adhoc - adhoc_e8b79077.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.anthropic.com/v1
depth: render
effort: low
image_horizon: 2
images: always
max_llm_calls: 100
max_output_tokens: 16000
max_speed_frac: 0.1
model: claude-opus-5
pre_check: null
prior_learnings: null
prior_learnings_sha256: null
replan_interval: null
speed: fast
temperature: null
transcript_echo: false
wire: messages
wire_capture: true
seed: 0
max steps: 12000
duration: 530.2 s
total steps: 294

operator

scenes

trials

errored

scene-0

completed

Place the left block on top of the right block

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

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

user

Goal: Place the left block on top of the right block

step 0

assistant

agent noteTwo blocks sit mid-table (blue on the left, red on the right). I'm swinging the left arm out over the blue block with the gripper pointing down to get a wrist-camera view for calibration.

move_joints

left_j0-0.4800left_j12.3700left_j22.1750left_j3-1.3760left_j40.0000left_j5-0.4800left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=0.0059 left_j1=0.0093 left_j2=0.0143 left_j3=-0.0326 left_j4=0.0067 left_j5=-0.0185 left_gripper=0.999 right_j0=-0.0006 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0406 right_j4=-0.0086 right_j5=0.0059 right_gripper=0.9994 state[joint_eff]: [-0.6359, 1.0735, 5.9829, 2.2051, -0.1245, 0.1099, -0.1245, -0.0615, 1.6342, 6.4068, 2.254, 0.0366, -0.105, -0.0708] 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": -0.48, "left_j1": 2.37, "left_j2": 2.175, "left_j3": -1.376, "left_j4": 0, "left_j5": -0.48, "left_gripper": 1}, "note": "Two blocks sit mid-table (blue on the left, red on the right). I'm swinging the left arm out over the blue block with the gripper pointing down to get a wrist-camera view for calibration."})

tool

executing move_joints over 38 steps (3.8s)

step 38

assistant

agent noteOverhead shows my gripper hovering forward-beyond the blue block, and the wrist view has no block in it, so I'm pulling the hand back ~10 cm radially and slightly left to bring the blue block under the jaws.

move_joints

left_j0-0.4200left_j11.9950left_j21.5570left_j3-1.1330left_j5-0.4200

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.4801 left_j1=2.3863 left_j2=2.1452 left_j3=-1.3579 left_j4=0.0074 left_j5=-0.4728 left_gripper=0.999 right_j0=-0.0002 right_j1=0.0036 right_j2=0.0078 right_j3=-0.0502 right_j4=-0.0124 right_j5=0.0063 right_gripper=0.9994 state[joint_eff]: [-0.1983, -14.3658, 8.4308, 0.0855, -0.1392, -0.0904, -0.1197, -0.0752, 1.7436, 6.9675, 1.9414, 0.0366, -0.0757, -0.0171] camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j0": -0.42, "left_j1": 1.995, "left_j2": 1.557, "left_j3": -1.133, "left_j5": -0.42}, "note": "Overhead shows my gripper hovering forward-beyond the blue block, and the wrist view has no block in it, so I'm pulling the hand back ~10 cm radially and slightly left to bring the blue block under the jaws."})

tool

executing move_joints over 10 steps (1.0s)

step 48

assistant

agent noteThe blue block now appears in the wrist camera at bottom-right of the jaw gap; I'm yawing the base 0.1 rad (~3 cm) to the arm's right to center it, which also calibrates the wrist-camera pixel scale.

move_joints

left_j0-0.5200left_j5-0.5200

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.4232 left_j1=2.0285 left_j2=1.5608 left_j3=-1.1427 left_j4=0.0078 left_j5=-0.4351 left_gripper=0.9989 right_j0=-0.0006 right_j1=0.0036 right_j2=0.0078 right_j3=-0.0574 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994 state[joint_eff]: [0.1026, -12.9162, 5.2991, 0.3443, -0.0415, 0.0757, -0.0171, -0.0615, 1.7983, 7.0632, 1.9267, -0.0366, -0.0708, -0.0171] camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j0": -0.52, "left_j5": -0.52}, "note": "The blue block now appears in the wrist camera at bottom-right of the jaw gap; I'm yawing the base 0.1 rad (~3 cm) to the arm's right to center it, which also calibrates the wrist-camera pixel scale."})

tool

executing move_joints over 2 steps (0.2s)

step 50

assistant

agent noteThe yaw nudge centered the blue block under the jaw gap (~12 px/cm in the wrist view); now I extend ~3 cm radially and drop to ~10 cm height to line up over it.

move_joints

left_j12.1820left_j21.6280left_j3-1.0170

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5133 left_j1=2.0289 left_j2=1.5608 left_j3=-1.1439 left_j4=0.0086 left_j5=-0.4931 left_gripper=0.9989 right_j0=-0.0006 right_j1=0.0036 right_j2=0.0078 right_j3=-0.0574 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994 state[joint_eff]: [0.8957, -10.3726, 5.6137, 0.149, -0.0611, -0.0708, -0.0122, -0.0479, 1.6342, 7.0085, 1.8632, 0.0024, -0.0464, -0.0073] camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j1": 2.182, "left_j2": 1.628, "left_j3": -1.017}, "note": "The yaw nudge centered the blue block under the jaw gap (~12 px/cm in the wrist view); now I extend ~3 cm radially and drop to ~10 cm height to line up over it."})

tool

executing move_joints over 3 steps (0.3s)

step 53

assistant

agent noteThe block has slipped out of the wrist view below the jaws (a pale object shows between them), consistent with being right at the grasp point; I'm descending to near table level to straddle it.

move_joints

left_j12.3480left_j21.5730left_j3-0.7960

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5167 left_j1=2.1864 left_j2=1.6066 left_j3=-1.0458 left_j4=0.0147 left_j5=-0.5137 left_gripper=0.9989 right_j0=-0.0006 right_j1=0.0036 right_j2=0.0078 right_j3=-0.0647 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994 state[joint_eff]: [-0.0889, -11.1795, 7.6513, 0.3687, -0.1001, 0.1343, -0.0171, -0.253, 1.9761, 7.0222, 1.9365, -0.0317, -0.0855, -0.0171] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j1": 2.348, "left_j2": 1.573, "left_j3": -0.796}, "note": "The block has slipped out of the wrist view below the jaws (a pale object shows between them), consistent with being right at the grasp point; I'm descending to near table level to straddle it."})

tool

executing move_joints over 4 steps (0.4s)

step 57

assistant

agent noteThe descent undershot (j1 stalled at 2.21 of 2.35) with efforts unloaded, so I'm re-issuing slightly beyond the target to converge to table level.

move_joints

left_j12.4200left_j21.5730left_j3-0.7960

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5175 left_j1=2.2143 left_j2=1.6234 left_j3=-1.0084 left_j4=0.0299 left_j5=-0.5228 left_gripper=0.9988 right_j0=-0.0006 right_j1=0.0036 right_j2=0.0078 right_j3=-0.065 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994 state[joint_eff]: [-0.1983, -0.9915, 1.3607, 2.293, -0.2076, 0.0464, -0.0171, -0.212, 1.8256, 7.0085, 1.9023, -0.0366, -0.0659, -0.0171] camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j1": 2.42, "left_j2": 1.573, "left_j3": -0.796}, "note": "The descent undershot (j1 stalled at 2.21 of 2.35) with efforts unloaded, so I'm re-issuing slightly beyond the target to converge to table level."})

tool

executing move_joints over 4 steps (0.4s)

step 61

assistant

agent notej1 effort flipped positive, meaning the fingertips are on the table; I'll close the gripper and read the residual to see whether the blue block is actually between the jaws.

move_joints

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5167 left_j1=2.2429 left_j2=1.6413 left_j3=-1.0271 left_j4=0.0372 left_j5=-0.5255 left_gripper=0.9988 right_j0=-0.0002 right_j1=0.0036 right_j2=0.0078 right_j3=-0.065 right_j4=-0.0162 right_j5=0.0063 right_gripper=0.9994 state[joint_eff]: [-0.3897, 2.6598, 0.2803, 2.5275, -0.0952, -0.0513, -0.0171, -0.1299, 1.6342, 7.0085, 1.873, -0.0171, -0.0757, -0.0073] camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_gripper": 0}, "note": "j1 effort flipped positive, meaning the fingertips are on the table; I'll close the gripper and read the residual to see whether the blue block is actually between the jaws."})

tool

executing move_joints over 10 steps (1.0s)

step 71

assistant

agent noteThe close came up empty (residual 0.01), and the overhead view shows the blue block just left of and behind my jaws; I'm reopening, lifting to ~7 cm, and shifting ~3 cm left and ~2.5 cm back toward it.

move_joints

left_gripper1.0000left_j0-0.4300left_j5-0.4300left_j12.1740left_j21.4600left_j3-0.8570

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5175 left_j1=2.2211 left_j2=1.6524 left_j3=-1.0412 left_j4=0.0467 left_j5=-0.5251 left_gripper=0.0086 right_j0=-0.0006 right_j1=0.0036 right_j2=0.0078 right_j3=-0.065 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994 state[joint_eff]: [-0.2803, -9.8803, 4.7248, 0.315, -0.1197, -0.0269, 0.6374, -0.1709, 1.6889, 6.9949, 1.8681, -0.0513, -0.022, -0.0073] 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_gripper": 1, "left_j0": -0.43, "left_j5": -0.43, "left_j1": 2.174, "left_j2": 1.46, "left_j3": -0.857}, "note": "The close came up empty (residual 0.01), and the overhead view shows the blue block just left of and behind my jaws; I'm reopening, lifting to ~7 cm, and shifting ~3 cm left and ~2.5 cm back toward it."})

tool

executing move_joints over 10 steps (1.0s)

step 81

assistant

agent noteOnly a pale sliver of the block shows at the very bottom of the wrist frame; I'm lifting to ~15 cm so the block comes fully into view and I can center it precisely before descending.

move_joints

left_j12.0100left_j21.5810left_j3-1.1420

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.4511 left_j1=2.1277 left_j2=1.5055 left_j3=-0.9028 left_j4=0.0563 left_j5=-0.4564 left_gripper=0.9942 right_j0=-0.0006 right_j1=0.0048 right_j2=0.0078 right_j3=-0.065 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994 state[joint_eff]: [1.4564, -7.0906, 2.3726, 0.7253, -0.0659, 0.1587, -0.1392, -0.2256, 1.9214, 7.2, 1.9121, -0.0171, -0.0562, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j1": 2.01, "left_j2": 1.581, "left_j3": -1.142}, "note": "Only a pale sliver of the block shows at the very bottom of the wrist frame; I'm lifting to ~15 cm so the block comes fully into view and I can center it precisely before descending."})

tool

executing move_joints over 4 steps (0.4s)

step 85

assistant

agent noteOverhead shows the blue block roughly below (base-ward of) my jaws, so I'm retracting ~5 cm radially at 15 cm height to bring it under the wrist camera.

move_joints

left_j11.8400left_j21.3390left_j3-1.0700

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.448 left_j1=2.0647 left_j2=1.5494 left_j3=-1.0641 left_j4=0.0448 left_j5=-0.453 left_gripper=0.9953 right_j0=-0.0006 right_j1=0.0044 right_j2=0.0078 right_j3=-0.065 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994 state[joint_eff]: [-0.0752, -13.1487, 8.1162, 0.1001, 0.1001, -0.0611, 0.1001, -0.1162, 1.9761, 7.1179, 1.9072, -0.0415, -0.0659, -0.0073] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j1": 1.84, "left_j2": 1.339, "left_j3": -1.07}, "note": "Overhead shows the blue block roughly below (base-ward of) my jaws, so I'm retracting ~5 cm radially at 15 cm height to bring it under the wrist camera."})

tool

executing move_joints over 4 steps (0.4s)

step 89

assistant

agent noteThe blue block is now clearly visible in the wrist camera, off to the image-right and slightly ahead of the jaws; I'm yawing ~3 cm to the arm's right and extending ~2.5 cm to center it over the grasp point.

move_joints

left_j0-0.5500left_j5-0.5500left_j11.9250left_j21.4560left_j3-1.1020

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.4477 left_j1=1.8931 left_j2=1.3567 left_j3=-1.074 left_j4=0.0444 left_j5=-0.4526 left_gripper=0.9954 right_j0=-0.0002 right_j1=0.0063 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994 state[joint_eff]: [0.0342, -11.1248, 5.7778, 0.4518, 0.0024, -0.0073, -0.0024, -0.0479, 1.935, 7.0632, 1.9414, -0.0269, -0.0513, -0.0122] camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j0": -0.55, "left_j5": -0.55, "left_j1": 1.925, "left_j2": 1.456, "left_j3": -1.102}, "note": "The blue block is now clearly visible in the wrist camera, off to the image-right and slightly ahead of the jaws; I'm yawing ~3 cm to the arm's right and extending ~2.5 cm to center it over the grasp point."})

tool

executing move_joints over 2 steps (0.2s)

step 91

assistant

agent noteThe move undershot (j0 only reached -0.49) and the block is still image-right; re-issuing with the yaw commanded a bit beyond the goal.

move_joints

left_j0-0.6000left_j5-0.6000left_j11.9250left_j21.4560left_j3-1.1020

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.4904 left_j1=1.8957 left_j2=1.404 left_j3=-1.1057 left_j4=0.038 left_j5=-0.4999 left_gripper=0.9954 right_j0=-0.0006 right_j1=0.0063 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0166 right_j5=0.0063 right_gripper=0.9994 state[joint_eff]: [-1.9487, -8.5265, 7.1179, 0.149, 0.0611, 0.0269, -0.0122, -0.1983, 1.6205, 7.0359, 1.8877, -0.0513, -0.0757, -0.0073] camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j0": -0.6, "left_j5": -0.6, "left_j1": 1.925, "left_j2": 1.456, "left_j3": -1.102}, "note": "The move undershot (j0 only reached -0.49) and the block is still image-right; re-issuing with the yaw commanded a bit beyond the goal."})

tool

executing move_joints over 2 steps (0.2s)

step 93

assistant

agent noteThe blue block is now centered in the jaw gap in the wrist view; I'm descending to ~5 cm while extending 2 cm so the jaws straddle it.

move_joints

left_j12.2120left_j21.4200left_j3-0.7790

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5716 left_j1=1.9301 left_j2=1.4384 left_j3=-1.0996 left_j4=0.0406 left_j5=-0.5709 left_gripper=0.9954 right_j0=-0.0002 right_j1=0.0067 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0162 right_j5=0.0063 right_gripper=0.9994 state[joint_eff]: [-1.2923, -9.9487, 6.9675, 0.2466, -0.022, -0.0904, -0.0122, -0.0752, 1.6342, 6.9812, 1.917, -0.0269, -0.0611, -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": 2.212, "left_j2": 1.42, "left_j3": -0.779}, "note": "The blue block is now centered in the jaw gap in the wrist view; I'm descending to ~5 cm while extending 2 cm so the jaws straddle it."})

tool

executing move_joints over 6 steps (0.6s)

step 99

assistant

agent noteThe block's top face now sits right between the jaws at the bottom of the wrist frame; the descent stalled short, so I re-issue slightly beyond to get the fingers alongside the block.

move_joints

left_j12.2800left_j21.4200left_j3-0.7790

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5678 left_j1=2.1063 left_j2=1.4483 left_j3=-0.971 left_j4=0.0563 left_j5=-0.5888 left_gripper=0.9954 right_j0=-0.0002 right_j1=0.0082 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0162 right_j5=0.0063 right_gripper=0.9994 state[joint_eff]: [-0.4581, -1.9077, 3.0291, 2.1856, -0.105, 0.1197, -0.0122, -0.0615, 1.7709, 7.0906, 1.8632, -0.0366, -0.0415, -0.0122] camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j1": 2.28, "left_j2": 1.42, "left_j3": -0.779}, "note": "The block's top face now sits right between the jaws at the bottom of the wrist frame; the descent stalled short, so I re-issue slightly beyond to get the fingers alongside the block."})

tool

executing move_joints over 4 steps (0.4s)

step 103

assistant

agent noteFingertips have reached table level (j1 effort positive) with the block between the jaws; closing to grasp.

move_joints

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5648 left_j1=2.1353 left_j2=1.4738 left_j3=-0.9924 left_j4=0.0669 left_j5=-0.593 left_gripper=0.9954 right_j0=-0.0002 right_j1=0.0082 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994 state[joint_eff]: [-0.1299, 1.2239, 1.1829, 2.2686, -0.0757, 0.0366, -0.0122, -0.0205, 1.6752, 6.9949, 1.9072, -0.0171, -0.0317, -0.0073] camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_gripper": 0}, "note": "Fingertips have reached table level (j1 effort positive) with the block between the jaws; closing to grasp."})

tool

executing move_joints over 10 steps (1.0s)

step 113

assistant

agent noteGrasp confirmed: gripper residual 0.44 (~4 cm block) with high gripper effort. Lifting the block to ~16 cm before transporting it toward the red block.

move_joints

left_j11.9770left_j21.5770left_j3-1.1710

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5652 left_j1=2.1216 left_j2=1.4834 left_j3=-1.01 left_j4=0.0708 left_j5=-0.5995 left_gripper=0.4414 right_j0=-0.0006 right_j1=0.0082 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0162 right_j5=0.0063 right_gripper=0.9994 state[joint_eff]: [-0.1709, -9.6479, 4.4786, 0.2955, -0.0562, 0.0611, 1.033, -0.0479, 1.7162, 7.2137, 1.8779, -0.022, -0.0757, -0.0073] camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j1": 1.977, "left_j2": 1.577, "left_j3": -1.171}, "note": "Grasp confirmed: gripper residual 0.44 (~4 cm block) with high gripper effort. Lifting the block to ~16 cm before transporting it toward the red block."})

tool

executing move_joints over 3 steps (0.3s)

step 116

assistant

agent noteBlock is lifted and hanging in the jaws; swinging the base yaw toward the red block's bearing while keeping the same radius and height.

move_joints

left_j0-0.9000left_j5-0.9000

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.5652 left_j1=2.0579 left_j2=1.5352 left_j3=-1.111 left_j4=0.0708 left_j5=-0.6014 left_gripper=0.4414 right_j0=-0.0002 right_j1=0.0082 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994 state[joint_eff]: [-0.3761, -14.4342, 8.1299, 0.0952, 0.022, -0.0073, 1.033, -0.0752, 1.7983, 7.0085, 1.873, -0.022, -0.0513, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). 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_j0": -0.9, "left_j5": -0.9}, "note": "Block is lifted and hanging in the jaws; swinging the base yaw toward the red block's bearing while keeping the same radius and height."})

tool

executing move_joints over 6 steps (0.6s)

step 122

assistant

agent noteOverhead shows the red block still ~12 cm to the arm's right and forward of my gripper; extending the reach to r≈0.47 m at 16 cm height on that bearing.

move_joints

left_j0-0.9100left_j5-0.9100left_j12.6250left_j22.6930left_j3-1.6390

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8768 left_j1=2.0796 left_j2=1.533 left_j3=-1.1099 left_j4=0.0677 left_j5=-0.8356 left_gripper=0.4457 right_j0=-0.0002 right_j1=0.0082 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0162 right_j5=0.0063 right_gripper=0.9994 state[joint_eff]: [-0.3897, -12.2325, 6.1333, 0.149, 0.0562, -0.1343, 1.033, -0.0615, 1.6342, 7.1316, 1.8535, -0.0562, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j0": -0.91, "left_j5": -0.91, "left_j1": 2.625, "left_j2": 2.693, "left_j3": -1.639}, "note": "Overhead shows the red block still ~12 cm to the arm's right and forward of my gripper; extending the reach to r\u22480.47 m at 16 cm height on that bearing."})

tool

executing move_joints over 19 steps (1.9s)

step 141

assistant

agent noteThe wrist camera now shows the red 'a' block centred ahead of the jaws but still ~4-5 cm beyond the grasp point; I'm extending radially (with a slight forward gripper tilt to buy reach) to get over it.

move_joints

left_j12.6930left_j22.6970left_j3-1.4040

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9012 left_j1=2.6228 left_j2=2.6476 left_j3=-1.6035 left_j4=0.0708 left_j5=-0.9142 left_gripper=0.4463 right_j0=-0.0002 right_j1=0.009 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994 state[joint_eff]: [-1.0051, -14.3385, 8.1436, 0.0513, -0.0415, 0.0073, 1.033, -0.0752, 1.5385, 6.9812, 1.9463, -0.0122, -0.0562, -0.0122] camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j1": 2.693, "left_j2": 2.697, "left_j3": -1.404}, "note": "The wrist camera now shows the red 'a' block centred ahead of the jaws but still ~4-5 cm beyond the grasp point; I'm extending radially (with a slight forward gripper tilt to buy reach) to get over it."})

tool

executing move_joints over 4 steps (0.4s)

step 145

assistant

agent noteThe red block is nearly under the grasp point now (slightly image-left); nudging ~1 cm to the arm's left and lowering ~2 cm toward its top face.

move_joints

left_j0-0.8800left_j5-0.9000left_j12.7000left_j22.6290left_j3-1.3290

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.9009 left_j1=2.6797 left_j2=2.6678 left_j3=-1.5116 left_j4=0.0708 left_j5=-0.918 left_gripper=0.4463 right_j0=-0.0002 right_j1=0.0093 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0162 right_j5=0.0067 right_gripper=0.9994 state[joint_eff]: [0.0479, -13.4359, 8.1573, 1.1453, 0.0415, -0.0024, 1.0232, -0.0615, 1.7573, 7.159, 1.8388, -0.0562, -0.0806, -0.0122] camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j0": -0.88, "left_j5": -0.9, "left_j1": 2.7, "left_j2": 2.629, "left_j3": -1.329}, "note": "The red block is nearly under the grasp point now (slightly image-left); nudging ~1 cm to the arm's left and lowering ~2 cm toward its top face."})

tool

executing move_joints over 3 steps (0.3s)

step 148

assistant

agent noteThe held block is up against the red block's near face rather than above it; I'm raising to ~16 cm and tilting the gripper more forward to buy reach so I can get over the red block's top.

move_joints

left_j12.6310left_j22.6390left_j3-1.0080

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8913 left_j1=2.6797 left_j2=2.661 left_j3=-1.454 left_j4=0.0891 left_j5=-0.9173 left_gripper=0.4463 right_j0=-0.0002 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994 state[joint_eff]: [0.8821, -13.0667, 3.1932, 1.6923, -0.2564, 0.1001, 1.0281, -0.0752, 1.7436, 6.9949, 1.8974, -0.0366, -0.0757, -0.0073] camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j1": 2.631, "left_j2": 2.639, "left_j3": -1.008}, "note": "The held block is up against the red block's near face rather than above it; I'm raising to ~16 cm and tilting the gripper more forward to buy reach so I can get over the red block's top."})

tool

executing move_joints over 8 steps (0.8s)

step 156

assistant

agent noteWrist view puts the red block ~2 cm to my left and ~2 cm ahead of the held block; nudging left and extending to the reach limit to hover the carried block over it.

move_joints

left_j0-0.8500left_j5-0.9000left_j12.8280left_j22.9080left_j3-1.0800

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8886 left_j1=2.6762 left_j2=2.6438 left_j3=-1.1221 left_j4=0.0971 left_j5=-0.9298 left_gripper=0.4464 right_j0=-0.0002 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0162 right_j5=0.0067 right_gripper=0.9994 state[joint_eff]: [-0.3077, -18.6872, 5.8872, 1.4383, -0.0952, 0.0659, 0.9744, -0.0068, 1.6889, 6.9949, 1.8681, -0.0171, -0.0366, -0.0122] camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j0": -0.85, "left_j5": -0.9, "left_j1": 2.828, "left_j2": 2.908, "left_j3": -1.08}, "note": "Wrist view puts the red block ~2 cm to my left and ~2 cm ahead of the held block; nudging left and extending to the reach limit to hover the carried block over it."})

tool

executing move_joints over 5 steps (0.5s)

step 161

assistant

agent noteThe red block dropped out of the wrist frame (I over-extended past it); retracting ~3 cm and lifting slightly to re-acquire it in view.

move_joints

left_j12.5670left_j22.4750left_j3-0.9080

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8585 left_j1=2.8193 left_j2=2.8712 left_j3=-1.1103 left_j4=0.0978 left_j5=-0.9318 left_gripper=0.4491 right_j0=-0.0002 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994 state[joint_eff]: [0.4991, -16.0752, 8.5949, 1.4286, 0.0024, 0.3346, 0.9206, -0.1846, 1.7162, 6.9812, 1.9023, -0.0317, -0.0415, -0.0073] camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j1": 2.567, "left_j2": 2.475, "left_j3": -0.908}, "note": "The red block dropped out of the wrist frame (I over-extended past it); retracting ~3 cm and lifting slightly to re-acquire it in view."})

tool

executing move_joints over 7 steps (0.7s)

step 168

assistant

agent noteOverhead shows the red block right beside my wrist but the wrist camera can't see it; raising to ~20 cm with the gripper pointing straight down to get a wider top-down view of the block.

move_joints

left_j12.4860left_j22.5860left_j3-1.5000

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8551 left_j1=2.6419 left_j2=2.4916 left_j3=-0.9581 left_j4=0.0978 left_j5=-0.9291 left_gripper=0.4491 right_j0=-0.0002 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0162 right_j5=0.0067 right_gripper=0.9994 state[joint_eff]: [-0.3897, -19.453, 6.4889, 1.4969, 0.022, -0.0513, 0.9597, -0.0615, 2.0034, 7.0222, 1.8584, -0.0024, -0.0366, -0.0122] camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j1": 2.486, "left_j2": 2.586, "left_j3": -1.5}, "note": "Overhead shows the red block right beside my wrist but the wrist camera can't see it; raising to ~20 cm with the gripper pointing straight down to get a wider top-down view of the block."})

tool

executing move_joints over 9 steps (0.9s)

step 177

assistant

agent noteFrom 20 cm up I can see the red 'a' block ~3 cm to my left and ~4 cm ahead of the carried block; moving left and 2 cm forward, descending to ~16 cm.

move_joints

left_j0-0.7900left_j5-0.8500left_j12.6160left_j22.6690left_j3-1.4530

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8551 left_j1=2.5618 left_j2=2.5515 left_j3=-1.4193 left_j4=0.0978 left_j5=-0.9356 left_gripper=0.4513 right_j0=-0.0002 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994 state[joint_eff]: [-0.3487, -18.947, 8.1983, 0.4762, 0.0171, 0.0122, 0.7937, -0.1709, 1.7162, 7.0085, 1.8779, -0.0171, -0.0659, -0.0073] camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j0": -0.79, "left_j5": -0.85, "left_j1": 2.616, "left_j2": 2.669, "left_j3": -1.453}, "note": "From 20 cm up I can see the red 'a' block ~3 cm to my left and ~4 cm ahead of the carried block; moving left and 2 cm forward, descending to ~16 cm."})

tool

executing move_joints over 2 steps (0.2s)

step 179

assistant

agent noteMove undershot again; re-issuing with the yaw pushed a bit further left to keep closing on the red block.

move_joints

left_j0-0.7600left_j5-0.8500left_j12.6160left_j22.6690left_j3-1.4530

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8364 left_j1=2.5652 left_j2=2.6392 left_j3=-1.4818 left_j4=0.1024 left_j5=-0.9039 left_gripper=0.4513 right_j0=-0.0002 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0162 right_j5=0.0063 right_gripper=0.9994 state[joint_eff]: [2.7966, -11.7402, 6.5162, 0.4371, -0.0513, 0.1685, 0.7643, -0.0068, 1.7026, 6.9949, 1.8584, -0.0366, -0.0415, -0.0073] camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j0": -0.76, "left_j5": -0.85, "left_j1": 2.616, "left_j2": 2.669, "left_j3": -1.453}, "note": "Move undershot again; re-issuing with the yaw pushed a bit further left to keep closing on the red block."})

tool

executing move_joints over 2 steps (0.2s)

step 181

assistant

agent noteThe red block is now just 1-3 cm ahead-left of the carried block in the wrist view; small final nudge left and forward while dropping to ~14 cm.

move_joints

left_j0-0.7400left_j5-0.8500left_j12.7500left_j22.8510left_j3-1.5010

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7815 left_j1=2.6431 left_j2=2.6499 left_j3=-1.4593 left_j4=0.099 left_j5=-0.8627 left_gripper=0.4543 right_j0=-0.0006 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0162 right_j5=0.0063 right_gripper=0.9994 state[joint_eff]: [1.4974, -16.5812, 7.2274, 0.5641, 0.0659, 0.1001, 0.5934, -0.3214, 1.7983, 7.0085, 1.9121, -0.0464, -0.0806, -0.0073] camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j0": -0.74, "left_j5": -0.85, "left_j1": 2.75, "left_j2": 2.851, "left_j3": -1.501}, "note": "The red block is now just 1-3 cm ahead-left of the carried block in the wrist view; small final nudge left and forward while dropping to ~14 cm."})

tool

executing move_joints over 4 steps (0.4s)

step 185

assistant

agent noteThe red block has passed out of the wrist frame under the jaws, consistent with the carried block now hovering over it; descending ~4 cm while watching effort for the moment it lands on the red block.

move_joints

left_j12.7430left_j22.6740left_j3-1.3310

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7517 left_j1=2.7476 left_j2=2.8113 left_j3=-1.5051 left_j4=0.1009 left_j5=-0.8635 left_gripper=0.4558 right_j0=-0.0002 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0162 right_j5=0.0067 right_gripper=0.9994 state[joint_eff]: [0.8684, -14.8855, 7.7197, 0.7888, -0.0757, 0.0611, 0.4371, -0.1299, 1.5932, 6.9812, 1.8632, -0.022, -0.0366, -0.0073] camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j1": 2.743, "left_j2": 2.674, "left_j3": -1.331}, "note": "The red block has passed out of the wrist frame under the jaws, consistent with the carried block now hovering over it; descending ~4 cm while watching effort for the moment it lands on the red block."})

tool

executing move_joints over 3 steps (0.3s)

step 188

assistant

agent noteNo contact yet at the last height; descending another ~2 cm in a small step, watching for the effort rise that means the carried block has set down on the red one.

move_joints

left_j12.7640left_j22.6340left_j3-1.3550

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7444 left_j1=2.7403 left_j2=2.706 left_j3=-1.4052 left_j4=0.1017 left_j5=-0.8642 left_gripper=0.4559 right_j0=-0.0002 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0162 right_j5=0.0067 right_gripper=0.9994 state[joint_eff]: [-0.8, -14.735, 5.1214, 0.7448, 0.0269, -0.0122, 0.6032, 0.0068, 1.6479, 7.0359, 1.8877, -0.022, -0.0415, -0.0122] camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j1": 2.764, "left_j2": 2.634, "left_j3": -1.355}, "note": "No contact yet at the last height; descending another ~2 cm in a small step, watching for the effort rise that means the carried block has set down on the red one."})

tool

executing move_joints over 2 steps (0.2s)

step 190

assistant

agent noteStill no contact; continuing the descent in another small step toward the red block's top face.

move_joints

left_j12.8170left_j22.5750left_j3-1.3290

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7483 left_j1=2.7548 left_j2=2.6583 left_j3=-1.356 left_j4=0.1017 left_j5=-0.8639 left_gripper=0.458 right_j0=-0.0006 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994 state[joint_eff]: [0.2393, -14.3521, 4.6974, 0.4811, -0.0269, -0.0024, 0.5739, 0.0205, 1.7162, 6.9949, 1.9023, -0.0269, -0.0513, -0.0073] camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j1": 2.817, "left_j2": 2.575, "left_j3": -1.329}, "note": "Still no contact; continuing the descent in another small step toward the red block's top face."})

tool

executing move_joints over 2 steps (0.2s)

step 192

assistant

agent noteDescent has stalled with effort relaxing, suggesting the carried block has set down; opening the gripper to release, then I'll lift and inspect the result.

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=-0.7464 left_j1=2.7506 left_j2=2.6328 left_j3=-1.3392 left_j4=0.1024 left_j5=-0.8642 left_gripper=0.4596 right_j0=-0.0006 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0162 right_j5=0.0067 right_gripper=0.9994 state[joint_eff]: [-0.4171, -9.6342, 1.7436, 0.5104, 0.0122, -0.0024, 0.3834, -0.1026, 1.6068, 6.9949, 1.8632, -0.0171, -0.0611, -0.0073] 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}, "note": "Descent has stalled with effort relaxing, suggesting the carried block has set down; opening the gripper to release, then I'll lift and inspect the result."})

tool

executing move_joints over 6 steps (0.6s)

step 198

assistant

agent noteBlock released; lifting and retracting the arm so the overhead camera can show whether it landed on top of the red block.

move_joints

left_j12.4000left_j22.3000left_j3-1.3000

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7494 left_j1=2.7441 left_j2=2.6373 left_j3=-1.3277 left_j4=0.1062 left_j5=-0.8711 left_gripper=0.9956 right_j0=-0.0006 right_j1=0.0113 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994 state[joint_eff]: [-0.1299, -14.5983, 6.0786, 0.4518, -0.0171, 0.0611, -0.1636, -0.1162, 1.7299, 6.9949, 1.9707, -0.0171, -0.0464, -0.0122] camera 'top_cam' (step 198): [image omitted: streamed camera frame] camera 'left_cam' (step 198): [image omitted: streamed camera frame] camera 'right_cam' (step 198): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j1": 2.4, "left_j2": 2.3, "left_j3": -1.3}, "note": "Block released; lifting and retracting the arm so the overhead camera can show whether it landed on top of the red block."})

tool

executing move_joints over 6 steps (0.6s)

step 204

assistant

agent noteWrist view suggests the two blocks are side by side rather than stacked; pulling the arm further back for a clear look.

move_joints

left_j12.1000left_j21.9000left_j3-1.2000

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7486 left_j1=2.4714 left_j2=2.3173 left_j3=-1.3041 left_j4=0.1055 left_j5=-0.8711 left_gripper=0.9967 right_j0=-0.0006 right_j1=0.0139 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994 state[joint_eff]: [-0.3214, -16.9778, 5.8735, 0.652, 0.0464, -0.0464, 0.1001, -0.1846, 1.853, 7.2274, 1.8681, -0.0464, -0.0415, -0.0122] camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j1": 2.1, "left_j2": 1.9, "left_j3": -1.2}, "note": "Wrist view suggests the two blocks are side by side rather than stacked; pulling the arm further back for a clear look."})

tool

executing move_joints over 7 steps (0.7s)

step 211

assistant

agent noteClear view: the blue-letter block landed beside (not on) the red 'a' block. I'm repositioning over the blue block to re-grasp it, moving ~4 cm to the arm's right and ~6 cm forward at 15 cm height.

move_joints

left_j0-0.8600left_j5-0.8600left_j12.4170left_j22.2550left_j3-1.2380

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7483 left_j1=2.1437 left_j2=1.9266 left_j3=-1.2167 left_j4=0.1047 left_j5=-0.8707 left_gripper=0.9969 right_j0=-0.0006 right_j1=0.017 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994 state[joint_eff]: [-0.1573, -12.588, 5.3675, 0.6862, 0.0611, -0.0122, -0.0024, -0.1162, 1.8256, 6.9812, 1.8681, -0.0415, -0.0464, -0.0073] 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": -0.86, "left_j5": -0.86, "left_j1": 2.417, "left_j2": 2.255, "left_j3": -1.238}, "note": "Clear view: the blue-letter block landed beside (not on) the red 'a' block. I'm repositioning over the blue block to re-grasp it, moving ~4 cm to the arm's right and ~6 cm forward at 15 cm height."})

tool

executing move_joints over 6 steps (0.6s)

step 217

assistant

agent noteBlue block is centred laterally but ~5 cm ahead of the jaws; extending forward and descending toward table level to straddle it.

move_joints

left_j12.6930left_j22.4070left_j3-1.1140

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8497 left_j1=2.4168 left_j2=2.2074 left_j3=-1.2491 left_j4=0.1028 left_j5=-0.8715 left_gripper=0.9969 right_j0=-0.0006 right_j1=0.0193 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0162 right_j5=0.0063 right_gripper=0.9994 state[joint_eff]: [-0.4718, -14.1333, 7.8154, 0.5934, 0.0317, 0.1343, -0.0171, -0.0889, 1.4291, 6.9949, 1.9219, -0.0366, -0.0513, -0.0122] camera 'top_cam' (step 217): [image omitted: streamed camera frame] camera 'left_cam' (step 217): [image omitted: streamed camera frame] camera 'right_cam' (step 217): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j1": 2.693, "left_j2": 2.407, "left_j3": -1.114}, "note": "Blue block is centred laterally but ~5 cm ahead of the jaws; extending forward and descending toward table level to straddle it."})

tool

executing move_joints over 5 steps (0.5s)

step 222

assistant

agent noteClose in now: the blue block sits at the bottom-left of the wrist frame, so I'm yawing ~3 cm to the arm's left to line the jaw gap up with it.

move_joints

left_j0-0.7900left_j5-0.8500

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8536 left_j1=2.6232 left_j2=2.397 left_j3=-1.2083 left_j4=0.0982 left_j5=-0.8902 left_gripper=0.9968 right_j0=-0.0002 right_j1=0.0223 right_j2=0.0097 right_j3=-0.0685 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994 state[joint_eff]: [-0.0615, -9.3607, 6.1744, 1.5263, 0.0562, 0.1636, -0.0171, -0.2393, 1.5385, 6.8718, 1.9316, -0.0024, -0.0366, -0.0122] camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j0": -0.79, "left_j5": -0.85}, "note": "Close in now: the blue block sits at the bottom-left of the wrist frame, so I'm yawing ~3 cm to the arm's left to line the jaw gap up with it."})

tool

executing move_joints over 2 steps (0.2s)

step 224

assistant

agent noteThe yaw barely moved (only 0.015 rad, with elevated j0 effort); re-issuing a larger left yaw to center the block.

move_joints

left_j0-0.7400left_j5-0.8500

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.8387 left_j1=2.6293 left_j2=2.4111 left_j3=-1.214 left_j4=0.1101 left_j5=-0.8833 left_gripper=0.9968 right_j0=-0.0006 right_j1=0.0223 right_j2=0.0097 right_j3=-0.0685 right_j4=-0.0162 right_j5=0.0063 right_gripper=0.9994 state[joint_eff]: [3.2752, -15.2137, 4.8205, 0.6227, -0.1343, 0.2271, -0.0122, -0.0342, 2.0718, 7.4735, 1.8779, -0.0171, -0.0659, -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_j0": -0.74, "left_j5": -0.85}, "note": "The yaw barely moved (only 0.015 rad, with elevated j0 effort); re-issuing a larger left yaw to center the block."})

tool

executing move_joints over 2 steps (0.2s)

step 226

assistant

agent noteThe block is now framed between the jaws; small final 1 cm left nudge plus a slight descent before closing.

move_joints

left_j0-0.7650left_j12.7000left_j22.4200left_j3-1.1800

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7849 left_j1=2.6282 left_j2=2.4111 left_j3=-1.2221 left_j4=0.1261 left_j5=-0.868 left_gripper=0.9968 right_j0=-0.0006 right_j1=0.0223 right_j2=0.0097 right_j3=-0.0685 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994 state[joint_eff]: [3.0564, -14.612, 6.0513, 0.6129, -0.1783, 0.1538, -0.0073, -0.2256, 1.7709, 7.0222, 1.9023, -0.0171, -0.0659, -0.0073] camera 'top_cam' (step 226): [image omitted: streamed camera frame] camera 'left_cam' (step 226): [image omitted: streamed camera frame] camera 'right_cam' (step 226): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j0": -0.765, "left_j1": 2.7, "left_j2": 2.42, "left_j3": -1.18}, "note": "The block is now framed between the jaws; small final 1 cm left nudge plus a slight descent before closing."})

tool

executing move_joints over 2 steps (0.2s)

step 228

assistant

agent noteBlock sits squarely between the two jaw silhouettes; closing to re-grasp it.

move_joints

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7517 left_j1=2.6354 left_j2=2.4222 left_j3=-1.2293 left_j4=0.1173 left_j5=-0.8688 left_gripper=0.9969 right_j0=-0.0006 right_j1=0.0223 right_j2=0.0097 right_j3=-0.0685 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994 state[joint_eff]: [-1.1419, -9.1692, 5.9556, 1.0867, 0.2857, -0.0122, -0.0073, -0.1709, 1.5795, 7.1453, 1.8828, -0.0073, -0.0659, -0.0122] 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}, "note": "Block sits squarely between the two jaw silhouettes; closing to re-grasp it."})

tool

executing move_joints over 10 steps (1.0s)

step 238

assistant

agent noteRe-grasped the block (residual 0.44, high gripper effort). Lifting to ~16 cm and shifting ~2.5 cm left and ~3.5 cm back, which is where the red block sits relative to the pick point.

move_joints

left_j0-0.6990left_j5-0.8000left_j12.3690left_j22.2100left_j3-1.2410

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7506 left_j1=2.6389 left_j2=2.4283 left_j3=-1.2358 left_j4=0.1131 left_j5=-0.8715 left_gripper=0.4449 right_j0=-0.0002 right_j1=0.0235 right_j2=0.0097 right_j3=-0.0685 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994 state[joint_eff]: [-0.1162, -14.7487, 5.4496, 0.5446, 0.0611, -0.0317, 1.033, -0.0615, 1.6615, 7.1863, 1.9072, -0.0024, -0.0757, -0.0171] 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": -0.699, "left_j5": -0.8, "left_j1": 2.369, "left_j2": 2.21, "left_j3": -1.241}, "note": "Re-grasped the block (residual 0.44, high gripper effort). Lifting to ~16 cm and shifting ~2.5 cm left and ~3.5 cm back, which is where the red block sits relative to the pick point."})

tool

executing move_joints over 5 steps (0.5s)

step 243

assistant

agent noteWrist view shows bare table, so the red block is hidden below/behind the jaws; raising to ~22 cm with the gripper straight down to see it and confirm alignment before lowering.

move_joints

left_j12.3550left_j22.4310left_j3-1.4760

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7044 left_j1=2.4493 left_j2=2.2223 left_j3=-1.2373 left_j4=0.1127 left_j5=-0.8249 left_gripper=0.4493 right_j0=-0.0006 right_j1=0.0242 right_j2=0.0097 right_j3=-0.0685 right_j4=-0.0154 right_j5=0.0067 right_gripper=0.9994 state[joint_eff]: [0.2393, -17.853, 5.7915, 0.5201, 0.0562, 0.1832, 0.8864, -0.1162, 2.0718, 7.2, 1.8632, -0.0122, -0.0464, -0.0171] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j1": 2.355, "left_j2": 2.431, "left_j3": -1.476}, "note": "Wrist view shows bare table, so the red block is hidden below/behind the jaws; raising to ~22 cm with the gripper straight down to see it and confirm alignment before lowering."})

tool

executing move_joints over 4 steps (0.4s)

step 247

assistant

agent noteFrom 22 cm the red block shows ~3 cm to my right and ~3.5 cm ahead; moving right and forward by that amount at 17 cm height to hover the carried block directly over it.

move_joints

left_j0-0.7720left_j5-0.8500left_j12.5720left_j22.6250left_j3-1.4530

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7006 left_j1=2.4084 left_j2=2.3898 left_j3=-1.4063 left_j4=0.1127 left_j5=-0.8204 left_gripper=0.4506 right_j0=-0.0002 right_j1=0.0242 right_j2=0.0097 right_j3=-0.0685 right_j4=-0.0162 right_j5=0.0067 right_gripper=0.9994 state[joint_eff]: [-0.3897, -17.4154, 7.9248, 0.4274, -0.0122, -0.0855, 1.033, -0.1162, 1.6615, 7.1316, 1.8828, -0.0024, -0.0415, -0.0073] camera 'top_cam' (step 247): [image omitted: streamed camera frame] camera 'left_cam' (step 247): [image omitted: streamed camera frame] camera 'right_cam' (step 247): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j0": -0.772, "left_j5": -0.85, "left_j1": 2.572, "left_j2": 2.625, "left_j3": -1.453}, "note": "From 22 cm the red block shows ~3 cm to my right and ~3.5 cm ahead; moving right and forward by that amount at 17 cm height to hover the carried block directly over it."})

tool

executing move_joints over 4 steps (0.4s)

step 251

assistant

agent noteOnly a sliver of red peeks out beyond the carried block's far-right corner, so I'm ~1 cm short; nudging 1 cm right and 1 cm forward at 16 cm height.

move_joints

left_j0-0.7900left_j5-0.8500left_j12.6520left_j22.7390left_j3-1.4870

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7589 left_j1=2.5725 left_j2=2.5801 left_j3=-1.4582 left_j4=0.1131 left_j5=-0.8467 left_gripper=0.4506 right_j0=-0.0006 right_j1=0.0242 right_j2=0.0097 right_j3=-0.0685 right_j4=-0.0162 right_j5=0.0067 right_gripper=0.9994 state[joint_eff]: [-0.3077, -16.0205, 8.3761, 0.5348, 0.0269, -0.0464, 1.033, -0.1983, 1.7573, 7.1726, 1.9121, -0.0464, -0.0611, -0.0122] camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j0": -0.79, "left_j5": -0.85, "left_j1": 2.652, "left_j2": 2.739, "left_j3": -1.487}, "note": "Only a sliver of red peeks out beyond the carried block's far-right corner, so I'm ~1 cm short; nudging 1 cm right and 1 cm forward at 16 cm height."})

tool

executing move_joints over 3 steps (0.3s)

step 254

assistant

agent noteCarried block now appears directly over the red block (only its far edge peeks past); descending ~7 cm in one step, watching for contact effort.

move_joints

left_j12.6750left_j22.4990left_j3-1.2240

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7795 left_j1=2.6431 left_j2=2.6953 left_j3=-1.4849 left_j4=0.1127 left_j5=-0.8608 left_gripper=0.4534 right_j0=-0.0002 right_j1=0.0242 right_j2=0.0097 right_j3=-0.0685 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994 state[joint_eff]: [-1.0051, -13.9282, 8.0205, 0.5299, 0.0122, 0.105, 0.9402, -0.0615, 1.7573, 7.0222, 1.8974, -0.022, -0.0708, -0.0122] camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j1": 2.675, "left_j2": 2.499, "left_j3": -1.224}, "note": "Carried block now appears directly over the red block (only its far edge peeks past); descending ~7 cm in one step, watching for contact effort."})

tool

executing move_joints over 5 steps (0.5s)

step 259

assistant

agent noteDescent stalled slightly short; re-issuing a bit beyond to seat the carried block onto the red block's top face.

move_joints

left_j12.7200left_j22.4990left_j3-1.2240

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7746 left_j1=2.6514 left_j2=2.5359 left_j3=-1.3163 left_j4=0.1173 left_j5=-0.8642 left_gripper=0.4529 right_j0=-0.0006 right_j1=0.0242 right_j2=0.0097 right_j3=-0.0689 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994 state[joint_eff]: [-0.7316, -12.8752, 4.6974, 0.7106, 0.0611, -0.0122, 0.5592, -0.0479, 1.6205, 7.0085, 1.9072, -0.0171, -0.0464, -0.0122] camera 'top_cam' (step 259): [image omitted: streamed camera frame] camera 'left_cam' (step 259): [image omitted: streamed camera frame] camera 'right_cam' (step 259): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j1": 2.72, "left_j2": 2.499, "left_j3": -1.224}, "note": "Descent stalled slightly short; re-issuing a bit beyond to seat the carried block onto the red block's top face."})

tool

executing move_joints over 2 steps (0.2s)

step 261

assistant

agent noteReleasing the block at the seated position; I'll then lift away to check whether it is stacked on the red block.

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=-0.7765 left_j1=2.6762 left_j2=2.5072 left_j3=-1.2667 left_j4=0.1173 left_j5=-0.8646 left_gripper=0.4527 right_j0=-0.0006 right_j1=0.0254 right_j2=0.0097 right_j3=-0.0685 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994 state[joint_eff]: [-0.0068, -11.3162, 5.2444, 0.9548, 0.022, -0.022, 0.8474, -0.253, 1.7026, 7.0222, 1.9219, -0.0171, -0.0757, -0.0122] camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_gripper": 1}, "note": "Releasing the block at the seated position; I'll then lift away to check whether it is stacked on the red block."})

tool

executing move_joints over 6 steps (0.6s)

step 267

assistant

agent noteGripper opened; retracting and lifting the arm to inspect the stack from the wrist and overhead cameras.

move_joints

left_j12.2000left_j22.0000left_j3-1.2000

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7769 left_j1=2.6781 left_j2=2.5111 left_j3=-1.2659 left_j4=0.1211 left_j5=-0.8707 left_gripper=0.9953 right_j0=-0.0006 right_j1=0.0254 right_j2=0.0097 right_j3=-0.0681 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994 state[joint_eff]: [-0.1983, -15.0632, 6.1607, 0.4957, -0.0171, 0.0513, -0.1636, -0.212, 1.6205, 7.0222, 1.9756, -0.0317, -0.0562, -0.0073] camera 'top_cam' (step 267): [image omitted: streamed camera frame] camera 'left_cam' (step 267): [image omitted: streamed camera frame] camera 'right_cam' (step 267): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j1": 2.2, "left_j2": 2.0, "left_j3": -1.2}, "note": "Gripper opened; retracting and lifting the arm to inspect the stack from the wrist and overhead cameras."})

tool

executing move_joints over 9 steps (0.9s)

step 276

assistant

agent noteThe wrist view shows the blue '1' block sitting squarely on top of the red 'a' block — stack achieved. Withdrawing the arm to clear the view and confirm the stack stands on its own.

move_joints

left_j0-0.3000left_j11.2000left_j21.4000left_j3-0.8000

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.7765 left_j1=2.2513 left_j2=2.0247 left_j3=-1.2037 left_j4=0.1207 left_j5=-0.8711 left_gripper=0.9967 right_j0=-0.0006 right_j1=0.0296 right_j2=0.0097 right_j3=-0.0689 right_j4=-0.0154 right_j5=0.0067 right_gripper=0.9994 state[joint_eff]: [-0.1436, -14.694, 6.0239, 0.652, 0.0317, -0.0317, 0.1245, -0.0615, 1.7026, 7.0085, 1.9023, -0.0317, -0.0855, -0.0073] camera 'top_cam' (step 276): [image omitted: streamed camera frame] camera 'left_cam' (step 276): [image omitted: streamed camera frame] camera 'right_cam' (step 276): [image omitted: streamed camera frame]

assistant

move_joints({"targets": {"left_j0": -0.3, "left_j1": 1.2, "left_j2": 1.4, "left_j3": -0.8}, "note": "The wrist view shows the blue '1' block sitting squarely on top of the red 'a' block \u2014 stack achieved. Withdrawing the arm to clear the view and confirm the stack stands on its own."})

tool

executing move_joints over 17 steps (1.7s)

step 293

assistant

The blue "1" block is stacked on the red "a" block and the arm is clear.

agent notePicked the left (blue '1') block with the left arm and stacked it on top of the right (red 'a') block; verified in wrist and overhead views after withdrawing the arm.

done

hindsightPlanar IK from the rig formulas works well, but on this rig the FK/IK z and r biases meant the useful working numbers were r≈0.33 for the near block and r≈0.48-0.50 (near the reach limit) for the far one — tilting the gripper to C≈-1.4 instead of -1.57 buys the last few cm of reach. The wrist camera is the only reliable alignment cue: at 15-22 cm height its scale is ~11-21 px/cm, the grasp point is at (115,~190), and a target that vanishes from frame is usually directly under the jaws. Blind descents that 'stall' don't prove you're stacked — my first release put the block beside the target; raising to ~20 cm with the gripper straight down to re-see the target block, then correcting 1-3 cm, was what worked. Moves undershoot badly near full extension; expect to re-issue every command 1-2 times with 0.05-0.1 rad overshoot.

Raw transcript

user

Current observation. Instruction: Place the left block on top of the right block state[joint_pos]: left_j0=-0.3134 left_j1=1.2346 left_j2=1.4132 left_j3=-0.8478 left_j4=0.1207 left_j5=-0.8719 left_gripper=0.9967 right_j0=-0.0002 right_j1=0.0357 right_j2=0.0097 right_j3=-0.0689 right_j4=-0.0154 right_j5=0.0067 right_gripper=0.9994 state[joint_eff]: [0.335, -4.6427, 6.4068, 2.1123, 0.0122, -0.0269, 0.0024, -0.1299, 1.4017, 7.0222, 1.9023, -0.0317, -0.0806, -0.0122] camera 'top_cam' (step 293): [image omitted: streamed camera frame] camera 'left_cam' (step 293): [image omitted: streamed camera frame] camera 'right_cam' (step 293): [image omitted: streamed camera frame]

assistant

The blue "1" block is stacked on the red "a" block and the arm is clear.

done({"summary": "Picked the left (blue '1') block with the left arm and stacked it on top of the right (red 'a') block; verified in wrist and overhead views after withdrawing the arm.", "hindsight": "Planar IK from the rig formulas works well, but on this rig the FK/IK z and r biases meant the useful working numbers were r\u22480.33 for the near block and r\u22480.48-0.50 (near the reach limit) for the far one \u2014 tilting the gripper to C\u2248-1.4 instead of -1.57 buys the last few cm of reach. The wrist camera is the only reliable alignment cue: at 15-22 cm height its scale is ~11-21 px/cm, the grasp point is at (115,~190), and a target that vanishes from frame is usually directly under the jaws. Blind descents that 'stall' don't prove you're stacked \u2014 my first release put the block beside the target; raising to ~20 cm with the gripper straight down to re-see the target block, then correcting 1-3 cm, was what worked. Moves undershoot badly near full extension; expect to re-issue every command 1-2 times with 0.05-0.1 rad overshoot."})

tool

done: Picked the left (blue '1') block with the left arm and stacked it on top of the right (red 'a') block; verified in wrist and overhead views after withdrawing the arm.

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 · 7.067 s

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

{
  "content": "Goal: Place the left block on top of the right block",
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=0.0059 left_j1=0.0093 left_j2=0.0143 left_j3=-0.0326 left_j4=0.0067 left_j5=-0.0185 left_gripper=0.999 right_j0=-0.0006 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0406 right_j4=-0.0086 right_j5=0.0059 right_gripper=0.9994\nstate[joint_eff]: [-0.6359, 1.0735, 5.9829, 2.2051, -0.1245, 0.1099, -0.1245, -0.0615, 1.6342, 6.4068, 2.254, 0.0366, -0.105, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:916540b375c4e3dd97de9e195caa13b366fec55af4cb9025b610cb7ad83a7d4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21649293b565193d894db0b391fd4dc003c8809f46cc6ecd53d310e7afaa2814",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e8904b714c0aca90a2aad9e8c0bdd2a52d0779f65cda5d2e615c92e743e513ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 1 attempt 0 · /messages · status 200 · 6.437 s

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

message 1 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=0.0059 left_j1=0.0093 left_j2=0.0143 left_j3=-0.0326 left_j4=0.0067 left_j5=-0.0185 left_gripper=0.999 right_j0=-0.0006 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0406 right_j4=-0.0086 right_j5=0.0059 right_gripper=0.9994\nstate[joint_eff]: [-0.6359, 1.0735, 5.9829, 2.2051, -0.1245, 0.1099, -0.1245, -0.0615, 1.6342, 6.4068, 2.254, 0.0366, -0.105, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:916540b375c4e3dd97de9e195caa13b366fec55af4cb9025b610cb7ad83a7d4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21649293b565193d894db0b391fd4dc003c8809f46cc6ecd53d310e7afaa2814",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8904b714c0aca90a2aad9e8c0bdd2a52d0779f65cda5d2e615c92e743e513ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 916540b375c4]

[blob 21649293b565]

[blob e8904b714c0a]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01T6TWaeRfQTFNPuaQvPpZyb",
      "input": {
        "note": "Two blocks sit mid-table (blue on the left, red on the right). I'm swinging the left arm out over the blue block with the gripper pointing down to get a wrist-camera view for calibration.",
        "targets": {
          "left_gripper": 1,
          "left_j0": -0.48,
          "left_j1": 2.37,
          "left_j2": 2.175,
          "left_j3": -1.376,
          "left_j4": 0,
          "left_j5": -0.48
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 38 steps (3.8s)",
      "tool_use_id": "toolu_01T6TWaeRfQTFNPuaQvPpZyb",
      "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=-0.4801 left_j1=2.3863 left_j2=2.1452 left_j3=-1.3579 left_j4=0.0074 left_j5=-0.4728 left_gripper=0.999 right_j0=-0.0002 right_j1=0.0036 right_j2=0.0078 right_j3=-0.0502 right_j4=-0.0124 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -14.3658, 8.4308, 0.0855, -0.1392, -0.0904, -0.1197, -0.0752, 1.7436, 6.9675, 1.9414, 0.0366, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd528f2fc14e29c254512baca3afdd501a7af8e72c826799d6763697478ea638",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f380ea7e471124342b405e8559446b4985b2a8c5479c8c35d734efe332684c4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3a6af4ac1b70c0c04987f50b64ee83d36eb1920dcee022bcfb21655f22851f3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 2 attempt 0 · /messages · status 200 · 5.01 s

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

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=0.0059 left_j1=0.0093 left_j2=0.0143 left_j3=-0.0326 left_j4=0.0067 left_j5=-0.0185 left_gripper=0.999 right_j0=-0.0006 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0406 right_j4=-0.0086 right_j5=0.0059 right_gripper=0.9994\nstate[joint_eff]: [-0.6359, 1.0735, 5.9829, 2.2051, -0.1245, 0.1099, -0.1245, -0.0615, 1.6342, 6.4068, 2.254, 0.0366, -0.105, -0.0708]",
      "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=-0.4801 left_j1=2.3863 left_j2=2.1452 left_j3=-1.3579 left_j4=0.0074 left_j5=-0.4728 left_gripper=0.999 right_j0=-0.0002 right_j1=0.0036 right_j2=0.0078 right_j3=-0.0502 right_j4=-0.0124 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -14.3658, 8.4308, 0.0855, -0.1392, -0.0904, -0.1197, -0.0752, 1.7436, 6.9675, 1.9414, 0.0366, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd528f2fc14e29c254512baca3afdd501a7af8e72c826799d6763697478ea638",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f380ea7e471124342b405e8559446b4985b2a8c5479c8c35d734efe332684c4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a6af4ac1b70c0c04987f50b64ee83d36eb1920dcee022bcfb21655f22851f3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob dd528f2fc14e]

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[blob 3a6af4ac1b70]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HnvhZjwjAyATjuixC3H48G",
      "input": {
        "note": "Overhead shows my gripper hovering forward-beyond the blue block, and the wrist view has no block in it, so I'm pulling the hand back ~10 cm radially and slightly left to bring the blue block under the jaws.",
        "targets": {
          "left_j0": -0.42,
          "left_j1": 1.995,
          "left_j2": 1.557,
          "left_j3": -1.133,
          "left_j5": -0.42
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01HnvhZjwjAyATjuixC3H48G",
      "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=-0.4232 left_j1=2.0285 left_j2=1.5608 left_j3=-1.1427 left_j4=0.0078 left_j5=-0.4351 left_gripper=0.9989 right_j0=-0.0006 right_j1=0.0036 right_j2=0.0078 right_j3=-0.0574 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [0.1026, -12.9162, 5.2991, 0.3443, -0.0415, 0.0757, -0.0171, -0.0615, 1.7983, 7.0632, 1.9267, -0.0366, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:807f37e5025a85e89b49cd744a52560d76e5a7003b8b7dba276ea7545ad97e4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:971bb4cb8685d7c3cafa16795807b03536b3bc5d5b999a8d6ca71c9f291e7cb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7143d4b1cc98bb69bafea8649b63f9b4fe9b75fcb518216ba641184d3e8dd76c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 3 attempt 0 · /messages · status 200 · 6.549 s

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

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=0.0059 left_j1=0.0093 left_j2=0.0143 left_j3=-0.0326 left_j4=0.0067 left_j5=-0.0185 left_gripper=0.999 right_j0=-0.0006 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0406 right_j4=-0.0086 right_j5=0.0059 right_gripper=0.9994\nstate[joint_eff]: [-0.6359, 1.0735, 5.9829, 2.2051, -0.1245, 0.1099, -0.1245, -0.0615, 1.6342, 6.4068, 2.254, 0.0366, -0.105, -0.0708]",
      "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=-0.4801 left_j1=2.3863 left_j2=2.1452 left_j3=-1.3579 left_j4=0.0074 left_j5=-0.4728 left_gripper=0.999 right_j0=-0.0002 right_j1=0.0036 right_j2=0.0078 right_j3=-0.0502 right_j4=-0.0124 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -14.3658, 8.4308, 0.0855, -0.1392, -0.0904, -0.1197, -0.0752, 1.7436, 6.9675, 1.9414, 0.0366, -0.0757, -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=-0.4232 left_j1=2.0285 left_j2=1.5608 left_j3=-1.1427 left_j4=0.0078 left_j5=-0.4351 left_gripper=0.9989 right_j0=-0.0006 right_j1=0.0036 right_j2=0.0078 right_j3=-0.0574 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [0.1026, -12.9162, 5.2991, 0.3443, -0.0415, 0.0757, -0.0171, -0.0615, 1.7983, 7.0632, 1.9267, -0.0366, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:807f37e5025a85e89b49cd744a52560d76e5a7003b8b7dba276ea7545ad97e4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:971bb4cb8685d7c3cafa16795807b03536b3bc5d5b999a8d6ca71c9f291e7cb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7143d4b1cc98bb69bafea8649b63f9b4fe9b75fcb518216ba641184d3e8dd76c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 807f37e5025a]

[blob 971bb4cb8685]

[blob 7143d4b1cc98]

{
  "content": [
    {
      "signature": "CAIS2wUKjAEIEBgCKkCBZO/08mWeCmIXFpkeJeObO8pOEIqzWIOCZH997j+RVGv3a+hqtHqumiZnrCzyvg83SZFbIZLGBsAqrcNOVxRxMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM1dQM9A1wle2ORVwCGgz6Kj6XonZO4e+NMtwiMCXEvEpN+cIugL5ISE012lTnWCsl9JHyRlcgg0x0y6h8NWKsrYQ6pDxvetkHiN/e7yr7AxRyroxFVvV1n7CgMp85Q5/V5gk2CJpgxmJy7iIoX4aOGm8G/97edj1CgM5cYhLzi4WXbiso9hd+ijT9h4QDyGpmE8X+3fAdR5/FH8Dm0iS4Bfc+lcuknacdieyTEszqQKk/utcjeroy8N7jZ7b0S8dllrM5BJRMFJ5Ce+X9GkGdGUKFgF1EsWcszdYhMcrQKlI9gkQWEIIldZac7dyPXndQMA7I9nCdDsSZdxK5BjTj15/DDP1T+DbUM2wKwF1J0Y+XCt1zPKsD8f6TO1Rsg11OBmRobyxlsM9ijlTJ/EN+7Kh16zvv4xTDXkG8GE2q4nIcyfN2mTl6/05HyXjux8n7wOa20nB2L6NHvyA32+CgvK36nvQi4Mhq9HOiykvl/ICldLwyIMllErpRF0PoaDEvyrJV80gvjmYEbQenWCjJCWkPbxVhEasM3S4YhleJQFKASji3lu2AMndgYUL2ek6s2BDW7v7z0ONHofO8PHkDnrLdx+o4AG4TOxhJoo5BRE0IdlHZMxIQcAms1kxUNG1JByz3InUhZSywgWh06+skKMoB8UXnZc8qwG5+ua+6Zk7r8iBn6anjrVi8ETELMAiLr8nLTx2sO26BB04rcyZu4tNWqVuFvwhrIXyrpbhAXgrIzu/CmCf2WP0e5vCVhkWn25UNgiYltHxZQBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WtDufkBMMnxxywxVwKNw5o",
      "input": {
        "note": "The blue block now appears in the wrist camera at bottom-right of the jaw gap; I'm yawing the base 0.1 rad (~3 cm) to the arm's right to center it, which also calibrates the wrist-camera pixel scale.",
        "targets": {
          "left_j0": -0.52,
          "left_j5": -0.52
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01WtDufkBMMnxxywxVwKNw5o",
      "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=-0.5133 left_j1=2.0289 left_j2=1.5608 left_j3=-1.1439 left_j4=0.0086 left_j5=-0.4931 left_gripper=0.9989 right_j0=-0.0006 right_j1=0.0036 right_j2=0.0078 right_j3=-0.0574 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [0.8957, -10.3726, 5.6137, 0.149, -0.0611, -0.0708, -0.0122, -0.0479, 1.6342, 7.0085, 1.8632, 0.0024, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b5d6c8dc8418f9632c0d6f0758632925e4931107dcbd29d4144f29113b6a874",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e606b4b7c6f9ceb616cee27c3fc4c43d45149c968b03959ac3746d89eb87be27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c724ee2ba3535253e72411c8c763e445ea683586eeedeae41d9815d1bc359c41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 4 attempt 0 · /messages · status 200 · 4.802 s

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

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4801 left_j1=2.3863 left_j2=2.1452 left_j3=-1.3579 left_j4=0.0074 left_j5=-0.4728 left_gripper=0.999 right_j0=-0.0002 right_j1=0.0036 right_j2=0.0078 right_j3=-0.0502 right_j4=-0.0124 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -14.3658, 8.4308, 0.0855, -0.1392, -0.0904, -0.1197, -0.0752, 1.7436, 6.9675, 1.9414, 0.0366, -0.0757, -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=-0.4232 left_j1=2.0285 left_j2=1.5608 left_j3=-1.1427 left_j4=0.0078 left_j5=-0.4351 left_gripper=0.9989 right_j0=-0.0006 right_j1=0.0036 right_j2=0.0078 right_j3=-0.0574 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [0.1026, -12.9162, 5.2991, 0.3443, -0.0415, 0.0757, -0.0171, -0.0615, 1.7983, 7.0632, 1.9267, -0.0366, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5133 left_j1=2.0289 left_j2=1.5608 left_j3=-1.1439 left_j4=0.0086 left_j5=-0.4931 left_gripper=0.9989 right_j0=-0.0006 right_j1=0.0036 right_j2=0.0078 right_j3=-0.0574 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [0.8957, -10.3726, 5.6137, 0.149, -0.0611, -0.0708, -0.0122, -0.0479, 1.6342, 7.0085, 1.8632, 0.0024, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b5d6c8dc8418f9632c0d6f0758632925e4931107dcbd29d4144f29113b6a874",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e606b4b7c6f9ceb616cee27c3fc4c43d45149c968b03959ac3746d89eb87be27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c724ee2ba3535253e72411c8c763e445ea683586eeedeae41d9815d1bc359c41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 8b5d6c8dc841]

[blob e606b4b7c6f9]

[blob c724ee2ba353]

{
  "content": [
    {
      "signature": "CAIS1wkKjAEIEBgCKkAS6CyurYlMTGgpVaXrfUVQGAigaXeE1JNJkn844ZiL5RbPBYaQyzXsq1GyCoUhXZbw7ViyrabuIPSVlv20uwWmMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMDQOr4BLuiGhPuZVNGgxN+AA6H+UZSAczzE0iMFMh/5khYA77yQhM03rE9afZaXtWKcNWuuRwnttrPmhLaetoiw+RDpIw9Ik3BDUISir3BxX+nkY3juEiZDimId0CODCOtVAlItB0576hmWOq/qXKVvOUeLOk/G+VvDoOxHtjL+m/SDYYh3zyLLMPPbF7gypFbYDuQdu8PZ1VDbMwBM0LmjwzAsZrKO0xEZ15m46Rf5zKBGj1MB4kcPW2Q1RfQwpCzTJU/SubQ5MoyTIcqYk82Oagq6MiPWJ+aDe+IjPkHsXNTGmCmYmZ6QUJLUGBTXoIAjy6KK4MwNtqqogcbfnH7GGGqaPyFf8sCzr5SFn6gKi/Id8WHKTPy/VrzZcedPIjRhvgtoBjkISpqLjMWoaxrerxJuMYMQw7PvcMAulqhlK5DEBPouSIMxa8BIC33vuuMRfNaAOPnKaRC4aVeY19tZ7ZzF08BnS+ZKk6qM2MZOqb558QkmpCpP2SwrMIYb45ebXkpK3nLFExjTJsYRKS0RoCIaf2oliES4GRXyDAGPpuBe3uQ4s1dRIL7eChZ/ijnlPND4yraqs1+YexT3SkkP9/hZ/dbI7xRSocgNFkHyU6BVYdsEymqGqQhqA7YF1tkqEZkzgvzGBuWEkm6FCgE8tg+J6HVYFUIuhV4IFwSCn2PuI03Z21ZpxFHGKlkFIcOcL4lqvYUnWCk2Xdr9wtI02tcX4WNYfdoNsXXa7KMYR+4NDWLdGTjixLYk7MFUjprDRIv3tfNV2IsSOZDR5lU9vUsW2sqn5BAcYjXHatFPim2xzZqS2LN71wycw8Vd7Ei6ydiuCI+pcNKY+JlNF5H/LNsGuXF/D7NwhnPAZHu5xZZsaoyOD+QzbHtFKGenpX4k5UHMM4YnPqJF7TxWLeyebGQlDLJag2jmFRTjKMLgi5K7qE31/yHxOzB4ZL4i6VFsvdM2VG+crH3MYa4x2j+I8js3w6G6D639mc88NAAEq9n5qOhnaPaMelaSSBeHIYp5TCnVaw+td2gFccVa0vjUakckd7dWMnFgD6Dsd/KjTERArK2NKQwaOT53MCswWGfPHr0p4xUvtI+XmaXBWg+43gPsi3V7uIHxck2K3HGtNxS/FJihhfP4Umu5yKGLShIImLDxmtKRkicTdhCbj8GEHCDE8VcesmiMFHY2wacOBj1BbMFSIQJRZSq4KbqgS0C8g35pi6wGpzsGBIclGLM9y7tqYFBVmLASci0Q883yENpSubacBaXPKMDzdjTq7ROIDmgWd8CJix5iSzGif5a7szyi/m4+Ldw/mMlBQHZLDVSigQWDUWdlR/w1aezrtAxbsulVGf2t/iDEuHK8eU9OGEDbCxyyfG5u+DAqWvOuBrzGI0UpeOD3T2wEZY0b2XX0bf4lcqHgl+tNFvxtGfsM0gQ4YUYgF0AogVtUMZbXjm/Hw1ZYkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BCai6fohqsL5JEbauVFaJZ",
      "input": {
        "note": "The yaw nudge centered the blue block under the jaw gap (~12 px/cm in the wrist view); now I extend ~3 cm radially and drop to ~10 cm height to line up over it.",
        "targets": {
          "left_j1": 2.182,
          "left_j2": 1.628,
          "left_j3": -1.017
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01BCai6fohqsL5JEbauVFaJZ",
      "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=-0.5167 left_j1=2.1864 left_j2=1.6066 left_j3=-1.0458 left_j4=0.0147 left_j5=-0.5137 left_gripper=0.9989 right_j0=-0.0006 right_j1=0.0036 right_j2=0.0078 right_j3=-0.0647 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.0889, -11.1795, 7.6513, 0.3687, -0.1001, 0.1343, -0.0171, -0.253, 1.9761, 7.0222, 1.9365, -0.0317, -0.0855, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a6cfc661d06f90446d665f6f273d54ed573668e3080c3d6ff29f96cdc7e8180",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:217cbe690c669a82a6f4de4bc0c82a3ba053705b7098e867e52023eed7f7d8a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2f240475da52e5e36a77eccb63a0d6848c929204580e0c5118099a0e43189872",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 5 attempt 0 · /messages · status 200 · 3.258 s

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

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4232 left_j1=2.0285 left_j2=1.5608 left_j3=-1.1427 left_j4=0.0078 left_j5=-0.4351 left_gripper=0.9989 right_j0=-0.0006 right_j1=0.0036 right_j2=0.0078 right_j3=-0.0574 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [0.1026, -12.9162, 5.2991, 0.3443, -0.0415, 0.0757, -0.0171, -0.0615, 1.7983, 7.0632, 1.9267, -0.0366, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5133 left_j1=2.0289 left_j2=1.5608 left_j3=-1.1439 left_j4=0.0086 left_j5=-0.4931 left_gripper=0.9989 right_j0=-0.0006 right_j1=0.0036 right_j2=0.0078 right_j3=-0.0574 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [0.8957, -10.3726, 5.6137, 0.149, -0.0611, -0.0708, -0.0122, -0.0479, 1.6342, 7.0085, 1.8632, 0.0024, -0.0464, -0.0073]",
      "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=-0.5167 left_j1=2.1864 left_j2=1.6066 left_j3=-1.0458 left_j4=0.0147 left_j5=-0.5137 left_gripper=0.9989 right_j0=-0.0006 right_j1=0.0036 right_j2=0.0078 right_j3=-0.0647 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.0889, -11.1795, 7.6513, 0.3687, -0.1001, 0.1343, -0.0171, -0.253, 1.9761, 7.0222, 1.9365, -0.0317, -0.0855, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a6cfc661d06f90446d665f6f273d54ed573668e3080c3d6ff29f96cdc7e8180",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:217cbe690c669a82a6f4de4bc0c82a3ba053705b7098e867e52023eed7f7d8a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f240475da52e5e36a77eccb63a0d6848c929204580e0c5118099a0e43189872",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 5a6cfc661d06]

[blob 217cbe690c66]

[blob 2f240475da52]

{
  "content": [
    {
      "signature": "CAISlgkKjAEIEBgCKkCw55Q+1AdqwhxfZSz3lOQ9mUwwXT9q9iacfe8upy2pYO9KgJfFTHKtJ6aQpeUgEsLXEsmSefQu2kof9Tz9Lb4FMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMNCtoy0DF+CW4UGE8GgwzN0GpC9RB3R5ZJl8iMBa6vHKJ9E4dcqhfdm9rUADG3OYnchHXZ3bY//3rcYJ91bJG9Q0Ws1b6MAom5pSXNSq2By1BrtV9x4tmWA9XWsN/cE97JFhBwlXDVPRafWHQOVaAi3UIpkxYh6ccohiu7ZLflofppW9Ona/vGfdVfmhu2hNcgMmuOys78cw9UtJVZoG/XzkhDKbVBTg86iHjzuzW0TGp/2u7kPImAkA/PT98Id53HhFhD5/wTli1zt9HT/AY8PJ4z6d5CH8OFYxz6VTL2kGFYUJkeOe0GsOa5++vvRuaZu7Wx1OY2WC709PnGGUZOfWphh3PcmZY8gfEupYfzwsaEq252HDoIR3Vo96LQ4/VDBeDsGQrj848PTQsn+LuFeixmy5jrGJ5VlJHToVbEZWiutBMrkkTgQ47G6npKKVbDmfaFqJsT9k4LMgYlCX+qJ/VFJOD9GRFSm7Z1sKA61ICZ0eUjb1O1YALp6ZfNtX9Pea+TLqaKdGZyPx/VVrwXYdX4b2jZIy/TuYQeNsJR47JgbhOeiy2fR99p/EzqwZtceXfZepWyhBRcXlGz14HRwYAenVo7AZQtJ1bHve+fRuhwlAJS7O47CoF+YjjzLUXiAwX1V2Tc26hzV5N0yCMLBTO3YcrdUsgjEi+kndhxdwtj/bEgXEMfZgm0OoLwj0xohcpWGLUi6shxlOYDzEv/ZFV7Ytq6qnVJPGVsdCPhu4YePXmoBy1lIEn+pVBZalpI2DjnBSAxGugOf3uSGxNO8WoCITfWE3b/0og64TWKk3V6jLG41CDzoTgx9RgCI8i/ZYa+0Cs0AfW7Ob+MzSl3/4OMXCgNZFZ++NbMr+FldhiKFyiBoodtCCWQthCtv+N/jtQyyqQC2SMXt4JXqs19lxoYuA8gZE4EXB7XmPxaoNODj2U/Jdhr/eONxzlewfS14jE7/iXhvQStxn1r8G2tf0gXjc5FSmrEuNC2OrX2wi+i43yz4ued0HshaEaTYRsmWaN+L9VI+DORCdmrw3Ra/KDyouJzqo37t47p60Q0uOqUTumDlEAPTNokszWp/cn11I+7Rlm6Ikst/WviS5eg9HYP/0KLTmA8QI9Vbp8zo215w9OyR2cn/4sOinwuzFhNFAyO9oJM5vf2tewr35sMKaFsEzYeC6UKSkrHghAPDm7INKVybExg2iUgHFlQsbEumb0a39ZfNAKSTLRJDZfPN5cVPlW6jiblSggJ5AJ1oYMSAGRRAT5HlPjezW1pav055x+CHTSchT1lkYhUZUpA/1UsowLVab+vC6jiL4lnXXoZS6nPTqk1L9y2tdnfb0UGzW4WUnfQFVZbIrIIhIj8WVO1JTSGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WJGyW5LXhwBjreTjL75ecp",
      "input": {
        "note": "The block has slipped out of the wrist view below the jaws (a pale object shows between them), consistent with being right at the grasp point; I'm descending to near table level to straddle it.",
        "targets": {
          "left_j1": 2.348,
          "left_j2": 1.573,
          "left_j3": -0.796
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01WJGyW5LXhwBjreTjL75ecp",
      "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=-0.5175 left_j1=2.2143 left_j2=1.6234 left_j3=-1.0084 left_j4=0.0299 left_j5=-0.5228 left_gripper=0.9988 right_j0=-0.0006 right_j1=0.0036 right_j2=0.0078 right_j3=-0.065 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -0.9915, 1.3607, 2.293, -0.2076, 0.0464, -0.0171, -0.212, 1.8256, 7.0085, 1.9023, -0.0366, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e148bbfa69290cbedb536e6822b16aca5dd4ad1d3106a2759c11346a2ea057bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c55e7e0daea841742cd9b55fa350aaf4ca75c6be2a39367882420c92c62d2a0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f1f7a9ca8d868a9878c74ce5f4744afb7828dc670313aa0fbc4eb7a584cfa532",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 6 attempt 0 · /messages · status 200 · 4.215 s

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

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5133 left_j1=2.0289 left_j2=1.5608 left_j3=-1.1439 left_j4=0.0086 left_j5=-0.4931 left_gripper=0.9989 right_j0=-0.0006 right_j1=0.0036 right_j2=0.0078 right_j3=-0.0574 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [0.8957, -10.3726, 5.6137, 0.149, -0.0611, -0.0708, -0.0122, -0.0479, 1.6342, 7.0085, 1.8632, 0.0024, -0.0464, -0.0073]",
      "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=-0.5167 left_j1=2.1864 left_j2=1.6066 left_j3=-1.0458 left_j4=0.0147 left_j5=-0.5137 left_gripper=0.9989 right_j0=-0.0006 right_j1=0.0036 right_j2=0.0078 right_j3=-0.0647 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.0889, -11.1795, 7.6513, 0.3687, -0.1001, 0.1343, -0.0171, -0.253, 1.9761, 7.0222, 1.9365, -0.0317, -0.0855, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5175 left_j1=2.2143 left_j2=1.6234 left_j3=-1.0084 left_j4=0.0299 left_j5=-0.5228 left_gripper=0.9988 right_j0=-0.0006 right_j1=0.0036 right_j2=0.0078 right_j3=-0.065 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -0.9915, 1.3607, 2.293, -0.2076, 0.0464, -0.0171, -0.212, 1.8256, 7.0085, 1.9023, -0.0366, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e148bbfa69290cbedb536e6822b16aca5dd4ad1d3106a2759c11346a2ea057bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c55e7e0daea841742cd9b55fa350aaf4ca75c6be2a39367882420c92c62d2a0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1f7a9ca8d868a9878c74ce5f4744afb7828dc670313aa0fbc4eb7a584cfa532",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob e148bbfa6929]

[blob c55e7e0daea8]

[blob f1f7a9ca8d86]

{
  "content": [
    {
      "signature": "CAIS/wMKjAEIEBgCKkBt/sQp/lnJhyjq85xVRsZO91dRHQ0K3OfnCGkULRuFp/QQYPUzbvrclPe7o/ztWb10ufEDeB/svEcbIlIwqsnhMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMVorKM0+lFrAzD8XEGgz+UpYG7bsEdltVSFQiMAFo4yjTcbdBpkGRA9Q47byL9gvM7OGHIj3UicRICEq2cO3oEVnfLGYwVzIAmG6bBiqfAl2NRE2dxgDKQh++EN8+IJMkREQMDMpAWil/KaKP6jWzXlZ8cGRLUkLniTuWyTshaSHJvpVV0OPIGaHEbZJFwuynrD1kejpq2Xkh1/OLB0rk53gezZvNP0XcyF89A9mLQoIsWLQ/7WnEr25+ZAaGLg/VGguNswGAvzuB2gGOMQQWHty6s3Kprs7IYRxODWO91XaR58S4I7EimhKQXramidTpH37U4xdJH+oEGc+QhjvSaD9wHwCLFTvs7eUe2zGpvxWYEVLbM44pqx9NxBclGDkfVQNoBMuzlW5RshplLX4laoVBI+AdhnEk0yJbTxFUVvbYt/q/sB7A6MSwHVHzZJELSi2V5HGir8mXKuZ45Zr29KvWFaS+JvAA43WfkNaHGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TmG3FmQuYiWbhF8R4vhFiZ",
      "input": {
        "note": "The descent undershot (j1 stalled at 2.21 of 2.35) with efforts unloaded, so I'm re-issuing slightly beyond the target to converge to table level.",
        "targets": {
          "left_j1": 2.42,
          "left_j2": 1.573,
          "left_j3": -0.796
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01TmG3FmQuYiWbhF8R4vhFiZ",
      "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=-0.5167 left_j1=2.2429 left_j2=1.6413 left_j3=-1.0271 left_j4=0.0372 left_j5=-0.5255 left_gripper=0.9988 right_j0=-0.0002 right_j1=0.0036 right_j2=0.0078 right_j3=-0.065 right_j4=-0.0162 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.3897, 2.6598, 0.2803, 2.5275, -0.0952, -0.0513, -0.0171, -0.1299, 1.6342, 7.0085, 1.873, -0.0171, -0.0757, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1e8e7531477d489695d0396338682ee312d0585905b950b38db4adfe8716953",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b6ea35e87eae7420eb1442394bd177b849af2a99355e73f98cbaa1bfe3ffe83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:af277288933f33975d301032d5f8c0ffcab5d215fb1eccf1d376869260f90eb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 7 attempt 0 · /messages · status 200 · 8.573 s

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

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5167 left_j1=2.1864 left_j2=1.6066 left_j3=-1.0458 left_j4=0.0147 left_j5=-0.5137 left_gripper=0.9989 right_j0=-0.0006 right_j1=0.0036 right_j2=0.0078 right_j3=-0.0647 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.0889, -11.1795, 7.6513, 0.3687, -0.1001, 0.1343, -0.0171, -0.253, 1.9761, 7.0222, 1.9365, -0.0317, -0.0855, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5175 left_j1=2.2143 left_j2=1.6234 left_j3=-1.0084 left_j4=0.0299 left_j5=-0.5228 left_gripper=0.9988 right_j0=-0.0006 right_j1=0.0036 right_j2=0.0078 right_j3=-0.065 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -0.9915, 1.3607, 2.293, -0.2076, 0.0464, -0.0171, -0.212, 1.8256, 7.0085, 1.9023, -0.0366, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5167 left_j1=2.2429 left_j2=1.6413 left_j3=-1.0271 left_j4=0.0372 left_j5=-0.5255 left_gripper=0.9988 right_j0=-0.0002 right_j1=0.0036 right_j2=0.0078 right_j3=-0.065 right_j4=-0.0162 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.3897, 2.6598, 0.2803, 2.5275, -0.0952, -0.0513, -0.0171, -0.1299, 1.6342, 7.0085, 1.873, -0.0171, -0.0757, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1e8e7531477d489695d0396338682ee312d0585905b950b38db4adfe8716953",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b6ea35e87eae7420eb1442394bd177b849af2a99355e73f98cbaa1bfe3ffe83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af277288933f33975d301032d5f8c0ffcab5d215fb1eccf1d376869260f90eb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob f1e8e7531477]

[blob 0b6ea35e87ea]

[blob af277288933f]

{
  "content": [
    {
      "signature": "CAIShQYKjAEIEBgCKkCsaCib2U+dHg43DDSWm62s1/E66U6hifvlZZJqxuxANNuaLY/5WWzOgFf4HwtU1aB6tOgPc85nJLw7QVgzMIDAMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMJOnZb4FYmPPdv0A+GgylyDZ83JrI/8rDy4UiMJNAhEVAcnOqdtouhqZ2LTWVTk01A33iclVoS71hVS+Io63bYJaMA1HJS29wEFKVsiqlBA8u9dPCJyOpecnvWjuIp9D5GNqLVdHnUgdwxvAFiu3aw3mXSNr0RT87rQHG+TU0+kxuChrCs4vn4sS3fjocw2Alj8zXDGDr4p/GU4QunUlkH8ywF7GbYyyuc90gC1e6TjNlKmU4yiCKXs5UNFdbqRoXkrcgP5hvQoyEw8KVmRT+flPVp9gZtFuTi7Z09/2Q0kbeO5pnSLYSGlcGq02+AIGEuAotWXW1DNziGQQZh/UuwbVT5FpkXZz8Ta3EU5qXLWKduUNQtao0WEfw+uVe8WpbN7qCf2dewIf1eX8J8J1EqsQCoz+KtJHn2oa00wIHbhSoCSuHEvwkqpkJ7fYg73nBOSqGZOAHtPMzmUO+ezr2lIY69SgKgNJao3NOfuLzOdVQVxr11tGvGju9XXiktogg2Wt89oZoxpE/A2y+g6TOfTY5ddxjT+eHVE/KdjOSCef3mCyStd6QYiFeKQDt8n3933lNNwL1fbqdvg7FRrje/vDUFCQQOUGJenHPFjdLKXCLi7IRCfE1oEkEIirr+6eJBBLrLjgH/HiN8Q18Uj8z4ss/gefFoyqD+yND5cNqDlwz0lpgcjYVWZfRZNOAZaFPFD3rtvhacHyucMT+JnrqQxRFbc1EcwjeHBDwmULR/4lrTwM+WZKiXtl4N8FWBU31mfZtRPUPznADK35DzZ8ZeOBDS6MSfJpQgqHoWbezlcDth7/mS954u02QVUnCIqJD2MylPxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J7ccaPZ7h59u8iAPPZ2e2R",
      "input": {
        "note": "j1 effort flipped positive, meaning the fingertips are on the table; I'll close the gripper and read the residual to see whether the blue block is actually between the jaws.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01J7ccaPZ7h59u8iAPPZ2e2R",
      "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=-0.5175 left_j1=2.2211 left_j2=1.6524 left_j3=-1.0412 left_j4=0.0467 left_j5=-0.5251 left_gripper=0.0086 right_j0=-0.0006 right_j1=0.0036 right_j2=0.0078 right_j3=-0.065 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -9.8803, 4.7248, 0.315, -0.1197, -0.0269, 0.6374, -0.1709, 1.6889, 6.9949, 1.8681, -0.0513, -0.022, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f56959056689874fb1d30ec19bb5f18f243db372a132b4a4b230677aaa7e5d8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4ad70cfdfcd486b310d0f7d7449bebd37e8b30b9de99bd6b5adface2ff671f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8b323e6d9adb051c46554e67be38e0c835a0c8ff343fc20c45ce3470ad6c65d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 8 attempt 0 · /messages · status 200 · 4.083 s

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

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5175 left_j1=2.2143 left_j2=1.6234 left_j3=-1.0084 left_j4=0.0299 left_j5=-0.5228 left_gripper=0.9988 right_j0=-0.0006 right_j1=0.0036 right_j2=0.0078 right_j3=-0.065 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -0.9915, 1.3607, 2.293, -0.2076, 0.0464, -0.0171, -0.212, 1.8256, 7.0085, 1.9023, -0.0366, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5167 left_j1=2.2429 left_j2=1.6413 left_j3=-1.0271 left_j4=0.0372 left_j5=-0.5255 left_gripper=0.9988 right_j0=-0.0002 right_j1=0.0036 right_j2=0.0078 right_j3=-0.065 right_j4=-0.0162 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.3897, 2.6598, 0.2803, 2.5275, -0.0952, -0.0513, -0.0171, -0.1299, 1.6342, 7.0085, 1.873, -0.0171, -0.0757, -0.0073]",
      "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=-0.5175 left_j1=2.2211 left_j2=1.6524 left_j3=-1.0412 left_j4=0.0467 left_j5=-0.5251 left_gripper=0.0086 right_j0=-0.0006 right_j1=0.0036 right_j2=0.0078 right_j3=-0.065 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -9.8803, 4.7248, 0.315, -0.1197, -0.0269, 0.6374, -0.1709, 1.6889, 6.9949, 1.8681, -0.0513, -0.022, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f56959056689874fb1d30ec19bb5f18f243db372a132b4a4b230677aaa7e5d8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4ad70cfdfcd486b310d0f7d7449bebd37e8b30b9de99bd6b5adface2ff671f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b323e6d9adb051c46554e67be38e0c835a0c8ff343fc20c45ce3470ad6c65d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob f56959056689]

[blob d4ad70cfdfcd]

[blob 8b323e6d9adb]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016QxmdkWsAjFapqZ24ARLBt",
      "input": {
        "note": "The close came up empty (residual 0.01), and the overhead view shows the blue block just left of and behind my jaws; I'm reopening, lifting to ~7 cm, and shifting ~3 cm left and ~2.5 cm back toward it.",
        "targets": {
          "left_gripper": 1,
          "left_j0": -0.43,
          "left_j1": 2.174,
          "left_j2": 1.46,
          "left_j3": -0.857,
          "left_j5": -0.43
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_016QxmdkWsAjFapqZ24ARLBt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4511 left_j1=2.1277 left_j2=1.5055 left_j3=-0.9028 left_j4=0.0563 left_j5=-0.4564 left_gripper=0.9942 right_j0=-0.0006 right_j1=0.0048 right_j2=0.0078 right_j3=-0.065 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [1.4564, -7.0906, 2.3726, 0.7253, -0.0659, 0.1587, -0.1392, -0.2256, 1.9214, 7.2, 1.9121, -0.0171, -0.0562, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f59c7f78bd77a123ea2a6aa8d0ce51824ae48bb12cf86671854187a210c6955",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55fa29dffb3beda1ac08aed9db6a5216bfba78c99d09478e171c89f5689f3167",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bf57e00f8f63b3ae597d06a67b142788af3851bccc9e100bdd512ab8dde572f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 9 attempt 0 · /messages · status 200 · 6.077 s

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

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5167 left_j1=2.2429 left_j2=1.6413 left_j3=-1.0271 left_j4=0.0372 left_j5=-0.5255 left_gripper=0.9988 right_j0=-0.0002 right_j1=0.0036 right_j2=0.0078 right_j3=-0.065 right_j4=-0.0162 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.3897, 2.6598, 0.2803, 2.5275, -0.0952, -0.0513, -0.0171, -0.1299, 1.6342, 7.0085, 1.873, -0.0171, -0.0757, -0.0073]",
      "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=-0.5175 left_j1=2.2211 left_j2=1.6524 left_j3=-1.0412 left_j4=0.0467 left_j5=-0.5251 left_gripper=0.0086 right_j0=-0.0006 right_j1=0.0036 right_j2=0.0078 right_j3=-0.065 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -9.8803, 4.7248, 0.315, -0.1197, -0.0269, 0.6374, -0.1709, 1.6889, 6.9949, 1.8681, -0.0513, -0.022, -0.0073]",
      "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=-0.4511 left_j1=2.1277 left_j2=1.5055 left_j3=-0.9028 left_j4=0.0563 left_j5=-0.4564 left_gripper=0.9942 right_j0=-0.0006 right_j1=0.0048 right_j2=0.0078 right_j3=-0.065 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [1.4564, -7.0906, 2.3726, 0.7253, -0.0659, 0.1587, -0.1392, -0.2256, 1.9214, 7.2, 1.9121, -0.0171, -0.0562, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f59c7f78bd77a123ea2a6aa8d0ce51824ae48bb12cf86671854187a210c6955",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55fa29dffb3beda1ac08aed9db6a5216bfba78c99d09478e171c89f5689f3167",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf57e00f8f63b3ae597d06a67b142788af3851bccc9e100bdd512ab8dde572f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 1f59c7f78bd7]

[blob 55fa29dffb3b]

[blob bf57e00f8f63]

{
  "content": [
    {
      "signature": "CAISyAYKjAEIEBgCKkCAYhfR3TyzepqgBeG9LN5hJgs0k/Soq8YmdnKPqlfZ52zpW2NRLLpwFfo/+gVcJKEuz/Bwn2SPFZHKrXzWGCXYMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMgCURcEsp2soufiSsGgx6zYHoKiiK4VdL9gsiMHGVrWfJ8I4v2tZnOwJbMQ4eKqHTigtqDrP4XDI1ztTLcQQx+HZYpAn5xNS+/k5H2SroBIQEiL2nsgVxNx8vxAf3aiIHuC+mxoNNAinR0I+4rkjXTarF0APr4VwOA+XHdLea8sXYx6/edsbEl5eCfUYvI21SsCcnyJuYve+5Le8zJVFh8MngE1te/22sRqziJYtJuIpgKKS/QqOx/hFhRfHMJfEKCyDnViMJ/1mxdL5UY5XiLP3OrPwi77ULwxo39o2waZ2bXz5vP1MhgjWks0e5W6HMVyEb36rY84KknXA+BpO1OOc1gMD6PwijpzWlIOAlqzHOZtNy9sbZWJObreKdEvcavSmk9YoryCfDPxNXL8DRwGOA2jgjgeC1H1Sd71NRjwQB6G6WPIQb7paBl6cznOjneIdTWgbBHcA63fibZ49AkIrX34t5f6xUL2R+gltnQ9KSnBieX8/yHCT42JDq9ozAguKzQ04cF9is2+5agi6rpMfbhw1ZMQ9gZJlPMJ5505BVobk/FFbJXVFqwjeNjHkNcfSEAmxhcfiiJ0s1GnhDOwcaZ1UbwDNCmctt7lzBfKwDO0ZD/iSuQWqXFp+FVwu/3JLMl9dN/F16XJ3pRNBewX2aLqzFhPqppLcmdANhmHnOVi2wfeXN+5lDqwIXYSskzVKD2mUvFzD61Ik0pakuHgfOisWVgWUvCEhjDeVuIM+t+xe1NDBp46CfS9L55eBQgbK2LbsDeS3Cd/S2BQpKOVKEfMuq9GnCyw5GMKzsTYt/TNvHv0nJD9PoYXlSBeUB1Rrz+wMjhwwhctywPue1/BJcZS/y9ya56egtt4MA2Kou5tjfIq4vLsNe4qyaIXGvCoYlI7NjEz6CD+aaA4BUbmRx3Hh2ZKIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Mk2Nb4RvGS2PteunijVCd1",
      "input": {
        "note": "Only a pale sliver of the block shows at the very bottom of the wrist frame; I'm lifting to ~15 cm so the block comes fully into view and I can center it precisely before descending.",
        "targets": {
          "left_j1": 2.01,
          "left_j2": 1.581,
          "left_j3": -1.142
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Mk2Nb4RvGS2PteunijVCd1",
      "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=-0.448 left_j1=2.0647 left_j2=1.5494 left_j3=-1.0641 left_j4=0.0448 left_j5=-0.453 left_gripper=0.9953 right_j0=-0.0006 right_j1=0.0044 right_j2=0.0078 right_j3=-0.065 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -13.1487, 8.1162, 0.1001, 0.1001, -0.0611, 0.1001, -0.1162, 1.9761, 7.1179, 1.9072, -0.0415, -0.0659, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b2b3d5186593b4d7939362e58cdb08b38ac6c49d59ee1ab8dbdbda5a938af7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac56d97c3ef99c633b7b1aa5c0df8aea1bf39d08e8aa144bb9bec8d611194678",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5fd8e20aa3763b02c3d47841b1ed17b136ff041fb85ec924ad3391372cf649e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 10 attempt 0 · /messages · status 200 · 5.774 s

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

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5175 left_j1=2.2211 left_j2=1.6524 left_j3=-1.0412 left_j4=0.0467 left_j5=-0.5251 left_gripper=0.0086 right_j0=-0.0006 right_j1=0.0036 right_j2=0.0078 right_j3=-0.065 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -9.8803, 4.7248, 0.315, -0.1197, -0.0269, 0.6374, -0.1709, 1.6889, 6.9949, 1.8681, -0.0513, -0.022, -0.0073]",
      "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=-0.4511 left_j1=2.1277 left_j2=1.5055 left_j3=-0.9028 left_j4=0.0563 left_j5=-0.4564 left_gripper=0.9942 right_j0=-0.0006 right_j1=0.0048 right_j2=0.0078 right_j3=-0.065 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [1.4564, -7.0906, 2.3726, 0.7253, -0.0659, 0.1587, -0.1392, -0.2256, 1.9214, 7.2, 1.9121, -0.0171, -0.0562, -0.0073]\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 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=-0.448 left_j1=2.0647 left_j2=1.5494 left_j3=-1.0641 left_j4=0.0448 left_j5=-0.453 left_gripper=0.9953 right_j0=-0.0006 right_j1=0.0044 right_j2=0.0078 right_j3=-0.065 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -13.1487, 8.1162, 0.1001, 0.1001, -0.0611, 0.1001, -0.1162, 1.9761, 7.1179, 1.9072, -0.0415, -0.0659, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b2b3d5186593b4d7939362e58cdb08b38ac6c49d59ee1ab8dbdbda5a938af7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac56d97c3ef99c633b7b1aa5c0df8aea1bf39d08e8aa144bb9bec8d611194678",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fd8e20aa3763b02c3d47841b1ed17b136ff041fb85ec924ad3391372cf649e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 0b2b3d518659]

[blob ac56d97c3ef9]

[blob 5fd8e20aa376]

{
  "content": [
    {
      "signature": "CAISwAcKjAEIEBgCKkBwVo3Qg/F2hods4FGlTiVnaAzu+kN6FHLjidMTI3mRShizF53f82W1HZayTcF/QxB+zJxk2g8MSss+YvDUe89bMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMkACHjQ3evoQEmwM9Ggy4xhNXeeBKzBT5jBQiMFkfjaHwY62urjptrotbp41HNWDpN/GB4AKJqwHOiEuDDy+impf3VTE/5WM3OT/3gSrgBViEH6aOgMAbcygLeVk01TmxlmC3gnDL3Ly/YEzpyWAWl4sbJOGvuZHAd+hbzLTkLer24vXDqpL+PZ8x6yex9RNQcY2hM/WvRodEs/VMWZyQcPm/wzZQY2IjwbHu0gb4mb2i1HsChtet0IoycWXLM2f0aGOJdhW1G7N5Wzfo6PSfORf1+j4wV1fbM6E2k2X2RUtCVasCpjPZO7Qstn7VA5lR+1eBoZEOsR1kDf6U2vlRBCCpqdt4aPJpIcPrObMojaKVC+mnMbZ9t1FeON/VFyqXk8BLXWIswsrzTTa2s6rSOn9WwO8Tse897JBRdkU784geUghLt+Ik/ve6yvGNxLFDBwPO4zqsdIvba6A6EY6TsY8clLOImKI4AAp6EE35OfsyNdNx/RVDO44YRhdf2huMPc7SBPBrYHENoOMVecsZUZvXdEZHnK2c2/FKX8ofTWHdH64qpV3PVCKmwxG5t0uoYUI3/xzxBTsUgxKwhuUZcwuT/+nIjsYp5nT2f152qCzliyd5l0k/L4wNjAImptW0hxRpUq9Zfkz/5vgYx4bzcYyuBuZevb5NVxW3Tm5LjMur+TM33BZd6H9+q0X3Uz1YxuE3qJeCBb6YzizVt48EqlnLlF1DK+1XD/wrQOmYtqNMGXVA4iLbQkVKAOrSjB5EJBzJmEH1tj1DR9ynz3AG2pKl+ee3BJKVhwkO2SazetgEgm9vFARQb/HxfEWgZ219qWi5v9llbSQmASgcTJy7uCycg4/adOJ8HZ5m9XVQF73951lkLYm3nAiyMsUu4AlQ47u3Jy/gnSYihFc9h0IPpwWPubm8QE7JSXARK5Uh3NA7hcOxbh803eOgXusgzMf6uCvUg2kcooD0qNRwh+c8TYxd688rynCliv7lS9wV1D6hd/TEXiI9/fgdmU9hgcyJMCeG68uQE3EOlCnKy0SrJ0ydMQhflNgUZ/qj4RviNazmlQynBtVy+yQmm4LYLx0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XAupX6b9J3ZTg3VXwk5y8f",
      "input": {
        "note": "Overhead shows the blue block roughly below (base-ward of) my jaws, so I'm retracting ~5 cm radially at 15 cm height to bring it under the wrist camera.",
        "targets": {
          "left_j1": 1.84,
          "left_j2": 1.339,
          "left_j3": -1.07
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01XAupX6b9J3ZTg3VXwk5y8f",
      "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=-0.4477 left_j1=1.8931 left_j2=1.3567 left_j3=-1.074 left_j4=0.0444 left_j5=-0.4526 left_gripper=0.9954 right_j0=-0.0002 right_j1=0.0063 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [0.0342, -11.1248, 5.7778, 0.4518, 0.0024, -0.0073, -0.0024, -0.0479, 1.935, 7.0632, 1.9414, -0.0269, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd8bbdd15e867411967714053aa72213fb1f1706dded39a40123af20d18d3fe9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfd48cfaa7b0418c84efc0609da89c14e3c45849b18541b2c62b66ebd077b5de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bdc14d7f7e6bc032ec07a5c6499efe40d16e9ee9a46fb24a78d87a5eb45e0f66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 11 attempt 0 · /messages · status 200 · 5.839 s

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

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4511 left_j1=2.1277 left_j2=1.5055 left_j3=-0.9028 left_j4=0.0563 left_j5=-0.4564 left_gripper=0.9942 right_j0=-0.0006 right_j1=0.0048 right_j2=0.0078 right_j3=-0.065 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [1.4564, -7.0906, 2.3726, 0.7253, -0.0659, 0.1587, -0.1392, -0.2256, 1.9214, 7.2, 1.9121, -0.0171, -0.0562, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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=-0.448 left_j1=2.0647 left_j2=1.5494 left_j3=-1.0641 left_j4=0.0448 left_j5=-0.453 left_gripper=0.9953 right_j0=-0.0006 right_j1=0.0044 right_j2=0.0078 right_j3=-0.065 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -13.1487, 8.1162, 0.1001, 0.1001, -0.0611, 0.1001, -0.1162, 1.9761, 7.1179, 1.9072, -0.0415, -0.0659, -0.0073]",
      "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=-0.4477 left_j1=1.8931 left_j2=1.3567 left_j3=-1.074 left_j4=0.0444 left_j5=-0.4526 left_gripper=0.9954 right_j0=-0.0002 right_j1=0.0063 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [0.0342, -11.1248, 5.7778, 0.4518, 0.0024, -0.0073, -0.0024, -0.0479, 1.935, 7.0632, 1.9414, -0.0269, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd8bbdd15e867411967714053aa72213fb1f1706dded39a40123af20d18d3fe9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfd48cfaa7b0418c84efc0609da89c14e3c45849b18541b2c62b66ebd077b5de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdc14d7f7e6bc032ec07a5c6499efe40d16e9ee9a46fb24a78d87a5eb45e0f66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob fd8bbdd15e86]

[blob dfd48cfaa7b0]

[blob bdc14d7f7e6b]

{
  "content": [
    {
      "signature": "CAISkwkKjAEIEBgCKkBdXD7sfVzQaighwWE4GEhZSsWTjY8uvPFo6BnURherelxvsO5nZs0Wg7uuGtchJuX3XEeYgAz+X8mdEA8nEGExMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM5tXuRlM7l47WH3j7Ggx4SYouYWtE2LknIhAiMIlmbmxWBIqbzKom2UW/hEtPcDS4QTA0WJ/lEZVegCcOgUTUryEdvIIxMOO1m34tXyqzBw/cTK4KAYcjq3b5mdIrKLJF6BUHGVWxwslajcIE0UW5cXbyX7lqQYwGtm1hOIHmpPYEw72YPIFraqeSQ/bEoE3wNKDXnhpnCTG4KHinE3cvN9DJrqwY0Ht+1ANSYV3GFb2O32WoYP6Cqg7QwyQ1qtHJWJX+tX8TWZ1YRwgAt62BQF/7CC/t7DJas9bY0HUWHjXnJF9R50uyaVqodydfUoxPAuXURUh6Tm/OvpkQM0+r01HvDVxBis2FiRkhgYxLuV0xW69W4/O5vUrGvZLVhB7fsCyD2jSd0jrtfVip7dbF5PPhSjrPFmO7xsFZh2xVoHGnAaWpf1zcLIN6v7mwRZx1z+K5rCDQBGawpCFP+vYp5gZebeAOPazCv3RA3l5mPAhLohsOXlDax1taS7fP5gQdCyNxUzvUIThn18/u3s08CWSE8Z+8VGFQ/DYkaw5o7niuJUjBTqR5HCcmmlMmUFzSDxNBCFwWKYlN+pmMKyYwsnte4hA+g8ylNHohNky7aI7Vmcjh5/x4Y3ONX8rvDqI1APoTZ+DAC2zY+brqM/0Cu1uWZ5ufL3p8ccXaUOdsqBHwpt/ap93SWWQ8c75dNX/pyQ0wGcI0FxIZRoikW9ZY3hmNLwU2+Q6NE1tnvUzQ+GDZwsvqFXjnAFi9O6HBTe90kABRlmVv/+55brPQlpnXG/EdWVvTBC0GVonwcRvshLakP8hb/10uxmzTBbs+hxEiAYJO0Rt7P3tsQP7guQz+9A/xzEQ/rRD/Z80VGHYGo3AR7AjYAY/JFARG6Cb4TzW7WpP0AI8ghgAtw1I2CsxT8OWSbsTR4CSFy9YPOVa2LOFrEmJ1P+IPYFlJEwxBKclvtHHRFrL3qqQVZ4uKVfl1DZEzfp87RXpwKOKyP/GPOofSMzwVQ5pAPbWtuJNn+kejyZasFfKW0h/T9Xj2UAsfUZVr1b7+GTmlrhil0iEb0t65ZeFUK6jl/5CR2QzozFy+y+6eK+5O52UZ5alySBY2C7+Z5ITnFosAFl/KBAxSFKZ/fXfMlBfebvVcdPjy2+Q3rifnLwzViyQp/IxA3jZropR1NDKs7Asz/23woMMSwwcoXwBRKGUubO8qRBYsCI3LBEwYz+5fLHah4K5vS43py7dJSb0oNbkQ1haKA60nrnXHfVZoNuTV4Ac9p1Cu1iVryMA6sbyMblWI7wbRI9prvYdnpi5B9DRxzUyKO048IxfikliR8+1XMZ9yBDSCNemrIAGVv3lJaF79EwS4wLYOwXMoGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EKYYoYC4DyauZXna3uViNP",
      "input": {
        "note": "The blue block is now clearly visible in the wrist camera, off to the image-right and slightly ahead of the jaws; I'm yawing ~3 cm to the arm's right and extending ~2.5 cm to center it over the grasp point.",
        "targets": {
          "left_j0": -0.55,
          "left_j1": 1.925,
          "left_j2": 1.456,
          "left_j3": -1.102,
          "left_j5": -0.55
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01EKYYoYC4DyauZXna3uViNP",
      "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=-0.4904 left_j1=1.8957 left_j2=1.404 left_j3=-1.1057 left_j4=0.038 left_j5=-0.4999 left_gripper=0.9954 right_j0=-0.0006 right_j1=0.0063 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0166 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-1.9487, -8.5265, 7.1179, 0.149, 0.0611, 0.0269, -0.0122, -0.1983, 1.6205, 7.0359, 1.8877, -0.0513, -0.0757, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad24eaf772a8395b7de36470650daa4da3e1204f9fa54b154bf1299f879697a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7bd2820896916d06e66b8f7b1726868935d3ea4cb30db56ef1112a34569c47ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:58bddba8ae799b7eec8babb6e847001ddc1f097f5b5a268e7f643159d1d1ade5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 12 attempt 0 · /messages · status 200 · 5.406 s

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

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.448 left_j1=2.0647 left_j2=1.5494 left_j3=-1.0641 left_j4=0.0448 left_j5=-0.453 left_gripper=0.9953 right_j0=-0.0006 right_j1=0.0044 right_j2=0.0078 right_j3=-0.065 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -13.1487, 8.1162, 0.1001, 0.1001, -0.0611, 0.1001, -0.1162, 1.9761, 7.1179, 1.9072, -0.0415, -0.0659, -0.0073]",
      "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=-0.4477 left_j1=1.8931 left_j2=1.3567 left_j3=-1.074 left_j4=0.0444 left_j5=-0.4526 left_gripper=0.9954 right_j0=-0.0002 right_j1=0.0063 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [0.0342, -11.1248, 5.7778, 0.4518, 0.0024, -0.0073, -0.0024, -0.0479, 1.935, 7.0632, 1.9414, -0.0269, -0.0513, -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=-0.4904 left_j1=1.8957 left_j2=1.404 left_j3=-1.1057 left_j4=0.038 left_j5=-0.4999 left_gripper=0.9954 right_j0=-0.0006 right_j1=0.0063 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0166 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-1.9487, -8.5265, 7.1179, 0.149, 0.0611, 0.0269, -0.0122, -0.1983, 1.6205, 7.0359, 1.8877, -0.0513, -0.0757, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad24eaf772a8395b7de36470650daa4da3e1204f9fa54b154bf1299f879697a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7bd2820896916d06e66b8f7b1726868935d3ea4cb30db56ef1112a34569c47ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58bddba8ae799b7eec8babb6e847001ddc1f097f5b5a268e7f643159d1d1ade5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob ad24eaf772a8]

[blob 7bd282089691]

[blob 58bddba8ae79]

{
  "content": [
    {
      "signature": "CAISvQIKjAEIEBgCKkCqRyIKNYzUFR2hTfVGTsxOpvhfWCpShoryF+1yjMADMeK27BtzZJyBGSiTYuOGgW+ao0TxigZ75QlssK3BH96/MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMBgWVDbt7GcJ9KHOiGgzE5rGa8+BE2hI1mmwiMFJyatrmpnJjWLozTfdw79by8J4IoeygpEjRNTvL2PNnb0bi7u6ZBeBqY9EFN3mKJyper4MPCY4NxI7npJikPoKZb11lYFbGRaNDQeoPcPPRUzQC4BS7U/ibf8eEWDrDcjBzaNg6fbTsykB/DwFKWZsIwo3T01oFnspcf24orYHxBKRDC+53ArXaGGCIREyrlRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PNUueaetCGXUnFVUrtgmQf",
      "input": {
        "note": "The move undershot (j0 only reached -0.49) and the block is still image-right; re-issuing with the yaw commanded a bit beyond the goal.",
        "targets": {
          "left_j0": -0.6,
          "left_j1": 1.925,
          "left_j2": 1.456,
          "left_j3": -1.102,
          "left_j5": -0.6
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01PNUueaetCGXUnFVUrtgmQf",
      "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=-0.5716 left_j1=1.9301 left_j2=1.4384 left_j3=-1.0996 left_j4=0.0406 left_j5=-0.5709 left_gripper=0.9954 right_j0=-0.0002 right_j1=0.0067 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0162 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-1.2923, -9.9487, 6.9675, 0.2466, -0.022, -0.0904, -0.0122, -0.0752, 1.6342, 6.9812, 1.917, -0.0269, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ec3fad4765cb7980b5c6b2051c3feb5211738d75ec145c52b538ea8a1652398",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b49ceb8ee1bab5e3afcc6c15aed420f1a452bb3074002dfed5bd3191d71977b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ecb94314dd2afaeb84e499f12b20bc50a93eb7444be21aa2763fdaac781337c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 13 attempt 0 · /messages · status 200 · 4.305 s

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

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4477 left_j1=1.8931 left_j2=1.3567 left_j3=-1.074 left_j4=0.0444 left_j5=-0.4526 left_gripper=0.9954 right_j0=-0.0002 right_j1=0.0063 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [0.0342, -11.1248, 5.7778, 0.4518, 0.0024, -0.0073, -0.0024, -0.0479, 1.935, 7.0632, 1.9414, -0.0269, -0.0513, -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=-0.4904 left_j1=1.8957 left_j2=1.404 left_j3=-1.1057 left_j4=0.038 left_j5=-0.4999 left_gripper=0.9954 right_j0=-0.0006 right_j1=0.0063 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0166 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-1.9487, -8.5265, 7.1179, 0.149, 0.0611, 0.0269, -0.0122, -0.1983, 1.6205, 7.0359, 1.8877, -0.0513, -0.0757, -0.0073]",
      "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=-0.5716 left_j1=1.9301 left_j2=1.4384 left_j3=-1.0996 left_j4=0.0406 left_j5=-0.5709 left_gripper=0.9954 right_j0=-0.0002 right_j1=0.0067 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0162 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-1.2923, -9.9487, 6.9675, 0.2466, -0.022, -0.0904, -0.0122, -0.0752, 1.6342, 6.9812, 1.917, -0.0269, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ec3fad4765cb7980b5c6b2051c3feb5211738d75ec145c52b538ea8a1652398",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b49ceb8ee1bab5e3afcc6c15aed420f1a452bb3074002dfed5bd3191d71977b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecb94314dd2afaeb84e499f12b20bc50a93eb7444be21aa2763fdaac781337c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 2ec3fad4765c]

[blob b49ceb8ee1ba]

[blob ecb94314dd2a]

{
  "content": [
    {
      "signature": "CAISlwYKjAEIEBgCKkA+EOVSFtMESuqyxrTkef63wN9eS6hVcAgauKr7Q7HOKy21KjMpQFK5aN/Jm+FB0G1Hv/l/vYApb1APWl0IoTCXMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMfb4RY53mrnFN2Ie0Ggz/bJoH3P/T5j7KjhoiMI6M3HFUeq0ihzsKHw2CdIcGIowGgH7S3MWnrv3xF2wA9jmugQ+893mr62+KTjJKsCq3BKtDcL3HxAxW0FTU8oJFhLZEYvVEs/dYgdlBMoUuL9948gDPLfS72XBdw6HIPEEj2RhqIvDsrm5NHESgMJScbnc4mwODQM6kwelvoMUnVuyuvpqFFMItHmDQdVFo1Y1qSOcrzPDcP8MJjjWduTVoC1x4EmSeo2wMJKP7bfG5ja/7QTjKsMgEamEE7Uc3FWXHvrqgpQuCGDj8VFpGX+A1qQRxrgihHTrlK2lpKnzWypH3FjNp3BCHrcM3E6h2zS5OQaGPJwj/2WGJXf28bWxgTyhGM0NLCAziH1h2x36sOFRDPjct2OXjErIM5MiTCaadjsB1ApGypOeZbnfGScHR2OIh4zRBJpCwjORUdmM309h0JtOaZC1x1oRLTxBLJYgMrfoh1tx3a5HoDYi8AVZE0pkhE37/pm3lCdbPSaNQ2E7ywDrsxq/JjpVD6PAfkyNJnb8IWSiUWMotk8+TijqP2cAOpMKG/fbv2OvCSz0W9Qqfz1By+gjs3VS3sf+1IzY1eIyR/H08U8ft6+2bKDq9fnDnoySWw8aiSUXy1nGtZX6IGH77gBgqUre8NH8TpnP1mpl5+4O4oqRYWVrrKnW/I0cCo4s9aMLnGDvEtoJ5p5dPhgtjthtkQd4AF/qmxM8JxTb4SKA5CNjUnrISSFMX9hTei5IcsJQZeodHm3GxNVy3Y2bFj3wa5gLdG6wjzif9+aSbCx3aC4VL1ZdWrfriHGj1eXlTvkyNCSkAG/GP8Iwv8Cyip/oT2xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GCeo5swEvpVt8EofKQHsr5",
      "input": {
        "note": "The blue block is now centered in the jaw gap in the wrist view; I'm descending to ~5 cm while extending 2 cm so the jaws straddle it.",
        "targets": {
          "left_j1": 2.212,
          "left_j2": 1.42,
          "left_j3": -0.779
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01GCeo5swEvpVt8EofKQHsr5",
      "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=-0.5678 left_j1=2.1063 left_j2=1.4483 left_j3=-0.971 left_j4=0.0563 left_j5=-0.5888 left_gripper=0.9954 right_j0=-0.0002 right_j1=0.0082 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0162 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.4581, -1.9077, 3.0291, 2.1856, -0.105, 0.1197, -0.0122, -0.0615, 1.7709, 7.0906, 1.8632, -0.0366, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7559567a0b492e2eaf820c337b9e51a3dcf1c5a4ee03caa54d5c823de5526d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c44e7fcfdfb73ffbf78b81c6f94e4ffe54429a04ce628030bbddeccac988619",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a9753d583f1b6d60ff9f188342da83e30e15b9871183b98f2b84d66e87132676",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 14 attempt 0 · /messages · status 200 · 4.13 s

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

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4904 left_j1=1.8957 left_j2=1.404 left_j3=-1.1057 left_j4=0.038 left_j5=-0.4999 left_gripper=0.9954 right_j0=-0.0006 right_j1=0.0063 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0166 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-1.9487, -8.5265, 7.1179, 0.149, 0.0611, 0.0269, -0.0122, -0.1983, 1.6205, 7.0359, 1.8877, -0.0513, -0.0757, -0.0073]",
      "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=-0.5716 left_j1=1.9301 left_j2=1.4384 left_j3=-1.0996 left_j4=0.0406 left_j5=-0.5709 left_gripper=0.9954 right_j0=-0.0002 right_j1=0.0067 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0162 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-1.2923, -9.9487, 6.9675, 0.2466, -0.022, -0.0904, -0.0122, -0.0752, 1.6342, 6.9812, 1.917, -0.0269, -0.0611, -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=-0.5678 left_j1=2.1063 left_j2=1.4483 left_j3=-0.971 left_j4=0.0563 left_j5=-0.5888 left_gripper=0.9954 right_j0=-0.0002 right_j1=0.0082 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0162 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.4581, -1.9077, 3.0291, 2.1856, -0.105, 0.1197, -0.0122, -0.0615, 1.7709, 7.0906, 1.8632, -0.0366, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7559567a0b492e2eaf820c337b9e51a3dcf1c5a4ee03caa54d5c823de5526d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c44e7fcfdfb73ffbf78b81c6f94e4ffe54429a04ce628030bbddeccac988619",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9753d583f1b6d60ff9f188342da83e30e15b9871183b98f2b84d66e87132676",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob e7559567a0b4]

[blob 4c44e7fcfdfb]

[blob a9753d583f1b]

{
  "content": [
    {
      "signature": "CAISkgQKjAEIEBgCKkCJ1ENnNZ74KYFlyHUW5xqj0+8r2KZpo+CsS/hhGkW4kZzewArAA3okV31cKgLslNHEV2PHE9Ll59FLJ1Yop7oeMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMm1GwQ4EOWLQ51NV4GgzNlhsmGHq0AUwIqAciMC7Hfc/wP9hKPz8tQAHEFxkxYVfKMWsBKkG/C8rUdFVlJh1JeNJrI1yJxYdWI2QClyqyAnogoFlXnhQR18ZS/txh0lV58RuIW+XKVbaq3ReBTF9AFKLUZiT4NEsNixluCGeLIlMF7p+8XUs87/NH6dobHJi5jpdEjq0tI5dsichF8ICUkaBFGIiaLNYWW8hVz3pVwXAkzmAhyYB1VUOkpD9gyWtV68LH8VaVPazmGUXCLLfu+wp3HR9yAhpuCqq0Obkx/U1Rtd6Cflc6vThE3VD5aaNXLnPyTjVUpmnNAQEHUjjrl4hQOftbiYcRye8C+rEKVNOo3gAL/QuyUVG4qzPycD4xvfApdpVqk+8UQwgiCcfrTtwNDBn5GE4Yssl9K+Duj5QrikM+cLHQxeX675L07E+jlwEYNLCfGKZD0Y7Mxp5Ibc/y8PmAOyJpMjN8kdwKMqExM+C09kaufc60Xj4j+A5zpxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EMUmdsKC9vXsTPhE5F778A",
      "input": {
        "note": "The block's top face now sits right between the jaws at the bottom of the wrist frame; the descent stalled short, so I re-issue slightly beyond to get the fingers alongside the block.",
        "targets": {
          "left_j1": 2.28,
          "left_j2": 1.42,
          "left_j3": -0.779
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01EMUmdsKC9vXsTPhE5F778A",
      "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=-0.5648 left_j1=2.1353 left_j2=1.4738 left_j3=-0.9924 left_j4=0.0669 left_j5=-0.593 left_gripper=0.9954 right_j0=-0.0002 right_j1=0.0082 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, 1.2239, 1.1829, 2.2686, -0.0757, 0.0366, -0.0122, -0.0205, 1.6752, 6.9949, 1.9072, -0.0171, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:154354de02f12ca18197508264c0a45fd9dc54fd451f90281af0151ff43872f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29e51800a36d2d38b535b5a97c6d74e7becdc06521d63f420a271bfa0c5f0793",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:296a567cf7168f23870ccf872430f52c690ffc9ed5d863f932331bd7e8051ddb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 15 attempt 0 · /messages · status 200 · 6.234 s

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

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5716 left_j1=1.9301 left_j2=1.4384 left_j3=-1.0996 left_j4=0.0406 left_j5=-0.5709 left_gripper=0.9954 right_j0=-0.0002 right_j1=0.0067 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0162 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-1.2923, -9.9487, 6.9675, 0.2466, -0.022, -0.0904, -0.0122, -0.0752, 1.6342, 6.9812, 1.917, -0.0269, -0.0611, -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=-0.5678 left_j1=2.1063 left_j2=1.4483 left_j3=-0.971 left_j4=0.0563 left_j5=-0.5888 left_gripper=0.9954 right_j0=-0.0002 right_j1=0.0082 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0162 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.4581, -1.9077, 3.0291, 2.1856, -0.105, 0.1197, -0.0122, -0.0615, 1.7709, 7.0906, 1.8632, -0.0366, -0.0415, -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=-0.5648 left_j1=2.1353 left_j2=1.4738 left_j3=-0.9924 left_j4=0.0669 left_j5=-0.593 left_gripper=0.9954 right_j0=-0.0002 right_j1=0.0082 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, 1.2239, 1.1829, 2.2686, -0.0757, 0.0366, -0.0122, -0.0205, 1.6752, 6.9949, 1.9072, -0.0171, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:154354de02f12ca18197508264c0a45fd9dc54fd451f90281af0151ff43872f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29e51800a36d2d38b535b5a97c6d74e7becdc06521d63f420a271bfa0c5f0793",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:296a567cf7168f23870ccf872430f52c690ffc9ed5d863f932331bd7e8051ddb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 154354de02f1]

[blob 29e51800a36d]

[blob 296a567cf716]

{
  "content": [
    {
      "signature": "CAISkgUKjAEIEBgCKkAWeRSiniPp5RXle+D5BQpBm7AYuX6X5e6lVP82R/wyYTE0K/Z0tY1YrhJSpNTNj/EdMCly2RlxMhR9K9C/LdIbMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMBYdP5b9fC5ToMIvJGgyy7q6kdEsh5VkgaCQiMK3Uzfoq208YE2eUYM0sXD58YqP7Df4vbysxqNMOafPoPlAtHqBrrjeBdKd/KaeCOiqyA1scT9ZKLjcLUQ3LU52pd6x3Q6+EBTm+IDXTIC4t/FvkzgpJnhfPxyCFEKzZZSxCcrki2PNo+ZX/wdgbko1vmZq9+RfNrE5idPiKMf6Fbt/v8K47RZn5bw2RzzjaMT/kWh/tmALWZ+K/vUq848mf6iEPnOHcWzTtz3iMEM8C+SeQqOxgjrWQD06U5HsKRZADx48xySr60R4jooPWCqgy5yjXutsp/TdATM3lJeyU71UxiZ+P1X1SzCKh0WbIRIQxnxLosLBUgisrdwknj8Bwq0ohQ2gNkgtfusqd3jMgq8+vSC+ZFE9knyh3gO9k/9ihCmTKczGoxDsmm7xtUwqylZ+s8ME8cYH3F/rec96f5dceyf19GVjjLz8eGo+5OOdnt/qlV5jJHP/98dHR+MesSqKRBPwVkvCVueM9pRTmtNjPdx22gD8OUFqyy9f8LS4bgFliqhmqGd1UNH1Ued18EEZARSKKxdhLEwMLYoh5ufseRLJZpTDHvVpC9l7o9M9vuZLnAOmfhRZZzszbZx39V35ab0GbazmRD8TzEsF8iJPeMfM1AjVpwxMjiRyrVIqpwpimGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J6UoujWuNHUT8Jyp18HQ5w",
      "input": {
        "note": "Fingertips have reached table level (j1 effort positive) with the block between the jaws; closing to grasp.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01J6UoujWuNHUT8Jyp18HQ5w",
      "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=-0.5652 left_j1=2.1216 left_j2=1.4834 left_j3=-1.01 left_j4=0.0708 left_j5=-0.5995 left_gripper=0.4414 right_j0=-0.0006 right_j1=0.0082 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0162 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -9.6479, 4.4786, 0.2955, -0.0562, 0.0611, 1.033, -0.0479, 1.7162, 7.2137, 1.8779, -0.022, -0.0757, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4f5f5e564787478bb798c77a143e12d39b04acb7c502bf5cb96bcafe2610e6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5676813d975f52d8e066cadf75bb21c5b8383efa5ccec9939de0cb89d65d274",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:933df83629df08ed95396c03ed610de10a01b23159fa7b612ce85a6fcfc6d34c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 16 attempt 0 · /messages · status 200 · 2.973 s

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

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5678 left_j1=2.1063 left_j2=1.4483 left_j3=-0.971 left_j4=0.0563 left_j5=-0.5888 left_gripper=0.9954 right_j0=-0.0002 right_j1=0.0082 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0162 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.4581, -1.9077, 3.0291, 2.1856, -0.105, 0.1197, -0.0122, -0.0615, 1.7709, 7.0906, 1.8632, -0.0366, -0.0415, -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=-0.5648 left_j1=2.1353 left_j2=1.4738 left_j3=-0.9924 left_j4=0.0669 left_j5=-0.593 left_gripper=0.9954 right_j0=-0.0002 right_j1=0.0082 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, 1.2239, 1.1829, 2.2686, -0.0757, 0.0366, -0.0122, -0.0205, 1.6752, 6.9949, 1.9072, -0.0171, -0.0317, -0.0073]",
      "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=-0.5652 left_j1=2.1216 left_j2=1.4834 left_j3=-1.01 left_j4=0.0708 left_j5=-0.5995 left_gripper=0.4414 right_j0=-0.0006 right_j1=0.0082 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0162 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -9.6479, 4.4786, 0.2955, -0.0562, 0.0611, 1.033, -0.0479, 1.7162, 7.2137, 1.8779, -0.022, -0.0757, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4f5f5e564787478bb798c77a143e12d39b04acb7c502bf5cb96bcafe2610e6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5676813d975f52d8e066cadf75bb21c5b8383efa5ccec9939de0cb89d65d274",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:933df83629df08ed95396c03ed610de10a01b23159fa7b612ce85a6fcfc6d34c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob c4f5f5e56478]

[blob b5676813d975]

[blob 933df83629df]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SSXRgRGZFpaJuzW2ogBMqn",
      "input": {
        "note": "Grasp confirmed: gripper residual 0.44 (~4 cm block) with high gripper effort. Lifting the block to ~16 cm before transporting it toward the red block.",
        "targets": {
          "left_j1": 1.977,
          "left_j2": 1.577,
          "left_j3": -1.171
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01SSXRgRGZFpaJuzW2ogBMqn",
      "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=-0.5652 left_j1=2.0579 left_j2=1.5352 left_j3=-1.111 left_j4=0.0708 left_j5=-0.6014 left_gripper=0.4414 right_j0=-0.0002 right_j1=0.0082 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -14.4342, 8.1299, 0.0952, 0.022, -0.0073, 1.033, -0.0752, 1.7983, 7.0085, 1.873, -0.022, -0.0513, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7be4288b4ca9abbcfdc4bc88807db73f8f88c69efa81a6a7e55d59ff513fa028",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c1eb2ec1875ebaf35df3002ed8a8328dd012a6e55a7759581396728c66aaf7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e2a72793b69f63408b416bd5e47d510a8fbfeab2f28c6ca79149d8b34fc768ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 17 attempt 0 · /messages · status 200 · 4.591 s

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

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5648 left_j1=2.1353 left_j2=1.4738 left_j3=-0.9924 left_j4=0.0669 left_j5=-0.593 left_gripper=0.9954 right_j0=-0.0002 right_j1=0.0082 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, 1.2239, 1.1829, 2.2686, -0.0757, 0.0366, -0.0122, -0.0205, 1.6752, 6.9949, 1.9072, -0.0171, -0.0317, -0.0073]",
      "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=-0.5652 left_j1=2.1216 left_j2=1.4834 left_j3=-1.01 left_j4=0.0708 left_j5=-0.5995 left_gripper=0.4414 right_j0=-0.0006 right_j1=0.0082 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0162 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -9.6479, 4.4786, 0.2955, -0.0562, 0.0611, 1.033, -0.0479, 1.7162, 7.2137, 1.8779, -0.022, -0.0757, -0.0073]",
      "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=-0.5652 left_j1=2.0579 left_j2=1.5352 left_j3=-1.111 left_j4=0.0708 left_j5=-0.6014 left_gripper=0.4414 right_j0=-0.0002 right_j1=0.0082 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -14.4342, 8.1299, 0.0952, 0.022, -0.0073, 1.033, -0.0752, 1.7983, 7.0085, 1.873, -0.022, -0.0513, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7be4288b4ca9abbcfdc4bc88807db73f8f88c69efa81a6a7e55d59ff513fa028",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c1eb2ec1875ebaf35df3002ed8a8328dd012a6e55a7759581396728c66aaf7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2a72793b69f63408b416bd5e47d510a8fbfeab2f28c6ca79149d8b34fc768ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 7be4288b4ca9]

[blob 9c1eb2ec1875]

[blob e2a72793b69f]

{
  "content": [
    {
      "signature": "CAISvwMKjAEIEBgCKkCydPexJFg3IINkYDVvyCJjltdmMalj3sPDA6g9FpeID8Qv4HHPiaz53MS9UVOkIdYC5AkZvIbKMUjc64P60EKaMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM5PKIaOTPqcBjURbwGgzUq9tZVdYE8KSm2RoiMIb1cqAB051FzbD9zWiEg2Q1/YCiDAajTNH87ahUk3n3Tk6I4WG3qUfBvHgegFn7BirfAfwSXkDXhdviVJL1LjGHG2h7fH+42CwO67xidhVlvkxM7+n/Yn76U0ierZOjGtZjo6MxHxtS7qpEo6IabYaprzGKzfQbIAE8jv1zfZRE+qkAC1Z72bzh348z3vEZrrSzAl4xJ8FtPn5AobAaHKc454OZuQGKyK7zj4+1MeyhQkmKGqYvfYqXJahj50R0YF+5dti/4JoVFHGJa9PA3MWjpsCve3iyiv/hJ11JjZ7INtwqDJnLrEXKCEUKrub5uz0wURKdcNZYAxZLWZP6UxgEPt2lQ0ul434rLIFcNttiKNcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Dn9Ct9NdjcjocbYSrUUN3N",
      "input": {
        "note": "Block is lifted and hanging in the jaws; swinging the base yaw toward the red block's bearing while keeping the same radius and height.",
        "targets": {
          "left_j0": -0.9,
          "left_j5": -0.9
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Dn9Ct9NdjcjocbYSrUUN3N",
      "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=-0.8768 left_j1=2.0796 left_j2=1.533 left_j3=-1.1099 left_j4=0.0677 left_j5=-0.8356 left_gripper=0.4457 right_j0=-0.0002 right_j1=0.0082 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0162 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.3897, -12.2325, 6.1333, 0.149, 0.0562, -0.1343, 1.033, -0.0615, 1.6342, 7.1316, 1.8535, -0.0562, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:957d121e26c1b6c2222c9a84e4c8b185a0f3d0a9a29f2379f3ed94a6e39f87f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd2b77eb8524b2bf8b5ec97e9c79e50585b36d13c41b69a4d051c52907d3ddc3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f6482b2eb0b9657957a1bfad0bbd5986e51742ea4a3b7963a685daa88016fa0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 18 attempt 0 · /messages · status 200 · 10.25 s

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

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5652 left_j1=2.1216 left_j2=1.4834 left_j3=-1.01 left_j4=0.0708 left_j5=-0.5995 left_gripper=0.4414 right_j0=-0.0006 right_j1=0.0082 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0162 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -9.6479, 4.4786, 0.2955, -0.0562, 0.0611, 1.033, -0.0479, 1.7162, 7.2137, 1.8779, -0.022, -0.0757, -0.0073]",
      "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=-0.5652 left_j1=2.0579 left_j2=1.5352 left_j3=-1.111 left_j4=0.0708 left_j5=-0.6014 left_gripper=0.4414 right_j0=-0.0002 right_j1=0.0082 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -14.4342, 8.1299, 0.0952, 0.022, -0.0073, 1.033, -0.0752, 1.7983, 7.0085, 1.873, -0.022, -0.0513, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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=-0.8768 left_j1=2.0796 left_j2=1.533 left_j3=-1.1099 left_j4=0.0677 left_j5=-0.8356 left_gripper=0.4457 right_j0=-0.0002 right_j1=0.0082 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0162 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.3897, -12.2325, 6.1333, 0.149, 0.0562, -0.1343, 1.033, -0.0615, 1.6342, 7.1316, 1.8535, -0.0562, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:957d121e26c1b6c2222c9a84e4c8b185a0f3d0a9a29f2379f3ed94a6e39f87f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd2b77eb8524b2bf8b5ec97e9c79e50585b36d13c41b69a4d051c52907d3ddc3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6482b2eb0b9657957a1bfad0bbd5986e51742ea4a3b7963a685daa88016fa0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 957d121e26c1]

[blob cd2b77eb8524]

[blob f6482b2eb0b9]

{
  "content": [
    {
      "signature": "CAIS/QYKjAEIEBgCKkCOeMp1LZexVQCiaXVG/sttE/YOFJw4G2e4xHq4FdN2NuWFqF0xsggOHRJ52kCiBUSSa5ay4jMuus5pqwOrHvFRMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM3laGpWJpxp74UwOUGgzDH04hgpUialDs000iMJlXokfuQ941MgTKrj6Urc9sZ6o3cBkyuMa14EqUH89nlKSCI4LHnBUohjN+wZkFTCqdBX/ICshtvpfFqpquUfLODLMOiDFyUsJx+QkU3lIvMuJeYbt0lul5euC3AYzL0IfcgoOFqRvucNxNv60/bLbXTo5SYQT8YMIIOZJ1QI5uE7ijdNoJ7alnHtTmxvngPRmFQy+gvehL0Ph7GxeWWLRx1GbbWl92qp/pRoeMJndh4Dgz+hQ5Jy6Z0Z/8WTxteS5hEr3QdOrg3otsp8eaT7GRZhbc1OxN2pTNVd240o7V47FJL9F3KvCLSi5lKaNCToWGnKwnhfbCXrkPgC6p5+AIYJnwdcwWJK323F0NPgBjQw5nwyGnsdeMd35SsR3bMmOgUF/4QmCYAQjBz9T0QhGFYyrA0afCljmxtv7SGjKyVWrGnop5tOiwQeChJPWHwFrAo/HJiCOJUuiu8dV4FXC/K7ZL/eaqgfbVtvn2Sbx0ei9obVtHJsMDpvr5Ifg5NOochdKF74NI+8Y6lRZoUcLUuJZ87iITxwCCQQYGcIK/jQ96QaeMgMYFElR2KPiPmUwdQuMD9JiwJKGWyR1qOVejoulw1I5K6e63c4x5RgW19s8BIrhOj+VXsfP2+bX3AgX8YE1FI+2I5j/iqxRYJF6Zo6BIUweoAHMyFAm6/wYIN1DxGuCfjlhCg/ZU35xmOPK4fYkRsk0zZK/VEzjHbw16kfLBNuHog1HR24DvqV1f6Q6qaGiKO/kqn3R6zA76RQ8rx3+N3BvyUsotEl5vz+KTWPngN18nPSgP9Y2EWil3MbPsg5iLxIT+x1IVJ0oKNcLuc5F+t/NCCZzroJxP/m9S0ABVO9HWIaRGesGEVkpNmSvzCrEYZm948CTaIsGN/W8thqAbhu1WOWZdqWumTYoCkmRNFIWZkPNr1D1HgwJdy0yZ0HzxduhCojKBABd0rxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019giUDVM5s8MaQv5bUEwD8z",
      "input": {
        "note": "Overhead shows the red block still ~12 cm to the arm's right and forward of my gripper; extending the reach to r≈0.47 m at 16 cm height on that bearing.",
        "targets": {
          "left_j0": -0.91,
          "left_j1": 2.625,
          "left_j2": 2.693,
          "left_j3": -1.639,
          "left_j5": -0.91
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 19 steps (1.9s)",
      "tool_use_id": "toolu_019giUDVM5s8MaQv5bUEwD8z",
      "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=-0.9012 left_j1=2.6228 left_j2=2.6476 left_j3=-1.6035 left_j4=0.0708 left_j5=-0.9142 left_gripper=0.4463 right_j0=-0.0002 right_j1=0.009 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-1.0051, -14.3385, 8.1436, 0.0513, -0.0415, 0.0073, 1.033, -0.0752, 1.5385, 6.9812, 1.9463, -0.0122, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ffd2544cd5680349f085ee52a1b2ca5d8a5035a5f50a2030bcd44656c265866",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b516349c5886b707a230a85670ad7eb6f68f4af47eb4119255d7bb89434dee6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a98627f7078ea1a3937c890daad608fb72b7f842af8fcc83a576d33144832eda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 19 attempt 0 · /messages · status 200 · 9.364 s

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

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5652 left_j1=2.0579 left_j2=1.5352 left_j3=-1.111 left_j4=0.0708 left_j5=-0.6014 left_gripper=0.4414 right_j0=-0.0002 right_j1=0.0082 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -14.4342, 8.1299, 0.0952, 0.022, -0.0073, 1.033, -0.0752, 1.7983, 7.0085, 1.873, -0.022, -0.0513, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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=-0.8768 left_j1=2.0796 left_j2=1.533 left_j3=-1.1099 left_j4=0.0677 left_j5=-0.8356 left_gripper=0.4457 right_j0=-0.0002 right_j1=0.0082 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0162 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.3897, -12.2325, 6.1333, 0.149, 0.0562, -0.1343, 1.033, -0.0615, 1.6342, 7.1316, 1.8535, -0.0562, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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=-0.9012 left_j1=2.6228 left_j2=2.6476 left_j3=-1.6035 left_j4=0.0708 left_j5=-0.9142 left_gripper=0.4463 right_j0=-0.0002 right_j1=0.009 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-1.0051, -14.3385, 8.1436, 0.0513, -0.0415, 0.0073, 1.033, -0.0752, 1.5385, 6.9812, 1.9463, -0.0122, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ffd2544cd5680349f085ee52a1b2ca5d8a5035a5f50a2030bcd44656c265866",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b516349c5886b707a230a85670ad7eb6f68f4af47eb4119255d7bb89434dee6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a98627f7078ea1a3937c890daad608fb72b7f842af8fcc83a576d33144832eda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 4ffd2544cd56]

[blob 4b516349c588]

[blob a98627f7078e]

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  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PH791ZNmKsjf8WkgSTc724",
      "input": {
        "note": "The wrist camera now shows the red 'a' block centred ahead of the jaws but still ~4-5 cm beyond the grasp point; I'm extending radially (with a slight forward gripper tilt to buy reach) to get over it.",
        "targets": {
          "left_j1": 2.693,
          "left_j2": 2.697,
          "left_j3": -1.404
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01PH791ZNmKsjf8WkgSTc724",
      "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=-0.9009 left_j1=2.6797 left_j2=2.6678 left_j3=-1.5116 left_j4=0.0708 left_j5=-0.918 left_gripper=0.4463 right_j0=-0.0002 right_j1=0.0093 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0162 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [0.0479, -13.4359, 8.1573, 1.1453, 0.0415, -0.0024, 1.0232, -0.0615, 1.7573, 7.159, 1.8388, -0.0562, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac867764fa9b4cad367a891e9493b1f1f6a780d9ba52168eff08348c824f9044",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d63a955f81df4c755f7f2aa416088dacbe9e7799f84d405a91c97a1320676b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:359fcfdd9aa4833b2016a71c59be4905668e7ab9cbd5e97b9ba643e2f6c8ecbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 20 attempt 0 · /messages · status 200 · 9.345 s

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

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8768 left_j1=2.0796 left_j2=1.533 left_j3=-1.1099 left_j4=0.0677 left_j5=-0.8356 left_gripper=0.4457 right_j0=-0.0002 right_j1=0.0082 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0162 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.3897, -12.2325, 6.1333, 0.149, 0.0562, -0.1343, 1.033, -0.0615, 1.6342, 7.1316, 1.8535, -0.0562, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9012 left_j1=2.6228 left_j2=2.6476 left_j3=-1.6035 left_j4=0.0708 left_j5=-0.9142 left_gripper=0.4463 right_j0=-0.0002 right_j1=0.009 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-1.0051, -14.3385, 8.1436, 0.0513, -0.0415, 0.0073, 1.033, -0.0752, 1.5385, 6.9812, 1.9463, -0.0122, -0.0562, -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=-0.9009 left_j1=2.6797 left_j2=2.6678 left_j3=-1.5116 left_j4=0.0708 left_j5=-0.918 left_gripper=0.4463 right_j0=-0.0002 right_j1=0.0093 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0162 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [0.0479, -13.4359, 8.1573, 1.1453, 0.0415, -0.0024, 1.0232, -0.0615, 1.7573, 7.159, 1.8388, -0.0562, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac867764fa9b4cad367a891e9493b1f1f6a780d9ba52168eff08348c824f9044",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d63a955f81df4c755f7f2aa416088dacbe9e7799f84d405a91c97a1320676b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:359fcfdd9aa4833b2016a71c59be4905668e7ab9cbd5e97b9ba643e2f6c8ecbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob ac867764fa9b]

[blob 1d63a955f81d]

[blob 359fcfdd9aa4]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VA4kmVgigRMz3b9VG5U7Fi",
      "input": {
        "note": "The red block is nearly under the grasp point now (slightly image-left); nudging ~1 cm to the arm's left and lowering ~2 cm toward its top face.",
        "targets": {
          "left_j0": -0.88,
          "left_j1": 2.7,
          "left_j2": 2.629,
          "left_j3": -1.329,
          "left_j5": -0.9
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01VA4kmVgigRMz3b9VG5U7Fi",
      "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=-0.8913 left_j1=2.6797 left_j2=2.661 left_j3=-1.454 left_j4=0.0891 left_j5=-0.9173 left_gripper=0.4463 right_j0=-0.0002 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [0.8821, -13.0667, 3.1932, 1.6923, -0.2564, 0.1001, 1.0281, -0.0752, 1.7436, 6.9949, 1.8974, -0.0366, -0.0757, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f997549ce4a7a445e1f6d1dd38ac70f1e24b2c6682c04c74ec3e26eaef284f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d37cf8c38b208e35162d990124466f23a7088a209d90f6038a8bc442af9cfa78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d30f4a1ba998ed3ece94f5e24aa1a192ca5d6181b2e4589356e3c43a6742fa7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 21 attempt 0 · /messages · status 200 · 8.204 s

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

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9012 left_j1=2.6228 left_j2=2.6476 left_j3=-1.6035 left_j4=0.0708 left_j5=-0.9142 left_gripper=0.4463 right_j0=-0.0002 right_j1=0.009 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-1.0051, -14.3385, 8.1436, 0.0513, -0.0415, 0.0073, 1.033, -0.0752, 1.5385, 6.9812, 1.9463, -0.0122, -0.0562, -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=-0.9009 left_j1=2.6797 left_j2=2.6678 left_j3=-1.5116 left_j4=0.0708 left_j5=-0.918 left_gripper=0.4463 right_j0=-0.0002 right_j1=0.0093 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0162 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [0.0479, -13.4359, 8.1573, 1.1453, 0.0415, -0.0024, 1.0232, -0.0615, 1.7573, 7.159, 1.8388, -0.0562, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8913 left_j1=2.6797 left_j2=2.661 left_j3=-1.454 left_j4=0.0891 left_j5=-0.9173 left_gripper=0.4463 right_j0=-0.0002 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [0.8821, -13.0667, 3.1932, 1.6923, -0.2564, 0.1001, 1.0281, -0.0752, 1.7436, 6.9949, 1.8974, -0.0366, -0.0757, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f997549ce4a7a445e1f6d1dd38ac70f1e24b2c6682c04c74ec3e26eaef284f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d37cf8c38b208e35162d990124466f23a7088a209d90f6038a8bc442af9cfa78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d30f4a1ba998ed3ece94f5e24aa1a192ca5d6181b2e4589356e3c43a6742fa7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 0f997549ce4a]

[blob d37cf8c38b20]

[blob d30f4a1ba998]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01F1jeRAMEKvU5bA5qBeYMfo",
      "input": {
        "note": "The held block is up against the red block's near face rather than above it; I'm raising to ~16 cm and tilting the gripper more forward to buy reach so I can get over the red block's top.",
        "targets": {
          "left_j1": 2.631,
          "left_j2": 2.639,
          "left_j3": -1.008
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 8 steps (0.8s)",
      "tool_use_id": "toolu_01F1jeRAMEKvU5bA5qBeYMfo",
      "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=-0.8886 left_j1=2.6762 left_j2=2.6438 left_j3=-1.1221 left_j4=0.0971 left_j5=-0.9298 left_gripper=0.4464 right_j0=-0.0002 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0162 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -18.6872, 5.8872, 1.4383, -0.0952, 0.0659, 0.9744, -0.0068, 1.6889, 6.9949, 1.8681, -0.0171, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ff3b4d1e482321e370c561abbc461894e81f7c70d879f625b456fd4cc058415",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a34e3797707cca7d325fbccbf56e9a553699d1d74dc1c53aa8e031bbcfb9df07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a0bda6ce072c232760a99803b146fe09765a59b09a6992ce5fee86f322e37711",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 22 attempt 0 · /messages · status 200 · 8.756 s

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

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9009 left_j1=2.6797 left_j2=2.6678 left_j3=-1.5116 left_j4=0.0708 left_j5=-0.918 left_gripper=0.4463 right_j0=-0.0002 right_j1=0.0093 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0162 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [0.0479, -13.4359, 8.1573, 1.1453, 0.0415, -0.0024, 1.0232, -0.0615, 1.7573, 7.159, 1.8388, -0.0562, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8913 left_j1=2.6797 left_j2=2.661 left_j3=-1.454 left_j4=0.0891 left_j5=-0.9173 left_gripper=0.4463 right_j0=-0.0002 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [0.8821, -13.0667, 3.1932, 1.6923, -0.2564, 0.1001, 1.0281, -0.0752, 1.7436, 6.9949, 1.8974, -0.0366, -0.0757, -0.0073]",
      "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=-0.8886 left_j1=2.6762 left_j2=2.6438 left_j3=-1.1221 left_j4=0.0971 left_j5=-0.9298 left_gripper=0.4464 right_j0=-0.0002 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0162 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -18.6872, 5.8872, 1.4383, -0.0952, 0.0659, 0.9744, -0.0068, 1.6889, 6.9949, 1.8681, -0.0171, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ff3b4d1e482321e370c561abbc461894e81f7c70d879f625b456fd4cc058415",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a34e3797707cca7d325fbccbf56e9a553699d1d74dc1c53aa8e031bbcfb9df07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0bda6ce072c232760a99803b146fe09765a59b09a6992ce5fee86f322e37711",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 6ff3b4d1e482]

[blob a34e3797707c]

[blob a0bda6ce072c]

{
  "content": [
    {
      "signature": "CAISrgsKjAEIEBgCKkDmX0NFNFEVQGp0s57rxFDEt7osrezbxNZk4k9loz3WHs2/WIjkxuF/LfrV8N696lE5braQC61SndVN+Rn4y/LzMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMlasmADANDthRCM60GgwKwjnVhKXuMPLErzUiMK+OeG5oPs43BLZzl+2M47FIZ35qqX6m4JXf53YltNe1tufqeOmPaFmMqX69M7A5jSrOCQN8GxrRfJCpvBwbihBnZKdyPvwwU88GE2zqerkBf0CLu6i+1E2+NZIuMPIK1kKdnF6vWEKvgO7z1vaRZ76Nn6Pxnp3dxJd8xjAjp14debyfjdlMHR/pLNOdMbSODyQrurpNf8a9R2koucd/2YIveUSRdxZ+MC73ceYR1JTMZZcyRYCICPQ9YIFNwUAS2pglwKJsoRNbt8pq5Bi6HZeM/r/lwNT6aFzhH5X4lJKcLi7XpOwSSFUpd3BTOOuY/ZzBd9oQhbGbeEVnfXe9pl5ZvTWf5YGGHBSn3/vkkQpN5wSSO0aFmJEwWuLnkLbHm0yuEMPojLupyJVni2N3/43srBIHNEoIjKtj5lrB0apLHHqqFdob6v+RDRy5OS8j8t1WPCFfhbx/w+McgBfE0ZW423GZc6jWMOKyN3erG8g6shtmT8i4IMyQYT4X9HeQGMTOXvQWkMq+yumFwoKPzALNFV8prvnlxjYcVq8WB8N0sGSDwWIsaLphFEzQqs+smhYGd3AwjGzOVIe1HXDDZ0aqVyJDuDR9dtXtl0imeJxoU/Xd+GeZqjB4KnNHtH9zRUHilULRJFA9wfnpascAL1n/aihOxKxGyGJAKYFYiyqTUGfetd+6siv5L9FQLtOzB1ub2lZTmC5Qf3YIjkVcvdGgBsfhZFwi/hJ8aWZtmItWGQdTKwDSd9TkEDWFo2fBKcIPNpF8x222mszrFKms4WTxnBnUGzn14+XIBqpyTu3eF2gr8e7NajecvDz8m4MRAJHBFWU9BC5t7QUhgumNZRy6KG63411H6Kl0WYZGrD3voCxiFTM0/2AEmq0hmO02mAGG1ri1wNAc4dF/TTzxan+XZ5galWbgXK2euRKTSAxe9LU8tM85UExM0x7esSjyHGkqLGq8HhEfiRowNUwVN9OqTNgBKSBOuwgMuXrgE5oZfqI8SxcHpm0H1Hb1PcXIlszZrPnoAue1pbRArwHtdgj6qXdzlVoCFf9mw2lJ7qoTqvYBqofT4NzWW0opHxB28zHE1MzmoK8Rz56R+Jar+nMFcbYMP/oOGmuNQs/BvLgZN0iANsTiz0YWebvSI+yZU/KaEeyYhXdTa0yj6oLZEcZhh5UrlRsBCTRlNWYq7c+JDOFWHjYjyHrJR/yXgyd7gxhsX7GoHmVIFaDJ+BU7Z5ENa/azUnQJXCTa3FGqGLor297N3keXovIIJgWnG2zYz5vZgN/fL6L95Furskq98s6DiTiWMEeNmCK9HCekafBc5Ryezua8F0fSN43XbB5oToxWZ3YoUTDuKyOT+bcgMOrYpQZruEwW7JRzWOpirHNQGQSxvSDSGMzQQXgt7IYVjNS0C5YLUKLViQD0jnWp4FkoT4gH8yDQ0uPp9C49lE41D0MvhB9Bd4zSt8cfVWANOzDA9YakmStfT/c615QG/T7ACtgNN9UatKIx2zOtVh4JP9z3T+UzU0so0s0ZKQoSaFM9bkIGB+5Tywd42Zxr86pG1XHh5fVPGC7nCkwru/96NWHz8raTjVTGabA+1kElWk8+pB8eXGM/+Jr2YYYfxOoA/Vk1MKnSYRfvXj9bsImWdMEBi2e1frlpxM9NoBBWiyolBxd67wGPp8NV4dCGusqjeAQRJ8UDHYXMfz71nkYI6RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XiHNEEACVMuwBeedrDCPPd",
      "input": {
        "note": "Wrist view puts the red block ~2 cm to my left and ~2 cm ahead of the held block; nudging left and extending to the reach limit to hover the carried block over it.",
        "targets": {
          "left_j0": -0.85,
          "left_j1": 2.828,
          "left_j2": 2.908,
          "left_j3": -1.08,
          "left_j5": -0.9
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01XiHNEEACVMuwBeedrDCPPd",
      "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=-0.8585 left_j1=2.8193 left_j2=2.8712 left_j3=-1.1103 left_j4=0.0978 left_j5=-0.9318 left_gripper=0.4491 right_j0=-0.0002 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [0.4991, -16.0752, 8.5949, 1.4286, 0.0024, 0.3346, 0.9206, -0.1846, 1.7162, 6.9812, 1.9023, -0.0317, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e6fcbe27a990defb5739313d5c1d3be8853dde02e5da66299d0d81184045fd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6461d4b727c39ef8eefc86a6c5352c12f8b8997ce82af73fd9dcd7265c30c77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bd9574b0299d60adfa31f2bf3d3ee0b70bc9d20b4d9ccb9b9f0587751ae1e270",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 23 attempt 0 · /messages · status 200 · 8.406 s

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

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8913 left_j1=2.6797 left_j2=2.661 left_j3=-1.454 left_j4=0.0891 left_j5=-0.9173 left_gripper=0.4463 right_j0=-0.0002 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [0.8821, -13.0667, 3.1932, 1.6923, -0.2564, 0.1001, 1.0281, -0.0752, 1.7436, 6.9949, 1.8974, -0.0366, -0.0757, -0.0073]",
      "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=-0.8886 left_j1=2.6762 left_j2=2.6438 left_j3=-1.1221 left_j4=0.0971 left_j5=-0.9298 left_gripper=0.4464 right_j0=-0.0002 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0162 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -18.6872, 5.8872, 1.4383, -0.0952, 0.0659, 0.9744, -0.0068, 1.6889, 6.9949, 1.8681, -0.0171, -0.0366, -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=-0.8585 left_j1=2.8193 left_j2=2.8712 left_j3=-1.1103 left_j4=0.0978 left_j5=-0.9318 left_gripper=0.4491 right_j0=-0.0002 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [0.4991, -16.0752, 8.5949, 1.4286, 0.0024, 0.3346, 0.9206, -0.1846, 1.7162, 6.9812, 1.9023, -0.0317, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e6fcbe27a990defb5739313d5c1d3be8853dde02e5da66299d0d81184045fd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6461d4b727c39ef8eefc86a6c5352c12f8b8997ce82af73fd9dcd7265c30c77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd9574b0299d60adfa31f2bf3d3ee0b70bc9d20b4d9ccb9b9f0587751ae1e270",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 3e6fcbe27a99]

[blob d6461d4b727c]

[blob bd9574b0299d]

{
  "content": [
    {
      "signature": "CAIShgoKjAEIEBgCKkCkAB6VYQvEWf/+lOhKf41vz4Lek9nluULzu5M7YAyWQ+B7sOJv2hlv2eeNan2z5O3LcyvE52caREyo5x5KzkJ7MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMazP3HvbGxp8wAZ8BGgxnPoDaU/8AtJuMsXkiMCLq09UpfsqK5oKhN55Dxa6suV/SBuH6+thnmjANl+5Pk/YItJk9VZj98E+WVUnS9CqmCKUUkGHkG64yME4l2B1/C+djJvOXPn2FseeMdiw56Xd/x+bcyGbrE87B8sihlF/cAmWOhql/FFXP2PH8o6VJtMDvO8I1MvU4Vpgblfzzl9q60bYQbHAHUpbQTnBPEuYiBo4OsrnjhdKx3vR2fcTldiZx15DdgT0nM6BlGUi1L+8jgJWb/YYMb+CW16uHJWhiMNhGSgZ1+pqsjNSgtjkv3wpc1rCUBMYAkrqbhisjCb2rNM8qR3lhzq133U19hl2mxOIHMhuMVJ0t5GUuaFKO5YK/i84jmIB/lnr0IsLmSmNgfZB57jAukVO5CcNHZ5gTuXfczkkig1qrKEzgYEucyrMLHJiEu2iuna9RoCy3n3NxCoUvQCWtAbmy6ozweoSPh8Nf8H9WK4LomrpCvuhvajKZSQmAJ4bds80cys37CpcxXafMzCMy+oJc8fNUr2BQadittQwSkOqMU035Ib8BGpxFGzqYlWW6VF+seO0YVfvqrg3YQMRHXwP2wGHhpxe6CmMmihPthUyMVSctSDBHPQgIyMgebRxu2QtCj4VBl4jGnMEKGEy12/NeH3s5WPLVmYrnzDS/XTXPTTB/LFd3BPAP1dwmlFXWhfY1uVxb7qKbFGTrB2/FC/xAslOO6+7xz/9qjnlYMBiVH58s6wJWlUu584R9//ef1kAzxaQPUzr5ILJGjkD9mAzwU6U0WzMy9W/QFYnujhjP90NMdW2XZjxgcu+2P/Zabj14xQJp2ecSEyrUt5mdj+UMSkhgkVhZX0LXx0kIymjw64/afN8fqKh3g8nU3vuZ8fiHQp+EXEO52z1GzaAGS3LJcgoOL7VhThDxvVE6xLMaWrWSQrHhsUag1lTzz6+m12UzbpvIaBCuQ6dI9GK9u9U5ffTOLRRVD2Ui+wYkAaGwdPCnItt3smCmqd1+YCtdIhdS6rFR+I2u0sbusGXLzvtGLtOZnS8WHy6yyF6XZiIxBAUyyNnhM3r5A0fY17ZznF7A0u0IpRofoIwkY84oY8PiQoUMGW+VSJNDiwPr3shSp839r6xQrmvkYmOrUe7gObC2NRy2q3bFb57WsIvkEqihU2ixgNnyIMZqKH1OrlGJX7YWdPLAXzZxc3ZckBTKSr5VAnXMy8WdtRauGv6dtT0kxft25Mz6z34I9BUAqMNFQ8Dadrr3t8EZiEtwzVzGjSu91WRMtW2JW0bIWmquoZA6NBC77v7snrWTV9Wj3R4GPsWAMxkWKi4MzNv6eSluFNiHx8MLxpVphgNA5iauxRaNU0oOqBPgZb7Kh8LnF4wNBiO+El2vgPHuA8m4EvKqCCN63/VwFydUvzM8MRcaNu8zXCvWwaw1JSB4BSY5YHUSxQ9FEXAA0PLfPhkvjJFb2yNxEq4nRQbW/FWi8dqVfthevKYceJFowM5eY9qblBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VBS5y5T51aih2UMcrABtgQ",
      "input": {
        "note": "The red block dropped out of the wrist frame (I over-extended past it); retracting ~3 cm and lifting slightly to re-acquire it in view.",
        "targets": {
          "left_j1": 2.567,
          "left_j2": 2.475,
          "left_j3": -0.908
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_01VBS5y5T51aih2UMcrABtgQ",
      "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=-0.8551 left_j1=2.6419 left_j2=2.4916 left_j3=-0.9581 left_j4=0.0978 left_j5=-0.9291 left_gripper=0.4491 right_j0=-0.0002 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0162 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.3897, -19.453, 6.4889, 1.4969, 0.022, -0.0513, 0.9597, -0.0615, 2.0034, 7.0222, 1.8584, -0.0024, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c665411923b4c22762495b6e559fe7b5c2604bcf2de4b8348161e44b2add97f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3410225c77aad055e8bfd2dac19f8202a2f100935dfd92e5ad5d28205ec76cf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f124bbd3c23c1c87e1e5fd233af61ba2351e42837fa4480b8157e14b7641ddae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 24 attempt 0 · /messages · status 200 · 9.331 s

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

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8886 left_j1=2.6762 left_j2=2.6438 left_j3=-1.1221 left_j4=0.0971 left_j5=-0.9298 left_gripper=0.4464 right_j0=-0.0002 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0162 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -18.6872, 5.8872, 1.4383, -0.0952, 0.0659, 0.9744, -0.0068, 1.6889, 6.9949, 1.8681, -0.0171, -0.0366, -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=-0.8585 left_j1=2.8193 left_j2=2.8712 left_j3=-1.1103 left_j4=0.0978 left_j5=-0.9318 left_gripper=0.4491 right_j0=-0.0002 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [0.4991, -16.0752, 8.5949, 1.4286, 0.0024, 0.3346, 0.9206, -0.1846, 1.7162, 6.9812, 1.9023, -0.0317, -0.0415, -0.0073]",
      "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=-0.8551 left_j1=2.6419 left_j2=2.4916 left_j3=-0.9581 left_j4=0.0978 left_j5=-0.9291 left_gripper=0.4491 right_j0=-0.0002 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0162 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.3897, -19.453, 6.4889, 1.4969, 0.022, -0.0513, 0.9597, -0.0615, 2.0034, 7.0222, 1.8584, -0.0024, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c665411923b4c22762495b6e559fe7b5c2604bcf2de4b8348161e44b2add97f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3410225c77aad055e8bfd2dac19f8202a2f100935dfd92e5ad5d28205ec76cf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f124bbd3c23c1c87e1e5fd233af61ba2351e42837fa4480b8157e14b7641ddae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob c665411923b4]

[blob 3410225c77aa]

[blob f124bbd3c23c]

{
  "content": [
    {
      "signature": "CAISzgsKjAEIEBgCKkA1FUt+S0IBrP7OzDDuZrGYJu/o5xwuRJjs+GmyvRlwXTnJ7HgBbuCDI7i7WYMhgaUGD4rnsCu/FZqORUsYch82MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMWSUKJUsnXLYkQw0zGgxLIcgXVSQ0l3FF6xgiMLr1i1CiFjbtyOEJqMFBZNbP3lkCYv3tUcwNEYcJ6+PKSCww0WOX4ORtnryP+f/ugiruCQHx9SPIe46N24fFqy2gsGPc5F36e5gYJSFoIdjYXBnLeOYDW/c3Ly3o9PWtjM+sMX0viOdgsVTPwS4Rs9tyys+HfuAw5K+BYmK7EgTFb1J6oEQ6lmqG0L0Qi7CTegPCXF7i0xuB9lJtStFjQI+1K5XeY2/4zCvay7y/aSUW9aAmfCpsTVbTCfuxeuH/cLh/RtyeNxVcwVGDLgcEG/OGCOhR+eYtV6dTCNdE02HRDc7gToW1QhNLvIo775Uja8I2sHdG96EN7jj3gJmVHaB8nu/a4X2bNZiFvcViQdastyhUTpIPudkbb6bFCzMVf3SAB9BgkqniIcoNCJpnj6Zdmd55IRhQnikFUiUDwtZPzpejkmYwcB/5DOBl/UFj5BET/nHT1UuXh/73OAUvaSjRetZTS6sq303TBbUpxXR1ZIWXVHlDxKfSUbMw3+nywRklPW4Oqa0B2Al7zdiP8WQnp4YMyCaixwkKD9N3rbLpdOuL2HAwIR+Pp73gJFBGqUMp0BsMrQ2GrCgLkVrNsclGRnZiQ9po4O+JhoID48r4tyh0qajWsollwrZK8aTjaDaYFzLm6/pSj+DzmVoAmc8Q5PXxpT9ZZ9sg4yYd21rwMPp+w1cwfXWaqMOPpUizzW2oOqGm5rB+kpL3UrV065zBmoXLjhc6m9gDPo7HwFJecYOo0CeZbJV+viSsWaPg+pXhZ8N98y616b0CvfOekTZVj0cD3wVsgcnt1IQb2HT+ZQmD28xtWzMj4Ns5sOt3uvOLIdiucGx20Rw3iSMrGZ9CAMykr9tZ/JMSx6M3NhRTYeI1Vq0318dly39H9oJBEazkWn6RK8aTpCAXzttnmIRf98z7gums1a3n6uPXuSwhE3Cn3jhGMXqh3n49h1kBtoIR2WoUc8IjVOWvCMazJwlga4heMJu2wWEQ6/MTLXsmYX3zhMPbgt0LH+R7gsOS0GqDRfmlcjn/Urwj0TPHOkoICwDg27KIYljRgXycZlRQxXBeTIjUg2KKXkaqR287dfXYCX5nka/Jj+SVefR4foAFlj3pRsTooiVR22qNsl7CRFx+GsluQeJkLkFebLL59203c8u3yc5qXDjLVMhgBzXcqO13V6TfKj3FSycL0ws9FlERJN9m/DAoAxmyoJ3Sm/ls025fH7+mzdLks7PtrQe0qiv3tOR9Vip04PuyEYX2ey6tuC7H+jy2Ni7CbDp4wuSM3qHzCCoOFC/JUucsq+h9eU4gfDOStcZtubCQOGwZ/qjJHGrRHm3lbnscO56XYiyFWFFgGew41RI2iGW9FaMhevD/Je9WoepTZerjb/LoDXZYVwzNz1OMEsiJMxSXkglvda2xqJeUi7X5QbMQsoUTLVxClx2oLYupuJj6elBoxgZ3GTbaPOKvk1camRphJmLIY7cKnmmtAqKKOvyYocPa0efITP4UT4ePzK74WlHOpRteE99jEs2EVB/8lszMMdJ+R+q0AigZ6hGJ7T3Z2HOSSCRkrv18n1vQpzCeawQ0pSwoXEOeBeC6QuIv+KHndtPaDDOnwVYEJR06tLtA8RlfkfJvGWpxOLV1qQ/7F5wqbZMIAl1v4LCsW18+ty7r56wIGpQKjPVQ+nWM5BLi3aeILu1+Y1VVLIqVHRaQaKCMHWRGAGR6SgJPt4s2HUN/SCkIwR7EvbaF8k9v3dR+pDcSGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CDJQnjbZJveua1KMTxCQjG",
      "input": {
        "note": "Overhead shows the red block right beside my wrist but the wrist camera can't see it; raising to ~20 cm with the gripper pointing straight down to get a wider top-down view of the block.",
        "targets": {
          "left_j1": 2.486,
          "left_j2": 2.586,
          "left_j3": -1.5
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 9 steps (0.9s)",
      "tool_use_id": "toolu_01CDJQnjbZJveua1KMTxCQjG",
      "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=-0.8551 left_j1=2.5618 left_j2=2.5515 left_j3=-1.4193 left_j4=0.0978 left_j5=-0.9356 left_gripper=0.4513 right_j0=-0.0002 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -18.947, 8.1983, 0.4762, 0.0171, 0.0122, 0.7937, -0.1709, 1.7162, 7.0085, 1.8779, -0.0171, -0.0659, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e76290652157b89a520bc4173e26cd76c391147f0345456585f3cef5a0ad100b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0fd448df105f0b2f5e4f6023c0d9098663bbe3ccb2fa2b4b7d96af65cbc7b0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:70ff04dacb5e080ae171eec1c1fa9c5d4348da12710555944aa9177f5cdeed40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 25 attempt 0 · /messages · status 200 · 5.811 s

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

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8585 left_j1=2.8193 left_j2=2.8712 left_j3=-1.1103 left_j4=0.0978 left_j5=-0.9318 left_gripper=0.4491 right_j0=-0.0002 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [0.4991, -16.0752, 8.5949, 1.4286, 0.0024, 0.3346, 0.9206, -0.1846, 1.7162, 6.9812, 1.9023, -0.0317, -0.0415, -0.0073]",
      "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=-0.8551 left_j1=2.6419 left_j2=2.4916 left_j3=-0.9581 left_j4=0.0978 left_j5=-0.9291 left_gripper=0.4491 right_j0=-0.0002 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0162 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.3897, -19.453, 6.4889, 1.4969, 0.022, -0.0513, 0.9597, -0.0615, 2.0034, 7.0222, 1.8584, -0.0024, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8551 left_j1=2.5618 left_j2=2.5515 left_j3=-1.4193 left_j4=0.0978 left_j5=-0.9356 left_gripper=0.4513 right_j0=-0.0002 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -18.947, 8.1983, 0.4762, 0.0171, 0.0122, 0.7937, -0.1709, 1.7162, 7.0085, 1.8779, -0.0171, -0.0659, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e76290652157b89a520bc4173e26cd76c391147f0345456585f3cef5a0ad100b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0fd448df105f0b2f5e4f6023c0d9098663bbe3ccb2fa2b4b7d96af65cbc7b0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70ff04dacb5e080ae171eec1c1fa9c5d4348da12710555944aa9177f5cdeed40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob e76290652157]

[blob c0fd448df105]

[blob 70ff04dacb5e]

{
  "content": [
    {
      "signature": "CAIStw8KjAEIEBgCKkDDwX388XK2u/dOk7jbLFUsevK0tA1U+yXZR4URPl+VxPm4q2W+uFQnwwTE2BKUZtmzSBECtnHY3a/GiAmIXJi7MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMqND+xe1tEQNCwTXjGgzc7SW2pA/Nqg7gUhMiMDKZfgld1v6La7AFACP6vjmTlt928+plBsYXobG3ex8tjf/U+PsS1Ig4toctbdTFKCrXDZmygqN6DQdyVqU0/47nQ/HYD3hYvMe7k3EGtiNOONa3vLAOxGMP3VoOGvGP96r+rbWRorx9ISxEKSvHj70d/MQoZqVq5kb9oS3SUa/WJ/Jagt73ZhEJvZys63nZJdOejSv9yRMpRA5yWNUvRS1yjfOj43Eo18AMazNebbbGO8P8F7FhEpw9VtA43kMY77GcdEjMDaBJUFVw60YBUvdbd9HrkLmDxGvBWi1cmirhInE9ANfrJVssOeXSKHydKbpFSGiSR8CQNRalb7CFNYLQqoD06uRHJfz8sYaSm3tGZoGfcHkgLdJMksDjTJy6S9JlKJqc2gtQOlcGS4wJzJhvo0iKVO5ww8LleZZ6Cx69dQohZO2SnWtlDrK7uSwXawCcHdNPkWfRxKjgLPQ2rM/2kHLoi95hbgUaBVp72OXGdblezTGArMmwUDMpIjjoIz/67zlsDeTOAHqIPMtqxzjCR6M6eMGOd4ImjUcX0snrIya0UKKlJg2uASU2YPJ7nbiPm83AK1kNwGckzLp8Yf0UeDKf5YySmGI9X2IN1PN/DqIN5CWNADiC/TxswADV1yofqnubgvuWqL7C3wIka5dTmL/m0tjcW50d5rOQ4VFflyF1Tsd4N4KhW7O5WkzZ5uiinNq1TEA/es/DiFSyy0dzmuWkBjKrBua6al+vr1aLxHcfwIj6Lg3vp92YUkd+aT8doHKz9GvM4wE/Bglmk347tlK3Wg2e2wb02d70Cfbvl6XpX44GCp97o63SNFfjEsIajXF8JnyedLFaWl9PfKbn0OygFp/W6yglAoDsp3PpendCiPYNBcaotjxayycuwu3g4NVZV0xTvOREddDenH1/Rze3x1jKx2Utwh30saZPf8vUYb+pQ+jqs7rPNEOx9WaOwFHqJyDIYwR6tHaOOPYsKDg930e8EPcMhTZ2/zK0+jBJ2/fw6Zm92843DpA+fQvZHfIvvaXsD6E77dytkYKMA0JnjmHXXtyqO760DlrGIwSJ/G831cxjt1oOzVxFwGykBvcQ9Jj9201PiYB8nKf28oYPQWfwQivvywT7IzYI+gbK7Vt9e0YCrqHxHJWXCkM6b1aVL4sSXdmtefy4nTHUQQJC6y5sqcXcSdMfM8JTH6kmgcNyCHA07t116qbRnGTghP4MpbS6EvaZ/arbLGcbvGLYL58T4oIWfd3waGpkpxfhq/wTKDMYRN7BVuNs7h4ShWTTsCx7Q31oyq/CiIChJiSJ6MW4b82TM9ihpt/M2womhmCKEQlpHm2lIO5lm8li2r7Ve5Lgr7ZGue7Nj86mXSMTAFPcB2it7iLLm3Dj8JM4QkT3G7vBAiwxGvcgKqzIVJk3rFKYUd5Y0qMIkLccF/v8TJ2SeCrxAx4+L1d2Dpf67N2d8f39BvyO5IW3LdCVfrMIOYoimP8mixcrD1XhjgPd3cqRRM6HYEI77Ig1vG3hLgQKz20Mz5bmvLzLaDCyRtcivqPAILNzrykQQ6+08uhfm/3DNABSCRJpy+yPITE5rbEU5UGBWH/TW+oGuwQrSMZvukpm+egyPpJUNs0debPHGWNX6i9GaUJDRj2rZygeijLKEzohBm44JMlq85HfkH0W+u4F4983+axeBcYAEUNg/i8ydCigVGs7jmue/kuWe/UwzNQYc5Sv39cXhDeWFo14yNmXgULkwfRgzM75zr0Z8mhJNym49bE642CbJO69MhCHLaAClrWXT/XJBjN0Y0WKaVyGK6n7pBc8jm4ZK7bKwMUIQR7TJX7Wx+DJ1NlBfaAiLNW1BUEQpOQAMMHES97FzX5iTPYdOL1itlrwwsEMXJDH4pBeK3bplr0nhfoBjdtqwgapSOHIk6+KWU+vlEe/E0ScQqbTHDM45IZOmuodXW+ElBvwm5ZMUnyOREU8VCO0YhzJ57y5Dc/TmtEyEZ2tbbyeSzAZsZ4zMZ1fe2k3ZKJuTcHQHnIkDqrvZhgyJAT2eFbP8rmJNiCCAUdOo3yX9j/d5zRso1MzuuHgnAx4NLhc5T/DoaxUOxMQpq86O5A9FWWnCARfBwHD1oJJydsmc/AW6vtbZucqVYNBTGF/UVxL6hBlvQvqFxS8MP6DF7cUtLAzZ0qiCKrb8apjTMQeGnntaD1LWh6EwbYxAsiw2+P+0uvZ8+WAH7RxbOrRles+2eXLxle9jgVhxHjPQ/45JiaodBhr2AI6wTayoJ0JEt51w+ZjDXlIs8Ol6beSOXCNEZvbjJTr6laR87YHRGdm3SIScOYUOMZnCRw7kxrHpHSMSp89YKctkks/Wv/v1XV7YAMbqhee2kVZOYTwOzaIka6JH9lf/isfO0Vn93LqxkFwsYRyGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J77Ck3kyCmeWse1mx3SXJU",
      "input": {
        "note": "From 20 cm up I can see the red 'a' block ~3 cm to my left and ~4 cm ahead of the carried block; moving left and 2 cm forward, descending to ~16 cm.",
        "targets": {
          "left_j0": -0.79,
          "left_j1": 2.616,
          "left_j2": 2.669,
          "left_j3": -1.453,
          "left_j5": -0.85
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01J77Ck3kyCmeWse1mx3SXJU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8364 left_j1=2.5652 left_j2=2.6392 left_j3=-1.4818 left_j4=0.1024 left_j5=-0.9039 left_gripper=0.4513 right_j0=-0.0002 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0162 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [2.7966, -11.7402, 6.5162, 0.4371, -0.0513, 0.1685, 0.7643, -0.0068, 1.7026, 6.9949, 1.8584, -0.0366, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c254955590fa7533b9e58b76d7051e7e3d68341a8a78897ccec80096d20b32e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:725fad36d166e01f91910033b14f71c574afbc6a2dc5cab8485cb46c856a47ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7ce9824a37957c284ab27265cdcb1653ce5ca3200be0351ab38f4eab1a8d331b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 26 attempt 0 · /messages · status 200 · 6.351 s

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

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8551 left_j1=2.6419 left_j2=2.4916 left_j3=-0.9581 left_j4=0.0978 left_j5=-0.9291 left_gripper=0.4491 right_j0=-0.0002 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0162 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.3897, -19.453, 6.4889, 1.4969, 0.022, -0.0513, 0.9597, -0.0615, 2.0034, 7.0222, 1.8584, -0.0024, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8551 left_j1=2.5618 left_j2=2.5515 left_j3=-1.4193 left_j4=0.0978 left_j5=-0.9356 left_gripper=0.4513 right_j0=-0.0002 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -18.947, 8.1983, 0.4762, 0.0171, 0.0122, 0.7937, -0.1709, 1.7162, 7.0085, 1.8779, -0.0171, -0.0659, -0.0073]",
      "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=-0.8364 left_j1=2.5652 left_j2=2.6392 left_j3=-1.4818 left_j4=0.1024 left_j5=-0.9039 left_gripper=0.4513 right_j0=-0.0002 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0162 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [2.7966, -11.7402, 6.5162, 0.4371, -0.0513, 0.1685, 0.7643, -0.0068, 1.7026, 6.9949, 1.8584, -0.0366, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c254955590fa7533b9e58b76d7051e7e3d68341a8a78897ccec80096d20b32e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:725fad36d166e01f91910033b14f71c574afbc6a2dc5cab8485cb46c856a47ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ce9824a37957c284ab27265cdcb1653ce5ca3200be0351ab38f4eab1a8d331b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 9c254955590f]

[blob 725fad36d166]

[blob 7ce9824a3795]

{
  "content": [
    {
      "signature": "CAIS0AIKjAEIEBgCKkBL0h+7kHDRW37QUO02qqe1VUVI0rjebxjP4pg1BR71ts5qm9zW1uW9XIbvxeRx2d5ijgNNKTfgNeIyRJ/uI2ZoMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMS4a3EDe0Kph3+DKBGgyaqN9fVqGaxs3UDmIiMOrc7HioQN7PGhg70/a1RyACN+omWQu4IOkyxIL5qJn6XW6tQXNzOgcUvrb682q6FypxptJfalaAB1qK3M2OWR9abmQRZY7JxqG80L4DOjcHaHmKwnpmYgUrVajYHFfN5WnuwSnRiVnmINJZ9yaJjhCynIpLqDrzwIRVoXgSSNWBbk5Gi/oW5XiYZiLUirH22xuGSboK71+x864OEkWgxgOX/NgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015r5BwRgSy1ovsd51sQmsHp",
      "input": {
        "note": "Move undershot again; re-issuing with the yaw pushed a bit further left to keep closing on the red block.",
        "targets": {
          "left_j0": -0.76,
          "left_j1": 2.616,
          "left_j2": 2.669,
          "left_j3": -1.453,
          "left_j5": -0.85
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_015r5BwRgSy1ovsd51sQmsHp",
      "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=-0.7815 left_j1=2.6431 left_j2=2.6499 left_j3=-1.4593 left_j4=0.099 left_j5=-0.8627 left_gripper=0.4543 right_j0=-0.0006 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0162 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [1.4974, -16.5812, 7.2274, 0.5641, 0.0659, 0.1001, 0.5934, -0.3214, 1.7983, 7.0085, 1.9121, -0.0464, -0.0806, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d295f2b388cd043691c24ab274b1ab119a290c2d0204bdc5a8bd24203ce9b0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a0105ba4c455fc4d5b09dea0589be072aa6507ac53763af35f0a140b09b33ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5c2ff9f23b96918ed6a71001cf419b9cfaa03f4ed3653526893e92cfd1ce6a71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 27 attempt 0 · /messages · status 200 · 6.04 s

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

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8551 left_j1=2.5618 left_j2=2.5515 left_j3=-1.4193 left_j4=0.0978 left_j5=-0.9356 left_gripper=0.4513 right_j0=-0.0002 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -18.947, 8.1983, 0.4762, 0.0171, 0.0122, 0.7937, -0.1709, 1.7162, 7.0085, 1.8779, -0.0171, -0.0659, -0.0073]",
      "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=-0.8364 left_j1=2.5652 left_j2=2.6392 left_j3=-1.4818 left_j4=0.1024 left_j5=-0.9039 left_gripper=0.4513 right_j0=-0.0002 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0162 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [2.7966, -11.7402, 6.5162, 0.4371, -0.0513, 0.1685, 0.7643, -0.0068, 1.7026, 6.9949, 1.8584, -0.0366, -0.0415, -0.0073]",
      "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=-0.7815 left_j1=2.6431 left_j2=2.6499 left_j3=-1.4593 left_j4=0.099 left_j5=-0.8627 left_gripper=0.4543 right_j0=-0.0006 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0162 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [1.4974, -16.5812, 7.2274, 0.5641, 0.0659, 0.1001, 0.5934, -0.3214, 1.7983, 7.0085, 1.9121, -0.0464, -0.0806, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d295f2b388cd043691c24ab274b1ab119a290c2d0204bdc5a8bd24203ce9b0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a0105ba4c455fc4d5b09dea0589be072aa6507ac53763af35f0a140b09b33ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c2ff9f23b96918ed6a71001cf419b9cfaa03f4ed3653526893e92cfd1ce6a71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 9d295f2b388c]

[blob 1a0105ba4c45]

[blob 5c2ff9f23b96]

{
  "content": [
    {
      "signature": "CAISnAcKjAEIEBgCKkAjv+bisfrk4Lz91vEJP9Fhx6DeoPyHnKMRk08VAY43MO5Ynw/N6wkDn1eVZyhfTBceg2hoUw5qPVJIYRFHQKp1MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM18TqWoGzPP52ofPUGgwMv1QmlWbyPIdyMPgiMAmUiUxjPL4zi6IAOrHxHUcl2cn0VpP5QCMr0S18wdIR0XHTVr+FVWRsrSic9mpi6Cq8BTlyzZuldZFWOcgQp0IeNpg0MkdpLmvvoRwG/YnQvV7mD0NO/qPaRhQ7k6OZjbCJkAN9tq+CKqWCO9JDn0gUPm1y4uo7iD6+b/Afp8sEtZhwf0GlXmZdmsTGgaJ++msKEUFviy6e8zfzfnEGZ27kuCI7iPe9GQTpqUQWy6hp7yM34UAOdWIcAvzjgB9YzHdjN1lDvmxUvbpvfh+3XKoHnOx5R8kDxoLhw91PV6bcrX5EUKvPdF5OJk0sL8rmAkwZdhicO7htchPFW1R6hEz6LvzyuD0kqpA82Sr158d1SR7uoMwOtYZWxGKQng411592UsJ1AYKNL/DwJQDpA3EV7Sv965Cbb11Eon7PtyuQe6N92/Yd7xB70fG29yItbINu1L7p9yt7djsgPvvM/Mqo7Oc4mU6aPB/aqYnTgVqQd502ApM+MubNYPJhGBvDsCzk3jEI8idAqaADfLSgHUIBFaLKXYnlDTF6C4YEA0IMpjdnl0RDsh4gc/MD9Iqv1uT8y1W2OQQ9NlQ6xGjCYxc1xrMjxfuiXuR7A9B6TO7t2X+blo3TASkN+/8GmI2XtBUGfr7yRSbGimhBJ7Ua55bUalJCw0v8ggYXbFv2AytYtzNgo5j5txUxjm6Jjgt8RVbykzcLEzAuLKIDCLdIdv2tgF0zQnrZgNZrDAyIVdy+i996d0WVlfRa+LxGrFvPEssRLtW3vkvKRPIpLdO2zpYirqwKQD9W8SP020iQAIbvAEuT4Gju0z29cc/0ctwQ7MmJRl6Poh5dSAfiExghDR7+BFFMPpqTWfxiosLMFYlxQc5hj3L51EGy/viFykHsxZaziwbC99Eyh0zOwpd98PG9Fye/r5Y0A84c/I1kciC9dr1z3zm7n8ytGPbN+oPfAS11K4jTEowNAefcUs33uhOOthpB6tocsGwY1C1mliEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011XLdKkX3gNgxVT4DfE4o51",
      "input": {
        "note": "The red block is now just 1-3 cm ahead-left of the carried block in the wrist view; small final nudge left and forward while dropping to ~14 cm.",
        "targets": {
          "left_j0": -0.74,
          "left_j1": 2.75,
          "left_j2": 2.851,
          "left_j3": -1.501,
          "left_j5": -0.85
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_011XLdKkX3gNgxVT4DfE4o51",
      "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=-0.7517 left_j1=2.7476 left_j2=2.8113 left_j3=-1.5051 left_j4=0.1009 left_j5=-0.8635 left_gripper=0.4558 right_j0=-0.0002 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0162 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [0.8684, -14.8855, 7.7197, 0.7888, -0.0757, 0.0611, 0.4371, -0.1299, 1.5932, 6.9812, 1.8632, -0.022, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b00908a4db450ec260f47464c588f5d2d81c1f448ac6b8d1ade7d259aaa3ff0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec953bbce10e1de1c19759e7aa4974d925bc5920f3132ad1a343fa89c6184901",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0d5d886bd6a23a32aef0d52fbd4474ac97da059b5d0d8fc8882a2a4352b069e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 28 attempt 0 · /messages · status 200 · 10.07 s

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

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8364 left_j1=2.5652 left_j2=2.6392 left_j3=-1.4818 left_j4=0.1024 left_j5=-0.9039 left_gripper=0.4513 right_j0=-0.0002 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0162 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [2.7966, -11.7402, 6.5162, 0.4371, -0.0513, 0.1685, 0.7643, -0.0068, 1.7026, 6.9949, 1.8584, -0.0366, -0.0415, -0.0073]",
      "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=-0.7815 left_j1=2.6431 left_j2=2.6499 left_j3=-1.4593 left_j4=0.099 left_j5=-0.8627 left_gripper=0.4543 right_j0=-0.0006 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0162 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [1.4974, -16.5812, 7.2274, 0.5641, 0.0659, 0.1001, 0.5934, -0.3214, 1.7983, 7.0085, 1.9121, -0.0464, -0.0806, -0.0073]",
      "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=-0.7517 left_j1=2.7476 left_j2=2.8113 left_j3=-1.5051 left_j4=0.1009 left_j5=-0.8635 left_gripper=0.4558 right_j0=-0.0002 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0162 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [0.8684, -14.8855, 7.7197, 0.7888, -0.0757, 0.0611, 0.4371, -0.1299, 1.5932, 6.9812, 1.8632, -0.022, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b00908a4db450ec260f47464c588f5d2d81c1f448ac6b8d1ade7d259aaa3ff0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec953bbce10e1de1c19759e7aa4974d925bc5920f3132ad1a343fa89c6184901",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d5d886bd6a23a32aef0d52fbd4474ac97da059b5d0d8fc8882a2a4352b069e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 3b00908a4db4]

[blob ec953bbce10e]

[blob 0d5d886bd6a2]

{
  "content": [
    {
      "signature": "CAISnAcKjAEIEBgCKkCIoHLrNQgTGRR7UfKdxyPZqMRTwsC4CdA0kU4rCVqui/mZp3pcE581lUo9ztYYN6ip9MgnmiKtRSruHtGRNuGHMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMuCD+N2POSDCz7EXrGgyWQs4PQ2DoQQcrbeEiMCUaOVk48h97lT72t6el2G89bwqnr1iRJkIAv/tYyKMBiLJIRUFpDkRe0c6pQBDuniq8BdHvh/nFPH+kf7hE/N5ykM08wGLOrGwLsmrEWnog+VqJq/EC/lHJt8aSJilS3PqUtQ7VuzPg749bmd2jcbie2KFnCPEqhtB8ESpYpSAcMCsUk219yRdoGnFKGsX6ClM2Mq063Bq0fTPD7OHXVYGcDv8rkUtyJvlDfXuPqxV4mMXcRgO6ycM3yqQh74GlhCHrwfS11+BfBLlzj12muH11T+rKj8rvjUZkIGS4LfBETUz+YCSXZhrJFGScIpE+Nftn38YhoXGsy3pLWS0S9iqPkAdJj13mNDo8tYjhU01AY4EPLFP7+jqM9YhY17dpaAky4EMLOxhPUAOTi0bHOQ7IMmq25qqLgvqXLvODYzMJbqUfP87B1arIpY99AiSAKavyfeY6ajsjToYKcPTRfzSwt3Qfl4HitQl9vVGdOEnNvhwoLNsMbtgLP0zh701bha+hxqiEnCRqPp+KrR3TSEf9iP6Rba/vW/kKiktPCSRiRrGEejrexCO6fAlFKjDEIf7W6N+1G6fRHsGKxaiSJkiBP6Uc+iAsFBqlMpFeJ7S6NoIl6UsNKLKZhQOq96/GWwuo4serEMHm2lyngWmY86UjFNVT1UC0nc5vDo4bog8Y+kdBDWIsfGJ6QNPMZFUTykdu98cIQ2NOug3JnNWqdm5LcXVMvNmRWwMoIaJugaEsPFOin/LiVjyNKXnfNVFFd4JSmFD49E94Mai6zyGVZJs5WRD8VSPRfRskwAv8/sOHfTc1qYuZWco5mPpEl1fO3bw26c9eQjY8rhIud+4zv+GDSw4XnZdjABZdJO2uVskRhfc8qio9jqUpQZLrePJtXIIGy80aiDF08Yi9QrqXlxgjpGzxZa+oaOLXhIKxudJd1kEazmvQp1er/ZJyPiDiU/wfAxCOxvtd9hCbKjXa411CGahDCQJt8Iv2BweKWHQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01R77V5L5zpe4Zxuqbpqaaz3",
      "input": {
        "note": "The red block has passed out of the wrist frame under the jaws, consistent with the carried block now hovering over it; descending ~4 cm while watching effort for the moment it lands on the red block.",
        "targets": {
          "left_j1": 2.743,
          "left_j2": 2.674,
          "left_j3": -1.331
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01R77V5L5zpe4Zxuqbpqaaz3",
      "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=-0.7444 left_j1=2.7403 left_j2=2.706 left_j3=-1.4052 left_j4=0.1017 left_j5=-0.8642 left_gripper=0.4559 right_j0=-0.0002 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0162 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.8, -14.735, 5.1214, 0.7448, 0.0269, -0.0122, 0.6032, 0.0068, 1.6479, 7.0359, 1.8877, -0.022, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd3f37f40046e9b96e4d9653f77f1b9e1456c294d95b52ed7f033fb93e760843",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb59996d2fa77731edba715b9fc3833b8c7429329b9cda5770e1365c87c05655",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f43a68dd8e1b2e5af8a753bb2ea65a45f353a12503e3daeec9f8f994477fe34a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 29 attempt 0 · /messages · status 200 · 8.564 s

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

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7815 left_j1=2.6431 left_j2=2.6499 left_j3=-1.4593 left_j4=0.099 left_j5=-0.8627 left_gripper=0.4543 right_j0=-0.0006 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0162 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [1.4974, -16.5812, 7.2274, 0.5641, 0.0659, 0.1001, 0.5934, -0.3214, 1.7983, 7.0085, 1.9121, -0.0464, -0.0806, -0.0073]",
      "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=-0.7517 left_j1=2.7476 left_j2=2.8113 left_j3=-1.5051 left_j4=0.1009 left_j5=-0.8635 left_gripper=0.4558 right_j0=-0.0002 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0162 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [0.8684, -14.8855, 7.7197, 0.7888, -0.0757, 0.0611, 0.4371, -0.1299, 1.5932, 6.9812, 1.8632, -0.022, -0.0366, -0.0073]",
      "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=-0.7444 left_j1=2.7403 left_j2=2.706 left_j3=-1.4052 left_j4=0.1017 left_j5=-0.8642 left_gripper=0.4559 right_j0=-0.0002 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0162 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.8, -14.735, 5.1214, 0.7448, 0.0269, -0.0122, 0.6032, 0.0068, 1.6479, 7.0359, 1.8877, -0.022, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd3f37f40046e9b96e4d9653f77f1b9e1456c294d95b52ed7f033fb93e760843",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb59996d2fa77731edba715b9fc3833b8c7429329b9cda5770e1365c87c05655",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f43a68dd8e1b2e5af8a753bb2ea65a45f353a12503e3daeec9f8f994477fe34a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob fd3f37f40046]

[blob bb59996d2fa7]

[blob f43a68dd8e1b]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KWdcydSktvW7sW3BMoW1ne",
      "input": {
        "note": "No contact yet at the last height; descending another ~2 cm in a small step, watching for the effort rise that means the carried block has set down on the red one.",
        "targets": {
          "left_j1": 2.764,
          "left_j2": 2.634,
          "left_j3": -1.355
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01KWdcydSktvW7sW3BMoW1ne",
      "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=-0.7483 left_j1=2.7548 left_j2=2.6583 left_j3=-1.356 left_j4=0.1017 left_j5=-0.8639 left_gripper=0.458 right_j0=-0.0006 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [0.2393, -14.3521, 4.6974, 0.4811, -0.0269, -0.0024, 0.5739, 0.0205, 1.7162, 6.9949, 1.9023, -0.0269, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b49e4914e7a17b2eaff043574cae0673c5b8ef9bf6f9cc8302ce8efed9e3de0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7354d9448a0127a45e21582c353297fd52a45d36c624ec8a2c6cdf3f656c05f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3317c30948fafec55be7d22c6caadbd2aad181bb723887191ad154aa76339e42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 30 attempt 0 · /messages · status 200 · 4.452 s

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

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7517 left_j1=2.7476 left_j2=2.8113 left_j3=-1.5051 left_j4=0.1009 left_j5=-0.8635 left_gripper=0.4558 right_j0=-0.0002 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0162 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [0.8684, -14.8855, 7.7197, 0.7888, -0.0757, 0.0611, 0.4371, -0.1299, 1.5932, 6.9812, 1.8632, -0.022, -0.0366, -0.0073]",
      "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=-0.7444 left_j1=2.7403 left_j2=2.706 left_j3=-1.4052 left_j4=0.1017 left_j5=-0.8642 left_gripper=0.4559 right_j0=-0.0002 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0162 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.8, -14.735, 5.1214, 0.7448, 0.0269, -0.0122, 0.6032, 0.0068, 1.6479, 7.0359, 1.8877, -0.022, -0.0415, -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=-0.7483 left_j1=2.7548 left_j2=2.6583 left_j3=-1.356 left_j4=0.1017 left_j5=-0.8639 left_gripper=0.458 right_j0=-0.0006 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [0.2393, -14.3521, 4.6974, 0.4811, -0.0269, -0.0024, 0.5739, 0.0205, 1.7162, 6.9949, 1.9023, -0.0269, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b49e4914e7a17b2eaff043574cae0673c5b8ef9bf6f9cc8302ce8efed9e3de0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7354d9448a0127a45e21582c353297fd52a45d36c624ec8a2c6cdf3f656c05f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3317c30948fafec55be7d22c6caadbd2aad181bb723887191ad154aa76339e42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 1b49e4914e7a]

[blob a7354d9448a0]

[blob 3317c30948fa]

{
  "content": [
    {
      "signature": "CAISpwcKjAEIEBgCKkCqQYjVYaL1XLy1D1GqymEqud0iJ6ohWvPJ3pr1fhNToUsKPsD9ahGFeCnqh1OTA1mYZfYwitWKkOoIWA1pcA2tMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMiyb/+GJtOBrgLvPWGgw78Fik0fa0sBQ0QkciMFQrRpGuGq9Se5wvAL1TMeyqzr7IanTZ2DVjP0l2ALXBgVc5UP2pOJWjPVvxLlrucyrHBaCgURNQ2oIO3impadMTttqF0Zno3859+WSuCgT42Ul67wTGv4+keNGWbMCvEArdQe20TQd4BCJYCTGCXfktjDpj4mHfHKG/eZgzfITOOVxUcCgisPjNpGegus2WHrpKvWjHiCv5ry7Cuf3Kcmm10IJd9UJ+MMB0H05f4JGvZOu2EuBoa59SYbP2KX+TvcIRNFXx+MtIcGzQYP3I6CX890AjR9LTMx6jLTdE5m6sPqsmQkuWorJ2XeSnG5Hgys1t+XuHEoAMOApdkPkQZW6CvYcH42ZvRB48ycVYTt12tgvy886BfOoWB5cQg+4a9LTFvA888zdqxOHrsKXsiZxwheo6lEQaT2slutgOkwlD45Sam+gsqavkPVTSroJ0zJ0X1ljnIFd315prl/gI3jVWrnOVi0eXMNjWIpHuv7p5P9AZo6Fz/pv6JASwCfmMBzvvlykuWFsV+7DNcxJu8e2bHASiko8jQJBXNaVq4eyvesbtEqTl40uvZMZS6jBG8vxBMzjm1oNlZjh6IMzL0+5FpcfY2jCeERd8mrrwz7erf1o4lWzkVxPMGOvqQfmbDYb1/qCh7N5W5M4nXh1OHydEvBGU2gJCry625lYR9MrWl/VXo07cdfI5Tn340PX6qSaZgsy72xlyHTYWRGt/zxPEl0A17QxbaftiwcM2Yjx3hgqpwBoGwcLjnjOjT8Cl4Vbc5V05Jcb0ykE5iW1mPX6A9hkF+S3Q485RRJ+2yafXkb4M34hKlER2bsv3BHI0vdFHgfxz0bMqH/eLsd/d972VkB01xkJqsFMI3qxM2RD05Y66/o61N2xTl6MQ9LvY3T0f1e+eTYWEllbsF1M/3RkwQqYodhojpPe6IY5tITRx4+1EMJ8+sc0mMiav5krXOrR34hbb3eRMPMqVDpzl5VDBKuEIAQxfEaSDYbtNOuV2vuKDgIxTr0QyzBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Q8dNycnvAPcRZsdqgnJdBb",
      "input": {
        "note": "Still no contact; continuing the descent in another small step toward the red block's top face.",
        "targets": {
          "left_j1": 2.817,
          "left_j2": 2.575,
          "left_j3": -1.329
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Q8dNycnvAPcRZsdqgnJdBb",
      "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=-0.7464 left_j1=2.7506 left_j2=2.6328 left_j3=-1.3392 left_j4=0.1024 left_j5=-0.8642 left_gripper=0.4596 right_j0=-0.0006 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0162 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -9.6342, 1.7436, 0.5104, 0.0122, -0.0024, 0.3834, -0.1026, 1.6068, 6.9949, 1.8632, -0.0171, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85527b016d0f01ae646dd8f339bc1451efa990696c7e5a9859ff70301efb3150",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e45d5cd883b31252f52a0923b9e4f9fd49861a3e3c40e3262a300f2f713a34a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e4a0b1bcd49182d684ae6f3df99e8c76fb9b6c6d290fba4d3a2d1cc085dd42c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 31 attempt 0 · /messages · status 200 · 4.677 s

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

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7444 left_j1=2.7403 left_j2=2.706 left_j3=-1.4052 left_j4=0.1017 left_j5=-0.8642 left_gripper=0.4559 right_j0=-0.0002 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0162 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.8, -14.735, 5.1214, 0.7448, 0.0269, -0.0122, 0.6032, 0.0068, 1.6479, 7.0359, 1.8877, -0.022, -0.0415, -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=-0.7483 left_j1=2.7548 left_j2=2.6583 left_j3=-1.356 left_j4=0.1017 left_j5=-0.8639 left_gripper=0.458 right_j0=-0.0006 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [0.2393, -14.3521, 4.6974, 0.4811, -0.0269, -0.0024, 0.5739, 0.0205, 1.7162, 6.9949, 1.9023, -0.0269, -0.0513, -0.0073]",
      "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=-0.7464 left_j1=2.7506 left_j2=2.6328 left_j3=-1.3392 left_j4=0.1024 left_j5=-0.8642 left_gripper=0.4596 right_j0=-0.0006 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0162 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -9.6342, 1.7436, 0.5104, 0.0122, -0.0024, 0.3834, -0.1026, 1.6068, 6.9949, 1.8632, -0.0171, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85527b016d0f01ae646dd8f339bc1451efa990696c7e5a9859ff70301efb3150",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e45d5cd883b31252f52a0923b9e4f9fd49861a3e3c40e3262a300f2f713a34a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4a0b1bcd49182d684ae6f3df99e8c76fb9b6c6d290fba4d3a2d1cc085dd42c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 85527b016d0f]

[blob e45d5cd883b3]

[blob e4a0b1bcd491]

{
  "content": [
    {
      "signature": "CAISrgcKjAEIEBgCKkAii1WquNb68o11V6mIsmFFiiZKaDWUgnRGbMnhI1492hZG1Y/tGlz/A8OtiEjc6xY4ZyQsJGzq1ttWfbdwfQpqMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM3bCILfXaVNdvqnlnGgwq5UeQBig/2KjhEbAiMCcerXfXiUVHBGdi4RP4SBLlJCCRmWS0oE9nom+aX6GktH4GWZZ8xo8Z3CIZPTrAGyrOBZWdGxWAwcOD+8MvW9YgOvqE/ByPOq7caXYu1UHXSUbgYasBbDXqgRKfWQ4j8UwEBewwkW6u2hwFffWLiJXODg2c/S6v+ZR8boU8470RHGWHH5NX3jChjG5u2BqgMO/+hJaHesUBWizAwpfxAxgWOGkSZRtNG37YdjstAqgNTjd6z2tQmm6LpSUN7UnD3hFWKzjnErhqdzOIDFKFnzO6pn07XFkybUPbLbqAUc2sr2aH3P/kATmJQKwf1zzDFi/Zr7QhI6j0tQRS1PuyQeJz9lFaKVCyhOWoprOh8KH1j7OphwHQW22+xs8SolHEqF87Q0ZX0oufSatGEtRbRo/WLEDiCLkXs/Ra/RwBG1lTQemkagBpkARh9VLFpcYMq4yY5627OuXyoNpOnBvqfeaCXOdSKUtCEkds/cuPsNpQp/xwsEUU5NetSmflnc5IwsjpzLsSOGgbjEA5Euc5NJrnERe0KV8mIa3nG4l4byMyRHZsaBJmA7Ibc6rG0MPvYx9r4touQPiYLv8UNLiY5rdoyqj/iYFq4utsD8xU4qmXzZL8dj1yx0Uk4iqTz/NsL78waC3yR5Jnay1G1CAplR1g6zfnzLdrD9ZXyrkvHWmL7INWy1RJxnPhk5fFqGyZyfoN66DHI3xNhcjYOfkl49IgtzGDsq9/mupr+3/a5JBpWhn7wCowrq7Jpb69yKVWzF2lkSSPf1wK+O0oee544Wh3DSorP2vcNuJrUe0y4JaULjlgGBnfmancjW8886gHGECwToRSwFLhB7TlJLJctkQLh59e5VzCjmrKBEBqCAfvGwaeSpXJzk+2sVgpQTVFpddLI2/sD8U067GUSzh0eo4krqCF8TuUpLPVOj1ba9dcceedtVLgMrcYp+WNBOU2RkqGMZe9eu7w2v6I5bKACF5JEM+Oet9a5+Wovd/wzVuEPegHcBClIhrAvD0o1tAam98YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Meve6y4kc8U8cJ1Fvfw8BA",
      "input": {
        "note": "Descent has stalled with effort relaxing, suggesting the carried block has set down; opening the gripper to release, then I'll lift and inspect the result.",
        "targets": {
          "left_gripper": 1
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Meve6y4kc8U8cJ1Fvfw8BA",
      "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=-0.7494 left_j1=2.7441 left_j2=2.6373 left_j3=-1.3277 left_j4=0.1062 left_j5=-0.8711 left_gripper=0.9956 right_j0=-0.0006 right_j1=0.0113 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -14.5983, 6.0786, 0.4518, -0.0171, 0.0611, -0.1636, -0.1162, 1.7299, 6.9949, 1.9707, -0.0171, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60aab2a1b8c469738e8b562a00049565839fd3d4fa8357b41f928b763a5207b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aeb8da0d3b93084b69598e3439561c1a0585c3c5f83525169176a2bc25b94e77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:121ea8c6bd397595e0157f15385b21df51c0018cd76a8be3dcb77dc2a68fabc4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 32 attempt 0 · /messages · status 200 · 3.803 s

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

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7483 left_j1=2.7548 left_j2=2.6583 left_j3=-1.356 left_j4=0.1017 left_j5=-0.8639 left_gripper=0.458 right_j0=-0.0006 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [0.2393, -14.3521, 4.6974, 0.4811, -0.0269, -0.0024, 0.5739, 0.0205, 1.7162, 6.9949, 1.9023, -0.0269, -0.0513, -0.0073]",
      "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=-0.7464 left_j1=2.7506 left_j2=2.6328 left_j3=-1.3392 left_j4=0.1024 left_j5=-0.8642 left_gripper=0.4596 right_j0=-0.0006 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0162 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -9.6342, 1.7436, 0.5104, 0.0122, -0.0024, 0.3834, -0.1026, 1.6068, 6.9949, 1.8632, -0.0171, -0.0611, -0.0073]",
      "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=-0.7494 left_j1=2.7441 left_j2=2.6373 left_j3=-1.3277 left_j4=0.1062 left_j5=-0.8711 left_gripper=0.9956 right_j0=-0.0006 right_j1=0.0113 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -14.5983, 6.0786, 0.4518, -0.0171, 0.0611, -0.1636, -0.1162, 1.7299, 6.9949, 1.9707, -0.0171, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60aab2a1b8c469738e8b562a00049565839fd3d4fa8357b41f928b763a5207b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aeb8da0d3b93084b69598e3439561c1a0585c3c5f83525169176a2bc25b94e77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:121ea8c6bd397595e0157f15385b21df51c0018cd76a8be3dcb77dc2a68fabc4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 60aab2a1b8c4]

[blob aeb8da0d3b93]

[blob 121ea8c6bd39]

{
  "content": [
    {
      "signature": "CAISlQIKjAEIEBgCKkAi9ez9wqJmjMLLff3xvO0b4KN1SDJghaX4vur7mNjnf5oHE8bugj56psZnOACZv4cpcgoy9Qa1agz3N/jeyfA/MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMaMmiZ2Hhbi6Bnin3GgxMc2haxxDiY3ZhXYMiMLJTVWcenm61w+jHoriNt1NIbpTweNWbCLsV02s8xyBEW/PuPQLa2T2Px2zoPkuuKSo2jmA9YsdA1aGkJoICDtgIqualGasvLjJSb4v6tbw1/Vc7gkZAtrPlKoRhA8Mof7YPSp6o6bz+GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ai4w5L3LQVoeY5hAJ7GH57",
      "input": {
        "note": "Block released; lifting and retracting the arm so the overhead camera can show whether it landed on top of the red block.",
        "targets": {
          "left_j1": 2.4,
          "left_j2": 2.3,
          "left_j3": -1.3
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Ai4w5L3LQVoeY5hAJ7GH57",
      "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=-0.7486 left_j1=2.4714 left_j2=2.3173 left_j3=-1.3041 left_j4=0.1055 left_j5=-0.8711 left_gripper=0.9967 right_j0=-0.0006 right_j1=0.0139 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -16.9778, 5.8735, 0.652, 0.0464, -0.0464, 0.1001, -0.1846, 1.853, 7.2274, 1.8681, -0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c257e1ab983a1f96b991a25781fcd657f9e61b43e46c238632556ebe02402534",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db07e6442f0b49fd9a7f266220f34f78d606815e8eddebdd49bb3964f5c42be8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3da10fe97a73cb2e01eec241287487f72b857c895fdbd9ec6a29b3ae96eeb4e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 33 attempt 0 · /messages · status 200 · 8.517 s

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

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7464 left_j1=2.7506 left_j2=2.6328 left_j3=-1.3392 left_j4=0.1024 left_j5=-0.8642 left_gripper=0.4596 right_j0=-0.0006 right_j1=0.0101 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0162 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -9.6342, 1.7436, 0.5104, 0.0122, -0.0024, 0.3834, -0.1026, 1.6068, 6.9949, 1.8632, -0.0171, -0.0611, -0.0073]",
      "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=-0.7494 left_j1=2.7441 left_j2=2.6373 left_j3=-1.3277 left_j4=0.1062 left_j5=-0.8711 left_gripper=0.9956 right_j0=-0.0006 right_j1=0.0113 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -14.5983, 6.0786, 0.4518, -0.0171, 0.0611, -0.1636, -0.1162, 1.7299, 6.9949, 1.9707, -0.0171, -0.0464, -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=-0.7486 left_j1=2.4714 left_j2=2.3173 left_j3=-1.3041 left_j4=0.1055 left_j5=-0.8711 left_gripper=0.9967 right_j0=-0.0006 right_j1=0.0139 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -16.9778, 5.8735, 0.652, 0.0464, -0.0464, 0.1001, -0.1846, 1.853, 7.2274, 1.8681, -0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c257e1ab983a1f96b991a25781fcd657f9e61b43e46c238632556ebe02402534",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db07e6442f0b49fd9a7f266220f34f78d606815e8eddebdd49bb3964f5c42be8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3da10fe97a73cb2e01eec241287487f72b857c895fdbd9ec6a29b3ae96eeb4e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob c257e1ab983a]

[blob db07e6442f0b]

[blob 3da10fe97a73]

{
  "content": [
    {
      "signature": "CAISowQKjAEIEBgCKkBGBYtyKdcevddVmeVHCRCQCaTcJzATknet72UpkyejFc8MJbTTR7p2WglyyVXQ45K6n2GOkwpfXqbSzbzTnHCBMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM9DYL0ekOY3cFnf9AGgzj3kuaBnG0iBBEZ48iMJNq8Ovj+REeSnTTZSUpGnAenIBPzE4QW4JZ4dksJ5QDvtn2tBY4fHl1kwkvCLUhBirDAt6D4IqidjRBM8kJithQ2y8IROS1NmEAWhrSEC74GTXXSVfsulrQGrQCE50fdxYKflw9+YvhZDBWhQp0H1+rgypjuAdjOf/GsTEtvLXSo6rp0JhTjDUZwvPgsHIoB1g1xyLG5WB5Lf7Y6RqvHecZcVGmVrsFLakpv8wxWwxD9ejNMAMvy9CHUqdAvmD2UkKb8uQvpRGjMT9byaVpHYw12bDJF3VbalIv1cXSN0Rwt+qd4vdccRystNX6bqN7r3xDQXxx7Ub46bGY5YmudyakVmt8Sz8kKsHfinSKy+oXMX7a1R2gtAzlYQtjNu1MzUwbT4lt3X0uGtkdZ65ETPSRq8u45XZQIWEakwwnJum86SaElNUirzBN//vXQ9uHENO1UcIK+ZCxPaNTU1t/d0LnCUCoK0qulP8vXCKqUC1YE4bKTFM7GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MrLE2wHd4Ds3Rz6fJVHiH9",
      "input": {
        "note": "Wrist view suggests the two blocks are side by side rather than stacked; pulling the arm further back for a clear look.",
        "targets": {
          "left_j1": 2.1,
          "left_j2": 1.9,
          "left_j3": -1.2
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 7 steps (0.7s)",
      "tool_use_id": "toolu_01MrLE2wHd4Ds3Rz6fJVHiH9",
      "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=-0.7483 left_j1=2.1437 left_j2=1.9266 left_j3=-1.2167 left_j4=0.1047 left_j5=-0.8707 left_gripper=0.9969 right_j0=-0.0006 right_j1=0.017 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -12.588, 5.3675, 0.6862, 0.0611, -0.0122, -0.0024, -0.1162, 1.8256, 6.9812, 1.8681, -0.0415, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3aef99c495d066bced606e453b4559cb7281664cec35c9c051d91b63620b87fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62060498a0b44bbcd7e41cfd2c95b9b80eeb5eaf30a05a070b27a7549b6f4261",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:001eaa305139efad2ea67934a2cf9794b6e91deaef51b0a985a4932002b1ca4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 34 attempt 0 · /messages · status 200 · 6.581 s

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

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7494 left_j1=2.7441 left_j2=2.6373 left_j3=-1.3277 left_j4=0.1062 left_j5=-0.8711 left_gripper=0.9956 right_j0=-0.0006 right_j1=0.0113 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -14.5983, 6.0786, 0.4518, -0.0171, 0.0611, -0.1636, -0.1162, 1.7299, 6.9949, 1.9707, -0.0171, -0.0464, -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=-0.7486 left_j1=2.4714 left_j2=2.3173 left_j3=-1.3041 left_j4=0.1055 left_j5=-0.8711 left_gripper=0.9967 right_j0=-0.0006 right_j1=0.0139 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -16.9778, 5.8735, 0.652, 0.0464, -0.0464, 0.1001, -0.1846, 1.853, 7.2274, 1.8681, -0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7483 left_j1=2.1437 left_j2=1.9266 left_j3=-1.2167 left_j4=0.1047 left_j5=-0.8707 left_gripper=0.9969 right_j0=-0.0006 right_j1=0.017 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -12.588, 5.3675, 0.6862, 0.0611, -0.0122, -0.0024, -0.1162, 1.8256, 6.9812, 1.8681, -0.0415, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3aef99c495d066bced606e453b4559cb7281664cec35c9c051d91b63620b87fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62060498a0b44bbcd7e41cfd2c95b9b80eeb5eaf30a05a070b27a7549b6f4261",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:001eaa305139efad2ea67934a2cf9794b6e91deaef51b0a985a4932002b1ca4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 3aef99c495d0]

[blob 62060498a0b4]

[blob 001eaa305139]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Sv63fmrxrTipyku7f2xHNh",
      "input": {
        "note": "Clear view: the blue-letter block landed beside (not on) the red 'a' block. I'm repositioning over the blue block to re-grasp it, moving ~4 cm to the arm's right and ~6 cm forward at 15 cm height.",
        "targets": {
          "left_j0": -0.86,
          "left_j1": 2.417,
          "left_j2": 2.255,
          "left_j3": -1.238,
          "left_j5": -0.86
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Sv63fmrxrTipyku7f2xHNh",
      "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=-0.8497 left_j1=2.4168 left_j2=2.2074 left_j3=-1.2491 left_j4=0.1028 left_j5=-0.8715 left_gripper=0.9969 right_j0=-0.0006 right_j1=0.0193 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0162 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.4718, -14.1333, 7.8154, 0.5934, 0.0317, 0.1343, -0.0171, -0.0889, 1.4291, 6.9949, 1.9219, -0.0366, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9791fcbd03d5f07b01c607b192c95cf2c11528c1541ccb69bb75c59170bd305c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac05ed83191e3e835a9f5d435422a5fff68f28464b6be304476e045dfc13010a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:632bc3ee76cc82b033aaee5e8ee473f2460020905772c361fcd66fd06bb66617",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 35 attempt 0 · /messages · status 200 · 8.157 s

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

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7486 left_j1=2.4714 left_j2=2.3173 left_j3=-1.3041 left_j4=0.1055 left_j5=-0.8711 left_gripper=0.9967 right_j0=-0.0006 right_j1=0.0139 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -16.9778, 5.8735, 0.652, 0.0464, -0.0464, 0.1001, -0.1846, 1.853, 7.2274, 1.8681, -0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7483 left_j1=2.1437 left_j2=1.9266 left_j3=-1.2167 left_j4=0.1047 left_j5=-0.8707 left_gripper=0.9969 right_j0=-0.0006 right_j1=0.017 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -12.588, 5.3675, 0.6862, 0.0611, -0.0122, -0.0024, -0.1162, 1.8256, 6.9812, 1.8681, -0.0415, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8497 left_j1=2.4168 left_j2=2.2074 left_j3=-1.2491 left_j4=0.1028 left_j5=-0.8715 left_gripper=0.9969 right_j0=-0.0006 right_j1=0.0193 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0162 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.4718, -14.1333, 7.8154, 0.5934, 0.0317, 0.1343, -0.0171, -0.0889, 1.4291, 6.9949, 1.9219, -0.0366, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9791fcbd03d5f07b01c607b192c95cf2c11528c1541ccb69bb75c59170bd305c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac05ed83191e3e835a9f5d435422a5fff68f28464b6be304476e045dfc13010a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:632bc3ee76cc82b033aaee5e8ee473f2460020905772c361fcd66fd06bb66617",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 9791fcbd03d5]

[blob ac05ed83191e]

[blob 632bc3ee76cc]

{
  "content": [
    {
      "signature": "CAISmQcKjAEIEBgCKkDMt9iEmql4R2+3L91fnSDCIyS26YqAFZ7c5/6qt6HMhYDiGfP9QHlQsfDg2gA1+Uf/xPvNQEz21J8EiKBev3YyMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM3MW76JItzexGN6T+GgzJC1yVQsGY2EpFRO4iMHugk0Etuyr2GOtdF4S6H9sTEufBDRvMMBszjy1soLox5GFDBdHfD+jlT4gIVLSigiq5BfNeBv6n4Z/MnU+OV36BcmN+F00m8vIfFr64JxS1M9aPr1euBI94xwfXcYuYuiUa19dCAl9GioBkjES3ozU/o3/c/puNpeiQYmHDzw0u6o9sq4YiuLGXMB8GtQ7Och5kmLgGur9nHeqqQe4UQu2KYGq3+6OxbMOV18lQlc4NnyvuPP/fLLpRu22XY8RZOBYwEagqACx9os8EkioRq+fiWtUJyWwEqnsvABvj4DnZdcaFdrQ48ep0LhNBJsSVDNqgPchXUyt/656qe5fliWfrcK15uWQyVm3bYfvKWoBRveJNIxqYE9IDmGeZMWA8aPHBWcHc9EDXQwhRs9NbMjb+p1h1TOt/kybpbC5QnlXE2LsCYy1ymrtOMTjVHZJqHC5AXwHVQjhr/DhObfR0quq9UXASZQJFx1p4igfC/nFw/t9kF741khdTSjoLg6fO764NAoSkP6Nwkux3A5PFFAp7VIE+sNemmdBMrQOKeSdmJD8pgQyFOjncBm07B+heWeNEf4I2oItwEPwEsrUCZwm7QRyt+OSU5JBgZNMBqZJvpFVi3jmdMTYuL+jPXPk9eCncGh9cr/m2ixFqZD2T1tyBqoabZaaxkxjG/9B26Af81fPHsKrCziKnYH7EkNsLlrMrvtOV3nCmYFiJzm/8W3dNBKfpwovo+H5Y6YUZChYu9T4LlN+bwxJ4oX8ZETQrOiWMD+TKQs79XQdjQsoYt+rhY0da23/6SJ9tYhu6cVTfYmp98aF1CMvnCjq5KFYYb0Q34YNO44LvVLLxdjK/zDY5O2MB2ciTIFHylguYCn7arhT/uk4WtES0Gk1CmSQlcdtuOnBJxXmTtbKWPwEL99lFDNI99qF0FRWBEOhH7fI0rZqf0KXs0wQcEwri+fYk7qn/h3NswdYlBt52AheCyEstG4LUT00OonKaCPEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NhQPXHCQSXAyNCy58J5Ef5",
      "input": {
        "note": "Blue block is centred laterally but ~5 cm ahead of the jaws; extending forward and descending toward table level to straddle it.",
        "targets": {
          "left_j1": 2.693,
          "left_j2": 2.407,
          "left_j3": -1.114
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_01NhQPXHCQSXAyNCy58J5Ef5",
      "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=-0.8536 left_j1=2.6232 left_j2=2.397 left_j3=-1.2083 left_j4=0.0982 left_j5=-0.8902 left_gripper=0.9968 right_j0=-0.0002 right_j1=0.0223 right_j2=0.0097 right_j3=-0.0685 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -9.3607, 6.1744, 1.5263, 0.0562, 0.1636, -0.0171, -0.2393, 1.5385, 6.8718, 1.9316, -0.0024, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54e264ef59805f46bf2031a79ca3bf3afb63e8f18f289577af93b8ec0ed9d193",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d629a6d47d33d5cc48c5b438f0b88a0ba45814d3835f7bb1a1bb7b756eedc3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2ecb381732b5e4a6da1464f805cd97edb52c6940850ab66b867b6e3e745b79c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 36 attempt 0 · /messages · status 200 · 4.089 s

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

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7483 left_j1=2.1437 left_j2=1.9266 left_j3=-1.2167 left_j4=0.1047 left_j5=-0.8707 left_gripper=0.9969 right_j0=-0.0006 right_j1=0.017 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -12.588, 5.3675, 0.6862, 0.0611, -0.0122, -0.0024, -0.1162, 1.8256, 6.9812, 1.8681, -0.0415, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8497 left_j1=2.4168 left_j2=2.2074 left_j3=-1.2491 left_j4=0.1028 left_j5=-0.8715 left_gripper=0.9969 right_j0=-0.0006 right_j1=0.0193 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0162 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.4718, -14.1333, 7.8154, 0.5934, 0.0317, 0.1343, -0.0171, -0.0889, 1.4291, 6.9949, 1.9219, -0.0366, -0.0513, -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=-0.8536 left_j1=2.6232 left_j2=2.397 left_j3=-1.2083 left_j4=0.0982 left_j5=-0.8902 left_gripper=0.9968 right_j0=-0.0002 right_j1=0.0223 right_j2=0.0097 right_j3=-0.0685 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -9.3607, 6.1744, 1.5263, 0.0562, 0.1636, -0.0171, -0.2393, 1.5385, 6.8718, 1.9316, -0.0024, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54e264ef59805f46bf2031a79ca3bf3afb63e8f18f289577af93b8ec0ed9d193",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d629a6d47d33d5cc48c5b438f0b88a0ba45814d3835f7bb1a1bb7b756eedc3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ecb381732b5e4a6da1464f805cd97edb52c6940850ab66b867b6e3e745b79c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 54e264ef5980]

[blob 9d629a6d47d3]

[blob 2ecb381732b5]

{
  "content": [
    {
      "signature": "CAIS5AQKjAEIEBgCKkD5u+3uTCP+lpp1bKouex0gKC7nIjeLIRONyVn76RHZ++TTdIh1oAx9qgTXZbzPWeTvqZN84xV1RViVrxW5fNSGMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMYg677eNTVIKNO+WuGgwhYOyquyrcIrVokk8iMDc0LN38Z2MmiPkQ7LP4rtXjzPNoc+PjUjcufYHL+1y+JXqIuFe0HOyrwSurG80JoSqEAzhNHuSFiyn31eNqs1DtpgeXqEb64G7FXIgx/g7ZUQyn6748tm7CogZs473eOT4wlXbV4zDyCjGASmTLJ5jItx/QEpUPVCLaG8LXOGo2WyGYjzKq6JPAjp10EYIVUkOhceCxn2qQF0fsKvC47jLozy29aAFB4cM4AK49tBSRP9FhGBKT95fWV5IL6BHLp1VF/7WIeSC/aTN9zMjKUpIOuZzH57OpHHqWJJz07xTRFue0+pxYdEL8OQpeG9BCnk1ccQUoy4PTR0v55EA3o8hDf7LQCwlM3H+taTRvEhyIMcQZomH9iV9m1/jxdVATWfzXabMhO8xTB7WahtV9GyaGYJrJA6kXM79WaH5t02RJyjZU9tLjNEAQAcFmt8IA94++DvIMYLY2tVTQ8uFBhAq9+LcqR6svMT65WMeKFXnY70KNYae9EGvX8Kk63OGvQYOqmLJaypuWb2RYOpF0Ys1k4oefiHp96Wv5JimSRD1ZttWdtqe25M2DOJMFup5qsYLgHViPIUIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019oz4nEH54jfMkRCLTWNnLu",
      "input": {
        "note": "Close in now: the blue block sits at the bottom-left of the wrist frame, so I'm yawing ~3 cm to the arm's left to line the jaw gap up with it.",
        "targets": {
          "left_j0": -0.79,
          "left_j5": -0.85
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_019oz4nEH54jfMkRCLTWNnLu",
      "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=-0.8387 left_j1=2.6293 left_j2=2.4111 left_j3=-1.214 left_j4=0.1101 left_j5=-0.8833 left_gripper=0.9968 right_j0=-0.0006 right_j1=0.0223 right_j2=0.0097 right_j3=-0.0685 right_j4=-0.0162 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [3.2752, -15.2137, 4.8205, 0.6227, -0.1343, 0.2271, -0.0122, -0.0342, 2.0718, 7.4735, 1.8779, -0.0171, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf8ee51ab73c0de556b91acc258f84e2d58bda0b7cf0470189f15e7dfa4fa364",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cb0830eadc698bd36388b4fdc50c139c18fc3507c9c3abe751607abec6f08b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:22d0a502c9a1d086407958bbccf84307421faaf4a5a5fccf9503466636da8117",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 37 attempt 0 · /messages · status 200 · 5.307 s

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

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8497 left_j1=2.4168 left_j2=2.2074 left_j3=-1.2491 left_j4=0.1028 left_j5=-0.8715 left_gripper=0.9969 right_j0=-0.0006 right_j1=0.0193 right_j2=0.0078 right_j3=-0.0654 right_j4=-0.0162 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.4718, -14.1333, 7.8154, 0.5934, 0.0317, 0.1343, -0.0171, -0.0889, 1.4291, 6.9949, 1.9219, -0.0366, -0.0513, -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=-0.8536 left_j1=2.6232 left_j2=2.397 left_j3=-1.2083 left_j4=0.0982 left_j5=-0.8902 left_gripper=0.9968 right_j0=-0.0002 right_j1=0.0223 right_j2=0.0097 right_j3=-0.0685 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -9.3607, 6.1744, 1.5263, 0.0562, 0.1636, -0.0171, -0.2393, 1.5385, 6.8718, 1.9316, -0.0024, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8387 left_j1=2.6293 left_j2=2.4111 left_j3=-1.214 left_j4=0.1101 left_j5=-0.8833 left_gripper=0.9968 right_j0=-0.0006 right_j1=0.0223 right_j2=0.0097 right_j3=-0.0685 right_j4=-0.0162 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [3.2752, -15.2137, 4.8205, 0.6227, -0.1343, 0.2271, -0.0122, -0.0342, 2.0718, 7.4735, 1.8779, -0.0171, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf8ee51ab73c0de556b91acc258f84e2d58bda0b7cf0470189f15e7dfa4fa364",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cb0830eadc698bd36388b4fdc50c139c18fc3507c9c3abe751607abec6f08b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22d0a502c9a1d086407958bbccf84307421faaf4a5a5fccf9503466636da8117",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob cf8ee51ab73c]

[blob 0cb0830eadc6]

[blob 22d0a502c9a1]

{
  "content": [
    {
      "signature": "CAIS+QIKjAEIEBgCKkC6O2RenukP/f4cVw2fe0VBIO/ulr2/EhomMS+qPY4xVBg31x2u57su5Yl8ZdgfCM1izgIrbZxnI4kW8uGfcYNmMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMxTJN7WyHxmckWDphGgzLnwHlaNCyvUb8qEsiMGmhnx5cXS82I1+Ji5zhOL7RGmqNXd5XnykmKBdYLDenBiXYScp23gJeUJ0SumuH0CqZAfJ7zGFrZowfBfnyhz7LHfU9ggdKiq39rdm/u6PhsJX25dKZEjrULyRlHEmxugd3yxqLdRApSIAvjHBQh0x8n9uz7Y/EVkRcI4uY1bOkAs29L/qWXe4kK7cRAu7S6oM3WGfMN7+mVEoEY/UBlcdWx6bsTrGmtTVkHAmNOM4D9saBfqJ7qdo2jpTkjugPEGDZD9Y6Vl8KQiGOUxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Wq3eY1c9yXwK6En2TsGkZy",
      "input": {
        "note": "The yaw barely moved (only 0.015 rad, with elevated j0 effort); re-issuing a larger left yaw to center the block.",
        "targets": {
          "left_j0": -0.74,
          "left_j5": -0.85
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Wq3eY1c9yXwK6En2TsGkZy",
      "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=-0.7849 left_j1=2.6282 left_j2=2.4111 left_j3=-1.2221 left_j4=0.1261 left_j5=-0.868 left_gripper=0.9968 right_j0=-0.0006 right_j1=0.0223 right_j2=0.0097 right_j3=-0.0685 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [3.0564, -14.612, 6.0513, 0.6129, -0.1783, 0.1538, -0.0073, -0.2256, 1.7709, 7.0222, 1.9023, -0.0171, -0.0659, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f30d4d444d7ca6fd24109c845af2309422efb199143aea19b0416e445f26cc1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78bbe1fce573a88fe67765b9e6e40b0b39d3f40787b4d463b03fecd28664b231",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d45a802e75f46c2d129a4431afa7e4b9f0220484a584e5c38f0e78e63d9d29a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 38 attempt 0 · /messages · status 200 · 4.527 s

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

message 106 changed as sent

message 109 changed as sent

message 112 changed as sent

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8536 left_j1=2.6232 left_j2=2.397 left_j3=-1.2083 left_j4=0.0982 left_j5=-0.8902 left_gripper=0.9968 right_j0=-0.0002 right_j1=0.0223 right_j2=0.0097 right_j3=-0.0685 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -9.3607, 6.1744, 1.5263, 0.0562, 0.1636, -0.0171, -0.2393, 1.5385, 6.8718, 1.9316, -0.0024, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8387 left_j1=2.6293 left_j2=2.4111 left_j3=-1.214 left_j4=0.1101 left_j5=-0.8833 left_gripper=0.9968 right_j0=-0.0006 right_j1=0.0223 right_j2=0.0097 right_j3=-0.0685 right_j4=-0.0162 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [3.2752, -15.2137, 4.8205, 0.6227, -0.1343, 0.2271, -0.0122, -0.0342, 2.0718, 7.4735, 1.8779, -0.0171, -0.0659, -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=-0.7849 left_j1=2.6282 left_j2=2.4111 left_j3=-1.2221 left_j4=0.1261 left_j5=-0.868 left_gripper=0.9968 right_j0=-0.0006 right_j1=0.0223 right_j2=0.0097 right_j3=-0.0685 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [3.0564, -14.612, 6.0513, 0.6129, -0.1783, 0.1538, -0.0073, -0.2256, 1.7709, 7.0222, 1.9023, -0.0171, -0.0659, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f30d4d444d7ca6fd24109c845af2309422efb199143aea19b0416e445f26cc1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78bbe1fce573a88fe67765b9e6e40b0b39d3f40787b4d463b03fecd28664b231",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d45a802e75f46c2d129a4431afa7e4b9f0220484a584e5c38f0e78e63d9d29a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob f30d4d444d7c]

[blob 78bbe1fce573]

[blob d45a802e75f4]

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  "content": [
    {
      "signature": "CAISmgQKjAEIEBgCKkBow00QGodv399iSki7B53jkPChnsDLVOXhpE9z+ixxNszgix6LjsX5qu+7JfwTUT1lwbPIMEaaVLhJsiQstcJ4MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMz1MQVzPBS3vGv7m3GgxfE1TSHDLE2vVm184iMP2xAxZvbvmsMYUuKhTNhJMSRVc3y1Fq/itHz3SE+oZCWzYOASS7NSh8akP2c3fNqCq6Ajy8GpgmjRMf09r/11KCG14vVfGdKw5L23WdK+3Zf7PLBZcAqjR/peIkYoqVwNX0m2aELVO9xJVF8pHtzTrAhQ6Ao7dvSiV4yotw9WrLBF0KkTmdMsFI7wCPwkXcByNm+6MS80xMbu0goDVUedMMttoOEt2XTPjv/B+Mi5s93O34P1wIK1Xo3mkjO1lYzG6HLThoNVP3cXYcInGm8TK8hg9G0Ut0H7S+QSml2lr6rQIQAUPOaeRI9aNL/xsClusTbSjF1QKb8sVUqFQPyAjs7dNdT0Y8SFrH86q4+y9K2+TAni9T/V7zQxN8tqO2WwIeFexjAQPFyt6HIIDYr6vFq7NDRGIjhZZE83dAfu06IKVuayJ40OFxZuJGEuERFuxjt+Squy33hRqbd6ZrmG6tquo6n2+mZ99nKN3+GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015jskzGUmP1KDVZwx8bA4iR",
      "input": {
        "note": "The block is now framed between the jaws; small final 1 cm left nudge plus a slight descent before closing.",
        "targets": {
          "left_j0": -0.765,
          "left_j1": 2.7,
          "left_j2": 2.42,
          "left_j3": -1.18
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_015jskzGUmP1KDVZwx8bA4iR",
      "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=-0.7517 left_j1=2.6354 left_j2=2.4222 left_j3=-1.2293 left_j4=0.1173 left_j5=-0.8688 left_gripper=0.9969 right_j0=-0.0006 right_j1=0.0223 right_j2=0.0097 right_j3=-0.0685 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-1.1419, -9.1692, 5.9556, 1.0867, 0.2857, -0.0122, -0.0073, -0.1709, 1.5795, 7.1453, 1.8828, -0.0073, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28663e07ea9d2026dec0150f08aa453685b83dfe663474975726070eac92ca79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfb4e4b6b63d7e7e66bc287ee8eb3f2f918ed456d7c03b81ff290b03193c1ee6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cdfa174893fff5d1be46e17a953ab5343bc9035cefd0e25dbb765508c7af1862",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 39 attempt 0 · /messages · status 200 · 6.078 s

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

message 109 changed as sent

message 112 changed as sent

message 115 changed as sent

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8387 left_j1=2.6293 left_j2=2.4111 left_j3=-1.214 left_j4=0.1101 left_j5=-0.8833 left_gripper=0.9968 right_j0=-0.0006 right_j1=0.0223 right_j2=0.0097 right_j3=-0.0685 right_j4=-0.0162 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [3.2752, -15.2137, 4.8205, 0.6227, -0.1343, 0.2271, -0.0122, -0.0342, 2.0718, 7.4735, 1.8779, -0.0171, -0.0659, -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=-0.7849 left_j1=2.6282 left_j2=2.4111 left_j3=-1.2221 left_j4=0.1261 left_j5=-0.868 left_gripper=0.9968 right_j0=-0.0006 right_j1=0.0223 right_j2=0.0097 right_j3=-0.0685 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [3.0564, -14.612, 6.0513, 0.6129, -0.1783, 0.1538, -0.0073, -0.2256, 1.7709, 7.0222, 1.9023, -0.0171, -0.0659, -0.0073]",
      "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=-0.7517 left_j1=2.6354 left_j2=2.4222 left_j3=-1.2293 left_j4=0.1173 left_j5=-0.8688 left_gripper=0.9969 right_j0=-0.0006 right_j1=0.0223 right_j2=0.0097 right_j3=-0.0685 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-1.1419, -9.1692, 5.9556, 1.0867, 0.2857, -0.0122, -0.0073, -0.1709, 1.5795, 7.1453, 1.8828, -0.0073, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28663e07ea9d2026dec0150f08aa453685b83dfe663474975726070eac92ca79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfb4e4b6b63d7e7e66bc287ee8eb3f2f918ed456d7c03b81ff290b03193c1ee6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cdfa174893fff5d1be46e17a953ab5343bc9035cefd0e25dbb765508c7af1862",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 28663e07ea9d]

[blob dfb4e4b6b63d]

[blob cdfa174893ff]

{
  "content": [
    {
      "signature": "CAISuwIKjAEIEBgCKkA08fPklqNNMropTDeaiHb+6Ir+tWrp4hM9cbirav89sihm2RXaiLJv5Jro0AZmPpmsA9eC9wFHQgQPwxo5Fp+pMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMm6yma4E2bhkqc9zMGgzloL0dupTlvFYH2DkiMGlNc0UQ3u67T4IWXppjmGGRODeOMoNWDud9cZMhiBj54c1Pm1v9lEAXFgSohcFaRCpcWhJq+Fwfy06pniz9+4nkVfZb9pf9IkQWTd29+QSfks8CkAt3Oj7NO0sTU7GsTMM7TwMST5AE0HuqcojyFC5EvjoCbEqnvTqw3YIW/KLhg5MplBVI8mYdFMPRXaMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NbYPY3YykA9tdtzTEzutgR",
      "input": {
        "note": "Block sits squarely between the two jaw silhouettes; closing to re-grasp it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 10 steps (1.0s)",
      "tool_use_id": "toolu_01NbYPY3YykA9tdtzTEzutgR",
      "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=-0.7506 left_j1=2.6389 left_j2=2.4283 left_j3=-1.2358 left_j4=0.1131 left_j5=-0.8715 left_gripper=0.4449 right_j0=-0.0002 right_j1=0.0235 right_j2=0.0097 right_j3=-0.0685 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.1162, -14.7487, 5.4496, 0.5446, 0.0611, -0.0317, 1.033, -0.0615, 1.6615, 7.1863, 1.9072, -0.0024, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3428dcba5a236541014b470388cb67a7fe5867a70b4402da5958b808ae31d5bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a7d53426f66a9bf0f4d8db8fea680f90bc624d9fddf8fb5d7cb2b4a6ce449a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4b8f1598a7b5df601fd1a5e889651387bbcc30ec271f6194c3eeea3dd1d68a99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 40 attempt 0 · /messages · status 200 · 4.815 s

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

message 112 changed as sent

message 115 changed as sent

message 118 changed as sent

message 112 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7849 left_j1=2.6282 left_j2=2.4111 left_j3=-1.2221 left_j4=0.1261 left_j5=-0.868 left_gripper=0.9968 right_j0=-0.0006 right_j1=0.0223 right_j2=0.0097 right_j3=-0.0685 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [3.0564, -14.612, 6.0513, 0.6129, -0.1783, 0.1538, -0.0073, -0.2256, 1.7709, 7.0222, 1.9023, -0.0171, -0.0659, -0.0073]",
      "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=-0.7517 left_j1=2.6354 left_j2=2.4222 left_j3=-1.2293 left_j4=0.1173 left_j5=-0.8688 left_gripper=0.9969 right_j0=-0.0006 right_j1=0.0223 right_j2=0.0097 right_j3=-0.0685 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-1.1419, -9.1692, 5.9556, 1.0867, 0.2857, -0.0122, -0.0073, -0.1709, 1.5795, 7.1453, 1.8828, -0.0073, -0.0659, -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=-0.7506 left_j1=2.6389 left_j2=2.4283 left_j3=-1.2358 left_j4=0.1131 left_j5=-0.8715 left_gripper=0.4449 right_j0=-0.0002 right_j1=0.0235 right_j2=0.0097 right_j3=-0.0685 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.1162, -14.7487, 5.4496, 0.5446, 0.0611, -0.0317, 1.033, -0.0615, 1.6615, 7.1863, 1.9072, -0.0024, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3428dcba5a236541014b470388cb67a7fe5867a70b4402da5958b808ae31d5bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a7d53426f66a9bf0f4d8db8fea680f90bc624d9fddf8fb5d7cb2b4a6ce449a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b8f1598a7b5df601fd1a5e889651387bbcc30ec271f6194c3eeea3dd1d68a99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 3428dcba5a23]

[blob 9a7d53426f66]

[blob 4b8f1598a7b5]

{
  "content": [
    {
      "signature": "CAISzwkKjAEIEBgCKkDwASDoXfQDz+yF7VsEhjG5qDLk4AWtt9NggJ6mNOG7mMIrUJ5BtT2m/mHww3vUK6Zh0XyDBJeDtG5Dld/ZZ521MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMFXBLRilicOlqJl/tGgyimKPY7HqWjkzK5M0iMMUiqWx91/qI1iMnj8vFp9mEmpSjMwvUEItmQjzg24Avx2/KVycgxm7xidi6eRRULCrvBwjJym8/ngC7aO3RZvLoKBeMctWWkCCSspfArSx5XHnVlRomEDge73vTQf7JJfIAbZXKcsdLA6tgqDw3QIldp0VD7HCyVANn5aDl5plL6RIhJd5LZ3vGZgoyPVr3u+81Ts/jgXMf/HabBz5swbutMRG2Dl8EU+57H1w5T2bKtqXZsnoKsQBWMAifhM79CzvJTr8pUX0vCp6BKDQT3xuJJUOkftZndP6XZ21R8LNx8Hw2nRtpt7QjPQq+0NoAfm6avmwJuGdEgwNCiYYDAAtXYRDZ5wjty/6IrOHj0hRs4T9uq6qK/+jnYpZDklF4AuAVlnUkzM6V4YhQ3aLpetg0JEgIc3LE7Z7ibn76V0kknYFTbNuSgu0QAHKyJesii+QXwW1L7MPZ63NPfMv5sbKjFfKS455pXXqOM998cy6xX7kxLiW9zsRxS178gRBAPiailrGsrRZcoktK7v4MSzFcZYwjP95Nc7Xd+0+Y1N/NUdqr9OJ9oqYXFgNSi+7T8TX0fmN4V0pykszobc6oqQ4JkGuEDXSOmcC39nfZguFj7OheOE2xfNaci7J+/C+mRH637F3jf/LcxSjlWuc3/g9jBG8+p+6Ov5f0Q68ewOWyaNrT+ZXyh3xujLwPvuuy+E9cVOrIoJRpV7+GOmeydAl/3KybiymtK8vRx8as/lpGfAQWkNd+fXpFaNsPHii7asISJm8R2JnWZawOg21znL250kJtoksPj8L4HWaMVJV5qz8emlJslDGMeYBk5g+0bNqR00Z8ywErzGoU6TsdXKBRCWJBvAj1Sf/+ks76bwhazKW16+CTyoEgtyDSUnyeVS5m5s8WzH1fWeVtGfUDId8UNQRMNrFNIJnGGqSRao02XpvhqPuWR4KJzUc999xrXTxvrTpP/NBqN1sgE+E7wQ5+Fh9d91VuV7BiTBfHyKivtUB5ukAvk6IifstZMbgghK+zxW6HNYFPIvypNb4Li3rPI2uO8JfpcAQIkehPigOoxCJAggT+orAx1Hp8Zgxf5WiyfWU2CsKFWXfaaiW/a59LfRpwpV7hKDK+lzuQCzxPRIRmp8my9la3VsxFfbuO8qQnAJAJ2a6NaALjoAj8j/q+OtY0OabZtdwnOPJ/AECjkKoAIT2gP0zSOa94Uv8L9pt4RGaJwQkLeGllMCI6EtygGDcM/WmUsGu5D74ZS7n1UTpl0nxGbfnOmh20hImgXtyILiKHraPI4ZfvZtaD0JXVXO+jp2wn3MJL3Fj3Xpg8asTKU/i65DnDRPcOaxYN7ny2WlzHos+vJhk3Tl/cG+towCgTGUrFNNIg0p9mONf3tt5XsHt5RP/LyI6+UZW63sfjGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013eRfdFuV2ADWtAgw3ZbUGj",
      "input": {
        "note": "Re-grasped the block (residual 0.44, high gripper effort). Lifting to ~16 cm and shifting ~2.5 cm left and ~3.5 cm back, which is where the red block sits relative to the pick point.",
        "targets": {
          "left_j0": -0.699,
          "left_j1": 2.369,
          "left_j2": 2.21,
          "left_j3": -1.241,
          "left_j5": -0.8
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_013eRfdFuV2ADWtAgw3ZbUGj",
      "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=-0.7044 left_j1=2.4493 left_j2=2.2223 left_j3=-1.2373 left_j4=0.1127 left_j5=-0.8249 left_gripper=0.4493 right_j0=-0.0006 right_j1=0.0242 right_j2=0.0097 right_j3=-0.0685 right_j4=-0.0154 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [0.2393, -17.853, 5.7915, 0.5201, 0.0562, 0.1832, 0.8864, -0.1162, 2.0718, 7.2, 1.8632, -0.0122, -0.0464, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23d2b234996e0502b1b28dd44d3474697866f6142e2c2fc853782963911f1ad7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50afdef50fc3a8cccd242f30ad78aa908fefb33f813a68caf2aa4ee062ae8501",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1d9982328f7f02b7f1957d38676e5857f31872591529c83f1a7fa93df0fb9d30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 41 attempt 0 · /messages · status 200 · 4.948 s

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

message 115 changed as sent

message 118 changed as sent

message 121 changed as sent

message 115 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7517 left_j1=2.6354 left_j2=2.4222 left_j3=-1.2293 left_j4=0.1173 left_j5=-0.8688 left_gripper=0.9969 right_j0=-0.0006 right_j1=0.0223 right_j2=0.0097 right_j3=-0.0685 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-1.1419, -9.1692, 5.9556, 1.0867, 0.2857, -0.0122, -0.0073, -0.1709, 1.5795, 7.1453, 1.8828, -0.0073, -0.0659, -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=-0.7506 left_j1=2.6389 left_j2=2.4283 left_j3=-1.2358 left_j4=0.1131 left_j5=-0.8715 left_gripper=0.4449 right_j0=-0.0002 right_j1=0.0235 right_j2=0.0097 right_j3=-0.0685 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.1162, -14.7487, 5.4496, 0.5446, 0.0611, -0.0317, 1.033, -0.0615, 1.6615, 7.1863, 1.9072, -0.0024, -0.0757, -0.0171]",
      "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=-0.7044 left_j1=2.4493 left_j2=2.2223 left_j3=-1.2373 left_j4=0.1127 left_j5=-0.8249 left_gripper=0.4493 right_j0=-0.0006 right_j1=0.0242 right_j2=0.0097 right_j3=-0.0685 right_j4=-0.0154 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [0.2393, -17.853, 5.7915, 0.5201, 0.0562, 0.1832, 0.8864, -0.1162, 2.0718, 7.2, 1.8632, -0.0122, -0.0464, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23d2b234996e0502b1b28dd44d3474697866f6142e2c2fc853782963911f1ad7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50afdef50fc3a8cccd242f30ad78aa908fefb33f813a68caf2aa4ee062ae8501",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d9982328f7f02b7f1957d38676e5857f31872591529c83f1a7fa93df0fb9d30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 23d2b234996e]

[blob 50afdef50fc3]

[blob 1d9982328f7f]

{
  "content": [
    {
      "signature": "CAISzQcKjAEIEBgCKkDbit9bIDSpztfdEd+jQ5R+RzOVhYxbvKLGZtkDSniN2d0jD9jgFkOVy4NAE0cEb31LJJH1WCbyj1IQBQoSfFcVMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMKu/n2jGdPARensH6GgxetlY950GNGm59Y+UiMJI+c6EBFKAJtPlXIAEOtG41PlnPnE/cButNuyVH1APIxDPQouH7kAeKVC6gGOJd1yrtBXEfgRmdWxoPmXSvwXxPzVYiL4EGa+uLgbrcmWEiF51fSblvYgcA6F+93HTsUKkDY7pUdO/Bwiyi2pdPZtWAEIau2EG/a2z+Rbbsgk2akh+LO+Rtziq/oNuFXG6NxRfXYTZyjGcH38+k3FTE0QLPSDyPB/LV/koT+Vfq4qhPxti16Z8JORQHPuLCpx0igeHW/uf9vR2U67U1NP+jJ2UXth6e9DD9uDBynVOaWabvumKtTbjNAKa/iTmeBB/3IDCanJYhg1oyg92bYQ+rg12QsmKT+t9StOIJVShzDRE0FwdWrMIePzY2wnn1Qg31bQSEQoLY0Zm18mweVGPFSLB8TaGWWlo7VrYR0XajWmz5vIWHg6882h/pvxtsOo3xp8LwBOwdKIeJly2b9IrWKnsUNGjHZd0JWGkWerqjpklsepsK8/XuuIMKm/ljxJleK+DY4PKJ/5II57nEFPXBVowIMP077Jq3DoIyv3/ZoUX/9BezEzjFODW4midcf2brYOINY+pnu+qF41vidh/G23SXshpLKsKiupPEiE0KL/pHUbZpjjIxzsuo7LC0KSdN7BaDKR15Gn/bvElVIRazotMZhRC9FblwVlhfwg6z1PkVATeZUGHKLYAp30AdRLribSzd5fg3VKLLg6/YlZYt3libisgdoosZoCBP+Uk97q7v8kCfsW64dQTjv9C4SaR3JbW2/U9ui7O41LUPMhthrKmgl3HAUCJfN+yFJknNwjmiOU3H/yBK+y8pUbko+4GqrTPX+CxZ/BFUtOsN0UsuzZ+fprqXCNdND1/rXERbWL/YgdW5GcXZ95kHcKi0l5155z76zWEB0aOxjfVzdCCJJHhlj4sTs2zk6Dl0aztWGRvDwbx3xeOBsdJb23EfR9QCXJKjJjYUg3vijxHwLuvdUYhaW/Xalkf8iN1Bj7zY4DPuL2YxYJ8zDMiRbvvCCpCpQZd95aWhFGUvvqKNr7lwMZBsX9vkP0bhaY862qoQWSvEGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Qa3yCMJL5etjBiqMqRXaDQ",
      "input": {
        "note": "Wrist view shows bare table, so the red block is hidden below/behind the jaws; raising to ~22 cm with the gripper straight down to see it and confirm alignment before lowering.",
        "targets": {
          "left_j1": 2.355,
          "left_j2": 2.431,
          "left_j3": -1.476
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Qa3yCMJL5etjBiqMqRXaDQ",
      "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=-0.7006 left_j1=2.4084 left_j2=2.3898 left_j3=-1.4063 left_j4=0.1127 left_j5=-0.8204 left_gripper=0.4506 right_j0=-0.0002 right_j1=0.0242 right_j2=0.0097 right_j3=-0.0685 right_j4=-0.0162 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.3897, -17.4154, 7.9248, 0.4274, -0.0122, -0.0855, 1.033, -0.1162, 1.6615, 7.1316, 1.8828, -0.0024, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3309c558754a09c790472b541f288ebab577edf60dfb002280761f99f8b9cad3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdd1c10c78bb273e10f2c871e67eddd32e5dd6baf76696ce65a6c87c4a5e8aef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:11422736adc6f18627b551c7b6c462969708673f6a0459c922fe0c5ff3fddd28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 42 attempt 0 · /messages · status 200 · 6.805 s

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

message 118 changed as sent

message 121 changed as sent

message 124 changed as sent

message 118 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7506 left_j1=2.6389 left_j2=2.4283 left_j3=-1.2358 left_j4=0.1131 left_j5=-0.8715 left_gripper=0.4449 right_j0=-0.0002 right_j1=0.0235 right_j2=0.0097 right_j3=-0.0685 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.1162, -14.7487, 5.4496, 0.5446, 0.0611, -0.0317, 1.033, -0.0615, 1.6615, 7.1863, 1.9072, -0.0024, -0.0757, -0.0171]",
      "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=-0.7044 left_j1=2.4493 left_j2=2.2223 left_j3=-1.2373 left_j4=0.1127 left_j5=-0.8249 left_gripper=0.4493 right_j0=-0.0006 right_j1=0.0242 right_j2=0.0097 right_j3=-0.0685 right_j4=-0.0154 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [0.2393, -17.853, 5.7915, 0.5201, 0.0562, 0.1832, 0.8864, -0.1162, 2.0718, 7.2, 1.8632, -0.0122, -0.0464, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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=-0.7006 left_j1=2.4084 left_j2=2.3898 left_j3=-1.4063 left_j4=0.1127 left_j5=-0.8204 left_gripper=0.4506 right_j0=-0.0002 right_j1=0.0242 right_j2=0.0097 right_j3=-0.0685 right_j4=-0.0162 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.3897, -17.4154, 7.9248, 0.4274, -0.0122, -0.0855, 1.033, -0.1162, 1.6615, 7.1316, 1.8828, -0.0024, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3309c558754a09c790472b541f288ebab577edf60dfb002280761f99f8b9cad3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdd1c10c78bb273e10f2c871e67eddd32e5dd6baf76696ce65a6c87c4a5e8aef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11422736adc6f18627b551c7b6c462969708673f6a0459c922fe0c5ff3fddd28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 3309c558754a]

[blob fdd1c10c78bb]

[blob 11422736adc6]

{
  "content": [
    {
      "signature": "CAISlAcKjAEIEBgCKkC5UFsm31ehgxC5jSsStvZzvaScTWn1Tm7wVZcOpvzI+Fgc5032LNJ77wDxVswNXFXrvTOSJeDRaN9t0OtuMlbZMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMX3q2azps16qJl/htGgwzf+q4TPoz5hCakuoiMFZK1b9JaJJQ255O+7/62zVpDA0gwybpNnuWrnXA69LF+HF7Gs2aMcUbp23t8L0i7iq0BSPFlN48t1rB8hiKkB6uJp0ma4YnRj7PkBGz6jL8xdkvOHzyhuhl7S20oC71nEEdquDPHhJR/vcz9ScMSTmaouKVR5++Wu10bMMvuG6E0DQT+gpNSnCc8wk480gmiup/cJP5fI2iN8ku0LK/rvBe2YGEIKvqRVfi0zQ2c3arTpei4suoh138rK1cwQ1UFY9BgdckepTyn4Uqs/m5JlvRzA6ZHgaprVMi5OPmTw2CIDsbizCGQp1mQ5UryMt+s0rgYAiryHI++PkbqyHu4kUg8AI3hVKRCsSp5rKS5VDegQBhvJFDXSWL1fwKGkmpKU1rCIstfJueWYLLw7mxRaF5QS2w3pIPqO9QmV3GYUJr9AImAJzyzJalofJV26Ejsyae7cpgauHwrPwbi4JpJGOc3GZ8n+wQfSVvUnNmS0e8SzCaHWo5g0k2sFn/4PwHHct8/dGXTkGRVGPv8P4OfU7/l9INWWXxiFugg1z3iq6s6Qi5lcmiAs5Dx8md2RBHZNrReQ7QVAUtqjW3lHD+J7mzGvuJH9y/moma4gvmeUHHAqNcFMJpOTr4+k0bkPs8mNpWG1+LghrVFUFm7U2/vU01pMnhcxMeqDJ4hovIUNFq6HhaiR5zrzzXGDAFiGDYJ3yGkO/NdZvu6JWZNm3HM6KNBEc/YGX/cks9q/eaqDVRHY0bgXEOHsxgKrlSuoXaICCP4dwgaxD9DG9UW+S2c2llhVwjyxHSC0r325MILjI/mImimZMU6x5pX1K0UzEC1kg106BsYd9h7W/gZRZIX8+t99E6yMmw2NTcxcJe6Y9PJ1TISUGPtrxJ8i27TDFbhNM3ARtRtfWNgqH1j1iWlm/wJS5GZQgS04YIbe56ntmY1dF8Eh8yJvRzq/KHNUMl3aTXezgwaFxgubTH0N0zkj0oafCAzOYjGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017u9HeJiYQCMujmAVGZ1r5z",
      "input": {
        "note": "From 22 cm the red block shows ~3 cm to my right and ~3.5 cm ahead; moving right and forward by that amount at 17 cm height to hover the carried block directly over it.",
        "targets": {
          "left_j0": -0.772,
          "left_j1": 2.572,
          "left_j2": 2.625,
          "left_j3": -1.453,
          "left_j5": -0.85
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 4 steps (0.4s)",
      "tool_use_id": "toolu_017u9HeJiYQCMujmAVGZ1r5z",
      "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=-0.7589 left_j1=2.5725 left_j2=2.5801 left_j3=-1.4582 left_j4=0.1131 left_j5=-0.8467 left_gripper=0.4506 right_j0=-0.0006 right_j1=0.0242 right_j2=0.0097 right_j3=-0.0685 right_j4=-0.0162 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -16.0205, 8.3761, 0.5348, 0.0269, -0.0464, 1.033, -0.1983, 1.7573, 7.1726, 1.9121, -0.0464, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17552266f835d7d25b74be249be80f1768a2b04bbc4a98aac79dcd735f091126",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b65003ce31bc2f2530796fe997da95fe0d3357e6f649bf2cc43c81224613597",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a1d43d66238b90f9ca2d44ffb5aafad3e639e85423adfcd1a52196eb49c54739",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 43 attempt 0 · /messages · status 200 · 6.947 s

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

message 121 changed as sent

message 124 changed as sent

message 127 changed as sent

message 121 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7044 left_j1=2.4493 left_j2=2.2223 left_j3=-1.2373 left_j4=0.1127 left_j5=-0.8249 left_gripper=0.4493 right_j0=-0.0006 right_j1=0.0242 right_j2=0.0097 right_j3=-0.0685 right_j4=-0.0154 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [0.2393, -17.853, 5.7915, 0.5201, 0.0562, 0.1832, 0.8864, -0.1162, 2.0718, 7.2, 1.8632, -0.0122, -0.0464, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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=-0.7006 left_j1=2.4084 left_j2=2.3898 left_j3=-1.4063 left_j4=0.1127 left_j5=-0.8204 left_gripper=0.4506 right_j0=-0.0002 right_j1=0.0242 right_j2=0.0097 right_j3=-0.0685 right_j4=-0.0162 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.3897, -17.4154, 7.9248, 0.4274, -0.0122, -0.0855, 1.033, -0.1162, 1.6615, 7.1316, 1.8828, -0.0024, -0.0415, -0.0073]",
      "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=-0.7589 left_j1=2.5725 left_j2=2.5801 left_j3=-1.4582 left_j4=0.1131 left_j5=-0.8467 left_gripper=0.4506 right_j0=-0.0006 right_j1=0.0242 right_j2=0.0097 right_j3=-0.0685 right_j4=-0.0162 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -16.0205, 8.3761, 0.5348, 0.0269, -0.0464, 1.033, -0.1983, 1.7573, 7.1726, 1.9121, -0.0464, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17552266f835d7d25b74be249be80f1768a2b04bbc4a98aac79dcd735f091126",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b65003ce31bc2f2530796fe997da95fe0d3357e6f649bf2cc43c81224613597",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1d43d66238b90f9ca2d44ffb5aafad3e639e85423adfcd1a52196eb49c54739",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 17552266f835]

[blob 6b65003ce31b]

[blob a1d43d66238b]

{
  "content": [
    {
      "signature": "CAIS8AcKjAEIEBgCKkBfIioumMVmoLYUHDfCE42L2J9SGDqFEsPh3cpSJNfSOyrK3p3OcAO6h+75OoDI0O+k6ePRDJLFzZpx/73sYVYkMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMFHLaQ6fvhSsZ9Yu6GgzOUzar+Iag1Lk6454iMABap/n2dJqQnt9CJsZN72oF2Tm+x1e4oBonukFx2w6vD8itk0LlZ9WEttpq1lnNCiqQBqJkC6AZiIwmh7BljKU4TNZHHTYPBP/w7DJ46+UvqgPjv35kSXBKNVpQazrlAHREOFQ7ax4OKn/j218RsqQ+wuUyxQwNG6V77xQ4OrDw/FIRirZPcsKuUu+wYXTWuJQ+U9Acu5OY1QzjwUz8JmfipPI+P3pTqRnirEZ3zkP15jH4xA4klkN8X/A/coWafhfpM2eZ7KsjPceJKYcwoL9wOvB3DoLRsLCOSLjy/JAOfFU/Xnbk84LFHTzznX2FAQZ6L2BJwzNqRMpLdG44UjoaKI9sG54JVuc+PeckfIoUWTWQyGRm78re1ub4Vzxjq+RFGGZKg7Yamalpb/qCp5oCSxp+SGwiggT3HMR3HcRtfgtBY8nYaAWRLURW2dFe3P5uGaJEmy8lFmIoJTv3tanbGsYW+MQRgXGX3BDHbY11JWM5zAvKMZdNdJdjgVAidosLNsOV/OQ4GrOfKD/Cvm2H2U9hk3RF+mo+wuwX9jhAiVFjP2frOQcbaaL3Tuw8hAjwUvvLaLHaly6sCnmWU608OSfERmR8m/qLk1EpMmq3TxB4CCMQDrD7WqU2XRp+TKgjHGm2+C5Jd4wmYkzyA1XV93rLjLIa66RiNJKDqXMi8hiBFKWpIuKFSAe5WcKqzZGV+a5pYRLXlebRN6i01urzdX/xY15grkP9eZjjbf9TFhuQIrBJzb1I36m+OGaOrrAhly0aMdt35olzoXAK8QEPFAYVTrhpkrqt0SAQUtBDwm3YA6fNIuUWB+7fj5JI2AKFc+s+8tlKsRoT4t0zeqtYBZfkRu72Qxh3/1N01jYmn/JTeMGIcHiBjGMyiOYnq+5Ry2dl4wgXXxltH9VVijJ4FbC55RWqeBcYkRSD1M/L5OBbS7LvZFxSZlDd7iduX8v/bXz2PTF+ZA5qiSK4VEBZ3EvAljwfN1zk/SOCNdGolikffgxnRObFsZUUHcp/VdoYOv/fhBSZRPwW+LCYCCtBeYh0kJB01i2jG+1kJJ+ijWwVeacUEneThTltMrPzKZ00XiR00nvfp0KKmla21uOQgqwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QXCjtWZbaRyL7RS5Jk5Jj1",
      "input": {
        "note": "Only a sliver of red peeks out beyond the carried block's far-right corner, so I'm ~1 cm short; nudging 1 cm right and 1 cm forward at 16 cm height.",
        "targets": {
          "left_j0": -0.79,
          "left_j1": 2.652,
          "left_j2": 2.739,
          "left_j3": -1.487,
          "left_j5": -0.85
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 3 steps (0.3s)",
      "tool_use_id": "toolu_01QXCjtWZbaRyL7RS5Jk5Jj1",
      "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=-0.7795 left_j1=2.6431 left_j2=2.6953 left_j3=-1.4849 left_j4=0.1127 left_j5=-0.8608 left_gripper=0.4534 right_j0=-0.0002 right_j1=0.0242 right_j2=0.0097 right_j3=-0.0685 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-1.0051, -13.9282, 8.0205, 0.5299, 0.0122, 0.105, 0.9402, -0.0615, 1.7573, 7.0222, 1.8974, -0.022, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b17085a38638ae2e245f3900487b660a77385e0d56931da325676521d658a2c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86db18dec57cc4474a1062cb17b51b8d1f31e18e19224dbe9983f4e28206baa1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5d6600f711b84473231f6d082b06274296d4fdb1e8cc362c754c277fa5707b4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 44 attempt 0 · /messages · status 200 · 6.743 s

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

message 124 changed as sent

message 127 changed as sent

message 130 changed as sent

message 124 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7006 left_j1=2.4084 left_j2=2.3898 left_j3=-1.4063 left_j4=0.1127 left_j5=-0.8204 left_gripper=0.4506 right_j0=-0.0002 right_j1=0.0242 right_j2=0.0097 right_j3=-0.0685 right_j4=-0.0162 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.3897, -17.4154, 7.9248, 0.4274, -0.0122, -0.0855, 1.033, -0.1162, 1.6615, 7.1316, 1.8828, -0.0024, -0.0415, -0.0073]",
      "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=-0.7589 left_j1=2.5725 left_j2=2.5801 left_j3=-1.4582 left_j4=0.1131 left_j5=-0.8467 left_gripper=0.4506 right_j0=-0.0006 right_j1=0.0242 right_j2=0.0097 right_j3=-0.0685 right_j4=-0.0162 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -16.0205, 8.3761, 0.5348, 0.0269, -0.0464, 1.033, -0.1983, 1.7573, 7.1726, 1.9121, -0.0464, -0.0611, -0.0122]",
      "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=-0.7795 left_j1=2.6431 left_j2=2.6953 left_j3=-1.4849 left_j4=0.1127 left_j5=-0.8608 left_gripper=0.4534 right_j0=-0.0002 right_j1=0.0242 right_j2=0.0097 right_j3=-0.0685 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-1.0051, -13.9282, 8.0205, 0.5299, 0.0122, 0.105, 0.9402, -0.0615, 1.7573, 7.0222, 1.8974, -0.022, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b17085a38638ae2e245f3900487b660a77385e0d56931da325676521d658a2c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86db18dec57cc4474a1062cb17b51b8d1f31e18e19224dbe9983f4e28206baa1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d6600f711b84473231f6d082b06274296d4fdb1e8cc362c754c277fa5707b4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob b17085a38638]

[blob 86db18dec57c]

[blob 5d6600f711b8]

{
  "content": [
    {
      "signature": "CAIS+AkKjAEIEBgCKkCVgEMnim4+IXlOjxdwmHtWnoMUTfFA6+ssU5fMWX0lBux5CA2AT79NRzxnSWV8Od/ZSWX0o2++0MREV3nnIw/NMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIM4Qo4iO+GoufYlYH8Ggz8WI4YJBNodbqVdekiMPRb4RyVNboroa7xgKZ1J7V1W6yjHWePlgRG5nFoMDlN2aknEKB3PrDbuVb31Ti68yqYCLFksQhbwcXelu+xEshNav8V+fqRu3oFm8Znji/v36tI62+bdeUYcpFLsvGj9bhWzodPAvLwIsQOTYZg5sLhjYSR0k+aI29pyra2Rmj1W0iWaEs6AovLyV/Mfj72A9WyWdXuQsKjcbfG4c9wzD4gt58AdjsfjBN0bpiG1dPBC1BKz1QuvK51RkU/ffho7RRdwyCbe767RE+qsM+B9YNXRZ9Xd6v0PK6rIjbr8mPGdc4Arayf6Cm6GhCt59mRiCTrnokMWoexCY079L3OaAiG1MTnDCq8/Otw0BNd8wZID+OTXJqyXYRHHyNRQL/FJCOa3/r+NkUovl89P1VR44C2Cf620zqXi+/MhTNVYg4QBS+LcMqnlylMRxFW+xI3kNBNy56svDv6BA/k9UITltzFqIvIMe3VoRaa2frB7adHG89RVC4Iz6N+jtcqm1PQD2rhO1xoF6F24scCH3/QAOuvPi94sv/2HdPupi8ENUEVzdIOk4lahqnvC8NNE2nm/y8kBqPui1wFZpGkPpVpBVFPP+M+YbXjec+HkG9FfVEDbhG3pYBKqJ5UnXwGBBuaTvczRo+9jLIDZuhE5TM1yS+C/7Yc2SXuHZbUoCgLLbYO4Xg2NenXYac8+SRR3RnwuZLEJC4yKQh+lgF1uyQhaXI3g+XEUQOVX/pSA9WrJogMGBLXpPr71DlVRoZ28/jwluWFhU4WhBcs6DkiIJhcGXCORZvQf86adH+i07uy3nHtY31WRATsUJ+3oO7kOyUsDblj8DVaFQCBJIo9O7DpCWGGbZ/UpnUl+x82yquZCxtRD1q0Nu+XUxMoQ5J34s7iMQY0Txw87m8QychTEwFVBJX6vgD096kgTUJEuT+V9HmoqLf8psGiu75RXzxDulX9ntGLFCjQnv7VC1gnp0Y1UtQHyyOZmOhFuj5cD0MSa/x3c96wmGK6qGRmzFaPVCOcDdJxYiHvLxE+EOEvHzQrATwnPl+fMVj3DaHoP2HbUc1r+Md7sPDJHlAWV4cEk6a4owVr3448JfjFFZRAcEF6sQCAe5NPZt3TgiQ0pdUnwPbg8zQ5Xbfv6p4mWPB73n3iY6A3fO5Ifd8s8iZRBOuHh3WG+V5hVt8Je57CLhw426DNet1paxghwwzzHkqiRPlz0NqEZ1P/mW4lJFRN7AoJMVr3rw+AKj5adwRyWjC3TnTQaQ1pRKllE7g071VTaOSLALs4Xtm3qWfRYHyXZEKreVn7l2+1QiXZdBAk6RrFRaGvBm7bLul7vN7TWTHPVtTSFOl+JAOQ3dBhcbf+uASQDgecpqbzw489ofQOD+SdjBgOKSXFwSct2FjTqnoN/2vEWWLGTHWQ6gmyMwx060DdX3/xcpH5Nq2GMeSvYlnPkOmKQVtNIKPkWBThL3IYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015UdFdNwMoaJYAWqYL6RL7X",
      "input": {
        "note": "Carried block now appears directly over the red block (only its far edge peeks past); descending ~7 cm in one step, watching for contact effort.",
        "targets": {
          "left_j1": 2.675,
          "left_j2": 2.499,
          "left_j3": -1.224
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 5 steps (0.5s)",
      "tool_use_id": "toolu_015UdFdNwMoaJYAWqYL6RL7X",
      "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=-0.7746 left_j1=2.6514 left_j2=2.5359 left_j3=-1.3163 left_j4=0.1173 left_j5=-0.8642 left_gripper=0.4529 right_j0=-0.0006 right_j1=0.0242 right_j2=0.0097 right_j3=-0.0689 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.7316, -12.8752, 4.6974, 0.7106, 0.0611, -0.0122, 0.5592, -0.0479, 1.6205, 7.0085, 1.9072, -0.0171, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea56270eac97b4d8e46b7ce9ef46dec2ae53d1eb95f0eef0849d5df7c27b611f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6716dc6d213432ccef4c8ea9cfb2c1b8315dd48a1352177d5b55bf6ce5320dcf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:135a6b1cc8c7d7b80913c1e5a60df72d652b4a369130ebe67e2f9da54a8a9e23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 45 attempt 0 · /messages · status 200 · 5.957 s

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

message 127 changed as sent

message 130 changed as sent

message 133 changed as sent

message 127 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7589 left_j1=2.5725 left_j2=2.5801 left_j3=-1.4582 left_j4=0.1131 left_j5=-0.8467 left_gripper=0.4506 right_j0=-0.0006 right_j1=0.0242 right_j2=0.0097 right_j3=-0.0685 right_j4=-0.0162 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -16.0205, 8.3761, 0.5348, 0.0269, -0.0464, 1.033, -0.1983, 1.7573, 7.1726, 1.9121, -0.0464, -0.0611, -0.0122]",
      "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=-0.7795 left_j1=2.6431 left_j2=2.6953 left_j3=-1.4849 left_j4=0.1127 left_j5=-0.8608 left_gripper=0.4534 right_j0=-0.0002 right_j1=0.0242 right_j2=0.0097 right_j3=-0.0685 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-1.0051, -13.9282, 8.0205, 0.5299, 0.0122, 0.105, 0.9402, -0.0615, 1.7573, 7.0222, 1.8974, -0.022, -0.0708, -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=-0.7746 left_j1=2.6514 left_j2=2.5359 left_j3=-1.3163 left_j4=0.1173 left_j5=-0.8642 left_gripper=0.4529 right_j0=-0.0006 right_j1=0.0242 right_j2=0.0097 right_j3=-0.0689 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.7316, -12.8752, 4.6974, 0.7106, 0.0611, -0.0122, 0.5592, -0.0479, 1.6205, 7.0085, 1.9072, -0.0171, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea56270eac97b4d8e46b7ce9ef46dec2ae53d1eb95f0eef0849d5df7c27b611f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6716dc6d213432ccef4c8ea9cfb2c1b8315dd48a1352177d5b55bf6ce5320dcf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:135a6b1cc8c7d7b80913c1e5a60df72d652b4a369130ebe67e2f9da54a8a9e23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob ea56270eac97]

[blob 6716dc6d2134]

[blob 135a6b1cc8c7]

{
  "content": [
    {
      "signature": "CAISowQKjAEIEBgCKkAxw8/GNF3rq8lBIIq3JFp5d8jgGNjPAGSgIgiJODTX92fuho/8PbfDbxkBtxIl/LxwEd/jQ7kDznIUTqesfzMaMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMw5Ovx5j8/iZmk2bTGgwiR64DflGeszstrh4iMH7gORBrNH9no5aClxn9bAQZRrRCnFCVEk/rhNUgT/3PJhCJn3kuxQDWsaQnCeYEqyrDAiQX1e6K6ApfbJJRbhCuG9StoPZCpbis4mkDPUUTLfWvGRukSm1fP/c60AeislXK8GVB4kHwadelVZrVR56DBGDwbBxS9Nycv9LAZ9mpe2+GzZHDYJczAfnoecCegC/x+eEGKNgnVuYogU3P9AisdlDxNP9GKpdQNxydZ1J1zchPmKjKH/fGmGkuHTr7KckaKF2elMM0wXa8E33MzLoGyCqPiW6FNsmEBH53gjQV5Ft4HcOdMA3tfDnOZOUsquhDw+iSVyDGWc7WAZ5i0tVj0+Tn0X2Ya2a+UygHbrL3KeiEzbk7M7SMVRWD4T0oReyPtu9/XVmU1PpluacKgZ3teLhDBnVyW4NY9A/J1O4JftzH2Tix+ZbuhHiZhTMSdr7C/8e6CLbOJrfEzyfC8wn7+1i/ByOIV/0AsGbieHL3Kh1OXN0/GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Pg2KW2NTpqzZQ4gK1KrPkA",
      "input": {
        "note": "Descent stalled slightly short; re-issuing a bit beyond to seat the carried block onto the red block's top face.",
        "targets": {
          "left_j1": 2.72,
          "left_j2": 2.499,
          "left_j3": -1.224
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Pg2KW2NTpqzZQ4gK1KrPkA",
      "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=-0.7765 left_j1=2.6762 left_j2=2.5072 left_j3=-1.2667 left_j4=0.1173 left_j5=-0.8646 left_gripper=0.4527 right_j0=-0.0006 right_j1=0.0254 right_j2=0.0097 right_j3=-0.0685 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.0068, -11.3162, 5.2444, 0.9548, 0.022, -0.022, 0.8474, -0.253, 1.7026, 7.0222, 1.9219, -0.0171, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9145d15c327b31ae2dbfd8dc1a7d91663c39992ef5df27c6b13f810acd451097",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5fe61240ae260921e146e686fdbca58056961fc55253c8e32d137c5d46f777d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:790994f014683dd49c3d7b4a98a22190b99c1e19b6f38766b5416d85c9b7f7b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 46 attempt 0 · /messages · status 200 · 5.884 s

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

message 130 changed as sent

message 133 changed as sent

message 136 changed as sent

message 130 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7795 left_j1=2.6431 left_j2=2.6953 left_j3=-1.4849 left_j4=0.1127 left_j5=-0.8608 left_gripper=0.4534 right_j0=-0.0002 right_j1=0.0242 right_j2=0.0097 right_j3=-0.0685 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-1.0051, -13.9282, 8.0205, 0.5299, 0.0122, 0.105, 0.9402, -0.0615, 1.7573, 7.0222, 1.8974, -0.022, -0.0708, -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=-0.7746 left_j1=2.6514 left_j2=2.5359 left_j3=-1.3163 left_j4=0.1173 left_j5=-0.8642 left_gripper=0.4529 right_j0=-0.0006 right_j1=0.0242 right_j2=0.0097 right_j3=-0.0689 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.7316, -12.8752, 4.6974, 0.7106, 0.0611, -0.0122, 0.5592, -0.0479, 1.6205, 7.0085, 1.9072, -0.0171, -0.0464, -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=-0.7765 left_j1=2.6762 left_j2=2.5072 left_j3=-1.2667 left_j4=0.1173 left_j5=-0.8646 left_gripper=0.4527 right_j0=-0.0006 right_j1=0.0254 right_j2=0.0097 right_j3=-0.0685 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.0068, -11.3162, 5.2444, 0.9548, 0.022, -0.022, 0.8474, -0.253, 1.7026, 7.0222, 1.9219, -0.0171, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9145d15c327b31ae2dbfd8dc1a7d91663c39992ef5df27c6b13f810acd451097",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5fe61240ae260921e146e686fdbca58056961fc55253c8e32d137c5d46f777d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:790994f014683dd49c3d7b4a98a22190b99c1e19b6f38766b5416d85c9b7f7b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob 9145d15c327b]

[blob c5fe61240ae2]

[blob 790994f01468]

{
  "content": [
    {
      "signature": "CAIS9gcKjAEIEBgCKkAk2apDtBvhCKbFzg8jyUlCzrMcnTr0nakrr1VmWKozrJpWvS03WGFUujzgETaFpu5dEjZPW7IdIXqHPF5TKEN7MhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMOc7GN1oO00akBHxbGgwViyTWUSiatp5N79kiMEwsmTdpy7CJ+4Kxu6epumducTJgx+mvuJWHtztPAOZsmK5AN9Ys5DFOK0nPKpK7byqWBuuTLWEkWDApIOWn29Iy2okmCIJCU8Kw57xSWcy3VCVVqOv3b+EqNkzoHLxuXR1KPMiBTVFUPoY6wcRJi+lDs3bsjJ52zGd0EExpRZUYhz5L2nF47SnVRXsC3Uj0/JX0C8MutXplxvtwwEWT58uOeL1Nf6bRgL/jxEKKB9M6i95HzwvClHHYZRNTl0MzKex2wWFO9z/3PYhn1UQHhJ3TJvPrcnISdKE5ciPoFgg8tj7SymJ/X56yyGdhPbAhQ5t8ESJQDpTNvF9QwjMeviuKhfRFuOJSDHTPKhw8SxZJ7KrHxeLO5z/2LM/RrxvhkL754xedwsn3n9pApqM/gJarwgSNKJYnSRWwe03Gya10XJSd+RLXoBATNxdxIsDY378flvoTB7hNbnjlehln3PjgAocNsX7Dhno9f6WiiDYNNPsraDu4GIF4bKSwre89qlpTddiMf488XSHUDPeK77E2sEuTnWdBaQbPMY4pwurUE3w/c6C2EAYj/gl43MNnutAtPXlBgYZvZX68BeQJJVf/xP2l5XaNC9DCmk92zGTIg6pwi2E3u4HDoa9hsZOlnmurx6p5xPRX6T77A7JAE2tu7RF+vu43cnbmPu0E07iT80Q5jYrMYep8C4NOTUnFYX6zjkxy+guh1Xv/KFcnhDWjV42M6qOvDJl1zML29K0nE9AFs+L1Y5NvhDrXok4LMsLQS28wIEAIo5yvJHipL6OD7oVSYVj+GsOBHhF3DCTbKDQQ8Bl4qqjNL9MTFsJExXFogK85LrKCfv6D48HhRvzMRAl7nBBJEzF8AziByx6p9XK1HPFul51uaCUdo3tH5jFr99iUlGI5ofubPTESYD3RR0ldt1f7XWuHKQgntPAgDFnrK28eS/Z6AArebq29ciS2xUPBz6YVmKgi5j/RwSPdT/VU6VLqAXnnzYrCREUGhAbfyVQhlToCR493jkkeIGNuFr/P+t149awcweH4Ssq1k5koapnm4Z+klbo44sonaax3eg9RMbFo6O8ZzLrQ8ObrO7ZopM95CTzQ2ftz5rTuK2A3K8bQlMQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QF7ZcbEtToJSpwUsaKr1wu",
      "input": {
        "note": "Releasing the block at the seated position; I'll then lift away to check whether it is stacked on the red block.",
        "targets": {
          "left_gripper": 1
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 6 steps (0.6s)",
      "tool_use_id": "toolu_01QF7ZcbEtToJSpwUsaKr1wu",
      "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=-0.7769 left_j1=2.6781 left_j2=2.5111 left_j3=-1.2659 left_j4=0.1211 left_j5=-0.8707 left_gripper=0.9953 right_j0=-0.0006 right_j1=0.0254 right_j2=0.0097 right_j3=-0.0681 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -15.0632, 6.1607, 0.4957, -0.0171, 0.0513, -0.1636, -0.212, 1.6205, 7.0222, 1.9756, -0.0317, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cab10afe63ec9850c4dbc7bb651fbbaf0e5fb8a5ba4f0778342eddb07488fe98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03878818996ed41b5eba6445267008f8737d14c37ca7983d295297710e0ce666",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4dc86b75ef9da39771df99e861669cdca492bb744ee3ec088670a8db93d4c086",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 47 attempt 0 · /messages · status 200 · 3.748 s

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

message 133 changed as sent

message 136 changed as sent

message 139 changed as sent

message 133 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7746 left_j1=2.6514 left_j2=2.5359 left_j3=-1.3163 left_j4=0.1173 left_j5=-0.8642 left_gripper=0.4529 right_j0=-0.0006 right_j1=0.0242 right_j2=0.0097 right_j3=-0.0689 right_j4=-0.0158 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.7316, -12.8752, 4.6974, 0.7106, 0.0611, -0.0122, 0.5592, -0.0479, 1.6205, 7.0085, 1.9072, -0.0171, -0.0464, -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=-0.7765 left_j1=2.6762 left_j2=2.5072 left_j3=-1.2667 left_j4=0.1173 left_j5=-0.8646 left_gripper=0.4527 right_j0=-0.0006 right_j1=0.0254 right_j2=0.0097 right_j3=-0.0685 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.0068, -11.3162, 5.2444, 0.9548, 0.022, -0.022, 0.8474, -0.253, 1.7026, 7.0222, 1.9219, -0.0171, -0.0757, -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=-0.7769 left_j1=2.6781 left_j2=2.5111 left_j3=-1.2659 left_j4=0.1211 left_j5=-0.8707 left_gripper=0.9953 right_j0=-0.0006 right_j1=0.0254 right_j2=0.0097 right_j3=-0.0681 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -15.0632, 6.1607, 0.4957, -0.0171, 0.0513, -0.1636, -0.212, 1.6205, 7.0222, 1.9756, -0.0317, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cab10afe63ec9850c4dbc7bb651fbbaf0e5fb8a5ba4f0778342eddb07488fe98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03878818996ed41b5eba6445267008f8737d14c37ca7983d295297710e0ce666",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4dc86b75ef9da39771df99e861669cdca492bb744ee3ec088670a8db93d4c086",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob cab10afe63ec]

[blob 03878818996e]

[blob 4dc86b75ef9d]

{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BZEiX1Sp8pFNVxhM5vziwb",
      "input": {
        "note": "Gripper opened; retracting and lifting the arm to inspect the stack from the wrist and overhead cameras.",
        "targets": {
          "left_j1": 2.2,
          "left_j2": 2.0,
          "left_j3": -1.2
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 9 steps (0.9s)",
      "tool_use_id": "toolu_01BZEiX1Sp8pFNVxhM5vziwb",
      "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=-0.7765 left_j1=2.2513 left_j2=2.0247 left_j3=-1.2037 left_j4=0.1207 left_j5=-0.8711 left_gripper=0.9967 right_j0=-0.0006 right_j1=0.0296 right_j2=0.0097 right_j3=-0.0689 right_j4=-0.0154 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -14.694, 6.0239, 0.652, 0.0317, -0.0317, 0.1245, -0.0615, 1.7026, 7.0085, 1.9023, -0.0317, -0.0855, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e604612bfdbfcbe7d73be49bcf92c39e632a69aea21cb4c599eef38613b2b93b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e459df9810b24a5ad162d7c3c6fe0abb60619038645af91f9e52a01a1c9361d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:230c466094f3af3db06e115a0ed510520511e94d274301339c34a91610fbc8d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

call 48 attempt 0 · /messages · status 200 · 5.824 s

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

message 136 changed as sent

message 139 changed as sent

message 142 changed as sent

message 136 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7765 left_j1=2.6762 left_j2=2.5072 left_j3=-1.2667 left_j4=0.1173 left_j5=-0.8646 left_gripper=0.4527 right_j0=-0.0006 right_j1=0.0254 right_j2=0.0097 right_j3=-0.0685 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.0068, -11.3162, 5.2444, 0.9548, 0.022, -0.022, 0.8474, -0.253, 1.7026, 7.0222, 1.9219, -0.0171, -0.0757, -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=-0.7769 left_j1=2.6781 left_j2=2.5111 left_j3=-1.2659 left_j4=0.1211 left_j5=-0.8707 left_gripper=0.9953 right_j0=-0.0006 right_j1=0.0254 right_j2=0.0097 right_j3=-0.0681 right_j4=-0.0158 right_j5=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -15.0632, 6.1607, 0.4957, -0.0171, 0.0513, -0.1636, -0.212, 1.6205, 7.0222, 1.9756, -0.0317, -0.0562, -0.0073]",
      "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=-0.7765 left_j1=2.2513 left_j2=2.0247 left_j3=-1.2037 left_j4=0.1207 left_j5=-0.8711 left_gripper=0.9967 right_j0=-0.0006 right_j1=0.0296 right_j2=0.0097 right_j3=-0.0689 right_j4=-0.0154 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -14.694, 6.0239, 0.652, 0.0317, -0.0317, 0.1245, -0.0615, 1.7026, 7.0085, 1.9023, -0.0317, -0.0855, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e604612bfdbfcbe7d73be49bcf92c39e632a69aea21cb4c599eef38613b2b93b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e459df9810b24a5ad162d7c3c6fe0abb60619038645af91f9e52a01a1c9361d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:230c466094f3af3db06e115a0ed510520511e94d274301339c34a91610fbc8d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob e604612bfdbf]

[blob e459df9810b2]

[blob 230c466094f3]

{
  "content": [
    {
      "signature": "CAISgAMKjAEIEBgCKkC10SmxRjKnSP2JZzVZdS9CSPptyOHbYmznZO2AmeuMwHrR4KoU7zECjLtOV/uUXv34ODz00y6ncP0MoKORlOfdMhJjbGF1ZGUtb3B1cy01LWZhc3Q4AUIIdGhpbmtpbmdaJDY3YTg1ODY5LTQyNGUtNDA0NC1hYTU4LThjZDY1NjYwZWQ3ZhIMF/PbZE+u/9snot6tGgxF8fv21KNQfGRfHN4iMBlhNf2HUAgH7I5VMHRVJoSM3r9QoMvReoHZGvlOcDC53IioeRejdw9yQI+em2LJlCqgAeoR+jNgQeBDoBzebpjIUHLWWJzIP4DHBqZu31IghH7DzGeO3sJi6rnzY2iO3Ww2yo3Ds+FJzad1TIggJJQUqCExbLkFO+5yN4W0f4hJOy2omqhOe/isgqO0mtYOEoP4SsWQVsH2H88LT4gjOOnzWtVQrkTzPNFGyGgKwNEf52gPJfGUNBqOMZkR9YzDc0z0cGb1lx+YgkVY2v6FSrtVk0MYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Dz4Hc24FtRVnydjyNsbnfE",
      "input": {
        "note": "The wrist view shows the blue '1' block sitting squarely on top of the red 'a' block — stack achieved. Withdrawing the arm to clear the view and confirm the stack stands on its own.",
        "targets": {
          "left_j0": -0.3,
          "left_j1": 1.2,
          "left_j2": 1.4,
          "left_j3": -0.8
        }
      },
      "name": "move_joints",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_joints over 17 steps (1.7s)",
      "tool_use_id": "toolu_01Dz4Hc24FtRVnydjyNsbnfE",
      "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=-0.3134 left_j1=1.2346 left_j2=1.4132 left_j3=-0.8478 left_j4=0.1207 left_j5=-0.8719 left_gripper=0.9967 right_j0=-0.0002 right_j1=0.0357 right_j2=0.0097 right_j3=-0.0689 right_j4=-0.0154 right_j5=0.0067 right_gripper=0.9994\nstate[joint_eff]: [0.335, -4.6427, 6.4068, 2.1123, 0.0122, -0.0269, 0.0024, -0.1299, 1.4017, 7.0222, 1.9023, -0.0317, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2efa2b30672a429a1bd97fca48acfe7729836827219172ebea299d1461a712d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f051c2cc53eddec797ebf4aa5327af140173bed250bdf25440f3f9facf5e737",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:74438a3b72b3af2c8b2ab790e4c7aaf763858ed463d5e8f73814e67d3e33c584",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}