3WAM8akN+wSpcKapwuOrLBbH3kbAJ6geNrLlpSpsQeM6OQNj6bc2pkJKclrOv1NqwAE/ZH4jdZRMG5p1sPUY7tdJWIAqjVJxhwZqlBTe4bduWCceGy3tRGVHWPxYL3AgXGgMfTWoqUvxAT1i+TuMiTssD8Tyk43S5SD+BDurOnSI1tB3oeIo8H9WbhXmBf2RqzWy9Mhfp9/0ioEaGcW7mtsO9vPDKyAPg2Zd4sy8HcuizJramtjUc/gb+tX8Zi9VsSYpPPPue2fAo6TXEuJwBXnjmuikn4dL4G92eNICkZaVUpxXj/IoAX1nGLnvk5HGuNEkmgoswqI3SPBP7aMGsH1hQr+9YqB4ipHV5dW1PYVO4EZdBZVfk9wM3miZcQt7qXgXpFOnOtEemi16tfdgCgVNBoacpUTDgFCOnSByoYzgZ49qfHuURNiKrYSon2HjE/7LqL8j7D5hgXlvY19/xLvn9XmqTlO0uwRXmdeF2hfgfkpLiaWd3YYT8U1f6FRUknc6EJmfnTvk4SWGGjtulP9Oc8l9P7GWqzAsJaEgcTQqBm8aYxOrk/jxT0MJXxDmaKcPR4y4WtLgGS9YV1OdRNW9WKY8MS3eCbUiH7vVZlhqSVGpJLX1efrLJI/wgCfvTOW1+sbr4K7kjMuH5FH+3YTxO48bZdq7ZfnmChjk+65+VG0wmyFoszO7doCXpVfnw83qC/LYMCQqP9Tl1ETb6GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0162bHg4cp8TTfdKp7L8ay4r",
      "input": {
        "note": "Gripper closed to a residual of only 0.013 (~1 mm) — too thin for a cube, so this is at best an edge pinch. Lifting to see whether anything came with it.",
        "targets": {
          "left_j1": 2.0845,
          "left_j2": 1.7391,
          "left_j3": -1.2254
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_0162bHg4cp8TTfdKp7L8ay4r",
      "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=-0.5888 left_j1=2.1479 left_j2=1.6997 left_j3=-1.1713 left_j4=0.0071 left_j5=-0.1207 left_gripper=0.0145 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0799 right_j4=-0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.1573, -14.8308, 8.0068, 0.1392, -0.0611, -0.0415, 0.9011, -0.0752, 1.8667, 6.9949, 1.8974, -0.0024, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1542a23196784683269323370f7d4dc9716b5d8c75b77e7760d6e0f347552f2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e1b0a48edb981c766b2e5829761be0efb0e3c9b46a2a136f304d1fe80c0e322",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b543d3323a015b7eff980f56fc591da67758884f3a952cef9a85986c347b295f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 1542a2319678
wire blob 7e1b0a48edb9
wire blob b543d3323a01
call 15 attempt 0 · /messages · status 200 · 6.041 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5888 left_j1=2.215 left_j2=1.6238 left_j3=-1.0027 left_j4=0.0143 left_j5=-0.1093 left_gripper=0.9985 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0795 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.8547, -0.9641, 1.3333, 2.2833, -0.359, 0.1001, -0.0171, -0.0889, 1.5658, 7.0359, 1.9414, -0.0073, -0.0757, -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=-0.5888 left_j1=2.2032 left_j2=1.6257 left_j3=-1.0222 left_j4=0.0063 left_j5=-0.1184 left_gripper=0.0131 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [-0.1573, -10.6598, 5.4496, 0.3834, 0.0513, 0.0757, 1.1502, -0.0752, 1.6068, 6.9949, 1.9121, -0.0269, -0.0513, -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=-0.5888 left_j1=2.1479 left_j2=1.6997 left_j3=-1.1713 left_j4=0.0071 left_j5=-0.1207 left_gripper=0.0145 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0799 right_j4=-0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.1573, -14.8308, 8.0068, 0.1392, -0.0611, -0.0415, 0.9011, -0.0752, 1.8667, 6.9949, 1.8974, -0.0024, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1542a23196784683269323370f7d4dc9716b5d8c75b77e7760d6e0f347552f2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e1b0a48edb981c766b2e5829761be0efb0e3c9b46a2a136f304d1fe80c0e322",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b543d3323a015b7eff980f56fc591da67758884f3a952cef9a85986c347b295f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 1542a2319678]
[blob 7e1b0a48edb9]
[blob b543d3323a01]
{
  "content": [
    {
      "signature": "CAISxQkKjAEIEBgCKkDLWS463myxrUo1OEs2pqVsk/BS0ORZBKEw3862jOPYIUnhRm1LfM38KauZKQDJ8WxgfKbrGa0NLlZQUmbSv9SNMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMPpqberND3YQErfEyGgxWx/kCNclXz0dysYkiMDEMA9TqTS1iYmAc45FuedlwkD+O8N8rLHuHCe4THoqF/vl67tRPpzmSfBI+HEznjCrlB9xtXFPzlBfYx6Ocx/h/kuxalvsqEPJUVRSuISj9SS/Xy66fGXGwiWc+ayj0I855TiU3SuNTMTSrK5/+TtX5NJLgZSlgUqvcYknEu9Tds//z3dP377+YoapTRofxgnOZEt5tqbL8Rj4nZCAgJURBbX8G52IKZ/ow/KpDF/D2OIZdCVb28AR+j5msdWMihC0lBO7wt8J4D2BuSB+sD21lkbWPph+eJryvO7c/KNQ8kYNlsVpLo6ebtyKUxyPEZYHtGqNEGYZlBG4WAScstE569R07uKf/OSCSliHZd8zZbMiOcCdYinUb4eb4sYwTN8EwvdQAOYtZk1+gZqG9SqSBqTs9rH0K1Px4zyEt0RYDa3eLjpIVF3psN6XSvoz5UCgpzQImKLqb8+C7QOzBBUUrho6ti1q2tg8kyjS+ecUeN3im8/qYDcVxNoV8XT7F9La8zvp8vNb10iE7bbbBKZYRHS/4XNUAYQ8P29Sl1+hBMOLPRSGLVNTKbsCkZ13t1K9qe3nJJVSzHiQGlh/n2qR+3/idgdoiMXdC+zpzF8gI0P0t8c7MaDXSZXKuo7W4iy/QCQdmAPiabp5Gy1p3XjI2SffcM6kIRhl+Px9lrS1eMgy8DJmHoe5fTfxuaJIGCoWjlEhDnF/tbM48Gg44QlEHz6TFlB18re6xmqCo3Q+mzm2gptw1DKhzwUoQUxcJiMRFxgwpn6/jraenYM2vECWa4OYti/K/yZ98R9AD/mYl7sdd4bgv1gl0iGqQ/WZ9kSrYHKf2XL7rHxLIwZEgFCXcrUesIVUegYDsRt1t79TmRX/5RYJ6C26K/tgBMyHj+qE2q1xMPpysDIU/IauT8o9mu5wlFU/ScSzezuTeHnjGhBayOTVf3N6bxjkGRa5RwBJ4tZZu/ClzUAr2t1JfxcV18F+MUPp/Rb1B+yvMONqbrMp2fljiLkNtOO9aWTGV+hjsvgkjWlyAcB3XTbKBOTet7cGA4FEJlaLPX28/JH609PqH/HNT5iz7blPx/ce+UovfSOlPUp5kb8MfCyAGl+pObP+MlTLiesDpWz8bWnMOT4nvR4M5Rvqwkcl9J4+dlqbdYfddolm+i5GwXkG9D1lMliKbTijXkzeTw3PIy1QqPwksbQm15VaQwKeGsKhzWlF2HWlqFuYxnaxYEQTKmCA0CfLXP/N8wq+942pU74ZGhd4Z+S85axWrkXgDbPU2D1//HJPjVc+onWsXijL84SeSJiZ4BETT2YNjq/tCqsgfsxGOVJ8YGZ4C4lMN6Rs7AqqIPxV+h/58P2ZVCR9n1l5oOnJkXp43RcSezEl2IpZU93+FBnhtLYwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KuE7aMxbFwhEq4WXxkr3wk",
      "input": {
        "note": "The grasp was empty — the green/blue cube is visible just image-left of the jaws. Reopening and swinging j0 ~0.09 rad positive (≈3 cm) to bring the jaws over it.",
        "targets": {
          "left_gripper": 1.0,
          "left_j0": -0.5
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01KuE7aMxbFwhEq4WXxkr3wk",
      "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=-0.506 left_j1=2.1441 left_j2=1.7016 left_j3=-1.1862 left_j4=0.0071 left_j5=-0.1249 left_gripper=0.9951 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0795 right_j4=0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [0.3897, -10.7829, 5.4085, 0.3199, -0.0269, -0.0171, -0.1197, -0.1573, 1.6068, 6.9949, 1.8926, -0.0073, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c56dcaa283f5ddec9200ad08ff82a9e58f1f608a870da4106bd2ed1122bde3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c9e95a2289a8c49c8eea2f97766181f0893d6c0893acc5450af4adc6b46395f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3372c7e69bcf96bfd517b70e289975ce7425e298ebbd269e744ede38fc35a5b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 0c56dcaa283f
wire blob 3c9e95a2289a
wire blob 3372c7e69bcf
call 16 attempt 0 · /messages · status 200 · 3.662 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5888 left_j1=2.2032 left_j2=1.6257 left_j3=-1.0222 left_j4=0.0063 left_j5=-0.1184 left_gripper=0.0131 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [-0.1573, -10.6598, 5.4496, 0.3834, 0.0513, 0.0757, 1.1502, -0.0752, 1.6068, 6.9949, 1.9121, -0.0269, -0.0513, -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=-0.5888 left_j1=2.1479 left_j2=1.6997 left_j3=-1.1713 left_j4=0.0071 left_j5=-0.1207 left_gripper=0.0145 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0799 right_j4=-0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.1573, -14.8308, 8.0068, 0.1392, -0.0611, -0.0415, 0.9011, -0.0752, 1.8667, 6.9949, 1.8974, -0.0024, -0.0757, -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=-0.506 left_j1=2.1441 left_j2=1.7016 left_j3=-1.1862 left_j4=0.0071 left_j5=-0.1249 left_gripper=0.9951 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0795 right_j4=0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [0.3897, -10.7829, 5.4085, 0.3199, -0.0269, -0.0171, -0.1197, -0.1573, 1.6068, 6.9949, 1.8926, -0.0073, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c56dcaa283f5ddec9200ad08ff82a9e58f1f608a870da4106bd2ed1122bde3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c9e95a2289a8c49c8eea2f97766181f0893d6c0893acc5450af4adc6b46395f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3372c7e69bcf96bfd517b70e289975ce7425e298ebbd269e744ede38fc35a5b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 0c56dcaa283f]
[blob 3c9e95a2289a]
[blob 3372c7e69bcf]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Xi1GMJdUMokaxJq93JLySS",
      "input": {
        "note": "The object (a small white carton with a green logo) is now well centered between the open jaws at x≈112. Descending about 7 cm and re-checking before the final drop.",
        "targets": {
          "left_j1": 2.204,
          "left_j2": 1.6162,
          "left_j3": -0.983
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Xi1GMJdUMokaxJq93JLySS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5034 left_j1=2.1933 left_j2=1.6283 left_j3=-1.0512 left_j4=0.0067 left_j5=-0.1284 left_gripper=0.9964 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0795 right_j4=0.001 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [-0.3214, -11.0838, 5.3128, 0.3932, -0.0464, 0.022, 0.1343, -0.1162, 1.8256, 6.9812, 1.8632, -0.022, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ce3b79230f4d0a97881802da672fcd47490be1c90b93fd4d06ba341a66b15f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e49293afc24219bddaf119aadc4d1386144384a1effd9ca77b1b439b759cdce2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e9334e6f65c60c1010e0394218fecf93602064b1ca9eea4800e4c789b19b3600",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 6ce3b79230f4
wire blob e49293afc242
wire blob e9334e6f65c6
call 17 attempt 0 · /messages · status 200 · 3.255 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5888 left_j1=2.1479 left_j2=1.6997 left_j3=-1.1713 left_j4=0.0071 left_j5=-0.1207 left_gripper=0.0145 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0799 right_j4=-0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.1573, -14.8308, 8.0068, 0.1392, -0.0611, -0.0415, 0.9011, -0.0752, 1.8667, 6.9949, 1.8974, -0.0024, -0.0757, -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=-0.506 left_j1=2.1441 left_j2=1.7016 left_j3=-1.1862 left_j4=0.0071 left_j5=-0.1249 left_gripper=0.9951 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0795 right_j4=0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [0.3897, -10.7829, 5.4085, 0.3199, -0.0269, -0.0171, -0.1197, -0.1573, 1.6068, 6.9949, 1.8926, -0.0073, -0.022, -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=-0.5034 left_j1=2.1933 left_j2=1.6283 left_j3=-1.0512 left_j4=0.0067 left_j5=-0.1284 left_gripper=0.9964 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0795 right_j4=0.001 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [-0.3214, -11.0838, 5.3128, 0.3932, -0.0464, 0.022, 0.1343, -0.1162, 1.8256, 6.9812, 1.8632, -0.022, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ce3b79230f4d0a97881802da672fcd47490be1c90b93fd4d06ba341a66b15f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e49293afc24219bddaf119aadc4d1386144384a1effd9ca77b1b439b759cdce2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9334e6f65c60c1010e0394218fecf93602064b1ca9eea4800e4c789b19b3600",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 6ce3b79230f4]
[blob e49293afc242]
[blob e9334e6f65c6]
{
  "content": [
    {
      "signature": "CAISywMKjAEIEBgCKkCO43d+gjEGTektSvaybUn2Ny0BS6x3t9FBonjk2HYsNeR+BwhEETgKoyNds9sAcIBlkFwWRMdIEhSDZAz6JvaKMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMGEXeVYZpLYVkSVCqGgxpCNtBs2a55TqIbw4iMMdkfAAFJ1O5LjSrgOroBNdM7ijgKwrkE32f1Yhau9RpuVXOIVJfucUx6JrmaK1zpSrrAZbeWilL2hdJFCjvWCj088mcOB+hJ2WKipcXpv1bNhguMCxR5kHpd5QxpJ9H+4uP7/Nmjvv0T3C+kjtFoKP5QcvXbaI9GuhUJwg3y4eASk4qgdLA2OH+x8ia8wA0NTPH+CoTKCP2+dWYNKTPE3+PvFI9sOlz9SeXNZQNvBhuQxhqCgMNEsfSeiHKsdILkPKPQwGJ/EQ08ZCfeYPreSn9CBghcM1deot0BRqSOLTrNdNn5etfMBQ6r9KTb5wXliej1UXDyUkSQqNAXic+qXOBqFLjXpXuGqX9S8dNiW9ebsbJQw/hDNN61KGTU7oYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KzeLqn6J7n4ouYWuiJc2dd",
      "input": {
        "note": "Object still centered between the jaws in the (motion-blurred) wrist view; commanding the final descent to table level and watching j1 effort for contact.",
        "targets": {
          "left_j1": 2.3462,
          "left_j2": 1.5714,
          "left_j3": -0.796
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01KzeLqn6J7n4ouYWuiJc2dd",
      "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=-0.5034 left_j1=2.2143 left_j2=1.6218 left_j3=-1.0096 left_j4=0.0185 left_j5=-0.1303 left_gripper=0.9967 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0799 right_j4=-0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [-0.3487, -1.1282, 1.3333, 2.337, -0.1685, -0.0122, 0.0073, -0.0479, 1.6068, 7.3094, 1.8681, 0.0122, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef4f4b1059433057d543f408597db00bb017f3a151c716f1c66625122ccaebcd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa433bfdfcbdb8f9b979c8848c10b7d337243107190afcd0b639fa3f92245dda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:72f59e7c884b2bd54185447e214487d947b6707c8ad1d652a5ae25c6ef3a048f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob ef4f4b105943
wire blob aa433bfdfcbd
wire blob 72f59e7c884b
call 18 attempt 0 · /messages · status 200 · 6.359 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.506 left_j1=2.1441 left_j2=1.7016 left_j3=-1.1862 left_j4=0.0071 left_j5=-0.1249 left_gripper=0.9951 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0795 right_j4=0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [0.3897, -10.7829, 5.4085, 0.3199, -0.0269, -0.0171, -0.1197, -0.1573, 1.6068, 6.9949, 1.8926, -0.0073, -0.022, -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=-0.5034 left_j1=2.1933 left_j2=1.6283 left_j3=-1.0512 left_j4=0.0067 left_j5=-0.1284 left_gripper=0.9964 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0795 right_j4=0.001 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [-0.3214, -11.0838, 5.3128, 0.3932, -0.0464, 0.022, 0.1343, -0.1162, 1.8256, 6.9812, 1.8632, -0.022, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5034 left_j1=2.2143 left_j2=1.6218 left_j3=-1.0096 left_j4=0.0185 left_j5=-0.1303 left_gripper=0.9967 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0799 right_j4=-0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [-0.3487, -1.1282, 1.3333, 2.337, -0.1685, -0.0122, 0.0073, -0.0479, 1.6068, 7.3094, 1.8681, 0.0122, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef4f4b1059433057d543f408597db00bb017f3a151c716f1c66625122ccaebcd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa433bfdfcbdb8f9b979c8848c10b7d337243107190afcd0b639fa3f92245dda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72f59e7c884b2bd54185447e214487d947b6707c8ad1d652a5ae25c6ef3a048f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob ef4f4b105943]
[blob aa433bfdfcbd]
[blob 72f59e7c884b]
{
  "content": [
    {
      "signature": "CAIS7AIKjAEIEBgCKkClrlUpbLeI86cJgEUyPSh6i5boDu+MsUZyb2JEBfMUugepNPIBvs2ohZ8jtF7w7yurOEa1fWGVMh3pi/HQ3mUNMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM4Rtw5z76ZhL6yOGlGgzp4HtNvN4JJanJLzEiMHQggCQtyjHSHbmEohIC2bmxi/nEW+ibt05az7nTfsByB8gxzw5RbI9vpsUeovCp1iqMAdpdIaL7SwVdBeIIuiHvfj977ErzP+eWS4jR3zvC9vrPr3ZAQiLjWBmilBvZx9rp1yrsD3WERHeFr7AyVoe70A0b5pcaaQK0odLU2eNthSuQwIlNRmuULfCRitkedRik5r3fTgLIPMfyLF5ef88Aebj6IxHhLIe8ZoIYS3qnDfpwRfZvLUaTY6CE9da1GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ESeQcv66PZdi3McYGiGM3Y",
      "input": {
        "note": "Fingertips are at table level again (j1 stalled, effort relaxed to -1.1) with the object's teal band just visible in the jaw gap. Closing.",
        "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_01ESeQcv66PZdi3McYGiGM3Y",
      "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=-0.5034 left_j1=2.2028 left_j2=1.6241 left_j3=-1.0229 left_j4=0.0093 left_j5=-0.136 left_gripper=0.0125 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0799 right_j4=-0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, -10.6051, 5.2444, 0.3199, 0.0757, 0.0415, 1.116, -0.0752, 1.5932, 7.3641, 1.9267, -0.0269, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47ddb81ba8b6ab9cb26ff2a018b5cd701f2196e59ea095375bbbfa0856f8afb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a13fc77abeae310299e27c52400126d840d049eb98e332584609b7fa51b53ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:789df8c6319312a8174b76eb3ecd6f2b92b9f1d003d3867ff15556086c944d75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 47ddb81ba8b6
wire blob 5a13fc77abea
wire blob 789df8c63193
call 19 attempt 0 · /messages · status 200 · 8.786 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5034 left_j1=2.1933 left_j2=1.6283 left_j3=-1.0512 left_j4=0.0067 left_j5=-0.1284 left_gripper=0.9964 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0795 right_j4=0.001 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [-0.3214, -11.0838, 5.3128, 0.3932, -0.0464, 0.022, 0.1343, -0.1162, 1.8256, 6.9812, 1.8632, -0.022, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5034 left_j1=2.2143 left_j2=1.6218 left_j3=-1.0096 left_j4=0.0185 left_j5=-0.1303 left_gripper=0.9967 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0799 right_j4=-0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [-0.3487, -1.1282, 1.3333, 2.337, -0.1685, -0.0122, 0.0073, -0.0479, 1.6068, 7.3094, 1.8681, 0.0122, -0.0122, -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=-0.5034 left_j1=2.2028 left_j2=1.6241 left_j3=-1.0229 left_j4=0.0093 left_j5=-0.136 left_gripper=0.0125 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0799 right_j4=-0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, -10.6051, 5.2444, 0.3199, 0.0757, 0.0415, 1.116, -0.0752, 1.5932, 7.3641, 1.9267, -0.0269, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47ddb81ba8b6ab9cb26ff2a018b5cd701f2196e59ea095375bbbfa0856f8afb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a13fc77abeae310299e27c52400126d840d049eb98e332584609b7fa51b53ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:789df8c6319312a8174b76eb3ecd6f2b92b9f1d003d3867ff15556086c944d75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 47ddb81ba8b6]
[blob 5a13fc77abea]
[blob 789df8c63193]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FzWF5jopNpb4sce4Y12FpY",
      "input": {
        "note": "Second empty close (residual 0.012). Reopening and pulling back ~3 cm while rising ~13 cm to re-acquire the object and see exactly where it sits relative to the jaws.",
        "targets": {
          "left_gripper": 1.0,
          "left_j1": 1.9772,
          "left_j2": 1.5764,
          "left_j3": -1.17
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01FzWF5jopNpb4sce4Y12FpY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5034 left_j1=2.0235 left_j2=1.5826 left_j3=-1.1511 left_j4=0.0105 left_j5=-0.1398 left_gripper=0.9951 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0006 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -13.0393, 5.2171, 0.2759, -0.0757, -0.0024, -0.1929, -0.1436, 1.9624, 6.9949, 1.8877, -0.0024, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d032ea614197e92df05ddb4c902a84fb0bbd8952edbb9a764ff133a4c4ed4dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:168faf612aa829abdcb72d27f54c0908b5e72d05a5f3d0a40ab5817574ffad43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1c555ef65fdf9795310d7e0a374dd41716e1ac85ffb069112e69c29bff2922a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 3d032ea61419
wire blob 168faf612aa8
wire blob 1c555ef65fdf
call 20 attempt 0 · /messages · status 200 · 12.28 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5034 left_j1=2.2143 left_j2=1.6218 left_j3=-1.0096 left_j4=0.0185 left_j5=-0.1303 left_gripper=0.9967 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0799 right_j4=-0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [-0.3487, -1.1282, 1.3333, 2.337, -0.1685, -0.0122, 0.0073, -0.0479, 1.6068, 7.3094, 1.8681, 0.0122, -0.0122, -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=-0.5034 left_j1=2.2028 left_j2=1.6241 left_j3=-1.0229 left_j4=0.0093 left_j5=-0.136 left_gripper=0.0125 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0799 right_j4=-0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, -10.6051, 5.2444, 0.3199, 0.0757, 0.0415, 1.116, -0.0752, 1.5932, 7.3641, 1.9267, -0.0269, -0.0366, -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=-0.5034 left_j1=2.0235 left_j2=1.5826 left_j3=-1.1511 left_j4=0.0105 left_j5=-0.1398 left_gripper=0.9951 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0006 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -13.0393, 5.2171, 0.2759, -0.0757, -0.0024, -0.1929, -0.1436, 1.9624, 6.9949, 1.8877, -0.0024, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d032ea614197e92df05ddb4c902a84fb0bbd8952edbb9a764ff133a4c4ed4dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:168faf612aa829abdcb72d27f54c0908b5e72d05a5f3d0a40ab5817574ffad43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c555ef65fdf9795310d7e0a374dd41716e1ac85ffb069112e69c29bff2922a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 3d032ea61419]
[blob 168faf612aa8]
[blob 1c555ef65fdf]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TAbuBXLsT3c8DbYPCCZwnK",
      "input": {
        "note": "Re-acquired: the target is a tall clear box with a blue label, centered at x≈115 with its top edge at y≈120. Extending radially 3 cm at constant height as a depth calibration — I'll measure how far its top edge shifts down the frame.",
        "targets": {
          "left_j1": 2.0845,
          "left_j2": 1.7391,
          "left_j3": -1.2254
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01TAbuBXLsT3c8DbYPCCZwnK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5034 left_j1=2.0727 left_j2=1.6924 left_j3=-1.2125 left_j4=0.0109 left_j5=-0.1467 left_gripper=0.9965 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -10.0308, 8.4855, 0.2369, -0.0513, 0.0904, 0.1392, -0.0752, 1.6068, 6.9949, 1.9023, -0.0122, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02b0a5957df1235217932c247187df78cd85132cb7a9d4781c5bd725ca0536ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:563ef9d056cc7a21a5378721786f965b5b88306df6ab3df5dbaa36d06abdd4c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9e7118aeddc55c9e712dbc4c9b39dadee67608542c44ca7f200250da69bc6909",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 02b0a5957df1
wire blob 563ef9d056cc
wire blob 9e7118aeddc5
call 21 attempt 0 · /messages · status 200 · 5.811 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5034 left_j1=2.2028 left_j2=1.6241 left_j3=-1.0229 left_j4=0.0093 left_j5=-0.136 left_gripper=0.0125 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0799 right_j4=-0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, -10.6051, 5.2444, 0.3199, 0.0757, 0.0415, 1.116, -0.0752, 1.5932, 7.3641, 1.9267, -0.0269, -0.0366, -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=-0.5034 left_j1=2.0235 left_j2=1.5826 left_j3=-1.1511 left_j4=0.0105 left_j5=-0.1398 left_gripper=0.9951 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0006 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -13.0393, 5.2171, 0.2759, -0.0757, -0.0024, -0.1929, -0.1436, 1.9624, 6.9949, 1.8877, -0.0024, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5034 left_j1=2.0727 left_j2=1.6924 left_j3=-1.2125 left_j4=0.0109 left_j5=-0.1467 left_gripper=0.9965 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -10.0308, 8.4855, 0.2369, -0.0513, 0.0904, 0.1392, -0.0752, 1.6068, 6.9949, 1.9023, -0.0122, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02b0a5957df1235217932c247187df78cd85132cb7a9d4781c5bd725ca0536ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:563ef9d056cc7a21a5378721786f965b5b88306df6ab3df5dbaa36d06abdd4c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e7118aeddc55c9e712dbc4c9b39dadee67608542c44ca7f200250da69bc6909",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 02b0a5957df1]
[blob 563ef9d056cc]
[blob 9e7118aeddc5]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019ejY4A6CFcXR6SwnaTRGQZ",
      "input": {
        "note": "The box's top face (white/green) is at y≈120-155 and its blue front face at y≈155-190, just beyond the jaw gap. Descending ~5 cm only — the box is tall enough to grasp at mid-height — and I'll close as soon as it straddles the jaws.",
        "targets": {
          "left_j1": 2.1568,
          "left_j2": 1.5834,
          "left_j3": -0.9974
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_019ejY4A6CFcXR6SwnaTRGQZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5034 left_j1=2.1468 left_j2=1.594 left_j3=-1.0687 left_j4=0.0109 left_j5=-0.1471 left_gripper=0.9967 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0795 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -10.988, 5.9009, 0.398, -0.0122, -0.0122, 0.0122, -0.0752, 1.5932, 6.9949, 1.8779, 0.0073, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0170cb90d9b3a0c05a79d61050ec6f82e0817e77040ca8ae6218f7e080f103f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abe729c3cf00471a97f6790ead16906df6cf882ab25b5d30b5998ec8119cd683",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2cf03bcae47bc62028636b24ac41fa4a42badd325bcfc44028f644c4e2146a78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 0170cb90d9b3
wire blob abe729c3cf00
wire blob 2cf03bcae47b
call 22 attempt 0 · /messages · status 200 · 10.45 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5034 left_j1=2.0235 left_j2=1.5826 left_j3=-1.1511 left_j4=0.0105 left_j5=-0.1398 left_gripper=0.9951 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0006 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -13.0393, 5.2171, 0.2759, -0.0757, -0.0024, -0.1929, -0.1436, 1.9624, 6.9949, 1.8877, -0.0024, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5034 left_j1=2.0727 left_j2=1.6924 left_j3=-1.2125 left_j4=0.0109 left_j5=-0.1467 left_gripper=0.9965 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -10.0308, 8.4855, 0.2369, -0.0513, 0.0904, 0.1392, -0.0752, 1.6068, 6.9949, 1.9023, -0.0122, -0.0611, -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=-0.5034 left_j1=2.1468 left_j2=1.594 left_j3=-1.0687 left_j4=0.0109 left_j5=-0.1471 left_gripper=0.9967 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0795 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -10.988, 5.9009, 0.398, -0.0122, -0.0122, 0.0122, -0.0752, 1.5932, 6.9949, 1.8779, 0.0073, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0170cb90d9b3a0c05a79d61050ec6f82e0817e77040ca8ae6218f7e080f103f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abe729c3cf00471a97f6790ead16906df6cf882ab25b5d30b5998ec8119cd683",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2cf03bcae47bc62028636b24ac41fa4a42badd325bcfc44028f644c4e2146a78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 0170cb90d9b3]
[blob abe729c3cf00]
[blob 2cf03bcae47b]
{
  "content": [
    {
      "signature": "CAISowkKjAEIEBgCKkBxI5fx+cekC+5H/OWlXqT+DzDdsS1E9nRsFdz2BPn51yJncLCHtavobcAWanBkDwSp0SRRbj7uaIBZAi7W3IdgMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMmjPC/YBDKq662ZPOGgzQgui80/KbrRonUrsiMA8fhmJ/01nu0tdwHXGGFYnSk7QDpnMrEzBDegv0EcH9LC0LqAqKFg0kvJmVxxog1yrDBzUbKemsBziykceqhTROTyyvJSQWM35qZvzpOtnS/FsQCfB9SojGZnnUxIsh3beLMkMFoG8eMCQsUzdm6bxBn9F1yYSPm4TTmCB42z1A8eDNTdEtmXhDv7c2qRP+YUwpYJpF6oYTncZ+AwVElo0SIMqVEHcrCB5quTuAhaQ9qi93WFxoHM4YrPOmcUvxjZ9tQ3JB5jUcI8XIiV14rW06yyg4BbVuvLi/ajGH+GuMNJpMV8e5eTe6ZbOshFUb0/lBeabSmXE5E5sPOAit+ua3l7OKe5lsuaAMNaJ12C2tfYCDoRvgS3N/cuMYsf4IQXld2PWbmKcXCQRaew+WsE44s5Udq/4CT0Swa3WncyOaBZLVXZhpycIQEC7/59q3KS6DojlexGnenynZn6gukqKe2Q0WEkraoA2MWl8/HUQyzGejTxEr6LQnEl8o5q4Q1I+YmDb968nidqVsrHV3k7IU5ysfHZVSdZ574kU95g9r3G20TdcLByLgPuW8tj9kVypE5qjuXXjx5TliwchlidmKF//Mznl8MBNIyEFqIYFIa3+mk+fDJgyPdSnP6ex/GjImsi7Whnbhjfd+3n4BoPv+C8ti5J/Ha9eZGftGkV+1SloLafB4nRLnmc2XinTKQp15IHJ6ralZtBXDRVrBNbeA1jtlX9bbo/fwGs4+cmDT2L0J1V2xiWzbfCSZKufXXAL3XGIBw6dn/+oMtikj4OHiagMIb8XrVnNFv6rRk9DIQOCfiwNmdBaT+iIAVzFIFIPx0UDa2Z2/JzWqPZEp1KFhLKeOeYGXWh2YWzmMJxJ7ve2HIREkBgYLh2UxsPDW3Kk8tS3c07Y/6IvMIZ1qzWNsYTqdrG980Evqb670w4JRsT7+IxEE4qf5BUKQIEDSoKc4HjqrhHwj/YIrFcKNiWcElWLYGzUhD3of80ZaaNeU0DU+EtzuoqAoQTeI9manZdOyKJ23j5PVN2EgDOnH31X0sZybzmTNniMOieC998NQg7cqLMHbNlvokpq66PwW1qRbSCJEtAfYlCVoVbof6dXTNOTu9p41xWbBYU1zVZ/mY2mVfLTUfhE57sXqdnMwFs+Ze+WLPO1sBovMHKvynkA9K4s7zUR1bhzR9tas5+51iQFbhMHg9cfbrNwUthUGlHo+iIQoLOyd7WnRFLHZkHukTPdWuZN0MhyOYlGZLYESH3nA3twyydsdBjuCHuczc+kCXsIEWrucPSlmR4q7FA/qCGaDTImRGeV5w2qQZ/0LJjDUQDTcRn0Jum8dwtilfaoVIlAFERgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Fa5CRMuEfh3tdzjWXfhS8g",
      "input": {
        "note": "The box now sits right in the jaw gap at mid-height (top face at y≈165, centered x≈118). Closing here rather than at table level.",
        "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_01Fa5CRMuEfh3tdzjWXfhS8g",
      "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=-0.5034 left_j1=2.1624 left_j2=1.5799 left_j3=-1.0626 left_j4=0.0109 left_j5=-0.1547 left_gripper=0.0128 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0799 right_j4=0.001 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -12.1368, 6.4889, 0.0757, -0.0415, 0.0757, 1.1648, -0.0752, 1.5932, 6.9949, 1.8681, -0.0366, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b05c0fa68cc527f8ca68861e29bc4d4531c3388cec652f7e7bddb2dac15e6b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24e9b80a457c0c0f17f09e2d03cbe22a33cea8bc33c0329262571701119f404a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:98a011dbd420597c6cc4e30d581b667571688f4b0f2809f4805868473fab450e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 7b05c0fa68cc
wire blob 24e9b80a457c
wire blob 98a011dbd420
call 23 attempt 0 · /messages · status 200 · 9.784 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5034 left_j1=2.0727 left_j2=1.6924 left_j3=-1.2125 left_j4=0.0109 left_j5=-0.1467 left_gripper=0.9965 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -10.0308, 8.4855, 0.2369, -0.0513, 0.0904, 0.1392, -0.0752, 1.6068, 6.9949, 1.9023, -0.0122, -0.0611, -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=-0.5034 left_j1=2.1468 left_j2=1.594 left_j3=-1.0687 left_j4=0.0109 left_j5=-0.1471 left_gripper=0.9967 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0795 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -10.988, 5.9009, 0.398, -0.0122, -0.0122, 0.0122, -0.0752, 1.5932, 6.9949, 1.8779, 0.0073, -0.0806, -0.0122]",
      "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=-0.5034 left_j1=2.1624 left_j2=1.5799 left_j3=-1.0626 left_j4=0.0109 left_j5=-0.1547 left_gripper=0.0128 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0799 right_j4=0.001 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -12.1368, 6.4889, 0.0757, -0.0415, 0.0757, 1.1648, -0.0752, 1.5932, 6.9949, 1.8681, -0.0366, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b05c0fa68cc527f8ca68861e29bc4d4531c3388cec652f7e7bddb2dac15e6b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24e9b80a457c0c0f17f09e2d03cbe22a33cea8bc33c0329262571701119f404a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98a011dbd420597c6cc4e30d581b667571688f4b0f2809f4805868473fab450e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 7b05c0fa68cc]
[blob 24e9b80a457c]
[blob 98a011dbd420]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RxBcw2Q4MLpdY4ZgcZMB6p",
      "input": {
        "note": "Third empty close; the closed jaw tip projects at (115,180) in this view and the box has vanished, so it must be nearer to the base than my fingertips. Opening and pulling back/up to r≈0.30, z≈0.22 for a clean look.",
        "targets": {
          "left_gripper": 1.0,
          "left_j1": 1.8001,
          "left_j2": 1.5947,
          "left_j3": -1.3654
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01RxBcw2Q4MLpdY4ZgcZMB6p",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5034 left_j1=1.8435 left_j2=1.5791 left_j3=-1.327 left_j4=0.0109 left_j5=-0.1619 left_gripper=0.9955 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0799 right_j4=-0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -10.6598, 6.9402, 0.2173, -0.0122, 0.0611, -0.2076, -0.1573, 1.6068, 6.9812, 1.873, -0.0415, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b17324c4978896ffb3a247f2050cc9be37594ea0b871a66eae47d44e989e431d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:657e6d08213db24e3c5d614cd1f777eff3a70301779893a41420dbc653829292",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b469479c638975180703b98750cf587dc187a59e0cc586167dc0c6c0fcd2bb9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob b17324c49788
wire blob 657e6d08213d
wire blob b469479c6389
call 24 attempt 0 · /messages · status 200 · 13.53 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5034 left_j1=2.1468 left_j2=1.594 left_j3=-1.0687 left_j4=0.0109 left_j5=-0.1471 left_gripper=0.9967 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0795 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -10.988, 5.9009, 0.398, -0.0122, -0.0122, 0.0122, -0.0752, 1.5932, 6.9949, 1.8779, 0.0073, -0.0806, -0.0122]",
      "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=-0.5034 left_j1=2.1624 left_j2=1.5799 left_j3=-1.0626 left_j4=0.0109 left_j5=-0.1547 left_gripper=0.0128 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0799 right_j4=0.001 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -12.1368, 6.4889, 0.0757, -0.0415, 0.0757, 1.1648, -0.0752, 1.5932, 6.9949, 1.8681, -0.0366, -0.0611, -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=-0.5034 left_j1=1.8435 left_j2=1.5791 left_j3=-1.327 left_j4=0.0109 left_j5=-0.1619 left_gripper=0.9955 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0799 right_j4=-0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -10.6598, 6.9402, 0.2173, -0.0122, 0.0611, -0.2076, -0.1573, 1.6068, 6.9812, 1.873, -0.0415, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b17324c4978896ffb3a247f2050cc9be37594ea0b871a66eae47d44e989e431d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:657e6d08213db24e3c5d614cd1f777eff3a70301779893a41420dbc653829292",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b469479c638975180703b98750cf587dc187a59e0cc586167dc0c6c0fcd2bb9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob b17324c49788]
[blob 657e6d08213d]
[blob b469479c6389]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011vGGJ9vFECyKa5Q4NACLwd",
      "input": {
        "note": "Now I can see the target clearly: a blue letter cube at (110,115) in the wrist view, laterally centered but beyond the jaws. Extending exactly 4 cm radially at constant height to calibrate how many pixels per cm the ground plane moves in this view.",
        "targets": {
          "left_j1": 1.951,
          "left_j2": 1.7948,
          "left_j3": -1.4146
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_011vGGJ9vFECyKa5Q4NACLwd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5034 left_j1=1.9457 left_j2=1.7454 left_j3=-1.4082 left_j4=0.0113 left_j5=-0.1673 left_gripper=0.9969 right_j0=-0.0013 right_j1=0.012 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [-0.2667, -9.6479, 8.1846, 0.2125, 0.0122, 0.0269, 0.1392, -0.0889, 1.5658, 7.1863, 1.8779, -0.0659, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a37c196b5e865df9587ab4cc85a5c5b124fd03bf2bdd5023ae4fb6cd07c80f66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3acdcefd6a1fbf9921b5b846df1b88003fac77d89868c8931134097fe10bf5eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0183ea3c7853fd529255b462907b054e0640efba48e6175690cfef74b920d710",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob a37c196b5e86
wire blob 3acdcefd6a1f
wire blob 0183ea3c7853
call 25 attempt 0 · /messages · status 200 · 11.46 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5034 left_j1=2.1624 left_j2=1.5799 left_j3=-1.0626 left_j4=0.0109 left_j5=-0.1547 left_gripper=0.0128 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0799 right_j4=0.001 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -12.1368, 6.4889, 0.0757, -0.0415, 0.0757, 1.1648, -0.0752, 1.5932, 6.9949, 1.8681, -0.0366, -0.0611, -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=-0.5034 left_j1=1.8435 left_j2=1.5791 left_j3=-1.327 left_j4=0.0109 left_j5=-0.1619 left_gripper=0.9955 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0799 right_j4=-0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -10.6598, 6.9402, 0.2173, -0.0122, 0.0611, -0.2076, -0.1573, 1.6068, 6.9812, 1.873, -0.0415, -0.0415, -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 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=-0.5034 left_j1=1.9457 left_j2=1.7454 left_j3=-1.4082 left_j4=0.0113 left_j5=-0.1673 left_gripper=0.9969 right_j0=-0.0013 right_j1=0.012 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [-0.2667, -9.6479, 8.1846, 0.2125, 0.0122, 0.0269, 0.1392, -0.0889, 1.5658, 7.1863, 1.8779, -0.0659, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a37c196b5e865df9587ab4cc85a5c5b124fd03bf2bdd5023ae4fb6cd07c80f66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3acdcefd6a1fbf9921b5b846df1b88003fac77d89868c8931134097fe10bf5eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0183ea3c7853fd529255b462907b054e0640efba48e6175690cfef74b920d710",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob a37c196b5e86]
[blob 3acdcefd6a1f]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QK5UMpvNem4kx6A7usfopZ",
      "input": {
        "note": "A 2.8 cm radial move only shifted the cube 5-7 px down the frame, implying the cube is much farther out than I assumed (~2.5 px/cm here). Extending another 5 cm radially to test that hypothesis.",
        "targets": {
          "left_j1": 2.1268,
          "left_j2": 2.0152,
          "left_j3": -1.4592
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01QK5UMpvNem4kx6A7usfopZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5034 left_j1=2.1159 left_j2=1.969 left_j3=-1.4727 left_j4=0.0113 left_j5=-0.1741 left_gripper=0.9972 right_j0=-0.0013 right_j1=0.0132 right_j2=0.0063 right_j3=-0.0795 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -10.7556, 7.9795, 0.2906, -0.0464, 0.0366, 0.0171, -0.1299, 1.5385, 7.159, 1.8584, -0.0122, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6bcb5a92a99d413bc3edc68fc76a736845b4bd064156b8b6c97300949649b8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04d6cf2e830aabe0be200c4c56713cbd5d903c88e73d565e74dbe6df945945bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2d5a7348b6550191e698c9a3016f5acc6da5bc5867eddf51976a2704f993c468",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob d6bcb5a92a99
wire blob 04d6cf2e830a
wire blob 2d5a7348b655
call 26 attempt 0 · /messages · status 200 · 7.538 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5034 left_j1=1.8435 left_j2=1.5791 left_j3=-1.327 left_j4=0.0109 left_j5=-0.1619 left_gripper=0.9955 right_j0=-0.0013 right_j1=0.0113 right_j2=0.0063 right_j3=-0.0799 right_j4=-0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -10.6598, 6.9402, 0.2173, -0.0122, 0.0611, -0.2076, -0.1573, 1.6068, 6.9812, 1.873, -0.0415, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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=-0.5034 left_j1=1.9457 left_j2=1.7454 left_j3=-1.4082 left_j4=0.0113 left_j5=-0.1673 left_gripper=0.9969 right_j0=-0.0013 right_j1=0.012 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [-0.2667, -9.6479, 8.1846, 0.2125, 0.0122, 0.0269, 0.1392, -0.0889, 1.5658, 7.1863, 1.8779, -0.0659, -0.0611, -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=-0.5034 left_j1=2.1159 left_j2=1.969 left_j3=-1.4727 left_j4=0.0113 left_j5=-0.1741 left_gripper=0.9972 right_j0=-0.0013 right_j1=0.0132 right_j2=0.0063 right_j3=-0.0795 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -10.7556, 7.9795, 0.2906, -0.0464, 0.0366, 0.0171, -0.1299, 1.5385, 7.159, 1.8584, -0.0122, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6bcb5a92a99d413bc3edc68fc76a736845b4bd064156b8b6c97300949649b8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04d6cf2e830aabe0be200c4c56713cbd5d903c88e73d565e74dbe6df945945bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d5a7348b6550191e698c9a3016f5acc6da5bc5867eddf51976a2704f993c468",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob d6bcb5a92a99]
[blob 04d6cf2e830a]
[blob 2d5a7348b655]
{
  "content": [
    {
      "signature": "CAISnBUKjAEIEBgCKkCIinpzYOpcIuK9t8pw2N+gua/J7Vwwa3E4GY630SW3lEheo/S7jdtt4coVK5Fhu76P+ZvujO2L2YYT48K6HgTeMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMY9h6LAicMaJlAqv4GgxchIEhtd5rk4wVDZQiMGsZM6oPAudHy7KiAl38BnUPCMR5wFuO8TdEMZ4PH9C5jVk4Vd4K7yAOQ+D+4SaVSyq8E9AWFvaDFfnvJU+wGxD57ePViUeU194ndOqxbLzrbsoL3m5jh7j6dt97A2hILKPOLkkDrkoPe5c/rcRQxkJjAHNz9lqLw3qvMRMZmgDu6fEG2dOSf8hDZ7QKhdNdkicqcfoJn5nUnxFV5Ps5SqOAoXHGDAicXFtJP1gebLdOFMBTZ0hDWnbih5E4eot89c2Q1wGQa7mYgNfGbBxVHzfUFmjyJ1RCeyKgEJ5l8z1SWQ0nNmI/tlIB5DIyO4uVepW6mT42mXNMnCAHAu3RCpSSpM47KqxhImPctnaxu5rdYicU8sEBdP0tDzkNljKgCxpSGPOmLg0f5kuBsXAQNM3C3b6X28EEdbknic7wQ938Q/iaBbONH7tf8oRq5qNdq7YjJ2yiJUZFjLjZ7ftCyVPEgUCoTmoYHIjW77Wyv/BnQc0uo1sSuaF3OOC+UrKSBk6krK9iMQVEdrVUkbLAigj5VNgH92Afa+Jmd/fPBKqDF8fhBDMCvawOXK0JkoLOFLE+DQl9K6yiPtnGicZwklGVrEpCG1+kcffb1ufa+MT+xOTAxY1vBMi/0QNlFYbf+uA2Goul5CcI81fwgGUifLX80XrUUZjKTQ/4We52bke3/7nqLCEm+ZaXYrHTW0KRpcnH+rZX84XkxZm+rfpVxpRhnLK/UCBlA/BJNOlfwPiLYJQBmz5jxPFB1zT+9L1i5tcNJSlxFSq7Ygn2gLMCV7IsICFkll96gnXobNbwa/VjQiVCysuvAI1TGzEzwZRcgN5/1+NqYB17rll+o7o/3OJ5MRJRkXb82OP3j0vaEjrIzxUVAYXqBzGWYq6KNvMHJcPmMyyJzjNlzZcqaoTvjJqATio0pkvrSgTuJF/Q3Y6HtrR8MeKj1e6D/YJQhCq5Oftswpu2U85P6R9NM65/sSqpX66nZ0mNCNW05sgM4BYTw5SxlIHeGZ2qsMEQ1pAN1eIJvgmLFBnoEEa6bJJQhepPxijjc+rzmDRO1chaOiGGFMZRxLTgifAanH+qUH3ipJ+YvstYeyPcVVrb+yo7Mji5xiS5piH975mBorh+uiTqe/WPBS1WC0YaY/u/JP/tzQ/h+mc9C/VhgGFP5+BRc0eSbhDxJU5VTzcEVg8PXlDKP4jhORUtN4Wgl62nkzWO7MuCM0onjI93u2GfS1MbxUYtAS6VEszas9ZfVxojDR1Z2+BzaqSvQG0alLGXvLiQU2orxdfqOJBhaLvTV+CuytY03F8PoWWtimO2EwN0xE3PmVNO2Jb8cEoXJIBFbuw7DfWdI6Er6BvjvoFSmW7NUwIwX8r3YttKOpb93MJW/MvpdfEGD3ZUVEXUrRQpxhPgJgUOncOkt1cJncUzdpxcko/csbjkNTIt1qgpgS1O4BmOLEuiDqc5NgJvTbAgHD8uIgQfvALzOJ2ODZ1atVgcN/qAIYdgOInzABeOQ5Q6a0ZHuPoD22C8zIxlVATyNLh86s96vO+5ywlPxDfx0uGb/GhUYs55NOeMVlQHwdEZYKg2iuomWIxhaht/1DQ3dNGvx7nKIn2ZGryqHjU03WQ08AnczbY1Kc4Exc0iVS3hOh9e5b5a6oXnivUJjE5Ix7t8vAc6LZUOpKU9qydmfmCPjKUqnDHC9mKdMnefRLnlnWzcA5NiayWU+JDBmwCZR+8c/BSCFuWXcv70/wjrvrBZrQeF4bEpXt1E7uRZFdr2e/LWY0dNRIhd10O4jNkf9oHasrMwr2H8va/1ofIdupT3t+mK4iwIDPY0NF+yd3CIjyTTGlolEfyjkrQV4xm8gk+sMXdebHF6mjsxQXm0ghnXrJ2GbqkOGU1+Zig+KiIP3r3MMenwg2bReXzyV3L8SL+KIrPYZKJ+2WhoCbCao8JuVZNOEU2xxmbCl7+QrBoOYvmTqWYw9aTSXIGGyHpVZCYi1LcnhEtso1XwxdO0TaHtf0fZii813I81/MNkhjdl1XXigVmgMIoYFIVe6PAer11JEy6cCudOUyKtgndlkiwaNfRvsxasV5yh6EVcr+/ELcMHuLdUyIjOmjkYwdYRWHQ3x98JMidz4AEXPBff+O+yZJye5RTHCt4JDI22Zt2EXj+sQgYEXoQ/OhW74AVWnvWY+UA1URvE6iJ1oLuDuzsopjPVN8M6AjC7Y/FpUbKu/7haXGitTZXcn4mJ6BawmTTXbHjRFsWWabimnsue5dnQMg4rji46jRQm0o/4t1Ixr2S3EWMi9OegCdXIlLQgiK6MiFEAwVcshFHykAuZE7P1y5VCTKOBQXHaK0e6tEfyE6x6D9MrY9GyX6UsrD6ylGdyUEB0nnMIn+a8mdlfKBr1KzjFlp/bicGt8ZtbIOTKb/1rJkpzsjviAjeJgUBsSwmaYOL8m3E7PshCm3O7itmVK5Th/C9FPqt8oiebpJrIpslOjUpCnbuA6L2Rfh6pqD6wk0LulZacIZhCXo02zXWfEP8eZkCI9ZktUHBbKZBrMyMWHZ8+fY9JG6lTrfAJ6a/pULJvyjkPhgv39jUTcYT8w1e3tGhmNTIcN5l9mWjxydWYoJFYCa8Tq2JGL+ld8fJWwVgHVksLUWpPeMfLm0K6j0OmumkF5Ct67RSXj7/TCnCjZUA9w7bocv/nFcf+r6ysCohTnAlPBF7JncZTNwxe++AxbSzxqfAjVgRO7jl7T2nibCG3uye/nua/swZTCXC0hQujQzh0Whwuk1PIq22/2RNopI14GKZrXXyQTO/FIrS/BZJ7lWnW7seipXneZGknwK0uUMtPqvctLKzZNGyg3R3e/mt4vBB/rrfV4HyxibZbQb9L6JoV42llCDcvwFzHXT9D1g19oMbqaqrbPkwWY4FGAwo+8rb4B5SUz8iyF1EtB7lsn+cyNFbBvfbFeK1ICA4t3E/J2WmoJxCg7Rr78tC31QpVB3hJNIPF1UKFT36vQZXi0rmYxqXQMz8HvclGdxihYw0okzfUzizOoPq27UymZWOc7mEn2XZaKCS0+CNtQvCYGSZYuvpwxrdrxQFek1CIysiXS5j+/olF0OFVnnbVsnYDj3pVzrQxXmg5qMH9VOzwqjm7YpH0VX79dAdLHK+vlphaz307QhcvbgJkFzlIt5YYp3BXqV/t707HFpMy0Dg5PefxrOni2I6sgtemTxpy93o63kaOxiDGOZCcukeV5PBQrQeAZ3grvf0DN+mSvkR1RyLdr0g9P08qCbHM7jKySo+IL1MHwoAFtvT9GHr5dY3mOdSKAIxmLWLZa+awur31j6Uv7q/cfk0GRoH13fx9k4s6+dD7L2fdxqn0T5CVKf8lTT/ZzCACfqNzu6syQrv8IzA2XspPCsb44qeLGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MGBMspbWWKixxgprQ6mLzZ",
      "input": {
        "note": "Good calibration: 4.1 cm radial = 28 px, so ~6.8 px/cm, and the cube (now at y≈150, x≈105) is still ~7 cm beyond the jaws. Descending to fingertip height ~3 cm above the table (table contact measured at FK z=0.087) and nudging j0 to center it.",
        "targets": {
          "left_j0": -0.46,
          "left_j1": 2.2006,
          "left_j2": 1.7384,
          "left_j3": -1.1086
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01MGBMspbWWKixxgprQ6mLzZ",
      "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=-0.4648 left_j1=2.1918 left_j2=1.7546 left_j3=-1.1873 left_j4=0.0109 left_j5=-0.1738 left_gripper=0.9972 right_j0=-0.0013 right_j1=0.0132 right_j2=0.0063 right_j3=-0.0799 right_j4=0.001 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [0.4034, -11.0427, 5.7094, 0.3492, -0.0464, -0.0171, -0.0122, -0.0615, 1.6068, 6.9812, 1.8779, -0.0366, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0dcc7551db04603d575958c91895cffb72703438a33de3b560ac18dfb13676d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b90a76e9867746f949d424620224c0795d655ab2b905a165f42aeb57c7c63356",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4b1436111240b4a959d336868d64ba7b23d009ee9e1fb58c1fec4d7c3642c42f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob d0dcc7551db0
wire blob b90a76e98677
wire blob 4b1436111240
call 27 attempt 0 · /messages · status 200 · 3.592 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5034 left_j1=1.9457 left_j2=1.7454 left_j3=-1.4082 left_j4=0.0113 left_j5=-0.1673 left_gripper=0.9969 right_j0=-0.0013 right_j1=0.012 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [-0.2667, -9.6479, 8.1846, 0.2125, 0.0122, 0.0269, 0.1392, -0.0889, 1.5658, 7.1863, 1.8779, -0.0659, -0.0611, -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=-0.5034 left_j1=2.1159 left_j2=1.969 left_j3=-1.4727 left_j4=0.0113 left_j5=-0.1741 left_gripper=0.9972 right_j0=-0.0013 right_j1=0.0132 right_j2=0.0063 right_j3=-0.0795 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -10.7556, 7.9795, 0.2906, -0.0464, 0.0366, 0.0171, -0.1299, 1.5385, 7.159, 1.8584, -0.0122, -0.0757, -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=-0.4648 left_j1=2.1918 left_j2=1.7546 left_j3=-1.1873 left_j4=0.0109 left_j5=-0.1738 left_gripper=0.9972 right_j0=-0.0013 right_j1=0.0132 right_j2=0.0063 right_j3=-0.0799 right_j4=0.001 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [0.4034, -11.0427, 5.7094, 0.3492, -0.0464, -0.0171, -0.0122, -0.0615, 1.6068, 6.9812, 1.8779, -0.0366, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0dcc7551db04603d575958c91895cffb72703438a33de3b560ac18dfb13676d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b90a76e9867746f949d424620224c0795d655ab2b905a165f42aeb57c7c63356",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b1436111240b4a959d336868d64ba7b23d009ee9e1fb58c1fec4d7c3642c42f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob d0dcc7551db0]
[blob b90a76e98677]
[blob 4b1436111240]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WGUQW6kTzJhjTCz4PgadS5",
      "input": {
        "note": "The cube's base is now a sliver at the bottom edge between the jaws, but my depth calibration says I'm still short; pushing 4 cm further out at the same height so the jaws actually straddle it before closing.",
        "targets": {
          "left_j1": 2.3473,
          "left_j2": 1.9961,
          "left_j3": -1.2196
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01WGUQW6kTzJhjTCz4PgadS5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4641 left_j1=2.3257 left_j2=1.9503 left_j3=-1.2316 left_j4=0.0109 left_j5=-0.1879 left_gripper=0.9972 right_j0=-0.0013 right_j1=0.0151 right_j2=0.0063 right_j3=-0.0795 right_j4=-0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.4171, -11.7949, 8.0068, 0.3736, -0.0415, 0.1197, -0.0122, -0.0615, 1.4701, 7.0222, 1.8584, 0.0122, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4abe21f10655b1123ad1b4038d93671453b909111a48d5b25e46bdd10755ff35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fad8b26b83d2d6c6685fe24b79bccce47a157f7a382ba6b6c64b6088a617649a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ff1918091de1de2b360a1074e0ab875e9c606bae8666202d5e213df3ca0a9594",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 4abe21f10655
wire blob fad8b26b83d2
wire blob ff1918091de1
call 28 attempt 0 · /messages · status 200 · 17.41 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5034 left_j1=2.1159 left_j2=1.969 left_j3=-1.4727 left_j4=0.0113 left_j5=-0.1741 left_gripper=0.9972 right_j0=-0.0013 right_j1=0.0132 right_j2=0.0063 right_j3=-0.0795 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -10.7556, 7.9795, 0.2906, -0.0464, 0.0366, 0.0171, -0.1299, 1.5385, 7.159, 1.8584, -0.0122, -0.0757, -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=-0.4648 left_j1=2.1918 left_j2=1.7546 left_j3=-1.1873 left_j4=0.0109 left_j5=-0.1738 left_gripper=0.9972 right_j0=-0.0013 right_j1=0.0132 right_j2=0.0063 right_j3=-0.0799 right_j4=0.001 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [0.4034, -11.0427, 5.7094, 0.3492, -0.0464, -0.0171, -0.0122, -0.0615, 1.6068, 6.9812, 1.8779, -0.0366, -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=-0.4641 left_j1=2.3257 left_j2=1.9503 left_j3=-1.2316 left_j4=0.0109 left_j5=-0.1879 left_gripper=0.9972 right_j0=-0.0013 right_j1=0.0151 right_j2=0.0063 right_j3=-0.0795 right_j4=-0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.4171, -11.7949, 8.0068, 0.3736, -0.0415, 0.1197, -0.0122, -0.0615, 1.4701, 7.0222, 1.8584, 0.0122, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4abe21f10655b1123ad1b4038d93671453b909111a48d5b25e46bdd10755ff35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fad8b26b83d2d6c6685fe24b79bccce47a157f7a382ba6b6c64b6088a617649a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff1918091de1de2b360a1074e0ab875e9c606bae8666202d5e213df3ca0a9594",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 4abe21f10655]
[blob fad8b26b83d2]
[blob ff1918091de1]
{
  "content": [
    {
      "signature": "CAISgQQKjAEIEBgCKkA3s8eAW2qDLmt8PqwyAUZ4NggilmFsDPNPTnzTZGFNOkzVKIqDyciinrxfsnEftYtqSvQVlQhTNEX/BzKpCzl5MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMI/qVgbwZbQ2wHIRqGgyrsVbkx3Al/sZ7+VoiMGCyntMlHjOLPJa5Jlz75Jn69uGXYGr2pXeCpNZbejmGJq97atSB9Oxj4x2z7dTbvSqhAhewUdzE2wcvGCL3gn4uRVbukMVqZtgzvq3yHhhv7W0dsQLP8NYqo4zytEjzIikLgjABebgGWSNv5aPUz9IkaCFj6bl1evAAqR9c8hphKdew5W+5Rqd8ungiImLqaPfDGt0Fs6PJvFjitzaENFrpTIQGrk2TwLeFCaBpUjAkc2aXJjApsSb8utSnZTNQ080ULpOAFk/Ou14kj9qhMWUKWa8LWn/7jwf4Ph96H2m8DS+lYE7j3QjLA56qbuzQ4KJv3wXnWOIiyjDWp+WTJdQyURh6BQv2nWe0XRFZq5557rEQVuLNBtOaIeG9oQEQWQiOnIOdLx04LB5lEW6+F09WddkG725xqUmXn6uUWFrZAZlO0HqdshG5QNzp+rm4mh3IwtcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XuYgSG2tH6rCfPL1DDFCDw",
      "input": {
        "note": "The cube has passed into the blind zone right at the jaws; closing now.",
        "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_01XuYgSG2tH6rCfPL1DDFCDw",
      "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=-0.4641 left_j1=2.3444 left_j2=1.9549 left_j3=-1.2392 left_j4=0.0109 left_j5=-0.1963 left_gripper=0.0126 right_j0=-0.0013 right_j1=0.0158 right_j2=0.0063 right_j3=-0.0799 right_j4=-0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -13.9419, 5.2308, 0.2222, -0.0415, 0.0464, 1.1209, -0.0615, 1.7436, 7.241, 1.9219, 0.0024, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc2645a6f162b9b224eaecc7dda1246cf3323e03b8b08ee54761eafefbf10543",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d6e0f6320933c03bc6b9fba518a1390bfae37e3641f2f7397191975ceaeec4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0c1e2913fbea0c78b24ac7259641200eb922f9adedb3f1ec107109f936aa77ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob bc2645a6f162
wire blob 0d6e0f632093
wire blob 0c1e2913fbea
call 29 attempt 0 · /messages · status 200 · 9.287 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4648 left_j1=2.1918 left_j2=1.7546 left_j3=-1.1873 left_j4=0.0109 left_j5=-0.1738 left_gripper=0.9972 right_j0=-0.0013 right_j1=0.0132 right_j2=0.0063 right_j3=-0.0799 right_j4=0.001 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [0.4034, -11.0427, 5.7094, 0.3492, -0.0464, -0.0171, -0.0122, -0.0615, 1.6068, 6.9812, 1.8779, -0.0366, -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=-0.4641 left_j1=2.3257 left_j2=1.9503 left_j3=-1.2316 left_j4=0.0109 left_j5=-0.1879 left_gripper=0.9972 right_j0=-0.0013 right_j1=0.0151 right_j2=0.0063 right_j3=-0.0795 right_j4=-0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.4171, -11.7949, 8.0068, 0.3736, -0.0415, 0.1197, -0.0122, -0.0615, 1.4701, 7.0222, 1.8584, 0.0122, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4641 left_j1=2.3444 left_j2=1.9549 left_j3=-1.2392 left_j4=0.0109 left_j5=-0.1963 left_gripper=0.0126 right_j0=-0.0013 right_j1=0.0158 right_j2=0.0063 right_j3=-0.0799 right_j4=-0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -13.9419, 5.2308, 0.2222, -0.0415, 0.0464, 1.1209, -0.0615, 1.7436, 7.241, 1.9219, 0.0024, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc2645a6f162b9b224eaecc7dda1246cf3323e03b8b08ee54761eafefbf10543",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d6e0f6320933c03bc6b9fba518a1390bfae37e3641f2f7397191975ceaeec4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c1e2913fbea0c78b24ac7259641200eb922f9adedb3f1ec107109f936aa77ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob bc2645a6f162]
[blob 0d6e0f632093]
[blob 0c1e2913fbea]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JHsVYreb4KwETxYFEBZDgL",
      "input": {
        "note": "Fourth empty close. The overhead view suggests the cube actually sits a few cm to the arm's left of my jaws, contradicting the wrist view. Rising 8 cm straight up at the same radius to get an unambiguous look at the cube relative to the open jaws.",
        "targets": {
          "left_gripper": 1.0,
          "left_j1": 2.2724,
          "left_j2": 2.2128,
          "left_j3": -1.5112
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01JHsVYreb4KwETxYFEBZDgL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4641 left_j1=2.3318 left_j2=2.1708 left_j3=-1.4971 left_j4=0.0109 left_j5=-0.2131 left_gripper=0.9952 right_j0=-0.0013 right_j1=0.017 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [-0.335, -16.8, 8.759, 0.2369, -0.0415, 0.1832, -0.2125, -0.0479, 1.5111, 7.1316, 1.8877, -0.0122, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e52135da32f42676dd2a29a06393123cfb30d9b872252a1297e90efb21026ba8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03303f12c99350028867ecc88b76a05de601ecad8b11fbd746b0a8788e5d180b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:429c9c44ccde51a47b33a41ce4d4fdf692f1431a1faf9b2087b3a2c1ba040811",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob e52135da32f4
wire blob 03303f12c993
wire blob 429c9c44ccde
call 30 attempt 0 · /messages · status 200 · 5.005 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4641 left_j1=2.3257 left_j2=1.9503 left_j3=-1.2316 left_j4=0.0109 left_j5=-0.1879 left_gripper=0.9972 right_j0=-0.0013 right_j1=0.0151 right_j2=0.0063 right_j3=-0.0795 right_j4=-0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.4171, -11.7949, 8.0068, 0.3736, -0.0415, 0.1197, -0.0122, -0.0615, 1.4701, 7.0222, 1.8584, 0.0122, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4641 left_j1=2.3444 left_j2=1.9549 left_j3=-1.2392 left_j4=0.0109 left_j5=-0.1963 left_gripper=0.0126 right_j0=-0.0013 right_j1=0.0158 right_j2=0.0063 right_j3=-0.0799 right_j4=-0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -13.9419, 5.2308, 0.2222, -0.0415, 0.0464, 1.1209, -0.0615, 1.7436, 7.241, 1.9219, 0.0024, -0.0562, -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=-0.4641 left_j1=2.3318 left_j2=2.1708 left_j3=-1.4971 left_j4=0.0109 left_j5=-0.2131 left_gripper=0.9952 right_j0=-0.0013 right_j1=0.017 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [-0.335, -16.8, 8.759, 0.2369, -0.0415, 0.1832, -0.2125, -0.0479, 1.5111, 7.1316, 1.8877, -0.0122, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e52135da32f42676dd2a29a06393123cfb30d9b872252a1297e90efb21026ba8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03303f12c99350028867ecc88b76a05de601ecad8b11fbd746b0a8788e5d180b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:429c9c44ccde51a47b33a41ce4d4fdf692f1431a1faf9b2087b3a2c1ba040811",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob e52135da32f4]
[blob 03303f12c993]
[blob 429c9c44ccde]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VwHapDy5eVa3FgnE8HYCL9",
      "input": {
        "note": "From 8 cm up the cube sits perfectly centered between the open jaws, so lateral aim is right — the error must be depth/height. Descending to table level at this exact radius and bearing to re-inspect before closing.",
        "targets": {
          "left_j1": 2.3886,
          "left_j2": 1.9533,
          "left_j3": -1.1355
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01VwHapDy5eVa3FgnE8HYCL9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4641 left_j1=2.3741 left_j2=1.9652 left_j3=-1.224 left_j4=0.0109 left_j5=-0.2157 left_gripper=0.9965 right_j0=-0.0013 right_j1=0.0177 right_j2=0.0063 right_j3=-0.0795 right_j4=-0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [-0.212, -11.5897, 5.9282, 0.4127, -0.0317, -0.0073, 0.1197, -0.0615, 1.5795, 6.9949, 1.9316, -0.0317, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:337581e240c5b4cd9db29c6afb606de3eccf787b30abd576bbabce8d40c465e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:158f757888961d05aeda609d7c85a2fc733fe78a7211d280669cf57edd52ef39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9d20e3be6c1e6686a8287b912fbc985c681ef9aa4ec283372901ca10bf157861",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 337581e240c5
wire blob 158f75788896
wire blob 9d20e3be6c1e
call 31 attempt 0 · /messages · status 200 · 13.56 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4641 left_j1=2.3444 left_j2=1.9549 left_j3=-1.2392 left_j4=0.0109 left_j5=-0.1963 left_gripper=0.0126 right_j0=-0.0013 right_j1=0.0158 right_j2=0.0063 right_j3=-0.0799 right_j4=-0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -13.9419, 5.2308, 0.2222, -0.0415, 0.0464, 1.1209, -0.0615, 1.7436, 7.241, 1.9219, 0.0024, -0.0562, -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=-0.4641 left_j1=2.3318 left_j2=2.1708 left_j3=-1.4971 left_j4=0.0109 left_j5=-0.2131 left_gripper=0.9952 right_j0=-0.0013 right_j1=0.017 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [-0.335, -16.8, 8.759, 0.2369, -0.0415, 0.1832, -0.2125, -0.0479, 1.5111, 7.1316, 1.8877, -0.0122, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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=-0.4641 left_j1=2.3741 left_j2=1.9652 left_j3=-1.224 left_j4=0.0109 left_j5=-0.2157 left_gripper=0.9965 right_j0=-0.0013 right_j1=0.0177 right_j2=0.0063 right_j3=-0.0795 right_j4=-0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [-0.212, -11.5897, 5.9282, 0.4127, -0.0317, -0.0073, 0.1197, -0.0615, 1.5795, 6.9949, 1.9316, -0.0317, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:337581e240c5b4cd9db29c6afb606de3eccf787b30abd576bbabce8d40c465e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:158f757888961d05aeda609d7c85a2fc733fe78a7211d280669cf57edd52ef39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d20e3be6c1e6686a8287b912fbc985c681ef9aa4ec283372901ca10bf157861",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 337581e240c5]
[blob 158f75788896]
[blob 9d20e3be6c1e]
{
  "content": [
    {
      "signature": "CAIS6gYKjAEIEBgCKkDIuaA7pjikaqPFORzV/BptIKgCqn5ilgVZJsKurLedse2qtkt4VPEPe1atZRC6VjXNwuGyTNUCE/NUn0T65p+AMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMvWRy77CMHhGU1VVVGgxAOmlSO4/y3So9riAiMCWoX426afdxUKPb2wjXWr5Iu2AUTRgxUqpXxT+OeF1jGteGwZwbOfH5ygNMMnOlYiqKBTV8DBG1hwXQrswdL7UeBnG0dBZfWZzc1nK5mHec6SCohws+YvtsObKa3PwX5roTbc8B4PGN83JfNfX1zaYabtU2+OVLFMb0siqu+dAxi8FuYKrcME0rXj65iob/M2ZmDoa1NXuSY7F4OpgUxXLVf4CfeDlCy7XIzBppRxOHM8laBP0qXnS7NUqOgT5NIDfbDW6OlBHw1NJ+Aqf+pBNpPLOCk6GHQhpxUoDc7a+gvkke/0bgmn0Yc9IslFlPOKqHfgWiCqa75jiMvUsWFyc5LD9gp1E0hoRq+s/Du2Y8BqvpR1vALyWpiqD/V0M5V9YcNTofyFEA6A/NbrMZqZB9XR7ByRoVC81BB4QCdd6G4RsW1krFgqGWugx56SDdEjJESQqfriOssh3bnyA8ONImvpxo332oC/5lhdoayccAEGi6H2Lj4qCpD53PZ42pzUr8wJQqv6f3kBr5xOItZOPrY9fb2da1/uYazOJrydo4rxJh0XAk78mOLqt6yYvvrjczo8k4gydB3qqaehImWWaPen8bVneD59MYQ2mupEeGp3ckkelCvpi36P4dO4hY4jeP5M88/4HFiSL0FJy7Seh0lDlZ26u+JDapvX4pupKoWDJM7+pR4mDnZG6dkqJx479/WxB0d9L9OkkGAPF7qa0HMkqcF6bcKKsJF0palwN+15M6au575KBnWbuObjmhDWXY8lazHY4D/BZrvpgSP0hg3RVkylbL8WS2ESZQ54yL67uRlS/v3xHeP5REyfZkyiQEO1W8fge+CJHPvondueHcl711PUyMrRLZuNskmIBTQcbpEBUKmHSIdJJqshW3FrWREoMaHCsIdG3SgWQPVWRXW3UHxQbkGfni6bG9GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015GWCaxo47zo5JFzWfsc279",
      "input": {
        "note": "At table level the cube is out of the wrist frame entirely. Retracting 2.5 cm radially to see whether it reappears just at the jaw line, which would pin down the correct grasp depth.",
        "targets": {
          "left_j1": 2.3017,
          "left_j2": 1.7917,
          "left_j3": -1.0608
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_015GWCaxo47zo5JFzWfsc279",
      "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=-0.4637 left_j1=2.3192 left_j2=1.8267 left_j3=-1.1053 left_j4=0.0185 left_j5=-0.2218 left_gripper=0.9971 right_j0=-0.0013 right_j1=0.0196 right_j2=0.0063 right_j3=-0.0795 right_j4=0.001 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [0.1299, -13.135, 4.6154, 0.4567, -0.1734, 0.0513, 0.0513, -0.0752, 1.9624, 7.0085, 1.9805, -0.0024, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e50bca4101085733b8e21df1b27429c7da6df5605a869dd102b8da5dd2bd9173",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef191919fac149eb9a5012d314a54e6f301e7f7f8f65d617f1725c3d56882770",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a750bcd367b9fa1079597caf6c5682d7e9d3a1b8e86862fe7d6cb490c3eaa1dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob e50bca410108
wire blob ef191919fac1
wire blob a750bcd367b9
call 32 attempt 0 · /messages · status 200 · 10.13 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4641 left_j1=2.3318 left_j2=2.1708 left_j3=-1.4971 left_j4=0.0109 left_j5=-0.2131 left_gripper=0.9952 right_j0=-0.0013 right_j1=0.017 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [-0.335, -16.8, 8.759, 0.2369, -0.0415, 0.1832, -0.2125, -0.0479, 1.5111, 7.1316, 1.8877, -0.0122, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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=-0.4641 left_j1=2.3741 left_j2=1.9652 left_j3=-1.224 left_j4=0.0109 left_j5=-0.2157 left_gripper=0.9965 right_j0=-0.0013 right_j1=0.0177 right_j2=0.0063 right_j3=-0.0795 right_j4=-0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [-0.212, -11.5897, 5.9282, 0.4127, -0.0317, -0.0073, 0.1197, -0.0615, 1.5795, 6.9949, 1.9316, -0.0317, -0.0513, -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=-0.4637 left_j1=2.3192 left_j2=1.8267 left_j3=-1.1053 left_j4=0.0185 left_j5=-0.2218 left_gripper=0.9971 right_j0=-0.0013 right_j1=0.0196 right_j2=0.0063 right_j3=-0.0795 right_j4=0.001 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [0.1299, -13.135, 4.6154, 0.4567, -0.1734, 0.0513, 0.0513, -0.0752, 1.9624, 7.0085, 1.9805, -0.0024, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e50bca4101085733b8e21df1b27429c7da6df5605a869dd102b8da5dd2bd9173",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef191919fac149eb9a5012d314a54e6f301e7f7f8f65d617f1725c3d56882770",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a750bcd367b9fa1079597caf6c5682d7e9d3a1b8e86862fe7d6cb490c3eaa1dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob e50bca410108]
[blob ef191919fac1]
[blob a750bcd367b9]
{
  "content": [
    {
      "signature": 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djrD9LDL+qG11z03tcVFvoO5vp3BfX2lyvP/UGnJ57xYsvGZDMBqvN6T2hWjpfbD2Lbkd1lPWhzfbiCY8kVUXPLWBq4bXh+PwJBZ11NMUNK/dDoRrJHKUg7eVoE3rwdB7ts8lMeZdU8S1gIO5wQxYtNuU+VFQWr4CjgLmDURCEDBchwwvH5In0RZo8fljxNgzw2Fu7wgdtQzaptbyBFasXlLimMOQSwpJde71VwuZklEEX+ISRKIV8gaSH0KtPo2igFzw92k/7EGkQO76Jy0uA2fRTbbD9dqpQzxmqNQE4Ce37popZBSBIXmVyv/n5xm1On8Q8d7wm8G8KT6se1Qr3CQwcrjkUBhRigFQGUFnenuRK/Z+zf6ytw6zBRO56qE1RHFvHfdH1trVhyYWPjosdJTAQCHzzL8PXXeiSqLJtloE9iYcdh7jI7p9USVaFAgeFH0Nbj61ZTsbDaaHGMoUUy5T8lycGPvEesMRBwOw/8m+4aD2izubZUUA4GxqJ3bs0srROUKTt1vfSR6K1CSOEDkWDblK+JUIc+A0Osp1rfume3uy/tIC+4lr3VWsWjewEeIZ+GzLc0qw0bSFfuCTsY0YTdhUGKF6UkQ7gOkt3Y2UjJLzSqkpFCSTGAtruzfi3+BTl6KVqTyzGYhj1Vc1ORCp4Xy0u79WAZAQrHctzbLFVDwIK/JKtFn4D4/fB4Sz1fWSvkNS6fD0AB35/+yjtgSdvBaNUS8Zv71Rc/MuS5N0UVbXugvhz2DKYm5LLvkFdYCt9K0WJUFSXwSgjdL3WjYdcZfLaiaZb+rropPgmDMfu71F2McD4Rh+tpVTL+BQyN2lkXHnfpaRmm301grw1FhOnAi30sBxYrDXki5eMoBnvYOteeU0keGg/AKuFbvdNv6sKWvT21Rys8AfcXz61NPCcsUhxNcHmSEX/O1A7/Cimf06dvObnGjjTPLnb/ks1fcenOT/3YHmZcbaRhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PdfYYo4WGF2MFFFNiY5psn",
      "input": {
        "note": "The wrist view has become unreliable, so I'm trusting the overhead frame: it shows the blue cube roughly 5 cm to the arm's left and 10 cm nearer the base than my gripper. Moving there and hovering ~7 cm up to re-check.",
        "targets": {
          "left_j0": -0.32,
          "left_j1": 1.8382,
          "left_j2": 1.3837,
          "left_j3": -1.1163
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 8 steps (0.8s)",
      "tool_use_id": "toolu_01PdfYYo4WGF2MFFFNiY5psn",
      "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=-0.3309 left_j1=1.8847 left_j2=1.4052 left_j3=-1.1118 left_j4=0.0219 left_j5=-0.2222 left_gripper=0.9972 right_j0=-0.0013 right_j1=0.0238 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0006 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [0.4034, -10.8923, 5.6, 0.5153, -0.0757, -0.0366, 0.0024, -0.0068, 1.5521, 7.0496, 1.8974, -0.0024, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d4eb6db8b6f1afc0b6eced1c813db71b7336490b5ceb2dffa5aee83c144dee5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17d5741c6107d34dfb53f70d73fb930b1ad411e6ef02aefdcb85ab4be9875583",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aabeb32b0200eacd65b26d277dc0a6be74dce7558cd46d606c771d36bc89a7d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 9d4eb6db8b6f
wire blob 17d5741c6107
wire blob aabeb32b0200
call 33 attempt 0 · /messages · status 200 · 7.883 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4641 left_j1=2.3741 left_j2=1.9652 left_j3=-1.224 left_j4=0.0109 left_j5=-0.2157 left_gripper=0.9965 right_j0=-0.0013 right_j1=0.0177 right_j2=0.0063 right_j3=-0.0795 right_j4=-0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [-0.212, -11.5897, 5.9282, 0.4127, -0.0317, -0.0073, 0.1197, -0.0615, 1.5795, 6.9949, 1.9316, -0.0317, -0.0513, -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=-0.4637 left_j1=2.3192 left_j2=1.8267 left_j3=-1.1053 left_j4=0.0185 left_j5=-0.2218 left_gripper=0.9971 right_j0=-0.0013 right_j1=0.0196 right_j2=0.0063 right_j3=-0.0795 right_j4=0.001 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [0.1299, -13.135, 4.6154, 0.4567, -0.1734, 0.0513, 0.0513, -0.0752, 1.9624, 7.0085, 1.9805, -0.0024, -0.0562, -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=-0.3309 left_j1=1.8847 left_j2=1.4052 left_j3=-1.1118 left_j4=0.0219 left_j5=-0.2222 left_gripper=0.9972 right_j0=-0.0013 right_j1=0.0238 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0006 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [0.4034, -10.8923, 5.6, 0.5153, -0.0757, -0.0366, 0.0024, -0.0068, 1.5521, 7.0496, 1.8974, -0.0024, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d4eb6db8b6f1afc0b6eced1c813db71b7336490b5ceb2dffa5aee83c144dee5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17d5741c6107d34dfb53f70d73fb930b1ad411e6ef02aefdcb85ab4be9875583",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aabeb32b0200eacd65b26d277dc0a6be74dce7558cd46d606c771d36bc89a7d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 9d4eb6db8b6f]
[blob 17d5741c6107]
[blob aabeb32b0200]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UADkGUDdaDudfgM9PeYy52",
      "input": {
        "note": "Now it's clear: pulling back 10 cm brought the cube back into the wrist frame near the jaw line (it was previously well past the fingers). Nudging j0 back to -0.43 to re-center it laterally and adding ~1 cm of reach.",
        "targets": {
          "left_j0": -0.43,
          "left_j1": 1.8732,
          "left_j2": 1.4309,
          "left_j3": -1.1285
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01UADkGUDdaDudfgM9PeYy52",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3725 left_j1=1.8656 left_j2=1.3994 left_j3=-1.1328 left_j4=0.0143 left_j5=-0.2256 left_gripper=0.9972 right_j0=-0.0013 right_j1=0.0235 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [-1.5932, -8.1436, 8.1162, 0.2711, 0.0757, 0.0024, -0.0122, -0.0205, 1.6068, 7.2, 1.9365, -0.022, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:192310737244ec2d94075b25232222caec65bc1ffe9ab3f86d8fe79ecda3242b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ac9224bcefb25de460d5acb0f01464be031c712ba08a3ba60234b1fbb7053df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ccb48e8dd567cbeb77d0506cce7f75f80bcf4c94cba359a269ca32699d50d682",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 192310737244
wire blob 9ac9224bcefb
wire blob ccb48e8dd567
call 34 attempt 0 · /messages · status 200 · 5.797 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4637 left_j1=2.3192 left_j2=1.8267 left_j3=-1.1053 left_j4=0.0185 left_j5=-0.2218 left_gripper=0.9971 right_j0=-0.0013 right_j1=0.0196 right_j2=0.0063 right_j3=-0.0795 right_j4=0.001 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [0.1299, -13.135, 4.6154, 0.4567, -0.1734, 0.0513, 0.0513, -0.0752, 1.9624, 7.0085, 1.9805, -0.0024, -0.0562, -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=-0.3309 left_j1=1.8847 left_j2=1.4052 left_j3=-1.1118 left_j4=0.0219 left_j5=-0.2222 left_gripper=0.9972 right_j0=-0.0013 right_j1=0.0238 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0006 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [0.4034, -10.8923, 5.6, 0.5153, -0.0757, -0.0366, 0.0024, -0.0068, 1.5521, 7.0496, 1.8974, -0.0024, -0.0708, -0.0171]",
      "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=-0.3725 left_j1=1.8656 left_j2=1.3994 left_j3=-1.1328 left_j4=0.0143 left_j5=-0.2256 left_gripper=0.9972 right_j0=-0.0013 right_j1=0.0235 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [-1.5932, -8.1436, 8.1162, 0.2711, 0.0757, 0.0024, -0.0122, -0.0205, 1.6068, 7.2, 1.9365, -0.022, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:192310737244ec2d94075b25232222caec65bc1ffe9ab3f86d8fe79ecda3242b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ac9224bcefb25de460d5acb0f01464be031c712ba08a3ba60234b1fbb7053df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ccb48e8dd567cbeb77d0506cce7f75f80bcf4c94cba359a269ca32699d50d682",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 192310737244]
[blob 9ac9224bcefb]
[blob ccb48e8dd567]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BgbNKp6vYbcihvZcbQPnfY",
      "input": {
        "note": "The cube still sits well to the image-right of the jaw gap (x≈168 vs 115), about 4 cm; commanding j0 to -0.55 (with extra to beat the controller's undershoot) to bring it into the gap.",
        "targets": {
          "left_j0": -0.55
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01BgbNKp6vYbcihvZcbQPnfY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5182 left_j1=1.8671 left_j2=1.3994 left_j3=-1.1416 left_j4=0.0151 left_j5=-0.2272 left_gripper=0.9972 right_j0=-0.0013 right_j1=0.0235 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, -9.0598, 5.6137, 0.2906, -0.0171, -0.0122, -0.0122, -0.0342, 1.8393, 7.0906, 1.8681, 0.0122, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63c7ad0212146434c124377d60e43a1d5b08184bf942d880800f2606393a1137",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5210f5dc5757fc0b77c9dcfec36bb47b193a64cec6d08a85599ececa1697a32c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:444d9a8c69e5829af5e0ba217311e9c905845dfb41538fa32231c48c1a7a86de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 63c7ad021214
wire blob 5210f5dc5757
wire blob 444d9a8c69e5
call 35 attempt 0 · /messages · status 200 · 4.412 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3309 left_j1=1.8847 left_j2=1.4052 left_j3=-1.1118 left_j4=0.0219 left_j5=-0.2222 left_gripper=0.9972 right_j0=-0.0013 right_j1=0.0238 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0006 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [0.4034, -10.8923, 5.6, 0.5153, -0.0757, -0.0366, 0.0024, -0.0068, 1.5521, 7.0496, 1.8974, -0.0024, -0.0708, -0.0171]",
      "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=-0.3725 left_j1=1.8656 left_j2=1.3994 left_j3=-1.1328 left_j4=0.0143 left_j5=-0.2256 left_gripper=0.9972 right_j0=-0.0013 right_j1=0.0235 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [-1.5932, -8.1436, 8.1162, 0.2711, 0.0757, 0.0024, -0.0122, -0.0205, 1.6068, 7.2, 1.9365, -0.022, -0.0464, -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=-0.5182 left_j1=1.8671 left_j2=1.3994 left_j3=-1.1416 left_j4=0.0151 left_j5=-0.2272 left_gripper=0.9972 right_j0=-0.0013 right_j1=0.0235 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, -9.0598, 5.6137, 0.2906, -0.0171, -0.0122, -0.0122, -0.0342, 1.8393, 7.0906, 1.8681, 0.0122, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63c7ad0212146434c124377d60e43a1d5b08184bf942d880800f2606393a1137",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5210f5dc5757fc0b77c9dcfec36bb47b193a64cec6d08a85599ececa1697a32c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:444d9a8c69e5829af5e0ba217311e9c905845dfb41538fa32231c48c1a7a86de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 63c7ad021214]
[blob 5210f5dc5757]
[blob 444d9a8c69e5]
{
  "content": [
    {
      "signature": "CAIS+gcKjAEIEBgCKkDqs8xowU8k23VVGMQCwq7ipbc0u/guOeiLDMrct62B3Ol/ngIlqh6YlJuesN9/tpt4LrK2Xz6L9NKXvRkAi6ehMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMLuSQDYxckCsrewaYGgzEOB3Uq7YKE+qXh3YiMKUyIKpFte0ptQdWMo2EWulMvS05+RslNttHXEmySyDIo7O+AJGmIW4Kjz76KP6f6SqaBu0XUKdORNRd/DIzJRTqSFVt52xrvpwaNwzA1Js9JW/9c69lzD7rmnK4nWhea8dKNfOx7L0IkekKx0WD3pM1VWMHt2iVJhxlFBHxi7UPxuuPv7l8PD+C7AewI/VGLttkP8YLQrw0ptbzn2wRlL5x3ZDjP5TdogHUdTYRbm3RB3hqXjH0VXff/CjQoUp8zHhExLs3RdITXEaZveGZ6SNlz3FFFp2jAxQ4sAJkM0AUJzE43e8wtQZb4eL5G2JD11GfjKV/07TWRp0aInEFnFSDLJ3pQOu5fjoVky6p+kplkniRTKGOUadnnob81ymWUD0PMQTbFjRfVEiF36FjUuAKLQtyuRygD3V6Dia8ym/CVxxu9VmemFUI+Av1RDIaGaWRBXQxDz3TZQkZ2AZz5sLVp1fHbo2zuZ5Bbc8/J78jpCZVSAZ8cPT2ei8NqTitx+qRPcqd9PnabSp6yW7f7tA1a2PciQwkEh+Y7oZGmqBWJmKDhnN3lbyp04lturz19NAxrPw8iJL+46URa8KT2mSU0DoWj3fqa+7BjUa9PwqXMRNNCn2O6G5Cdw4/RcGUv1wNK+svnBgPla/tAnZA5xJXu63c7K7j+qs1IPccOrKJDkn/ITgKgx+lR2rcqpO38MWn39p0InAL3osBxeVvWTZ15+z661rHM5HSlWeMyeqpX2Ltd5FAMxkuCr088hlvYtJ8PMJiubdgBVxkLPB3vmkt+xiH6ru976+FjpErMW456t75vDWUgJegLPjQbU226KX6F1Hh6aYcuxWdfPgPmvfzOKdYfHgbdlbe1mFkhUOBZaIrTY6oBHXlMOVWJ+4KUz3c34t3bEYyIJJJEKmatdrkRTJpjTNWw9/mlv9xCaCa6ru8BD0so1M3uxVwDeHOjCsqIh1hH3olaebTbknJ8sIg4XnrwdbHA/wnD+qB+zhIEYYc0OXS72bLvrXFeoA9Q6d81dPVf4kNPdk0d2fOhKrv6dsORZIoLOItMMgTbyIHCDUyjP3vxZINtlrtnjmrSv0yegvW3Zn5U/Gt8iZKsMciUUmd/rhCzBxYPbPMGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TxG59CqudAzMeqq4wZ1R7P",
      "input": {
        "note": "Cube is now centered in the jaw gap at x≈115. Advancing ~4 cm and descending ~5 cm so the jaws come down around it; I'll check the view once more before closing.",
        "targets": {
          "left_j1": 2.104,
          "left_j2": 1.4942,
          "left_j3": -0.961
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01TxG59CqudAzMeqq4wZ1R7P",
      "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=-0.5137 left_j1=2.0933 left_j2=1.4574 left_j3=-1.0313 left_j4=0.0216 left_j5=-0.2375 left_gripper=0.9972 right_j0=-0.0013 right_j1=0.0254 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.4308, -11.6171, 8.3897, 0.2808, -0.0562, 0.0806, -0.0122, -0.0342, 1.5658, 7.0085, 1.8779, -0.0073, -0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97306cbdc9981a1d21b89f5d66eff172b2269f78dae62c5e5b9df0e3bf2a84e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26078bd83f7ff24dc54248ed8dedbb4219f0a2c0a1ce39961b22cf02a47260b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0963eca24507694a0c46f99c12981ad251a4e7f3712ff3d6e05b86ad1c183744",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 97306cbdc998
wire blob 26078bd83f7f
wire blob 0963eca24507
call 36 attempt 0 · /messages · status 200 · 10.53 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3725 left_j1=1.8656 left_j2=1.3994 left_j3=-1.1328 left_j4=0.0143 left_j5=-0.2256 left_gripper=0.9972 right_j0=-0.0013 right_j1=0.0235 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [-1.5932, -8.1436, 8.1162, 0.2711, 0.0757, 0.0024, -0.0122, -0.0205, 1.6068, 7.2, 1.9365, -0.022, -0.0464, -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=-0.5182 left_j1=1.8671 left_j2=1.3994 left_j3=-1.1416 left_j4=0.0151 left_j5=-0.2272 left_gripper=0.9972 right_j0=-0.0013 right_j1=0.0235 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, -9.0598, 5.6137, 0.2906, -0.0171, -0.0122, -0.0122, -0.0342, 1.8393, 7.0906, 1.8681, 0.0122, -0.0757, -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=-0.5137 left_j1=2.0933 left_j2=1.4574 left_j3=-1.0313 left_j4=0.0216 left_j5=-0.2375 left_gripper=0.9972 right_j0=-0.0013 right_j1=0.0254 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.4308, -11.6171, 8.3897, 0.2808, -0.0562, 0.0806, -0.0122, -0.0342, 1.5658, 7.0085, 1.8779, -0.0073, -0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97306cbdc9981a1d21b89f5d66eff172b2269f78dae62c5e5b9df0e3bf2a84e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26078bd83f7ff24dc54248ed8dedbb4219f0a2c0a1ce39961b22cf02a47260b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0963eca24507694a0c46f99c12981ad251a4e7f3712ff3d6e05b86ad1c183744",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 97306cbdc998]
[blob 26078bd83f7f]
[blob 0963eca24507]
{
  "content": [
    {
      "signature": "CAISngYKjAEIEBgCKkCSQYBr03ZYkxOmqsNo6JFXJEYDc48EUsKSf0O+IvmMo7Z7aGNfNH06ciIrNE7PiVS3IT/lpgJPtA+I5Ix1l8uBMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMTPoEizLMfPs1UfnkGgzy5VOP0nfMqudyMYAiMN2y9f7UQknQYkPShE6X4ErUWTZoZbm5ZACpb7Lg24/8NVmR/feZFueQW+mVyRUyDSq+BLXrCJWCYaowO5c/+HBKlDw4N5tBtKza/rMQ1GTUX+HGgEe4zRrJMQEzz8lUJ2Lom2wnhC0SeJS+zmtAU5zCy8EIyQSjv3dh9GjoG5dhQFFVuigd54p1Tji3Phpart4PfWSyHhqzK3LR0MlvzhGtsyT+K+nPRXB2GfouKxkJwYCws1MPKTLps2t6fmtn+gCQiiH5rsQW5ekP3fmugZHeN6cZvFIW5KkPh8NRmERRlDKPODEfYr1A8POAJ4fVaVP83PlM8+KdgCpZ47+RFcBEZyB3G5X80eV4EZOYPIawhPvfLJLJ+Vi2v4SnhJWcK2um6BwfJy0c4OaLGZULPj009Rzi0YktrdOSOMPXpe0b80erACCKWku6tD2lAuw63QexknKN75S6c9EaamPXzTm7HVaq6LKgxlb1YiQQ7Akeca8AKyDiqnAtCm+kooHvNxl0MTaJpQ10LixJ60fORLudoumg783NJzd6sMDkJBGtKt9CLcwIvo+8gWcLmcXj3790oL6bDS5fYLvd8slOOKxjI9o6d8Acdrowg0O/cU8SBqNq1tKXMDXbPanwiKOF2egrWRYnKQOiDcLzxxqeeDiM4jn3QnqiT2wIx8N8QH8OUq7935ThZkPFWupTAF/H6K2zsF//0rdBlv3u/yEpgJNPOBnAOzp783z7ZTvKjiD/mrMQDYerISFrUCcXvqRprzItXQ0Bxo4n9f9pj4OjnBxwIhZR3eeXlQfiuYxXDHgcq4p6c/kK6vDAZ4yoke+lYfwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GgGj8fNrXRKaYtMCVZ5dub",
      "input": {
        "note": "The cube is now directly in the jaw gap at the bottom of the wrist frame with the fingertips near table level. Closing.",
        "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_01GgGj8fNrXRKaYtMCVZ5dub",
      "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=-0.5163 left_j1=2.1075 left_j2=1.4647 left_j3=-1.0302 left_j4=0.0257 left_j5=-0.2443 left_gripper=0.0119 right_j0=-0.0013 right_j1=0.0254 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [0.0752, -11.6855, 4.6017, 0.0513, -0.0513, 0.0171, 1.0525, -0.1709, 1.5932, 7.2, 1.8584, -0.0269, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f93b5d888b2a555bc0f4829d70f58009600ff169283cd9149f4a5fd012d84b63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:137e357c99330f81708c469ed58cbb4c6aac110ae7f23de1f493a06d037c5ee3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:82dc2db85129015f8c8a0c7b50408b36b7cef72cb6250ca5dfd109374db33df6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob f93b5d888b2a
wire blob 137e357c9933
wire blob 82dc2db85129
call 37 attempt 0 · /messages · status 200 · 9.725 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5182 left_j1=1.8671 left_j2=1.3994 left_j3=-1.1416 left_j4=0.0151 left_j5=-0.2272 left_gripper=0.9972 right_j0=-0.0013 right_j1=0.0235 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, -9.0598, 5.6137, 0.2906, -0.0171, -0.0122, -0.0122, -0.0342, 1.8393, 7.0906, 1.8681, 0.0122, -0.0757, -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=-0.5137 left_j1=2.0933 left_j2=1.4574 left_j3=-1.0313 left_j4=0.0216 left_j5=-0.2375 left_gripper=0.9972 right_j0=-0.0013 right_j1=0.0254 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.4308, -11.6171, 8.3897, 0.2808, -0.0562, 0.0806, -0.0122, -0.0342, 1.5658, 7.0085, 1.8779, -0.0073, -0.0806, -0.0171]",
      "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=-0.5163 left_j1=2.1075 left_j2=1.4647 left_j3=-1.0302 left_j4=0.0257 left_j5=-0.2443 left_gripper=0.0119 right_j0=-0.0013 right_j1=0.0254 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [0.0752, -11.6855, 4.6017, 0.0513, -0.0513, 0.0171, 1.0525, -0.1709, 1.5932, 7.2, 1.8584, -0.0269, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f93b5d888b2a555bc0f4829d70f58009600ff169283cd9149f4a5fd012d84b63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:137e357c99330f81708c469ed58cbb4c6aac110ae7f23de1f493a06d037c5ee3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82dc2db85129015f8c8a0c7b50408b36b7cef72cb6250ca5dfd109374db33df6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob f93b5d888b2a]
[blob 137e357c9933]
[blob 82dc2db85129]
{
  "content": [
    {
      "signature": 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9Baax1Ps/9OfE+XYfMgbTtsgV7UabFCNZjH7jPSfh25ENO9VscaBQ2zbrB3UQtISCzCsj3YXF0vg8ka60EWU+lY6RcVQ+qiJ3RIt9XTTvYcEkFCcfJin67vXDcF4GyHZPXvg+8uBQRAvofkUKfvhcD9JXiPuA/Sg6NWRnSYOwZCzqqtksvrf5I+3wZkdO8km+yk57Uf56CWGYGGkM5wPjp2yhygKsknObljgtLe5XpfOxdawskqisvBPuFhYX+/rvZZKnDbin5/AhcX1GNSQqevKktG0CyO1/fiZUjh7CbkJ+4JmafHT1gjPoUxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012tvFJa1c4HEexeV19UnyqU",
      "input": {
        "note": "Fifth empty close — my model of where the cube is must be wrong. Parking the left arm near its base to get a completely unobstructed overhead view of both blocks so I can re-locate them from scratch.",
        "targets": {
          "left_gripper": 1.0,
          "left_j0": 0,
          "left_j1": 0.6,
          "left_j2": 1.2,
          "left_j3": -0.6
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 24 steps (2.4s)",
      "tool_use_id": "toolu_012tvFJa1c4HEexeV19UnyqU",
      "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=-0.0097 left_j1=0.6216 left_j2=1.2045 left_j3=-0.6552 left_j4=0.0246 left_j5=-0.2558 left_gripper=0.9978 right_j0=-0.0013 right_j1=0.0311 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0006 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [0.4171, 2.4137, 5.094, 2.381, -0.0171, 0.0904, -0.0611, -0.1983, 1.5111, 7.0222, 1.8584, -0.0366, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2fa52683c844d49a35c9755627237698b51a2e8fee2aae54f1f056442356130",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67d3390296b6aa5b188d91e71c2670591b21c19df3d56760f053f5e417882cd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:054759bd8a1e482009ed3da69a6112fb907bee195557efecfc01b23ee4a2c4a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob a2fa52683c84
wire blob 67d3390296b6
wire blob 054759bd8a1e
call 38 attempt 0 · /messages · status 200 · 11.17 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 106 changed as sent

message 109 changed as sent

message 112 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5137 left_j1=2.0933 left_j2=1.4574 left_j3=-1.0313 left_j4=0.0216 left_j5=-0.2375 left_gripper=0.9972 right_j0=-0.0013 right_j1=0.0254 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.4308, -11.6171, 8.3897, 0.2808, -0.0562, 0.0806, -0.0122, -0.0342, 1.5658, 7.0085, 1.8779, -0.0073, -0.0806, -0.0171]",
      "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=-0.5163 left_j1=2.1075 left_j2=1.4647 left_j3=-1.0302 left_j4=0.0257 left_j5=-0.2443 left_gripper=0.0119 right_j0=-0.0013 right_j1=0.0254 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [0.0752, -11.6855, 4.6017, 0.0513, -0.0513, 0.0171, 1.0525, -0.1709, 1.5932, 7.2, 1.8584, -0.0269, -0.0806, -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=-0.0097 left_j1=0.6216 left_j2=1.2045 left_j3=-0.6552 left_j4=0.0246 left_j5=-0.2558 left_gripper=0.9978 right_j0=-0.0013 right_j1=0.0311 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0006 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [0.4171, 2.4137, 5.094, 2.381, -0.0171, 0.0904, -0.0611, -0.1983, 1.5111, 7.0222, 1.8584, -0.0366, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2fa52683c844d49a35c9755627237698b51a2e8fee2aae54f1f056442356130",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67d3390296b6aa5b188d91e71c2670591b21c19df3d56760f053f5e417882cd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:054759bd8a1e482009ed3da69a6112fb907bee195557efecfc01b23ee4a2c4a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob a2fa52683c84]
[blob 67d3390296b6]
[blob 054759bd8a1e]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Aa5xrFewLVnPWiorqvF1mc",
      "input": {
        "note": "Clean overhead view: the blue cube is at pixel (93,213) and the red cube at (163,208), both near the bottom edge. Now extending the left arm straight forward (j0=0) with the gripper closed to table height, to calibrate the overhead pixel-to-arm mapping from a known fingertip position.",
        "targets": {
          "left_gripper": 0.0,
          "left_j0": 0,
          "left_j1": 2.335,
          "left_j2": 1.8534,
          "left_j3": -1.0892
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 28 steps (2.8s)",
      "tool_use_id": "toolu_01Aa5xrFewLVnPWiorqvF1mc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0055 left_j1=2.31 left_j2=1.8263 left_j3=-1.0672 left_j4=0.0223 left_j5=-0.2634 left_gripper=0.0113 right_j0=-0.0013 right_j1=0.0364 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0006 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [0.335, -12.1915, 7.788, 0.1392, -0.0024, 0.0073, 0.6081, -0.0615, 1.3197, 7.1863, 1.8632, 0.0024, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0c8921667ec69f2736afe47426acb9523c64301842146fb0bd1cde71adedec2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35216dfd4aed2bab3cfa44bbed8f3cce3ccebb6b62d0e655aa8fc06e0ac0384c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6c9b3e513c372beb55891414da4e5549d18325942d08e8dfbcc58ef2476ea0b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob a0c8921667ec
wire blob 35216dfd4aed
wire blob 6c9b3e513c37
call 39 attempt 0 · /messages · status 200 · 11.24 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 109 changed as sent

message 112 changed as sent

message 115 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5163 left_j1=2.1075 left_j2=1.4647 left_j3=-1.0302 left_j4=0.0257 left_j5=-0.2443 left_gripper=0.0119 right_j0=-0.0013 right_j1=0.0254 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [0.0752, -11.6855, 4.6017, 0.0513, -0.0513, 0.0171, 1.0525, -0.1709, 1.5932, 7.2, 1.8584, -0.0269, -0.0806, -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=-0.0097 left_j1=0.6216 left_j2=1.2045 left_j3=-0.6552 left_j4=0.0246 left_j5=-0.2558 left_gripper=0.9978 right_j0=-0.0013 right_j1=0.0311 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0006 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [0.4171, 2.4137, 5.094, 2.381, -0.0171, 0.0904, -0.0611, -0.1983, 1.5111, 7.0222, 1.8584, -0.0366, -0.022, -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=-0.0055 left_j1=2.31 left_j2=1.8263 left_j3=-1.0672 left_j4=0.0223 left_j5=-0.2634 left_gripper=0.0113 right_j0=-0.0013 right_j1=0.0364 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0006 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [0.335, -12.1915, 7.788, 0.1392, -0.0024, 0.0073, 0.6081, -0.0615, 1.3197, 7.1863, 1.8632, 0.0024, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0c8921667ec69f2736afe47426acb9523c64301842146fb0bd1cde71adedec2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35216dfd4aed2bab3cfa44bbed8f3cce3ccebb6b62d0e655aa8fc06e0ac0384c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c9b3e513c372beb55891414da4e5549d18325942d08e8dfbcc58ef2476ea0b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob a0c8921667ec]
[blob 35216dfd4aed]
[blob 6c9b3e513c37]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019TkHeusANH474RpW17Fb9f",
      "input": {
        "note": "Overhead calibration: with the fingertip at true radius 0.435 m and j0=0 it appears at pixel (52,160), giving ~3 px/cm and putting the blue cube at radius ≈0.29 m, bearing j0≈-0.49 — about 8 cm nearer than where I have been closing. Moving to hover over that spot.",
        "targets": {
          "left_gripper": 1.0,
          "left_j0": -0.49,
          "left_j1": 1.7362,
          "left_j2": 1.2073,
          "left_j3": -1.0419
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_019TkHeusANH474RpW17Fb9f",
      "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=-0.4736 left_j1=1.7832 left_j2=1.2301 left_j3=-1.0447 left_j4=0.0235 left_j5=-0.2672 left_gripper=0.9948 right_j0=-0.0013 right_j1=0.0437 right_j2=0.0067 right_j3=-0.0799 right_j4=0.001 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -9.9487, 5.7231, 0.6276, -0.1001, -0.0073, -0.188, -0.0205, 1.2786, 7.0496, 1.8828, -0.0366, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9524d9c0f1334096929caeb3908c42320f2ab8b7b27e2aeebc66d1eb13862e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a060f3a49df02489f54e521b33a90c7b65085ee931edf7e6dc77ba3c1638a6b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d5395438e03beb6da5a1b16ed06867951f0f5bf22b725886cdedf21d97807ca8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob c9524d9c0f13
wire blob a060f3a49df0
wire blob d5395438e03b
call 40 attempt 0 · /messages · status 200 · 8.069 s
model
claude-opus-5
effort
medium
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=-0.0097 left_j1=0.6216 left_j2=1.2045 left_j3=-0.6552 left_j4=0.0246 left_j5=-0.2558 left_gripper=0.9978 right_j0=-0.0013 right_j1=0.0311 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0006 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [0.4171, 2.4137, 5.094, 2.381, -0.0171, 0.0904, -0.0611, -0.1983, 1.5111, 7.0222, 1.8584, -0.0366, -0.022, -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=-0.0055 left_j1=2.31 left_j2=1.8263 left_j3=-1.0672 left_j4=0.0223 left_j5=-0.2634 left_gripper=0.0113 right_j0=-0.0013 right_j1=0.0364 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0006 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [0.335, -12.1915, 7.788, 0.1392, -0.0024, 0.0073, 0.6081, -0.0615, 1.3197, 7.1863, 1.8632, 0.0024, -0.0464, -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=-0.4736 left_j1=1.7832 left_j2=1.2301 left_j3=-1.0447 left_j4=0.0235 left_j5=-0.2672 left_gripper=0.9948 right_j0=-0.0013 right_j1=0.0437 right_j2=0.0067 right_j3=-0.0799 right_j4=0.001 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -9.9487, 5.7231, 0.6276, -0.1001, -0.0073, -0.188, -0.0205, 1.2786, 7.0496, 1.8828, -0.0366, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9524d9c0f1334096929caeb3908c42320f2ab8b7b27e2aeebc66d1eb13862e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a060f3a49df02489f54e521b33a90c7b65085ee931edf7e6dc77ba3c1638a6b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5395438e03beb6da5a1b16ed06867951f0f5bf22b725886cdedf21d97807ca8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob c9524d9c0f13]
[blob a060f3a49df0]
[blob d5395438e03b]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0153QWeSdHYe1zKpf8kQEFWT",
      "input": {
        "note": "The blue cube is clearly in view just beyond the open jaws. Descending straight to table height at this radius/bearing and I'll inspect the close-up view before closing.",
        "targets": {
          "left_j1": 1.8972,
          "left_j2": 1.0956,
          "left_j3": -0.7692
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_0153QWeSdHYe1zKpf8kQEFWT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4755 left_j1=1.8778 left_j2=1.1152 left_j3=-0.8654 left_j4=0.0315 left_j5=-0.2707 left_gripper=0.9959 right_j0=-0.0013 right_j1=0.0441 right_j2=0.0067 right_j3=-0.0795 right_j4=0.001 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [0.294, -6.7897, 3.7265, 0.9597, -0.0415, 0.0317, 0.0904, -0.0342, 1.5248, 7.2274, 1.873, -0.0073, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c71e9a33037a0553d1d6488aaefac2251435823a8fffe097860275ef95723d44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d0e6aa0b31b6a57408962ea8f99a31913d5c4384325b5717d7a670021145193",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6567c81d645f2f94aac8efa98c6214ee6226bfd0aa96ce75bc2e3028abdd54d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob c71e9a33037a
wire blob 0d0e6aa0b31b
wire blob 6567c81d645f
call 41 attempt 0 · /messages · status 200 · 4.905 s
model
claude-opus-5
effort
medium
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=-0.0055 left_j1=2.31 left_j2=1.8263 left_j3=-1.0672 left_j4=0.0223 left_j5=-0.2634 left_gripper=0.0113 right_j0=-0.0013 right_j1=0.0364 right_j2=0.0063 right_j3=-0.0799 right_j4=0.0006 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [0.335, -12.1915, 7.788, 0.1392, -0.0024, 0.0073, 0.6081, -0.0615, 1.3197, 7.1863, 1.8632, 0.0024, -0.0464, -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=-0.4736 left_j1=1.7832 left_j2=1.2301 left_j3=-1.0447 left_j4=0.0235 left_j5=-0.2672 left_gripper=0.9948 right_j0=-0.0013 right_j1=0.0437 right_j2=0.0067 right_j3=-0.0799 right_j4=0.001 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -9.9487, 5.7231, 0.6276, -0.1001, -0.0073, -0.188, -0.0205, 1.2786, 7.0496, 1.8828, -0.0366, -0.0415, -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 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=-0.4755 left_j1=1.8778 left_j2=1.1152 left_j3=-0.8654 left_j4=0.0315 left_j5=-0.2707 left_gripper=0.9959 right_j0=-0.0013 right_j1=0.0441 right_j2=0.0067 right_j3=-0.0795 right_j4=0.001 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [0.294, -6.7897, 3.7265, 0.9597, -0.0415, 0.0317, 0.0904, -0.0342, 1.5248, 7.2274, 1.873, -0.0073, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c71e9a33037a0553d1d6488aaefac2251435823a8fffe097860275ef95723d44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d0e6aa0b31b6a57408962ea8f99a31913d5c4384325b5717d7a670021145193",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6567c81d645f2f94aac8efa98c6214ee6226bfd0aa96ce75bc2e3028abdd54d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob c71e9a33037a]
[blob 0d0e6aa0b31b]
[blob 6567c81d645f]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HDo8MG9cKEvaqheEfqcxzT",
      "input": {
        "note": "At table height the cube drops out of the wrist frame (only a blue sliver at the bottom-right), which is expected at this pitch. Closing here at the overhead-derived radius of 0.29 m.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01HDo8MG9cKEvaqheEfqcxzT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4763 left_j1=1.8751 left_j2=1.1133 left_j3=-0.8749 left_j4=0.0319 left_j5=-0.2718 left_gripper=0.4484 right_j0=-0.0013 right_j1=0.0441 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, -8.2256, 5.094, 0.2027, -0.0513, -0.0171, 1.0281, -0.0889, 1.6615, 7.1863, 1.873, -0.022, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c6cd0724f4909793d5eefd0633e737692930d78dd4aef9a30c17ef40b6e151e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95c67aaf40fcb498da82fb69974647fbea9fb58b3ecb52976ec0e033a6159e95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:48f1969012fef372a612347af8305d97aa8317488add5b76524a3143b9b8a203",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 0c6cd0724f49
wire blob 95c67aaf40fc
wire blob 48f1969012fe
call 42 attempt 0 · /messages · status 200 · 13.68 s
model
claude-opus-5
effort
medium
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=-0.4736 left_j1=1.7832 left_j2=1.2301 left_j3=-1.0447 left_j4=0.0235 left_j5=-0.2672 left_gripper=0.9948 right_j0=-0.0013 right_j1=0.0437 right_j2=0.0067 right_j3=-0.0799 right_j4=0.001 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -9.9487, 5.7231, 0.6276, -0.1001, -0.0073, -0.188, -0.0205, 1.2786, 7.0496, 1.8828, -0.0366, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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=-0.4755 left_j1=1.8778 left_j2=1.1152 left_j3=-0.8654 left_j4=0.0315 left_j5=-0.2707 left_gripper=0.9959 right_j0=-0.0013 right_j1=0.0441 right_j2=0.0067 right_j3=-0.0795 right_j4=0.001 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [0.294, -6.7897, 3.7265, 0.9597, -0.0415, 0.0317, 0.0904, -0.0342, 1.5248, 7.2274, 1.873, -0.0073, -0.0757, -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=-0.4763 left_j1=1.8751 left_j2=1.1133 left_j3=-0.8749 left_j4=0.0319 left_j5=-0.2718 left_gripper=0.4484 right_j0=-0.0013 right_j1=0.0441 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, -8.2256, 5.094, 0.2027, -0.0513, -0.0171, 1.0281, -0.0889, 1.6615, 7.1863, 1.873, -0.022, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c6cd0724f4909793d5eefd0633e737692930d78dd4aef9a30c17ef40b6e151e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95c67aaf40fcb498da82fb69974647fbea9fb58b3ecb52976ec0e033a6159e95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48f1969012fef372a612347af8305d97aa8317488add5b76524a3143b9b8a203",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 0c6cd0724f49]
[blob 95c67aaf40fc]
[blob 48f1969012fe]
{
  "content": [
    {
      "signature": "CAIS9QUKjAEIEBgCKkCpu5fS84LYXdP8Am55ROzNJFj93Ur6DTvp39yVO1bkq360U9egIXtB2kjyDZE73UGShkTZRhofngdh+f3KfldMMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMYnOG2O4q40ETDsRXGgxk6ckm4/uaA7pOAj8iMGrK9ZPQ28uwE9JjZU+5XieWDr8qXgxZw/T30cYZ049IsE6HM6Y/RTDZOXPAQLvZeyqVBFbVBg9XjoSOWKsFpcPv1TSVOYNs3h/5qN76XAsrc1D03HoFXPUmuhyNobUEBtb5yXWWGKuckVXYzn414CSDnSz2108uyAyYxqXxnJvi3q5wVamzo5AdtY5W5YsTcSMSO2KDKJySwvZHQCct2h+gnQMNoq3Bpl9fP59o6MpAXKSOWcCbPJLIZrIQCVmeLK+SisrWBj9EjlfX1Ow/ndntNWdrITMT9ZMG/pbwtwyx+3CwK5CBNxzYoUf/Yua15AttgdbJ3Y2Tl9ynM/AfLUI0GMEih66+dni0SBghzTgWMyoOw4Y61JXh9EkWEFA8osoSqeg0S6McKHPtAn/28c5zpnucWj98sxbziM4Eg2PEIB0AMBCK/QmXIGhEjhK8FWb3R8nLb/nWhwxCYiGpftl7xv5taUYXu8jJ/PNiMNffVqfPKj+c4488Kh+R4i8Q8RLIvLHduytWvDawTgctA2LQ/CBegyqt1fMFLMwrooKsBw/iQqxFs01VR//XpJCQ9RtduOLBZLc6M6Wzu0NsIq0jcxgiH+A56uuRt+NMBulu/6LFH77DNLsfwkcU2pQEmOS8WUSrMnxNhKdgE+FdNM6lRenY2zaF9gtb2LZUWmVSQzvxsAEiBChs5gPKCGPLcDHyKkRbaxo5hy8hxG5dojdYuXgBZLixsQe52BtQoYKIAh2u93jOdtsxG0SdHSLoRfArCcpHnAuHGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LijPd2CurkJebjFkqtDDQt",
      "input": {
        "note": "Grasp confirmed — the gripper closed to a residual of 0.448 (≈4.3 cm, matching the cube) with high effort. Lifting the cube ~11 cm.",
        "targets": {
          "left_j1": 1.6558,
          "left_j2": 1.3396,
          "left_j3": -1.2546
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_01LijPd2CurkJebjFkqtDDQt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.477 left_j1=1.6962 left_j2=1.3037 left_j3=-1.1995 left_j4=0.033 left_j5=-0.2749 left_gripper=0.4484 right_j0=-0.0013 right_j1=0.0444 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0006 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -9.5111, 7.8974, 0.2857, -0.0415, -0.0122, 1.0281, -0.1026, 1.7162, 7.1863, 1.9512, -0.0122, -0.022, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d35360fa62533fa5722aacde656bf93c70be2390e7236f535fde20a235458695",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a653221e8fb07bcc2fcbeb0d903f8da74d417fa04f33a93fffdb7b8f04b84f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:92713cc1ac617f9e3f95598788a5208c571bfe260f254280d59a584bfc0f6095",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob d35360fa6253
wire blob 0a653221e8fb
wire blob 92713cc1ac61
call 43 attempt 0 · /messages · status 200 · 7.579 s
model
claude-opus-5
effort
medium
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=-0.4755 left_j1=1.8778 left_j2=1.1152 left_j3=-0.8654 left_j4=0.0315 left_j5=-0.2707 left_gripper=0.9959 right_j0=-0.0013 right_j1=0.0441 right_j2=0.0067 right_j3=-0.0795 right_j4=0.001 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [0.294, -6.7897, 3.7265, 0.9597, -0.0415, 0.0317, 0.0904, -0.0342, 1.5248, 7.2274, 1.873, -0.0073, -0.0757, -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=-0.4763 left_j1=1.8751 left_j2=1.1133 left_j3=-0.8749 left_j4=0.0319 left_j5=-0.2718 left_gripper=0.4484 right_j0=-0.0013 right_j1=0.0441 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, -8.2256, 5.094, 0.2027, -0.0513, -0.0171, 1.0281, -0.0889, 1.6615, 7.1863, 1.873, -0.022, -0.0513, -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=-0.477 left_j1=1.6962 left_j2=1.3037 left_j3=-1.1995 left_j4=0.033 left_j5=-0.2749 left_gripper=0.4484 right_j0=-0.0013 right_j1=0.0444 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0006 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -9.5111, 7.8974, 0.2857, -0.0415, -0.0122, 1.0281, -0.1026, 1.7162, 7.1863, 1.9512, -0.0122, -0.022, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d35360fa62533fa5722aacde656bf93c70be2390e7236f535fde20a235458695",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a653221e8fb07bcc2fcbeb0d903f8da74d417fa04f33a93fffdb7b8f04b84f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "text"
    },
    {
      "source": {
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[blob d35360fa6253]
[blob 0a653221e8fb]
[blob 92713cc1ac61]
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    {
      "signature": 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APLClZFJuRxHd+GBeeV/MoB2El19taYhrA6wseuJNVOyI8ybO/CZnPW7HFNw4SIcJLRCbD2ly98vEXDsDIMDlAg57N3E2aTnNTnhCOAEaLYqY021XHBuS3/SPb1J47TL1UBekNu3K51RehYnTm/ZRaWJTRdBJsy5waX1MjMon1uJjpi9QzYsAvXaovV4N73FQQeHtnALwFGGTrzxqksWSiz8y9r8s0SmldgjGHkRMOLSj4VE0mNbaNiOaEleKY0Qag1BrJk1dgeWhoGauU4xTWHSrF2lSToixI1ZO01iVfcZULs+GjqrU3ODAKB5uWYzyFCTXCYq7veLvgaupuFmMrKEsOp7JUsHQld3h2dV9c2yPScNeT6aLcLwF0RkqhvGzlg2E90PzQA0eLxLohZKVlgNMISSNNk3wZ3nJPpoXvUSyVtlGiQtnC36t4ET17VnXOAQOAqn/GRusylHmXmfnNmR1o6jDCgrCFwqI9VdUeiLqAjCFEDdliCDERh6P7EIF3If/1qSYjMrzCSa+xvz4kBrV+bljv5V1Z44iYSBfd6N5e2GnVXHlVBHF3bP2NLG4zoaZHj/dha+LHp/HjLfRV+YSdLrKpor4LQ0b6QVJcpnvc/0YBlM4v1NxjxsyDK9mPjhP8uFaqAjDYpLl3gu5yAMG652lUzsA9nRLNJb5nyISOPmlRXCXGCbR85l//9sWXxOHJJwR7Tnp2KjoBhZ9BTXry8GOv8VoRuLRL9ZjMijN8Cio7P0anc0zXtNRb6XGHCfh08/CZDo7VZornPp2ph/NlpCJ4aOsIIimBLiXB63P9nS7WB/XZfU/nmCjNN3mBzmxAIac2XmAAV35EY4kaGNN2ffxkvVW4fiBea8E9qYI+17hlsdP/5+/4XGAtSxb1NYgBgrk0IU8oM7SbIMJ08Sf4tAr7WC8sF9iXNXty1dpQFzrpJWnY1MvGyKdVll3MK1wAcD8aomm7Sr+O+Q/362iqMz33cVtC6MAxZCZQFYJ1nc4wiuxTbPnyZIthUq4z3rfn+4kGCuuyVZJJFE5v8h/sM/fY8bnFpmNnlGficOWY7XutqHbvAHVoYGxd3j37HYYP1H3SyJ88KGZ17l9uKL5+cxZRsJwFv0FWT5A9Ey20GvM2mC7f+pjl9vDt6JIhEb4L1Inub7yKx+HJy/BWpk9qlqHnBekt5I5PLKeTZR11UgkuQ+w9yXId2NFEbiBMHkHLproAl9qQWzDxmDAZbOebVQmzuCSbe7sgsxPeRi8f5g55KeQTLvlWKBDZX2gH4LpEuuF7R/xBHXm+QuEBm6w6fe6TYIjwYnzu1pH6+zs8n/B7ZxHUUNnPCmHZWekf5qUho8Z5feeUhXvWcCoYsGSJ5XBAOjzXXa22kG/nfZj+JaT+qob1TvXId8d6wtgop9Y8QEPqu8+COo7CB6WQGhDxdkXBuLSr9D8fzxdQ0f21HzFAwpzgc3PF5Mae4uTnr2PzHw5dvAlXcd1UK0oh95EwqQDTggTPq2lgwfObhEc4rlxcG5tXJh9iOGd7d5RTOG7tQ3TopAdDmaMksH+qyqj7WG36B7VfePjtZAzthxOtJzpylXqWJ4fm7fZOUdgBV3XRYF6Glh5i2NBBfTh4PiaP/upEE/ls3siLf+KrS0Ufihv1XBmvWtjPwAywLUuO5Z4aMi5pVd3BBpaB6DcMgoOyGQLw+jBLAih7IWeJKMzrkgAZzFc+mUYOr+2pkteDb9pb+UYP3nCQnxUji9+gFJ2qTjVe5N4VwhoXDnUIhBkdEtGrr7UHgE6k2I2LMTxi7UiDd0SrdEv0WRd8KV9gjNksJ519V4qdVARLUcmmwILK7+eiKncj70LJ+8gizhgF0Mm5Sqf4YYdPFI86ZIXtidagccM8Xs5aBxC6OQ8G0wkqyruU1/QGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RegpUXuwNtxEzG7TWQ6aUt",
      "input": {
        "note": "The blue cube is gone from its spot in the overhead view, confirming it's in the gripper. Using the same overhead mapping, the red block sits at radius ≈0.46 m, bearing j0≈-0.94; moving there and hovering ~11 cm above the table.",
        "targets": {
          "left_j0": -0.935,
          "left_j1": 2.3219,
          "left_j2": 2.2974,
          "left_j3": -1.5463
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 16 steps (1.6s)",
      "tool_use_id": "toolu_01RegpUXuwNtxEzG7TWQ6aUt",
      "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=-0.9215 left_j1=2.3051 left_j2=2.2478 left_j3=-1.5475 left_j4=0.0338 left_j5=-0.2935 left_gripper=0.453 right_j0=-0.0013 right_j1=0.0486 right_j2=0.0067 right_j3=-0.0795 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -11.6171, 8.1162, 0.3492, 0.0122, 0.1685, 1.033, -0.1709, 1.1829, 7.0632, 1.9316, -0.0122, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 338):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3839eb5a4a968f7a111fa71dec72a377bd4f7f5f0e20c70820cb71bfd1866284",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 338):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5a6d2d5646b06e966d6d25d4edfceb102b160a74a1f75fb6afe761bb41a0a3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 338):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c9aca0b30492f1b0e7202758264897517de953f196ed25409e1d983dd03546b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 3839eb5a4a96
wire blob e5a6d2d5646b
wire blob c9aca0b30492
call 44 attempt 0 · /messages · status 200 · 12.37 s
model
claude-opus-5
effort
medium
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=-0.4763 left_j1=1.8751 left_j2=1.1133 left_j3=-0.8749 left_j4=0.0319 left_j5=-0.2718 left_gripper=0.4484 right_j0=-0.0013 right_j1=0.0441 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, -8.2256, 5.094, 0.2027, -0.0513, -0.0171, 1.0281, -0.0889, 1.6615, 7.1863, 1.873, -0.022, -0.0513, -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=-0.477 left_j1=1.6962 left_j2=1.3037 left_j3=-1.1995 left_j4=0.033 left_j5=-0.2749 left_gripper=0.4484 right_j0=-0.0013 right_j1=0.0444 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0006 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -9.5111, 7.8974, 0.2857, -0.0415, -0.0122, 1.0281, -0.1026, 1.7162, 7.1863, 1.9512, -0.0122, -0.022, -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 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=-0.9215 left_j1=2.3051 left_j2=2.2478 left_j3=-1.5475 left_j4=0.0338 left_j5=-0.2935 left_gripper=0.453 right_j0=-0.0013 right_j1=0.0486 right_j2=0.0067 right_j3=-0.0795 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -11.6171, 8.1162, 0.3492, 0.0122, 0.1685, 1.033, -0.1709, 1.1829, 7.0632, 1.9316, -0.0122, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 338):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3839eb5a4a968f7a111fa71dec72a377bd4f7f5f0e20c70820cb71bfd1866284",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 338):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5a6d2d5646b06e966d6d25d4edfceb102b160a74a1f75fb6afe761bb41a0a3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 338):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9aca0b30492f1b0e7202758264897517de953f196ed25409e1d983dd03546b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 3839eb5a4a96]
[blob e5a6d2d5646b]
[blob c9aca0b30492]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FLQDdEZodyAF8fdvqUotaJ",
      "input": {
        "note": "The wrist view shows the carried gnome block below and the red \"a\" block ahead near the top of the frame. Descending ~5 cm to the computed stacking height (one block-height above the table) and re-checking alignment.",
        "targets": {
          "left_j1": 2.3519,
          "left_j2": 2.1404,
          "left_j3": -1.3593
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01FLQDdEZodyAF8fdvqUotaJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9268 left_j1=2.3379 left_j2=2.1582 left_j3=-1.4448 left_j4=0.033 left_j5=-0.2974 left_gripper=0.4538 right_j0=-0.0013 right_j1=0.049 right_j2=0.0067 right_j3=-0.0799 right_j4=-0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [0.5538, -12.2598, 5.3675, 0.4225, -0.0024, -0.0073, 0.9695, -0.0889, 1.5111, 7.2547, 1.9023, 0.0073, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c39851dbd1797d7656058efd2ea73f5b43435ef60f169bc6cf4fa592e8eb38f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6266097dc0fc350015bce9da3ea15a6bf9518cf0132281dfccdd19df366a96c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fe3792b2d1e20562a5607ad41fcacecae9dade7b56f33d54389682d359976000",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 1c39851dbd17
wire blob f6266097dc0f
wire blob fe3792b2d1e2
call 45 attempt 0 · /messages · status 200 · 6.128 s
model
claude-opus-5
effort
medium
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=-0.477 left_j1=1.6962 left_j2=1.3037 left_j3=-1.1995 left_j4=0.033 left_j5=-0.2749 left_gripper=0.4484 right_j0=-0.0013 right_j1=0.0444 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0006 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -9.5111, 7.8974, 0.2857, -0.0415, -0.0122, 1.0281, -0.1026, 1.7162, 7.1863, 1.9512, -0.0122, -0.022, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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=-0.9215 left_j1=2.3051 left_j2=2.2478 left_j3=-1.5475 left_j4=0.0338 left_j5=-0.2935 left_gripper=0.453 right_j0=-0.0013 right_j1=0.0486 right_j2=0.0067 right_j3=-0.0795 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -11.6171, 8.1162, 0.3492, 0.0122, 0.1685, 1.033, -0.1709, 1.1829, 7.0632, 1.9316, -0.0122, -0.0562, -0.0122]",
      "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=-0.9268 left_j1=2.3379 left_j2=2.1582 left_j3=-1.4448 left_j4=0.033 left_j5=-0.2974 left_gripper=0.4538 right_j0=-0.0013 right_j1=0.049 right_j2=0.0067 right_j3=-0.0799 right_j4=-0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [0.5538, -12.2598, 5.3675, 0.4225, -0.0024, -0.0073, 0.9695, -0.0889, 1.5111, 7.2547, 1.9023, 0.0073, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c39851dbd1797d7656058efd2ea73f5b43435ef60f169bc6cf4fa592e8eb38f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6266097dc0fc350015bce9da3ea15a6bf9518cf0132281dfccdd19df366a96c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe3792b2d1e20562a5607ad41fcacecae9dade7b56f33d54389682d359976000",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 1c39851dbd17]
[blob f6266097dc0f]
[blob fe3792b2d1e2]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VBgPV3zWAUcBHDkyrZr9Tv",
      "input": {
        "note": "The overhead view suggests my gripper is ~14 cm beyond the red block while the wrist view suggests the opposite; pulling back 5 cm at constant height as a test — if the red block drops toward the bottom of the wrist frame, the overhead reading is the correct one.",
        "targets": {
          "left_j1": 2.1532,
          "left_j2": 1.8008,
          "left_j3": -1.2184
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01VBgPV3zWAUcBHDkyrZr9Tv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9226 left_j1=2.212 left_j2=1.8187 left_j3=-1.2629 left_j4=0.033 left_j5=-0.3008 left_gripper=0.4565 right_j0=-0.0013 right_j1=0.0498 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.4171, -15.5556, 5.7641, 0.486, -0.0024, -0.0024, 0.8913, -0.1573, 1.9487, 7.2821, 1.9072, -0.0513, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 347):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6b53b7aa08b21783a99ebe4950d8850536d5865f3b45e0fbefa61b0ed5f28e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 347):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7936d8496762e6b033c7282222be277fbb7078215d284a05708513f684c1788",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 347):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:050380d162b1d56b794fbaa5db2b348b0b43f1385d656280979930d0370373f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob f6b53b7aa08b
wire blob a7936d849676
wire blob 050380d162b1
call 46 attempt 0 · /messages · status 200 · 11.66 s
model
claude-opus-5
effort
medium
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=-0.9215 left_j1=2.3051 left_j2=2.2478 left_j3=-1.5475 left_j4=0.0338 left_j5=-0.2935 left_gripper=0.453 right_j0=-0.0013 right_j1=0.0486 right_j2=0.0067 right_j3=-0.0795 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -11.6171, 8.1162, 0.3492, 0.0122, 0.1685, 1.033, -0.1709, 1.1829, 7.0632, 1.9316, -0.0122, -0.0562, -0.0122]",
      "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=-0.9268 left_j1=2.3379 left_j2=2.1582 left_j3=-1.4448 left_j4=0.033 left_j5=-0.2974 left_gripper=0.4538 right_j0=-0.0013 right_j1=0.049 right_j2=0.0067 right_j3=-0.0799 right_j4=-0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [0.5538, -12.2598, 5.3675, 0.4225, -0.0024, -0.0073, 0.9695, -0.0889, 1.5111, 7.2547, 1.9023, 0.0073, -0.0562, -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=-0.9226 left_j1=2.212 left_j2=1.8187 left_j3=-1.2629 left_j4=0.033 left_j5=-0.3008 left_gripper=0.4565 right_j0=-0.0013 right_j1=0.0498 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.4171, -15.5556, 5.7641, 0.486, -0.0024, -0.0024, 0.8913, -0.1573, 1.9487, 7.2821, 1.9072, -0.0513, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 347):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6b53b7aa08b21783a99ebe4950d8850536d5865f3b45e0fbefa61b0ed5f28e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 347):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7936d8496762e6b033c7282222be277fbb7078215d284a05708513f684c1788",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 347):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:050380d162b1d56b794fbaa5db2b348b0b43f1385d656280979930d0370373f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob f6b53b7aa08b]
[blob a7936d849676]
[blob 050380d162b1]
{
  "content": [
    {
      "signature": "CAIS0goKjAEIEBgCKkDvFiCEOVfJ9QBz6pgLonXZOloFmrTx7bbGfRpzP4lfRyy5gEZjHlAdXTda+qwTAS7HsC9uBeR8hrexkYCVcPUkMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMHFVB7dvGFvzCznF9Ggxauxv5hiDcOi11tp4iMNKj+z2gw5nlZHmfMNbp3UsGqEGNMWgf/P9MA2Iac0aXxjdec7i3Ed+ZiM68TvlkGCryCFVgI3Q8kWTNP2EYv75Fb0RMCnxFFHwNJ4xkLmarzdDJomWxAlyCiHTNWL7/e47Ak3uZTLYLf/IyXYbgjDI99Tb2GoIUHZKJrhA6OwqsHJM2DCojM9UN73sziH0yjv+aNID/Y1MXWS3977ZnccLXJHkfklqO9DENktTs7aCyGdmMajyr4ZdF1D9bcIAOPod9AIC9n9YSnvlvXOx5Yv1tjITYUKg/JPISY2h18XklcYr64CZ6aabm0g8hpqwejcC3c6FuY74cvL8iayFWzpNz9TbkWhj53pAzUBNxGTBB+dmSV45SC05rHHUrXxPK46/BMlO04TL2QmnUnq3bUfvx15lZJMZ4fBZQ/8m058PojdmZNhJ5ULJ9UoPEyIGD4ZZOEMdl11kbzot+ZGH5dHiRYPLsDaMLvqcUskqPy9RDEmVSCcHRzyIjhQpUEa3L263JSKY1vkpqQoGoRc1NFnEl9bXUy2grkrLdyYRVsnYEUUu84KWZTFjtRLHUcZmYDKQ1AZvRwk2sr03hcZTeRAOlNo85kaxa2PQY7bd9of63yCBax7ZJdud9Q286MJ2fysxQ9RHBAcUTsgb1KUg8sgq0/luDBoI2dsB8th6n2ohSxyB5CxOi0IT1hjAvuHxJHtrNj1o3TogqN5EZnwq4BJI7U3utFscllTuWwgT2SzhXqw8Wz0oz78vzyhLxMB17J8XJgyLN26yMHPYi/EXV868MZeC59py04s0sFARgu44PizVjVp/nSz0DertzbY+LNACfqiklrRvzCoKdE+qE5jo3gpK5jiokS44dNSlDySL8V/1/aqgP0YO94iGlZRJb955bfScK/6hVSH0bA/VU2Y20z7mHSGqwhm+GC4BhknQeNyzKKQHJx/UeXZuHcOQ7I1tjAZEJDR/vI7ohqzXP8NU1+IuCty1ltT6c4iXqFczJXKoDvFFLr9f+UIK73gYogZo9papiBK+o+OmESGYooh9kXBU+P3GJb1mJKhbrNv4D1fdxCVgLIfLI2yUXZWaLae7FxRJmk6us6fR3irSag4cG1JoQYHXzdejqNZuKEWBqBZ0Ks5Nkns198zgLC7tEnpe+7qEjJO+8CGuayzysnpkMi7r3/y+7J40OnYKIvsrIpvFOAzccwmIb9lO1inXyqceTzo571nRiAHY6k65To6o6kMkgAjngT+B8ZgiJHTDgHTEj5gprnAv2Bc6hPHtPiAZUhrQpc7AZAzDlIHiwsPunFkz+QdGQyb+eUo9omY1uGLgr1S1hIx5PPnO8ocZoR6pVhPbnRxwP9QnkQe87DIymv6K/GJ5xDyQwDONsHinIwH9oPAjUOzMP0U+cUr71dKWQtPDkUeQIFS8eriha/kTT7POvCmYKs2BgXY/sQpXa3axfLZI/alJ90AoreDLm4qdwvVjQWQjyIbsnEFWL6beVP+oKoI8dddFp6MdMeavLGgmRbvAsYrCHCNiQ8H8w2FTZ0dvpvJf4naMD7jkbQxFaDGQ3UZOCc3AB6cwno36JUIP0tZQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QMUZSvDNa52vQfKgFbTWWY",
      "input": {
        "note": "Retracting pushed the red block further away in the wrist view, so the wrist camera is right and I am short, not long. Extending to near-maximum reach (FK r≈0.47) at the stacking height and swinging j0 slightly to follow it.",
        "targets": {
          "left_j0": -0.97,
          "left_j1": 2.5911,
          "left_j2": 2.5825,
          "left_j3": -1.5622
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 13 steps (1.3s)",
      "tool_use_id": "toolu_01QMUZSvDNa52vQfKgFbTWWY",
      "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=-0.9634 left_j1=2.5755 left_j2=2.5324 left_j3=-1.5753 left_j4=0.0334 left_j5=-0.3202 left_gripper=0.4565 right_j0=-0.0013 right_j1=0.0517 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0006 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.6632, -12.9983, 8.4308, 0.3443, -0.0073, 0.1538, 0.9548, -0.1573, 1.4564, 7.2547, 1.9072, -0.0464, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 360):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1b04f404a8a9f93d1b4f0f3423169aa6e36e2b943a59b5c97b202956ea85307",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 360):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f9562121a206f3a209bb3c06309d7b9c000ba1d60735a25814d6337a513a7d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 360):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:06a59105a68c822ae07ca84aa39ba194df44ae120211f40c78f28ccb1593bc8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob f1b04f404a8a
wire blob 7f9562121a20
wire blob 06a59105a68c
call 47 attempt 0 · /messages · status 200 · 5.93 s
model
claude-opus-5
effort
medium
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=-0.9268 left_j1=2.3379 left_j2=2.1582 left_j3=-1.4448 left_j4=0.033 left_j5=-0.2974 left_gripper=0.4538 right_j0=-0.0013 right_j1=0.049 right_j2=0.0067 right_j3=-0.0799 right_j4=-0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [0.5538, -12.2598, 5.3675, 0.4225, -0.0024, -0.0073, 0.9695, -0.0889, 1.5111, 7.2547, 1.9023, 0.0073, -0.0562, -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=-0.9226 left_j1=2.212 left_j2=1.8187 left_j3=-1.2629 left_j4=0.033 left_j5=-0.3008 left_gripper=0.4565 right_j0=-0.0013 right_j1=0.0498 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.4171, -15.5556, 5.7641, 0.486, -0.0024, -0.0024, 0.8913, -0.1573, 1.9487, 7.2821, 1.9072, -0.0513, -0.0708, -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=-0.9634 left_j1=2.5755 left_j2=2.5324 left_j3=-1.5753 left_j4=0.0334 left_j5=-0.3202 left_gripper=0.4565 right_j0=-0.0013 right_j1=0.0517 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0006 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.6632, -12.9983, 8.4308, 0.3443, -0.0073, 0.1538, 0.9548, -0.1573, 1.4564, 7.2547, 1.9072, -0.0464, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 360):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1b04f404a8a9f93d1b4f0f3423169aa6e36e2b943a59b5c97b202956ea85307",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 360):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f9562121a206f3a209bb3c06309d7b9c000ba1d60735a25814d6337a513a7d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 360):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06a59105a68c822ae07ca84aa39ba194df44ae120211f40c78f28ccb1593bc8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob f1b04f404a8a]
[blob 7f9562121a20]
[blob 06a59105a68c]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C82nSaKJbdtn42jJuLZUGt",
      "input": {
        "note": "The red \"a\" block is now directly above the carried block in the wrist view — laterally aligned, just ~2-3 cm short in reach. Tilting the gripper 12° forward buys the extra reach at the same fingertip height.",
        "targets": {
          "left_j1": 2.5769,
          "left_j2": 2.5455,
          "left_j3": -1.3186
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01C82nSaKJbdtn42jJuLZUGt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9672 left_j1=2.582 left_j2=2.5393 left_j3=-1.4368 left_j4=0.0334 left_j5=-0.3431 left_gripper=0.4566 right_j0=-0.0013 right_j1=0.0517 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [0.1026, -14.6803, 6.2838, 1.1209, -0.0317, 0.2027, 0.9255, -0.1162, 1.5521, 7.0769, 1.9365, -0.022, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 365):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ade9c46d058bd4a2805367398a1808607cb982349a6393c5dcf2602c08c5082",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 365):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41b35c58cffd0b338b27d29918b91bf131383be8b41760fe78009b8e85388c00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 365):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fa1261639bfb07e3d30d8d1cee1cbb30bf88761b22c6b2ef80f0605786e6d610",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 8ade9c46d058
wire blob 41b35c58cffd
wire blob fa1261639bfb
call 48 attempt 0 · /messages · status 200 · 3.958 s
model
claude-opus-5
effort
medium
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=-0.9226 left_j1=2.212 left_j2=1.8187 left_j3=-1.2629 left_j4=0.033 left_j5=-0.3008 left_gripper=0.4565 right_j0=-0.0013 right_j1=0.0498 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.4171, -15.5556, 5.7641, 0.486, -0.0024, -0.0024, 0.8913, -0.1573, 1.9487, 7.2821, 1.9072, -0.0513, -0.0708, -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=-0.9634 left_j1=2.5755 left_j2=2.5324 left_j3=-1.5753 left_j4=0.0334 left_j5=-0.3202 left_gripper=0.4565 right_j0=-0.0013 right_j1=0.0517 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0006 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.6632, -12.9983, 8.4308, 0.3443, -0.0073, 0.1538, 0.9548, -0.1573, 1.4564, 7.2547, 1.9072, -0.0464, -0.0611, -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=-0.9672 left_j1=2.582 left_j2=2.5393 left_j3=-1.4368 left_j4=0.0334 left_j5=-0.3431 left_gripper=0.4566 right_j0=-0.0013 right_j1=0.0517 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [0.1026, -14.6803, 6.2838, 1.1209, -0.0317, 0.2027, 0.9255, -0.1162, 1.5521, 7.0769, 1.9365, -0.022, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 365):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ade9c46d058bd4a2805367398a1808607cb982349a6393c5dcf2602c08c5082",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 365):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41b35c58cffd0b338b27d29918b91bf131383be8b41760fe78009b8e85388c00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 365):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa1261639bfb07e3d30d8d1cee1cbb30bf88761b22c6b2ef80f0605786e6d610",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 8ade9c46d058]
[blob 41b35c58cffd]
[blob fa1261639bfb]
{
  "content": [
    {
      "signature": "CAIS1woKjAEIEBgCKkCVGPUQLK6vO6TwN6I/2BkvKbqSH9ZL6w0sB2sTb4oav9DMcebyr9U4TKbb369mAVhD3tVE27lEq/FKrN62DoIwMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMz+zBOt734r/gmDOCGgwdXYnQuRUB4u9h74QiMAFq7nqjU+2AJ6d3lLQCx8lZYYZOLhpifaxroazP7RUIyQx8UqB6jWD+bTzu/1S/VSr3COfgXPiskn/IdqULLjIU7mhpUQhC7tI5Tx3G/+2FYHV/MyGAU656XEy6QdsDzXhf7GrRR0X6yHgkNGWF4zSBLXtgKdiNwywR0TEqdtFAIgZWgGWotEjba2hR2Vw+FANT5lE592rqrY/eGULZNSU2PfoZi+3UCCEfg3kFPl3rm4O8EsYj9yNvppXInYkQXcPbjRYAWK8BNWyWSmcBE1xXZg0FIeVmEsgeW4u6qt3W/vZGbQl+SzHP2i6BSuNYWJHde2yi6MlrKYpTUZH9LUJOXFChC4l3gc2nEV8Lw4U+Uff3tVIMYM7z8T9PRFSsOwgCtf+OzSEnpIKeXjh+gDQyiMH9IMj8jY2O8cHpsRXu1oAmYRMOpR+bc7Oxvjp12ebq1D0xJ82E8S8qSThaqYwAXcSrmL9khx+9sF/hCVUoN22TJ00dL4gunMkYM6xo+zJm4LQz70s7v+AauVNeZF2v771MmRiWoAhFesTjC+I1UvaDtewkJQ6PGExVJT0j4enpnrwGW+VYPGEhJNgwbYMfJpzENcaKX6YOrpT4T5hYHC4+VnDQ0DxBy/NOkW9z4/PoRVpjWRM2q4yVZ1Ynk4SQuBasWYRUl+2u85nlzHteDYIHUSQeXeCr/lUYWu3OqCt36L3MsdwUtJ7cV2Ue2aA3hpHHTtRgWAvQH8EzvMiE2F+WuR3H+ms1ERoCOI3JF3N5cRPfY7zDWoqMf/rriTuzcMVe3JFjwJUk7QS5jBb9ZN/Zp4CCgm2hAONlUpnaCz5AXae48Ma5cxWX3hT0YyAvA8ahIeiU8b77Tjq7u02ylj+I+2CIBmBe2eH4JAvtvd2abEEawjMAkOW89d/9rHjQyMkyPi3kW0G6gL+25QUZiRZ6yyM2Lnj5TilkanOpUAB7M5s/trcNH9SsV6M6XJyNl/qPM8MR5juALbR7Gev762eYoxuoRu9YyNCploN+cviSaSbC1XaFvubAh1SBoCUAw8yn2AmPmcAXadnBY2iY0p8pFppdllwysjVAZ6FNrRSu2UDHVV6NcXs8eDW8/Wb7qWXaHpz0OZsVXwo1ZgFS5GUVkdpcAQteIEZBhnDO/iqTpSThu8eWtPeRwf+tJ7Jbc4+XEV6wJFD9aLiJSujSQvrZs2CQJaHe4JvdTUmRdVQtvyD5oEUeCCdDRuSmaV5nu+8mQuwioFl0zOJG/UHsWlxz4/LkQbIXk0t2aoWnswB7NflPP9ZLVOUj8t+tSaZr8MxflhE3irDUPkaimN2AhUsa9KoX6L0qLxYD8i3oUYIyl/NNcxdaexLY0Xie3CLw2kz325hW+qK2MqYANUr8m5A1Ykip9irIM15XmUC8kNHxz5WL2xz26IWNJ/MUbCKp+9Mi08senSeKtBsRI3kaTvAnI0wMt7Vof5xIbLJF/hVkaDXx42PIW+/Won16IPSK/SJVyGbTIlDwqp979sP84uTuhUOBl8nwZc+ltpnvHTjN+IuBzI+nKo+DjwQlncUre4AObJSDeGQYOKDIzZQ5IHtsUgx8koTMIhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0127ToP4uQpYgbkxY2VdLkMX",
      "input": {
        "note": "Extending shifted the red block to the left edge of the wrist view, so it's ~3.5 cm to the arm's left of my carried block; nudging j0 positive to 0.89 and re-issuing the reach target (the controller undershot j3 last time).",
        "targets": {
          "left_j0": -0.89,
          "left_j1": 2.5769,
          "left_j2": 2.5455,
          "left_j3": -1.3186
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_0127ToP4uQpYgbkxY2VdLkMX",
      "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=-0.9451 left_j1=2.5816 left_j2=2.5393 left_j3=-1.3838 left_j4=0.0383 left_j5=-0.3508 left_gripper=0.4566 right_j0=-0.0013 right_j1=0.0517 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0006 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [3.1385, -14.7897, 6.5162, 1.1062, -0.0415, 0.0464, 0.9548, 0.0342, 1.7026, 7.0769, 1.873, -0.0122, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af84781bbfe2eda8fce9986d50817ea860d86264482212746bbf8b39287f56df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25066772dc15451804c0d8a10cce457c3aca660fa54b3e2a411237f3992c8e57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 367):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:db19fe607d31879aa707302591bd74f0cd23c4d331dcee019561d057e5a1a8a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob af84781bbfe2
wire blob 25066772dc15
wire blob db19fe607d31
call 49 attempt 0 · /messages · status 200 · 8.163 s
model
claude-opus-5
effort
medium
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=-0.9634 left_j1=2.5755 left_j2=2.5324 left_j3=-1.5753 left_j4=0.0334 left_j5=-0.3202 left_gripper=0.4565 right_j0=-0.0013 right_j1=0.0517 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0006 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.6632, -12.9983, 8.4308, 0.3443, -0.0073, 0.1538, 0.9548, -0.1573, 1.4564, 7.2547, 1.9072, -0.0464, -0.0611, -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=-0.9672 left_j1=2.582 left_j2=2.5393 left_j3=-1.4368 left_j4=0.0334 left_j5=-0.3431 left_gripper=0.4566 right_j0=-0.0013 right_j1=0.0517 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [0.1026, -14.6803, 6.2838, 1.1209, -0.0317, 0.2027, 0.9255, -0.1162, 1.5521, 7.0769, 1.9365, -0.022, -0.0806, -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=-0.9451 left_j1=2.5816 left_j2=2.5393 left_j3=-1.3838 left_j4=0.0383 left_j5=-0.3508 left_gripper=0.4566 right_j0=-0.0013 right_j1=0.0517 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0006 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [3.1385, -14.7897, 6.5162, 1.1062, -0.0415, 0.0464, 0.9548, 0.0342, 1.7026, 7.0769, 1.873, -0.0122, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af84781bbfe2eda8fce9986d50817ea860d86264482212746bbf8b39287f56df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25066772dc15451804c0d8a10cce457c3aca660fa54b3e2a411237f3992c8e57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db19fe607d31879aa707302591bd74f0cd23c4d331dcee019561d057e5a1a8a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob af84781bbfe2]
[blob 25066772dc15]
[blob db19fe607d31]
{
  "content": [
    {
      "signature": "CAIS/QQKjAEIEBgCKkBrXYJkk1HZkoaxDvRu89Ol7Vn2fXOpPulceA1znHL93ixOUvSvr+N9Jpz4nit4wW+jZ4Kd9fLM/Ai9yU9B3KL2MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMi8IHoQduAfe/hj5/GgzoZIjaf753V/EMisgiMONdhf6HLA8rXDyEChssFead6B0zIeS5qEsuRx586qCQFDzMxkoK1rlEBoSdPeLtmiqdA4H+qCXuGXdDPUGoyQOU1zgTYweyZxx9r0HdU+nBBZZjUb4LEaL0oPR1qlpHsvG35fS4K12OM/9/zI7Uua0aTm/S3OlE/0eR10A2Og8QuHdRCV2ducRVdHiJzOPgP1HcPu/hws6GwcwpbfpXVj7PZO7XPH5wokUffNf/61fhd/TVFyjA4P56PhR4Y2GCkr5Nmgp3NXueFRGYpM3hjtWdygzvHoAeEaotJDjdr6NEWD5ZXpLpYaME30p1YBNJ/DV4qAl8Q1Cv7A4t+wB1nsgY4h2fO0xdrZcTrtqSrkBBT5AUPv1pl/C8m4RVhYKvFiu3zvCZjC9o4VBYniVozckBCLYYvLB92bz7tCJwSZ3+69V9o2AT7UjXkBUVa5qf0xIpMIx4xu9QkiKGHSaUjcF3zhhwXSWF+k4HXe6BvjLKc2wXxZcn7R8Nv8zm+jofDzpt7MqXkZmD8i/tWRON7IpFVQQwdJxGo1SZ6BSFdVCtv/eDVGogAcYNCkcvz65yjmF17FOzJW4YdZkVQ4X5tJ9Ji1huwk8BVjlOedtp9w9IGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DTPFcvMjNH2HAYEjJNkJ9H",
      "input": {
        "note": "j0 undershot again (reached -0.945); the red block is still a pink sliver at the left edge of the wrist view. Re-issuing a more positive j0 to swing the carried block over it.",
        "targets": {
          "left_j0": -0.85
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01DTPFcvMjNH2HAYEjJNkJ9H",
      "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=-0.8795 left_j1=2.582 left_j2=2.5393 left_j3=-1.3823 left_j4=0.0376 left_j5=-0.3573 left_gripper=0.4566 right_j0=-0.0013 right_j1=0.0517 right_j2=0.0067 right_j3=-0.0795 right_j4=0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [1.7573, -14.3932, 5.8735, 0.6764, 0.0513, 0.0073, 0.9646, -0.0479, 1.5248, 7.1043, 1.9121, -0.022, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 369):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:884b0f84cd10c62965b383443079eab3a62c6748f98d699b9528e94c0da83148",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 369):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95a03cb6b9f6755e0fc39d3176bd2de5393d2cb3d0d67e75a144493c02b5a7de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 369):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aacf89351097ebed437e95d97fbe5dba6c6ff954a04f4e19f8fc6351760d6c42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 884b0f84cd10
wire blob 95a03cb6b9f6
wire blob aacf89351097
call 50 attempt 0 · /messages · status 200 · 7.239 s
model
claude-opus-5
effort
medium
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=-0.9672 left_j1=2.582 left_j2=2.5393 left_j3=-1.4368 left_j4=0.0334 left_j5=-0.3431 left_gripper=0.4566 right_j0=-0.0013 right_j1=0.0517 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [0.1026, -14.6803, 6.2838, 1.1209, -0.0317, 0.2027, 0.9255, -0.1162, 1.5521, 7.0769, 1.9365, -0.022, -0.0806, -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=-0.9451 left_j1=2.5816 left_j2=2.5393 left_j3=-1.3838 left_j4=0.0383 left_j5=-0.3508 left_gripper=0.4566 right_j0=-0.0013 right_j1=0.0517 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0006 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [3.1385, -14.7897, 6.5162, 1.1062, -0.0415, 0.0464, 0.9548, 0.0342, 1.7026, 7.0769, 1.873, -0.0122, -0.0122, -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=-0.8795 left_j1=2.582 left_j2=2.5393 left_j3=-1.3823 left_j4=0.0376 left_j5=-0.3573 left_gripper=0.4566 right_j0=-0.0013 right_j1=0.0517 right_j2=0.0067 right_j3=-0.0795 right_j4=0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [1.7573, -14.3932, 5.8735, 0.6764, 0.0513, 0.0073, 0.9646, -0.0479, 1.5248, 7.1043, 1.9121, -0.022, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 369):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:884b0f84cd10c62965b383443079eab3a62c6748f98d699b9528e94c0da83148",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 369):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95a03cb6b9f6755e0fc39d3176bd2de5393d2cb3d0d67e75a144493c02b5a7de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 369):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aacf89351097ebed437e95d97fbe5dba6c6ff954a04f4e19f8fc6351760d6c42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 884b0f84cd10]
[blob 95a03cb6b9f6]
[blob aacf89351097]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JqDBgDLC46GRZT3DNX7vry",
      "input": {
        "note": "The red block is now hidden directly behind/below the carried block, suggesting good alignment. Lowering ~1.5 cm to feel for contact between the carried block and the red block before releasing.",
        "targets": {
          "left_j1": 2.5885,
          "left_j2": 2.4869,
          "left_j3": -1.3234
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 1 steps (0.1s)",
      "tool_use_id": "toolu_01JqDBgDLC46GRZT3DNX7vry",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8501 left_j1=2.582 left_j2=2.5393 left_j3=-1.3922 left_j4=0.0368 left_j5=-0.3569 left_gripper=0.4593 right_j0=-0.0013 right_j1=0.0517 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [0.0205, -14.3248, 6.1607, 0.5739, -0.0171, 0.0464, 0.7595, 0.0205, 1.6068, 7.0769, 1.9072, -0.022, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 370):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f13c167b8c59a55bb32da330045181bd25745d06e6603bf823c68b90f4a6eb3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 370):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53f7463cfdb77de16431e9d3060d9f6be0314a0b8f776eb9db9975380d851c13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 370):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d65e59df2db93542907e3b7882e2db75c81102295cadf54df2679b961b394d18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob f13c167b8c59
wire blob 53f7463cfdb7
wire blob d65e59df2db9
call 51 attempt 0 · /messages · status 200 · 11.72 s
model
claude-opus-5
effort
medium
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=-0.9451 left_j1=2.5816 left_j2=2.5393 left_j3=-1.3838 left_j4=0.0383 left_j5=-0.3508 left_gripper=0.4566 right_j0=-0.0013 right_j1=0.0517 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0006 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [3.1385, -14.7897, 6.5162, 1.1062, -0.0415, 0.0464, 0.9548, 0.0342, 1.7026, 7.0769, 1.873, -0.0122, -0.0122, -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=-0.8795 left_j1=2.582 left_j2=2.5393 left_j3=-1.3823 left_j4=0.0376 left_j5=-0.3573 left_gripper=0.4566 right_j0=-0.0013 right_j1=0.0517 right_j2=0.0067 right_j3=-0.0795 right_j4=0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [1.7573, -14.3932, 5.8735, 0.6764, 0.0513, 0.0073, 0.9646, -0.0479, 1.5248, 7.1043, 1.9121, -0.022, -0.0611, -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=-0.8501 left_j1=2.582 left_j2=2.5393 left_j3=-1.3922 left_j4=0.0368 left_j5=-0.3569 left_gripper=0.4593 right_j0=-0.0013 right_j1=0.0517 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [0.0205, -14.3248, 6.1607, 0.5739, -0.0171, 0.0464, 0.7595, 0.0205, 1.6068, 7.0769, 1.9072, -0.022, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 370):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f13c167b8c59a55bb32da330045181bd25745d06e6603bf823c68b90f4a6eb3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 370):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53f7463cfdb77de16431e9d3060d9f6be0314a0b8f776eb9db9975380d851c13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 370):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d65e59df2db93542907e3b7882e2db75c81102295cadf54df2679b961b394d18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob f13c167b8c59]
[blob 53f7463cfdb7]
[blob d65e59df2db9]
{
  "content": [
    {
      "signature": "CAISlwkKjAEIEBgCKkBzZRKtpf8JVQ99PBbvs2sUhcfmeAzSu2xwSe2nkKex5cIbE+E7BbzsIAz2gNjwucfHj14TxJQWj6jbd4orVBBTMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM7QTPit/PQ/+ZmThiGgzIhrsLwZLKSqth8D0iMCVfVTGP4eaRWZa4qs4RuYP2Ln1Hgoq1BXWmp9FRC435URLVUI+1dj62CXigMpYL8Sq3BxX3UvS60EhiRGY+rN3tbVo5LqmWyFWJblujtmnPeT9+vIvPDIIb5/ZM9pVP8bU75iXzZnUbLTZeOh/Up74uXL7fXvkrKf4VCR7RyCbPDt4Kk/2jbSoidGwItkY7YIyczY8X6/09N7v9kx63lUF5qGdcSH4K3GIN2+NWSuFauU+yyHKZB95Rpqx1I83/wUO/+YWDQWr1QdxRXWhPhCpxweZXLyMIMNLcH9G1DD0e8LeEGmSb+fsDvvlnOK9FK9tywx7dBJ0c7AUIm8vURtxmiyB/+TlW/Vlv1XRCmFjzzKhg8O7ZUUIUjh97aQQw3mSHuN318DfYdCZz3wHPHnOAke7Y1EVbKg+6jICDLdev8se8xVtqO44gD+evYbwpR/DcsBx2meXyuU+PQihDKJRnp2YyE7IVTo7Rqy9kmn3jsOw7a9Jp699MEqV6EJBaBW0R3/Dogu+IgEfJgBjSLWVQNGmBcXUavzyqUbIcMr6hu4Kx2bPv6Yq/MDxGWkN9iakHbXOhljOVqEYzRohhYzBt5gVWW7HRHGP63XTPjJ+iC4F4NvWWSh2o/yjnBcrm0xhgmrpIDWJQBaHhqqcbuopl67POOCf82d+ZP4FSGGR/oTecaHEnFVZg4Rxy4FGnb0+vwV4M540jpTNKMLZ+w/5sIc/PXQqpYQq4K3vX5mUS0KBjE0bPzELhAvj0ycp7bhSjSz2knkzIsYWikXaCwJPDr2vVCgRQnF2W0ijWK47hYHDxBVEtN1j556BL0qkpQN9SggAcQZQNmd0vxNmVVyMkR9sSO5DiDws/8vLOroZEiDFJwvwF0q2NEuv5spxm/NtfyilT/exTw+c8JpdfPm3UsEgMDYd18VFf2wVf6JCYZhJE14YtvJuF7RuXhll/hVvtHDjs0t/Mub7fs/KbNRdNWBaTki6gFxtBUTfwShEl5p3sxNqfbhjfWfhkJ6VpYmQtVAhHziv0Fz0vMQUpWFw/0EGKnlMfPvFWYG8eOBRqtMAK1TtK8xqOOZL5DyDifwZI+bN5VPATC9acnK21uFuU3GvX+5cifUdRCThQVPK0+kXqzGMsT7svnXzjTUXOl63gAGtY+cQj5G8zQFkQZwwXclDd9o9f5rOT1ObCw7/3c0kLBY86T9Zzj7lWmF/tu4Zd4+RgXiIPXVuWF4y5nhLSp4k66DX4iKAM9GAFxHNpzvOKSeTbt6BU2KIJAVWdkT6pZYMGrDDkiBDkhbj01v7xeLtXOyhgFjwWEipbiQNGp3i9zAtsossyRxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GUyNbhA1mAGNhmBowmJd2o",
      "input": {
        "note": "Carried block appears to be right over the red block at roughly one block-height above the table; releasing it to drop onto the red block, then I'll verify from overhead.",
        "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_01GUyNbhA1mAGNhmBowmJd2o",
      "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=-0.8459 left_j1=2.5855 left_j2=2.5141 left_j3=-1.3956 left_j4=0.0372 left_j5=-0.3618 left_gripper=0.9963 right_j0=-0.0013 right_j1=0.0517 right_j2=0.0067 right_j3=-0.0799 right_j4=0.001 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.6359, -14.4889, 7.8017, 0.4664, -0.0269, 0.022, -0.1197, -0.0479, 1.5248, 7.0906, 1.8877, -0.0122, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 376):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46b151264f8aa1aae2b55a0256f6f8228a4cfa339de0ad2a4c1eb389e0b756b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 376):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b29953dbeb418619cfb2a607af80c2f8e81c6e8e81c98933cb442885fda0584e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 376):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:80f1caf8bf193d15a2347de1c75d105e2161bec777d3e9c4d3794e6958f3ff5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 46b151264f8a
wire blob b29953dbeb41
wire blob 80f1caf8bf19
call 52 attempt 0 · /messages · status 200 · 8.581 s
model
claude-opus-5
effort
medium
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=-0.8795 left_j1=2.582 left_j2=2.5393 left_j3=-1.3823 left_j4=0.0376 left_j5=-0.3573 left_gripper=0.4566 right_j0=-0.0013 right_j1=0.0517 right_j2=0.0067 right_j3=-0.0795 right_j4=0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [1.7573, -14.3932, 5.8735, 0.6764, 0.0513, 0.0073, 0.9646, -0.0479, 1.5248, 7.1043, 1.9121, -0.022, -0.0611, -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=-0.8501 left_j1=2.582 left_j2=2.5393 left_j3=-1.3922 left_j4=0.0368 left_j5=-0.3569 left_gripper=0.4593 right_j0=-0.0013 right_j1=0.0517 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [0.0205, -14.3248, 6.1607, 0.5739, -0.0171, 0.0464, 0.7595, 0.0205, 1.6068, 7.0769, 1.9072, -0.022, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8459 left_j1=2.5855 left_j2=2.5141 left_j3=-1.3956 left_j4=0.0372 left_j5=-0.3618 left_gripper=0.9963 right_j0=-0.0013 right_j1=0.0517 right_j2=0.0067 right_j3=-0.0799 right_j4=0.001 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.6359, -14.4889, 7.8017, 0.4664, -0.0269, 0.022, -0.1197, -0.0479, 1.5248, 7.0906, 1.8877, -0.0122, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 376):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46b151264f8aa1aae2b55a0256f6f8228a4cfa339de0ad2a4c1eb389e0b756b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 376):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b29953dbeb418619cfb2a607af80c2f8e81c6e8e81c98933cb442885fda0584e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 376):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80f1caf8bf193d15a2347de1c75d105e2161bec777d3e9c4d3794e6958f3ff5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 46b151264f8a]
[blob b29953dbeb41]
[blob 80f1caf8bf19]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BJPoBvbthwRBP1utrLZpAz",
      "input": {
        "note": "The release dropped the block next to, not on, the red block — both are now visible in the wrist frame. Parking the arm to get a clean overhead view and re-plan with the overhead mapping that worked for the first pick.",
        "targets": {
          "left_j0": 0,
          "left_j1": 0.6,
          "left_j2": 1.2,
          "left_j3": -0.6
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 32 steps (3.2s)",
      "tool_use_id": "toolu_01BJPoBvbthwRBP1utrLZpAz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0101 left_j1=0.6182 left_j2=1.2129 left_j3=-0.6655 left_j4=0.0368 left_j5=-0.3721 left_gripper=0.9972 right_j0=-0.0013 right_j1=0.0566 right_j2=0.0067 right_j3=-0.0803 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [0.2256, 2.5915, 5.6684, 2.5812, -0.0171, 0.0464, 0.0855, -0.0479, 1.4017, 7.2684, 1.8779, -0.0513, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 408):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:340eacf9f8fdb38a8e0ab99c7716299179c1691681f32ec8fd9a73a35dde16eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 408):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37bccb792459d59e3c568a91a7ea1e89036b99c28f2879b1a5a9e7e82330b566",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 408):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:78258d6c875faad43a490ebbcb777f35c145a08a1b1c545afbc5b11c069a4913",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 340eacf9f8fd
wire blob 37bccb792459
wire blob 78258d6c875f
call 53 attempt 0 · /messages · status 200 · 10.46 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 151 changed as sent

message 154 changed as sent

message 157 changed as sent

message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8501 left_j1=2.582 left_j2=2.5393 left_j3=-1.3922 left_j4=0.0368 left_j5=-0.3569 left_gripper=0.4593 right_j0=-0.0013 right_j1=0.0517 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [0.0205, -14.3248, 6.1607, 0.5739, -0.0171, 0.0464, 0.7595, 0.0205, 1.6068, 7.0769, 1.9072, -0.022, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8459 left_j1=2.5855 left_j2=2.5141 left_j3=-1.3956 left_j4=0.0372 left_j5=-0.3618 left_gripper=0.9963 right_j0=-0.0013 right_j1=0.0517 right_j2=0.0067 right_j3=-0.0799 right_j4=0.001 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.6359, -14.4889, 7.8017, 0.4664, -0.0269, 0.022, -0.1197, -0.0479, 1.5248, 7.0906, 1.8877, -0.0122, -0.0806, -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=-0.0101 left_j1=0.6182 left_j2=1.2129 left_j3=-0.6655 left_j4=0.0368 left_j5=-0.3721 left_gripper=0.9972 right_j0=-0.0013 right_j1=0.0566 right_j2=0.0067 right_j3=-0.0803 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [0.2256, 2.5915, 5.6684, 2.5812, -0.0171, 0.0464, 0.0855, -0.0479, 1.4017, 7.2684, 1.8779, -0.0513, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 408):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:340eacf9f8fdb38a8e0ab99c7716299179c1691681f32ec8fd9a73a35dde16eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 408):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37bccb792459d59e3c568a91a7ea1e89036b99c28f2879b1a5a9e7e82330b566",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 408):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78258d6c875faad43a490ebbcb777f35c145a08a1b1c545afbc5b11c069a4913",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 340eacf9f8fd]
[blob 37bccb792459]
[blob 78258d6c875f]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TsnyGmN1GzApAKiZnQsipZ",
      "input": {
        "note": "Clean overhead: the dropped C block is at pixel (172,208) and the red block at (163,222) — the C block landed ~5 cm beyond the red one. Moving to hover over the C block (r≈0.48, j0≈-0.97) to re-grasp it.",
        "targets": {
          "left_gripper": 1.0,
          "left_j0": -0.972,
          "left_j1": 2.4644,
          "left_j2": 2.3481,
          "left_j3": -1.4545
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 30 steps (3.0s)",
      "tool_use_id": "toolu_01TsnyGmN1GzApAKiZnQsipZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9573 left_j1=2.4401 left_j2=2.3081 left_j3=-1.4418 left_j4=0.0349 left_j5=-0.384 left_gripper=0.9985 right_j0=-0.0013 right_j1=0.0608 right_j2=0.0067 right_j3=-0.0799 right_j4=-0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [-0.3624, -12.7795, 8.8, 0.2027, -0.0708, 0.0855, -0.1685, -0.0205, 1.1829, 7.2684, 1.873, -0.0073, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 438):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19549a8874b0d233d536b2dbc349ed0d5792814a84904d36e16bdd614dd55ca5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 438):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4d8c21b5da0f9cb4013f95d3dec808cbfcaa4572dcd5043a26870cf0074ee8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 438):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4d11bf6769d4acfb70143e7534eb7ac2c11fd7e75ab3ad4af74d25c73d79a972",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 19549a8874b0
wire blob e4d8c21b5da0
wire blob 4d11bf6769d4
call 54 attempt 0 · /messages · status 200 · 9.806 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 154 changed as sent

message 157 changed as sent

message 160 changed as sent

message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8459 left_j1=2.5855 left_j2=2.5141 left_j3=-1.3956 left_j4=0.0372 left_j5=-0.3618 left_gripper=0.9963 right_j0=-0.0013 right_j1=0.0517 right_j2=0.0067 right_j3=-0.0799 right_j4=0.001 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.6359, -14.4889, 7.8017, 0.4664, -0.0269, 0.022, -0.1197, -0.0479, 1.5248, 7.0906, 1.8877, -0.0122, -0.0806, -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=-0.0101 left_j1=0.6182 left_j2=1.2129 left_j3=-0.6655 left_j4=0.0368 left_j5=-0.3721 left_gripper=0.9972 right_j0=-0.0013 right_j1=0.0566 right_j2=0.0067 right_j3=-0.0803 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [0.2256, 2.5915, 5.6684, 2.5812, -0.0171, 0.0464, 0.0855, -0.0479, 1.4017, 7.2684, 1.8779, -0.0513, -0.0366, -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=-0.9573 left_j1=2.4401 left_j2=2.3081 left_j3=-1.4418 left_j4=0.0349 left_j5=-0.384 left_gripper=0.9985 right_j0=-0.0013 right_j1=0.0608 right_j2=0.0067 right_j3=-0.0799 right_j4=-0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [-0.3624, -12.7795, 8.8, 0.2027, -0.0708, 0.0855, -0.1685, -0.0205, 1.1829, 7.2684, 1.873, -0.0073, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 438):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19549a8874b0d233d536b2dbc349ed0d5792814a84904d36e16bdd614dd55ca5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 438):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4d8c21b5da0f9cb4013f95d3dec808cbfcaa4572dcd5043a26870cf0074ee8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 438):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d11bf6769d4acfb70143e7534eb7ac2c11fd7e75ab3ad4af74d25c73d79a972",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 19549a8874b0]
[blob e4d8c21b5da0]
[blob 4d11bf6769d4]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01L3XT71g6jDoSr82pVTKMGq",
      "input": {
        "note": "Hovering at the overhead-derived location of the dropped C block (the red block is visible further ahead in the wrist view). Descending to table level here to grasp it.",
        "targets": {
          "left_j1": 2.5321,
          "left_j2": 2.2121,
          "left_j3": -1.2508
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01L3XT71g6jDoSr82pVTKMGq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9581 left_j1=2.5122 left_j2=2.2227 left_j3=-1.3201 left_j4=0.033 left_j5=-0.3878 left_gripper=0.9981 right_j0=-0.0013 right_j1=0.0612 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0006 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [0.1299, -12.8889, 5.7915, 0.4225, -0.0122, -0.0122, -0.0513, -0.1026, 1.4974, 7.0906, 1.8974, -0.0513, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 442):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63df13f911bf91684ea2ec674d7103236260de8323764c4992765df44091a342",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 442):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79617f839795690de98b5cd1ba917655fcf5fbaaeeb72ca1e341bc92b1eab9d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 442):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:147b42d830636cd37df1f7fed1d59ddedf209f44830d1e84d531241afbd3f9c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 63df13f911bf
wire blob 79617f839795
wire blob 147b42d83063
call 55 attempt 0 · /messages · status 200 · 11.35 s
model
claude-opus-5
effort
medium
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=-0.0101 left_j1=0.6182 left_j2=1.2129 left_j3=-0.6655 left_j4=0.0368 left_j5=-0.3721 left_gripper=0.9972 right_j0=-0.0013 right_j1=0.0566 right_j2=0.0067 right_j3=-0.0803 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [0.2256, 2.5915, 5.6684, 2.5812, -0.0171, 0.0464, 0.0855, -0.0479, 1.4017, 7.2684, 1.8779, -0.0513, -0.0366, -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=-0.9573 left_j1=2.4401 left_j2=2.3081 left_j3=-1.4418 left_j4=0.0349 left_j5=-0.384 left_gripper=0.9985 right_j0=-0.0013 right_j1=0.0608 right_j2=0.0067 right_j3=-0.0799 right_j4=-0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [-0.3624, -12.7795, 8.8, 0.2027, -0.0708, 0.0855, -0.1685, -0.0205, 1.1829, 7.2684, 1.873, -0.0073, -0.0415, -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=-0.9581 left_j1=2.5122 left_j2=2.2227 left_j3=-1.3201 left_j4=0.033 left_j5=-0.3878 left_gripper=0.9981 right_j0=-0.0013 right_j1=0.0612 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0006 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [0.1299, -12.8889, 5.7915, 0.4225, -0.0122, -0.0122, -0.0513, -0.1026, 1.4974, 7.0906, 1.8974, -0.0513, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 442):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63df13f911bf91684ea2ec674d7103236260de8323764c4992765df44091a342",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 442):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79617f839795690de98b5cd1ba917655fcf5fbaaeeb72ca1e341bc92b1eab9d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 442):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:147b42d830636cd37df1f7fed1d59ddedf209f44830d1e84d531241afbd3f9c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 63df13f911bf]
[blob 79617f839795]
[blob 147b42d83063]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TjGZ2HyufJdbxihc2Q58Ay",
      "input": {
        "note": "The wrist view shows I'm actually straddling the RED block, not the dropped C block — so my overhead radius estimate is ~5 cm long. Moving 5 cm further out and 3 cm to the arm's right (with a slight forward gripper tilt to make the reach) to get over the C block.",
        "targets": {
          "left_j0": -1.018,
          "left_j1": 2.6354,
          "left_j2": 2.3977,
          "left_j3": -1.0623
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01TjGZ2HyufJdbxihc2Q58Ay",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0092 left_j1=2.6038 left_j2=2.3596 left_j3=-1.1908 left_j4=0.0288 left_j5=-0.4103 left_gripper=0.998 right_j0=-0.0013 right_j1=0.0612 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.6359, -12.0137, 8.3077, 1.3407, 0.0366, 0.1783, -0.0171, -0.0752, 1.5658, 7.3231, 1.8828, -0.0317, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 447):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:895793653a7af3d3281afe08f117b431e245540214716bcc7fe696eb4745ae88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 447):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d0f3932cf6ffbd4ba9b6affe64ebc98f2cc8a264c749ea954b220b2f85f7d00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 447):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:41ec01e18280419e26b2f9301368c29b0514d23dc6b72af68e6481e6b0d10bc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 895793653a7a
wire blob 0d0f3932cf6f
wire blob 41ec01e18280
call 56 attempt 0 · /messages · status 200 · 9.225 s
model
claude-opus-5
effort
medium
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=-0.9573 left_j1=2.4401 left_j2=2.3081 left_j3=-1.4418 left_j4=0.0349 left_j5=-0.384 left_gripper=0.9985 right_j0=-0.0013 right_j1=0.0608 right_j2=0.0067 right_j3=-0.0799 right_j4=-0.0002 right_j5=-0.0113 right_gripper=0.9997\nstate[joint_eff]: [-0.3624, -12.7795, 8.8, 0.2027, -0.0708, 0.0855, -0.1685, -0.0205, 1.1829, 7.2684, 1.873, -0.0073, -0.0415, -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=-0.9581 left_j1=2.5122 left_j2=2.2227 left_j3=-1.3201 left_j4=0.033 left_j5=-0.3878 left_gripper=0.9981 right_j0=-0.0013 right_j1=0.0612 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0006 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [0.1299, -12.8889, 5.7915, 0.4225, -0.0122, -0.0122, -0.0513, -0.1026, 1.4974, 7.0906, 1.8974, -0.0513, -0.0562, -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=-1.0092 left_j1=2.6038 left_j2=2.3596 left_j3=-1.1908 left_j4=0.0288 left_j5=-0.4103 left_gripper=0.998 right_j0=-0.0013 right_j1=0.0612 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.6359, -12.0137, 8.3077, 1.3407, 0.0366, 0.1783, -0.0171, -0.0752, 1.5658, 7.3231, 1.8828, -0.0317, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 447):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:895793653a7af3d3281afe08f117b431e245540214716bcc7fe696eb4745ae88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 447):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d0f3932cf6ffbd4ba9b6affe64ebc98f2cc8a264c749ea954b220b2f85f7d00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 447):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41ec01e18280419e26b2f9301368c29b0514d23dc6b72af68e6481e6b0d10bc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 895793653a7a]
[blob 0d0f3932cf6f]
[blob 41ec01e18280]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013XDSeHTiskPGUb2HthVCa7",
      "input": {
        "note": "The C block sits at the very edge of the left arm's reach, but it's well inside the right arm's workspace. Parking the left arm and bringing the right arm to hover over the C block (r≈0.33, j0≈+0.59 in right-arm coordinates).",
        "targets": {
          "left_j0": 0,
          "left_j1": 0.6,
          "left_j2": 1.2,
          "left_j3": -0.6,
          "right_j0": 0.59,
          "right_j1": 1.8696,
          "right_j2": 1.3806,
          "right_j3": -1.0818
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 32 steps (3.2s)",
      "tool_use_id": "toolu_013XDSeHTiskPGUb2HthVCa7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0109 left_j1=0.6178 left_j2=1.2098 left_j3=-0.654 left_j4=0.0292 left_j5=-0.4244 left_gripper=0.998 right_j0=0.5838 right_j1=1.8488 right_j2=1.3499 right_j3=-1.0492 right_j4=0.0036 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [0.0205, 2.6735, 5.641, 2.4249, -0.0659, 0.0708, -0.0171, 0.212, -8.6496, 7.2274, 0.1441, -0.0317, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 479):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:352eea6902b6cbd09db595cc62c740cdf318df7a346d737e8d261a8074f56b93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 479):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56255cf303d38d35f4b29ac1f39ceb0d4718cf86812966598510e66e0c2f9b88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 479):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7b0c679ad97a76007f8815addb6e73ecd89842589c92e9379aaf172b2abff5a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 352eea6902b6
wire blob 56255cf303d3
wire blob 7b0c679ad97a
call 57 attempt 0 · /messages · status 200 · 9.432 s
model
claude-opus-5
effort
medium
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=-0.9581 left_j1=2.5122 left_j2=2.2227 left_j3=-1.3201 left_j4=0.033 left_j5=-0.3878 left_gripper=0.9981 right_j0=-0.0013 right_j1=0.0612 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0006 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [0.1299, -12.8889, 5.7915, 0.4225, -0.0122, -0.0122, -0.0513, -0.1026, 1.4974, 7.0906, 1.8974, -0.0513, -0.0562, -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=-1.0092 left_j1=2.6038 left_j2=2.3596 left_j3=-1.1908 left_j4=0.0288 left_j5=-0.4103 left_gripper=0.998 right_j0=-0.0013 right_j1=0.0612 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.6359, -12.0137, 8.3077, 1.3407, 0.0366, 0.1783, -0.0171, -0.0752, 1.5658, 7.3231, 1.8828, -0.0317, -0.0806, -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=-0.0109 left_j1=0.6178 left_j2=1.2098 left_j3=-0.654 left_j4=0.0292 left_j5=-0.4244 left_gripper=0.998 right_j0=0.5838 right_j1=1.8488 right_j2=1.3499 right_j3=-1.0492 right_j4=0.0036 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [0.0205, 2.6735, 5.641, 2.4249, -0.0659, 0.0708, -0.0171, 0.212, -8.6496, 7.2274, 0.1441, -0.0317, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 479):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:352eea6902b6cbd09db595cc62c740cdf318df7a346d737e8d261a8074f56b93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 479):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56255cf303d38d35f4b29ac1f39ceb0d4718cf86812966598510e66e0c2f9b88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 479):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b0c679ad97a76007f8815addb6e73ecd89842589c92e9379aaf172b2abff5a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 352eea6902b6]
[blob 56255cf303d3]
[blob 7b0c679ad97a]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U1Znx32qN2LBAr3TfweQtw",
      "input": {
        "note": "The right wrist camera shows the red \"a\" block centered and a greenish block (the C block) at the top-right corner. Shifting the right arm toward it (j0 to 0.45, +5 cm reach) to bring the C block into the jaw gap.",
        "targets": {
          "right_j0": 0.45,
          "right_j1": 2.0278,
          "right_j2": 1.6078,
          "right_j3": -1.1508
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01U1Znx32qN2LBAr3TfweQtw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6193 left_j2=1.2022 left_j3=-0.6777 left_j4=0.0292 left_j5=-0.4294 left_gripper=0.998 right_j0=0.4557 right_j1=2.0106 right_j2=1.5719 right_j3=-1.1461 right_j4=0.0044 right_j5=-0.012 right_gripper=0.9997\nstate[joint_eff]: [-0.3214, 1.7026, 5.8462, 2.1563, -0.0269, -0.0171, -0.0122, -0.2803, -9.5248, 7.3778, 0.2857, -0.0366, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 484):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddc0e7b5b1ef1a067d67708840598b04f7e3fc1316c1d9996457b13189fdd267",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 484):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba113cb44239224cff32a78c75e91f32d5616db13f0ec3308dca22f2f4e5cd46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 484):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1544721f6670472ec39206d9710b7dd3f6ccd64c89b31705ba8dfb4cd50a1776",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob ddc0e7b5b1ef
wire blob ba113cb44239
wire blob 1544721f6670
call 58 attempt 0 · /messages · status 200 · 8.277 s
model
claude-opus-5
effort
medium
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=-1.0092 left_j1=2.6038 left_j2=2.3596 left_j3=-1.1908 left_j4=0.0288 left_j5=-0.4103 left_gripper=0.998 right_j0=-0.0013 right_j1=0.0612 right_j2=0.0067 right_j3=-0.0799 right_j4=0.0002 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [-0.6359, -12.0137, 8.3077, 1.3407, 0.0366, 0.1783, -0.0171, -0.0752, 1.5658, 7.3231, 1.8828, -0.0317, -0.0806, -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=-0.0109 left_j1=0.6178 left_j2=1.2098 left_j3=-0.654 left_j4=0.0292 left_j5=-0.4244 left_gripper=0.998 right_j0=0.5838 right_j1=1.8488 right_j2=1.3499 right_j3=-1.0492 right_j4=0.0036 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [0.0205, 2.6735, 5.641, 2.4249, -0.0659, 0.0708, -0.0171, 0.212, -8.6496, 7.2274, 0.1441, -0.0317, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 172 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6193 left_j2=1.2022 left_j3=-0.6777 left_j4=0.0292 left_j5=-0.4294 left_gripper=0.998 right_j0=0.4557 right_j1=2.0106 right_j2=1.5719 right_j3=-1.1461 right_j4=0.0044 right_j5=-0.012 right_gripper=0.9997\nstate[joint_eff]: [-0.3214, 1.7026, 5.8462, 2.1563, -0.0269, -0.0171, -0.0122, -0.2803, -9.5248, 7.3778, 0.2857, -0.0366, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 484):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddc0e7b5b1ef1a067d67708840598b04f7e3fc1316c1d9996457b13189fdd267",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 484):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba113cb44239224cff32a78c75e91f32d5616db13f0ec3308dca22f2f4e5cd46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 484):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1544721f6670472ec39206d9710b7dd3f6ccd64c89b31705ba8dfb4cd50a1776",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob ddc0e7b5b1ef]
[blob ba113cb44239]
[blob 1544721f6670]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WFDFJqbc5biQCC772DZnfS",
      "input": {
        "note": "Both blocks are now visible from the right wrist: the red \"a\" block sits right at the jaw line and the target (the igloo/C block) is ~5 cm beyond and slightly right. Advancing 5 cm and nudging j0 to line up on the igloo block.",
        "targets": {
          "right_j0": 0.4,
          "right_j1": 2.2063,
          "right_j2": 1.8937,
          "right_j3": -1.2582
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01WFDFJqbc5biQCC772DZnfS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6205 left_j2=1.2022 left_j3=-0.6975 left_j4=0.0292 left_j5=-0.4328 left_gripper=0.998 right_j0=0.4076 right_j1=2.1876 right_j2=1.8534 right_j3=-1.2663 right_j4=0.004 right_j5=-0.0193 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, 1.5932, 5.3265, 2.083, -0.0269, -0.022, -0.0122, -0.6906, -10.5915, 7.6376, 0.2711, -0.0073, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 490):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2dfe00dfcaf6af45b1d41e7465767bb764051431c2ca656495cb43beb74676b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 490):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fed4834ec58136ea037ad1efe30b2688a7e36aced795e1083efa1131978704c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 490):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:39f362075a81175057f72cc367a50ffb7008098be998fa6b07a7047e85ccc8fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob c2dfe00dfcaf
wire blob fed4834ec581
wire blob 39f362075a81
call 59 attempt 0 · /messages · status 200 · 5.5 s
model
claude-opus-5
effort
medium
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=-0.0109 left_j1=0.6178 left_j2=1.2098 left_j3=-0.654 left_j4=0.0292 left_j5=-0.4244 left_gripper=0.998 right_j0=0.5838 right_j1=1.8488 right_j2=1.3499 right_j3=-1.0492 right_j4=0.0036 right_j5=-0.0116 right_gripper=0.9997\nstate[joint_eff]: [0.0205, 2.6735, 5.641, 2.4249, -0.0659, 0.0708, -0.0171, 0.212, -8.6496, 7.2274, 0.1441, -0.0317, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 172 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6193 left_j2=1.2022 left_j3=-0.6777 left_j4=0.0292 left_j5=-0.4294 left_gripper=0.998 right_j0=0.4557 right_j1=2.0106 right_j2=1.5719 right_j3=-1.1461 right_j4=0.0044 right_j5=-0.012 right_gripper=0.9997\nstate[joint_eff]: [-0.3214, 1.7026, 5.8462, 2.1563, -0.0269, -0.0171, -0.0122, -0.2803, -9.5248, 7.3778, 0.2857, -0.0366, -0.0171, -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=-0.0078 left_j1=0.6205 left_j2=1.2022 left_j3=-0.6975 left_j4=0.0292 left_j5=-0.4328 left_gripper=0.998 right_j0=0.4076 right_j1=2.1876 right_j2=1.8534 right_j3=-1.2663 right_j4=0.004 right_j5=-0.0193 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, 1.5932, 5.3265, 2.083, -0.0269, -0.022, -0.0122, -0.6906, -10.5915, 7.6376, 0.2711, -0.0073, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 490):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2dfe00dfcaf6af45b1d41e7465767bb764051431c2ca656495cb43beb74676b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 490):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fed4834ec58136ea037ad1efe30b2688a7e36aced795e1083efa1131978704c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 490):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39f362075a81175057f72cc367a50ffb7008098be998fa6b07a7047e85ccc8fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob c2dfe00dfcaf]
[blob fed4834ec581]
[blob 39f362075a81]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014tTigdRjJkv7MRnyKvQSEp",
      "input": {
        "note": "The igloo block is now centered at (120,105) with the red block behind-left. Advancing ~3 cm and dropping ~3 cm to bring the igloo block into the jaw gap.",
        "targets": {
          "right_j0": 0.4,
          "right_j1": 2.3641,
          "right_j2": 2.0388,
          "right_j3": -1.2455
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_014tTigdRjJkv7MRnyKvQSEp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6209 left_j2=1.2022 left_j3=-0.7101 left_j4=0.0292 left_j5=-0.4358 left_gripper=0.998 right_j0=0.4026 right_j1=2.326 right_j2=2.0037 right_j3=-1.2861 right_j4=0.0036 right_j5=-0.0265 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, 1.7299, 5.2444, 2.2198, -0.0513, -0.0317, -0.0122, -0.5265, -12.041, 7.4325, 0.2711, -0.0171, 0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 493):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e40152cfe9450740d5620da25a45cba6ceccf9f7f0be8dacd7f4fa5be477575",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 493):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8d85224470c478c511d4c655615ca13c9e054c52dac2819e241e5c5fc1eb030",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 493):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:60fb0048741190ec760c89595339bd19ff3b8543bf04506651c4963359a28954",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 4e40152cfe94
wire blob b8d85224470c
wire blob 60fb00487411
call 60 attempt 0 · /messages · status 200 · 8.985 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 172 changed as sent

message 175 changed as sent

message 178 changed as sent

message 172 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6193 left_j2=1.2022 left_j3=-0.6777 left_j4=0.0292 left_j5=-0.4294 left_gripper=0.998 right_j0=0.4557 right_j1=2.0106 right_j2=1.5719 right_j3=-1.1461 right_j4=0.0044 right_j5=-0.012 right_gripper=0.9997\nstate[joint_eff]: [-0.3214, 1.7026, 5.8462, 2.1563, -0.0269, -0.0171, -0.0122, -0.2803, -9.5248, 7.3778, 0.2857, -0.0366, -0.0171, -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=-0.0078 left_j1=0.6205 left_j2=1.2022 left_j3=-0.6975 left_j4=0.0292 left_j5=-0.4328 left_gripper=0.998 right_j0=0.4076 right_j1=2.1876 right_j2=1.8534 right_j3=-1.2663 right_j4=0.004 right_j5=-0.0193 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, 1.5932, 5.3265, 2.083, -0.0269, -0.022, -0.0122, -0.6906, -10.5915, 7.6376, 0.2711, -0.0073, 0.0073, -0.0122]",
      "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=-0.0078 left_j1=0.6209 left_j2=1.2022 left_j3=-0.7101 left_j4=0.0292 left_j5=-0.4358 left_gripper=0.998 right_j0=0.4026 right_j1=2.326 right_j2=2.0037 right_j3=-1.2861 right_j4=0.0036 right_j5=-0.0265 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, 1.7299, 5.2444, 2.2198, -0.0513, -0.0317, -0.0122, -0.5265, -12.041, 7.4325, 0.2711, -0.0171, 0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 493):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e40152cfe9450740d5620da25a45cba6ceccf9f7f0be8dacd7f4fa5be477575",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 493):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8d85224470c478c511d4c655615ca13c9e054c52dac2819e241e5c5fc1eb030",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 493):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60fb0048741190ec760c89595339bd19ff3b8543bf04506651c4963359a28954",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 4e40152cfe94]
[blob b8d85224470c]
[blob 60fb00487411]
{
  "content": [
    {
      "signature": "CAISswkKjAEIEBgCKkBroxaaC5MfpHQsfWo7n4Ge4sMp5ZboxAfBx8Rqee17zL6VrxongCJUK9Stg2DTN6B2ygZS5EtyzofYMFGoxnRjMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM9Ihq1Bcq6J+dLTb/GgzmHds+hBK2eNfMXUMiMBOnRlVb+A7awBa2d+lmDK0GponNVzFsucXGGeS/FxhkQzXUPjL2SuEypAfowjP2cirTB8BA1lvTXVy7yyWyeHdJWFD1u0CGO5MI96p93qH+Z/jXzXsR7skJFqyhe1FpL8i3foz3CIcNBWhUmthPyqe1AmK6FLHDlzPc3k2fr9BkP4OA+FifPueN+7SNBVuZ+Us/r4pC/ES7Osh7QdiGW4D3J0KhFybB5AQSCAQ9+IiOLbr4MdJYwoVpgNr3sxxM3/P4G74/lgZXQY1vyTJdvTKgxcDfJzNs2a3cwLj4j6ngQPotJQkOkr6ckUvYeFKhE+88aiqEq5xI3DZUgp2yfmHY2errKnW3m2iv8zIsJocTapTcRXIqLY59h00Un7UvadOUCLO6dPuS6/bvHACSTc/bg+2GRaBedhSIqGW8St5sfIJgT5vg7N6Fg2dmK4ZCTiDCJQo9XjF43POcLFGKE0YuUlr/iJ9t1sIo0NzDxyHt6ZLSgZ50SnaoF+/XcMnvrxUarfsiSnXq958Yn/hOAj/c3dSZ/UsyVGUMCGs2vnHIYMSNELcj9+bGXEZdCDvZR6O+dmZqLY53zOVyCcfbwka+GtMB9waan7C2uDF1iPLy2WyQfu5A1B8h6A7/UCfFZ633Zeu04Ob81+ViVaQqXbyKcJ1l0k9txs4/THMWf6CLgiUi9u8rzD8nqCWUmET7eQGqJYZKNARHpmqvrEMd+Vk3FwFgsdHxR1+NKGs1fJ+MfUe5TV06TzLA65VEpkFWrCY3+ofaih8pVg8r01NMlZ6mCDmqywRIXtNjN8D1biv88nn61reoSfNwbjbKbfDlXxAnBRC0cLhP/60KEPNldOGIKb71ShMzmmWtDBh32vJAAHWRA4HvpmB33mJs3hZEEZKYajct45ld2P4DVz5NDhYTsZXpwxgcQdqWd2RDuMuKGQRLYeGuOFOFppynTYXdyfVWPWdMa3btVtV7XN8m4f/b6MLDMmFCmZwZc3jcDfVhPpKlKXiH14OaR4Nb3GUPLVBl7VYCHCnfvxW6YSIJk123wjUT7tTYznrOzvjgN7C74LrQBObH5kcpIDk4pkiPGJ8uTIByYcyLvKFwPkS8pAMWTDlzczv3EPb43qi+KGe7gDurRiTdoQJsK3XFqQgHfhyksWWc7jCuPMGlMCqDlefpT+Hh0Q/s1LDE7jUt/KuhNhFQ+9jXS7PpTJPq2TfxxwJqqr/fyQ5Ri3e0Y1kL2ett7Wjd9zWBnMLuIqiBP+KPfw314hFwjf8zDKPLB5HH3MnIh1pRR/euBWstQUmNizsrVkOrn8h2QlPbv/GiMprU3LSdmGTxcqOcGO+6EZaXKzCepArUtdHpAs3sAd98MpYWiTFZn9sYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MZUadigciT1S1UktQxF48P",
      "input": {
        "note": "The igloo block is in the jaw gap; descending to table level with a small +0.03 rad j0 correction to center it, then I'll close.",
        "targets": {
          "right_j0": 0.43,
          "right_j1": 2.4122,
          "right_j2": 1.9846,
          "right_j3": -1.1432
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01MZUadigciT1S1UktQxF48P",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.622 left_j2=1.2022 left_j3=-0.7212 left_j4=0.0292 left_j5=-0.4366 left_gripper=0.998 right_j0=0.4221 right_j1=2.3867 right_j2=1.9907 right_j3=-1.2232 right_j4=0.004 right_j5=-0.0265 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, 1.5932, 5.3265, 2.0635, -0.0415, -0.0562, -0.0122, 0.253, -11.412, 5.2444, 0.6618, -0.0562, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 496):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19632e03259787a06996cca12b47b167b83985f7cffb90d004b48ab6fbe6b2b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 496):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:098db72b209c5f831e4e1bd2f880012856a80a31e302dd1d328b8c517d335eac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 496):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:38216c446095e27c2d59e9934b6906471f08f1ebb59259f253f6b9c847c2ca3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 19632e032597
wire blob 098db72b209c
wire blob 38216c446095
call 61 attempt 0 · /messages · status 200 · 9.927 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 175 changed as sent

message 178 changed as sent

message 181 changed as sent

message 175 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6205 left_j2=1.2022 left_j3=-0.6975 left_j4=0.0292 left_j5=-0.4328 left_gripper=0.998 right_j0=0.4076 right_j1=2.1876 right_j2=1.8534 right_j3=-1.2663 right_j4=0.004 right_j5=-0.0193 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, 1.5932, 5.3265, 2.083, -0.0269, -0.022, -0.0122, -0.6906, -10.5915, 7.6376, 0.2711, -0.0073, 0.0073, -0.0122]",
      "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=-0.0078 left_j1=0.6209 left_j2=1.2022 left_j3=-0.7101 left_j4=0.0292 left_j5=-0.4358 left_gripper=0.998 right_j0=0.4026 right_j1=2.326 right_j2=2.0037 right_j3=-1.2861 right_j4=0.0036 right_j5=-0.0265 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, 1.7299, 5.2444, 2.2198, -0.0513, -0.0317, -0.0122, -0.5265, -12.041, 7.4325, 0.2711, -0.0171, 0.0317, -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=-0.0078 left_j1=0.622 left_j2=1.2022 left_j3=-0.7212 left_j4=0.0292 left_j5=-0.4366 left_gripper=0.998 right_j0=0.4221 right_j1=2.3867 right_j2=1.9907 right_j3=-1.2232 right_j4=0.004 right_j5=-0.0265 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, 1.5932, 5.3265, 2.0635, -0.0415, -0.0562, -0.0122, 0.253, -11.412, 5.2444, 0.6618, -0.0562, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 496):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19632e03259787a06996cca12b47b167b83985f7cffb90d004b48ab6fbe6b2b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 496):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:098db72b209c5f831e4e1bd2f880012856a80a31e302dd1d328b8c517d335eac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 496):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38216c446095e27c2d59e9934b6906471f08f1ebb59259f253f6b9c847c2ca3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 19632e032597]
[blob 098db72b209c]
[blob 38216c446095]
{
  "content": [
    {
      "signature": "CAIS/gUKjAEIEBgCKkD0TnNg/0X0DHCTWqxriQHqy9CZi5CN+ukIT7awhLeaqsZgndkxFdqCJ0jOEUwxy+odfJQWPl2sHShiCEAge1XrMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMkSHdwvmFjAlUdhR5GgxnBJVfJQo8XVUPVfsiMFxxE7FiY1GR9+cZBRJV+2ynN+ZtzNZP6VY2nJMXrmR8ceKMjBUKPbGM6MCoj/3boSqeBAApHUS/QKq2ENvS7AoVwL1HZf/Zc2WBJM5HnJ/GxTxB9KC53VM5tuB1puLz4i9DBDTQW8DLrsW5+izOsrKSWyZZiWcz2o3hC/lp3l1YgW31/nTh46U6cE63eDeL/V6Oj3zliNcNTl7frnpncwcp7e6E6/fZU5us0GVl961wrWEZ8s7uNlaK0RFnAWN0FG5KMww7NmO2vbtYrmrZg1hATJU/GggNoNlEC8aH2fmLKKHO5miaCO4q0Wk91SUDe/FjNBorMAFqTg2IZ9lhCwlbIOmPZ/BnidmwjsyK+B64UpA7bAOetqoadJu5x6Jcx6B20cV46KnQztZ2D3gJSUHoaLN7qVYGbsHt0SKYD52ksKm9Gzacn0+pjqOevRSFbka8DaE6chduUaMt3LfqIaJuN8tn74Wgda9kmnw17QPQ0pwtUgtWG7WraYXWUbtdM1aAf6QrzyRTD6Jk+blyMohBGdlPE+8fO9WXaWmt9HLnh35NYYpUvAAa6IEaqTK27Gov1DwDUoChck0iO1Hpq1/MrDxK7/yb3dQ1jGoFtwxhq8njBanjUNyqmHuoW2+VcPFLDxSFIsGoqepFscJyAzK76CvJjH2PFpRhQaw8dWz6qT9DSa6GAyqwHDJ58POuXPJWLYGP35oNalq90ZVe62LWW3JMwQVCB0uIPaSJ5XSDKhcV8CeL+sK/vwcpTq7tiM5kxUnpHy3pNZYBG2Z8tPPOGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CbWbvhUp4pxQjkxmxMY9Q6",
      "input": {
        "note": "The blue \"1\" face of the target block is centered between the right gripper's jaws just above the table. Closing to grasp it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01CbWbvhUp4pxQjkxmxMY9Q6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.622 left_j2=1.2022 left_j3=-0.7422 left_j4=0.0292 left_j5=-0.4412 left_gripper=0.998 right_j0=0.424 right_j1=2.4016 right_j2=1.9884 right_j3=-1.2255 right_j4=0.004 right_j5=-0.0303 right_gripper=0.448\nstate[joint_eff]: [-0.0615, 1.6615, 5.2444, 2.1563, -0.0366, -0.0171, -0.0122, -0.5128, -14.2838, 5.7504, 0.1587, -0.0562, -0.0415, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 506):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf7e450d1c997d1c9d3f71433b40f915343d94b658d1728080aaf71485f136b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 506):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa589ca27e9a3a0de4a8653f313dde455d11a6b70154fcdf92e49214b7b87ef8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 506):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:164e97ba07aaf4cc1561f2a0e7103c691b8141adb9dd705f5b6f57677fb85954",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob cf7e450d1c99
wire blob fa589ca27e9a
wire blob 164e97ba07aa
call 62 attempt 0 · /messages · status 200 · 5.506 s
model
claude-opus-5
effort
medium
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=-0.0078 left_j1=0.6209 left_j2=1.2022 left_j3=-0.7101 left_j4=0.0292 left_j5=-0.4358 left_gripper=0.998 right_j0=0.4026 right_j1=2.326 right_j2=2.0037 right_j3=-1.2861 right_j4=0.0036 right_j5=-0.0265 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, 1.7299, 5.2444, 2.2198, -0.0513, -0.0317, -0.0122, -0.5265, -12.041, 7.4325, 0.2711, -0.0171, 0.0317, -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=-0.0078 left_j1=0.622 left_j2=1.2022 left_j3=-0.7212 left_j4=0.0292 left_j5=-0.4366 left_gripper=0.998 right_j0=0.4221 right_j1=2.3867 right_j2=1.9907 right_j3=-1.2232 right_j4=0.004 right_j5=-0.0265 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, 1.5932, 5.3265, 2.0635, -0.0415, -0.0562, -0.0122, 0.253, -11.412, 5.2444, 0.6618, -0.0562, -0.0317, -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=-0.0078 left_j1=0.622 left_j2=1.2022 left_j3=-0.7422 left_j4=0.0292 left_j5=-0.4412 left_gripper=0.998 right_j0=0.424 right_j1=2.4016 right_j2=1.9884 right_j3=-1.2255 right_j4=0.004 right_j5=-0.0303 right_gripper=0.448\nstate[joint_eff]: [-0.0615, 1.6615, 5.2444, 2.1563, -0.0366, -0.0171, -0.0122, -0.5128, -14.2838, 5.7504, 0.1587, -0.0562, -0.0415, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 506):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf7e450d1c997d1c9d3f71433b40f915343d94b658d1728080aaf71485f136b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 506):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa589ca27e9a3a0de4a8653f313dde455d11a6b70154fcdf92e49214b7b87ef8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 506):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:164e97ba07aaf4cc1561f2a0e7103c691b8141adb9dd705f5b6f57677fb85954",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob cf7e450d1c99]
[blob fa589ca27e9a]
[blob 164e97ba07aa]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UDCvyvNUxsU1JZdeeVNsoB",
      "input": {
        "note": "Grasp confirmed on the right arm (residual 0.448 ≈ 4.3 cm, high effort). Lifting to ~13 cm and swinging to hover over the red block, which is ~4.7 cm nearer and 3 cm to this arm's left.",
        "targets": {
          "right_j0": 0.536,
          "right_j1": 2.1582,
          "right_j2": 2.1075,
          "right_j3": -1.5201
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01UDCvyvNUxsU1JZdeeVNsoB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6224 left_j2=1.2022 left_j3=-0.7643 left_j4=0.0296 left_j5=-0.4442 left_gripper=0.998 right_j0=0.5377 right_j1=2.2089 right_j2=2.0781 right_j3=-1.4483 right_j4=0.0036 right_j5=-0.0307 right_gripper=0.4525\nstate[joint_eff]: [-0.0615, 1.9487, 5.2171, 2.1074, -0.0513, -0.0464, -0.0073, -1.0188, -13.012, 7.241, 0.2808, -0.0562, -0.022, 0.9548]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 511):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1762ccf2e4989442481f8a315bd57965b9668d642092137fd380897f8369604c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 511):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3821bffa677e9012404c6696c0e986cbc715593676a80b7630ccb641935b66c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 511):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c67d6fc0a06b7929a00ea5a051820803ea248309292c01cf13526407b4e3174f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 1762ccf2e498
wire blob 3821bffa677e
wire blob c67d6fc0a06b
call 63 attempt 0 · /messages · status 200 · 7.548 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 181 changed as sent

message 184 changed as sent

message 187 changed as sent

message 181 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.622 left_j2=1.2022 left_j3=-0.7212 left_j4=0.0292 left_j5=-0.4366 left_gripper=0.998 right_j0=0.4221 right_j1=2.3867 right_j2=1.9907 right_j3=-1.2232 right_j4=0.004 right_j5=-0.0265 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, 1.5932, 5.3265, 2.0635, -0.0415, -0.0562, -0.0122, 0.253, -11.412, 5.2444, 0.6618, -0.0562, -0.0317, -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=-0.0078 left_j1=0.622 left_j2=1.2022 left_j3=-0.7422 left_j4=0.0292 left_j5=-0.4412 left_gripper=0.998 right_j0=0.424 right_j1=2.4016 right_j2=1.9884 right_j3=-1.2255 right_j4=0.004 right_j5=-0.0303 right_gripper=0.448\nstate[joint_eff]: [-0.0615, 1.6615, 5.2444, 2.1563, -0.0366, -0.0171, -0.0122, -0.5128, -14.2838, 5.7504, 0.1587, -0.0562, -0.0415, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 187 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6224 left_j2=1.2022 left_j3=-0.7643 left_j4=0.0296 left_j5=-0.4442 left_gripper=0.998 right_j0=0.5377 right_j1=2.2089 right_j2=2.0781 right_j3=-1.4483 right_j4=0.0036 right_j5=-0.0307 right_gripper=0.4525\nstate[joint_eff]: [-0.0615, 1.9487, 5.2171, 2.1074, -0.0513, -0.0464, -0.0073, -1.0188, -13.012, 7.241, 0.2808, -0.0562, -0.022, 0.9548]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 511):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1762ccf2e4989442481f8a315bd57965b9668d642092137fd380897f8369604c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 511):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3821bffa677e9012404c6696c0e986cbc715593676a80b7630ccb641935b66c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 511):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c67d6fc0a06b7929a00ea5a051820803ea248309292c01cf13526407b4e3174f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 1762ccf2e498]
[blob 3821bffa677e]
[blob c67d6fc0a06b]
{
  "content": [
    {
      "signature": "CAIS4QcKjAEIEBgCKkBb/vaGI6POE6MhLSoO+C9+lGSz4vmk+j1NqeA1VScsF51s+7CdxFC+JO9MI/KWBAjQSv9e6C3377R+FBRTZAawMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMmwUXvsr5qyafxTygGgwOsYX8LXjJ+oMeoRQiMGaJuqHyc7cOvIyydUXqimdJZNtGj2xAgs6ByDusZAO5NL6/PtL9fYEqDEvvW6CIqCqBBrh4HjDIDOnsDtQtLc5b9rGvu0yvkHWFrPysBiIDQwud+td9Ot7vd17WXynmU5rTGwYt1xYgShePqGjsbQrLYP1wXbQ/L4yiyCkdnhEbrFOglfBDa0Fn7C7xiod03eSGwJ2r6J4ed++aYvn0b/9YvdJwmbQtPwo4f66BIouKowOjQYR/i4+4/e6HLjJGSe7pJwSa1U7x/FGJE17Z99qjVNGuERloIJERPzrEo9YlFPeiPMq1XWd6/BtfAEzo5BaodAo/7F6fEbjOD3a7cBHF9Tz5DBOrd0bK2lHDODqkGl5YdgDvp6TM55Reo0gP70KmDL07V3XC27+S1yanIpF9WPmUn3RNHCSaILEEE/ThOtmAXe49kuBIJEtQWAaMGbwpTT9xzg18XTeuokvncfOqkBrS4LcGFh+dLyyKm/ErmBHnwupfbZaH9R5QjlHFlLeMSkezOLCLKjOA/6UoIIRaK+hkBXc9Z06W3/O8nNqZWFX0dYtuWTSzqlVLMmLjk3k4/z1qFjin+01+NtguaYnX+F0m0whru4Vropav1Q193Ed+KeV3FjXycKO7LfE7ab0E4E3vixCe78shCPJOieOGQHjuYcPN229juWwLMUOJOhDJH7deCElXXex1t/ID8m6XbdrAlvi8F9jOue72k65gCHP2P9xCeZxnN+SjPmEyDrY66WebMpP2UkuQuK7Wrapheqh9LkoejwqoIMd5A85+m2ngQ046ABbX8EUyEl+ydJSMjyFpPiwPh17g/U1dRobS9CRIL11goWS9e4ABb8SP45m3wWbUFChFeSUy8Idu9CqRG1/ofV2cBcJSxbo9F4Z+fozxgMMrGBpoFRA6Qba4Pge/WATCLPAv7WohofVm/GTf1Ox07VWj/LcOdt8ye/y2h9J9MB8rVqR4WZNLSNCWzbzeYR6AMB6e1YxKuAsE1owT1cbQqokGIXzLEEs6h35XVG50Dx/6SqzqDOZiOvV3FLX/4PxbvWsrdvno0HUmamuv1ayLzYnor8NLWT6NdXMEqk4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012122P5gxGGZhZByndenhde",
      "input": {
        "note": "The red block shows just ahead of the carried block in the right wrist view, well centered. Descending to one block-height above the table for the stack.",
        "targets": {
          "right_j1": 2.215,
          "right_j2": 1.8906,
          "right_j3": -1.2464
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_012122P5gxGGZhZByndenhde",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6224 left_j2=1.2022 left_j3=-0.7788 left_j4=0.0292 left_j5=-0.4507 left_gripper=0.998 right_j0=0.5362 right_j1=2.2234 right_j2=1.8946 right_j3=-1.3209 right_j4=0.0044 right_j5=-0.0307 right_gripper=0.4552\nstate[joint_eff]: [-0.1299, 1.7162, 5.2308, 2.1416, -0.0562, 0.0122, -0.0122, -0.2256, -12.8615, 7.1179, 0.4078, -0.0317, -0.0464, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 515):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d7db6a429e743e95fe9be2e4a750f668e914658b4c515ef50ca50fff72a4ca8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 515):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df780328009533af2e060471a4ea1c32bffb8bc250648da5f0e14874ce9fbdef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 515):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:32f65e444b542d790575ffd73a101423093e9daa93a50408b368719c24e20857",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 8d7db6a429e7
wire blob df7803280095
wire blob 32f65e444b54
call 64 attempt 0 · /messages · status 200 · 4.055 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 184 changed as sent

message 187 changed as sent

message 190 changed as sent

message 184 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.622 left_j2=1.2022 left_j3=-0.7422 left_j4=0.0292 left_j5=-0.4412 left_gripper=0.998 right_j0=0.424 right_j1=2.4016 right_j2=1.9884 right_j3=-1.2255 right_j4=0.004 right_j5=-0.0303 right_gripper=0.448\nstate[joint_eff]: [-0.0615, 1.6615, 5.2444, 2.1563, -0.0366, -0.0171, -0.0122, -0.5128, -14.2838, 5.7504, 0.1587, -0.0562, -0.0415, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 187 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6224 left_j2=1.2022 left_j3=-0.7643 left_j4=0.0296 left_j5=-0.4442 left_gripper=0.998 right_j0=0.5377 right_j1=2.2089 right_j2=2.0781 right_j3=-1.4483 right_j4=0.0036 right_j5=-0.0307 right_gripper=0.4525\nstate[joint_eff]: [-0.0615, 1.9487, 5.2171, 2.1074, -0.0513, -0.0464, -0.0073, -1.0188, -13.012, 7.241, 0.2808, -0.0562, -0.022, 0.9548]\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 190 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6224 left_j2=1.2022 left_j3=-0.7788 left_j4=0.0292 left_j5=-0.4507 left_gripper=0.998 right_j0=0.5362 right_j1=2.2234 right_j2=1.8946 right_j3=-1.3209 right_j4=0.0044 right_j5=-0.0307 right_gripper=0.4552\nstate[joint_eff]: [-0.1299, 1.7162, 5.2308, 2.1416, -0.0562, 0.0122, -0.0122, -0.2256, -12.8615, 7.1179, 0.4078, -0.0317, -0.0464, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 515):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d7db6a429e743e95fe9be2e4a750f668e914658b4c515ef50ca50fff72a4ca8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 515):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df780328009533af2e060471a4ea1c32bffb8bc250648da5f0e14874ce9fbdef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 515):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32f65e444b542d790575ffd73a101423093e9daa93a50408b368719c24e20857",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 8d7db6a429e7]
[blob df7803280095]
[blob 32f65e444b54]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TuqARosSufJHxGVB1kQFVB",
      "input": {
        "note": "The red block is still peeking out just ahead of the carried block, so I'm ~1.5 cm short; nudging forward at the same height before releasing.",
        "targets": {
          "right_j1": 2.2496,
          "right_j2": 1.9404,
          "right_j3": -1.2616
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 1 steps (0.1s)",
      "tool_use_id": "toolu_01TuqARosSufJHxGVB1kQFVB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6224 left_j2=1.2022 left_j3=-0.7902 left_j4=0.0296 left_j5=-0.4507 left_gripper=0.998 right_j0=0.5373 right_j1=2.2295 right_j2=1.879 right_j3=-1.2766 right_j4=0.004 right_j5=-0.0345 right_gripper=0.4539\nstate[joint_eff]: [-0.2667, 1.6615, 5.2171, 2.1758, -0.0269, 0.0366, -0.0122, -0.3077, -13.1624, 6.7214, 0.442, -0.0366, 0.0464, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 516):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:811a801a6fa1c2f7eb56d10ebea9ea3a69bd7045398213c03ec9900f22fa3d2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 516):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88b2b2dce7c62b0252fcb16a8b531e8503c4cc2ab2ce16797a3ada15d1ff46b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 516):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:238ec3f2edbecd7f55bbd7f90f6995a4402a3fa9efd7c600c2f94347e9681b27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 811a801a6fa1
wire blob 88b2b2dce7c6
wire blob 238ec3f2edbe
call 65 attempt 0 · /messages · status 200 · 4.8 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 187 changed as sent

message 190 changed as sent

message 193 changed as sent

message 187 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6224 left_j2=1.2022 left_j3=-0.7643 left_j4=0.0296 left_j5=-0.4442 left_gripper=0.998 right_j0=0.5377 right_j1=2.2089 right_j2=2.0781 right_j3=-1.4483 right_j4=0.0036 right_j5=-0.0307 right_gripper=0.4525\nstate[joint_eff]: [-0.0615, 1.9487, 5.2171, 2.1074, -0.0513, -0.0464, -0.0073, -1.0188, -13.012, 7.241, 0.2808, -0.0562, -0.022, 0.9548]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 190 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6224 left_j2=1.2022 left_j3=-0.7788 left_j4=0.0292 left_j5=-0.4507 left_gripper=0.998 right_j0=0.5362 right_j1=2.2234 right_j2=1.8946 right_j3=-1.3209 right_j4=0.0044 right_j5=-0.0307 right_gripper=0.4552\nstate[joint_eff]: [-0.1299, 1.7162, 5.2308, 2.1416, -0.0562, 0.0122, -0.0122, -0.2256, -12.8615, 7.1179, 0.4078, -0.0317, -0.0464, 1.0232]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 193 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6224 left_j2=1.2022 left_j3=-0.7902 left_j4=0.0296 left_j5=-0.4507 left_gripper=0.998 right_j0=0.5373 right_j1=2.2295 right_j2=1.879 right_j3=-1.2766 right_j4=0.004 right_j5=-0.0345 right_gripper=0.4539\nstate[joint_eff]: [-0.2667, 1.6615, 5.2171, 2.1758, -0.0269, 0.0366, -0.0122, -0.3077, -13.1624, 6.7214, 0.442, -0.0366, 0.0464, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 516):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:811a801a6fa1c2f7eb56d10ebea9ea3a69bd7045398213c03ec9900f22fa3d2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 516):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88b2b2dce7c62b0252fcb16a8b531e8503c4cc2ab2ce16797a3ada15d1ff46b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 516):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:238ec3f2edbecd7f55bbd7f90f6995a4402a3fa9efd7c600c2f94347e9681b27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 811a801a6fa1]
[blob 88b2b2dce7c6]
[blob 238ec3f2edbe]
{
  "content": [
    {
      "signature": "CAIS+AIKjAEIEBgCKkDOjvPvPyjbzHJMatTdma62eMfGD7I8gOmOzlittkCc6ViX9AfiEq3Lc0vp131uUFSR9H8QZbVJt3TWONm3+cQwMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMTkUKAdpasWazOjE9GgyqOyq4bKR1i65SRHgiMMhcLqIxN0KIPElgL6G9hgbBAXxH1BDr2ohuMVuPW41rYZ55EIo3xGT2Bn4CgS6IxSqYAfq6XJmOM+WVn97Rt0TRSBymtwQBxI+pl7KM9BxBKj0ahMPmqMMVrJo8/Qc7gRziw9VwtjswdxbqiG9Jg8yEA+Ag8HgbvG8hUhr0HQSCJZOI6Rgn/GOtcUv7NQpTjMe/EoQ8i919IFidmghziRbvYbEDwNPkTJcAq0MHqOVlTqShQH6oa8RwKhN0brH8eKcNcM6/U17O+NbdGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011Lh4me9Ju41JaZmVoqGQtB",
      "input": {
        "note": "The red block is now almost entirely hidden behind the carried block, meaning they're vertically aligned at stacking height. Releasing.",
        "targets": {
          "right_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_011Lh4me9Ju41JaZmVoqGQtB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6224 left_j2=1.2022 left_j3=-0.8101 left_j4=0.0292 left_j5=-0.458 left_gripper=0.998 right_j0=0.5373 right_j1=2.2406 right_j2=1.879 right_j3=-1.2808 right_j4=0.004 right_j5=-0.0376 right_gripper=0.9948\nstate[joint_eff]: [-0.0889, 1.7709, 5.2171, 2.0928, -0.0562, 0.0024, -0.0122, -0.0342, -12.9162, 5.6137, 0.1636, -0.0269, -0.0171, -0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 522):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cea2bda2db69f09287865e6ea6f98783b7e85edabae7a4d736f18d9e44bf2142",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 522):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:649a723522b6058e803a9854c731869b33502dec58d97f3081deaa927ba2a644",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 522):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8dc0dc12bd79aa36ea2a081c23eea6c2a794e8dc691f37337bc7283292c73d91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob cea2bda2db69
wire blob 649a723522b6
wire blob 8dc0dc12bd79
call 66 attempt 0 · /messages · status 200 · 4.46 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 190 changed as sent

message 193 changed as sent

message 196 changed as sent

message 190 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6224 left_j2=1.2022 left_j3=-0.7788 left_j4=0.0292 left_j5=-0.4507 left_gripper=0.998 right_j0=0.5362 right_j1=2.2234 right_j2=1.8946 right_j3=-1.3209 right_j4=0.0044 right_j5=-0.0307 right_gripper=0.4552\nstate[joint_eff]: [-0.1299, 1.7162, 5.2308, 2.1416, -0.0562, 0.0122, -0.0122, -0.2256, -12.8615, 7.1179, 0.4078, -0.0317, -0.0464, 1.0232]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 193 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6224 left_j2=1.2022 left_j3=-0.7902 left_j4=0.0296 left_j5=-0.4507 left_gripper=0.998 right_j0=0.5373 right_j1=2.2295 right_j2=1.879 right_j3=-1.2766 right_j4=0.004 right_j5=-0.0345 right_gripper=0.4539\nstate[joint_eff]: [-0.2667, 1.6615, 5.2171, 2.1758, -0.0269, 0.0366, -0.0122, -0.3077, -13.1624, 6.7214, 0.442, -0.0366, 0.0464, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 196 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6224 left_j2=1.2022 left_j3=-0.8101 left_j4=0.0292 left_j5=-0.458 left_gripper=0.998 right_j0=0.5373 right_j1=2.2406 right_j2=1.879 right_j3=-1.2808 right_j4=0.004 right_j5=-0.0376 right_gripper=0.9948\nstate[joint_eff]: [-0.0889, 1.7709, 5.2171, 2.0928, -0.0562, 0.0024, -0.0122, -0.0342, -12.9162, 5.6137, 0.1636, -0.0269, -0.0171, -0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 522):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cea2bda2db69f09287865e6ea6f98783b7e85edabae7a4d736f18d9e44bf2142",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 522):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:649a723522b6058e803a9854c731869b33502dec58d97f3081deaa927ba2a644",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 522):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8dc0dc12bd79aa36ea2a081c23eea6c2a794e8dc691f37337bc7283292c73d91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob cea2bda2db69]
[blob 649a723522b6]
[blob 8dc0dc12bd79]
{
  "content": [
    {
      "signature": "CAIS/QYKjAEIEBgCKkCTQlmPKh/pq8W1MSLnVTT+HUavqlIdQtuHqEuHv2AvQqVD0fQOlH4Csu3wx9LOY5Xl7cI1oc4FhjOEq0+7+gOmMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMGRP1XFJj5amFZe04GgxHRbktjuBuyUD5T/ciMCqcTBhPtMKf3zYq4Tyj/hrB5WIpvtHQ0LdAqVg2PPSo2dhBZO5/+SUUiJ6VuEgecyqdBVplj3o2xW0er0FK2t67U3CffwQPKT0BAcBIgCFWWB/+8rqdowDGx+CijZ2DR8aZOkeY+k1BM51PYuc5tI6z7O/oc1T5hIaQ5zkcktEtfbRVWZUTqYyMZhOOJ6d3Rxn5yEXsMB81f9XxSS3I6geaXYclZB4eoXj8yq1sDULACbEhSx9+HDol4KbarGOtT2sAS689pMq+LY6pOz0DiO62eUhgkj3mf5CEihfRQfPTdWyb41p1eblj45iXup5kN9suhIJV9o01HflW2D4WznDk3cIYTJLw+HhOFClOpxVN40o7sFY07DMw63sWR1zlN8BC0wgTnBqiEo4oUth2L2wtgeB/VnmmO80v6dDq7k7Lrso+jpUfO8uRdWYeTnUeM5dF3/F7ByToIXGDKZ9txwAb7gTwq7NtZu4iJh6Jz1DPdZj2POEW1jb0kqdEOJfu+PaDPii6zyx7FZDn/CRsvno66uYVcCjINbGT+xwIQDrkg2YFlf3v+HiOKqhJ3GxHqVOGnE+GZPPZuNpW1Rzb3rol16T/EpMkO0W9cK/6fJSIKDVYx3NxEIay1paOWNSQQ9iElt9yeS7UtJr83ZmsOfKx07MF4CfUVrDLfoIomqYgFcN2r4iDUuL4516yW7P2P1OnubhRXZdtBbFj72SCE3GKNKHxWGjcehE0rypyFXwY/qQVtRYXKK1hXbF3GDs9r/SRvMqsYCcXMIl65UBhO1JmkcevBrOr96LED8MsnACBX7tbsdOAyu3osk4v/qsOP0OU+MolOUhpSCQ0+uK++Zi1tH6dvnm3J7BqF/kqvuPkBrKrbnpktT9Z1LuHR8tr7jdAXlovgJU0T/XVmUWYUOtytIqdlLtJbwKLrsf1bIcY9/CDtDGZgHasas6ClbQIdhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SQX3GXbkUSeVpLUvhc2Zwa",
      "input": {
        "note": "Released; the wrist view shows the blue block sitting against/on the red one. Backing the right arm up and away to get a clear look and verify the stack.",
        "targets": {
          "right_j0": 0.5373,
          "right_j1": 1.7,
          "right_j2": 1.6,
          "right_j3": -1.4
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 9 steps (0.9s)",
      "tool_use_id": "toolu_01SQX3GXbkUSeVpLUvhc2Zwa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.622 left_j2=1.2022 left_j3=-0.8379 left_j4=0.0296 left_j5=-0.4587 left_gripper=0.998 right_j0=0.5373 right_j1=1.7458 right_j2=1.607 right_j3=-1.3846 right_j4=0.0044 right_j5=-0.038 right_gripper=0.9954\nstate[joint_eff]: [-0.212, 1.894, 5.2308, 2.1368, -0.0415, -0.0317, -0.0122, -0.212, -9.5521, 6.1333, 0.5055, -0.0171, -0.0122, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 531):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:692d996270c71976fbe777dea6f468130e7ae690e611f21e9cb93e57cf52cf15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 531):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f202707b3d18c392b3009290ce3402534d0308816239e82739e58e39b575966f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 531):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6cc5beed145d3c47ad4c33ec5edb6737d934ec3c9187d1e6363c329f39a7734b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 692d996270c7
wire blob f202707b3d18
wire blob 6cc5beed145d
call 67 attempt 0 · /messages · status 200 · 8.786 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 193 changed as sent

message 196 changed as sent

message 199 changed as sent

message 193 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6224 left_j2=1.2022 left_j3=-0.7902 left_j4=0.0296 left_j5=-0.4507 left_gripper=0.998 right_j0=0.5373 right_j1=2.2295 right_j2=1.879 right_j3=-1.2766 right_j4=0.004 right_j5=-0.0345 right_gripper=0.4539\nstate[joint_eff]: [-0.2667, 1.6615, 5.2171, 2.1758, -0.0269, 0.0366, -0.0122, -0.3077, -13.1624, 6.7214, 0.442, -0.0366, 0.0464, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 196 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6224 left_j2=1.2022 left_j3=-0.8101 left_j4=0.0292 left_j5=-0.458 left_gripper=0.998 right_j0=0.5373 right_j1=2.2406 right_j2=1.879 right_j3=-1.2808 right_j4=0.004 right_j5=-0.0376 right_gripper=0.9948\nstate[joint_eff]: [-0.0889, 1.7709, 5.2171, 2.0928, -0.0562, 0.0024, -0.0122, -0.0342, -12.9162, 5.6137, 0.1636, -0.0269, -0.0171, -0.0611]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 199 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.622 left_j2=1.2022 left_j3=-0.8379 left_j4=0.0296 left_j5=-0.4587 left_gripper=0.998 right_j0=0.5373 right_j1=1.7458 right_j2=1.607 right_j3=-1.3846 right_j4=0.0044 right_j5=-0.038 right_gripper=0.9954\nstate[joint_eff]: [-0.212, 1.894, 5.2308, 2.1368, -0.0415, -0.0317, -0.0122, -0.212, -9.5521, 6.1333, 0.5055, -0.0171, -0.0122, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 531):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:692d996270c71976fbe777dea6f468130e7ae690e611f21e9cb93e57cf52cf15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 531):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f202707b3d18c392b3009290ce3402534d0308816239e82739e58e39b575966f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 531):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cc5beed145d3c47ad4c33ec5edb6737d934ec3c9187d1e6363c329f39a7734b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 692d996270c7]
[blob f202707b3d18]
[blob 6cc5beed145d]
{
  "content": [
    {
      "signature": "CAISzgUKjAEIEBgCKkDOoJmIdRbtFz5ONV/KGh/m1sDtuJMe1hSdfXN1KvTxbCS/4jwl/6pC2o2ScmED99iPoCwT539IjSM3X7t2f8/lMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMA7fc/+9a8ZTmM0jcGgyElAmiA4N6W24G+TYiMFsad0I+RHgi7EvUMOl81r4cdydezGtYJ5y1LYIeSTIWcsixXciSONYkLbNkmtwnHiruA6uOBObqqFsMN5lE4u09j2w9J/Ky4i0CMM6caBnphrFMWOGn2U2Dr42dfuMaODWyTvtiPeiz4sLTWpBf0gS0Hbc44/ioe4o1FjTTedMarhCui9ZkuAEFC4fWZgZr/pkrfIcjfKOWTdq9LiHyvUJYBNTLlePSyREMpoMR5blixOjnf0wlkvTScdKQq2NH3ruD2WjS4+zGHOuCDdwnkUqRzj9lq65ZdnZOvWj1Ljn8CuLkaMlUFyWFZA4pgkQV1Wg2qXtKJws57YlRYwXKLi9r8r3XfPlrWc+MxONx+hb2E2GxstfB+iUjgQbEcFiX+It1Q3HuKF9FNaLcsgq4vLtESBIjsGyMR8P9dV508246LUOlnKu90d3/icYhoXtJlETEwYnfISWx8FJRWOE90spoYC+Z74PdJDe5dof0tx7wtmCZ6fUfA9cI3T6FXQtg9owweBzJpWi/R+8EzrN2zHs0bqhkdZ6UR3DrZSjyktAQW35p5iVFwL+1y4dRqbhq4hXKJDX46TkFuZgXwqlarES+0Pb5Bk0laG1WSsIdL7QFrbAN3i6dAD+vJnxzsKUOXjS3bL8ea2DFbeAVN1YG3aN9wLylRXj9W5rx1Sx+0JQYgp3fo1r9s8pglMltG4S2druOZ4rqAw1oq1WMxbsUMUIgGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018WJj2YkWpkQP2tanszXXh9",
      "input": {
        "note": "The wrist view now shows only the red \"a\" block, so the blue block may not be stacked. Parking the right arm for a clean overhead check.",
        "targets": {
          "right_j0": 0,
          "right_j1": 0.6,
          "right_j2": 1.2,
          "right_j3": -0.6
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 19 steps (1.9s)",
      "tool_use_id": "toolu_018WJj2YkWpkQP2tanszXXh9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.622 left_j2=1.2022 left_j3=-0.8688 left_j4=0.0296 left_j5=-0.4622 left_gripper=0.998 right_j0=0.009 right_j1=0.6216 right_j2=1.1995 right_j3=-0.7197 right_j4=0.0013 right_j5=-0.0525 right_gripper=0.9955\nstate[joint_eff]: [-0.1846, 1.853, 5.2034, 2.1856, -0.0611, -0.0269, -0.0122, -0.2393, 2.0308, 5.9145, 2.7375, 0.0171, 0.1197, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 550):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d47bcb9b5ad585955459c7365f95462e2c355bdb297658fc99e461785d0a6790",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 550):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64a087c4f94370099f03dee4d13b957b3ebfbc036da96563d5f24a91b443d503",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 550):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:05d5455c6fa99e6da73f64bc7c6a88055fdf3d591250c8735924b6207c978d3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob d47bcb9b5ad5
wire blob 64a087c4f943
wire blob 05d5455c6fa9
call 68 attempt 0 · /messages · status 200 · 7.02 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 196 changed as sent

message 199 changed as sent

message 202 changed as sent

message 196 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6224 left_j2=1.2022 left_j3=-0.8101 left_j4=0.0292 left_j5=-0.458 left_gripper=0.998 right_j0=0.5373 right_j1=2.2406 right_j2=1.879 right_j3=-1.2808 right_j4=0.004 right_j5=-0.0376 right_gripper=0.9948\nstate[joint_eff]: [-0.0889, 1.7709, 5.2171, 2.0928, -0.0562, 0.0024, -0.0122, -0.0342, -12.9162, 5.6137, 0.1636, -0.0269, -0.0171, -0.0611]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 199 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.622 left_j2=1.2022 left_j3=-0.8379 left_j4=0.0296 left_j5=-0.4587 left_gripper=0.998 right_j0=0.5373 right_j1=1.7458 right_j2=1.607 right_j3=-1.3846 right_j4=0.0044 right_j5=-0.038 right_gripper=0.9954\nstate[joint_eff]: [-0.212, 1.894, 5.2308, 2.1368, -0.0415, -0.0317, -0.0122, -0.212, -9.5521, 6.1333, 0.5055, -0.0171, -0.0122, 0.0513]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 202 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.622 left_j2=1.2022 left_j3=-0.8688 left_j4=0.0296 left_j5=-0.4622 left_gripper=0.998 right_j0=0.009 right_j1=0.6216 right_j2=1.1995 right_j3=-0.7197 right_j4=0.0013 right_j5=-0.0525 right_gripper=0.9955\nstate[joint_eff]: [-0.1846, 1.853, 5.2034, 2.1856, -0.0611, -0.0269, -0.0122, -0.2393, 2.0308, 5.9145, 2.7375, 0.0171, 0.1197, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 550):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d47bcb9b5ad585955459c7365f95462e2c355bdb297658fc99e461785d0a6790",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 550):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64a087c4f94370099f03dee4d13b957b3ebfbc036da96563d5f24a91b443d503",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 550):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05d5455c6fa99e6da73f64bc7c6a88055fdf3d591250c8735924b6207c978d3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob d47bcb9b5ad5]
[blob 64a087c4f943]
[blob 05d5455c6fa9]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0178GxGKBD8YXqF1CAf8Xuza",
      "input": {
        "note": "Overhead confirms the blue block landed beside the red one (blue at (150,208), red at (172,218)) rather than on top. Moving the right arm to hover over the blue block's new position for another pick.",
        "targets": {
          "right_gripper": 1.0,
          "right_j0": 0.5245,
          "right_j1": 2.4322,
          "right_j2": 2.2886,
          "right_j3": -1.4272
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 29 steps (2.9s)",
      "tool_use_id": "toolu_0178GxGKBD8YXqF1CAf8Xuza",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6224 left_j2=1.2022 left_j3=-0.8989 left_j4=0.0296 left_j5=-0.4736 left_gripper=0.998 right_j0=0.5171 right_j1=2.4008 right_j2=2.2566 right_j3=-1.3983 right_j4=0.004 right_j5=-0.0601 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, 1.7573, 5.2034, 2.2295, -0.0611, 0.0806, -0.0122, 0.1846, -12.506, 7.5282, 0.1538, -0.0757, 0.0757, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 579):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7c7af3ffce65565f57e0cd0572a7aff2699b423af0e7507852ce77abd885da0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 579):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6262becff76143e7ad3088735ba3ee63ba2c2439d06a2ca3478e15b2c84f2ec0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 579):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:75f4117a85f57dc7130022eaa8c20b1c33ecd6bc1256d9e462c73134b3882c45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob d7c7af3ffce6
wire blob 6262becff761
wire blob 75f4117a85f5
call 69 attempt 0 · /messages · status 200 · 5.793 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 199 changed as sent

message 202 changed as sent

message 205 changed as sent

message 199 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.622 left_j2=1.2022 left_j3=-0.8379 left_j4=0.0296 left_j5=-0.4587 left_gripper=0.998 right_j0=0.5373 right_j1=1.7458 right_j2=1.607 right_j3=-1.3846 right_j4=0.0044 right_j5=-0.038 right_gripper=0.9954\nstate[joint_eff]: [-0.212, 1.894, 5.2308, 2.1368, -0.0415, -0.0317, -0.0122, -0.212, -9.5521, 6.1333, 0.5055, -0.0171, -0.0122, 0.0513]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 202 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.622 left_j2=1.2022 left_j3=-0.8688 left_j4=0.0296 left_j5=-0.4622 left_gripper=0.998 right_j0=0.009 right_j1=0.6216 right_j2=1.1995 right_j3=-0.7197 right_j4=0.0013 right_j5=-0.0525 right_gripper=0.9955\nstate[joint_eff]: [-0.1846, 1.853, 5.2034, 2.1856, -0.0611, -0.0269, -0.0122, -0.2393, 2.0308, 5.9145, 2.7375, 0.0171, 0.1197, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 205 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6224 left_j2=1.2022 left_j3=-0.8989 left_j4=0.0296 left_j5=-0.4736 left_gripper=0.998 right_j0=0.5171 right_j1=2.4008 right_j2=2.2566 right_j3=-1.3983 right_j4=0.004 right_j5=-0.0601 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, 1.7573, 5.2034, 2.2295, -0.0611, 0.0806, -0.0122, 0.1846, -12.506, 7.5282, 0.1538, -0.0757, 0.0757, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 579):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7c7af3ffce65565f57e0cd0572a7aff2699b423af0e7507852ce77abd885da0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 579):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6262becff76143e7ad3088735ba3ee63ba2c2439d06a2ca3478e15b2c84f2ec0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 579):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75f4117a85f57dc7130022eaa8c20b1c33ecd6bc1256d9e462c73134b3882c45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob d7c7af3ffce6]
[blob 6262becff761]
[blob 75f4117a85f5]
{
  "content": [
    {
      "signature": "CAISzggKjAEIEBgCKkCqf7nfztJVlQAUSXInGjg3BjYtkkOZKxu4wiiM1Cr/qKSckkq/Lgdrgbja5gVQBIcp+LFnkbLnJE8Y5ITq2ZVZMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMpa9JDiJNi95iA32lGgzVW7Z9f0xNiDdTQJ0iMGOIF471BaMbSPJy+ldP21XKwW5tWwu7niyO54d4Yb8tAJW2DUKN1ZCcEwJe/abmGiruBtnSmfEIqdNCQtaTHxoF4BTlsHHcH181LDqiHYLatUgczmHACpcTlmaNQwN9b70z7rAkNIEwpbYQqq7kpY2z/8Bbxm7wnVoU4aodbbPeDgdOFxvLLOITY7sqzxNx02V6C0SGeeE6KhErwU7RmDuJxRHG1HvyVY++jLDxq1u3nwloh27nzAXEcquw7sZysqm2S+DloMymhcMNp5ThjyrV69jvSccaSeXcCb3LTiZsyijGi/vEvlY7e6xzXtUVxAD/AOmH6ywmsPzC8g7k0F0fWhmNeyZsTP6oBghIosOfbviR9JpHV4y7ghisR6pA3SBmUt6x4DrLCQzjWlgysUyfPGYLEH2LmH5NMGAlAyAr9oYTc3lozLQT40cX7yM3Bhzk4BQuZysC0p8euU3yh7e0QMq5E/170Chogj0FD2+hMimjdAcjfVFanE8McnRTyeyRH/zoi/ZY2ehwPkKS7Ma0ntrFuwGlPGPJXDmJDM5Xnc50JkStGyoczqZg0GMPXueG3cG00elCfEdQjit7/4Nh0hR1TpfQjQTAGFigSDyIHufMgRtcGMP2w1UOC/FV9YrqjEapnU3zFd5PcH0TnsGFTcRJPTu8uzQGdx2/G2ELQyo2Qm4tzoFZC/hlXNngCv1y1Zhk/loX3grNFaE79Ze7jSnSuZc/mZHqE+2mB/Xm9MpXpehd/dNLxBZdg0aqKwBcho+sU6/Z9ldS8neetxaMePR/Pn2Q1heJVdmWaGbpDgaPufZ+k+Oxd1oUrk9/Q3cnnjmQQBUS21isUTDS2yF05PLnkwdrKsCuNw4F/hu6S8ZMFsCG0WKE72nDVxCEbZRyeSHs/jJpMcbQkcbty8bHj7S6Lph6ThPelrIaA9e4/FOoxRtsXD/ExJeIeCUyObsA+F4l97sMTVZOxhquzTChIl1zetxddW8Fuw28Ezd0iwuX7yViIFBb0vWE+5Edq0mPSNT+oSmfLQa1genA1Meph/wmywnChZFs6MdsjE/8quYRDFTy5e1O8NdNaiowJIJMKJD9Qoj3TLoHGIJziZ5cEU2Weuv47EMqaxEmuluRLXuUqWKCQMJZPoWIX7sb/hCXZvvXdyU5YnKBnH2mTVWx5KOgKUP9PoPr82Rie8svu2VVmaNMltJd9ijyntfZONlgEfE7J17DbgPShRsnUsppGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015UiUdVCdQQ5sLpwpajVeqr",
      "input": {
        "note": "The blue block is visible slightly image-left of the jaw gap with the red block behind it. Nudging j0 +0.04 and descending to table level over the blue block to grasp it.",
        "targets": {
          "right_j0": 0.56,
          "right_j1": 2.5642,
          "right_j2": 2.2989,
          "right_j3": -1.3055
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_015UiUdVCdQQ5sLpwpajVeqr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6224 left_j2=1.2022 left_j3=-0.9104 left_j4=0.0296 left_j5=-0.477 left_gripper=0.998 right_j0=0.5484 right_j1=2.5149 right_j2=2.2799 right_j3=-1.3731 right_j4=0.004 right_j5=-0.0643 right_gripper=0.999\nstate[joint_eff]: [0.0342, 1.7162, 5.3265, 2.1123, -0.0415, -0.0024, -0.0073, 0.3897, -12.2462, 7.2274, 0.3736, -0.0659, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 582):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a6dff669113c6a996828ed0d12a6ba42221fcd1edec21f892777a808fce2342",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 582):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:304ef8912a3aa248d28b5f943bacb0d9ddf3d1f5a518bec7e9078435b07f2cdc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 582):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5a339a1d694e47f159ac48aab923a38779e3a8a70df319198b91abb55be49eb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 1a6dff669113
wire blob 304ef8912a3a
wire blob 5a339a1d694e
call 70 attempt 0 · /messages · status 200 · 8.594 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 202 changed as sent

message 205 changed as sent

message 208 changed as sent

message 202 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.622 left_j2=1.2022 left_j3=-0.8688 left_j4=0.0296 left_j5=-0.4622 left_gripper=0.998 right_j0=0.009 right_j1=0.6216 right_j2=1.1995 right_j3=-0.7197 right_j4=0.0013 right_j5=-0.0525 right_gripper=0.9955\nstate[joint_eff]: [-0.1846, 1.853, 5.2034, 2.1856, -0.0611, -0.0269, -0.0122, -0.2393, 2.0308, 5.9145, 2.7375, 0.0171, 0.1197, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 205 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6224 left_j2=1.2022 left_j3=-0.8989 left_j4=0.0296 left_j5=-0.4736 left_gripper=0.998 right_j0=0.5171 right_j1=2.4008 right_j2=2.2566 right_j3=-1.3983 right_j4=0.004 right_j5=-0.0601 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, 1.7573, 5.2034, 2.2295, -0.0611, 0.0806, -0.0122, 0.1846, -12.506, 7.5282, 0.1538, -0.0757, 0.0757, -0.105]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 208 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6224 left_j2=1.2022 left_j3=-0.9104 left_j4=0.0296 left_j5=-0.477 left_gripper=0.998 right_j0=0.5484 right_j1=2.5149 right_j2=2.2799 right_j3=-1.3731 right_j4=0.004 right_j5=-0.0643 right_gripper=0.999\nstate[joint_eff]: [0.0342, 1.7162, 5.3265, 2.1123, -0.0415, -0.0024, -0.0073, 0.3897, -12.2462, 7.2274, 0.3736, -0.0659, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 582):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a6dff669113c6a996828ed0d12a6ba42221fcd1edec21f892777a808fce2342",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 582):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:304ef8912a3aa248d28b5f943bacb0d9ddf3d1f5a518bec7e9078435b07f2cdc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 582):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a339a1d694e47f159ac48aab923a38779e3a8a70df319198b91abb55be49eb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 1a6dff669113]
[blob 304ef8912a3a]
[blob 5a339a1d694e]
{
  "content": [
    {
      "signature": "CAISkAUKjAEIEBgCKkDujdouelzQy2DY19fyYnIehOCELO1nMFzWXjajyejI4NoBmCPrQBPzCBnFE1+RhCC8/zzeQ+u4VvfcQYI53QTbMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMRHbsGzsp3WL8h29EGgzsh6n/4pg0si5vPpciMMyOh24FEnd3FTW1On35XwG7e1NvDzh2o93Hkzm87mIan9UkF0Qk49/YQYlp34AD9CqwA0aJ/o4PHUV/y+AXt+oEACFNVT/g2RK6Vlrh2ZDN/aaohS1i5JwNSwoEQKEnYlK/fbqyNsSXcupsebghrSJa9XCTQwDd36X3r9GkfGdUSAs0zIIZfv2vUIP0sfsKH6pLXD/P5QJp66WtF2p6jfu3xfHcDHhhmQnxGD7QbJMJybyVVIsoweDujkVXy/IlIdBLYLxR7RMifaH018rKqal2X/HgojkGTgq/WxxKG6jgkJqJZ+CuwX4MJ6gzNWuQGXw6doAUSCxSyLBSka+k6jPTZSFhl/Me88Rky4o/OM/B7FwaennI3vMlACvGJS5L3PkEzRF1QvnhQ6KzgAy1eXuEwuIz1YQLpT/0S94Ie1ELpkMV3Iweq6DbDJwtEy3JfNn1zlnE71VLVjQhEFSf8v1mj/zGGNo6uANCCCNlXA7Kuiz0TKd95Bz3FjbxV2drOd5nb22vPlDWb+Oz64tgPi0NJt/Xx5zpCt4Poj93GyIkXLcae8/Q6YdmBW9wlF4y8AiABqm41fpe9nDEjtv2NwacWdUkbzgpxP0J8KxKxhzF8mNGp7IxGi45p26mUyJLYAszrRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01A8p9PhtwWvK3szqgw8abRp",
      "input": {
        "note": "The blue block fills the jaw gap at the bottom of the wrist view; closing to grasp.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01A8p9PhtwWvK3szqgw8abRp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0074 left_j1=0.6224 left_j2=1.1984 left_j3=-0.9253 left_j4=0.0292 left_j5=-0.4808 left_gripper=0.998 right_j0=0.5484 right_j1=2.5584 right_j2=2.2848 right_j3=-1.3708 right_j4=0.0044 right_j5=-0.0677 right_gripper=0.4468\nstate[joint_eff]: [-0.0342, 1.6615, 5.7231, 1.9805, -0.0659, -0.0171, -0.0073, -0.0479, -17.4017, 5.1897, 0.0952, -0.0513, 0.0122, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 592):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4938f38657976ed2eb12ea5bc622b29e69a8c9481ebe9f52c59d85017665fc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 592):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83adc7da8f8c1926fd786241adbc0eea985b406bd99e837ff2fe430a20a7aa76",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 592):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7b31fc9acc42578de01641de9327373e9bd4e7d8cb400f8658d4201864b4f49c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob e4938f386579
wire blob 83adc7da8f8c
wire blob 7b31fc9acc42
call 71 attempt 0 · /messages · status 200 · 6.743 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 205 changed as sent

message 208 changed as sent

message 211 changed as sent

message 205 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6224 left_j2=1.2022 left_j3=-0.8989 left_j4=0.0296 left_j5=-0.4736 left_gripper=0.998 right_j0=0.5171 right_j1=2.4008 right_j2=2.2566 right_j3=-1.3983 right_j4=0.004 right_j5=-0.0601 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, 1.7573, 5.2034, 2.2295, -0.0611, 0.0806, -0.0122, 0.1846, -12.506, 7.5282, 0.1538, -0.0757, 0.0757, -0.105]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 208 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6224 left_j2=1.2022 left_j3=-0.9104 left_j4=0.0296 left_j5=-0.477 left_gripper=0.998 right_j0=0.5484 right_j1=2.5149 right_j2=2.2799 right_j3=-1.3731 right_j4=0.004 right_j5=-0.0643 right_gripper=0.999\nstate[joint_eff]: [0.0342, 1.7162, 5.3265, 2.1123, -0.0415, -0.0024, -0.0073, 0.3897, -12.2462, 7.2274, 0.3736, -0.0659, -0.022, -0.0171]",
      "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=-0.0074 left_j1=0.6224 left_j2=1.1984 left_j3=-0.9253 left_j4=0.0292 left_j5=-0.4808 left_gripper=0.998 right_j0=0.5484 right_j1=2.5584 right_j2=2.2848 right_j3=-1.3708 right_j4=0.0044 right_j5=-0.0677 right_gripper=0.4468\nstate[joint_eff]: [-0.0342, 1.6615, 5.7231, 1.9805, -0.0659, -0.0171, -0.0073, -0.0479, -17.4017, 5.1897, 0.0952, -0.0513, 0.0122, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 592):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4938f38657976ed2eb12ea5bc622b29e69a8c9481ebe9f52c59d85017665fc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 592):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83adc7da8f8c1926fd786241adbc0eea985b406bd99e837ff2fe430a20a7aa76",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 592):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b31fc9acc42578de01641de9327373e9bd4e7d8cb400f8658d4201864b4f49c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob e4938f386579]
[blob 83adc7da8f8c]
[blob 7b31fc9acc42]
{
  "content": [
    {
      "signature": "CAISmRAKjAEIEBgCKkC+z5BcpX7/7affCciFyAOk19wl/xtKb+M+cVrtVBxqY8kwzLnLPYJDT26Swu9aJzZ4fmS0rGEkLeM7Op7fLxyfMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMJ//I56D5PlkF/xqLGgygXIL9SQHZiS23rUQiMDYfBefRdCU6EJ1n9SG7Ua3h9teQQwxE1HX/T4NpPSNEPDap7Cmx3WJ++SHgKy6kxyq5DvfrSxY73DmyKmoEIWWZMlF6GedU1fT87solejuioz2nPZ73saBHFAW7oIhcEbiPuhvyd/soD+hdLMwHjVsGCjvlu2IjFhvOGSjcGQjRrUnOI95HOpPMjDRvwYnXZt/pnxxdAFgEmM493xPQLpqVqhK7Ha02eZxDPDNc9jVou+mbHPQXk0VloG1h0fDn0/fGFGjM94dozaN7AAJBsTqP7FZEyYqMq5y0P4gO4A2xB/Tav2qDOU9gxtVB91BvP0aMxnuJWHcAJDyHsM9y//4cjKFgDLTJPSafNkZCU6E/wVr9EnsyDWwvLv93fquoN0NOV0WDO0+bki3XZxM9Cj/YC0dZfXyn1106Dklu3sEcvQt3j4GBQkdLqgkjoiVW0EglEAUjuFmy2/4BBU4hF7lskpAq9uoWkqgGgY0mvC+iHl8BcG7Pj/BSbqprgfOwzORJewkNTDEVHP2CSHqwhlO/CYlUEXGd07q//kfIJC5wEYusLPl3oLSttQGbtMnglAAofgRyBO7zG1Rd3LrDO6nBMs4Pi4L0mtbltWxVnCEBFHXocNEudGm+PrFjbhCOowhoIIu32SpLVrzVgZkBePYUM/NH6GPcW+vS9/fUlvzOxJqN1DVR7p7lZgO8SYS+TBsHNh0K5TfReBSpa7LnQNUrjMSuFVwamUNEBV+HnqWidvl0n84UgGj3dpUS4U4ZmpO7axNIxj3n3idiPU7l5xKyxo8oZSRVHOJPfzMBm65Vg+JuZh8XlfAkPP4nWV/VM6QoipqeYB1a0NrLRVbPiKHVvQWCaxvZc5ekfxUAOnvdvc3S0QhpavixIQfq46ZPmK6K6WYUj0tFZV998ED/Tiq9/lZ3seaeojDOkbzjSL/YNKoaMyi3ze8+lGXyjIyPeiHrpyNXJcdQ+ZAr7EZGHr+3pw5Pl2c15n7AFTEn0YwVFpJKJmVZ7Jxjwp2/V6TPgXkYQDznmncgE6zhEFpOCycXk9ZUxJlBr/JNwLm94Q4HP9IQ6lVrWvw0FjaU6B+DumS+I7pODoYlA2WpV5MW2EJHHrc3LpnAsLbAAvKmIuHxLM//yiCLHrHW5DyrzJDoZgLOlDGpmvfH2EjZEIVO5NZYpSh3DVRnlFuHFUNm9uxcvI0UQYhDjaiM5QJ0HjhDIBKAekF8M70qD6jMsGCy+Z4orwxFTFo8aSBOC7OoPTjq9if0JhThYXpvQCxc7oGwVJz4Y1c+UWNeDZZaXXaI6meB+a/deDIAciKRb6idKDXUPta6nUAermwGZuukfzLZntEvjGBmrQDFJGWZEBd3Bw4WiXXZK/V2B4relfaatkAPdnd6EkVADBIe2wlPSmSyKFVe2lDT8ufT1iMHtyXjTglPI5OF0Pdfp34OpN/GwJWeucRqzvMiZn4N7FZ6lhWIR2CvNvoHB2khidsZAJUg0WsjPX6AlnnEN64MFnWE5xrW/lifRKbuvyAMa7BoPQlbEF0n8GZ36CmyeT0BKpR6n0OMcSfOBJ/dNbaLEVl2UcEr1IZup5mtjt4g8c4o5MtSXHxhNgwZcwNVPINhfWQ4lgyGBWDJKrRl0esFUjBayyTWL1X6cN4JyWxlMWjSVfSU4xRa7/iV5zTtzeP8tsgeb2AB8t+tHuHzkKFTUFc8T1SUnfBT/+IlP7VhuPMupxHHDVfOKtJ/G4tnVOsztp8rfGO6SbWrzdEfZmB3u7KoS34ExyLwLYngVhAHEBW6utMKCOzuEXsL2dRdhhi+ockAGT1XJbJWC2i/IW9ejDIi/nWla+T2boNkBHxSvrVYuffDhNIYknkG6uq7azYTUR5eyp5H4Ch4NHo75xt1wOJEeqKd79/T7pIIJ6/hKM3qGI6jOXSL0phy1+nR1Ta3ASpxz/M/SsDVXmX6whclmND3vjYpwZpDnh91mCf2+R6lwrEmKLRaxl2CFTxhzdezB6zt+CyVxtdz79D1sjgsxXlh03SpHKEDJqOORB/qXl6pZmm0BXVVJIRIprscgP+RhnIg3EyZvI8zaiiTbq+S7x/lSJvmCEOSjjY7ZbnaCJzNceMsrGxZ3E5L/O4Tu92KlJ1tW1RZ8hPvmmP0IRZlXcuJr+4jSZhP28rjUzVSKEy94qwR39ivbjAIWWnbwsndu4tAG0BDJWuSG80t4J7Xqz3lY5CUezygygRN9M0VZx4gXgDMGEpZf3s5CNasgbkM+V3enDfNiYxIdDEoOctcfZIPlqEO+DUBetcz29TxzE8PYOKzhErxKML8nfiT6aj2ewpUDSvSU4e/5MAiKLOlybZi8xvs3ygDG+Wh/srpcRbpTrrQifHjEw9a801TIw2z5WzHhrXagVEcuQAelBXWfxgkjL4q/82RD0urZ3I9lAdEiE7DzzaO6P2Hmgw21QEeOFIlGcffKCt5XIZE3OA750BQt8P2CIbQ/hcHBq7BXw4kevu7FaNBZxbp1TU2ikdNNPv22a2jNFxcHckxNAPZ6S0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014ZWgrxc9R6e9ntiHzSPf9r",
      "input": {
        "note": "Blue block grasped again (residual 0.447). Lifting to ~11 cm and shifting 5 cm toward the red block's bearing before descending onto it.",
        "targets": {
          "right_j0": 0.4726,
          "right_j1": 2.2173,
          "right_j2": 2.1205,
          "right_j3": -1.474
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_014ZWgrxc9R6e9ntiHzSPf9r",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.1973 left_j3=-0.9459 left_j4=0.0296 left_j5=-0.4843 left_gripper=0.998 right_j0=0.4728 right_j1=2.2654 right_j2=2.13 right_j3=-1.4563 right_j4=0.0048 right_j5=-0.0711 right_gripper=0.4508\nstate[joint_eff]: [-0.1983, 2.0718, 5.2991, 2.0293, -0.0562, -0.0366, -0.0122, 0.0205, -13.6137, 5.3402, 0.4518, -0.0513, 0.0024, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 598):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:faf076ea7642416f6ad8001f450e26471de274c51e96bef6fa8ca3be7dd93b6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 598):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fda87c4ac1bd1877e921716d34948bc9109b55822de989450b3019f178495db2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 598):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:465660dda9390adbab779eb3844c85931ecee8a70e227dd86273f0d5336a7c8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob faf076ea7642
wire blob fda87c4ac1bd
wire blob 465660dda939
call 72 attempt 0 · /messages · status 200 · 7.653 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 208 changed as sent

message 211 changed as sent

message 214 changed as sent

message 208 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6224 left_j2=1.2022 left_j3=-0.9104 left_j4=0.0296 left_j5=-0.477 left_gripper=0.998 right_j0=0.5484 right_j1=2.5149 right_j2=2.2799 right_j3=-1.3731 right_j4=0.004 right_j5=-0.0643 right_gripper=0.999\nstate[joint_eff]: [0.0342, 1.7162, 5.3265, 2.1123, -0.0415, -0.0024, -0.0073, 0.3897, -12.2462, 7.2274, 0.3736, -0.0659, -0.022, -0.0171]",
      "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=-0.0074 left_j1=0.6224 left_j2=1.1984 left_j3=-0.9253 left_j4=0.0292 left_j5=-0.4808 left_gripper=0.998 right_j0=0.5484 right_j1=2.5584 right_j2=2.2848 right_j3=-1.3708 right_j4=0.0044 right_j5=-0.0677 right_gripper=0.4468\nstate[joint_eff]: [-0.0342, 1.6615, 5.7231, 1.9805, -0.0659, -0.0171, -0.0073, -0.0479, -17.4017, 5.1897, 0.0952, -0.0513, 0.0122, 1.033]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 214 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.1973 left_j3=-0.9459 left_j4=0.0296 left_j5=-0.4843 left_gripper=0.998 right_j0=0.4728 right_j1=2.2654 right_j2=2.13 right_j3=-1.4563 right_j4=0.0048 right_j5=-0.0711 right_gripper=0.4508\nstate[joint_eff]: [-0.1983, 2.0718, 5.2991, 2.0293, -0.0562, -0.0366, -0.0122, 0.0205, -13.6137, 5.3402, 0.4518, -0.0513, 0.0024, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 598):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:faf076ea7642416f6ad8001f450e26471de274c51e96bef6fa8ca3be7dd93b6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 598):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fda87c4ac1bd1877e921716d34948bc9109b55822de989450b3019f178495db2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 598):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:465660dda9390adbab779eb3844c85931ecee8a70e227dd86273f0d5336a7c8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob faf076ea7642]
[blob fda87c4ac1bd]
[blob 465660dda939]
{
  "content": [
    {
      "signature": "CAISmgoKjAEIEBgCKkBM1lVZ0XQG36nwDL19u4D9zqs5qru5yqQ5u7LUKQiaOgdTQFCGIPwY4oEWoQNLzLtLjBiTg1lUE2Rs0gqHR+6VMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMa1FipJug6hyYtZWvGgzSAmR5nVLeaCWjVR0iMGp2+jXFw/V9lMii+Kc8nC0Sh+8EMW8ZSYEE5WXM6csTUhjdobJ0WOO8Hp02lrqCsSq6CO40BpBXLwia8Kz6XOzAdPwO5x+gGeYuAYl7r6v0mLAS8hcScKxfKxuQsmfA5h744h8rSguast89hIc0Y53beF1FYnOnFtowIpaZsEm+BiodMr77Ftjkn3G+k7CmLwMRb2yqvUVILV8m+494KJT3eYCvg47/Dn8fawiLz7wtp3r0ECXNeRfmNCMv7riaNPt4yLVqGEKxNfxK9PB1uOgyOXkVf+DrijFYO+LPyeB+0IwTEbQVfrgCPXVCfJ8lLbT30YywFH4Zd9/WsjF86V9Fa3+XNlKVnNcoI3RfNidad9UUsPhARCs0TMexn/Qya5c2mI3hV3YDCRBNelL3S77olaEPlfHm47GoEivyQ2gpXxWdMcOtflUpTxlc8wKPHiU3fsA0o6Z7sKli0xXEuemOvgvDFcLA9KNlWPgxJpYRUR+k5CDw5+8GswqJoI2E6L13rM3hdyD4AB/sGgy19upfDGrj6J+Pc1Ae+ATXPB6Zr66XmLvvc/iFeQieftbGGqexEgz3japgDH9Hm/LnoerlHsLbQ8kCx2KqpK2FoRjBW47j8rWNaLT3JA9SrD1DaQN1UPJ2CJZKPiWwtVSDruUAvQ/4PW0GRHvj3VlniIKe49jBgrWD27n2xnEXpAE7gYlBz1NjyR29wwN7qKBqexpul/i8FwU5PVSv+3OkVKAbfSN8xo39H2sPhXOxk3qN2tSMef1KiHsrF8m27s9wsA/XHgB5O7oOA5Budl2wBR/UHzhrPKWD7YH8p9wKjLK2kP8bLE/Wq+xpm+kofzupz6QPxm6tg6SWZ1S6OUcjKiNE2UXqNXK0IPhCg4nWI4cK4mHvlVpyzWAH0GuP1+iAN4uXqFgb2/ZDeUz+fPa/5NuKOMF2nbe7jjiO+iM3MCWvQajqtYj6NciHV3JbKVg4iQk/rRza8GRENV8Z+MXl1IgScPT0r980eRijlW0YURkZKpIRGJ8LXIUvg8OO5vAxBS2EzQIi5+Ez4HoimKzRvXNEip+fFqx7cPIRvUWH3I847Qd71P67wQvBIv/oEWLi+81hyQBAY/20pAjFfB3FQ08W5K8dCUyhACfoieJpx5gp5gYqZJFYNuaL5NLJIanXIUDjWSjs0yZ0QKvl3imTzmbqOaNPIZCht6Ofbe1tF+nQ8qbNe3Y32IHTZt92fNPDwaz5vqBXpkhCSKyw6fyUspfJ7VdewxhFLlkuGiKA59WOfAq7cV7TxMN0em39GM/7Ms1ePdMLxXoeoJPweFjQurHQMUNOt5K/xvxYY73UtDlpF9pLdTJ0ajwiCfew208jtRn92HNSy+ZePtnjrBej3TSeCOQg1r/dg//19vVGj2jvVlKuQDE4R/k5eLjYlbxJUIyDdJQs7QnjSAdoNDbQZi1N6/1geGLqCMHwhvDrgfD2dg8swexh/Q228kQSX656GDv40VtAycMoJFSP+92sGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013vT87CB2r9Ckt1uJPB2Sbk",
      "input": {
        "note": "Applied the exact offset measured from the last failed drop (5 cm right, 2.4 cm nearer). Descending to one block-height above the table for the release.",
        "targets": {
          "right_j1": 2.2612,
          "right_j2": 1.9665,
          "right_j3": -1.2761
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_013vT87CB2r9Ckt1uJPB2Sbk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.1973 left_j3=-0.9604 left_j4=0.0296 left_j5=-0.4847 left_gripper=0.998 right_j0=0.4717 right_j1=2.2475 right_j2=1.9827 right_j3=-1.3533 right_j4=0.004 right_j5=-0.0715 right_gripper=0.4508\nstate[joint_eff]: [-0.1299, 2.2632, 5.2581, 2.0391, -0.022, -0.0562, -0.0122, -0.2393, -11.8222, 6.9265, 0.4908, -0.0073, -0.0073, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 601):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35287ec432be2b48762d8449a2c790ff5784b03e7fe5d5f7427c8f1ece695442",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 601):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76a48ca24b2a0ddea605e4135cf029974720422226af825df9881d6b09913a70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 601):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0465b86c44c9d0576c8b766f8acf85aa1fc783aa07726da388eea556b6ea4287",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 35287ec432be
wire blob 76a48ca24b2a
wire blob 0465b86c44c9
call 73 attempt 0 · /messages · status 200 · 4.676 s
model
claude-opus-5
effort
medium
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=-0.0074 left_j1=0.6224 left_j2=1.1984 left_j3=-0.9253 left_j4=0.0292 left_j5=-0.4808 left_gripper=0.998 right_j0=0.5484 right_j1=2.5584 right_j2=2.2848 right_j3=-1.3708 right_j4=0.0044 right_j5=-0.0677 right_gripper=0.4468\nstate[joint_eff]: [-0.0342, 1.6615, 5.7231, 1.9805, -0.0659, -0.0171, -0.0073, -0.0479, -17.4017, 5.1897, 0.0952, -0.0513, 0.0122, 1.033]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 214 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.1973 left_j3=-0.9459 left_j4=0.0296 left_j5=-0.4843 left_gripper=0.998 right_j0=0.4728 right_j1=2.2654 right_j2=2.13 right_j3=-1.4563 right_j4=0.0048 right_j5=-0.0711 right_gripper=0.4508\nstate[joint_eff]: [-0.1983, 2.0718, 5.2991, 2.0293, -0.0562, -0.0366, -0.0122, 0.0205, -13.6137, 5.3402, 0.4518, -0.0513, 0.0024, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 217 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.1973 left_j3=-0.9604 left_j4=0.0296 left_j5=-0.4847 left_gripper=0.998 right_j0=0.4717 right_j1=2.2475 right_j2=1.9827 right_j3=-1.3533 right_j4=0.004 right_j5=-0.0715 right_gripper=0.4508\nstate[joint_eff]: [-0.1299, 2.2632, 5.2581, 2.0391, -0.022, -0.0562, -0.0122, -0.2393, -11.8222, 6.9265, 0.4908, -0.0073, -0.0073, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 601):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35287ec432be2b48762d8449a2c790ff5784b03e7fe5d5f7427c8f1ece695442",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 601):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76a48ca24b2a0ddea605e4135cf029974720422226af825df9881d6b09913a70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 601):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0465b86c44c9d0576c8b766f8acf85aa1fc783aa07726da388eea556b6ea4287",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 35287ec432be]
[blob 76a48ca24b2a]
[blob 0465b86c44c9]
{
  "content": [
    {
      "signature": "CAIS7wkKjAEIEBgCKkAuBkOBhXs37iSrftRwQSMOYO2LEmEh3ZBkcnumhyRMdd2nSLgwTsjnMTPutWY7bITNhPVXmA4E43p6KF9ZfmQ7MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMTbyD8ZJUNFYx7TUcGgysquHPARfannKNxPMiMGAtvXaNc7njonlyjsKo5VTDRCJxP3N8dJF8yq0eBnqSZa8ZYGDDnw6nx/cTamvC6yqPCKpABIKM1VrL3vIvzDCOH7c/kV+8LaTlhszHUoMYPpfc6N5Q4YLGeOgzYeW5sqlVH2V6gcwe8XA0Zng07YO+FGkur+xtyCqM2OC3WSFuMu2NKa9Cz+Ak8Rv+NMGm2wzzpGSvVpN5JR1G1se2Q9Nn8W6ins8b0Bx0x4pfmI44Pzq3bS3sg4R61pv9DwFh82GfHayIOYWV4HEB98Cm8jNYih322FDbb7KvqSmjKWETtfzEvNz2+brA2aZjy3m6KgNJ4nK/YEHNKLeC47+1YSVg29rq6eSD7dTpiAXClDTo192s3XVOlc7FEKRRGoZV1Wq3zgj3mB3aeionUQ1DYowLc2o4Sjov7EERRsD7vHHF9Xnnd8YvJbm1hNQPbG1jEZUYcTE91j/PkQQTrpW6RAGnPAR4m0Au+6iXgBFAjZz6bcAW3o5ZlFtTqP3TbV9HsjabD+UfHzOZO+tdcKwVQNpmI2hbmOv69LH5NVuBuS58zY5HcdAya6ThHwO/+dEx5VKMLGahLnNGLIPt9tZlnRKwVTNAub8fbhdhw3AS8/ta+U4Xuogqe43dL1GBnHbBfYDF4JbYOLI35dTBWTY/4UCNcaXCqFZvM5DBYs6v82Embd5zRE9U1Gw2J85gGGi3+N0hZi7PSjqjfIajWL2kyWpO7bgdsNMd0emOyMbKnHOz4hTZu04EzFKsvKe9FUmzLkyphLB+darbzmbD0P8UbrwqGe/zPuf8/b4HngeG8ygtMAKxpNR5koDlxNpjUwDShtduJmLORBB8Fj3sWVX1k/EwGNltM0H0InOyN6lyxjJ3XNA92ZrSE3U5JxJeOrykznqcYhpacFrLBmCuZe3pdzc0Q1B2cUWgWPJilqOZvJGJOEtSbP09zvRF6QYpG18SXmXpc1QKoXDu1F2o7QE0epqbhXS9JBzFJtl1VSReDlsGvoD+lrLqFY+h/McDrwEmV0My7DV1FgjZZTuHs8DG2CctoLUcscxDjLmz52+vxkSxzhAQJsFuteXddY2XSR0dfjSNCsojGS78ksl0W+kfJWnEJsdrREJ5w+vhDUeIoUnQ1DdAo2IRFmqm1+Pu67b0xKatqozAGfuDrFGT/OBClYg+UqsNqK1cpaoUzgTTs+yZlE7OK7wk2gMLr26mnP0NkY44TOTHvRqLZ8qmPlWZ3j/It1/Jb2AE1ZxHIErF6SGFjs8ZVWMpDV3mjfAc4whtIq9DuDw8hHshMLPLKZ5BM6gwu+jmBek4k2JxeSPzC+T0UkneepUSkIIXTWAj6XCRN9+HnAgHaRRUGtbF2yX61JY0RYahlYzyDU9AQ0q6v/JEiZuykrb/5ow79I4mvzwSEy0yPJ9DkEdS+NTKiA+bc9Up7NPePUCq4TyKtkWO2RgQ5PkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QxsqFxdhqUB9QQ46yNFG1Y",
      "input": {
        "note": "Red block is centered just above the carried block at stacking height with the measured correction applied; releasing.",
        "targets": {
          "right_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_01QxsqFxdhqUB9QQ46yNFG1Y",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.1973 left_j3=-0.9813 left_j4=0.0296 left_j5=-0.485 left_gripper=0.998 right_j0=0.4717 right_j1=2.2745 right_j2=1.9587 right_j3=-1.3483 right_j4=0.004 right_j5=-0.0761 right_gripper=0.9948\nstate[joint_eff]: [-0.1709, 1.8667, 5.3675, 2.0244, -0.0513, -0.0513, -0.0122, -0.3214, -14.4205, 7.6376, 0.0122, -0.0366, 0.0122, -0.2173]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 607):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:143a9022ccb7ccdb381a46d2aaa1da4fd6fdd0f50e2acb7242b295965d35c8c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 607):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19f29673f6fe5b9a93a604b0f088ccfdc2814b081d2ec838406bdd0ecbd9e520",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 607):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1a3712a455b52ba9ef52033d0db9608d115a38a7fc927b075530c43ac141d70c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 143a9022ccb7
wire blob 19f29673f6fe
wire blob 1a3712a455b5
call 74 attempt 0 · /messages · status 200 · 5.688 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 214 changed as sent

message 217 changed as sent

message 220 changed as sent

message 214 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.1973 left_j3=-0.9459 left_j4=0.0296 left_j5=-0.4843 left_gripper=0.998 right_j0=0.4728 right_j1=2.2654 right_j2=2.13 right_j3=-1.4563 right_j4=0.0048 right_j5=-0.0711 right_gripper=0.4508\nstate[joint_eff]: [-0.1983, 2.0718, 5.2991, 2.0293, -0.0562, -0.0366, -0.0122, 0.0205, -13.6137, 5.3402, 0.4518, -0.0513, 0.0024, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 217 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.1973 left_j3=-0.9604 left_j4=0.0296 left_j5=-0.4847 left_gripper=0.998 right_j0=0.4717 right_j1=2.2475 right_j2=1.9827 right_j3=-1.3533 right_j4=0.004 right_j5=-0.0715 right_gripper=0.4508\nstate[joint_eff]: [-0.1299, 2.2632, 5.2581, 2.0391, -0.022, -0.0562, -0.0122, -0.2393, -11.8222, 6.9265, 0.4908, -0.0073, -0.0073, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 220 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.1973 left_j3=-0.9813 left_j4=0.0296 left_j5=-0.485 left_gripper=0.998 right_j0=0.4717 right_j1=2.2745 right_j2=1.9587 right_j3=-1.3483 right_j4=0.004 right_j5=-0.0761 right_gripper=0.9948\nstate[joint_eff]: [-0.1709, 1.8667, 5.3675, 2.0244, -0.0513, -0.0513, -0.0122, -0.3214, -14.4205, 7.6376, 0.0122, -0.0366, 0.0122, -0.2173]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 607):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:143a9022ccb7ccdb381a46d2aaa1da4fd6fdd0f50e2acb7242b295965d35c8c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 607):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19f29673f6fe5b9a93a604b0f088ccfdc2814b081d2ec838406bdd0ecbd9e520",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 607):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a3712a455b52ba9ef52033d0db9608d115a38a7fc927b075530c43ac141d70c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 143a9022ccb7]
[blob 19f29673f6fe]
[blob 1a3712a455b5]
{
  "content": [
    {
      "signature": "CAISuQUKjAEIEBgCKkD5CvpVIbdQvaVuJ5f31BN4zDPVM+2YVBf0s9thi9Nd5NsroolpiszZiQNDjDN8y0RiMteqZMSwwPKPuC4g5R3RMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMITnpsYo0x4fbTPwPGgwmYW/DUl8Sqgi7W18iMGA/o2X8kDDEhNyKIzSihyVexfZcwwLSM+ACba5iyIx8jV9fv+h3C48gOi1lngbgCSrZA2N1Ct/KJ6l8F0E+CKMgrk2wuJiDJgrmSwhsAWgeO76kLxuNPGqqcnrMPxwA3IOhC8wX19Bz7X8NcomLwl9g8rNMszvxUcxfexLh4QHqi/qmDNaQCgs0IysL2MGJ9JMWyniYcft02Iu70HIXaQx3UehTlyhJSmxazLBzdvEPwZ9BA5ZmyMsj8lzQLbc0q0yh+RNUmUxAZYOCpv7oSV1miw6KvPFgvYgNKlimE51MiyUOa78tkStPBEhUjctqINVcK1ZcgaO0SYw44yLfnSwJ9DCvg8YXBK8BYuv7stXQYDcEN5LqJy3/cHKuZrT6plDowL+OM5otRyexaUgDibj4JCeGsRoJNTtWknrQGNT5z5U/vPvQtwUk+6j3OYITKYU78NCQmTQ7xKGNzFNKmY4WWbho32s8hTPpivgZlbHboqIPRcdnaMw+S2TB4g4L/1NYrGXfeQ9KDDs9b6C+uMoEt/YFyhuGWMkEFaWynhP2etqOS5n11a9obiviXHSu7Vm3SpRR3kxg6TwcvqbCnl1OgVAejxloUz8FASWla+8yFL4wrubrevRLhxPO+OWSI5dVPWbamSMJm4FUDac3N/hJ3iwfprefNqANWFjmc7Db9H1Wz3CfUWcR+7c9GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BA1Vz6nmVKQPtpvEMGq8Ga",
      "input": {
        "note": "Released; the wrist view shows the blue block and the red \"a\" block adjacent. Backing up and rising to check whether they are stacked.",
        "targets": {
          "right_j1": 1.9,
          "right_j2": 1.75,
          "right_j3": -1.45
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01BA1Vz6nmVKQPtpvEMGq8Ga",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.1973 left_j3=-1.0004 left_j4=0.0296 left_j5=-0.485 left_gripper=0.998 right_j0=0.4717 right_j1=1.9362 right_j2=1.7649 right_j3=-1.4277 right_j4=0.0044 right_j5=-0.0788 right_gripper=0.9967\nstate[joint_eff]: [-0.1026, 1.9214, 5.2444, 1.9902, -0.0366, -0.0464, -0.0073, -0.3214, -10.1128, 5.6684, 0.3834, -0.022, -0.0171, 0.1832]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 613):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e31ed2e2f839ac0f8bf0f6a69bf647f0dff5cd4a252d0b9c5bffa16e12d7fa07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 613):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf3aae9b34b9d8feb71a7f1d5ad146902c162bbb51fd653b2bb3986bfc35ad94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 613):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b8da9093e9b30db5c63e925f722b798f827cf9bbd5673ae73cc3e8b3ea160f18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob e31ed2e2f839
wire blob bf3aae9b34b9
wire blob b8da9093e9b3
call 75 attempt 0 · /messages · status 200 · 9.663 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 217 changed as sent

message 220 changed as sent

message 223 changed as sent

message 217 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.1973 left_j3=-0.9604 left_j4=0.0296 left_j5=-0.4847 left_gripper=0.998 right_j0=0.4717 right_j1=2.2475 right_j2=1.9827 right_j3=-1.3533 right_j4=0.004 right_j5=-0.0715 right_gripper=0.4508\nstate[joint_eff]: [-0.1299, 2.2632, 5.2581, 2.0391, -0.022, -0.0562, -0.0122, -0.2393, -11.8222, 6.9265, 0.4908, -0.0073, -0.0073, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 220 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.1973 left_j3=-0.9813 left_j4=0.0296 left_j5=-0.485 left_gripper=0.998 right_j0=0.4717 right_j1=2.2745 right_j2=1.9587 right_j3=-1.3483 right_j4=0.004 right_j5=-0.0761 right_gripper=0.9948\nstate[joint_eff]: [-0.1709, 1.8667, 5.3675, 2.0244, -0.0513, -0.0513, -0.0122, -0.3214, -14.4205, 7.6376, 0.0122, -0.0366, 0.0122, -0.2173]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 223 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.1973 left_j3=-1.0004 left_j4=0.0296 left_j5=-0.485 left_gripper=0.998 right_j0=0.4717 right_j1=1.9362 right_j2=1.7649 right_j3=-1.4277 right_j4=0.0044 right_j5=-0.0788 right_gripper=0.9967\nstate[joint_eff]: [-0.1026, 1.9214, 5.2444, 1.9902, -0.0366, -0.0464, -0.0073, -0.3214, -10.1128, 5.6684, 0.3834, -0.022, -0.0171, 0.1832]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 613):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e31ed2e2f839ac0f8bf0f6a69bf647f0dff5cd4a252d0b9c5bffa16e12d7fa07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 613):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf3aae9b34b9d8feb71a7f1d5ad146902c162bbb51fd653b2bb3986bfc35ad94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 613):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8da9093e9b30db5c63e925f722b798f827cf9bbd5673ae73cc3e8b3ea160f18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob e31ed2e2f839]
[blob bf3aae9b34b9]
[blob b8da9093e9b3]
{
  "content": [
    {
      "signature": "CAIS9gcKjAEIEBgCKkDMr7D2XBALGRGSI859DARscYQgl8wKlOMEgF2hKgemz5QJmIMQqU+Qv8v1iOgq0uaIg4dV2Pj5hsLqWpz5gh2yMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM3ENbAkottw/EmhPTGgw+1h1pxLFxvPxd8PAiMI/hl2fGd1q2UV65yv46nAIC04uWXW6bf9lUuVyeIDOabdjh4ytZlDvYcpFsEsNeiyqWBtsTun95NGMngaqVc7PIjBYYvoB1AxvE2lMeiFQQ93gowNsXn1T1Pmnym2Gi4H5u8wNmzryloOUJ+wRjQEM3o5YatNRfHkzO7O7vD6IiTYMZhMPunWO1tJztUIPMkbI6E43GFQwR8v5F7Lqf9hL83FlPI9+HgKkM716A/W5UNUwTUXv4fHntHAjbuY4e03FoPilEM8A97++ReCRkW/F/R3bK8m6GK2HQ6tZ8lQj2lWeF5N53Xf1eGdy+O4p8XcPNZVh0dAHOFDA9gP5IxkqM4kGv6ZSWWUBHN46b3vpr1j90omPnxaa6gRgTrMOaKh56HkRARHqFlJoTBU1Si+AZvcovwmIs2MDB7n7jufdlJLu6z8mqac0uzPpn8w7XYrUiySWTcaKA415SveA1169j/aeqS5nNnyJdQYmit2Y8HTCcUQpP9YYCfCKLzA6np3jL7vLm4X7pPGY3ooqzNSVa2qZ3qs4lyK2kjpGBX6WaG/oerft6EdGjmcQnYP6Wh3d7P8ehnzS9yVv5OWW5jx+ueBQX/cCIpxevPyb6S8azHWmT4o87Qfvu4yNiTFLivnWhYovtGjeTPZQPYfF8ng04ysn6L98yiNGmoAEUB5b71F886YrfoaL2HiT0+52Zwk4NfZVe/ZA3a6BjSNaKDrC2sEJj7sTrIzSVoxQubPk6ep9oCMWYu5n9T3dMD8+ap9PgOUvQ/SN8tDFCaxQKwUGrcZgXV+NyUFqNrKnW8Axb/6ufOQDTxX9nLMWLVXif6j8vz41vTt0DL4i4R6Wi9+X7JkmZhbWDtttEycowG0XyWs9At8pyT+RSXpviWNchmatbU9AMldgZvnUzlC8B9lAS0a72JVAYgO6rrPJNAJsRjcFAI3EWFQHrPLpwmx/nSIgZMFC5gf2tJo1zQx80FYvBR30RMTbeI1j4U+RtxSQSUTpds5lArhaUvrIHmeksPXVKMhYPibFs0LKN7IkN/M8VrMB2sfRkCTZhAmaNmXkTTQPeSW5l08dvpR2YQJDNhgJod1tq8lZAlqf76M3jpCxUbmebky3TpL8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LphnGG6MnWUbANHdhyBrdh",
      "input": {
        "note": "Still not stacked — the two blocks lie side by side. Parking the right arm for a clean overhead measurement of their offset.",
        "targets": {
          "right_j0": 0,
          "right_j1": 0.6,
          "right_j2": 1.2,
          "right_j3": -0.6
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 22 steps (2.2s)",
      "tool_use_id": "toolu_01LphnGG6MnWUbANHdhyBrdh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0074 left_j1=0.6228 left_j2=1.1973 left_j3=-1.0298 left_j4=0.0296 left_j5=-0.485 left_gripper=0.998 right_j0=0.0059 right_j1=0.6186 right_j2=1.1995 right_j3=-0.7155 right_j4=0.0036 right_j5=-0.094 right_gripper=0.9956\nstate[joint_eff]: [-0.0479, 2.0034, 5.1487, 2.1514, -0.0073, -0.0513, -0.0122, -0.1573, 2.2769, 5.9419, 2.8254, -0.022, 0.1343, -0.1197]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 635):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e048735f538dac95fc8d44adb3a5e0076eb98b5914f21251f27a053e62d2799",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 635):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2bee101a8207acc7a31fd828612473c0f02e74593f08ebe49cb7fa03cb0d3b58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 635):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7399de4c36f641dceff647520e92c4f0e54f0f9d1acce53004a766ceb5a3d54c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 8e048735f538
wire blob 2bee101a8207
wire blob 7399de4c36f6
call 76 attempt 0 · /messages · status 200 · 5.252 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 220 changed as sent

message 223 changed as sent

message 226 changed as sent

message 220 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.1973 left_j3=-0.9813 left_j4=0.0296 left_j5=-0.485 left_gripper=0.998 right_j0=0.4717 right_j1=2.2745 right_j2=1.9587 right_j3=-1.3483 right_j4=0.004 right_j5=-0.0761 right_gripper=0.9948\nstate[joint_eff]: [-0.1709, 1.8667, 5.3675, 2.0244, -0.0513, -0.0513, -0.0122, -0.3214, -14.4205, 7.6376, 0.0122, -0.0366, 0.0122, -0.2173]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 223 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.1973 left_j3=-1.0004 left_j4=0.0296 left_j5=-0.485 left_gripper=0.998 right_j0=0.4717 right_j1=1.9362 right_j2=1.7649 right_j3=-1.4277 right_j4=0.0044 right_j5=-0.0788 right_gripper=0.9967\nstate[joint_eff]: [-0.1026, 1.9214, 5.2444, 1.9902, -0.0366, -0.0464, -0.0073, -0.3214, -10.1128, 5.6684, 0.3834, -0.022, -0.0171, 0.1832]",
      "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=-0.0074 left_j1=0.6228 left_j2=1.1973 left_j3=-1.0298 left_j4=0.0296 left_j5=-0.485 left_gripper=0.998 right_j0=0.0059 right_j1=0.6186 right_j2=1.1995 right_j3=-0.7155 right_j4=0.0036 right_j5=-0.094 right_gripper=0.9956\nstate[joint_eff]: [-0.0479, 2.0034, 5.1487, 2.1514, -0.0073, -0.0513, -0.0122, -0.1573, 2.2769, 5.9419, 2.8254, -0.022, 0.1343, -0.1197]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 635):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e048735f538dac95fc8d44adb3a5e0076eb98b5914f21251f27a053e62d2799",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 635):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2bee101a8207acc7a31fd828612473c0f02e74593f08ebe49cb7fa03cb0d3b58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 635):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7399de4c36f641dceff647520e92c4f0e54f0f9d1acce53004a766ceb5a3d54c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 8e048735f538]
[blob 2bee101a8207]
[blob 7399de4c36f6]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BBhQ516AmVa2MKzuGyHpkX",
      "input": {
        "note": "Overhead shows blue at (168,185) and red at (172,205): the blue landed ~5 cm beyond the red. Going straight to a table-level pick pose over the blue block's new location.",
        "targets": {
          "right_gripper": 1.0,
          "right_j0": 0.4181,
          "right_j1": 2.6782,
          "right_j2": 2.5222,
          "right_j3": -1.4148
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 33 steps (3.3s)",
      "tool_use_id": "toolu_01BBhQ516AmVa2MKzuGyHpkX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.1957 left_j3=-1.0565 left_j4=0.0296 left_j5=-0.4881 left_gripper=0.998 right_j0=0.4118 right_j1=2.6457 right_j2=2.4905 right_j3=-1.3968 right_j4=0.004 right_j5=-0.1047 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, 1.9487, 5.2991, 2.1123, -0.0317, 0.022, -0.0122, 0.335, -13.7231, 7.8564, 0.0952, -0.0317, 0.0806, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 668):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2877168d0333f6f7de916d955007cf92fb5a93bb5b4e3584ca5ef8f32a91d01e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 668):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cf7631262ee08be4da3aedc30c546df5c317c14afb1d642c4bdf983be1fefd7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 668):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:53220281d321e535adb301645c62adc7e90995553553880b7eda98279a40994c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 2877168d0333
wire blob 6cf7631262ee
wire blob 53220281d321
call 77 attempt 0 · /messages · status 200 · 8.901 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 223 changed as sent

message 226 changed as sent

message 229 changed as sent

message 223 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.1973 left_j3=-1.0004 left_j4=0.0296 left_j5=-0.485 left_gripper=0.998 right_j0=0.4717 right_j1=1.9362 right_j2=1.7649 right_j3=-1.4277 right_j4=0.0044 right_j5=-0.0788 right_gripper=0.9967\nstate[joint_eff]: [-0.1026, 1.9214, 5.2444, 1.9902, -0.0366, -0.0464, -0.0073, -0.3214, -10.1128, 5.6684, 0.3834, -0.022, -0.0171, 0.1832]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 226 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0074 left_j1=0.6228 left_j2=1.1973 left_j3=-1.0298 left_j4=0.0296 left_j5=-0.485 left_gripper=0.998 right_j0=0.0059 right_j1=0.6186 right_j2=1.1995 right_j3=-0.7155 right_j4=0.0036 right_j5=-0.094 right_gripper=0.9956\nstate[joint_eff]: [-0.0479, 2.0034, 5.1487, 2.1514, -0.0073, -0.0513, -0.0122, -0.1573, 2.2769, 5.9419, 2.8254, -0.022, 0.1343, -0.1197]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 229 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.1957 left_j3=-1.0565 left_j4=0.0296 left_j5=-0.4881 left_gripper=0.998 right_j0=0.4118 right_j1=2.6457 right_j2=2.4905 right_j3=-1.3968 right_j4=0.004 right_j5=-0.1047 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, 1.9487, 5.2991, 2.1123, -0.0317, 0.022, -0.0122, 0.335, -13.7231, 7.8564, 0.0952, -0.0317, 0.0806, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 668):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2877168d0333f6f7de916d955007cf92fb5a93bb5b4e3584ca5ef8f32a91d01e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 668):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cf7631262ee08be4da3aedc30c546df5c317c14afb1d642c4bdf983be1fefd7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 668):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53220281d321e535adb301645c62adc7e90995553553880b7eda98279a40994c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 2877168d0333]
[blob 6cf7631262ee]
[blob 53220281d321]
{
  "content": [
    {
      "signature": "CAISzAQKjAEIEBgCKkAVNQfgjk9Ri8UFAUMIvtcSFkPaeG4KUZ8VivAY7Y+I7XNeBViYcduEwCB49PlfSE+11PBV+2+BkUYvGlfURgQNMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMvZtNHjI0V3lB7glOGgz0jTBRJrFsa+8vqH0iMDy/zZ6OiuOyYB+QYOD/MB/RV2OEMyOEcvUyFSBBZI4tyJuZZ7eXwohbkDV+kQl/NirsArsOMoSS8E2vtGfKUpoFKoHuMbyVdOKDZdP7xNTMvmILfeBgX1SVPFUoFAK/oW4P0/DKsdMDOjgsNV2Pgmk+FQg8YLqURe7zC51fdvLknTCOG2YSNP3gpKSMyZObzCkMFH3xKLFaj8dzu/87o6/GPaDnPwU1PIfU67Bpml00OG3FrkI9cKLnCeH4nVt6mtHoKQOfq6zQrWipBZKULbEQMYVdRk2+9vUA2lpUW1Zszv+ggXkmB+U2ZzxLDdKxK7Q6A+79ScaVHNaeqMfnr695SGmAkPumGZoPhYcfTISltMne6fD9hq05gm/+H5rcwBS//Kq4NY1LjMtAeWJzdBu4iOC1ntNKxHWIijGglKPrvK4VNj+hlFrgVWh6oAf76euFAFDHADnhTxS9r+XzqfPJsd+Tejs+kEs9ULydPYcLSmsn+LgZ0M13gcdtpkBEDdvp0EjSO7jDzl+reJYszqycrF032+5M44D0VihgbIIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TDU1jFhPWMGJmu62Jh3aeZ",
      "input": {
        "note": "At the computed table-level pose over the blue block (wrist image is motion-blurred); closing and I'll use the residual to confirm whether I have the block.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01TDU1jFhPWMGJmu62Jh3aeZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.1954 left_j3=-1.079 left_j4=0.0296 left_j5=-0.4885 left_gripper=0.998 right_j0=0.4129 right_j1=2.669 right_j2=2.4954 right_j3=-1.4136 right_j4=0.004 right_j5=-0.1051 right_gripper=0.0086\nstate[joint_eff]: [-0.0752, 2.0171, 5.2855, 2.0342, -0.0366, -0.0659, -0.0122, -0.4308, -16.4581, 5.3128, 0.4225, -0.0513, -0.022, 0.6276]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 678):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:809bb5997c8f67d88c4888d684b03d1872c36d6fd39b0bb9736de30b6efe21e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 678):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de96522f32387a14b8aed87ead19698c25740ac0ace1461e8eadf3db35f81b14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 678):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1bb7bec74ea92c58ae2a0c055af7283694a9c43cb4124a2682317352d1f2d0e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 809bb5997c8f
wire blob de96522f3238
wire blob 1bb7bec74ea9
call 78 attempt 0 · /messages · status 200 · 5.222 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 226 changed as sent

message 229 changed as sent

message 232 changed as sent

message 226 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0074 left_j1=0.6228 left_j2=1.1973 left_j3=-1.0298 left_j4=0.0296 left_j5=-0.485 left_gripper=0.998 right_j0=0.0059 right_j1=0.6186 right_j2=1.1995 right_j3=-0.7155 right_j4=0.0036 right_j5=-0.094 right_gripper=0.9956\nstate[joint_eff]: [-0.0479, 2.0034, 5.1487, 2.1514, -0.0073, -0.0513, -0.0122, -0.1573, 2.2769, 5.9419, 2.8254, -0.022, 0.1343, -0.1197]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 229 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.1957 left_j3=-1.0565 left_j4=0.0296 left_j5=-0.4881 left_gripper=0.998 right_j0=0.4118 right_j1=2.6457 right_j2=2.4905 right_j3=-1.3968 right_j4=0.004 right_j5=-0.1047 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, 1.9487, 5.2991, 2.1123, -0.0317, 0.022, -0.0122, 0.335, -13.7231, 7.8564, 0.0952, -0.0317, 0.0806, -0.105]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 232 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.1954 left_j3=-1.079 left_j4=0.0296 left_j5=-0.4885 left_gripper=0.998 right_j0=0.4129 right_j1=2.669 right_j2=2.4954 right_j3=-1.4136 right_j4=0.004 right_j5=-0.1051 right_gripper=0.0086\nstate[joint_eff]: [-0.0752, 2.0171, 5.2855, 2.0342, -0.0366, -0.0659, -0.0122, -0.4308, -16.4581, 5.3128, 0.4225, -0.0513, -0.022, 0.6276]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 678):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:809bb5997c8f67d88c4888d684b03d1872c36d6fd39b0bb9736de30b6efe21e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 678):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de96522f32387a14b8aed87ead19698c25740ac0ace1461e8eadf3db35f81b14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 678):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1bb7bec74ea92c58ae2a0c055af7283694a9c43cb4124a2682317352d1f2d0e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 809bb5997c8f]
[blob de96522f3238]
[blob 1bb7bec74ea9]
{
  "content": [
    {
      "signature": "CAISgQsKjAEIEBgCKkBEgNGNyNpYl12y2NCpa+X8l+Q1dRc9v59GPFLIoBXtKy4O3ehDsh+bDBjZwUzC+V85aOnko5cH1rPr5Nyw1q5wMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMTGbrqITaetBAa26EGgzX9fLdoLjlm8nXB/YiMNSZuMVOdM/IrVIwfWBqwQZ9QA5qO12tle8bAEyBQ8HqnHieBvlcgCtHbVGg9V/XfyqhCQ1RlIK+u0gblWDb3CXgezK23Y+F7FiPl5+UFwH5GbJUPBDIjBoGGjhLP/mOdN+lu+DF/zGVa5XoSEA6Lelh36q8NmCEkmqDObym1FNcAFxeRhor+YX3cFwnwTVVwl/DOH1mhYQgvb+2WzDP7wOCkxEQhbmKQW66EclOX/CU70Ytbm7Y8uLWm33gnIQ4gggEaYixLvgjOKuT4oI/J+bgAtAWgPqpEo4YiO65RDQcp8KIxMXhztFj01L0D/SdZyRbX6O2G8ccTBjv9wMSKR+2kPoNwRvcLqLkOaobySgEN4KGPgSAIJWfMJBxZNlIs9x+G84GRClqurT4Q0nJPgoqre+P0W5ZNyqspp7g1Hpo8jiQKNo2u25mUMXPQInCSHuO2SlMpqx1zAonwe1TD6RH1Y3aCLtHY+hmbOltMpFgci+PdTgKtL9zZqOQu6joJQcjoAlBoPFaau7pStVAbN5f70Dmc+NveLU+AMGPAClLMA2VH7c6acc18TFc7/B6RnFJin3C/omlcKnQQU78WZoMbSyVG0sKkpePifsvggd3NyZnacmYGfAh+lVuqcmLhi8NF1gDrdMoKlQFDy99iXCdEhEFMZ5wfo7wM29VJ5ysAJzThBmXZVl5jBgDR/ybzg6OUTtJXwhNkcD0ib20WLWqCWebzQpZbwq5QKfyPxZcV7HHKxJH0PmtcX0XQgR6X4W/ovgKNkSM7uWJATEYwWVJ37dPSsfq6g8xzGxETkIRfVSkrqwgYiVdlk3Gn0ryIkFVXey7Sj7pHpVmLiPY54e5M5M/pXF1MRbb+Ld+kyYB6Dk+2k+zf+4LXQozSWofIVVunInS6Z8oLTGduMN7ZM959kgSvYtSvzVa15GQr86TfUmMUW0utOSAYLaOJmX2HSMqKI1fVdBcE8q8h3DwlAJ08+Bwa6Y4VxtPqlh1lPQM8FUMO0zctlNZr1qj5nAbjtp5fauIkf0wkoLfOKR8VmZXbS6iXHWfxVdyKRVgjHU32yuFr+73Odp9x10dRIe85T612m4tax3l7VpXklz6bxZbDvYitYhIQDXA8C4sg4n0Oa6D0SgtDWuUeye6PhbdBp+B/qoLrv2YcsbDLMJM60wpTwsZNT0wDou0ZRIt/ly9Akixmb8BIowE/2WS9hgCGdDGTr9t/3ifQ9D5Af3qkZMZWYPrS/2oHsU9ayULnGBpm+bH6VjIyIkYU1cWfgC4YfMpvOtvTOFjr2Aqk0QCBD/espwLwEqaxb5FgsMWOUdXRC02/7bW1f5u9WwdFD9/jtyWSoT+/bDa/RnnADbxR3vQBYg2TFmXCtef1hZKFm+lRw7fY7ghkQS4JNGBqbQgDi/uj6wjAm94f1pcFPcVQ27kWFfyoAQnDOuu8gbuvulJLebouUKhEhtx3AnegSQzkZo2Q9mwYlTwd3mjkaJgKpdKm2qXmWr+47fiSmaXKtt//yqEitMm9UgYLYtIJd9hmKxMERF7zpfgJKT+V97hyyDc2d+piBXIaKEAcnpJae3qWwrPQPwET+Cs7Da64ux/cuvYZyzM66Xe/r67Qz84pBsqHPpkyULPntZMXau7xh7NVwvDQxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Un36p8PodtNQvtVZr2DsAu",
      "input": {
        "note": "Empty close — the overhead shows my fingertips landed ~4 cm nearer... actually short of and left of the blue block. Correcting 4 cm outward-to-nearer and 2 cm right and reopening for another attempt.",
        "targets": {
          "right_gripper": 1.0,
          "right_j0": 0.375,
          "right_j1": 2.4761,
          "right_j2": 2.1299,
          "right_j3": -1.2246
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Un36p8PodtNQvtVZr2DsAu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.1954 left_j3=-1.1023 left_j4=0.0296 left_j5=-0.4885 left_gripper=0.998 right_j0=0.3824 right_j1=2.4924 right_j2=2.1532 right_j3=-1.2427 right_j4=0.004 right_j5=-0.1051 right_gripper=0.9946\nstate[joint_eff]: [-0.1846, 2.1538, 5.2444, 1.9805, -0.022, -0.0513, -0.0122, -0.7726, -14.4752, 4.9846, 0.2906, -0.0464, -0.0122, -0.1343]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 688):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c578d00d301cb6bbf2bf2d759c8a48dfa7c3fe3c8337ba3ee24a53928847ad1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 688):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a23451aae4e19cae01013f9fc180e087e19825582880a75834572f3d200a43fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 688):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c3f440d63432407b3ced0ed17eb9e37a41545d18d7cfc0b487464470180b6142",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob c578d00d301c
wire blob a23451aae4e1
wire blob c3f440d63432
call 79 attempt 0 · /messages · status 200 · 11.33 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 229 changed as sent

message 232 changed as sent

message 235 changed as sent

message 229 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.1957 left_j3=-1.0565 left_j4=0.0296 left_j5=-0.4881 left_gripper=0.998 right_j0=0.4118 right_j1=2.6457 right_j2=2.4905 right_j3=-1.3968 right_j4=0.004 right_j5=-0.1047 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, 1.9487, 5.2991, 2.1123, -0.0317, 0.022, -0.0122, 0.335, -13.7231, 7.8564, 0.0952, -0.0317, 0.0806, -0.105]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 232 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.1954 left_j3=-1.079 left_j4=0.0296 left_j5=-0.4885 left_gripper=0.998 right_j0=0.4129 right_j1=2.669 right_j2=2.4954 right_j3=-1.4136 right_j4=0.004 right_j5=-0.1051 right_gripper=0.0086\nstate[joint_eff]: [-0.0752, 2.0171, 5.2855, 2.0342, -0.0366, -0.0659, -0.0122, -0.4308, -16.4581, 5.3128, 0.4225, -0.0513, -0.022, 0.6276]\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 235 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.1954 left_j3=-1.1023 left_j4=0.0296 left_j5=-0.4885 left_gripper=0.998 right_j0=0.3824 right_j1=2.4924 right_j2=2.1532 right_j3=-1.2427 right_j4=0.004 right_j5=-0.1051 right_gripper=0.9946\nstate[joint_eff]: [-0.1846, 2.1538, 5.2444, 1.9805, -0.022, -0.0513, -0.0122, -0.7726, -14.4752, 4.9846, 0.2906, -0.0464, -0.0122, -0.1343]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 688):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c578d00d301cb6bbf2bf2d759c8a48dfa7c3fe3c8337ba3ee24a53928847ad1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 688):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a23451aae4e19cae01013f9fc180e087e19825582880a75834572f3d200a43fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 688):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3f440d63432407b3ced0ed17eb9e37a41545d18d7cfc0b487464470180b6142",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob c578d00d301c]
[blob a23451aae4e1]
[blob c3f440d63432]
{
  "content": [
    {
      "signature": "CAIS8wUKjAEIEBgCKkC5jB1yFVw2QFUSA1szbOCqdEtH/W3Q6RF1YMis1y49Sn210wLUmR24CJJZb4sTlRuuEHnFUoSOL2E3Pfr+I/9TMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMKN68yYD3LJZLYX+GGgzIhhNmf23HjYZE1UkiMAA/ORRxtN0sIx5bk5dY2OU6TenkC3Q3pAtsEXsTrV13+vWji44hPA/yOEohhiOewCqTBIQXYJyuLMV8vhCM7MkqDS5J7K5z2ria8J8SsUvhD3S8P8YccDK6GdFHYHalBLNS1RaigYlUYJ+r18y2ALdfMR6fM/TvM+jL0ygqumifGo2+kVs1CSDbiLYo2g7bFf7TSOSJDEg9CcovgEwZIdxavsoVxjsO8Jn4vpAdlXQB1ENLZ3HC5o3HisembmkVzcGTFL6gnfiq8BIf691ZXXTEJCrt3TCUqC0erlXW/zMXqvUQtyQPDTkvrHAOyYSqJyHeqXoOfkQYjyN/Ed21gCOg0b8eLp0SDd+1TnFmgYI2h7JExnQU1uNDuM1Gkrqt8XeUUPZeXJeq6fmb0UnM6CxmCG82YkB1/2NIplooyVFatFh8N5vhsgqKatLxVoWJLJgrPzz43tScWjwU1X+J5GUInTieaKgk14h9U++fWWr9tAxNLymDRnu1zFoulCONONqtOdybvzVF0H6E/fUdKYBeSLokntG/nqt6rW1RVg1G5n8gHX7d7D/ZkviGJCveXxoiCAO9C08Z2nqpLlsebiV+3mcjgt4+l+zgkL2ywOCY3duf+j+S+WANuL48PJqVF4nmAPnLHEm+iLMWB69ODp/aCan17I+qmHpe2Xm0zgNe7yrzAiy6/au25tAZwSAaXVFXPYQinymBMxP5XUNIk7JnY7tNVlYe9gyxDbWQyRLgLWK6GwEY4QAtULjfg7qDYSWwwCvP7RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KBZfuBuoHis8tob9mDZK19",
      "input": {
        "note": "A light-coloured object edge is just entering the bottom of the wrist frame between the jaws; closing to try the grasp.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01KBZfuBuoHis8tob9mDZK19",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6224 left_j2=1.1954 left_j3=-1.1095 left_j4=0.0296 left_j5=-0.4885 left_gripper=0.998 right_j0=0.3801 right_j1=2.487 right_j2=2.1445 right_j3=-1.24 right_j4=0.004 right_j5=-0.1051 right_gripper=0.0083\nstate[joint_eff]: [-0.1436, 1.8256, 5.2581, 1.8242, -0.0171, -0.0757, -0.0122, -0.1436, -13.135, 6.5162, 0.2418, -0.0171, -0.0171, 0.5543]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 698):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbd00d50f42f3a18e2ad2fec84c74c4e6bd962a868ea633c6f2e2eede728fdd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 698):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:448b18b13b59f737d1d9335cc5a3282b859cdd0f7d5080c27831228309d7fff1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 698):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e5bbc4c50c2270e9057208c595e42e375ff9510f6264397397154eeda629e808",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob fbd00d50f42f
wire blob 448b18b13b59
wire blob e5bbc4c50c22
call 80 attempt 0 · /messages · status 200 · 4.423 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 232 changed as sent

message 235 changed as sent

message 238 changed as sent

message 232 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.1954 left_j3=-1.079 left_j4=0.0296 left_j5=-0.4885 left_gripper=0.998 right_j0=0.4129 right_j1=2.669 right_j2=2.4954 right_j3=-1.4136 right_j4=0.004 right_j5=-0.1051 right_gripper=0.0086\nstate[joint_eff]: [-0.0752, 2.0171, 5.2855, 2.0342, -0.0366, -0.0659, -0.0122, -0.4308, -16.4581, 5.3128, 0.4225, -0.0513, -0.022, 0.6276]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 235 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.1954 left_j3=-1.1023 left_j4=0.0296 left_j5=-0.4885 left_gripper=0.998 right_j0=0.3824 right_j1=2.4924 right_j2=2.1532 right_j3=-1.2427 right_j4=0.004 right_j5=-0.1051 right_gripper=0.9946\nstate[joint_eff]: [-0.1846, 2.1538, 5.2444, 1.9805, -0.022, -0.0513, -0.0122, -0.7726, -14.4752, 4.9846, 0.2906, -0.0464, -0.0122, -0.1343]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 238 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6224 left_j2=1.1954 left_j3=-1.1095 left_j4=0.0296 left_j5=-0.4885 left_gripper=0.998 right_j0=0.3801 right_j1=2.487 right_j2=2.1445 right_j3=-1.24 right_j4=0.004 right_j5=-0.1051 right_gripper=0.0083\nstate[joint_eff]: [-0.1436, 1.8256, 5.2581, 1.8242, -0.0171, -0.0757, -0.0122, -0.1436, -13.135, 6.5162, 0.2418, -0.0171, -0.0171, 0.5543]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 698):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbd00d50f42f3a18e2ad2fec84c74c4e6bd962a868ea633c6f2e2eede728fdd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 698):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:448b18b13b59f737d1d9335cc5a3282b859cdd0f7d5080c27831228309d7fff1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 698):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5bbc4c50c2270e9057208c595e42e375ff9510f6264397397154eeda629e808",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob fbd00d50f42f]
[blob 448b18b13b59]
[blob e5bbc4c50c22]
{
  "content": [
    {
      "signature": "CAISiAgKjAEIEBgCKkBEzZL4XbiU3jSVboMUdFSC1sw1ZTamprXr+etae3qlvFFtAEqo5lg56OoXyGb/GZwJN1G67RvBw+WOtfrXqtuLMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMkpY2sLvmXJG6ZYXMGgw8daBTGfSaRUxqI1ciMMDPmyBB2mSNCn84xEqg5PYZV5ua7dtklXc9SUBKdJHq/t9rzhdqEKJt356ssCMYECqoBs4CIf0otfc5Mt+8PMYkK+b+qMD1CVlL6tNswLwRld2UduwtMcRzon7nxmY82e7fJD34nTAhag4QiUrEDC1KAJbfL84cV4Y0+WME4EAAjIV+RRnNjDqTX2SuLon0K7gFQYqWQcq2XIB8QZGHxp5MwNVRIfuZX7MUXQ3p+ZQwo0ecyNqIQYijazA4SFaRjNN/8DYGu/GNk76vDhuO2h+OtL5OhBY4zN/NWOHAO3R+pT4muLEXYcqUw7GCNjcKLBRQkmerezBJZ64U+hoCasHffGilkzybYzWfWjTDZnRJv7iCDRmfzXs1dUtfaNZSLshB4BT9RtT7DEhJxMxAnFz+iIhXEOkEVKWKOVnH68iXtc1t42E/FtKYtwrXpjojge8J6114sYAtHEryEtxJKW+zKtij0UdZaw5ltapW4cgnpnbljEx/nfjP/UDf0PqZ9wRUegy1cdwHwxg38RsYSfc+IbUJzNmUtHkjQntvDhGp1ffCdPuv/VgSIey8MUY69VrXUzxtmVSjNDDbkDdz582Si3E971vkXFAQZ9HpE5jxzmVk9ngNVR8WZvMyAOqnNxGOpSWyJgPx84VjqyImxJBSYpg+5jBoRd1C1ZlEfcrts4829f4pEofdF9QD8nKC01WWMGBDQW73UhZhd5BPJ+7U6TydzwLzLNeJTBXseqYMgqrZn+DAypIbKpVVawy4xWa+PBA/J2AEfPGCx9VXpunTk0xDrinSu0+pHGxP13mHCiS364C1aOyUvq/rJuog01EKJjjIQALOhAX82ezjA8RIFBmyBvxN/R+iqqFnxNFy1rXAKYDkBkVXgxFw0mgZbBBsuNTYFcUeOgDI8Gv2IX/qxolH3EbI81v60/HtBFvj9Dm00ZmWtzYMJCnRWxSiz1+tAQbEez/xGcELenQX8t80OeLVk8EjDMqXLGkZB8b6yEd/kR0AYMTMONyfTJemaeJ8h2qi+9Q4ttJTbCsgUKWgARTdKGLBhItwjvRtAxusEE01d6SosbQJp/PDof4GdNUMa9MHvg9AahRM89KrOdJeSz3GGug0hrgbExOj2JoKBZOW6A701QhTlswYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01L9kNd5vPEuW6vtsjDLEGuk",
      "input": {
        "note": "Empty again, but the blue block is now visible at the bottom-left corner of the wrist frame, ~5 cm to the arm's left of the jaws. Reopening and swinging j0 to +0.50 to line up.",
        "targets": {
          "right_gripper": 1.0,
          "right_j0": 0.5
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01L9kNd5vPEuW6vtsjDLEGuk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.1954 left_j3=-1.1309 left_j4=0.0296 left_j5=-0.4885 left_gripper=0.998 right_j0=0.4843 right_j1=2.487 right_j2=2.1445 right_j3=-1.2396 right_j4=0.0105 right_j5=-0.1055 right_gripper=0.9944\nstate[joint_eff]: [-0.1846, 1.7573, 5.2308, 1.9267, -0.0269, -0.0415, -0.0122, 0.9915, -13.5453, 5.7094, 0.2418, -0.0317, -0.0513, -0.0513]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 708):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cbeaf5c55124c2ad4e52e3d46fa8b64678a67aa27fd40d6370f5872b08c0a5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 708):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f0766c6d8eebee46413773fbfa436f2642139ed3039188900642f60822cbd92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 708):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e7df2e22058b42b9da7ba850f3c1056770df680ebd0079ce608fcb45d891915c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 7cbeaf5c5512
wire blob 3f0766c6d8ee
wire blob e7df2e22058b
call 81 attempt 0 · /messages · status 200 · 9.725 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 235 changed as sent

message 238 changed as sent

message 241 changed as sent

message 235 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.1954 left_j3=-1.1023 left_j4=0.0296 left_j5=-0.4885 left_gripper=0.998 right_j0=0.3824 right_j1=2.4924 right_j2=2.1532 right_j3=-1.2427 right_j4=0.004 right_j5=-0.1051 right_gripper=0.9946\nstate[joint_eff]: [-0.1846, 2.1538, 5.2444, 1.9805, -0.022, -0.0513, -0.0122, -0.7726, -14.4752, 4.9846, 0.2906, -0.0464, -0.0122, -0.1343]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 238 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6224 left_j2=1.1954 left_j3=-1.1095 left_j4=0.0296 left_j5=-0.4885 left_gripper=0.998 right_j0=0.3801 right_j1=2.487 right_j2=2.1445 right_j3=-1.24 right_j4=0.004 right_j5=-0.1051 right_gripper=0.0083\nstate[joint_eff]: [-0.1436, 1.8256, 5.2581, 1.8242, -0.0171, -0.0757, -0.0122, -0.1436, -13.135, 6.5162, 0.2418, -0.0171, -0.0171, 0.5543]\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 241 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.1954 left_j3=-1.1309 left_j4=0.0296 left_j5=-0.4885 left_gripper=0.998 right_j0=0.4843 right_j1=2.487 right_j2=2.1445 right_j3=-1.2396 right_j4=0.0105 right_j5=-0.1055 right_gripper=0.9944\nstate[joint_eff]: [-0.1846, 1.7573, 5.2308, 1.9267, -0.0269, -0.0415, -0.0122, 0.9915, -13.5453, 5.7094, 0.2418, -0.0317, -0.0513, -0.0513]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 708):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cbeaf5c55124c2ad4e52e3d46fa8b64678a67aa27fd40d6370f5872b08c0a5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 708):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f0766c6d8eebee46413773fbfa436f2642139ed3039188900642f60822cbd92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 708):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7df2e22058b42b9da7ba850f3c1056770df680ebd0079ce608fcb45d891915c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 7cbeaf5c5512]
[blob 3f0766c6d8ee]
[blob e7df2e22058b]
{
  "content": [
    {
      "signature": "CAISmwMKjAEIEBgCKkBW4mpCxJatuD0yOR+E7TZ7rSTQy1tw3m9kXWeDtzFOHu4SrfabQb+3EPkxeCfHjIoc6b3047P4B2P4QnPJ0nbbMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMxxG1i95KPBiwNA9AGgzL0vYWQDG0/YrR7KQiMOI38ktX1GLXZXA/puE4U0EyF3XPiorpNdYTxjyiRabTYg10ajsms4ARyULGMFnh8iq7AQVsxO3yITBDO1LWfVAldauPagut0zIKD3DzDOGMYKP9YEg/Rjfbedl6SDqkspWfwypSlQRp921UQ/AYAB4/ghpGdFo81PdCLy41UfCRVnTOgX8gcjYLxoNJePO7oGQyo1SvJGZwcWh9b1Y7rXkSjzAL5s/klLdFLm+1tLybTwLKSVs4IYoLjDoNyXPvp2GGvyaqulFB/w7p7GtYuAiNoMBgQHp7G/EjW5QQ2TOCqoq7KzSq4sJ6tf8UyYwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018Xi3WB6foNP3iv1GjxEmBt",
      "input": {
        "note": "The block now shows as a sliver right between the open jaws at the bottom of the wrist frame; closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_018Xi3WB6foNP3iv1GjxEmBt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0078 left_j1=0.6228 left_j2=1.1954 left_j3=-1.1534 left_j4=0.0296 left_j5=-0.4885 left_gripper=0.998 right_j0=0.4889 right_j1=2.487 right_j2=2.1445 right_j3=-1.24 right_j4=0.0048 right_j5=-0.1051 right_gripper=0.0083\nstate[joint_eff]: [-0.0889, 2.1128, 5.1624, 1.9707, -0.0122, -0.0562, -0.0122, -0.3761, -13.7504, 5.7231, 0.2369, 0.0171, -0.022, 0.569]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 718):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8833e5e75603355d857d9abb5b10c0aee1d15ce1b6496556574466b83185e020",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 718):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89a19c28cb3b4774eba22d29597d16d9e6dd63677b32983bfde94e66a458c956",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 718):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f4f08f7536b3a851cf4e8c33f1901cde8e1c0d16567a926e91462955ae7bd453",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 8833e5e75603
wire blob 89a19c28cb3b
wire blob f4f08f7536b3